L298n stepper system

App/Inc/l298n_stepper_system.h

@@ -0,0 +1,98 @@
+#ifndef COPY_RENAME_ME_SYSTEM_H
+#define COPY_RENAME_ME_SYSTEM_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdbool.h>
+#include <stdint.h>
+#include "stm32l4xx.h"
+
+
+
+
+typedef volatile uint32_t* TIMER_CHANNEL;
+typedef	uint16_t GPIO_PIN;
+
+typedef struct{
+
+	GPIO_TypeDef* 	ena_port;
+	GPIO_PIN 		ena_pin;
+
+	GPIO_TypeDef* 	enb_port;
+	GPIO_PIN 		enb_pin;
+
+	GPIO_TypeDef* 	in1_port;
+	GPIO_PIN 		in1_pin;
+
+	GPIO_TypeDef* 	in2_port;
+	GPIO_PIN 		in2_pin;
+
+	GPIO_TypeDef* 	in3_port;
+	GPIO_PIN 		in3_pin;
+
+	GPIO_TypeDef* 	in4_port;
+	GPIO_PIN 		in4_pin;
+
+
+
+	uint16_t steps_per_rev;
+
+    uint32_t tick_accumulator;
+    uint32_t ticks_per_step;
+	uint16_t current_speed;
+	uint16_t max_speed;
+
+	uint8_t current_step;
+	uint8_t dir;
+
+	uint32_t max_time_ms; //max time (currently not implemented)
+	uint32_t current_time_running_ms;//how long its been running (not implemented)
+
+	uint8_t status;
+
+}l298n_stepper_driver_t;
+
+
+
+/*
+ *
+ *
+ * PUT CONFIG HERE
+ *
+ *
+ */
+
+#define NUM_STEPPERS 0//replace w number of steppers
+
+//EXAMPLE
+
+extern l298n_stepper_driver_t drivers[NUM_STEPPERS]; // needs to be defined in the .c
+extern TIM_TypeDef* global_interrupt_clock;
+extern uint32_t l298n_stepper_timer_period_us; //assumes clock speed is 8mhz
+
+#define STEPPER_0_VEL_PARAM_NAME ""
+
+extern char* vel_param_names[NUM_STEPPERS];
+
+
+
+#define STEPPER_0_STATUS_PARAM_NAME_C ""
+
+extern char* status_param_names_C[NUM_STEPPERS];
+
+
+
+#define STEPPER_0_STATUS_PARAM_NAME_R ""
+
+extern char* status_param_names_R[NUM_STEPPERS];
+
+
+void l298n_stepper_system_controller(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* COPY_RENAME_ME_SYSTEM_H */

App/Inc/project_config.h

@@ -66,13 +66,16 @@ extern "C" {
  * Keep this list aligned with the DBC message families you expect the board
  * to consume or observe on the bus.
  */
+#define PROJECT_CAN_ID_SCIENCE_STEPPER_PCB_C  0x090U
+
 #define PROJECT_CAN_ID_POWER_PCB_C            0x010U
 #define PROJECT_CAN_ID_POWER_PCB_R            0x011U
 #define PROJECT_CAN_ID_SCIENCE_DC_MOTOR_C     0x070U
 #define PROJECT_CAN_ID_SCIENCE_DC_MOTOR_R     0x071U
 #define PROJECT_CAN_ID_SCIENCE_SERVO_PCB_C    0x080U
 #define PROJECT_CAN_ID_SCIENCE_SERVO_PCB_R    0x081U
 
+
 /* =========================
  * Servo application sizing
  * =========================

App/Src/can_config.c

@@ -19,6 +19,8 @@ const uint32_t g_can_rx_id_filter[] =
   PROJECT_CAN_ID_SCIENCE_DC_MOTOR_R,
   PROJECT_CAN_ID_SCIENCE_SERVO_PCB_C,
   PROJECT_CAN_ID_SCIENCE_SERVO_PCB_R,
+  PROJECT_CAN_ID_SCIENCE_STEPPER_PCB_C,
+  PROJECT_CAN_ID_SCIENCE_STEPPER_PCB_R,
 };
 #else
 const uint32_t g_can_rx_id_filter[] =