ejung/parafraktor-stm32
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defines

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Eggert Jung
2025-06-03 23:28:11 +02:00
parent 0b87524719
commit 91d3966d88
4 changed files with 12 additions and 9 deletions
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13
Src/stepper.c
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@@ -89,10 +89,10 @@ void do_steps(){
steppers[i].speed--;
/* limit max speed */
if(steppers[i].speed >= STEPPERS_MAX_SPEED)
steppers[i].speed=STEPPERS_MAX_SPEED;
if(steppers[i].speed <= -STEPPERS_MAX_SPEED)
steppers[i].speed=-STEPPERS_MAX_SPEED;
if(steppers[i].speed >= STEPPER_MAX_SPEED)
steppers[i].speed=STEPPER_MAX_SPEED;
if(steppers[i].speed <= -STEPPER_MAX_SPEED)
steppers[i].speed=-STEPPER_MAX_SPEED;
/* get direction from sign */
if(steppers[i].speed>0)
@@ -122,7 +122,7 @@ void do_steps(){
steppers[i].next_step = timer + 1;
}
printf("motor[%d]: pos %ld\tspeed %d\n", i, steppers[i].pos, steppers[i].speed);
printf("motor[%d]: pos %ld\tspeed %ld\n", i, steppers[i].pos, steppers[i].speed);
}
if(steppers[i].homed){
@@ -130,7 +130,8 @@ void do_steps(){
old_ramp_to_speed = steppers[i].ramp_to_speed;
int32_t swapped_val = rxBuffer[2*i+1]<<8 | (rxBuffer[2*i+2]&0xFF);
steppers[i].ramp_to_speed = swapped_val - steppers[i].pos;
int32_t scaled_steps = swapped_val * STEPPER_STEPS_PER_ROTATION / UINT16_MAX;
steppers[i].ramp_to_speed = scaled_steps - steppers[i].pos;
if(old_ramp_to_speed == 0 && steppers[i].ramp_to_speed != 0)
steppers[i].trigger_step = 1;