From 224a3cc9412d5bc139f157a4046bbc6e89b848b4 Mon Sep 17 00:00:00 2001
From: Christian Pointner <equinox@spreadspace.org>
Date: Mon, 19 May 2014 01:34:31 +0200
Subject: spin up/down, set speed

---
 tube-rotator/stepper.h | 8 ++++++++
 1 file changed, 8 insertions(+)

(limited to 'tube-rotator/stepper.h')

diff --git a/tube-rotator/stepper.h b/tube-rotator/stepper.h
index 7fb70ec..ace7984 100644
--- a/tube-rotator/stepper.h
+++ b/tube-rotator/stepper.h
@@ -23,8 +23,16 @@
 #ifndef R3TUBE_stepper_h_INCLUDED
 #define R3TUBE_stepper_h_INCLUDED
 
+#define STEPPER_MIN_SPEED 800
+#define STEPPER_DEFAULT_SPEED 200
+#define STEPPER_MAX_SPEED 80
+
 void stepper_init(void);
 void stepper_start(void);
 void stepper_stop(void);
 
+void stepper_set_speed(uint16_t new_speed);
+void stepper_inc_speed(void);
+void stepper_dec_speed(void);
+
 #endif
-- 
cgit v1.2.3


From adc04cbabe0773835ef2c83d132502ef87ce5a62 Mon Sep 17 00:00:00 2001
From: Christian Pointner <equinox@spreadspace.org>
Date: Mon, 19 May 2014 02:01:08 +0200
Subject: introduced some default speeds

---
 tube-rotator/stepper.c      | 17 +++++------------
 tube-rotator/stepper.h      | 11 ++++++++---
 tube-rotator/tube-rotator.c | 25 ++++++++-----------------
 3 files changed, 21 insertions(+), 32 deletions(-)

(limited to 'tube-rotator/stepper.h')

diff --git a/tube-rotator/stepper.c b/tube-rotator/stepper.c
index 24ce37b..83b1026 100644
--- a/tube-rotator/stepper.c
+++ b/tube-rotator/stepper.c
@@ -27,13 +27,6 @@
 
 uint8_t step_table [] =
 {
-    /* full steps */
-  /* 6,  // 0110 */
-  /* 5,  // 0101 */
-  /* 9,  // 1001 */
-  /* 10, // 1010 */
-
-    /* half steps */
   2,  // 0010
   6,  // 0110
   4,  // 0100
@@ -57,7 +50,7 @@ uint16_t current_speed;
 
 void stepper_init(void)
 {
-  target_speed = STEPPER_DEFAULT_SPEED;
+  target_speed = STEPPER_SPEED_DEFAULT;
   STEPPER_PORT &= ~(0xF << STEPPER_FIRST_BIT | 1<<STEPPER_ENABLE_A_BIT | 1<<STEPPER_ENABLE_B_BIT);
   STEPPER_DDR |= (0xF << STEPPER_FIRST_BIT) | (1<<STEPPER_ENABLE_A_BIT) | (1<<STEPPER_ENABLE_B_BIT);
   stepper_stop();
@@ -65,7 +58,7 @@ void stepper_init(void)
 
 void stepper_start(void)
 {
-  current_speed = STEPPER_MIN_SPEED;
+  current_speed = STEPPER_SPEED_MIN;
   STEPPER_PORT |= (1<<STEPPER_ENABLE_A_BIT) | (1<<STEPPER_ENABLE_B_BIT);
   TCNT1 = 0;
   OCR1A = current_speed;
@@ -104,16 +97,16 @@ ISR(TIMER1_COMPA_vect)
 
 void stepper_set_speed(uint16_t new_speed)
 {
-  if(new_speed >= STEPPER_MIN_SPEED && new_speed <= STEPPER_MAX_SPEED)
+  if(new_speed >= STEPPER_SPEED_MIN && new_speed <= STEPPER_SPEED_MAX)
     target_speed = new_speed;
 }
 
 void stepper_inc_speed(void)
 {
-  target_speed = (target_speed >= STEPPER_MAX_SPEED) ? target_speed : target_speed + 1;
+  target_speed = (target_speed >= STEPPER_SPEED_MAX) ? target_speed : target_speed + 1;
 }
 
 void stepper_dec_speed(void)
 {
-  target_speed = (target_speed <= STEPPER_MIN_SPEED) ? target_speed : target_speed - 1;
+  target_speed = (target_speed <= STEPPER_SPEED_MIN) ? target_speed : target_speed - 1;
 }
diff --git a/tube-rotator/stepper.h b/tube-rotator/stepper.h
index ace7984..2e95736 100644
--- a/tube-rotator/stepper.h
+++ b/tube-rotator/stepper.h
@@ -23,9 +23,14 @@
 #ifndef R3TUBE_stepper_h_INCLUDED
 #define R3TUBE_stepper_h_INCLUDED
 
