diff options
| -rw-r--r-- | tuer-rfid/stepper.c | 14 |
1 files changed, 7 insertions, 7 deletions
diff --git a/tuer-rfid/stepper.c b/tuer-rfid/stepper.c index 5ee5943..aceca66 100644 --- a/tuer-rfid/stepper.c +++ b/tuer-rfid/stepper.c @@ -57,7 +57,7 @@ uint8_t step_table [] = volatile uint16_t step_cnt = 0; #define STEP_CNT_STOP (LENGTH_STEP_TABLE*172) -#define STEP_CNT_OFF (STEP_CNT_STOP + 100) +#define STEP_CNT_STOP_PLUS_EXTRA (STEP_CNT_STOP + (LENGTH_STEP_TABLE*20)) stepper_direction_t step_direction = dir_open; inline void stepper_stop(void) @@ -79,6 +79,8 @@ static inline uint8_t stepper_handle(void) uint8_t stepper_output = step_table[step_idx]; stepper_output <<= STEPPER_FIRST_BIT; STEPPER_PORT = (STEPPER_PORT & STEPPER_OUTPUT_BITMASK ) | stepper_output; + step_idx += (step_direction == dir_open) ? 1 : -1; + step_idx %= LENGTH_STEP_TABLE; if(step_cnt < STEP_CNT_STOP) { limits_t l = limits_get(); @@ -86,18 +88,16 @@ static inline uint8_t stepper_handle(void) (step_direction == dir_close && l == close) || l == both) step_cnt = STEP_CNT_STOP + 1; - 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; + return 0; //stop } step_cnt++; - if(step_cnt >= STEP_CNT_OFF) - return 0; + if(step_cnt >= STEP_CNT_STOP_PLUS_EXTRA) + return 0; //stop - return 1; + return 1; // continue running } void stepper_init(void) |