diff options
Diffstat (limited to 'tuer-rfid/stepper.c')
| -rw-r--r-- | tuer-rfid/stepper.c | 25 |
1 files changed, 12 insertions, 13 deletions
diff --git a/tuer-rfid/stepper.c b/tuer-rfid/stepper.c index f267645..5ee5943 100644 --- a/tuer-rfid/stepper.c +++ b/tuer-rfid/stepper.c @@ -56,7 +56,7 @@ uint8_t step_table [] = #define STEPPER_OUTPUT_BITMASK (~(0xF << STEPPER_FIRST_BIT )) volatile uint16_t step_cnt = 0; -#define STEP_CNT_STOP (LENGTH_STEP_TABLE*210) +#define STEP_CNT_STOP (LENGTH_STEP_TABLE*172) #define STEP_CNT_OFF (STEP_CNT_STOP + 100) stepper_direction_t step_direction = dir_open; @@ -65,6 +65,11 @@ inline 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 + + if(step_direction == dir_open) + eventqueue_push(open_fin); + else + eventqueue_push(close_fin); } static inline uint8_t stepper_handle(void) @@ -75,12 +80,12 @@ static inline uint8_t stepper_handle(void) stepper_output <<= STEPPER_FIRST_BIT; STEPPER_PORT = (STEPPER_PORT & STEPPER_OUTPUT_BITMASK ) | stepper_output; - 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) { + 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; + step_idx += (step_direction == dir_open) ? 1 : -1; step_idx %= LENGTH_STEP_TABLE; } else if(step_cnt == STEP_CNT_STOP) { @@ -89,14 +94,8 @@ static inline uint8_t stepper_handle(void) } step_cnt++; - if(step_cnt >= STEP_CNT_OFF) { - if(step_direction == dir_open) - eventqueue_push(open_fin); - else - eventqueue_push(close_fin); - + if(step_cnt >= STEP_CNT_OFF) return 0; - } return 1; } |