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pref: 上电复位到指定位置

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This commit is contained in:
bmy
2024-06-10 17:42:53 +08:00
parent fd047b601c
commit 52ac4c1956
3 changed files with 11 additions and 9 deletions
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1
BC3D.ATWP
View File

@@ -18,7 +18,6 @@
<ParametersSub name="RSAW" value="CAN_RSAW_1TQ"/>
<ParametersSub name="Filter_0_Mode" value="CAN_FILTER_MODE_ID_LIST"/>
<ParametersSub name="Filter_0_ID1" value="006"/>
<ParametersSub name="Filter_0_ID2" value="000"/>
<ParametersSub name="Filter_0_ID3" value="007"/>
</Parameters>
</CAN1>

2
BC3D.code-workspace
View File

@@ -30,7 +30,7 @@
"titleBar.activeBackground": "#3B3485",
"titleBar.activeForeground": "#FCFCFE"
},
"EIDE.OpenOCD.ExePath": "C:/toolchains/openocd-arterytek/bin/openocd.exe",
"EIDE.OpenOCD.ExePath": "D:/Program Files (x86)/at32_OpenOCD_V2.0.2/bin/openocd.exe",
"cortex-debug.variableUseNaturalFormat": true
}
}

17
app/by_stepper.c
View File

@@ -108,13 +108,13 @@ void by_stepper_init(void)
gpio_bits_write(GPIOB, GPIO_PINS_15, FALSE); // CLK
by_stepper_set_dir(0);
by_stepper_set_speed(STEPPER_SPEED_DIV2);
// by_stepper_set_speed(STEPPER_SPEED_DIV2);
while (gpio_input_data_bit_read(GPIOB, GPIO_PINS_10) == SET && slow_start_cnt--) {
gpio_bits_write(GPIOA, GPIO_PINS_8, by_stepper.dir ? TRUE : FALSE); // DIR
gpio_bits_write(GPIOB, GPIO_PINS_15, !gpio_output_data_bit_read(GPIOB, GPIO_PINS_15)); // CLK
DWT_Delay(40U * (uint16_t)by_stepper.speed);
}
// while (gpio_input_data_bit_read(GPIOB, GPIO_PINS_10) == SET && slow_start_cnt--) {
// gpio_bits_write(GPIOA, GPIO_PINS_8, by_stepper.dir ? TRUE : FALSE); // DIR
// gpio_bits_write(GPIOB, GPIO_PINS_15, !gpio_output_data_bit_read(GPIOB, GPIO_PINS_15)); // CLK
// DWT_Delay(40U * (uint16_t)by_stepper.speed);
// }
by_stepper_set_speed(STEPPER_SPEED_DIV1);
@@ -130,6 +130,9 @@ void by_stepper_init(void)
tmr_counter_value_set(TMR3, 0);
LOGD("by_stepper init ok");
by_stepper_set_dir(1);
by_stepper_set_position_millimeter(-160.0f);
}
void by_stepper_loop(void)
@@ -165,7 +168,7 @@ void by_stepper_loop(void)
}
} else {
by_stepper_stop(0);
by_stepper_stop(1);
}
// if (position_offset) {