-#define STEPPER_MIN_SPEED 800
-#define STEPPER_DEFAULT_SPEED 200
-#define STEPPER_MAX_SPEED 80
+#define STEPPER_SPEED_MIN 500
+#define STEPPER_SPEED_MAX 80
+
+#define STEPPER_SPEED_60RPM 311
+#define STEPPER_SPEED_120RPM 155
+#define STEPPER_SPEED_180RPM 103
+
+#define STEPPER_SPEED_DEFAULT STEPPER_SPEED_120RPM
 
 void stepper_init(void);
 void stepper_start(void);
diff --git a/tube-rotator/tube-rotator.c b/tube-rotator/tube-rotator.c
index 0e8195f..de2bd49 100644
--- a/tube-rotator/tube-rotator.c
+++ b/tube-rotator/tube-rotator.c
@@ -37,23 +37,14 @@
 void handle_cmd(uint8_t cmd)
 {
   switch(cmd) {
-    case '!':
-             reset2bootloader();
-             break;
-    case 'r':
-             led_on();
-             stepper_start();
-             break;
-    case 's':
-             stepper_stop();
-             led_off();
-             break;
-    case '+':
-             stepper_inc_speed();
-             break;
-    case '-':
-             stepper_dec_speed();
-             break;
+    case '!': reset2bootloader(); break;
+    case 'r': led_on(); stepper_start(); break;
+    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;
     default: printf("Error(cmd): unknown command %02X '%c'\r\n", cmd, cmd); return;
   }
 }
-- 
cgit v1.2.3


From e24ee0d13c7ad1671d2ce3d47bb601f4c1162dd1 Mon Sep 17 00:00:00 2001
From: Christian Pointner <equinox@spreadspace.org>
Date: Mon, 19 May 2014 05:45:16 +0200
Subject: printing speed after successful command

---
 tube-rotator/stepper.c      | 5 +++++
 tube-rotator/stepper.h      | 1 +
 tube-rotator/tube-rotator.c | 1 +
 3 files changed, 7 insertions(+)

(limited to 'tube-rotator/stepper.h')

diff --git a/tube-rotator/stepper.c b/tube-rotator/stepper.c
index 83b1026..80f4d8d 100644
--- a/tube-rotator/stepper.c
+++ b/tube-rotator/stepper.c
@@ -110,3 +110,8 @@ void stepper_dec_speed(void)
 {
   target_speed = (target_speed <= STEPPER_SPEED_MIN) ? target_speed : target_speed - 1;
 }
+
+uint16_t stepper_get_speed(void)
+{
+  return target_speed;
+}
diff --git a/tube-rotator/stepper.h b/tube-rotator/stepper.h
index 2e95736..5b236b9 100644
--- a/tube-rotator/stepper.h
+++ b/tube-rotator/stepper.h
@@ -39,5 +39,6 @@ void stepper_stop(void);
 void stepper_set_speed(uint16_t new_speed);
 void stepper_inc_speed(void);
 void stepper_dec_speed(void);
+uint16_t stepper_get_speed(void);
 
 #endif
diff --git a/tube-rotator/tube-rotator.c b/tube-rotator/tube-rotator.c
index de2bd49..b5a6bd6 100644
--- a/tube-rotator/tube-rotator.c
+++ b/tube-rotator/tube-rotator.c
@@ -47,6 +47,7 @@ void handle_cmd(uint8_t cmd)
     case '3': stepper_set_speed(STEPPER_SPEED_180RPM); break;
     default: printf("Error(cmd): unknown command %02X '%c'\r\n", cmd, cmd); return;
   }
+  printf("current speed: %d \r", stepper_get_speed());
 }
 
 int main(void)
-- 
cgit v1.2.3


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(-)

(limited to 'tube-rotator/stepper.h')

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());
-- 
cgit v1.2.3


From 31686afee01d0fa0c94307897b8f7a33b2cf2244 Mon Sep 17 00:00:00 2001
From: Christian Pointner <equinox@spreadspace.org>
Date: Tue, 20 May 2014 03:13:40 +0200
Subject: added conversion from speed value to rpm

---
 tube-rotator/stepper.c      | 6 ++++++
 tube-rotator/stepper.h      | 1 +
 tube-rotator/tube-rotator.c | 2 +-
 3 files changed, 8 insertions(+), 1 deletion(-)

(limited to 'tube-rotator/stepper.h')

diff --git a/tube-rotator/stepper.c b/tube-rotator/stepper.c
index 064db5a..a498b43 100644
--- a/tube-rotator/stepper.c
+++ b/tube-rotator/stepper.c
@@ -23,6 +23,7 @@
 #include <avr/sfr_defs.h>
 #include <avr/interrupt.h>
 #include <util/atomic.h>
+#include <math.h>
 
 #include "stepper.h"
 
