well two out of three motors are now stepping

Opentrons · Aug 7, 2024 · 1d465c1 · 1d465c1
1 parent 9bfa10c
commit 1d465c1
Show file tree

Hide file tree

Showing 5 changed files with 11 additions and 11 deletions.
diff --git a/stm32-modules/flex-stacker/firmware/motor_control/motor_hardware.c b/stm32-modules/flex-stacker/firmware/motor_control/motor_hardware.c
@@ -219,8 +219,8 @@ void MX_TIM3_Init(void) {
 
 void motor_hardware_interrupt_init(void){
     MX_TIM17_Init();
-//    MX_TIM20_Init();
-//    MX_TIM3_Init();
+    MX_TIM20_Init();
+    MX_TIM3_Init();
 }
 
 void motor_hardware_init(void){

diff --git a/stm32-modules/flex-stacker/firmware/ui/freertos_ui_task.cpp b/stm32-modules/flex-stacker/firmware/ui/freertos_ui_task.cpp
@@ -1,7 +1,7 @@
 #include "firmware/freertos_tasks.hpp"
 #include "firmware/ui_hardware.h"
 
-static constexpr uint32_t HALF_SECOND = 100;
+static constexpr uint32_t HALF_SECOND = 500;
 
 namespace ui_control_task {
 

diff --git a/stm32-modules/flex-stacker/firmware/ui/ui_hardware.c b/stm32-modules/flex-stacker/firmware/ui/ui_hardware.c
@@ -13,6 +13,6 @@ void ui_hardware_set_heartbeat_led(bool setting) {
     HAL_GPIO_WritePin(nSTATUS_LED_GPIO_Port, nSTATUS_LED_Pin,
         setting ? GPIO_PIN_SET : GPIO_PIN_RESET);
 
-    HAL_GPIO_WritePin(GPIOC, GPIO_PIN_2,
-                      setting ? GPIO_PIN_SET : GPIO_PIN_RESET);
+//    HAL_GPIO_WritePin(GPIOC, GPIO_PIN_2,
+//                      setting ? GPIO_PIN_SET : GPIO_PIN_RESET);
 }
diff --git a/stm32-modules/include/flex-stacker/firmware/motor_interrupt.hpp b/stm32-modules/include/flex-stacker/firmware/motor_interrupt.hpp
@@ -9,11 +9,11 @@ class MotorInterruptController {
   public:
     MotorInterruptController(MotorID m_id): m_id(m_id) {}
     void tick() {
-//        unstep_motor(m_id);
-//        step_count = (step_count + 1) % 20000;
-//        if (step_count == 0) {
-//            step_motor(m_id);
-//        }
+        unstep_motor(m_id);
+        step_count = (step_count + 1) % 20000;
+        if (step_count == 0) {
+            step_motor(m_id);
+        }
     }
   private:
     MotorID m_id;

diff --git a/stm32-modules/include/flex-stacker/flex-stacker/motor_driver_task.hpp b/stm32-modules/include/flex-stacker/flex-stacker/motor_driver_task.hpp
@@ -67,7 +67,7 @@ static constexpr tmc2160::TMC2160RegisterMap motor_x_config{
                  .hstrt = 0b111,
                  .hend = 0b1001,
                  .tbl = 0b1,
-                 .mres = 0b100},
+                 .mres = 0b1000},
     .coolconf = {.semin = 0b11, .semax = 0b100},
     .pwmconf = {.pwm_ofs = 0x1F,
                 .pwm_grad = 0x18,