Inc/mapping_table.h

@@ -1,19 +0,0 @@
-#include "uart_dmx.h"
-
-typedef struct{
-    uint16_t tilt;
-    uint8_t endless_rot;
-} motor_mapping_T;
-
-typedef struct{
-    motor_mapping_T channels[12];
-    uint8_t automode;
-} fixture_mapping_T;
-
-#define AUTOMODE_NO_FUNC_L 0
-#define AUTOMODE_NO_FUNC_H 4
-#define AUTOMODE_GOTO_REF_L 5
-#define AUTOMODE_GOTO_REF_H 9
-#define AUTOMODE_CLASSIC_L 10
-#define AUTOMODE_CLASSIC_H 14
-

Inc/stepper.h

@@ -12,13 +12,11 @@ typedef struct {
     uint8_t homed:1;
     uint8_t trigger_step:1;
     int16_t pos;
-    int32_t speed;
+    int16_t speed;
-    int32_t ramp_to_speed;
+    int16_t ramp_to_speed;
     uint32_t next_step;
 } stepper_T;
-
+  
-#define STEPPER_SPEED_LIMIT 300
-
 void Timer1_Init(void);
 void stepper_gpio_init();
 void do_steps();

Makefile

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

README.md

@@ -12,7 +12,7 @@
 |         |              | 006 - 126 | Forward Rotation fast -> slow  |
 |         |              | 127 - 128 | Stop                           |
 |         |              | 129 - 255 | Backward Rotation slow -> fast |
-| 36      | Auto Mode    | 000 - 004 | No function                    |
+| 31      | Auto Mode    | 000 - 004 | No function                    |
 |         |              | 005 - 010 | Go to Reference                |
 |         |              | 015 - 020 | Classic Mode                   |
 
@@ -22,4 +22,4 @@
 - BIGTREETECH Manta M8P
     - https://github.com/bigtreetech/Manta-M8P/tree/master/V1.0_V1.1/Hardware
     - https://github.com/bigtreetech/Manta-M8P
-    - https://bttwiki.com/M8P.html#product-profile
+    - https://bttwiki.com/M8P.html#product-profile

Src/stepper.c

@@ -6,11 +6,9 @@
 
 #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},
+    {.en_port=GPIOC, .en_pin=11, .dir_port=GPIOB, .dir_pin=4, .step_port=GPIOE, .step_pin=2, .home_port=GPIOF, .home_pin=3}
-    {.en_port=GPIOB, .en_pin=3, .dir_port=GPIOF, .dir_pin=11, .step_port=GPIOF, .step_pin=12, .home_port=GPIOF, .home_pin=4}
 };
 
 void set_pins(stepper_T* stp){
@@ -44,9 +42,6 @@ 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) {
@@ -93,10 +88,10 @@ void do_steps(){
                steppers[i].speed--;
 
             /* limit max speed */
-            if(steppers[i].speed >= STEPPER_SPEED_LIMIT)
+            if(steppers[i].speed >= 100)
-               steppers[i].speed=STEPPER_SPEED_LIMIT;
+               steppers[i].speed=100;
-            if(steppers[i].speed <= -STEPPER_SPEED_LIMIT)
+            if(steppers[i].speed <= -100)
-               steppers[i].speed=-STEPPER_SPEED_LIMIT;
+               steppers[i].speed=-100;
 
             /* get direction from sign */
             if(steppers[i].speed>0)
@@ -132,8 +127,7 @@ void do_steps(){
         if(steppers[i].homed){
             static uint16_t old_ramp_to_speed;
             old_ramp_to_speed = steppers[i].ramp_to_speed;
-            motor_mapping_T* tmp = &(((fixture_mapping_T*)&rxBuffer[1])->channels[i]);
+            steppers[i].ramp_to_speed = rxBuffer[1] - steppers[i].pos;
-            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;

compile_flags.txt

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