@@ -125,3 +126,8 @@ uint16_t stepper_get_speed(void)
 {
   return target_speed;
 }
+
+uint8_t stepper_get_speed_rpm(void)
+{
+  return (uint8_t)lround( ( (double)F_CPU / (double)(51200 * (target_speed + 1) ) ) * 60.0 );
+}
diff --git a/tube-rotator/stepper.h b/tube-rotator/stepper.h
index 8412782..e48be30 100644
--- a/tube-rotator/stepper.h
+++ b/tube-rotator/stepper.h
@@ -46,5 +46,6 @@ void stepper_set_speed(uint16_t new_speed);
 void stepper_inc_speed(void);
 void stepper_dec_speed(void);
 uint16_t stepper_get_speed(void);
+uint8_t stepper_get_speed_rpm(void);
 
 #endif
diff --git a/tube-rotator/tube-rotator.c b/tube-rotator/tube-rotator.c
index dbce87e..e0b0255 100644
--- a/tube-rotator/tube-rotator.c
+++ b/tube-rotator/tube-rotator.c
@@ -53,7 +53,7 @@ void handle_cmd(uint8_t cmd)
     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());
+  printf("target speed: %3d rpm\r", stepper_get_speed_rpm());
 }
 
 int main(void)
-- 
cgit v1.2.3


From 0b70b0e64a9e2681f81e26014e5978c16fb2838c Mon Sep 17 00:00:00 2001
From: Christian Pointner <equinox@spreadspace.org>
Date: Tue, 20 May 2014 03:56:14 +0200
Subject: better min/max values

---
 tube-rotator/stepper.c      | 4 ++--
 tube-rotator/stepper.h      | 6 +++---
 tube-rotator/tube-rotator.c | 2 +-
 3 files changed, 6 insertions(+), 6 deletions(-)

(limited to 'tube-rotator/stepper.h')

diff --git a/tube-rotator/stepper.c b/tube-rotator/stepper.c
index 2de1fc2..84bd666 100644
--- a/tube-rotator/stepper.c
+++ b/tube-rotator/stepper.c
@@ -132,7 +132,7 @@ uint16_t stepper_get_speed(void)
   return target_speed;
 }
 
-uint8_t stepper_get_speed_rpm(void)
+uint16_t stepper_get_speed_rpm(void)
 {
-  return (uint8_t)lround( ( (double)F_CPU / (double)(51200 * (target_speed + 1) ) ) * 60.0 );
+  return (uint16_t)lround( ( (double)F_CPU / (double)(64.0 * 800.0 * (double)(target_speed + 1) ) ) * 60.0 );
 }
diff --git a/tube-rotator/stepper.h b/tube-rotator/stepper.h
index e48be30..5f26fdf 100644
--- a/tube-rotator/stepper.h
+++ b/tube-rotator/stepper.h
@@ -23,8 +23,8 @@
 #ifndef R3TUBE_stepper_h_INCLUDED
 #define R3TUBE_stepper_h_INCLUDED
 
-#define STEPPER_SPEED_MIN 1000
-#define STEPPER_SPEED_MAX 150
+#define STEPPER_SPEED_MIN 950
+#define STEPPER_SPEED_MAX 149
 
 #define STEPPER_SPEED_20RPM 936
 #define STEPPER_SPEED_30RPM 624
@@ -46,6 +46,6 @@ void stepper_set_speed(uint16_t new_speed);
 void stepper_inc_speed(void);
 void stepper_dec_speed(void);
 uint16_t stepper_get_speed(void);
-uint8_t stepper_get_speed_rpm(void);
+uint16_t stepper_get_speed_rpm(void);
 
 #endif
diff --git a/tube-rotator/tube-rotator.c b/tube-rotator/tube-rotator.c
index e0b0255..88b2280 100644
--- a/tube-rotator/tube-rotator.c
+++ b/tube-rotator/tube-rotator.c
@@ -53,7 +53,7 @@ void handle_cmd(uint8_t cmd)
     case '0': stepper_set_speed(STEPPER_SPEED_100RPM); break;
     default: printf("Error(cmd): unknown command %02X '%c'\r\n", cmd, cmd); return;
   }
-  printf("target speed: %3d rpm\r", stepper_get_speed_rpm());
+  printf("target speed: %4d rpm\r", stepper_get_speed_rpm());
 }
 
 int main(void)
-- 
cgit v1.2.3


From 79a8c06cd5f5f8d6ad887a5ca71d4464523a43e1 Mon Sep 17 00:00:00 2001
From: Christian Pointner <equinox@spreadspace.org>
Date: Tue, 20 May 2014 04:02:33 +0200
Subject: added set speed in rpm

---
 tube-rotator/stepper.c      |  9 +++++++--
 tube-rotator/stepper.h      |  4 +++-
 tube-rotator/tube-rotator.c | 20 ++++++++++----------
 3 files changed, 20 insertions(+), 13 deletions(-)

(limited to 'tube-rotator/stepper.h')

diff --git a/tube-rotator/stepper.c b/tube-rotator/stepper.c
index 84bd666..3a08cd4 100644
--- a/tube-rotator/stepper.c
+++ b/tube-rotator/stepper.c
@@ -132,7 +132,12 @@ uint16_t stepper_get_speed(void)
   return target_speed;
 }
 
