From fbc7b65a6ef8e43378bb03fe64bfe1b5b2735434 Mon Sep 17 00:00:00 2001
From: Christian Pointner <equinox@spreadspace.org>
Date: Tue, 20 May 2014 02:43:59 +0200
Subject: added new speeds make access to target_speed atomic

---
 tube-rotator/stepper.c      | 28 +++++++++++++++++++---------
 tube-rotator/stepper.h      | 18 ++++++++++++------
 tube-rotator/tube-rotator.c | 12 +++++++++---
 3 files changed, 40 insertions(+), 18 deletions(-)

diff --git a/tube-rotator/stepper.c b/tube-rotator/stepper.c
index 675be26..064db5a 100644
--- a/tube-rotator/stepper.c
+++ b/tube-rotator/stepper.c
@@ -22,6 +22,7 @@
 
 #include <avr/sfr_defs.h>
 #include <avr/interrupt.h>
+#include <util/atomic.h>
 
 #include "stepper.h"
 
@@ -45,7 +46,7 @@ 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;
+volatile uint16_t target_speed;
 uint16_t current_speed;
 
 void stepper_init(void)
@@ -84,10 +85,12 @@ static inline void stepper_handle(void)
   step_idx++;
   step_idx %= LENGTH_STEP_TABLE;
 
-  if(current_speed > target_speed)
-    OCR1A = --current_speed;
-  else if(current_speed < target_speed)
-    OCR1A = ++current_speed;
+  if(step_idx != 0 && step_idx % 8) {
+    if(current_speed > target_speed)
+      OCR1A = --current_speed;
+    else if(current_speed < target_speed)
+      OCR1A = ++current_speed;
+  }
 }
 
 ISR(TIMER1_COMPA_vect)
@@ -97,18 +100,25 @@ ISR(TIMER1_COMPA_vect)
 
 void stepper_set_speed(uint16_t new_speed)
 {
-  if(new_speed <= STEPPER_SPEED_MIN && new_speed >= STEPPER_SPEED_MAX)
-    target_speed = new_speed;
+  if(new_speed <= STEPPER_SPEED_MIN && new_speed >= STEPPER_SPEED_MAX) {
+    ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+      target_speed = new_speed;
+    }
+  }
 }
 
 void stepper_inc_speed(void)
 {
-  target_speed = (target_speed <= STEPPER_SPEED_MAX) ? STEPPER_SPEED_MAX : target_speed - 1;
+  ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+    target_speed = (target_speed <= STEPPER_SPEED_MAX) ? STEPPER_SPEED_MAX : target_speed - 1;
+  }
 }
 
 void stepper_dec_speed(void)
 {
-  target_speed = (target_speed >= STEPPER_SPEED_MIN) ? STEPPER_SPEED_MIN : target_speed + 1;
+  ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+    target_speed = (target_speed >= STEPPER_SPEED_MIN) ? STEPPER_SPEED_MIN : target_speed + 1;
+  }
 }
 
 uint16_t stepper_get_speed(void)
diff --git a/tube-rotator/stepper.h b/tube-rotator/stepper.h
index 5b236b9..8412782 100644
--- a/tube-rotator/stepper.h
+++ b/tube-rotator/stepper.h
@@ -23,14 +23,20 @@
 #ifndef R3TUBE_stepper_h_INCLUDED
 #define R3TUBE_stepper_h_INCLUDED
 
-#define STEPPER_SPEED_MIN 500
-#define STEPPER_SPEED_MAX 80
+#define STEPPER_SPEED_MIN 1000
+#define STEPPER_SPEED_MAX 150
 
-#define STEPPER_SPEED_60RPM 311
-#define STEPPER_SPEED_120RPM 155
-#define STEPPER_SPEED_180RPM 103
+#define STEPPER_SPEED_20RPM 936
+#define STEPPER_SPEED_30RPM 624
+#define STEPPER_SPEED_40RPM 468
+#define STEPPER_SPEED_50RPM 374
+#define STEPPER_SPEED_60RPM 312
+#define STEPPER_SPEED_70RPM 267
+#define STEPPER_SPEED_80RPM 233
+#define STEPPER_SPEED_90RPM 207
+#define STEPPER_SPEED_100RPM 187
 
-#define STEPPER_SPEED_DEFAULT STEPPER_SPEED_120RPM
+#define STEPPER_SPEED_DEFAULT STEPPER_SPEED_60RPM
 
 void stepper_init(void);
 void stepper_start(void);
diff --git a/tube-rotator/tube-rotator.c b/tube-rotator/tube-rotator.c
index e1c84ce..dbce87e 100644
--- a/tube-rotator/tube-rotator.c
+++ b/tube-rotator/tube-rotator.c
@@ -42,9 +42,15 @@ void handle_cmd(uint8_t cmd)
     case 's': stepper_stop(); led_off(); break;
     case '+': stepper_inc_speed(); break;
     case '-': stepper_dec_speed(); break;
-    case '1': stepper_set_speed(STEPPER_SPEED_60RPM); break;
-    case '2': stepper_set_speed(STEPPER_SPEED_120RPM); break;
-    case '3': stepper_set_speed(STEPPER_SPEED_180RPM); break;
+    case '2': stepper_set_speed(STEPPER_SPEED_20RPM); break;
+    case '3': stepper_set_speed(STEPPER_SPEED_30RPM); break;
+    case '4': stepper_set_speed(STEPPER_SPEED_40RPM); break;
+    case '5': stepper_set_speed(STEPPER_SPEED_50RPM); break;
+    case '6': stepper_set_speed(STEPPER_SPEED_60RPM); break;
+    case '7': stepper_set_speed(STEPPER_SPEED_70RPM); break;
+    case '8': stepper_set_speed(STEPPER_SPEED_80RPM); break;
+    case '9': stepper_set_speed(STEPPER_SPEED_90RPM); break;
+    case '0': stepper_set_speed(STEPPER_SPEED_100RPM); break;
     default: printf("Error(cmd): unknown command %02X '%c'\r\n", cmd, cmd); return;
   }
   printf("current speed: %4d \r", stepper_get_speed());
-- 
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