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andrea
2026-04-15 23:12:13 +02:00
parent e2accf6ffa
commit 60536ed738
96 changed files with 357096 additions and 305622 deletions
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41
workspace/AUTOM10/Core/Src/pwm.c
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@@ -14,7 +14,8 @@ extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim3;
extern TIM_HandleTypeDef htim4;
extern volatile uint8_t rtramp[4];
extern uint8_t mrampstart[4];
bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel)
{
HAL_TIM_ChannelStateTypeDef chState = HAL_TIM_GetChannelState(htim, Channel);
@@ -242,3 +243,41 @@ void SetMotPerc(uint8_t mot,uint8_t dir,uint8_t perc){
}
}
uint8_t ramp(uint8_t mot,uint8_t dir,uint8_t percStart,uint8_t percEnd,uint8_t tr,uint8_t mode){
static uint8_t memrtramp[4];
uint16_t delta;
switch(mode){
case RAMPINIT:
memrtramp[mot-1]=percStart=tr;
SetMotPerc(mot,dir,mrampstart[mot-1]);
return DONE;
case RAMPRUN:
if(memrtramp[mot-1]!=rtramp[mot-1]){
memrtramp[mot-1]=rtramp[mot-1];
if(rtramp[mot-1]){
if(mrampstart[mot-1]>percEnd){
delta=mrampstart[mot-1]-percEnd;
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
delta=delta/tr;
SetMotPerc(mot,dir,mrampstart[mot-1]-delta);
return RUNNING;
}else if(mrampstart[mot-1]<percEnd){
delta=percEnd-mrampstart[mot-1];
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
delta=delta/tr;
SetMotPerc(mot,dir,mrampstart[mot-1]+delta);
return RUNNING;
}else{
SetMotPerc(mot,dir,percEnd);
return DONE;
}
}else{
SetMotPerc(mot,dir,percEnd);
return DONE;
}
}else return RUNNING;
break;
}
return DONE;
}