1e2fa1db8f
basic task for controlling the stepper (no accel / decel etc) works at current speed settings but long moves trigger watchdog so dropped this idea and using timer as before
45 lines
1.7 KiB
C++
45 lines
1.7 KiB
C++
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void stepper_init();
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void stepper_setTargetSteps(int steps);
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void stepper_toggleDirection();
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//control stepper without timer (software)
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void task_stepperCtrlSw(void *pvParameter);
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void stepperSw_setTargetSteps(uint64_t target);
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//typedef struct
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//{
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// uint8_t stepPin; /** step signal pin */
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// uint8_t dirPin; /** dir signal pin */
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// timer_group_t timer_group; /** timer group, useful if we are controlling more than 2 steppers */
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// timer_idx_t timer_idx; /** timer index, useful if we are controlling 2steppers */
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// float stepAngle; /** one step angle in degrees (usually 1.8deg), used in steps per rotation calculation */
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//} stepper_config_t;
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//
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//typedef struct
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//{
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// uint32_t stepInterval = 40000; // step interval in ns/25
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// double targetSpeed = 0; // target speed in steps/s
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// double currentSpeed = 0;
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// double accInc = 0;
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// double decInc = 0;
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// uint32_t stepCnt = 0; // step counter
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// uint32_t accEnd; // when to end acc and start coast
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// uint32_t coastEnd; // when to end coast and start decel
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// uint32_t stepsToGo = 0; // steps we need to take
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// float speed = 100; // speed in rad/s
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// float acc = 100; // acceleration in rad*second^-2
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// float dec = 100; // decceleration in rad*second^-2
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// uint32_t accSteps = 0;
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// uint32_t decSteps = 0;
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// uint8_t status = DISABLED;
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// bool dir = CW;
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// bool runInfinite = false;
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// uint16_t stepsPerRot; // steps per one revolution, 360/stepAngle * microstep
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// uint16_t stepsPerMm = 0; /** Steps per one milimiter, if the motor is performing linear movement */
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//} ctrl_var_t;
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