eddy/stm32samples
1
0
Fork 0
mirror of https://github.com/eddyem/stm32samples.git synced 2026-08-15 04:29:28 +03:00
Code Issues Packages Projects Releases Wiki Activity

some minor bugs fixed

Browse Source
This commit is contained in:
Edward Emelianov
2026-07-13 16:55:49 +03:00
parent 852d34204f
commit cdef16cad1
13 changed files with 105 additions and 228 deletions
Download Patch File Download Diff File Expand all files Collapse all files

66
F3:F303/Multistepper/steppers.c
View File

@@ -72,6 +72,7 @@ static uint32_t Taccel[MOTORSNO] = {0};
// recalculate ARR according to new speed
TRUE_INLINE void recalcARR(int i){
if(curspeed[i] < 1) curspeed[i] = 1;
uint32_t ARR = (((PCLK/(MOTORTIM_PSC+1)) / curspeed[i]) >> ustepsshift[i]) - 1;
if(ARR < MOTORTIM_ARRMIN) ARR = MOTORTIM_ARRMIN;
else if(ARR > 0xffff) ARR = 0xffff;
@@ -144,15 +145,7 @@ errcodes getremainsteps(uint8_t i, int32_t *position){
// calculate acceleration/deceleration parameters for motor i
static void calcacceleration(uint8_t i){
switch(state[i]){ // do nothing in case of error/stopping
case STP_ERR:
case STP_RELAX:
case STP_STALL:
return;
break;
default:
break;
}
if(!ismoving(i)) return; // do nothing in non-moving state
int32_t delta = targstppos[i] - stppos[i];
if(delta > 0){ // positive direction
if(delta > 2*(int32_t)accdecsteps[i]){ // can move by trapezoid
@@ -219,15 +212,9 @@ static int esw_block(uint8_t i){
errcodes motor_absmove(uint8_t i, int32_t newpos){
//if(i >= MOTORSNO) return ERR_BADPAR; // bad motor number
int8_t dir = (newpos > stppos[i]) ? 1 : -1;
switch(state[i]){
case STP_ERR:
case STP_RELAX:
break;
case STP_STALL:
break;
default: // moving state
DBG("Is moving");
return ERR_CANTRUN;
if(ismoving(i)){
DBG("Is moving");
return ERR_CANTRUN;
}
if(newpos > (int32_t)the_conf.maxsteps[i] || newpos < -(int32_t)the_conf.maxsteps[i] || newpos == stppos[i]){
DBG("Too much steps");
@@ -251,6 +238,9 @@ errcodes motor_absmove(uint8_t i, int32_t newpos){
USB_sendstr(", accdecsteps="); printu(accdecsteps[i]); newline();
#endif
MOTOR_EN(i);
// clear counter and generate update event to refresh ARR
mottimers[i]->CNT = 0;
mottimers[i]->EGR = TIM_EGR_UG;
mottimers[i]->CR1 |= TIM_CR1_CEN; // start timer
return ERR_OK;
}
@@ -282,13 +272,42 @@ void emstopmotor(uint8_t i){
default:
break;
}
stopflag[i] = 1;
// check that timer is works
if(mottimers[i]->CR1 & TIM_CR1_CEN){
stopflag[i] = 1;
}else{
state[i] = STP_RELAX;
stopflag[i] = 0;
}
}
stp_state getmotstate(uint8_t i){
return state[i];
}
// return TRUE if motor is in moving state
uint8_t ismoving(uint8_t i){
switch(state[i]){
case STP_ACCEL:
case STP_MOVE:
case STP_MVSLOW:
case STP_DECEL:
return TRUE;
break;
default:
break;
}
return FALSE;
}
// return TRUE if any motor is in moving state
uint8_t isanymoving(){
for(int i = 0; i < MOTORSNO; ++i){
if(ismoving(i)) return TRUE;
}
return FALSE;
}
// get DIAGN input
uint8_t motdiagn(uint8_t i){
if(i > MOTORSNO-1) return 0;
@@ -445,6 +464,13 @@ static void chkstepper(int i){
}
recalcARR(i);
break;
case STP_MVSLOW:
if(!(mottimers[i]->CR1 & TIM_CR1_CEN)){ // timer stopped but state wasn't changed
state[i] = STP_RELAX;
stopflag[i] = 0;
DBG("MVSLOW with timer stopped");
}
break;
default: // do nothing, check mvzerostate
break;
}
@@ -491,7 +517,7 @@ errcodes motor_goto0(uint8_t i){
errcodes e = motor_absmove(i, -the_conf.maxsteps[i]);
if(ERR_OK != e){
if(!esw_block(i)) return e; // limit switch not block -> error
}else ESW_reaction[i] = ESW_IGNORE1;
}else ESW_reaction[i] = ESW_IGNORE1;
mvzerostate[i] = M0FAST;
return e;
}