mirror of
https://github.com/eddyem/stm32samples.git
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639 lines
22 KiB
C
639 lines
22 KiB
C
/*
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* This file is part of the 3steppers project.
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* Copyright 2021 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "flash.h"
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#include "hardware.h"
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#include "steppers.h"
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#include "strfunct.h"
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// goto zero stages
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typedef enum{
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M0RELAX, // normal moving
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M0FAST, // fast move to zero
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M0SLOW // slowest move from ESW
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} mvto0state;
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typedef enum{
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STALL_NO, // moving OK
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STALL_ONCE, // Nstalled < limit
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STALL_STOP // Nstalled >= limit
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} t_stalled;
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#ifdef EBUG
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static uint8_t stp[MOTORSNO] = {0};
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#endif
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static t_stalled stallflags[MOTORSNO];
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// motors' direction: 1 for positive, -1 for negative (we need it as could be reverse)
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static int8_t motdir[MOTORSNO];
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// direction of moving when stalled (forbid moving in that direction before go out of position)
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static int8_t stalleddir[MOTORSNO] = {0};
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// current position (in steps) by STP counter
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static volatile int32_t stppos[MOTORSNO] = {0};
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// previous position when check (set to current in start of moving)
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static int32_t prevstppos[MOTORSNO];
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// target stepper position
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static int32_t targstppos[MOTORSNO] = {0};
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// position to start deceleration
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static int32_t decelstartpos[MOTORSNO];
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// current encoder position (4 per ticks) (without TIM->CNT)
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static volatile int32_t encpos[MOTORSNO] = {0};
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// previous encoder position
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static int32_t prevencpos[MOTORSNO] = {0};
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// encoders' ticks per step (calculates @ init)
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static int32_t encperstep[MOTORSNO];
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// ESW reaction - local copy
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static uint8_t ESW_reaction[MOTORSNO];
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// current speed
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static uint16_t curspeed[MOTORSNO];
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static uint16_t startspeed[MOTORSNO]; // speed when deceleration starts
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// ==1 to stop @ nearest step
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static uint8_t stopflag[MOTORSNO];
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// motor state
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static stp_state state[MOTORSNO];
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// move to zero state
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static mvto0state mvzerostate[MOTORSNO];
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static int8_t Nstalled[MOTORSNO] = {0}; // counter of STALL
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// lowest ARR value (highest speed), highest (lowest speed)
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//static uint16_t stphighARR[MOTORSNO];
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// microsteps=1<<ustepsshift
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static uint16_t ustepsshift[MOTORSNO];
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// amount of steps for full acceleration/deceleration
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static uint32_t accdecsteps[MOTORSNO];
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// time when acceleration or deceleration starts
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static uint32_t Taccel[MOTORSNO] = {0};
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// recalculate ARR according to new speed
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TRUE_INLINE void recalcARR(int i){
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uint32_t ARR = (((PCLK/(MOTORTIM_PSC+1)) / curspeed[i]) >> ustepsshift[i]) - 1;
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if(ARR < MOTORTIM_ARRMIN) ARR = MOTORTIM_ARRMIN;
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else if(ARR > 0xffff) ARR = 0xffff;
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mottimers[i]->ARR = ARR;
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curspeed[i] = (((PCLK/(MOTORTIM_PSC+1)) / (ARR+1)) >> ustepsshift[i]); // recalculate speed due to new val
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}
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// run this function after each steppers parameters changing
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void init_steppers(){
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timers_setup(); // reinit timers & stop them
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// init variables
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for(int i = 0; i < MOTORSNO; ++i){
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stalleddir[i] = 0; // clear old stall direction
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stopflag[i] = 0;
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motdir[i] = 0;
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curspeed[i] = 0;
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accdecsteps[i] = (the_conf.maxspd[i] * the_conf.maxspd[i]) / the_conf.accel[i] / 2;
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state[i] = STP_RELAX;
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ustepsshift[i] = MSB(the_conf.microsteps[i]);
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encperstep[i] = the_conf.encrev[i] / STEPSPERREV;
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if(!the_conf.motflags[i].donthold) MOTOR_EN(i);
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else MOTOR_DIS(i);
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ESW_reaction[i] = the_conf.ESW_reaction[i];
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}
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}
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// get absolute position by encoder
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int32_t encoder_position(uint8_t i){
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int32_t pos = encpos[i];
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if(the_conf.motflags[i].encreverse) pos -= enctimers[i]->CNT;
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else pos += enctimers[i]->CNT;
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return pos;
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}
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// set encoder's position, return 0 if false (motor's state != relax)
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int setencpos(uint8_t i, int32_t position){
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if(state[i] != STP_RELAX) return FALSE;
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int32_t remain = position % the_conf.encrev[i];
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if(remain < 0) remain += the_conf.encrev[i];
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enctimers[i]->CNT = remain;
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prevencpos[i] = encpos[i] = position - remain;
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int32_t curstppos;
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getpos(i, &curstppos);
