ejung/parafraktor-stm32
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implement mapping table

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contails pointer bug
This commit is contained in:
Eggert Jung
2025-05-15 21:57:52 +02:00
parent 5253648cfb
commit 33af2cfb49
6 changed files with 38 additions and 12 deletions
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15
Src/stepper.c
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@@ -6,6 +6,7 @@
#include "SEGGER_SYSVIEW.h"
#include "uart_dmx.h"
#include "mapping_table.h"
stepper_T steppers[] = {
{.en_port=GPIOC, .en_pin=11, .dir_port=GPIOB, .dir_pin=4, .step_port=GPIOE, .step_pin=2, .home_port=GPIOF, .home_pin=3},
@@ -43,6 +44,9 @@ void stepper_gpio_init(){
for(uint8_t i=0; i<(sizeof(steppers)/sizeof(stepper_T)); i++){
set_pins(&steppers[i]);
}
steppers[0].homed = 1;
steppers[1].homed = 1;
}
void Timer1_Init(void) {
@@ -89,10 +93,10 @@ void do_steps(){
steppers[i].speed--;
/* limit max speed */
if(steppers[i].speed >= 100)
steppers[i].speed=100;
if(steppers[i].speed <= -100)
steppers[i].speed=-100;
if(steppers[i].speed >= STEPPER_SPEED_LIMIT)
steppers[i].speed=STEPPER_SPEED_LIMIT;
if(steppers[i].speed <= -STEPPER_SPEED_LIMIT)
steppers[i].speed=-STEPPER_SPEED_LIMIT;
/* get direction from sign */
if(steppers[i].speed>0)
@@ -128,7 +132,8 @@ void do_steps(){
if(steppers[i].homed){
static uint16_t old_ramp_to_speed;
old_ramp_to_speed = steppers[i].ramp_to_speed;
steppers[i].ramp_to_speed = rxBuffer[i+1] - steppers[i].pos;
motor_mapping_T* tmp = &(((fixture_mapping_T*)&rxBuffer[1])->channels[i]);
steppers[i].ramp_to_speed = tmp->tilt - steppers[i].pos;
if(old_ramp_to_speed == 0 && steppers[i].ramp_to_speed != 0)
steppers[i].trigger_step = 1;