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This commit is contained in:
Eggert Jung
2025-06-08 17:15:24 +02:00
parent 324b69117a
commit c7d14cf1a4
2 changed files with 59 additions and 26 deletions
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2
Inc/stepper.h
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@@ -22,7 +22,7 @@ typedef struct {
#define STEPPER_MAX_SPEED 400 #define STEPPER_MAX_SPEED 400
#define STEPPER_STEPS_PER_ROTATION 3200 #define STEPPER_STEPS_PER_ROTATION 3200*4
void Timer1_Init(void); void Timer1_Init(void);
void stepper_gpio_init(); void stepper_gpio_init();

83
Src/stepper.c
View File

@@ -9,8 +9,13 @@
#include "address_selector.h" #include "address_selector.h"
stepper_T steppers[] = { 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, .home_position=1000}, {.en_port=GPIOC, .en_pin=11, .dir_port=GPIOB, .dir_pin=4, .step_port=GPIOE, .step_pin=2, .home_port=GPIOB, .home_pin=14, .home_position=0, .homed = 0},
{.en_port=GPIOB, .en_pin=3, .dir_port=GPIOF, .dir_pin=11, .step_port=GPIOF, .step_pin=12, .home_port=GPIOF, .home_pin=4, .home_position=0} {.en_port=GPIOB, .en_pin=3, .dir_port=GPIOF, .dir_pin=11, .step_port=GPIOF, .step_pin=12, .home_port=GPIOB, .home_pin=13, .home_position=0, .homed = 0},
{.en_port=GPIOF, .en_pin=10, .dir_port=GPIOD, .dir_pin=6, .step_port=GPIOD, .step_pin=7, .home_port=GPIOF, .home_pin=7, .home_position=0, .homed = 0},
{.en_port=GPIOD, .en_pin=5, .dir_port=GPIOD, .dir_pin=2, .step_port=GPIOD, .step_pin=3, .home_port=GPIOB, .home_pin=12, .home_position=0, .homed = 0},
{.en_port=GPIOD, .en_pin=1, .dir_port=GPIOC, .dir_pin=8, .step_port=GPIOC, .step_pin=9, .home_port=GPIOE, .home_pin=7, .home_position=0, .homed = 0},
{.en_port=GPIOD, .en_pin=15, .dir_port=GPIOD, .dir_pin=9, .step_port=GPIOD, .step_pin=11, .home_port=GPIOB, .home_pin=11, .home_position=0, .homed = 0},
//{.en_port=GPIOA, .en_pin=15, .dir_port=GPIOA, .dir_pin=14, .step_port=GPIOA, .step_pin=10, .home_port=GPIOB, .home_pin=11, .home_position=0, .homed = 1},
}; };
void set_pins(stepper_T* stp){ void set_pins(stepper_T* stp){
@@ -30,14 +35,18 @@ void set_pins(stepper_T* stp){
// home switch // home switch
stp->home_port->MODER &= ~(0x3 << (stp->home_pin * 2)); stp->home_port->MODER &= ~(0x3 << (stp->home_pin * 2));
stp->home_port->PUPDR &= ~(0x3 << (stp->home_pin * 2));
stp->home_port->PUPDR |= (0x1 << (stp->home_pin * 2));
// make shure stepper is enabled (active low) // make shure stepper is enabled (active low)
stp->en_port->BSRR |= (0x1 << (stp->en_pin + 16)); stp->en_port->BSRR |= (0x1 << (stp->en_pin + 16));
} }
void stepper_gpio_init(){ void stepper_gpio_init(){
RCC->IOPENR |= RCC_IOPENR_GPIOAEN;
RCC->IOPENR |= RCC_IOPENR_GPIOBEN; RCC->IOPENR |= RCC_IOPENR_GPIOBEN;
RCC->IOPENR |= RCC_IOPENR_GPIOCEN; RCC->IOPENR |= RCC_IOPENR_GPIOCEN;
RCC->IOPENR |= RCC_IOPENR_GPIODEN;
RCC->IOPENR |= RCC_IOPENR_GPIOEEN; RCC->IOPENR |= RCC_IOPENR_GPIOEEN;
RCC->IOPENR |= RCC_IOPENR_GPIOFEN; RCC->IOPENR |= RCC_IOPENR_GPIOFEN;
@@ -76,6 +85,7 @@ void TIM1_BRK_UP_TRG_COM_IRQHandler(void) {
void do_steps(){ void do_steps(){
static uint32_t timer = 0; static uint32_t timer = 0;
int16_t rotation_speed = 0;
timer++; timer++;
for(uint8_t i=0; i<(sizeof(steppers)/sizeof(stepper_T)); i++){ for(uint8_t i=0; i<(sizeof(steppers)/sizeof(stepper_T)); i++){