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stppos[i] = targstppos[i] = curstppos;
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#ifdef EBUG
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SEND("MOTOR"); bufputchar('0'+i); SEND(", position="); printi(position); SEND(", remain=");
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printi(remain); SEND(", CNT="); printu(enctimers[i]->CNT); SEND(", pos="); printi(encpos[i]); NL();
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#endif
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return TRUE;
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}
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// set absolute position of motor `i`
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errcodes setmotpos(uint8_t i, int32_t position){
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if(state[i] != STP_RELAX) return ERR_CANTRUN;
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if(position > (int32_t)the_conf.maxsteps[i] || position < -(int32_t)the_conf.maxsteps[i])
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return ERR_BADVAL; // too big position or zero
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if(position == stppos[i]) return ERR_OK;
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setencpos(i, position * encperstep[i]);
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return ERR_OK;
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}
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// get current position
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errcodes getpos(uint8_t i, int32_t *position){
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if(the_conf.motflags[i].haveencoder){
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int32_t p = encoder_position(i);
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if(p < 0) p -= encperstep[i]>>1;
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else p += encperstep[i]>>1;
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p /= encperstep[i];
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*position = p;
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}else
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*position = stppos[i];
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return ERR_OK;
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}
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errcodes getremainsteps(uint8_t i, int32_t *position){
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*position = targstppos[i] - stppos[i];
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return ERR_OK;
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}
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// calculate acceleration/deceleration parameters for motor i
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static void calcacceleration(uint8_t i){
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switch(state[i]){ // do nothing in case of error/stopping
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case STP_ERR:
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case STP_RELAX:
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case STP_STALL:
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return;
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break;
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default:
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break;
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}
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int32_t delta = targstppos[i] - stppos[i];
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if(delta > 0){ // positive direction
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if(delta > 2*(int32_t)accdecsteps[i]){ // can move by trapezoid
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decelstartpos[i] = targstppos[i] - accdecsteps[i];
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}else{ // triangle speed profile
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decelstartpos[i] = stppos[i] + delta/2;
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}
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if(the_conf.motflags[i].reverse) MOTOR_CCW(i);
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else MOTOR_CW(i);
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}else{ // negative direction
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delta = -delta;
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if(delta > 2*(int32_t)accdecsteps[i]){ // can move by trapezoid
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decelstartpos[i] = targstppos[i] + accdecsteps[i];
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}else{ // triangle speed profile
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decelstartpos[i] = stppos[i] - delta/2;
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}
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if(the_conf.motflags[i].reverse) MOTOR_CW(i);
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else MOTOR_CCW(i);
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}
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if(state[i] != STP_MVSLOW){
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DBG("->accel");
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state[i] = STP_ACCEL;
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}
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startspeed[i] = curspeed[i];
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Taccel[i] = Tms;
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recalcARR(i);
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}
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// check if end-switch is blocking the moving of i'th motor
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// @return TRUE if motor can't move
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static int esw_block(uint8_t i){
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int ret = FALSE;
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if(ESW_state(i)){ // ESW active
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switch(ESW_reaction[i]){
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case ESW_ANYSTOP: // stop motor in any direction
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ret = TRUE;
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break;
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case ESW_STOPMINUS: // stop only @ minus
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if(motdir[i] == -1) ret = TRUE;
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break;
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default: // ESW_IGNORE
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break;
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}
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}
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return ret;
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}
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// move to absolute position
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errcodes motor_absmove(uint8_t i, int32_t newpos){
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//if(i >= MOTORSNO) return ERR_BADPAR; // bad motor number
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int8_t dir = (newpos > stppos[i]) ? 1 : -1;
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switch(state[i]){
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case STP_ERR:
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case STP_RELAX:
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break;
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case STP_STALL:
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DBG("Move from STALL");
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if(dir == stalleddir[i]){
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DBG("Move to stalled direction!");
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return ERR_CANTRUN; // can't run into stalled direction
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}
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break;
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default: // moving state
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DBG("Is moving");
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return ERR_CANTRUN;
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}
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if(newpos > (int32_t)the_conf.maxsteps[i] || newpos < -(int32_t)the_conf.maxsteps[i] || newpos == stppos[i]){
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DBG("Too much steps");
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return ERR_BADVAL; // too big position or zero
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}
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motdir[i] = dir; // should be before limit switch check
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if(esw_block(i)){
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DBG("Block by ESW");
