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andrea
2026-05-18 22:38:08 +02:00
parent 4d139b6fcf
commit 8a84ea847e
25 changed files with 33293 additions and 31582 deletions
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18
workspace/AUTOM10/Core/Src/eeprom.c
View File

@@ -95,18 +95,18 @@ const uint16_t deftab[EE_NUM_VIRTUAL_ADDR]={
450, //apM1stop;
30, //apM2start;
310, //apM2stop;
350, //apM3start;
450, //apM3stop;
450, //apM4start;
850, //apM4stop;
340, //apM3start;
430, //apM3stop;
30, //apM4start;
430, //apM4stop;
10, //chM1start;
280, //chM1stop;
280, //chM2start;
580, //chM2stop;
320, //chM1stop;
140, //chM2start;
440, //chM2stop;
20, //chM3start;
280, //chM3stop;
280, //chM4start;
680, //chM4stop;
40, //chM4start;
440, //chM4stop;
1,
27,
10,

48
workspace/AUTOM10/Core/Src/mot.c
View File

@@ -55,23 +55,23 @@ motMov_st m1ap(void){
SetMotPerc(M1,FW,0);
SetMotPerc(M1,BW,0);
if(rtCiclo>=apM1start){
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
m1st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
if(ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
m1st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=apM1stop){
(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
(void)ramp(M1,FW,m1pwmap,0,tramp,RAMPINIT);
m1st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
if(ramp(M1,FW,m1pwmap,0,tramp,RAMPRUN)==DONE){
m1st=motStop;
}
break;
@@ -143,23 +143,23 @@ motMov_st m3ap(void){
SetMotPerc(M3,FW,0);
SetMotPerc(M3,BW,0);
if(rtCiclo>=apM3start){
(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
(void)ramp(M3,FW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
m3st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
if(ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
m3st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=apM3stop){
(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
(void)ramp(M3,FW,m3pwmap,0,tramp,RAMPINIT);
m3st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
if(ramp(M3,FW,m3pwmap,0,tramp,RAMPRUN)==DONE){
m3st=motStop;
}
break;
@@ -187,23 +187,23 @@ motMov_st m4ap(void){
SetMotPerc(M4,FW,0);
SetMotPerc(M4,BW,0);
if(rtCiclo>=apM4start){
(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
(void)ramp(M4,FW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
m4st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
if(ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
m4st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=apM4stop){
(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
(void)ramp(M4,FW,m4pwmap,0,tramp,RAMPINIT);
m4st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M4,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
if(ramp(M4,FW,m4pwmap,0,tramp,RAMPRUN)==DONE){
m4st=motStop;
}
break;
@@ -231,23 +231,23 @@ motMov_st m1ch(void){
SetMotPerc(M1,FW,0);
SetMotPerc(M1,BW,0);
if(rtCiclo>=chM1start){
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
m1st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
if(ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
m1st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=chM1stop){
(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
(void)ramp(M1,BW,m1pwmch,0,tramp,RAMPINIT);
m1st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
if(ramp(M1,BW,m1pwmch,0,tramp,RAMPRUN)==DONE){
m1st=motStop;
}
break;
@@ -321,23 +321,23 @@ motMov_st m3ch(void){
SetMotPerc(M3,FW,0);
SetMotPerc(M3,BW,0);
if(rtCiclo>=chM3start){
(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
(void)ramp(M3,BW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
m3st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
if(ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
m3st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=chM3stop){
(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
(void)ramp(M3,BW,m3pwmch,0,tramp,RAMPINIT);
m3st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
if(ramp(M3,BW,m3pwmch,0,tramp,RAMPRUN)==DONE){
m3st=motStop;
}
break;
@@ -366,23 +366,23 @@ motMov_st m4ch(void){
SetMotPerc(M4,FW,0);
SetMotPerc(M4,BW,0);
if(rtCiclo>=chM4start){
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPINIT);
(void)ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPINIT);
m4st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
if(ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
m4st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=chM4stop){
(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
(void)ramp(M4,BW,m4pwmch,0,tramp,RAMPINIT);
m4st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M4,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
m4st=motStop;
}
break;