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')

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)
-- 
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