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return ERR_CANTRUN; // on end-switch
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}
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Nstalled[i] = (state[i] == STP_STALL) ? -(NSTALLEDMAX*4) : 0; // give some more chances to go out of stall state
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stopflag[i] = 0;
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targstppos[i] = newpos;
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prevencpos[i] = encoder_position(i);
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prevstppos[i] = stppos[i];
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curspeed[i] = the_conf.minspd[i];
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state[i] = STP_ACCEL;
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calcacceleration(i);
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#ifdef EBUG
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SEND("MOTOR"); bufputchar('0'+i);
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SEND(" targstppos="); printi(targstppos[i]);
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SEND(", decelstart="); printi(decelstartpos[i]);
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SEND(", accdecsteps="); printu(accdecsteps[i]); NL();
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#endif
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MOTOR_EN(i);
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mottimers[i]->CR1 |= TIM_CR1_CEN; // start timer
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return ERR_OK;
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}
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// move i'th motor for relsteps
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errcodes motor_relmove(uint8_t i, int32_t relsteps){
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return motor_absmove(i, stppos[i] + relsteps);
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}
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errcodes motor_relslow(uint8_t i, int32_t relsteps){
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errcodes e = motor_absmove(i, stppos[i] + relsteps);
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if(ERR_OK == e){
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DBG("-> MVSLOW");
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state[i] = STP_MVSLOW;
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}
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return e;
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}
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// emergency stop and clear errors
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void emstopmotor(uint8_t i){
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switch(state[i]){
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case STP_ERR: // clear error state
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case STP_STALL:
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DBG("-> RELAX");
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state[i] = STP_RELAX;
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// fallthrough
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case STP_RELAX: // do nothing in stopping state
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return;
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default:
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break;
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}
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stopflag[i] = 1;
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}
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stp_state getmotstate(uint8_t i){
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return state[i];
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}
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// count steps @tim 14/15/16
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void addmicrostep(uint8_t i){
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static volatile uint16_t microsteps[MOTORSNO] = {0}; // current microsteps position
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if(esw_block(i)) stopflag[i] = 1; // turn on stop flag if end-switch was active
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if(++microsteps[i] == the_conf.microsteps[i]){
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microsteps[i] = 0;
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stppos[i] += motdir[i];
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uint8_t stop_at_pos = 0;
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if(motdir[i] > 0){
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if(stppos[i] >= targstppos[i]){ // reached stop position
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stop_at_pos = 1;
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}
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}else{
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if(stppos[i] <= targstppos[i]){
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stop_at_pos = 1;
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}
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}
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if(stopflag[i] || stop_at_pos){ // stop NOW
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mottimers[i]->CR1 &= ~TIM_CR1_CEN; // stop timer
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if(stopflag[i]) targstppos[i] = stppos[i]; // keep position (for keep flag)
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stopflag[i] = 0;
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if(the_conf.motflags[i].donthold)
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MOTOR_DIS(i); // turn off power
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if(stallflags[i] == STALL_STOP){
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stallflags[i] = STALL_NO;
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state[i] = STP_STALL;
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}else{
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state[i] = STP_RELAX;
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}
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#ifdef EBUG
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stp[i] = 1;
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#endif
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}
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}
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}
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void encoders_UPD(uint8_t i){
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if(enctimers[i]->SR & TIM_SR_UIF){
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int8_t d = 1; // positive (-1 - negative)
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if(enctimers[i]->CR1 & TIM_CR1_DIR) d = -d; // negative
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if(the_conf.motflags[i].encreverse) d = -d;
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if(d == 1) encpos[i] += the_conf.encrev[i];
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else encpos[i] -= the_conf.encrev[i];
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}
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enctimers[i]->SR = 0;
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}
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// check if motor is stalled
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// @return 0 if moving OK,
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static t_stalled chkSTALL(uint8_t i){
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if(!the_conf.motflags[i].haveencoder) return STALL_NO;
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int32_t curencpos = encoder_position(i), Denc = curencpos - prevencpos[i];
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int32_t curstppos = stppos[i], Dstp = curstppos - prevstppos[i];
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int difsign = 1;
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if(Dstp < 0){
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Dstp = -Dstp;
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difsign = -difsign;
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}
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if(Dstp < STALLEDSTEPS){ // didn't move even @ `STALLEDSTEPS` steps
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stallflags[i] = STALL_NO;
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return STALL_NO;
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}
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if(Denc < 0){
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Denc = -Denc;
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difsign = -difsign;
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}
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if(difsign == -1){ // motor and enc<6E>der moves to different sides!!!
