diff options
Diffstat (limited to 'tube-rotator/stepper.c')
| -rw-r--r-- | tube-rotator/stepper.c | 25 |
1 files changed, 24 insertions, 1 deletions
diff --git a/tube-rotator/stepper.c b/tube-rotator/stepper.c index 6b2a4ef..349651f 100644 --- a/tube-rotator/stepper.c +++ b/tube-rotator/stepper.c @@ -52,8 +52,12 @@ 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; +uint16_t current_speed; + void stepper_init(void) { + target_speed = STEPPER_DEFAULT_SPEED; STEPPER_PORT &= ~(0xF << STEPPER_FIRST_BIT | 1<<STEPPER_ENABLE_A_BIT | 1<<STEPPER_ENABLE_B_BIT); STEPPER_DDR |= (0xF << STEPPER_FIRST_BIT) | (1<<STEPPER_ENABLE_A_BIT) | (1<<STEPPER_ENABLE_B_BIT); stepper_stop(); @@ -61,9 +65,10 @@ void stepper_init(void) void stepper_start(void) { + current_speed = STEPPER_MIN_SPEED; STEPPER_PORT |= (1<<STEPPER_ENABLE_A_BIT) | (1<<STEPPER_ENABLE_B_BIT); TCNT1 = 0; - OCR1A = 80; + OCR1A = current_speed; TCCR1A = 0; // prescaler 1:64, WGM = 4 (CTC) TCCR1B = 1<<WGM12 | 1<<CS11 | 1<<CS10; // TIMSK1 = 1<<OCIE1A; @@ -85,9 +90,27 @@ static inline void stepper_handle(void) STEPPER_PORT = (STEPPER_PORT & STEPPER_OUTPUT_BITMASK ) | stepper_output; step_idx++; step_idx %= LENGTH_STEP_TABLE; + current_speed = (current_speed < target_speed) ? current_speed + 1 : target_speed; + OCR1A = current_speed; } ISR(TIMER1_COMPA_vect) { stepper_handle(); } + +void stepper_set_speed(uint16_t new_speed) +{ + if(new_speed >= STEPPER_MIN_SPEED && new_speed <= STEPPER_MAX_SPEED) + target_speed = new_speed; +} + +void stepper_inc_speed(void) +{ + target_speed = (target_speed >= STEPPER_MAX_SPEED) ? target_speed : target_speed + 1; +} + +void stepper_dec_speed(void) +{ + target_speed = (target_speed <= STEPPER_MIN_SPEED) ? target_speed : target_speed - 1; +} |