From 048e16a12bf926cc122899dd96f1ba34fb5d7912 Mon Sep 17 00:00:00 2001
From: Christian Pointner <equinox@spreadspace.org>
Date: Thu, 7 Feb 2013 00:51:15 +0000
Subject: fixed state machine

git-svn-id: https://svn.spreadspace.org/avr/trunk@163 aa12f405-d877-488e-9caf-2d797e2a1cc7
---
 usb-i2c-sl018/eventqueue.h     |  2 +-
 usb-i2c-sl018/statemachine.c   | 22 +++++++++++++++-------
 usb-i2c-sl018/statemachine.dot |  4 ++--
 usb-i2c-sl018/stepper.c        |  8 +++++++-
 4 files changed, 25 insertions(+), 11 deletions(-)

diff --git a/usb-i2c-sl018/eventqueue.h b/usb-i2c-sl018/eventqueue.h
index bfa2c62..fa2929b 100644
--- a/usb-i2c-sl018/eventqueue.h
+++ b/usb-i2c-sl018/eventqueue.h
@@ -24,7 +24,7 @@
 #ifndef R3TUER_eventqueue_h_INCLUDED
 #define R3TUER_eventqueue_h_INCLUDED
 
-typedef enum { none, cmd_open, cmd_close, cmd_toggle, btn_toggle, card, move_timeout } event_t;
+typedef enum { none, cmd_open, cmd_close, cmd_toggle, btn_toggle, card, close_fin, open_fin, move_timeout } event_t;
 
 void init_eventqueue(void);
 event_t eventqueue_pop(void);
diff --git a/usb-i2c-sl018/statemachine.c b/usb-i2c-sl018/statemachine.c
index 9a43385..77fb9cd 100644
--- a/usb-i2c-sl018/statemachine.c
+++ b/usb-i2c-sl018/statemachine.c
@@ -98,12 +98,8 @@ void statemachine_task_limits(void)
           return;
       }
     case closing:
-      if(limits == close)
-        return change_state(closed);
       break;
     case opening:
-      if(limits == open)
-        return change_state(opened);
       break;
   }
 }
@@ -117,9 +113,16 @@ void statemachine_task_event(void)
   switch(state) {
     case closing:
     case opening:
-      if(event==move_timeout)
-      {
-        return change_state(state==opening?timeout_after_open:timeout_after_close);
+      switch(event) {
+        case open_fin:
+          return change_state(opened);
+        case close_fin:
+          return change_state(closed);
+        case move_timeout:
+          return change_state(state==opening?timeout_after_open:timeout_after_close);
+        default:
+          printf("Error: event %d not allowed in state %d\n\r", event, state);
+          return;
       }
     case reset:
     case error:
@@ -144,6 +147,11 @@ void statemachine_task_event(void)
             (state==closed || state == timeout_after_close) ?
               opening:
               closing);
+        case open_fin:
+        case close_fin:
+        case move_timeout:
+          printf("Error: event %d not allowed in state %d\n\r", event, state);
+          return;
       }
   }
 
diff --git a/usb-i2c-sl018/statemachine.dot b/usb-i2c-sl018/statemachine.dot
index cff0df1..d581de8 100644
--- a/usb-i2c-sl018/statemachine.dot
+++ b/usb-i2c-sl018/statemachine.dot
@@ -29,8 +29,8 @@ digraph G {
   opened -> closing [label="toggle"]; 
   closed -> opening [label="cmd_open"]; 
   closed -> opening [label="toggle"]; 
-  opening -> opened [label="limit_open"];
-  closing -> closed [label="limit_close"];
+  opening -> opened [label="open_fin"];
+  closing -> closed [label="close_fin"];
   closing -> timeout_after_close [label="timeout"];
   opening -> timeout_after_open [label="timeout"];
   timeout_after_open -> closing [label="cmd_close"]; 
diff --git a/usb-i2c-sl018/stepper.c b/usb-i2c-sl018/stepper.c
index 7501feb..d555889 100644
--- a/usb-i2c-sl018/stepper.c
+++ b/usb-i2c-sl018/stepper.c
@@ -77,8 +77,14 @@ inline uint8_t handle_step(void)
   STEPPER_PORT = (STEPPER_PORT & STEPPER_OUTPUT_BITMASK ) | stepper_output;
 
   step_cnt++;
-  if(step_cnt >= STEP_CNT_OFF)
+  if(step_cnt >= STEP_CNT_OFF) {
+    if(step_direction == dir_open)
+      eventqueue_push(open_fin);
+    else
+      eventqueue_push(close_fin);
+
     return 0;
+  }
 
   return 1;
 }
-- 
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