@@ -123,31 +133,38 @@ void do_steps(){
steppers[i].next_step = timer + 1; steppers[i].next_step = timer + 1;
} }
printf("motor[%d]: pos %ld\trot: %ld\tspeed %ld\n", i, steppers[i].pos, steppers[i].endless_rot_integrator, steppers[i].speed); //printf("motor[%d]: pos %ld\trot: %ld\tspeed %ld\n", i, steppers[i].pos, steppers[i].endless_rot_integrator, steppers[i].speed);
//printf("rotation speed: %d\n", rotation_speed);
} }
if(steppers[i].homed){ if(steppers[i].homed){
static uint16_t old_ramp_to_speed; static uint16_t old_ramp_to_speed;
old_ramp_to_speed = steppers[i].ramp_to_speed; old_ramp_to_speed = steppers[i].ramp_to_speed;
uint8_t raw_endless = rxBuffer[6*i + DMX_ADDRESS + 2]; uint8_t raw_endless = rxBuffer[3*i + DMX_ADDRESS + 2];
int16_t rotation_speed;
///* deadzone on top and bottom */ /* deadzone on top and bottom */
//if(raw_endless >= 5 && raw_endless <= 250) { if(raw_endless >= 5 && raw_endless <= 250) {
// rotation_speed = raw_endless - 127; rotation_speed = raw_endless - 127;
// /* dead zone in the middle */ /* dead zone in the middle */
// if(rotation_speed >= 5) if(rotation_speed >= 5)
// rotation_speed -= 5; rotation_speed -= 5;
// else if(rotation_speed <= -5) else if(rotation_speed <= -5)
// rotation_speed += 5; rotation_speed += 5;
// else else
// rotation_speed = 0; rotation_speed = 0;
//} }
//else{ else{
// rotation_speed = 0; rotation_speed = 0;
//} }
if(steppers[i].pos == STEPPER_STEPS_PER_ROTATION+1){
steppers[i].pos = 1;
}
if(steppers[i].pos == -1){
steppers[i].pos = STEPPER_STEPS_PER_ROTATION-1;
}
///* handle endless rotation offset and wraparound */ ///* handle endless rotation offset and wraparound */
//if(rotation_speed){ //if(rotation_speed){
@@ -166,11 +183,20 @@ void do_steps(){
//else //else
// steppers[i].endless_rot_integrator = 0; // steppers[i].endless_rot_integrator = 0;
if(rotation_speed){
int32_t swapped_val = rxBuffer[6*i + DMX_ADDRESS]<<8 | (rxBuffer[6*i+DMX_ADDRESS+1]&0xFF); steppers[i].ramp_to_speed = rotation_speed;
//swapped_val += steppers[i].endless_rot_integrator; }
int32_t scaled_steps = swapped_val * STEPPER_STEPS_PER_ROTATION / UINT16_MAX; else{
steppers[i].ramp_to_speed = scaled_steps - steppers[i].pos; int32_t swapped_val = rxBuffer[3*i + DMX_ADDRESS]<<8 | (rxBuffer[3*i+DMX_ADDRESS+1]&0xFF);
//swapped_val += steppers[i].endless_rot_integrator;
int32_t scaled_steps = swapped_val * STEPPER_STEPS_PER_ROTATION / UINT16_MAX;
steppers[i].ramp_to_speed = scaled_steps - steppers[i].pos;
//static int cnt = 0;
//if(i==5 && ++cnt==10000){
// printf("swapped_val[%d]: %d\n", i, swapped_val);
// cnt=0;
//}
}
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;
@@ -183,9 +209,16 @@ void do_steps(){
steppers[i].ramp_to_speed = 0; steppers[i].ramp_to_speed = 0;
printf("homed %d\n", i); printf("homed %d\n", i);
} }
else if(steppers[i].pos == 2*STEPPER_STEPS_PER_ROTATION){
steppers[i].pos = 0;
steppers[i].homed = 1;
steppers[i].speed = 0;
steppers[i].ramp_to_speed = 0;
printf("cant home %d, setting 0 now\n", i);
}
else{ else{
if(steppers[i].ramp_to_speed == 0){ if(steppers[i].ramp_to_speed == 0){
steppers[i].ramp_to_speed=10; steppers[i].ramp_to_speed=80;
steppers[i].trigger_step = 1; // trigger first step steppers[i].trigger_step = 1; // trigger first step
} }
} }