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feat: 增加can总线和步进电机指令绑定

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bmy
2024-05-01 12:16:55 +08:00
parent 7ef6f87c84
commit fd047b601c
15 changed files with 190 additions and 345 deletions
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52
app/by_stepper.c
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@@ -22,6 +22,7 @@ int64_t position_aim = 0;
int64_t position_offset = 0;
uint8_t running_flag = 0;
uint8_t reset_flag = 0;
// TODO 是否增加一个动作列表？一般都比较简单吧
@@ -50,6 +51,8 @@ void by_stepper_set_speed(stepper_speed_t speed)
void by_stepper_run(void)
{
// 根据预设条件发送脉冲
gpio_bits_write(GPIOA, GPIO_PINS_9, FALSE); // EN
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);
@@ -66,6 +69,14 @@ void by_stepper_stop(uint8_t hold)
void by_stepper_set_position_millimeter(float distance)
{
if (!running_flag) {
// 设置距离较小时直接复位，减少累计定位误差
if (distance < 3 && distance > -3) {
reset_flag = 1;
running_flag = 1;
return;
}
gpio_bits_write(GPIOA, GPIO_PINS_9, FALSE); // EN
position_aim = (int64_t)(distance * ENCODER_PULSE_PER_MILLIMETER);
position_offset = position_aim - position;
running_flag = 1;
@@ -75,6 +86,7 @@ void by_stepper_set_position_millimeter(float distance)
void by_stepper_add_position_millimeter(float distance)
{
if (!running_flag) {
gpio_bits_write(GPIOA, GPIO_PINS_9, FALSE); // EN
position_aim = position + (int64_t)(distance * ENCODER_PULSE_PER_MILLIMETER);
position_offset = position_aim - position;
running_flag = 1;
@@ -112,7 +124,9 @@ void by_stepper_init(void)
DWT_Delay(40U * (uint16_t)by_stepper.speed);
}
position = 0; // 位置归零
position = 0; // 位置归零
position_aim = 0;
position_offset = 0;
tmr_counter_value_set(TMR3, 0);
LOGD("by_stepper init ok");
@@ -125,21 +139,31 @@ void by_stepper_loop(void)
tmr_counter_value_set(TMR3, 0);
if (running_flag) {
if (position_offset > 0) {
by_stepper_set_dir(0);
by_stepper_run();
} else if (position_offset < 0) {
by_stepper_set_dir(1);
by_stepper_run();
if (reset_flag) // 复位模式
{
by_stepper_init();
running_flag = 0;
reset_flag = 0;
} else // 正常模式
{
if (position_offset > 0) {
by_stepper_set_dir(0);
by_stepper_run();
} else if (position_offset < 0) {
by_stepper_set_dir(1);
by_stepper_run();
}
// 当定位误差小于阈值时，停止运动。否则重新计算定位误差
if (abs_s64(position_aim - position) < ENCODER_ERROR_THRESHOLD) {
running_flag = 0;
position_offset = 0;
} else {
position_offset = position_aim - position;
}
}
// 当定位误差小于阈值时，停止运动。否则重新计算定位误差
if (abs_s64(position_aim - position) < ENCODER_ERROR_THRESHOLD) {
running_flag = 0;
position_offset = 0;
} else {
position_offset = position_aim - position;
}
} else {
by_stepper_stop(0);
}