-uint16_t stepper_get_speed_rpm(void)
+void stepper_set_speed_rpm(uint8_t new_rpm)
 {
-  return (uint16_t)lround( ( (double)F_CPU / (double)(64.0 * 800.0 * (double)(target_speed + 1) ) ) * 60.0 );
+  stepper_set_speed(( (uint16_t)( (double)(60.0 * F_CPU) / (double)(64.0 * 800.0 * (double)new_rpm) ) ) - 1);
+}
+
+uint8_t stepper_get_speed_rpm(void)
+{
+  return (uint8_t)lround( ( (double)F_CPU / (double)(64.0 * 800.0 * (double)(target_speed + 1) ) ) * 60.0 );
 }
diff --git a/tube-rotator/stepper.h b/tube-rotator/stepper.h
index 5f26fdf..a4c7557 100644
--- a/tube-rotator/stepper.h
+++ b/tube-rotator/stepper.h
@@ -46,6 +46,8 @@ void stepper_set_speed(uint16_t new_speed);
 void stepper_inc_speed(void);
 void stepper_dec_speed(void);
 uint16_t stepper_get_speed(void);
-uint16_t stepper_get_speed_rpm(void);
+
+void stepper_set_speed_rpm(uint8_t new_rpm);
+uint8_t stepper_get_speed_rpm(void);
 
 #endif
diff --git a/tube-rotator/tube-rotator.c b/tube-rotator/tube-rotator.c
index 88b2280..b1446b0 100644
--- a/tube-rotator/tube-rotator.c
+++ b/tube-rotator/tube-rotator.c
@@ -42,18 +42,18 @@ void handle_cmd(uint8_t cmd)
     case 's': stepper_stop(); led_off(); break;
     case '+': stepper_inc_speed(); break;
     case '-': stepper_dec_speed(); 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;
+    case '2': stepper_set_speed_rpm(20); break;
+    case '3': stepper_set_speed_rpm(30); break;
+    case '4': stepper_set_speed_rpm(40); break;
+    case '5': stepper_set_speed_rpm(50); break;
+    case '6': stepper_set_speed_rpm(60); break;
+    case '7': stepper_set_speed_rpm(70); break;
+    case '8': stepper_set_speed_rpm(80); break;
+    case '9': stepper_set_speed_rpm(90); break;
+    case '0': stepper_set_speed_rpm(100); break;
     default: printf("Error(cmd): unknown command %02X '%c'\r\n", cmd, cmd); return;
   }
-  printf("target speed: %4d rpm\r", stepper_get_speed_rpm());
+  printf("target speed: %3d rpm\r", stepper_get_speed_rpm());
 }
 
 int main(void)
-- 
cgit v1.2.3


From 943668711671cec5efa238daed28cfe0e2828d5c Mon Sep 17 00:00:00 2001
From: Christian Pointner <equinox@spreadspace.org>
Date: Wed, 21 May 2014 02:02:40 +0200
Subject: cleaned up stepper state added rpm based inc speed commands

---
 tube-rotator/stepper.c      | 36 +++++++++++++++++++++++++++++++-----
 tube-rotator/stepper.h      | 10 ++++++++--
 tube-rotator/tube-rotator.c | 12 +++++++-----
 3 files changed, 46 insertions(+), 12 deletions(-)

(limited to 'tube-rotator/stepper.h')

diff --git a/tube-rotator/stepper.c b/tube-rotator/stepper.c
index 3a08cd4..43e194f 100644
--- a/tube-rotator/stepper.c
+++ b/tube-rotator/stepper.c
@@ -49,7 +49,7 @@ uint8_t step_table [] =
 
 volatile uint16_t target_speed;
 uint16_t current_speed;
-uint8_t running;
+stepper_state_t current_state;
 
 void stepper_init(void)
 {
@@ -61,7 +61,7 @@ void stepper_init(void)
 
 void stepper_start(void)
 {
-  if(running) return;
+  if(current_state == stepper_running) return;
 
   current_speed = STEPPER_SPEED_MIN;
   STEPPER_PORT |= (1<<STEPPER_ENABLE_A_BIT) | (1<<STEPPER_ENABLE_B_BIT);
@@ -70,7 +70,7 @@ void stepper_start(void)
   TCCR1A = 0;                              // prescaler 1:64, WGM = 4 (CTC)
   TCCR1B = 1<<WGM12 | 1<<CS11 | 1<<CS10;   //
   TIMSK1 = 1<<OCIE1A;
-  running = 1;
+  current_state = stepper_running;
 }
 
 void stepper_stop(void)
@@ -78,7 +78,7 @@ 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
-  running = 0;
+  current_state = stepper_stopped;
 }
 
 static inline void stepper_handle(void)
@@ -104,6 +104,20 @@ ISR(TIMER1_COMPA_vect)
   stepper_handle();
 }
 
