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This commit is contained in:
Jonathan Roth 2026-03-10 17:02:11 +01:00
parent c0c8cb91c7
commit 6f73c30de2
4 changed files with 31 additions and 39 deletions
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15
includes/arm.h
View File

@ -23,14 +23,10 @@
// ─────────────────────────────────────────────
// Mécanique
// 1 tour ARM = 40mm = 1600 micropas
// 1 micropas ARM = 25µm
// 1 tour ARM = 40mm = 800 micropas (4 microsteps)
// 1 micropas ARM = 50µm
// ─────────────────────────────────────────────
// 8 microsteps
// #define ARM_UM_PER_USTEP 25U // µm par micropas
// #define ARM_USTEP_PER_REV 1600U // micropas par tour
// 4 microsteps
#define ARM_UM_PER_USTEP 50U // µm par micropas
#define ARM_USTEP_PER_REV 800U // micropas par tour
#define ARM_UM_PER_REV ((uint32_t)ARM_UM_PER_USTEP * ARM_USTEP_PER_REV) // 40000µm
@ -57,13 +53,8 @@ void ARM_SetOffset(uint16_t um); // écriture registre 0x0803 + sauvegard
uint16_t ARM_GetOffset(void); // lecture offset courant
void ARM_SetLeft(uint16_t dmm); // écriture registre 0x0804 (1/10 mm)
void ARM_SetRight(uint16_t dmm); // écriture registre 0x0805 (1/10 mm)
void ARM_SetLeft(uint16_t pos); // écriture registre 0x0804 (1/10 mm)
void ARM_SetRight(uint16_t pos); // écriture registre 0x0805 (1/10 mm)
uint16_t ARM_GetLeft(void); // lecture position gauche courante
uint16_t ARM_GetRight(void); // lecture position droite courante
void ARM_SetLeft(uint16_t dmm); // écriture registre 0x0804 (1/10 mm)
void ARM_SetRight(uint16_t dmm); // écriture registre 0x0805 (1/10 mm)
uint16_t ARM_GetLeft(void);
uint16_t ARM_GetRight(void);
void ARM_SetRatio(uint16_t milli); // démultiplication SPOOL (0x0806) + EEPROM
#endif // ARM_H

2
includes/spool.h
View File

@ -5,7 +5,6 @@
#include <stdint.h>
#include <macros.h>
// ─────────────────────────────────────────────
// Registres Modbus
// ─────────────────────────────────────────────
@ -44,7 +43,6 @@ void SPOOL_Init(void);
void SPOOL_TimerISR(void); // ISR Timer5 haute priorité
void SPOOL_SetCtrl(uint16_t ctrl); // écriture registre 0x0800
void SPOOL_SetFreq(uint16_t hz); // écriture registre 0x0801
void SPOOL_SetRatio(uint16_t milli); // écriture registre 0x0806 + sauvegarde EEPROM
extern volatile uint16_t arm_target_position; // position cible ARM (micropas)

29
src/arm.c
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@ -36,6 +36,7 @@ static uint16_t pos_right; // limite droite (1/10 mm)
static volatile arm_state_t state; // état courant
static volatile uint16_t wait_ctr; // compteur steps SPOOL pour les pauses
static uint16_t travel_steps; // micropas pour aller de LEFT à RIGHT
static uint16_t ratio; // démultiplication SPOOL (millièmes, 1000=1:1)
// ─────────────────────────────────────────────
// Calcul du trajet LEFT→RIGHT en micropas
@ -58,14 +59,16 @@ void ARM_Init(void)
free_arm = 0;
pos_left = ARM_LEFT_DEFAULT;
pos_right = ARM_RIGHT_DEFAULT;
state = ARM_IDLE;
state = ARM_WAIT_LEFT;
wait_ctr = 0;
travel_steps = ARM_CalcTravelSteps();
ARM_EN(0);
ARM_REV(0);
ARM_EN(1);
ARM_REV(ARM_DIR_RIGHT);
arm_offset = EE_ReadWord(EE_ARM_OFFSET_H, EE_ARM_OFFSET_L);
ratio = EE_ReadWord(EE_SPOOL_RATIO_H, EE_SPOOL_RATIO_L);
if (ratio == 0) ratio = 1000;
}
// ─────────────────────────────────────────────
@ -99,7 +102,7 @@ void ARM_UpdateTarget(void)
break;
case ARM_GO_TO_ZERO:
accumulator += gear_um;
accumulator += ((uint32_t)gear_um * 1000UL) / ratio;
while (accumulator >= ARM_UM_PER_REV) {
accumulator -= ARM_UM_PER_REV;
if (arm_target_position > 0)
@ -122,7 +125,7 @@ void ARM_UpdateTarget(void)
break;
case ARM_TRAVERSE:
accumulator += gear_um;
accumulator += ((uint32_t)gear_um * 1000UL) / ratio;
while (accumulator >= ARM_UM_PER_REV) {
accumulator -= ARM_UM_PER_REV;
if (arm_target_position < travel_steps)
@ -145,7 +148,7 @@ void ARM_UpdateTarget(void)
break;
case ARM_RETURN:
accumulator += gear_um;
accumulator += ((uint32_t)gear_um * 1000UL) / ratio;
while (accumulator >= ARM_UM_PER_REV) {
accumulator -= ARM_UM_PER_REV;
if (arm_target_position > 0)
@ -223,3 +226,17 @@ void ARM_SetRight(uint16_t dmm)
pos_right = dmm;
travel_steps = ARM_CalcTravelSteps();
}
uint16_t ARM_GetLeft(void) { return pos_left; }
uint16_t ARM_GetRight(void) { return pos_right; }
// ─────────────────────────────────────────────
// Ratio démultiplication SPOOL (0x0806) + EEPROM
// ─────────────────────────────────────────────
void ARM_SetRatio(uint16_t milli)
{
if (milli == 0) milli = 1;
ratio = milli;
EE_WriteWord(EE_SPOOL_RATIO_H, EE_SPOOL_RATIO_L, milli);
}

14
src/spool.c
View File

@ -8,7 +8,6 @@
static volatile uint16_t reload;
static volatile uint8_t running;
static uint16_t ratio;
static uint16_t current_freq;
volatile uint16_t arm_target_position; // position cible ARM en micropas, mise à jour par ISR
@ -33,8 +32,6 @@ void SPOOL_Init(void)
reload = 0;
running = 0;
arm_target_position = 0;
ratio = EE_ReadWord(EE_SPOOL_RATIO_H, EE_SPOOL_RATIO_L);
if (ratio == 0) ratio = 1000;
MOTOR_EN(0);
MOTOR_REV(0);
@ -104,15 +101,4 @@ void SPOOL_SetFreq(uint16_t hz)
}
}
// ─────────────────────────────────────────────
// Écriture registre RATIO (0x0806) + EEPROM
// ─────────────────────────────────────────────
void SPOOL_SetRatio(uint16_t milli)
{
if (milli == 0) milli = 1;
ratio = milli;
EE_WriteWord(EE_SPOOL_RATIO_H, EE_SPOOL_RATIO_L, milli);
if (running && current_freq > 0)
reload = SPOOL_CalcReload(current_freq);
}