From 2b39db60e0a948e5109e345ad601f511d88d63db Mon Sep 17 00:00:00 2001 From: Christian Pointner 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') 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