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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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23
F3:F303/Multistepper/hardware.c
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@@ -46,6 +46,14 @@ const uint32_t ESWpins[MOTORSNO][ESWNO] = {
{1<<7, 1<<8}, // 7
};
// GPIO pins: PB11, PE15, PE14
volatile GPIO_TypeDef *EXTports[EXTNO] = {
GPIOB, GPIOE, GPIOE
};
const uint32_t EXTpins[EXTNO] = {
1<<11, 1<<15, 1<<14
};
// motors: DIR/EN
// EN: 0:PF10, 1:PE1, 2:PB6, 3:PD2, 4:PC9, 5:PD14, 6:PE13, 7:PB1
volatile GPIO_TypeDef *ENports[MOTORSNO] = {
@@ -64,10 +72,17 @@ const uint8_t mottchannels[MOTORSNO] = {1,1,1,1,1,1,1,3};
static IRQn_Type motirqs[MOTORSNO] = {
TIM15_IRQn, TIM16_IRQn, TIM17_IRQn, TIM2_IRQn, TIM8_CC_IRQn, TIM4_IRQn, TIM1_CC_IRQn, TIM3_IRQn};
// state 1 - pressed, 0 - released (pin active is zero)
uint8_t ESW_state(uint8_t MOTno, uint8_t ESWno){
uint8_t val = ((ESWports[MOTno][ESWno]->IDR & ESWpins[MOTno][ESWno]) ? 0 : 1);
if(the_conf.motflags[ESWno].eswinv) val = !val;
// return two bits: 0 - ESW0, 1 - ESW1 (if inactive -> 1; if active -> 0)
uint8_t ESW_state(uint8_t MOTno){
uint8_t val = 0;
if(the_conf.isSPI){ // only ESW0 used
val = ((ESWports[MOTno][0]->IDR & ESWpins[MOTno][0]) ? 0 : 1);
if(the_conf.motflags[MOTno].eswinv) val ^= 1;
return val;
}else for(int i = 0; i < 2; ++i){
val |= ((ESWports[MOTno][i]->IDR & ESWpins[MOTno][i]) ? 0 : 1) << i;
}
if(the_conf.motflags[MOTno].eswinv) val ^= 3;
return val;
}