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add servo-emulation @ stepper motors

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This commit is contained in:
Edward Emelianov
2021-11-17 00:08:02 +03:00
parent 4b50e95838
commit d0ecad3877
8 changed files with 119 additions and 81 deletions
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7
F0-nolib/3steppersLB/hardware.c
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@@ -94,13 +94,11 @@ static void setup_mpwm(int i){
#error "change the code!"
#endif
TIM->CCR1 = MOTORTIM_ARRMIN - 3; // ~10us for pulse duration
TIM->CNT = 0;
TIM->ARR = 0xffff;
// TIM->EGR = TIM_EGR_UG; // generate update to refresh ARR
TIM->BDTR |= TIM_BDTR_MOE; // enable main output
TIM->CCER = TIM_CCER_CC1E; // turn it on, active high
TIM->DIER = TIM_DIER_CC1IE; // allow CC interrupt (we should count steps)
//TIM->CR1 = TIM_CR1_CEN;
NVIC_EnableIRQ(motirqs[i]);
}
@@ -124,7 +122,6 @@ 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]);
}
@@ -144,9 +141,9 @@ void timers_setup(){
for(int i = 0; i < MOTORSNO; ++i)
setup_mpwm(i);
for(int i = 0; i < MOTORSNO; ++i){
//if(the_conf.motflags[i].haveencoder){ // motor have the encoder
if(the_conf.motflags[i].haveencoder){ // motor have the encoder
setup_enc(i);
//}
}
}
}