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30 lines
618 B
C
30 lines
618 B
C
#include "stm32g0b1xx.h"
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#include <stdint.h>
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typedef struct {
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GPIO_TypeDef* en_port;
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uint8_t en_pin;
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GPIO_TypeDef* dir_port;
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uint8_t dir_pin;
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GPIO_TypeDef* step_port;
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uint8_t step_pin;
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GPIO_TypeDef* home_port;
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uint8_t home_pin;
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uint8_t homed:1;
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uint8_t trigger_step:1;
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int32_t home_position;
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int32_t pos;
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int32_t endless_rot_integrator;
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int32_t speed;
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int32_t ramp_to_speed;
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uint32_t next_step;
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} stepper_T;
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#define STEPPER_MAX_SPEED 400
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#define STEPPER_STEPS_PER_ROTATION 3200*4
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void Timer1_Init(void);
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void stepper_gpio_init();
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void do_steps();
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