diff options
| -rw-r--r-- | usb-i2c-sl018/statemachine.c | 3 | ||||
| -rw-r--r-- | usb-i2c-sl018/stepper.c | 11 |
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]; |