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https://github.com/eddyem/stm32samples.git
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86 lines
2.6 KiB
C
86 lines
2.6 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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#pragma once
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#ifndef STEPPERS_H__
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#define STEPPERS_H__
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#include <stm32f0.h>
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#include "commonproto.h"
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#ifndef FALSE
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#define FALSE (0)
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#endif
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#ifndef TRUE
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#define TRUE (1)
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#endif
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// amount of tries to detect motor stall
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#define NSTALLEDMAX (5)
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// amount of steps to detect stalled state
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#define STALLEDSTEPS (15)
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// amount of tries to keep current position (need for states near problem places)
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#define KEEPPOSMAX (10)
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// stepper states
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typedef enum{
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STP_RELAX, // 0 - no moving
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STP_ACCEL, // 1 - start moving with acceleration
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STP_MOVE, // 2 - moving with constant speed
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STP_MVSLOW, // 3 - moving with slowest constant speed (end of moving)
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STP_DECEL, // 4 - moving with deceleration
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STP_STALL, // 5 - stalled
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STP_ERR // 6 - wrong/error state
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} stp_state;
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// end-switches reaction
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enum{
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ESW_IGNORE, // don't stop @ end-switch
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ESW_ANYSTOP, // stop @ esw in any moving direction
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ESW_STOPMINUS, // stop only in negative moving
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ESW_AMOUNT // number of records
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};
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// find zero stages: fast -> 0, slow -> +, slow -> 0
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void addmicrostep(uint8_t i);
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void encoders_UPD(uint8_t i);
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void init_steppers();
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void update_stepper(uint8_t i);
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int32_t encoder_position(uint8_t i);
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int setencpos(uint8_t i, int32_t position);
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errcodes setmotpos(uint8_t i, int32_t position);
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errcodes getpos(uint8_t i, int32_t *position);
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errcodes getremainsteps(uint8_t i, int32_t *position);
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errcodes motor_absmove(uint8_t i, int32_t abssteps);
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errcodes motor_relmove(uint8_t i, int32_t relsteps);
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errcodes motor_relslow(uint8_t i, int32_t relsteps);
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errcodes motor_goto0(uint8_t i);
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uint8_t geteswreact(uint8_t i);
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void emstopmotor(uint8_t i);
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void stopmotor(uint8_t i);
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stp_state getmotstate(uint8_t i);
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void process_steppers();
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#endif // STEPPERS_H__
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