+stepper_state_t stepper_get_state(void)
+{
+  return current_state;
+}
+
+const char* stepper_state_to_string(stepper_state_t state)
+{
+  switch(state) {
+    case stepper_running: return "running";
+    case stepper_stopped: return "stopped";
+  }
+  return "?";
+}
+
 void stepper_set_speed(uint16_t new_speed)
 {
   if(new_speed <= STEPPER_SPEED_MIN && new_speed >= STEPPER_SPEED_MAX) {
@@ -134,10 +148,22 @@ uint16_t stepper_get_speed(void)
 
 void stepper_set_speed_rpm(uint8_t new_rpm)
 {
-  stepper_set_speed(( (uint16_t)( (double)(60.0 * F_CPU) / (double)(64.0 * 800.0 * (double)new_rpm) ) ) - 1);
+  stepper_set_speed(( (uint16_t)lround( (double)(60.0 * F_CPU) / (double)(64.0 * 800.0 * (double)new_rpm) ) ) - 1);
 }
 
 uint8_t stepper_get_speed_rpm(void)
 {
   return (uint8_t)lround( ( (double)F_CPU / (double)(64.0 * 800.0 * (double)(target_speed + 1) ) ) * 60.0 );
 }
+
+void stepper_inc_speed_rpm(void)
+{
+  uint8_t rpm = stepper_get_speed_rpm();
+  stepper_set_speed_rpm((rpm >= 255) ? 255 : rpm+1);
+}
+
+void stepper_dec_speed_rpm(void)
+{
+  uint8_t rpm = stepper_get_speed_rpm();
+  stepper_set_speed_rpm((rpm <= 1) ? 1 : rpm-1);
+}
diff --git a/tube-rotator/stepper.h b/tube-rotator/stepper.h
index a4c7557..10f4900 100644
--- a/tube-rotator/stepper.h
+++ b/tube-rotator/stepper.h
@@ -23,10 +23,10 @@
 #ifndef R3TUBE_stepper_h_INCLUDED
 #define R3TUBE_stepper_h_INCLUDED
 
-#define STEPPER_SPEED_MIN 950
+#define STEPPER_SPEED_MIN 699
 #define STEPPER_SPEED_MAX 149
+//#define STEPPER_SPEED_MAX 74
 
-#define STEPPER_SPEED_20RPM 936
 #define STEPPER_SPEED_30RPM 624
 #define STEPPER_SPEED_40RPM 468
 #define STEPPER_SPEED_50RPM 374
@@ -38,9 +38,13 @@
 
 #define STEPPER_SPEED_DEFAULT STEPPER_SPEED_60RPM
 
+typedef enum { stepper_stopped = 0, stepper_running = 1 } stepper_state_t;
+
 void stepper_init(void);
 void stepper_start(void);
 void stepper_stop(void);
+stepper_state_t stepper_get_state(void);
+const char* stepper_state_to_string(stepper_state_t state);
 
 void stepper_set_speed(uint16_t new_speed);
 void stepper_inc_speed(void);
@@ -49,5 +53,7 @@ uint16_t stepper_get_speed(void);
 
 void stepper_set_speed_rpm(uint8_t new_rpm);
 uint8_t stepper_get_speed_rpm(void);
+void stepper_inc_speed_rpm(void);
+void stepper_dec_speed_rpm(void);
 
 #endif
diff --git a/tube-rotator/tube-rotator.c b/tube-rotator/tube-rotator.c
index b1446b0..065dd2f 100644
--- a/tube-rotator/tube-rotator.c
+++ b/tube-rotator/tube-rotator.c
@@ -40,9 +40,10 @@ void handle_cmd(uint8_t cmd)
     case '!': reset2bootloader(); break;
     case 'r': led_on(); stepper_start(); break;
     case 's': stepper_stop(); led_off(); break;
-    case '+': stepper_inc_speed(); break;
-    case '-': stepper_dec_speed(); break;
-    case '2': stepper_set_speed_rpm(20); break;
+    case '*': stepper_inc_speed(); break;
+    case '+': stepper_inc_speed_rpm(); break;
+    case '-': stepper_dec_speed_rpm(); break;
+    case '_': stepper_dec_speed(); break;
     case '3': stepper_set_speed_rpm(30); break;
     case '4': stepper_set_speed_rpm(40); break;
     case '5': stepper_set_speed_rpm(50); break;
@@ -51,9 +52,10 @@ void handle_cmd(uint8_t cmd)
     case '8': stepper_set_speed_rpm(80); break;
     case '9': stepper_set_speed_rpm(90); break;
     case '0': stepper_set_speed_rpm(100); break;
-    default: printf("Error(cmd): unknown command %02X '%c'\r\n", cmd, cmd); return;
+    case '1': stepper_set_speed_rpm(110); break;
+    case '2': stepper_set_speed_rpm(120); break;
   }
-  printf("target speed: %3d rpm\r", stepper_get_speed_rpm());
+  printf("state: %s, %3d rpm\r", stepper_state_to_string(stepper_get_state()), stepper_get_speed_rpm());
 }
 
 int main(void)
-- 
cgit v1.2.3


From ddf7cc0e82e33bc574967aa53a7d5bb97b7e5410 Mon Sep 17 00:00:00 2001
From: Christian Pointner <equinox@spreadspace.org>
Date: Wed, 21 May 2014 04:23:54 +0200
Subject: improved acceleration

