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throw out interrupts

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This commit is contained in:
Edward Emelianov
2026-07-29 23:06:36 +03:00
parent 940b60df99
commit b8f3e5a695
5 changed files with 19 additions and 21 deletions
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19
G4:G431/Servo/servo.c
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@@ -16,6 +16,7 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stm32g4.h>
#include <stdint.h>
#include "flash.h"
@@ -26,10 +27,21 @@ static uint16_t servo_tagpos[SERVO_AMOUNT] = {SG90_MIDPULSE, SG90_MIDPULSE, SG90
static uint16_t servo_speed[SERVO_AMOUNT] = {0, 0, 0, 0};
void process_servo(){
static bool notinited = true;
#if SERVO_AMOUNT != 4
#error "Add timers' variables"
#endif
static const uint32_t trgflags[SERVO_AMOUNT] = {TIM_SR_CC1IF, TIM_SR_CC2IF, TIM_SR_CC3IF, TIM_SR_CC4IF};
if(notinited){ // init tagpos with starting values from settings at first run
for(int i = 0; i < SERVO_AMOUNT; ++i) servo_tagpos[i] = the_conf.startpulse[i];
notinited = false;
}
uint32_t sr = TIM3->SR;
uint32_t clear_mask = 0;
for(uint8_t i = 0; i < SERVO_AMOUNT; ++i){
uint16_t curpos;
if(!get_servo(i, &curpos) || !tim_triggered[i]) continue;
tim_triggered[i] = false;
if(!get_servo(i, &curpos) || !(sr & trgflags[i])) continue;
clear_mask |= trgflags[i];
if(servo_tagpos[i] == curpos || servo_speed[i] < 1) continue;
int32_t newpos = curpos;
if(servo_tagpos[i] > curpos){
@@ -41,12 +53,13 @@ void process_servo(){
}
set_servo(i, (uint16_t) newpos);
}
if(clear_mask) TIM3->SR &= ~clear_mask;
}
// set speed in steps per tick
bool servo_set_speed(uint8_t N, uint16_t s){
if(N >= SERVO_AMOUNT) return false;
if(s < 1 || s > the_conf.maxspeed[N]) return false;
if(s > the_conf.maxspeed[N]) return false; // let s==0: this will allow to stop mowing to tagpos
servo_speed[N] = s;
return true;
}