diff options
| author | Christian Pointner <equinox@spreadspace.org> | 2014-05-20 02:43:59 +0200 |
|---|---|---|
| committer | Christian Pointner <equinox@spreadspace.org> | 2014-05-20 02:43:59 +0200 |
| commit | fbc7b65a6ef8e43378bb03fe64bfe1b5b2735434 (patch) | |
| tree | c197142db5c58a0f5c8fa81a1de8edfed734a564 /tube-rotator/stepper.c | |
| parent | speed is actually reversed (diff) | |
added new speeds
make access to target_speed atomic
Diffstat (limited to 'tube-rotator/stepper.c')
| -rw-r--r-- | tube-rotator/stepper.c | 28 |
1 files changed, 19 insertions, 9 deletions
diff --git a/tube-rotator/stepper.c b/tube-rotator/stepper.c index 675be26..064db5a 100644 --- a/tube-rotator/stepper.c +++ b/tube-rotator/stepper.c @@ -22,6 +22,7 @@ #include <avr/sfr_defs.h> #include <avr/interrupt.h> +#include <util/atomic.h> #include "stepper.h" @@ -45,7 +46,7 @@ uint8_t step_table [] = #define LENGTH_STEP_TABLE (sizeof(step_table)/sizeof(uint8_t)) #define STEPPER_OUTPUT_BITMASK (~(0xF << STEPPER_FIRST_BIT )) -uint16_t target_speed; +volatile uint16_t target_speed; uint16_t current_speed; void stepper_init(void) @@ -84,10 +85,12 @@ static inline void stepper_handle(void) step_idx++; step_idx %= LENGTH_STEP_TABLE; - if(current_speed > target_speed) - OCR1A = --current_speed; - else if(current_speed < target_speed) - OCR1A = ++current_speed; + if(step_idx != 0 && step_idx % 8) { + if(current_speed > target_speed) + OCR1A = --current_speed; + else if(current_speed < target_speed) + OCR1A = ++current_speed; + } } ISR(TIMER1_COMPA_vect) @@ -97,18 +100,25 @@ ISR(TIMER1_COMPA_vect) void stepper_set_speed(uint16_t new_speed) { - if(new_speed <= STEPPER_SPEED_MIN && new_speed >= STEPPER_SPEED_MAX) - target_speed = new_speed; + if(new_speed <= STEPPER_SPEED_MIN && new_speed >= STEPPER_SPEED_MAX) { + ATOMIC_BLOCK(ATOMIC_RESTORESTATE) { + target_speed = new_speed; + } + } } void stepper_inc_speed(void) { - target_speed = (target_speed <= STEPPER_SPEED_MAX) ? STEPPER_SPEED_MAX : target_speed - 1; + ATOMIC_BLOCK(ATOMIC_RESTORESTATE) { + target_speed = (target_speed <= STEPPER_SPEED_MAX) ? STEPPER_SPEED_MAX : target_speed - 1; + } } void stepper_dec_speed(void) { - target_speed = (target_speed >= STEPPER_SPEED_MIN) ? STEPPER_SPEED_MIN : target_speed + 1; + ATOMIC_BLOCK(ATOMIC_RESTORESTATE) { + target_speed = (target_speed >= STEPPER_SPEED_MIN) ? STEPPER_SPEED_MIN : target_speed + 1; + } } uint16_t stepper_get_speed(void) |