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Denc = -Denc; // init STALL state
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}
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prevencpos[i] = curencpos;
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// TODO: check if it should be here
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getpos(i, &curstppos); // recalculate current position
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stppos[i] = curstppos;
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prevstppos[i] = curstppos;
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if(Denc < the_conf.encperstepmin[i]*Dstp || the_conf.encperstepmax[i]*Dstp < Denc){ // stall?
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#ifdef EBUG
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SEND("MOTOR"); bufputchar('0'+i); SEND(" Denc="); printi(Denc); SEND(", Dstp="); printu(Dstp);
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SEND(", speed="); printu(curspeed[i]);
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#endif
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if(++Nstalled[i] >= NSTALLEDMAX){
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Nstalled[i] = 0;
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#ifdef EBUG
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SEND(" --- STALL!");
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#else
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SEND("ERRCODE="); bufputchar(ERR_CANTRUN+'0');
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SEND("\nstate"); bufputchar(i+'0'); bufputchar('=');
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bufputchar(STP_STALL + '0');
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#endif
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NL();
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stallflags[i] = STALL_STOP;
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stalleddir[i] = motdir[i];
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return STALL_STOP;
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}else{
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uint16_t spd = curspeed[i] >> 1; // speed / 2
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curspeed[i] = (spd > the_conf.minspd[i]) ? spd : the_conf.minspd[i];
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// now recalculate acc/dec parameters
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calcacceleration(i);
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#ifdef EBUG
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SEND(" --- pre-stall, newspeed="); printu(curspeed[i]); NL();
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#endif
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stallflags[i] = STALL_ONCE;
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return STALL_ONCE;
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}
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}
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Nstalled[i] = 0;
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return STALL_NO;
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}
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#ifdef EBUG
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#define TODECEL() do{state[i] = STP_DECEL; \
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startspeed[i] = curspeed[i]; \
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Taccel[i] = Tms; \
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SEND("MOTOR"); bufputchar('0'+i); \
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SEND(" -> DECEL@"); printi(stppos[i]); SEND(", V="); printu(curspeed[i]); NL(); \
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}while(0)
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#else
