diff options
| author | Christian Pointner <equinox@spreadspace.org> | 2014-05-21 22:54:19 +0200 |
|---|---|---|
| committer | Christian Pointner <equinox@spreadspace.org> | 2014-05-21 22:54:19 +0200 |
| commit | 2b39db60e0a948e5109e345ad601f511d88d63db (patch) | |
| tree | 226f5d01eca453582d74c01b2f88ab9353631325 /tube-rotator/stepper.c | |
| parent | improved acceleration (diff) | |
reimplemented rpm based speed setting
Diffstat (limited to 'tube-rotator/stepper.c')
| -rw-r--r-- | tube-rotator/stepper.c | 46 |
1 files changed, 23 insertions, 23 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); +} |