mirror of
https://github.com/eddyem/stm32samples.git
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90 lines
3.0 KiB
C
90 lines
3.0 KiB
C
/*
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* This file is part of the multistepper project.
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* Copyright 2023 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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#include <stm32f3.h>
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// PCLK frequency
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#ifndef PCLK
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#define PCLK (48000000)
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#endif
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// motors' timer PSC = PCLK/Tfreq - 1, Tfreq=16MHz
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#define MOTORTIM_PSC (2)
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// minimal ARR value - 99 for 5000 steps per second @ 32 microsteps/step
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#define MOTORTIM_ARRMIN (99)
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// USB pullup: PA8
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#define USBPU_port GPIOA
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#define USBPU_pin (1<<8)
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#define USBPU_ON() pin_clear(USBPU_port, USBPU_pin)
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#define USBPU_OFF() pin_set(USBPU_port, USBPU_pin)
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// temporary LED: PD9
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#define LED_blink() pin_toggle(GPIOD, 1<<9)
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// Buttons amount
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#define BTNSNO (6)
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// Buttons ports & pins
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extern volatile GPIO_TypeDef* const BTNports[BTNSNO];
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extern const uint32_t BTNpins[BTNSNO];
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// state 1 - pressed, 0 - released (pin active is zero)
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#define BTN_state(x) ((BTNports[x]->IDR & BTNpins[x]) ? 0 : 1)
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// motors:
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#define MOTORSNO (8)
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extern volatile GPIO_TypeDef *ENports[MOTORSNO];
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extern const uint32_t ENpins[MOTORSNO];
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#define MOTOR_EN(x) do{ pin_clear(ENports[x], ENpins[x]); }while(0)
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#define MOTOR_DIS(x) do{ pin_set(ENports[x], ENpins[x]); }while(0)
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extern volatile GPIO_TypeDef *DIRports[MOTORSNO];
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extern const uint32_t DIRpins[MOTORSNO];
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#define MOTOR_CW(x) do{ pin_set(DIRports[x], DIRpins[x]); }while(0)
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#define MOTOR_CCW(x) do{ pin_clear(DIRports[x], DIRpins[x]); }while(0)
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// interval of velocity checking (10ms)
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#define MOTCHKINTERVAL (10)
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// maximal ticks of encoder per step
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#define MAXENCTICKSPERSTEP (100)
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// amount of full steps per revolution
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#define STEPSPERREV (200)
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// Limit switches: 2 for each motor
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#define ESWNO (2)
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// ESW ports & pins
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extern volatile GPIO_TypeDef *ESWports[MOTORSNO][ESWNO];
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extern const uint32_t ESWpins[MOTORSNO][ESWNO];
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// extpins amount
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#define EXTNO (3)
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extern volatile GPIO_TypeDef *EXTports[EXTNO];
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extern const uint32_t EXTpins[EXTNO];
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#define EXT_SET(x) do{ pin_set(EXTports[x], EXTpins[x]); }while(0)
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#define EXT_CLEAR(x) do{ pin_clear(EXTports[x], EXTpins[x]); }while(0)
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#define EXT_TOGGLE(x) do{ pin_toggle(EXTports[x], EXTpins[x]); }while(0)
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#define EXT_CHK(x) (pin_read(EXTports[x], EXTpins[x]))
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extern volatile TIM_TypeDef *mottimers[MOTORSNO];
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extern volatile uint32_t Tms;
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uint8_t ESW_state(uint8_t MOTno);
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uint8_t MSB(uint16_t val);
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void hw_setup();
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