mirror of
https://github.com/eddyem/stm32samples.git
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96 lines
3.0 KiB
C
96 lines
3.0 KiB
C
/*
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* This file is part of the Stepper project.
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* Copyright 2020 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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// TIM15->PSC for 4MHz (48MHz/(PSC+1))
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#define TIM15PSC 47
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// TIM15->CCR2: 20us for pulse duration, according to datasheet 1.9us is enough
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#define TIM15CCR2 20
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// TIM15->ARR minimum value
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#define TIM15ARRMIN (2*TIM15CCR2)
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// timer settings give DEFTICKSPERSEC ticks per second
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#define DEFTICKSPERSEC (48000000/(TIM15PSC+1))
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// max speed (steps per second)
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#define MAX_SPEED 10000
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// The lowest speed @acceleration (= current speed / LOW_SPEED_DIVISOR)
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#define LOW_SPEED_DIVISOR 30
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// min/max value of ACCDECSTEPS
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#define ACCDECSTEPS_MIN 1
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#define ACCDECSTEPS_MAX 2000
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typedef enum{
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DRV_NONE, // driver is absent
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DRV_NOTINIT,// not initialized
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DRV_MAILF, // mailfunction - no Vdd when Vio_ON activated
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DRV_8825, // DRV8825 connected
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DRV_4988, // A4988 connected
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DRV_2130, // TMC2130 connected
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DRV_MAX // amount of records in enum
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} drv_type;
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// stepper states
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typedef enum{
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STP_SLEEP, // don't moving
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STP_ACCEL, // start moving with acceleration
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STP_MOVE, // moving with constant speed
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STP_MVSLOW, // moving with slowest constant speed
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STP_DECEL, // moving with deceleration
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STP_STOP, // stop motor right now (by demand)
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STP_STOPZERO, // stop motor and zero its position (on end-switch)
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STP_MOVE0, // move towards 0 endswitch (negative direction)
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STP_MOVE1, // move towards 1 endswitch (positive direction)
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} stp_state;
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typedef enum{
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STPS_ALLOK, // no errors
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STPS_ACTIVE, // motor is still moving
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STPS_TOOBIG, // amount of steps too big
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STPS_ZEROMOVE, // give 0 steps to move
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STPS_ONESW // staying on end-switch & try to move further
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} stp_status;
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extern int32_t mot_position;
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#define stppos() (mot_position)
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extern uint32_t steps_left;
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#define stpleft() (steps_left)
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extern stp_state state;
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#define stpstate() (state)
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drv_type initDriver();
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drv_type getDrvType();
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uint16_t getMaxUsteps();
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const char *stp_getstate();
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const char *stp_getdrvtype();
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void stp_chspd();
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stp_status stp_move(int32_t steps);
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void stp_stop();
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void stp_process();
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void stp_chARR(uint32_t val);
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#endif // STEPPERS_H__
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