pref: 适当增加速度

BC3D.ATWP

@@ -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>

BC3D.code-workspace

@@ -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
     }
 }

app/by_stepper.c

@@ -76,6 +76,10 @@ void by_stepper_set_position_millimeter(float distance)
       return;
     }
 
+    if (distance > 170) {
+      distance = 170;
+    }
+
     gpio_bits_write(GPIOA, GPIO_PINS_9, FALSE); // EN
     position_aim    = (int64_t)(distance * ENCODER_PULSE_PER_MILLIMETER);
     position_offset = position_aim - position;
@@ -87,7 +91,10 @@ 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_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;
     running_flag    = 1;
   }
@@ -108,20 +115,20 @@ 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_DIV4);
+  by_stepper_set_speed(STEPPER_SPEED_DIV1);
 
   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(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
@@ -130,6 +137,8 @@ void by_stepper_init(void)
   tmr_counter_value_set(TMR3, 0);
 
   LOGD("by_stepper init ok");
+
+  by_stepper_set_position_millimeter(160.0f);
 }
 
 void by_stepper_loop(void)