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add some shit, but still have a problem

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This commit is contained in:
Edward Emelianov
2021-11-14 21:07:37 +03:00
parent 8741e2e428
commit bac9912056
23 changed files with 88 additions and 36 deletions
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30
F0-nolib/3steppersLB/hardware.c
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@@ -19,6 +19,7 @@
#include "hardware.h"
#include "can.h"
#include "steppers.h"
#include "strfunct.h"
// Buttons: PA10, PA13, PA14, PA15, pullup (0 active)
volatile GPIO_TypeDef *BTNports[BTNSNO] = {GPIOA, GPIOA, GPIOA, GPIOA};
@@ -36,9 +37,9 @@ volatile GPIO_TypeDef *DIRports[MOTORSNO] = {GPIOB, GPIOB, GPIOB};
const uint32_t DIRpins[MOTORSNO] = {1<<1, 1<<10, 1<<12};
// timers for motors
TIM_TypeDef *mottimers[MOTORSNO] = {TIM15, TIM14, TIM16};
volatile TIM_TypeDef *mottimers[MOTORSNO] = {TIM15, TIM14, TIM16};
// timers for encoders
TIM_TypeDef *enctimers[MOTORSNO] = {TIM1, TIM2, TIM3};
volatile TIM_TypeDef *enctimers[MOTORSNO] = {TIM1, TIM2, TIM3};
void gpio_setup(void){
RCC->AHBENR |= RCC_AHBENR_GPIOAEN | RCC_AHBENR_GPIOBEN | RCC_AHBENR_GPIOCEN | RCC_AHBENR_GPIOFEN;
@@ -84,7 +85,7 @@ void iwdg_setup(){
static IRQn_Type motirqs[MOTORSNO] = {TIM15_IRQn, TIM14_IRQn, TIM16_IRQn};
// motor's PWM
static void setup_mpwm(int i){
TIM_TypeDef *TIM = mottimers[i];
volatile TIM_TypeDef *TIM = mottimers[i];
TIM->CR1 = 0;
TIM->PSC = MOTORTIM_PSC - 1; // 64kHz
// PWM mode 1 (OCxM = 110), preload enable
@@ -92,16 +93,15 @@ static void setup_mpwm(int i){
TIM->CCER = TIM_CCER_CC1E; // turn it on, active high
TIM->CCR1 = 1; // 20.8us for pulse duration, according to datasheet 1.9us is enough
TIM->BDTR |= TIM_BDTR_MOE; // enable main output
// TIM->CR1 |= TIM_CR1_CEN; // enable timer
TIM->EGR |= TIM_EGR_UG; // force update generation
TIM->DIER = TIM_DIER_CC1IE; // allow CC interrupt (we should count steps)
TIM->CNT = 0;
NVIC_EnableIRQ(motirqs[i]);
}
static IRQn_Type encirqs[MOTORSNO] = {TIM1_BRK_UP_TRG_COM_IRQn, TIM2_IRQn, TIM3_IRQn};
static void setup_enc(int i){
TIM_TypeDef *TIM = enctimers[i];
RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
volatile TIM_TypeDef *TIM = enctimers[i];
/* (1) Configure TI1FP1 on TI1 (CC1S = 01)
configure TI1FP2 on TI2 (CC2S = 01)
filters sampling = fDTS/8, N=6 */
@@ -119,6 +119,7 @@ static void setup_enc(int i){
TIM->ARR = the_conf.encrev[i];
// enable timer
TIM->CR1 = TIM_CR1_CKD_1 | TIM_CR1_CEN; /* (4) */
TIM->CNT = 0;
NVIC_EnableIRQ(encirqs[i]);
}
@@ -189,17 +190,26 @@ uint8_t MSB(uint16_t val){
}
void tim14_isr(){
addmicrostep(0);
TIM14->SR = 0;
TIM14->CR1 &= TIM_CR1_CEN;
DBG("UP1");
//addmicrostep(1);
}
void tim15_isr(){
addmicrostep(1);
TIM15->SR = 0;
TIM15->CR1 &= TIM_CR1_CEN;
DBG("UP0");
//addmicrostep(0);
}
void tim16_isr(){
addmicrostep(2);
TIM16->SR = 0;
TIM16->CR1 &= TIM_CR1_CEN;
DBG("UP2");
//addmicrostep(2);
}
void tim1_isr(){
void tim1_brk_up_trg_com_isr(){
encoders_UPD(0);
}
void tim2_isr(){