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#define TODECEL() do{state[i] = STP_DECEL; \
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startspeed[i] = curspeed[i]; \
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Taccel[i] = Tms; \
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}while(0)
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#endif
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// check state of i`th stepper
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static void chkstepper(int i){
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int32_t i32;
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t_stalled s = chkSTALL(i);
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static int32_t oldtargpos[3] = {0}; // target position of previous `keep` call
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static uint8_t keepposctr[3] = {0}; // counter of tries to keep current position
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static uint8_t stopctr[3] = {0}; // counters for encoders/position zeroing after stopping @ esw
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#ifdef EBUG
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if(stp[i]){
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stp[i] = 0;
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// motor state could be changed outside of interrupt, so return it to relax or leave in STALL
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if(state[i] != STP_STALL) state[i] = STP_RELAX;
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SEND("MOTOR"); bufputchar('0'+i); SEND(" stop @"); printi(stppos[i]);
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SEND(", curstate="); printu(state[i]); newline();
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}
|
||
#endif
|
||
switch(state[i]){
|
||
case STP_RELAX: // check if need to keep current position
|
||
if(the_conf.motflags[i].haveencoder){
|
||
getpos(i, &i32);
|
||
int32_t diff = stppos[i] - i32; // correct `curpos` counter by encoder
|
||
if(diff){ // correct current stppos by encoder
|
||
#ifdef EBUG
|
||
SEND("MOTOR"); bufputchar('0'+i);
|
||
SEND(" diff="); printi(diff);
|
||
SEND(", change stppos from "); printi(stppos[i]); SEND(" to "); printi(i32); NL();
|
||
#endif
|
||
stppos[i] = i32;
|
||
}
|
||
if(the_conf.motflags[i].keeppos){ // keep old position
|
||
diff = targstppos[i] - i32; // check whether we need to change position
|
||
if(diff){ // try to correct position
|
||
if(oldtargpos[i] == targstppos[i]){
|
||
if(++keepposctr[i] >= KEEPPOSMAX){
|
||
DBG("Can't keep position");
|
||
targstppos[i] = i32;
|
||
return; // can't keep position for
|
||
}
|
||
}else{
|
||
oldtargpos[i] = targstppos[i];
|
||
keepposctr[i] = 0;
|
||
}
|
||
#ifdef EBUG
|
||
SEND("MOTOR"); bufputchar('0'+i);
|
||
SEND(" curpos="); printi(i32); SEND(", need="); printi(targstppos[i]); NL();
|
||
#endif
|
||
if(ERR_OK != motor_absmove(i, targstppos[i])){
|
||
DBG("Can't move to target position for keeping");
|
||
targstppos[i] = i32; // can't move to target position - forget it
|
||
}
|
||
}
|
||
}
|
||
}
|
||
break;
|
||
case STP_ACCEL: // acceleration to max speed
|
||
if(s == STALL_NO){
|
||
//newspeed = curspeed[i] + dV[i];
|
||
i32 = the_conf.minspd[i] + (the_conf.accel[i] * (Tms - Taccel[i])) / 1000;
|
||
if(i32 >= the_conf.maxspd[i]){ // max speed reached -> move with it
|
||
curspeed[i] = the_conf.maxspd[i];
|
||
state[i] = STP_MOVE;
|
||
#ifdef EBUG
|
||
SEND("MOTOR"); bufputchar('0'+i);
|
||
SEND(" -> MOVE@"); printi(stppos[i]); SEND(", V="); printu(curspeed[i]); NL();
|
||
#endif
|
||
}else{ // increase speed
|
||
curspeed[i] = i32;
|
||
}
|
||
recalcARR(i);
|
||
// check position for triangle profile
|
||
if(motdir[i] > 0){
|
||
if(stppos[i] >= decelstartpos[i]){ // reached end of acceleration
|
||
