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#include "project.h"
static unsigned motor_pos[HANDS];
//static unsigned off[HANDS];
#ifdef HBRIDGE
#define M1_A GPIO11
#define M1_A_PORT GPIOB
#define M1_B GPIO12
#define M1_B_PORT GPIOB
#define M1_C GPIO13
#define M1_C_PORT GPIOB
#define M1_D GPIO14
#define M1_D_PORT GPIOB
#else
#define M1_DIR GPIO0
#define M1_DIR_PORT GPIOB
#define M1_STEP GPIO1
#define M1_STEP_PORT GPIOB
#define M1_EN GPIO2
#define M1_EN_PORT GPIOB
#define M2_DIR GPIO10
#define M2_DIR_PORT GPIOC
#define M2_STEP GPIO11
#define M2_STEP_PORT GPIOC
#define M2_EN GPIO12
#define M2_EN_PORT GPIOC
#define ADJUST_CCW GPIO0
#define ADJUST_CCW_PORT GPIOC
#define ADJUST_CW GPIO1
#define ADJUST_CW_PORT GPIOC
#endif
#ifdef HBRIDGE
static void coils (unsigned m, int a, int b, int c, int d)
{
if (!m) return;
c ^= d;
d ^= c;
c ^= d;
#if 0
a ^= c;
c ^= a;
a ^= c;
b ^= d;
d ^= b;
b ^= d;
#endif
if (a)
SET (M1_A);
else
CLEAR (M1_A);
if (b)
SET (M1_B);
else
CLEAR (M1_B);
if (c)
SET (M1_C);
else
CLEAR (M1_C);
if (d)
SET (M1_D);
else
CLEAR (M1_D);
//printf ("Motor %d: %+d %+d\r\n", m, a - b, c - d);
}
#endif
static void step (unsigned m, int d)
{
unsigned s = motor_pos[m];
s += MOTOR_STEPS + d;
s %= MOTOR_STEPS;
#ifdef HBRIDGE
#if 0
// full step
switch (s & 3) {
case 0:
coils (m, 0, 1, 0, 1);
break;
case 1:
coils (m, 0, 1, 1, 0);
break;
case 2:
coils (m, 1, 0, 1, 0);
break;
case 3:
coils (m, 1, 0, 0, 1);
break;
}
#endif
#if 0
// half step
coils (m, !! ((s + 1) & 4), !! ((s + 6) & 4), !! ((s + 4) & 4), !! ((s + 7) & 4));
#endif
#if 1
//60deg phase
switch (s % 6) {
case 0:
coils (m, 0, 0, 1, 0);
break;
case 1:
coils (m, 1, 0, 1, 0);
break;
case 2:
coils (m, 1, 0, 0, 0);
break;
case 3:
coils (m, 0, 0, 0, 1);
break;
case 4:
coils (m, 0, 1, 0, 1);
break;
case 5:
coils (m, 0, 1, 0, 0);
break;
}
#endif
#else
if (d < 0) {
if (!m) {
SET (M1_DIR);
SET (M1_STEP);
delay_us (1);
CLEAR (M1_STEP);
} else {
SET (M2_DIR);
SET (M2_STEP);
delay_us (1);
CLEAR (M2_STEP);
}
} else if (d > 0) {
if (!m) {
CLEAR (M1_DIR);
SET (M1_STEP);
delay_us (1);
CLEAR (M1_STEP);
} else {
CLEAR (M2_DIR);
SET (M2_STEP);
delay_us (1);
CLEAR (M2_STEP);
}
}
#endif
if (!m)
BKP_DR8 = motor_pos[0] = s;
else
BKP_DR9 = motor_pos[1] = s;
}
void motor_tick (void)
{
static uint32_t blast;
unsigned i, d;
static unsigned adjusting = 0;
static unsigned zero = 8000;
unsigned hp[2];
//if ((ticks - last) < 1) return;
//last=ticks;
if ((ticks - blast) > 1000) {
if (!GET (ADJUST_CCW))
adjusting = 8000;
if (!GET (ADJUST_CW))
zero = 8000;
blast = ticks;
}
#ifndef HBRIDGE
if (adjusting) {
adjusting--;
if (adjusting) {
SET (M1_EN);
SET (M2_EN);
} else {
CLEAR (M1_EN);
CLEAR (M2_EN);
}
motor_pos[0] = motor_pos[1] = 0;
step (0, 0);
step (1, 0);
return;
}
#endif
if (zero || !hands_ready) {
if (zero) zero--;
hp[0] = 0;
hp[1] = 0;
} else {
hp[0] = hands_pos[0];
hp[1] = hands_pos[1];
}
//printf("HANDS: %d -> %d %d -> %d\r\n",hands_pos[0],motor_pos[0],hands_pos[1],motor_pos[1]);
#if 0
{
unsigned static r = 0;
r++;
r %= 6000;
if (r < 3000)
hp[0] = 0;
}
#endif
{
static unsigned s = 0;
if (!s) {
printf ("%4d %4d hp[0]=%6d mp[0]=%6d hp[1]=%6d mp[1]=%6d\r\n",
zero, adjusting, hp[0], motor_pos[0], hp[1], motor_pos[1]);
}
s++;
s %= 500;
}
for (i = 0; i < HANDS; ++i) {
d = MOTOR_STEPS;
d += hp[i];
d -= motor_pos[i];
d %= MOTOR_STEPS;
if (d) {
if (d < (MOTOR_STEPS / 2))
step (i, 1);
else
step (i, -1);
}
}
}
void motor_init (void)
{
MAP_INPUT_PU (ADJUST_CCW);
MAP_INPUT_PU (ADJUST_CW);
#ifdef HBRIDGE
MAP_OUTPUT_PP (M1_A);
MAP_OUTPUT_PP (M1_B);
MAP_OUTPUT_PP (M1_C);
MAP_OUTPUT_PP (M1_D);
#else
MAP_OUTPUT_PP (M1_EN);
MAP_OUTPUT_PP (M1_DIR);
MAP_OUTPUT_PP (M1_STEP);
MAP_OUTPUT_PP (M2_EN);
MAP_OUTPUT_PP (M2_DIR);
MAP_OUTPUT_PP (M2_STEP);
SET (M1_EN);
CLEAR (M1_STEP);
CLEAR (M1_DIR);
SET (M2_EN);
CLEAR (M2_STEP);
CLEAR (M2_DIR);
if (tmc2209_init()) {
printf ("Motor controllers failed to init, not enabling drive\n");
return;
}
CLEAR (M1_EN);
CLEAR (M2_EN);
#endif
motor_pos[0] = BKP_DR8;
motor_pos[1] = BKP_DR9;
step (0, 0);
step (1, 0);
}
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