---
 tube-rotator/stepper.c      | 52 ++++++++++++++++++++++-----------------------
 tube-rotator/stepper.h      | 32 ++++++++++++++--------------
 tube-rotator/tube-rotator.c | 28 ++++++++++++------------
 3 files changed, 55 insertions(+), 57 deletions(-)

(limited to 'tube-rotator/stepper.h')

diff --git a/tube-rotator/stepper.c b/tube-rotator/stepper.c
index 43e194f..ee8518f 100644
--- a/tube-rotator/stepper.c
+++ b/tube-rotator/stepper.c
@@ -93,9 +93,9 @@ static inline void stepper_handle(void)
 
   if(step_idx != 0 && step_idx % 8) {
     if(current_speed > target_speed)
-      OCR1A = --current_speed;
+      OCR1A = (uint16_t)(STEPPER_SPEED_CONVERT_VALUE/(--current_speed));
     else if(current_speed < target_speed)
-      OCR1A = ++current_speed;
+      OCR1A = (uint16_t)(STEPPER_SPEED_CONVERT_VALUE/(++current_speed));
   }
 }
 
@@ -120,7 +120,7 @@ const char* stepper_state_to_string(stepper_state_t state)
 
 void stepper_set_speed(uint16_t new_speed)
 {
-  if(new_speed <= STEPPER_SPEED_MIN && new_speed >= STEPPER_SPEED_MAX) {
+  if(new_speed >= STEPPER_SPEED_MIN && new_speed <= STEPPER_SPEED_MAX) {
     ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
       target_speed = new_speed;
     }
@@ -130,14 +130,14 @@ void stepper_set_speed(uint16_t new_speed)
 void stepper_inc_speed(void)
 {
   ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
-    target_speed = (target_speed <= STEPPER_SPEED_MAX) ? STEPPER_SPEED_MAX : target_speed - 1;
+    target_speed = (target_speed >= STEPPER_SPEED_MAX) ? STEPPER_SPEED_MAX : target_speed + 1;
   }
 }
 
 void stepper_dec_speed(void)
 {
   ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
-    target_speed = (target_speed >= STEPPER_SPEED_MIN) ? STEPPER_SPEED_MIN : target_speed + 1;
+    target_speed = (target_speed <= STEPPER_SPEED_MIN) ? STEPPER_SPEED_MIN : target_speed - 1;
   }
 }
 
@@ -146,24 +146,24 @@ uint16_t stepper_get_speed(void)
   return target_speed;
 }
 
-void stepper_set_speed_rpm(uint8_t new_rpm)
-{
-  stepper_set_speed(( (uint16_t)lround( (double)(60.0 * F_CPU) / (double)(64.0 * 800.0 * (double)new_rpm) ) ) - 1);
-}
-
-uint8_t stepper_get_speed_rpm(void)
-{
-  return (uint8_t)lround( ( (double)F_CPU / (double)(64.0 * 800.0 * (double)(target_speed + 1) ) ) * 60.0 );
-}
-
-void stepper_inc_speed_rpm(void)
-{
-  uint8_t rpm = stepper_get_speed_rpm();
-  stepper_set_speed_rpm((rpm >= 255) ? 255 : rpm+1);
-}
-
-void stepper_dec_speed_rpm(void)
-{
-  uint8_t rpm = stepper_get_speed_rpm();
-  stepper_set_speed_rpm((rpm <= 1) ? 1 : rpm-1);
-}
+/* void stepper_set_speed_rpm(uint8_t new_rpm) */
+/* { */
+/*   stepper_set_speed(( (uint16_t)lround( (double)(60.0 * F_CPU) / (double)(64.0 * 800.0 * (double)new_rpm) ) ) - 1); */
+/* } */
+
+/* uint8_t stepper_get_speed_rpm(void) */
+/* { */
+/*   return (uint8_t)lround( ( (double)F_CPU / (double)(64.0 * 800.0 * (double)(target_speed + 1) ) ) * 60.0 ); */
+/* } */
+
+/* void stepper_inc_speed_rpm(void) */
+/* { */
+/*   uint8_t rpm = stepper_get_speed_rpm(); */
+/*   stepper_set_speed_rpm((rpm >= 255) ? 255 : rpm+1); */
+/* } */
+
+/* void stepper_dec_speed_rpm(void) */
+/* { */
+/*   uint8_t rpm = stepper_get_speed_rpm(); */
+/*   stepper_set_speed_rpm((rpm <= 1) ? 1 : rpm-1); */
+/* } */
diff --git a/tube-rotator/stepper.h b/tube-rotator/stepper.h
index 10f4900..7c0eaa3 100644
--- a/tube-rotator/stepper.h
+++ b/tube-rotator/stepper.h
@@ -23,18 +23,18 @@
 #ifndef R3TUBE_stepper_h_INCLUDED
 #define R3TUBE_stepper_h_INCLUDED
 