TODECEL();
|
||
}
|
||
}else{
|
||
if(stppos[i] <= decelstartpos[i]){
|
||
TODECEL();
|
||
}
|
||
}
|
||
}else if(s == STALL_STOP){
|
||
stopflag[i] = 1;
|
||
}
|
||
break;
|
||
case STP_MOVE: // move @ constant speed until need to decelerate
|
||
if(s == STALL_NO){
|
||
// check position
|
||
if(motdir[i] > 0){
|
||
if(stppos[i] >= decelstartpos[i]){ // reached start of deceleration
|
||
TODECEL();
|
||
}
|
||
}else{
|
||
if(stppos[i] <= decelstartpos[i]){
|
||
TODECEL();
|
||
}
|
||
}
|
||
}else if(s == STALL_STOP){
|
||
stopflag[i] = 1;
|
||
}
|
||
break;
|
||
case STP_DECEL:
|
||
if(s == STALL_NO){
|
||
//newspeed = curspeed[i] - dV[i];
|
||
i32 = startspeed[i] - (the_conf.accel[i] * (Tms - Taccel[i])) / 1000;
|
||
if(i32 > the_conf.minspd[i]){
|
||
curspeed[i] = i32;
|
||
}else{
|
||
curspeed[i] = the_conf.minspd[i];
|
||
state[i] = STP_MVSLOW;
|
||
#ifdef EBUG
|
||
SEND("MOTOR"); bufputchar('0'+i);
|
||
SEND(" -> MVSLOW@"); printi(stppos[i]); NL();
|
||
#endif
|
||
}
|
||
recalcARR(i);
|
||
//SEND("spd="); printu(curspeed[i]); SEND(", pos="); printi(stppos[i]); newline();
|
||
}else if(s == STALL_STOP){
|
||
stopflag[i] = 1;
|
||
}
|
||
break;
|
||
case STP_MVSLOW:
|
||
if(s == STALL_STOP) stopflag[i] = 1;
|
||
break;
|
||
default: // STALL, ERR -> do nothing, check mvzerostate
|
||
break;
|
||
}
|
||
switch(mvzerostate[i]){
|
||
case M0FAST:
|
||
if(state[i] == STP_RELAX || state[i] == STP_STALL){ // stopped -> move to +
|
||
#ifdef EBUG
|
||
bufputchar('M'); bufputchar('0'+i); SEND("FAST: motor stopped\n");
|
||
#endif
|
||
if(ERR_OK != motor_relslow(i, 1000)){
|
||
#ifdef EBUG
|
||
SEND("Can't move\n");
|
||
#endif
|
||
DBG("->ERR");
|
||
state[i] = STP_ERR;
|
||
mvzerostate[i] = M0RELAX;
|
||
ESW_reaction[i] = the_conf.ESW_reaction[i];
|
||
}else{
|
||
mvzerostate[i] = M0SLOW;
|
||
stopctr[i] = 0;
|
||
}
|
||
}
|
||
break;
|
||
case M0SLOW:
|
||
if(0 == ESW_state(i)){ // moved out of limit switch - can stop
|
||
emstopmotor(i);
|
||
}
|
||
if((state[i] == STP_RELAX || state[i] == STP_STALL) && ++stopctr[i] > 5){ // wait at least 50ms
|
||
#ifdef EBUG
|
||
bufputchar('M'); bufputchar('0'+i); SEND("SLOW: motor stopped\n");
|
||
#endif
|
||
ESW_reaction[i] = the_conf.ESW_reaction[i];
|
||
prevencpos[i] = encpos[i] = 0;
|
||
prevstppos[i] = targstppos[i] = stppos[i] = 0;
|
||
enctimers[i]->CNT = 0; // set encoder counter to zero
|
||
mvzerostate[i] = M0RELAX;
|
||
}
|
||
break;
|
||
default: // RELAX, STALL: do nothing
|
||
break;
|
||
}
|
||
}
|
||
|
||
errcodes motor_goto0(uint8_t i){
|
||
errcodes e = motor_absmove(i, -the_conf.maxsteps[i]);
|
||
if(ERR_OK != e){
|
||
if(!ESW_state(i)) return e; // not @ limit switch -> error
|
||
}else ESW_reaction[i] = ESW_STOPMINUS;
|
||
mvzerostate[i] = M0FAST;
|
||
return e;
|
||
}
|
||
|
||
// smooth motor stopping
|
||
void stopmotor(uint8_t i){
|
||
switch(state[i]){
|
||
case STP_MVSLOW: // immeditially stop on slowest speed
|
||
stopflag[i] = 1;
|
||
return;
|
||
break;
|
||
case STP_MOVE: // stop only in moving states
|
||
case STP_ACCEL:
|
||
break;
|
||
default: // do nothing in other states
|
||
return;
|
||
}
|
||
int32_t newstoppos = stppos[i]; // calculate steps need for stop (we can be @acceleration phase!)
|
||
int32_t add = (curspeed[i] * curspeed[i]) / the_conf.accel[i] / 2;
|
||
if(motdir[i] > 0){
|
||
newstoppos += add;
|
||
if(newstoppos < (int32_t)the_conf.maxsteps[i]) targstppos[i] = newstoppos;
|
||
}else{
|
||
newstoppos -= add;
|
||
if(newstoppos > -((int32_t)the_conf.maxsteps[i])) targstppos[i] = newstoppos;
|
||
}
|
||
TODECEL();
|
||
}
|
||
|
||
void process_steppers(){
|
||
static uint32_t Tlast = 0;
|
||
if(Tms - Tlast < MOTCHKINTERVAL) return; // hit every 10ms
|
||
Tlast = Tms;
|
||
for(int i = 0; i < MOTORSNO; ++i){
|
||
chkstepper(i);
|
||
}
|
||
}
|
||
|
||
uint8_t geteswreact(uint8_t i){
|
||
return ESW_reaction[i];
|
||
}
|