btl143/BC3D-firmware
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Author SHA1 Message Date
bmy
610bff5e47 pref: 适当增加速度 2024-07-09 02:13:32 +08:00
bmy
c286c90928 pref: 上电复位到指定位置 2024-06-10 17:47:09 +08:00
1 changed files with 11 additions and 5 deletions
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14
app/by_stepper.c
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@@ -76,6 +76,10 @@ void by_stepper_set_position_millimeter(float distance)
return; return;
} }
if (distance > 170) {
distance = 170;
}
gpio_bits_write(GPIOA, GPIO_PINS_9, FALSE); // EN gpio_bits_write(GPIOA, GPIO_PINS_9, FALSE); // EN
position_aim = (int64_t)(distance * ENCODER_PULSE_PER_MILLIMETER); position_aim = (int64_t)(distance * ENCODER_PULSE_PER_MILLIMETER);
position_offset = position_aim - position; position_offset = position_aim - position;
@@ -88,6 +92,9 @@ void by_stepper_add_position_millimeter(float distance)
if (!running_flag) { if (!running_flag) {
gpio_bits_write(GPIOA, GPIO_PINS_9, FALSE); // EN gpio_bits_write(GPIOA, GPIO_PINS_9, FALSE); // EN
position_aim = position + (int64_t)(distance * ENCODER_PULSE_PER_MILLIMETER); position_aim = position + (int64_t)(distance * ENCODER_PULSE_PER_MILLIMETER);
if (position_aim > 170 * ENCODER_PULSE_PER_MILLIMETER) {
position_aim = 170 * ENCODER_PULSE_PER_MILLIMETER;
}
position_offset = position_aim - position; position_offset = position_aim - position;
running_flag = 1; running_flag = 1;
} }
@@ -116,12 +123,12 @@ void by_stepper_init(void)
// DWT_Delay(40U * (uint16_t)by_stepper.speed); // DWT_Delay(40U * (uint16_t)by_stepper.speed);
// } // }
by_stepper_set_speed(STEPPER_SPEED_DIV4); by_stepper_set_speed(STEPPER_SPEED_DIV1);
while (gpio_input_data_bit_read(GPIOB, GPIO_PINS_10) == SET) { while (gpio_input_data_bit_read(GPIOB, GPIO_PINS_10) == SET) {
gpio_bits_write(GPIOA, GPIO_PINS_8, by_stepper.dir ? TRUE : FALSE); // DIR 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 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); DWT_Delay(30U * (uint16_t)by_stepper.speed);
} }
position = 0; // 位置归零 position = 0; // 位置归零
@@ -131,8 +138,7 @@ void by_stepper_init(void)
LOGD("by_stepper init ok"); LOGD("by_stepper init ok");
by_stepper_set_dir(1); by_stepper_set_position_millimeter(160.0f);
by_stepper_set_position_millimeter(-160.0f);
} }
void by_stepper_loop(void) void by_stepper_loop(void)