diff options
Diffstat (limited to 'tube-rotator/stepper.c')
-rw-r--r-- | tube-rotator/stepper.c | 36 |
1 files changed, 31 insertions, 5 deletions
diff --git a/tube-rotator/stepper.c b/tube-rotator/stepper.c index 3a08cd4..43e194f 100644 --- a/tube-rotator/stepper.c +++ b/tube-rotator/stepper.c @@ -49,7 +49,7 @@ uint8_t step_table [] = volatile uint16_t target_speed; uint16_t current_speed; -uint8_t running; +stepper_state_t current_state; void stepper_init(void) { @@ -61,7 +61,7 @@ void stepper_init(void) void stepper_start(void) { - if(running) return; + if(current_state == stepper_running) return; current_speed = STEPPER_SPEED_MIN; STEPPER_PORT |= (1<<STEPPER_ENABLE_A_BIT) | (1<<STEPPER_ENABLE_B_BIT); @@ -70,7 +70,7 @@ void stepper_start(void) TCCR1A = 0; // prescaler 1:64, WGM = 4 (CTC) TCCR1B = 1<<WGM12 | 1<<CS11 | 1<<CS10; // TIMSK1 = 1<<OCIE1A; - running = 1; + current_state = stepper_running; } void stepper_stop(void) @@ -78,7 +78,7 @@ void stepper_stop(void) STEPPER_PORT &= ~(0xF << STEPPER_FIRST_BIT | 1<<STEPPER_ENABLE_A_BIT | 1<<STEPPER_ENABLE_B_BIT); TCCR1B = 0; // no clock source TIMSK1 = 0; // disable timer interrupt - running = 0; + current_state = stepper_stopped; } static inline void stepper_handle(void) @@ -104,6 +104,20 @@ ISR(TIMER1_COMPA_vect) stepper_handle(); } +stepper_state_t stepper_get_state(void) +{ + return current_state; +} + +const char* stepper_state_to_string(stepper_state_t state) +{ + switch(state) { + case stepper_running: return "running"; + case stepper_stopped: return "stopped"; + } + return "?"; +} + void stepper_set_speed(uint16_t new_speed) { if(new_speed <= STEPPER_SPEED_MIN && new_speed >= STEPPER_SPEED_MAX) { @@ -134,10 +148,22 @@ uint16_t stepper_get_speed(void) void stepper_set_speed_rpm(uint8_t new_rpm) { - stepper_set_speed(( (uint16_t)( (double)(60.0 * F_CPU) / (double)(64.0 * 800.0 * (double)new_rpm) ) ) - 1); + 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); +} |