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implemented the calculation for the time that has to pass to make one step

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This commit is contained in:
Gregor Wüst 2021-02-13 15:25:02 +01:00
parent c06ae5e360
commit edf029fd31
3 changed files with 66 additions and 70 deletions
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4
stepper/steppermotor_F401RE/Core/Inc/stm32f4xx_hal_conf.h
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@ -80,13 +80,13 @@
/* #define HAL_SD_MODULE_ENABLED */ /* #define HAL_SD_MODULE_ENABLED */
#define HAL_SPI_MODULE_ENABLED #define HAL_SPI_MODULE_ENABLED
#define HAL_TIM_MODULE_ENABLED #define HAL_TIM_MODULE_ENABLED
/* #define HAL_UART_MODULE_ENABLED */ #define HAL_UART_MODULE_ENABLED */
/* #define HAL_USART_MODULE_ENABLED */ /* #define HAL_USART_MODULE_ENABLED */
/* #define HAL_IRDA_MODULE_ENABLED */ /* #define HAL_IRDA_MODULE_ENABLED */
/* #define HAL_SMARTCARD_MODULE_ENABLED*/ /* #define HAL_SMARTCARD_MODULE_ENABLED*/
/* #define HAL_WWDG_MODULE_ENABLED */ /* #define HAL_WWDG_MODULE_ENABLED */
#define HAL_CORTEX_MODULE_ENABLED #define HAL_CORTEX_MODULE_ENABLED
/* #define HAL_PCD_MODULE_ENABLED */ /* #define HAL_PCD_MODULE_aENABLED */
/* #define HAL_HCD_MODULE_ENABLED */ /* #define HAL_HCD_MODULE_ENABLED */

