improved acceleration

3 files changed, 55 insertions, 57 deletions

diff --git a/tube-rotator/stepper.c b/tube-rotator/stepper.c
index 43e194f..ee8518f 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 = --current_speed;
+      OCR1A = (uint16_t)(STEPPER_SPEED_CONVERT_VALUE/(--current_speed));
     else if(current_speed < target_speed)
-      OCR1A = ++current_speed;
+      OCR1A = (uint16_t)(STEPPER_SPEED_CONVERT_VALUE/(++current_speed));
   }
 }
 
@@ -120,7 +120,7 @@ const char* stepper_state_to_string(stepper_state_t state)
 
 void stepper_set_speed(uint16_t new_speed)
 {
-  if(new_speed <= STEPPER_SPEED_MIN && new_speed >= STEPPER_SPEED_MAX) {
+  if(new_speed >= STEPPER_SPEED_MIN && new_speed <= STEPPER_SPEED_MAX) {
     ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
       target_speed = new_speed;
     }
@@ -130,14 +130,14 @@ void stepper_set_speed(uint16_t new_speed)
 void stepper_inc_speed(void)
 {
   ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
-    target_speed = (target_speed <= STEPPER_SPEED_MAX) ? STEPPER_SPEED_MAX : target_speed - 1;
+    target_speed = (target_speed >= STEPPER_SPEED_MAX) ? STEPPER_SPEED_MAX : target_speed + 1;
   }
 }
 
 void stepper_dec_speed(void)
 {
   ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
-    target_speed = (target_speed >= STEPPER_SPEED_MIN) ? STEPPER_SPEED_MIN : target_speed + 1;
+    target_speed = (target_speed <= STEPPER_SPEED_MIN) ? STEPPER_SPEED_MIN : target_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)(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); */
+/* } */
diff --git a/tube-rotator/stepper.h b/tube-rotator/stepper.h
index 10f4900..7c0eaa3 100644
--- a/tube-rotator/stepper.h
+++ b/tube-rotator/stepper.h
@@ -23,18 +23,18 @@
 #ifndef R3TUBE_stepper_h_INCLUDED
 #define R3TUBE_stepper_h_INCLUDED
 
-#define STEPPER_SPEED_MIN 699
-#define STEPPER_SPEED_MAX 149
-//#define STEPPER_SPEED_MAX 74
-
-#define STEPPER_SPEED_30RPM 624
-#define STEPPER_SPEED_40RPM 468
-#define STEPPER_SPEED_50RPM 374
-#define STEPPER_SPEED_60RPM 312
-#define STEPPER_SPEED_70RPM 267
-#define STEPPER_SPEED_80RPM 233
-#define STEPPER_SPEED_90RPM 207
-#define STEPPER_SPEED_100RPM 187
+#define STEPPER_SPEED_MIN 150
+#define STEPPER_SPEED_MAX 700
+#define STEPPER_SPEED_CONVERT_VALUE (uint32_t)(105000)
+
+#define STEPPER_SPEED_30RPM 168
+#define STEPPER_SPEED_40RPM 224
+#define STEPPER_SPEED_50RPM 281
+#define STEPPER_SPEED_60RPM 336
+#define STEPPER_SPEED_70RPM 393
+#define STEPPER_SPEED_80RPM 451
+#define STEPPER_SPEED_90RPM 507
+#define STEPPER_SPEED_100RPM 561
 
 #define STEPPER_SPEED_DEFAULT STEPPER_SPEED_60RPM
 
@@ -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 065dd2f..416e077 100644
--- a/tube-rotator/tube-rotator.c
+++ b/tube-rotator/tube-rotator.c
@@ -40,22 +40,20 @@ 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_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;
+    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;
   }
-  printf("state: %s, %3d rpm\r", stepper_state_to_string(stepper_get_state()), stepper_get_speed_rpm());
+  printf("state: %s, %3d rpm\r", stepper_state_to_string(stepper_get_state()), stepper_get_speed());
 }
 
 int main(void)