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fix reverse dir

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This commit is contained in:
leo 2023-10-14 16:12:56 +02:00
parent 65789dd269
commit 87e7f219dd
Signed by: leo
GPG Key ID: 0DD993BFB2B307DB
2 changed files with 3 additions and 3 deletions
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2
Core/Src/home_screen.c
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@ -113,7 +113,7 @@ static void unit_home_handler(lv_event_t * e){
s->stop_at_limit = 1; s->stop_at_limit = 1;
s->stop_steps = 0; s->stop_steps = 0;
pse_sp_jog_speed(c, s, 1); pse_sp_jog_speed(c, s, 1);
pse_sp_set_dir(c, s->steps_counter < 0); pse_sp_set_dir(unit, s->steps_counter < 0);
pse_sp_start_axis(c, s); pse_sp_start_axis(c, s);
} }
} }

4
Core/Src/pse_stepper_planer.c
View File

@ -38,13 +38,13 @@ void pse_sp_stop_axis(pse_stepper_conf* conf){
void pse_sp_set_dir(pse_unit* unit, int dir){ void pse_sp_set_dir(pse_unit* unit, int dir){
pse_stepper_conf* conf = unit->stepper_conf; pse_stepper_conf* conf = unit->stepper_conf;
HAL_GPIO_WritePin(conf->DIR_GPIO_Port, conf->DIR_GPIO_Pin, unit->reversed?-dir:dir); HAL_GPIO_WritePin(conf->DIR_GPIO_Port, conf->DIR_GPIO_Pin, unit->reversed?(!dir):dir);
} }
int pse_sp_get_dir(pse_unit* unit){ int pse_sp_get_dir(pse_unit* unit){
pse_stepper_conf* conf = unit->stepper_conf; pse_stepper_conf* conf = unit->stepper_conf;
int val = HAL_GPIO_ReadPin(conf->DIR_GPIO_Port, conf->DIR_GPIO_Pin); int val = HAL_GPIO_ReadPin(conf->DIR_GPIO_Port, conf->DIR_GPIO_Pin);
return (unit->reversed?-val:val); return (unit->reversed?(!val):val);
} }
// https://en.wikipedia.org/wiki/Integer_square_root#Using_only_integer_division // https://en.wikipedia.org/wiki/Integer_square_root#Using_only_integer_division