126
stepper/steppermotor_F401RE/Core/Src/main.c
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@ -46,8 +46,10 @@
/* Private define ------------------------------------------------------------*/ /* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/ /* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/ /* Private variables ---------------------------------------------------------*/
UART_HandleTypeDef huart2;
static volatile uint16_t gLastError; static volatile uint16_t gLastError;
static volatile bool gButtonPressed = FALSE; static volatile bool gButtonPressed = FALSE;
static volatile float sunWindow;
/* Initialization parameters. */ /* Initialization parameters. */
l6208_Init_t initDeviceParameters = l6208_Init_t initDeviceParameters =
@ -79,88 +81,76 @@ void ButtonHandler(void);
*/ */
int main(void) int main(void)
{ {
int32_t pos; int32_t pos;
uint32_t freqPwm; uint32_t freqPwm, timeToNextStep;
/* STM32xx HAL library initialization */ /* STM32xx HAL library initialization */
HAL_Init(); HAL_Init();
/* Configure the system clock */
SystemClock_Config();
//----- Init of the Motor control library
/* Set the L6208 library to use 1 device */
BSP_MotorControl_SetNbDevices(BSP_MOTOR_CONTROL_BOARD_ID_L6208, 1);
/* When BSP_MotorControl_Init is called with NULL pointer, */
/* the L6208 parameters are set with the predefined values from file */
/* l6208_target_config.h, otherwise the parameters are set using the */
/* initDeviceParameters structure values. */
BSP_MotorControl_Init(BSP_MOTOR_CONTROL_BOARD_ID_L6208, NULL);
//BSP_MotorControl_Init(BSP_MOTOR_CONTROL_BOARD_ID_L6208, &initDeviceParameters);
/* Attach the function MyFlagInterruptHandler (defined below) to the flag interrupt */
BSP_MotorControl_AttachFlagInterrupt(MyFlagInterruptHandler);
/* Attach the function MyErrorHandler (defined below) to the error Handler*/ /* Configure the system clock */
BSP_MotorControl_AttachErrorHandler(MyErrorHandler); SystemClock_Config();
//----- Configure Button for user interaction //----- Init of the Motor control library
/* Set the L6208 library to use 1 device */
BSP_MotorControl_SetNbDevices(BSP_MOTOR_CONTROL_BOARD_ID_L6208, 1);
/* When BSP_MotorControl_Init is called with NULL pointer, */
/* the L6208 parameters are set with the predefined values from file */
/* l6208_target_config.h, otherwise the parameters are set using the */
/* initDeviceParameters structure values. */
BSP_MotorControl_Init(BSP_MOTOR_CONTROL_BOARD_ID_L6208, NULL);
//BSP_MotorControl_Init(BSP_MOTOR_CONTROL_BOARD_ID_L6208, &initDeviceParameters);
/* Set Systick Interrupt priority highest to ensure no lock by using HAL_Delay */ /* Attach the function MyFlagInterruptHandler (defined below) to the flag interrupt */
HAL_NVIC_SetPriority(SysTick_IRQn, 0x0, 0x0); BSP_MotorControl_AttachFlagInterrupt(MyFlagInterruptHandler);
/* Configure KEY Button */
BSP_PB_Init(BUTTON_KEY, BUTTON_MODE_EXTI);
//----- Disable the power bridges after initialization of the L6208 device
/* Disable the power bridges after initialization */
BSP_MotorControl_CmdDisable(0);
/* Wait for 2 seconds */
HAL_Delay(2000);
//----- Get the PWM frequency used for the VREFA and VREFB voltage generation /* Attach the function MyErrorHandler (defined below) to the error Handler*/
BSP_MotorControl_AttachErrorHandler(MyErrorHandler);
freqPwm = BSP_MotorControl_GetBridgeInputPwmFreq(0);
//----- Set the PWM frequency used for the VREFA and VREFB voltage generation //----- Configure Button for user interaction
BSP_MotorControl_SetBridgeInputPwmFreq(0, freqPwm>>1);
pos = BSP_MotorControl_GetPosition(0); /* Set Systick Interrupt priority highest to ensure no lock by using HAL_Delay */
HAL_NVIC_SetPriority(SysTick_IRQn, 0x0, 0x0);
BSP_MotorControl_SetHome(0, pos); /* Configure KEY Button */
BSP_PB_Init(BUTTON_KEY, BUTTON_MODE_EXTI);
//BSP_MotorControl_Move(0, FORWARD, 4000); //----- Disable the power bridges after initialization of the L6208 device
//BSP_MotorControl_WaitWhileActive(0);
//HAL_Delay(2000);
//BSP_MotorControl_Move(0, BACKWARD, 4000);
//BSP_MotorControl_WaitWhileActive(0);
//BSP_MotorControl_SoftStop(0); /* Disable the power bridges after initialization */
BSP_MotorControl_CmdDisable(0);
BSP_MotorControl_SelectStepMode(0, STEP_MODE_FULL); /* Wait for 2 seconds */
HAL_Delay(2000);
/* Infinite loop */ //----- Get the PWM frequency used for the VREFA and VREFB voltage generation
freqPwm = BSP_MotorControl_GetBridgeInputPwmFreq(0);
//----- Set the PWM frequency used for the VREFA and VREFB voltage generation
BSP_MotorControl_SetBridgeInputPwmFreq(0, freqPwm>>1);
pos = BSP_MotorControl_GetPosition(0);
BSP_MotorControl_SetHome(0, pos);
timeToNextStep = (float)(sunWindow / 100) * 60 * 60 * 1000;
BSP_MotorControl_SelectStepMode(0, STEP_MODE_FULL);
//BSP_MotorControl_Move(0, FORWARD, 25);
//BSP_MotorControl_WaitWhileActive(0);
/* Infinite loop */
while(1) while(1)
{ {
if (gButtonPressed) if (gButtonPressed)
{ {
gButtonPressed = FALSE; gButtonPressed = FALSE;
BSP_MotorControl_Move(0, FORWARD, 25); // Sleep for timeToNextStep
BSP_MotorControl_WaitWhileActive(0); // Shut down motor for timeToNextStep
BSP_MotorControl_Move(0, FORWARD, 25); // Wake up F401RE and motor after timeToNextStep
BSP_MotorControl_WaitWhileActive(0); // Make the Step
BSP_MotorControl_Move(0, FORWARD, 25);
BSP_MotorControl_WaitWhileActive(0);
BSP_MotorControl_Move(0, FORWARD, 25);
BSP_MotorControl_WaitWhileActive(0);
HAL_Delay(2000);
} }
BSP_MotorControl_GoHome(0); BSP_MotorControl_GoHome(0);
BSP_MotorControl_WaitWhileActive(0); BSP_MotorControl_WaitWhileActive(0);
@ -210,6 +200,12 @@ void ButtonHandler(void)
HAL_NVIC_ClearPendingIRQ(KEY_BUTTON_EXTI_IRQn); HAL_NVIC_ClearPendingIRQ(KEY_BUTTON_EXTI_IRQn);
} }
void transmit_uart(char *string){
uint8_t len = strlen(string);
HAL_UART_Transmit(&huart2, (uint8_t*) string, len, 200);
}
#ifdef USE_FULL_ASSERT #ifdef USE_FULL_ASSERT
/** /**

6
stepper/steppermotor_F401RE/Release/Core/Src/main.su
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@ -1,4 +1,4 @@
main.c:188:6:MyErrorHandler 0 static main.c:187:6:MyErrorHandler 0 static
main.c:177:6:MyFlagInterruptHandler 0 static main.c:176:6:MyFlagInterruptHandler 0 static
main.c:80:5:main 16 static main.c:80:5:main 16 static
main.c:205:6:ButtonHandler 8 static main.c:204:6:ButtonHandler 8 static