mirror of
https://github.com/eddyem/stm32samples.git
synced 2025-12-06 18:55:13 +03:00
87 lines
3.0 KiB
C
87 lines
3.0 KiB
C
/*
|
|
* This file is part of the multistepper project.
|
|
* Copyright 2023 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/>.
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include "hardware.h"
|
|
|
|
#ifndef _U_
|
|
#define _U_ __attribute__((unused))
|
|
#endif
|
|
|
|
// limiting values
|
|
#define MICROSTEPSMAX (512)
|
|
// (STEPS per second^2)
|
|
#define ACCELMAXSTEPS (1000)
|
|
// max encoder steps per rev
|
|
#define MAXENCREV (100000)
|
|
|
|
// register with flash size (in blocks)
|
|
#ifndef FLASH_SIZE_REG
|
|
#define FLASH_SIZE_REG ((uint32_t)0x1FFFF7CC)
|
|
#endif
|
|
|
|
#define FLASH_SIZE *((uint16_t*)FLASH_SIZE_REG)
|
|
|
|
#define MOTFLAGS_AMOUNT 7
|
|
|
|
enum{
|
|
DRVTYPE_SIMPLE,
|
|
DRVTYPE_UART,
|
|
DRVTYPE_SPI,
|
|
DRVTYPE_RESERVED,
|
|
DRVTYPE_AMOUNT
|
|
};
|
|
|
|
// motor flags
|
|
typedef struct{
|
|
uint8_t reverse : 1; // bit0 - reversing motor rotation
|
|
uint8_t encreverse : 1; // bit1 - reversing encoder rotation - NOT USED HERE!!!
|
|
uint8_t haveencoder : 1; // bit2 - have encoder - NOT USED HERE!!!
|
|
uint8_t donthold : 1; // bit3 - clear power @ stop (don't hold motor when stopped)
|
|
uint8_t eswinv : 1; // bit4 - inverse end-switches
|
|
uint8_t keeppos : 1; // bit5 - keep current position (as servo motor) - NOT USED HERE!!!
|
|
uint8_t drvtype : 2; // bits 6,7 - driver type (0 - only step/dir, 1 - UART, 2 - SPI, 3 - reserved)
|
|
} motflags_t;
|
|
|
|
/*
|
|
* struct to save user configurations
|
|
*/
|
|
typedef struct __attribute__((packed, aligned(4))){
|
|
uint16_t userconf_sz; // "magick number" SHOULD ALWAYS BE FIRST!!!1111
|
|
uint16_t CANspeed; // default CAN speed
|
|
uint16_t CANID; // identifier
|
|
uint32_t maxsteps[MOTORSNO]; // maximal amount of steps
|
|
uint16_t microsteps[MOTORSNO]; // microsteps amount per step
|
|
uint16_t accel[MOTORSNO]; // acceleration/deceleration (steps/s^2)
|
|
uint16_t maxspd[MOTORSNO]; // max motor speed (steps per second)
|
|
uint16_t minspd[MOTORSNO]; // min motor speed (steps per second)
|
|
motflags_t motflags[MOTORSNO]; // motor's flags
|
|
uint8_t ESW_reaction[MOTORSNO]; // end-switches reaction (esw_react)
|
|
uint8_t motcurrent[MOTORSNO]; // IRUN as fraction of max current (1..32)
|
|
} user_conf;
|
|
|
|
extern user_conf the_conf; // global user config (read from FLASH to RAM)
|
|
|
|
// data from ld-file: start address of storage
|
|
|
|
void flashstorage_init();
|
|
int store_userconf();
|
|
int erase_storage(int npage);
|
|
|