reimplemented rpm based speed setting

3 files changed, 42 insertions, 40 deletions

diff --git a/tube-rotator/stepper.c b/tube-rotator/stepper.c
index ee8518f..8b718ae 100644
--- a/tube-rotator/stepper.c
+++ b/tube-rotator/stepper.c
@@ -93,9 +93,9 @@ static inline void stepper_handle(void)
 
   if(step_idx != 0 && step_idx % 8) {
     if(current_speed > target_speed)
-      OCR1A = (uint16_t)(STEPPER_SPEED_CONVERT_VALUE/(--current_speed));
+      OCR1A = (uint16_t)((STEPPER_SPEED_CONVERT_VALUE/(--current_speed)) - 1);
     else if(current_speed < target_speed)
-      OCR1A = (uint16_t)(STEPPER_SPEED_CONVERT_VALUE/(++current_speed));
+      OCR1A = (uint16_t)((STEPPER_SPEED_CONVERT_VALUE/(++current_speed)) - 1);
   }
 }
 
@@ -146,24 +146,24 @@ uint16_t stepper_get_speed(void)
   return target_speed;
 }
 
-/* void stepper_set_speed_rpm(uint8_t new_rpm) */
-/* { */
-/*   stepper_set_speed(( (uint16_t)lround( (double)(60.0 * F_CPU) / (double)(64.0 * 800.0 * (double)new_rpm) ) ) - 1); */
-/* } */
-
-/* uint8_t stepper_get_speed_rpm(void) */
-/* { */
-/*   return (uint8_t)lround( ( (double)F_CPU / (double)(64.0 * 800.0 * (double)(target_speed + 1) ) ) * 60.0 ); */
-/* } */
-
-/* void stepper_inc_speed_rpm(void) */
-/* { */
-/*   uint8_t rpm = stepper_get_speed_rpm(); */
-/*   stepper_set_speed_rpm((rpm >= 255) ? 255 : rpm+1); */
-/* } */
-
-/* void stepper_dec_speed_rpm(void) */
-/* { */
-/*   uint8_t rpm = stepper_get_speed_rpm(); */
-/*   stepper_set_speed_rpm((rpm <= 1) ? 1 : rpm-1); */
-/* } */
+void stepper_set_speed_rpm(uint8_t new_rpm)
+{
+  stepper_set_speed( (uint16_t)lround( ( (double)(64.0 * 800.0 * (double)STEPPER_SPEED_CONVERT_VALUE) / (double)(60.0 * (double)F_CPU) ) * (double)new_rpm) );
+}
+
+uint8_t stepper_get_speed_rpm(void)
+{
+  return (uint8_t)lround( ( (double)(60.0 * (double)F_CPU) / (double)(64.0 * 800.0 * (double)STEPPER_SPEED_CONVERT_VALUE) ) * (double)(target_speed) );
+}
+
+void stepper_inc_speed_rpm(void)
+{
+  uint8_t rpm = stepper_get_speed_rpm();
+  stepper_set_speed_rpm((rpm >= 255) ? 255 : rpm+1);
+}
+
+void stepper_dec_speed_rpm(void)
+{
+  uint8_t rpm = stepper_get_speed_rpm();
+  stepper_set_speed_rpm((rpm <= 1) ? 1 : rpm-1);
+}
diff --git a/tube-rotator/stepper.h b/tube-rotator/stepper.h
index 7c0eaa3..5b5a315 100644
--- a/tube-rotator/stepper.h
+++ b/tube-rotator/stepper.h
@@ -51,9 +51,9 @@ void stepper_inc_speed(void);
 void stepper_dec_speed(void);
 uint16_t stepper_get_speed(void);
 
-//void stepper_set_speed_rpm(uint8_t new_rpm);
-//uint8_t stepper_get_speed_rpm(void);
-//void stepper_inc_speed_rpm(void);
-//void stepper_dec_speed_rpm(void);
+void stepper_set_speed_rpm(uint8_t new_rpm);
+uint8_t stepper_get_speed_rpm(void);
+void stepper_inc_speed_rpm(void);
+void stepper_dec_speed_rpm(void);
 
 #endif
diff --git a/tube-rotator/tube-rotator.c b/tube-rotator/tube-rotator.c
index 416e077..065dd2f 100644
--- a/tube-rotator/tube-rotator.c
+++ b/tube-rotator/tube-rotator.c
@@ -40,20 +40,22 @@ void handle_cmd(uint8_t cmd)
     case '!': reset2bootloader(); break;
     case 'r': led_on(); stepper_start(); break;
     case 's': stepper_stop(); led_off(); break;
-    case '+': stepper_inc_speed(); break;
-//    case '+': stepper_inc_speed_rpm(); break;
-//    case '-': stepper_dec_speed_rpm(); break;
-    case '-': stepper_dec_speed(); break;
-    case '3': stepper_set_speed(STEPPER_SPEED_30RPM); break;
-    case '4': stepper_set_speed(STEPPER_SPEED_40RPM); break;
-    case '5': stepper_set_speed(STEPPER_SPEED_50RPM); break;
-    case '6': stepper_set_speed(STEPPER_SPEED_60RPM); break;
-    case '7': stepper_set_speed(STEPPER_SPEED_70RPM); break;
-    case '8': stepper_set_speed(STEPPER_SPEED_80RPM); break;
-    case '9': stepper_set_speed(STEPPER_SPEED_90RPM); break;
-    case '0': stepper_set_speed(STEPPER_SPEED_100RPM); break;
+    case '*': stepper_inc_speed(); break;
+    case '+': stepper_inc_speed_rpm(); break;
+    case '-': stepper_dec_speed_rpm(); break;
+    case '_': stepper_dec_speed(); break;
+    case '3': stepper_set_speed_rpm(30); break;
+    case '4': stepper_set_speed_rpm(40); break;
+    case '5': stepper_set_speed_rpm(50); break;
+    case '6': stepper_set_speed_rpm(60); break;
+    case '7': stepper_set_speed_rpm(70); break;
+    case '8': stepper_set_speed_rpm(80); break;
+    case '9': stepper_set_speed_rpm(90); break;
+    case '0': stepper_set_speed_rpm(100); break;
+    case '1': stepper_set_speed_rpm(110); break;
+    case '2': stepper_set_speed_rpm(120); break;
   }
-  printf("state: %s, %3d rpm\r", stepper_state_to_string(stepper_get_state()), stepper_get_speed());
+  printf("state: %s, %3d rpm\r", stepper_state_to_string(stepper_get_state()), stepper_get_speed_rpm());
 }
 
 int main(void)