From c7ec79e08096ca81b690de154adab9c25a78e47a Mon Sep 17 00:00:00 2001
From: Christian Pointner <equinox@spreadspace.org>
Date: Mon, 23 Sep 2013 18:53:26 +0000
Subject: fixed stepper stop fixed limits

git-svn-id: https://svn.spreadspace.org/avr/trunk@228 aa12f405-d877-488e-9caf-2d797e2a1cc7
---
 tuer-rfid/limits.c    | 32 ++++++++++++++++++++------------
 tuer-rfid/limits.h    |  1 +
 tuer-rfid/stepper.c   | 25 ++++++++++++-------------
 tuer-rfid/tuer-rfid.c |  1 +
 4 files changed, 34 insertions(+), 25 deletions(-)

diff --git a/tuer-rfid/limits.c b/tuer-rfid/limits.c
index 6f567af..4e14b05 100644
--- a/tuer-rfid/limits.c
+++ b/tuer-rfid/limits.c
@@ -25,40 +25,48 @@
 #include "limits.h"
 #include <LUFA/Drivers/Peripheral/ADC.h>
 
+#include <stdio.h>
+
 #define LIMITS_ADC_CHAN_NUM 8
 #define LIMITS_ADC_CHAN ADC_CHANNEL8
 
 #define LIMITS_RINGBUF_SIZE 5
 /* HINT: this is compared to a sliding sum not an average! */
-#define LIMITS_TH_CLOSE 250
-#define LIMITS_TH_OPEN 1000
+#define LIMITS_TH_CLOSE 500
+#define LIMITS_TH_OPEN 3200
 
 void limits_init(void)
 {
   ADC_Init(ADC_FREE_RUNNING | ADC_PRESCALE_128);
   ADC_SetupChannel(LIMITS_ADC_CHAN_NUM);
-  ADC_StartReading(ADC_REFERENCE_INT2560MV | ADC_LEFT_ADJUSTED | LIMITS_ADC_CHAN);
+  ADC_StartReading(ADC_REFERENCE_AVCC | ADC_RIGHT_ADJUSTED | LIMITS_ADC_CHAN);
 }
 
-limits_t limits_get(void)
+static uint16_t sum = 0;
+
+void limits_task(void)
 {
-  static uint8_t s = 0;
-  static uint8_t r[LIMITS_RINGBUF_SIZE] = { 0 };
+  static uint16_t r[LIMITS_RINGBUF_SIZE] = { 0 };
   static uint8_t idx = 0;
 
   if(ADC_IsReadingComplete()) {
-    r[idx] = (ADC_GetResult()>>8);
+    r[idx] = ADC_GetResult();
     idx = (idx + 1) % LIMITS_RINGBUF_SIZE;
-    s = 0;
+    cli();
+    sum = 0;
     uint8_t i;
-    for(i=0; i<LIMITS_RINGBUF_SIZE; ++i) s += r[i];
+    for(i=0; i<LIMITS_RINGBUF_SIZE; ++i) sum += r[i];
+    sei();
   }
+}
 
-  if(s < LIMITS_TH_CLOSE)
+limits_t limits_get(void)
+{
+  if(sum < LIMITS_TH_CLOSE)
     return close;
 
-  if(s < LIMITS_TH_OPEN)
-    return moving;
+  if(sum < LIMITS_TH_OPEN)
+   return moving;
 
   return open;
 }
diff --git a/tuer-rfid/limits.h b/tuer-rfid/limits.h
index f1363ab..3b5eaa3 100644
--- a/tuer-rfid/limits.h
+++ b/tuer-rfid/limits.h
@@ -27,6 +27,7 @@
 typedef enum { moving, open, close, both } limits_t;
 
 void limits_init(void);
+void limits_task(void);
 limits_t limits_get(void);
 const char* limits_to_string(limits_t limits);
 
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;
 }
diff --git a/tuer-rfid/tuer-rfid.c b/tuer-rfid/tuer-rfid.c
index 32cf5c7..60d2974 100644
--- a/tuer-rfid/tuer-rfid.c
+++ b/tuer-rfid/tuer-rfid.c
@@ -141,6 +141,7 @@ int main(void)
     anyio_task();
     manual_task();
     ajar_task();
+    limits_task();
 
     int16_t bytes_received = anyio_bytes_received();
     if(bytes_received > 0)
-- 
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