-#define STEPPER_SPEED_MIN 699
-#define STEPPER_SPEED_MAX 149
-//#define STEPPER_SPEED_MAX 74
-
-#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_MIN 150
+#define STEPPER_SPEED_MAX 700
+#define STEPPER_SPEED_CONVERT_VALUE (uint32_t)(105000)
+
+#define STEPPER_SPEED_30RPM 168
+#define STEPPER_SPEED_40RPM 224
+#define STEPPER_SPEED_50RPM 281
+#define STEPPER_SPEED_60RPM 336
+#define STEPPER_SPEED_70RPM 393
+#define STEPPER_SPEED_80RPM 451
+#define STEPPER_SPEED_90RPM 507
+#define STEPPER_SPEED_100RPM 561
 
 #define STEPPER_SPEED_DEFAULT STEPPER_SPEED_60RPM
 
@@ -51,9 +51,9 @@ void stepper_inc_speed(void);
 void stepper_dec_speed(void);
 uint16_t stepper_get_speed(void);
 
-void stepper_set_speed_rpm(uint8_t new_rpm);
-uint8_t stepper_get_speed_rpm(void);
-void stepper_inc_speed_rpm(void);
-void stepper_dec_speed_rpm(void);
+//void stepper_set_speed_rpm(uint8_t new_rpm);
+//uint8_t stepper_get_speed_rpm(void);
+//void stepper_inc_speed_rpm(void);
+//void stepper_dec_speed_rpm(void);
 
 #endif
diff --git a/tube-rotator/tube-rotator.c b/tube-rotator/tube-rotator.c
index 065dd2f..416e077 100644
--- a/tube-rotator/tube-rotator.c
+++ b/tube-rotator/tube-rotator.c
@@ -40,22 +40,20 @@ void handle_cmd(uint8_t cmd)
     case '!': reset2bootloader(); break;
     case 'r': led_on(); stepper_start(); break;
     case 's': stepper_stop(); led_off(); break;
-    case '*': stepper_inc_speed(); break;
-    case '+': stepper_inc_speed_rpm(); break;
-    case '-': stepper_dec_speed_rpm(); break;
-    case '_': stepper_dec_speed(); break;
-    case '3': stepper_set_speed_rpm(30); break;
-    case '4': stepper_set_speed_rpm(40); break;
-    case '5': stepper_set_speed_rpm(50); break;
-    case '6': stepper_set_speed_rpm(60); break;
-    case '7': stepper_set_speed_rpm(70); break;
-    case '8': stepper_set_speed_rpm(80); break;
-    case '9': stepper_set_speed_rpm(90); break;
-    case '0': stepper_set_speed_rpm(100); break;
-    case '1': stepper_set_speed_rpm(110); break;
-    case '2': stepper_set_speed_rpm(120); break;
+    case '+': stepper_inc_speed(); break;
+//    case '+': stepper_inc_speed_rpm(); break;
+//    case '-': stepper_dec_speed_rpm(); break;
+    case '-': stepper_dec_speed(); 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;
   }
-  printf("state: %s, %3d rpm\r", stepper_state_to_string(stepper_get_state()), stepper_get_speed_rpm());
+  printf("state: %s, %3d rpm\r", stepper_state_to_string(stepper_get_state()), stepper_get_speed());
 }
 
 int main(void)
-- 
cgit v1.2.3


From 2b39db60e0a948e5109e345ad601f511d88d63db Mon Sep 17 00:00:00 2001
From: Christian Pointner <equinox@spreadspace.org>
Date: Wed, 21 May 2014 22:54:19 +0200
Subject: reimplemented rpm based speed setting

---
 tube-rotator/stepper.c      | 46 ++++++++++++++++++++++-----------------------
 tube-rotator/stepper.h      |  8 ++++----
 tube-rotator/tube-rotator.c | 28 ++++++++++++++-------------
 3 files changed, 42 insertions(+), 40 deletions(-)

(limited to 'tube-rotator/stepper.h')

diff --git a/tube-rotator/stepper.c b/tube-rotator/stepper.c
index ee8518f..8b718ae 100644
--- a/tube-rotator/stepper.c
+++ b/tube-rotator/stepper.c
@@ -93,9 +93,9 @@ static inline void stepper_handle(void)
 
   if(step_idx != 0 && step_idx % 8) {
     if(current_speed > target_speed)
-      OCR1A = (uint16_t)(STEPPER_SPEED_CONVERT_VALUE/(--current_speed));
+      OCR1A = (uint16_t)((STEPPER_SPEED_CONVERT_VALUE/(--current_speed)) - 1);
     else if(current_speed < target_speed)
-      OCR1A = (uint16_t)(STEPPER_SPEED_CONVERT_VALUE/(++current_speed));
+      OCR1A = (uint16_t)((STEPPER_SPEED_CONVERT_VALUE/(++current_speed)) - 1);
   }
 }
 
