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example: check curve_step for stepper motor encoder 

Closes https://github.com/espressif/esp-idf/issues/10253
pull/6808/head
morris 2022-11-29 17:47:21 +08:00
rodzic 4b2ac6cdde
commit a933539dd2
2 zmienionych plików z 5 dodań i 3 usunięć
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6
examples/peripherals/rmt/stepper_motor/main/stepper_motor_encoder.c
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@ -76,8 +76,9 @@ esp_err_t rmt_new_stepper_motor_curve_encoder(const stepper_motor_curve_encoder_
bool is_accel_curve = config->start_freq_hz < config->end_freq_hz;
// prepare the curve table, in RMT symbol format
uint32_t curve_step = 0;
if (is_accel_curve) {
uint32_t curve_step = (config->end_freq_hz - config->start_freq_hz) / (config->sample_points - 1);
curve_step = (config->end_freq_hz - config->start_freq_hz) / (config->sample_points - 1);
for (uint32_t i = 0; i < config->sample_points; i++) {
smooth_freq = convert_to_smooth_freq(config->start_freq_hz, config->end_freq_hz, config->start_freq_hz + curve_step * i);
symbol_duration = config->resolution / smooth_freq / 2;
@ -87,7 +88,7 @@ esp_err_t rmt_new_stepper_motor_curve_encoder(const stepper_motor_curve_encoder_
step_encoder->curve_table[i].duration1 = symbol_duration;
}
} else {
uint32_t curve_step = (config->start_freq_hz - config->end_freq_hz) / (config->sample_points - 1);
curve_step = (config->start_freq_hz - config->end_freq_hz) / (config->sample_points - 1);
for (uint32_t i = 0; i < config->sample_points; i++) {
smooth_freq = convert_to_smooth_freq(config->end_freq_hz, config->start_freq_hz, config->end_freq_hz + curve_step * i);
symbol_duration = config->resolution / smooth_freq / 2;
@ -97,6 +98,7 @@ esp_err_t rmt_new_stepper_motor_curve_encoder(const stepper_motor_curve_encoder_
step_encoder->curve_table[config->sample_points - i - 1].duration1 = symbol_duration;
}
}
ESP_GOTO_ON_FALSE(curve_step > 0, ESP_ERR_INVALID_ARG, err, TAG, "|end_freq_hz - start_freq_hz| can't be smaller than sample_points");
step_encoder->sample_points = config->sample_points;
step_encoder->flags.is_accel_curve = is_accel_curve;

2
examples/peripherals/rmt/stepper_motor/main/stepper_motor_encoder.h
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@ -17,7 +17,7 @@ extern "C" {
*/
typedef struct {
uint32_t resolution; // Encoder resolution, in Hz
uint32_t sample_points; // Sample points used for deceleration phase
uint32_t sample_points; // Sample points used for deceleration phase. Note: |end_freq_hz - start_freq_hz| >= sample_points
uint32_t start_freq_hz; // Start frequency on the curve, in Hz
uint32_t end_freq_hz; // End frequency on the curve, in Hz
} stepper_motor_curve_encoder_config_t;