97 lines
2.6 KiB
C
97 lines
2.6 KiB
C
/*
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* pse_stepper_planer.c
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*
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* Created on: Aug 14, 2023
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* Author: leo
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*/
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#include <stdint.h>
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#include "PSE_unit.h"
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#include "pse_stepper_planer.h"
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static int units_running = 0; // counter of currently running units, to disable interrupts when unnecessary
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static TIM_HandleTypeDef* htim; // main interrupt timer handle
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void pse_stepper_planer_tick(pse_unit* units, uint8_t units_num){
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for(int i = 0; i < units_num; i++){
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pse_stepper_conf* c = units[i].stepper_conf;
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int state;
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if(c->step_max){
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c->tick_counter %= 2;
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state = c->tick_counter;
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}
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else{
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c->tick_counter %= c->step_itvl;
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state = c->tick_counter == 0;
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}
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c->tick_counter++;
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HAL_GPIO_WritePin(c->STEP_GPIO_Port, c->STEP_GPIO_Pin, state);
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c->steps_counter += (pse_sp_get_dir(c)?1:-1) * (state?1:0);
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if(c->stopAtHome && c->steps_counter == 0){
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pse_sp_stop_axis(c);
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}
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}
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}
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void pse_sp_start_axis(pse_stepper_conf* conf){
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if(HAL_GPIO_ReadPin(conf->EN_GPIO_Port, conf->EN_GPIO_Pin) == GPIO_PIN_SET){
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if(units_running == 0)
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HAL_TIM_Base_Start_IT(htim);
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units_running++;
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}
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HAL_GPIO_WritePin(conf->EN_GPIO_Port, conf->EN_GPIO_Pin, GPIO_PIN_RESET);
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}
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void pse_sp_stop_axis(pse_stepper_conf* conf){
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if(HAL_GPIO_ReadPin(conf->EN_GPIO_Port, conf->EN_GPIO_Pin) == GPIO_PIN_RESET){
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units_running--;
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if(units_running == 0)
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HAL_TIM_Base_Stop_IT(htim);
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}
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HAL_GPIO_WritePin(conf->EN_GPIO_Port, conf->EN_GPIO_Pin, GPIO_PIN_SET);
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}
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void pse_sp_set_dir(pse_stepper_conf* conf, int dir){
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HAL_GPIO_WritePin(conf->DIR_GPIO_Port, conf->DIR_GPIO_Pin, dir);
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}
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int pse_sp_get_dir(pse_stepper_conf* conf){
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return HAL_GPIO_ReadPin(conf->DIR_GPIO_Port, conf->DIR_GPIO_Pin);
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}
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void pse_stepper_planer_compute_sps(pse_unit* unit){
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pse_stepper_conf* c = unit->stepper_conf;
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// magic constants are used to approximate pi and other multiplicatives constant as a rationnal
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uint64_t numerator = (uint64_t)1 * unit->syringe->diameter * unit->syringe->diameter * PSE_STEPPER_INTERRUPT_RATE * PSE_STEPPER_SCREW_PITCH;
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uint64_t denominator = (uint64_t)21220209 * unit->flow * PSE_STEPPER_STEPS_PER_ROTATION;
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c->step_itvl = numerator / denominator;
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}
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void pse_sp_start_all(pse_unit* units, int units_num){
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HAL_TIM_Base_Start_IT(htim);
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for(int i = 0; i < units_num; i++){
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if(units[i].enabled){
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pse_sp_start_axis(units[i].stepper_conf);
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units_running++;
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}
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}
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}
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void pse_sp_stop_all(pse_unit* units, int units_num){
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for(int i = 0; i < units_num; i++){
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if(units[i].enabled)
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pse_sp_stop_axis(units[i].stepper_conf);
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}
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HAL_TIM_Base_Stop_IT(htim);
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units_running = 0;
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}
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void pse_sp_set_timer(TIM_HandleTypeDef* tim){
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htim = tim;
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}
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