@@ -146,24 +146,24 @@ uint16_t stepper_get_speed(void)
   return target_speed;
 }
 
-/* void stepper_set_speed_rpm(uint8_t new_rpm) */
-/* { */
-/*   stepper_set_speed(( (uint16_t)lround( (double)(60.0 * F_CPU) / (double)(64.0 * 800.0 * (double)new_rpm) ) ) - 1); */
-/* } */
-
-/* uint8_t stepper_get_speed_rpm(void) */
-/* { */
-/*   return (uint8_t)lround( ( (double)F_CPU / (double)(64.0 * 800.0 * (double)(target_speed + 1) ) ) * 60.0 ); */
-/* } */
-
-/* void stepper_inc_speed_rpm(void) */
-/* { */
-/*   uint8_t rpm = stepper_get_speed_rpm(); */
-/*   stepper_set_speed_rpm((rpm >= 255) ? 255 : rpm+1); */
-/* } */
-
-/* void stepper_dec_speed_rpm(void) */
-/* { */
-/*   uint8_t rpm = stepper_get_speed_rpm(); */
-/*   stepper_set_speed_rpm((rpm <= 1) ? 1 : rpm-1); */
-/* } */
+void stepper_set_speed_rpm(uint8_t new_rpm)
+{
+  stepper_set_speed( (uint16_t)lround( ( (double)(64.0 * 800.0 * (double)STEPPER_SPEED_CONVERT_VALUE) / (double)(60.0 * (double)F_CPU) ) * (double)new_rpm) );
+}
+
+uint8_t stepper_get_speed_rpm(void)
+{
+  return (uint8_t)lround( ( (double)(60.0 * (double)F_CPU) / (double)(64.0 * 800.0 * (double)STEPPER_SPEED_CONVERT_VALUE) ) * (double)(target_speed) );
+}
+
+void stepper_inc_speed_rpm(void)
+{
+  uint8_t rpm = stepper_get_speed_rpm();
+  stepper_set_speed_rpm((rpm >= 255) ? 255 : rpm+1);
+}
+
+void stepper_dec_speed_rpm(void)
+{
+  uint8_t rpm = stepper_get_speed_rpm();
+  stepper_set_speed_rpm((rpm <= 1) ? 1 : rpm-1);
+}
diff --git a/tube-rotator/stepper.h b/tube-rotator/stepper.h
index 7c0eaa3..5b5a315 100644
--- a/tube-rotator/stepper.h
+++ b/tube-rotator/stepper.h
@@ -51,9 +51,9 @@ void stepper_inc_speed(void);
 void stepper_dec_speed(void);
 uint16_t stepper_get_speed(void);
 
-//void stepper_set_speed_rpm(uint8_t new_rpm);
-//uint8_t stepper_get_speed_rpm(void);
-//void stepper_inc_speed_rpm(void);
-//void stepper_dec_speed_rpm(void);
+void stepper_set_speed_rpm(uint8_t new_rpm);
+uint8_t stepper_get_speed_rpm(void);
+void stepper_inc_speed_rpm(void);
+void stepper_dec_speed_rpm(void);
 
 #endif
diff --git a/tube-rotator/tube-rotator.c b/tube-rotator/tube-rotator.c
index 416e077..065dd2f 100644
--- a/tube-rotator/tube-rotator.c
+++ b/tube-rotator/tube-rotator.c
@@ -40,20 +40,22 @@ void handle_cmd(uint8_t cmd)
     case '!': reset2bootloader(); break;
     case 'r': led_on(); stepper_start(); break;
     case 's': stepper_stop(); led_off(); break;
-    case '+': stepper_inc_speed(); break;
-//    case '+': stepper_inc_speed_rpm(); break;
-//    case '-': stepper_dec_speed_rpm(); break;
-    case '-': stepper_dec_speed(); 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;
+    case '*': stepper_inc_speed(); break;
+    case '+': stepper_inc_speed_rpm(); break;
+    case '-': stepper_dec_speed_rpm(); break;
+    case '_': stepper_dec_speed(); break;
+    case '3': stepper_set_speed_rpm(30); break;
+    case '4': stepper_set_speed_rpm(40); break;
+    case '5': stepper_set_speed_rpm(50); break;
+    case '6': stepper_set_speed_rpm(60); break;
+    case '7': stepper_set_speed_rpm(70); break;
+    case '8': stepper_set_speed_rpm(80); break;
+    case '9': stepper_set_speed_rpm(90); break;
+    case '0': stepper_set_speed_rpm(100); break;
+    case '1': stepper_set_speed_rpm(110); break;
+    case '2': stepper_set_speed_rpm(120); break;
   }
-  printf("state: %s, %3d rpm\r", stepper_state_to_string(stepper_get_state()), stepper_get_speed());
+  printf("state: %s, %3d rpm\r", stepper_state_to_string(stepper_get_state()), stepper_get_speed_rpm());
 }
 
 int main(void)
-- 
cgit v1.2.3