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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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17
app/by_stepper.c
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@@ -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) {