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add some more, need a lot of tests

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This commit is contained in:
Edward Emelianov
2023-02-20 21:07:47 +03:00
parent 61c2d0ce41
commit f880421d9e
16 changed files with 1034 additions and 241 deletions
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11
F3:F303/Multistepper/flash.h
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@@ -38,14 +38,15 @@
#define FLASH_SIZE *((uint16_t*)FLASH_SIZE_REG)
#define MOTFLAGS_AMOUNT 6
// motor flags
typedef struct{
uint8_t reverse : 1; // bit0 - reversing motor rotation
uint8_t encreverse : 1; // bit1 - reversing encoder rotation TODO: configure encoder's timer to downcounting
uint8_t haveencoder : 1; // bit2 - have encoder
uint8_t encreverse : 1; // bit1 - reversing encoder rotation - NOT USED HERE!!!
uint8_t haveencoder : 1; // bit2 - have encoder - NOT USED HERE!!!
uint8_t donthold : 1; // bit3 - clear power @ stop (don't hold motor when stopped)
uint8_t eswinv : 1; // bit4 - inverse end-switches
uint8_t keeppos : 1; // bit5 - keep current position (as servo motor)
uint8_t keeppos : 1; // bit5 - keep current position (as servo motor) - NOT USED HERE!!!
} motflags_t;
/*
@@ -60,11 +61,9 @@ typedef struct __attribute__((packed, aligned(4))){
uint16_t maxspd[MOTORSNO]; // max motor speed (steps per second)
uint16_t minspd[MOTORSNO]; // min motor speed (steps per second)
uint32_t maxsteps[MOTORSNO]; // maximal amount of steps
uint16_t encrev[MOTORSNO]; // encoders' counts per revolution
uint16_t encperstepmin[MOTORSNO]; // min amount of encoder ticks per one step
uint16_t encperstepmax[MOTORSNO]; // max amount of encoder ticks per one step
motflags_t motflags[MOTORSNO]; // motor's flags
uint8_t ESW_reaction[MOTORSNO]; // end-switches reaction (esw_react)
uint8_t isSPI; // ==1 if there's SPI drivers instead of UART
} user_conf;
extern user_conf the_conf; // global user config (read from FLASH to RAM)