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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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33
F3:F303/Multistepper/hardware.h
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@@ -20,6 +20,11 @@
#include <stm32f3.h>
// PCLK frequency
#ifndef PCLK
#define PCLK (48000000)
#endif
// motors' timer PSC = PCLK/Tfreq - 1, Tfreq=16MHz
#define MOTORTIM_PSC (2)
// minimal ARR value - 99 for 5000 steps per second @ 32 microsteps/step
@@ -42,8 +47,22 @@ extern const uint32_t BTNpins[BTNSNO];
// state 1 - pressed, 0 - released (pin active is zero)
#define BTN_state(x) ((BTNports[x]->IDR & BTNpins[x]) ? 0 : 1)
// motors amount
// motors:
#define MOTORSNO (8)
extern volatile GPIO_TypeDef *ENports[MOTORSNO];
extern const uint32_t ENpins[MOTORSNO];
#define MOTOR_EN(x) do{ pin_clear(ENports[x], ENpins[x]); }while(0)
#define MOTOR_DIS(x) do{ pin_set(ENports[x], ENpins[x]); }while(0)
extern volatile GPIO_TypeDef *DIRports[MOTORSNO];
extern const uint32_t DIRpins[MOTORSNO];
#define MOTOR_CW(x) do{ pin_set(DIRports[x], DIRpins[x]); }while(0)
#define MOTOR_CCW(x) do{ pin_clear(DIRports[x], DIRpins[x]); }while(0)
// interval of velocity checking (10ms)
#define MOTCHKINTERVAL (10)
// maximal ticks of encoder per step
#define MAXENCTICKSPERSTEP (100)
// amount of full steps per revolution
#define STEPSPERREV (200)
// Limit switches: 2 for each motor
#define ESWNO (2)
@@ -51,10 +70,20 @@ extern const uint32_t BTNpins[BTNSNO];
extern volatile GPIO_TypeDef *ESWports[MOTORSNO][ESWNO];
extern const uint32_t ESWpins[MOTORSNO][ESWNO];
// extpins amount
#define EXTNO (3)
extern volatile GPIO_TypeDef *EXTports[EXTNO];
extern const uint32_t EXTpins[EXTNO];
#define EXT_SET(x) do{ pin_set(EXTports[x], EXTpins[x]); }while(0)
#define EXT_CLEAR(x) do{ pin_clear(EXTports[x], EXTpins[x]); }while(0)
#define EXT_TOGGLE(x) do{ pin_toggle(EXTports[x], EXTpins[x]); }while(0)
#define EXT_CHK(x) (pin_read(EXTports[x], EXTpins[x]))
extern volatile TIM_TypeDef *mottimers[MOTORSNO];
extern volatile uint32_t Tms;
uint8_t ESW_state(uint8_t MOTno, uint8_t ESWno);
uint8_t ESW_state(uint8_t MOTno);
uint8_t MSB(uint16_t val);
void hw_setup();