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stm32samples/F0:F030,F042,F072/3steppersLB/steppers.c

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