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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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10
F0-nolib/3steppersLB/steppers.c
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@@ -19,6 +19,7 @@
#include "flash.h"
#include "hardware.h"
#include "steppers.h"
#include "strfunct.h"
// goto zero stages
typedef enum{
@@ -95,9 +96,9 @@ void init_steppers(){
// get absolute position by encoder
static int32_t encoder_position(uint8_t i){
int32_t pos = encpos[i]*the_conf.encrev[i];
if(the_conf.motflags[i].encreverse) pos -= mottimers[i]->CNT;
else pos += mottimers[i]->CNT;
int32_t pos = encpos[i];
if(the_conf.motflags[i].encreverse) pos -= enctimers[i]->CNT;
else pos += enctimers[i]->CNT;
return pos;
}
@@ -121,7 +122,7 @@ errcodes motor_absmove(uint8_t i, int32_t newpos){
if(newpos > (int32_t)the_conf.maxsteps[i] || newpos < -(int32_t)the_conf.maxsteps[i] || newpos == stppos[i])
return ERR_BADVAL; // too big position or zero
targstppos[i] = newpos;
prevencpos[i] = encpos[i];
prevencpos[i] = encoder_position(i);
prevstppos[i] = stppos[i];
uint8_t inv = the_conf.motflags[i].reverse;
int32_t delta = newpos - stppos[i];
@@ -170,6 +171,7 @@ stp_state getmotstate(uint8_t i){
void addmicrostep(uint8_t i){
static volatile uint16_t microsteps[MOTORSNO] = {0}; // current microsteps position
if(mottimers[i]->SR & TIM_SR_UIF){
DBG("MOTUP");
if(ESW_state(i)){ // ESW active
switch(the_conf.ESW_reaction[i]){
case ESW_ANYSTOP: // stop motor in any direction