From 7ebd33cb40aa50f187d7eaa7e44ce3499a6a2a3b Mon Sep 17 00:00:00 2001
From: Christian Pointner <equinox@spreadspace.org>
Date: Wed, 6 Feb 2013 01:17:12 +0000
Subject: cleanup

git-svn-id: https://svn.spreadspace.org/avr/trunk@124 aa12f405-d877-488e-9caf-2d797e2a1cc7
---
 usb-i2c-sl018/heartbeat.c | 12 +++++-------
 usb-i2c-sl018/stepper.c   | 33 ++++++---------------------------
 usb-i2c-sl018/stepper.h   |  2 --
 usb-i2c-sl018/tuer-rfid.c |  5 +++--
 4 files changed, 14 insertions(+), 38 deletions(-)

diff --git a/usb-i2c-sl018/heartbeat.c b/usb-i2c-sl018/heartbeat.c
index 6822320..fd9d5cb 100644
--- a/usb-i2c-sl018/heartbeat.c
+++ b/usb-i2c-sl018/heartbeat.c
@@ -50,13 +50,11 @@ void init_heartbeat(void)
   heartbeat_cnt = 0;
   heartbeat_flag = 1;
 
-  // timer 2: ~10 ms, timebase for heartbeat signal
-  TCCR0A = 1<<WGM01;                    // OC0A and OC0B as normal output, WGM = 2 (CTC)
-  TCCR0B = 1<<CS02 | 1<<CS00;           // Prescaler 1:1024
-  OCR0A = 155;        // (1+155)*1024 = 159744 -> ~10 ms @ 16 MHz
-  //OCR2A = 194;        // (1+194)*1024 = 199680 -> ~10 ms @ 20 MHz
-  TCNT2 = 0;          // reseting timer
-  TIMSK0 = 1<<OCIE0A; // enable Interrupt
+  TCCR0A = 1<<WGM01;           // OC0A and OC0B as normal output, WGM = 2 (CTC)
+  TCCR0B = 1<<CS02 | 1<<CS00;  // Prescaler 1:1024
+  OCR0A = 155;                 // (1+155)*1024 = 159744 -> ~10 ms @ 16 MHz
+  TCNT2 = 0;
+  TIMSK0 = 1<<OCIE0A;
 }
 
 void handle_heartbeat(void)
diff --git a/usb-i2c-sl018/stepper.c b/usb-i2c-sl018/stepper.c
index 4258da7..d6508e7 100644
--- a/usb-i2c-sl018/stepper.c
+++ b/usb-i2c-sl018/stepper.c
@@ -25,21 +25,7 @@
 #include <avr/interrupt.h>
 
 #include "stepper.h"
-//half steps
-/*
-uint8_t step_table [] = 
-{
-  10, // 1010
-  8,  // 1000
-  9,  // 1001
-  1,  // 0001
-  5,  // 0101
-  4,  // 0100
-  6,  // 0110
-  2,  // 0010
-};
-*/
-//Full steps
+
 uint8_t step_table [] = 
 {
   10, // 1010
@@ -62,7 +48,6 @@ stepper_direction_t step_direction = dir_open;
 
 inline void stop_stepper(void)
 {
-  // stop timer here
   STEPPER_PORT &= ~(0xF << STEPPER_FIRST_BIT | 1<<STEPPER_ENABLE_BIT);
   TCCR1B = 0; // no clock source
   TIMSK1 = 0; // disable timer interrupt
@@ -82,9 +67,8 @@ 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)
     return 0;
-  }
 
   return 1;
 }
@@ -103,22 +87,17 @@ uint8_t start_stepper(stepper_direction_t direction)
   step_cnt = 0;
   step_direction = direction;
   STEPPER_PORT |= 1<<STEPPER_ENABLE_BIT;
-  //start timer here
-  // timer 1: 2 ms, between stepper output state changes
   TCCR1A = 0;                    // prescaler 1:256, WGM = 4 (CTC)
   TCCR1B = 1<<WGM12 | 1<<CS12;   //
-  OCR1A = 124;        // (1+124)*256 = 32000 -> 2 ms @ 16 MHz
-  //OCR1A = 155;        // (1+155)*256 = 40000 -> 2 ms @ 20 MHz
-  TCNT1 = 0;          // reseting timer
-  TIMSK1 = 1<<OCIE1A; // enable Interrupt
+  OCR1A = 124;                   // (1+124)*256 = 32000 -> 2 ms @ 16 MHz
+  TCNT1 = 0;
+  TIMSK1 = 1<<OCIE1A;
 
   return 1;
 }
 
-
 ISR(TIMER1_COMPA_vect)
 {
-  if(!handle_step()) {
+  if(!handle_step())
     stop_stepper();
-  }
 }
diff --git a/usb-i2c-sl018/stepper.h b/usb-i2c-sl018/stepper.h
index 8e85dde..233423a 100644
--- a/usb-i2c-sl018/stepper.h
+++ b/usb-i2c-sl018/stepper.h
@@ -26,9 +26,7 @@
 
 typedef enum { dir_open = 0, dir_close = 1 } stepper_direction_t;
 
-//uint8_t handle_step(void);
 void init_stepper(void);
 uint8_t start_stepper(stepper_direction_t direction);
-//void stop_stepper(void);
 
 #endif
diff --git a/usb-i2c-sl018/tuer-rfid.c b/usb-i2c-sl018/tuer-rfid.c
index 7fa7d14..5182aa1 100644
--- a/usb-i2c-sl018/tuer-rfid.c
+++ b/usb-i2c-sl018/tuer-rfid.c
@@ -445,14 +445,15 @@ int main(void)
   led_init();
   USB_Init();
   TWI_Init(TWI_BIT_PRESCALE_1, TWI_BITLENGTH_FROM_FREQ(1, 200000));
-  sei();
   Serial_Init(115200,false);
   Serial_CreateStream(&serial_stream);
   CDC_Device_CreateStream(&VirtualSerial_CDC_Interface,&usb_stream);
 
+  sei();  
+
   init_heartbeat();
   init_stepper();
-  
+
   sl018_reset();
 
   for(;;) {
-- 
cgit v1.2.3