ejung/parafraktor-stm32
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

defines

Browse Source
This commit is contained in:
Eggert Jung
2025-06-03 23:28:11 +02:00
parent 0b87524719
commit 91d3966d88
4 changed files with 12 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
Inc/stepper.h
View File

@@ -17,7 +17,9 @@ typedef struct {
uint32_t next_step; uint32_t next_step;
} stepper_T; } stepper_T;
#define STEPPERS_MAX_SPEED 300 #define STEPPER_MAX_SPEED 600
#define STEPPER_STEPS_PER_ROTATION 3200
void Timer1_Init(void); void Timer1_Init(void);
void stepper_gpio_init(); void stepper_gpio_init();

2
Makefile
View File

@@ -22,7 +22,7 @@ TARGET = Parafraktor
# debug build? # debug build?
DEBUG = 1 DEBUG = 1
# optimization # optimization
OPT = -O0 OPT = -Og
####################################### #######################################

13
Src/stepper.c
View File

@@ -89,10 +89,10 @@ void do_steps(){
steppers[i].speed--; steppers[i].speed--;
/* limit max speed */ /* limit max speed */
if(steppers[i].speed >= STEPPERS_MAX_SPEED) if(steppers[i].speed >= STEPPER_MAX_SPEED)
steppers[i].speed=STEPPERS_MAX_SPEED; steppers[i].speed=STEPPER_MAX_SPEED;
if(steppers[i].speed <= -STEPPERS_MAX_SPEED) if(steppers[i].speed <= -STEPPER_MAX_SPEED)
steppers[i].speed=-STEPPERS_MAX_SPEED; steppers[i].speed=-STEPPER_MAX_SPEED;
/* get direction from sign */ /* get direction from sign */
if(steppers[i].speed>0) if(steppers[i].speed>0)
@@ -122,7 +122,7 @@ void do_steps(){
steppers[i].next_step = timer + 1; 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){ if(steppers[i].homed){
@@ -130,7 +130,8 @@ void do_steps(){
old_ramp_to_speed = steppers[i].ramp_to_speed; old_ramp_to_speed = steppers[i].ramp_to_speed;
int32_t swapped_val = rxBuffer[2*i+1]<<8 | (rxBuffer[2*i+2]&0xFF); 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) if(old_ramp_to_speed == 0 && steppers[i].ramp_to_speed != 0)
steppers[i].trigger_step = 1; steppers[i].trigger_step = 1;

2
compile_flags.txt
View File

@@ -12,7 +12,7 @@
-IDrivers/SystemView/Config -IDrivers/SystemView/Config
-IDrivers/SystemView/SEGGER -IDrivers/SystemView/SEGGER
-IDrivers/SystemView/SYSVIEW -IDrivers/SystemView/SYSVIEW
-O0 -Og
-Wall -Wall
-fdata-sections -fdata-sections
-ffunction-sections -ffunction-sections