stepper respects limits now

git-svn-id: https://svn.spreadspace.org/avr/trunk@162 aa12f405-d877-488e-9caf-2d797e2a1cc7

2 files changed, 12 insertions, 2 deletions

diff --git a/usb-i2c-sl018/statemachine.c b/usb-i2c-sl018/statemachine.c
index fac0964..9a43385 100644
--- a/usb-i2c-sl018/statemachine.c
+++ b/usb-i2c-sl018/statemachine.c
@@ -111,6 +111,9 @@ void statemachine_task_limits(void)
 void statemachine_task_event(void)
 {
   event_t event = eventqueue_pop();
+  if(event == none)
+    return;
+
   switch(state) {
     case closing:
     case opening:
diff --git a/usb-i2c-sl018/stepper.c b/usb-i2c-sl018/stepper.c
index 1a762cd..7501feb 100644
--- a/usb-i2c-sl018/stepper.c
+++ b/usb-i2c-sl018/stepper.c
@@ -26,6 +26,7 @@
 
 #include "stepper.h"
 #include "limits.h"
+#include "eventqueue.h"
 
 uint8_t step_table [] = 
 {
@@ -58,11 +59,17 @@ inline uint8_t handle_step(void)
 {
   static uint8_t step_idx = 0;
 
-      //  limits_t l = get_limits();
-  
+  limits_t l = limits_get();
+  if((step_direction == dir_open && l == open) ||
+     (step_direction == dir_close && l == close) || l == both)
+    step_cnt = STEP_CNT_STOP + 1;
+
   if(step_cnt < STEP_CNT_STOP) {
     step_idx += (step_direction == dir_open) ? 1 : -1;
     step_idx %= LENGTH_STEP_TABLE;
+  } else if(step_cnt == STEP_CNT_STOP) {
+    eventqueue_push(move_timeout);
+    return 0;
   }
 
   uint8_t stepper_output = step_table[step_idx];