X-Git-Url: https://git.realraum.at/?a=blobdiff_plain;f=avr-projects%2Fr3cam-steppermotor%2Fr3cam-steppermotor.c;h=bd67374f1cee04e1a33344c1b8c5081c998c0afd;hb=ee204ab93d4ee4883854cc3eb894261bfaabe857;hp=fcebc656eb940e0c450fdf41e1f6de2273588132;hpb=912fd90fb14e42009388573ec222a729517fdb71;p=svn42.git

diff --git a/avr-projects/r3cam-steppermotor/r3cam-steppermotor.c b/avr-projects/r3cam-steppermotor/r3cam-steppermotor.c
index fcebc65..bd67374 100644
--- a/avr-projects/r3cam-steppermotor/r3cam-steppermotor.c
+++ b/avr-projects/r3cam-steppermotor/r3cam-steppermotor.c
@@ -79,9 +79,12 @@ void EVENT_USB_Device_ControlRequest(void)
 #define M_CLK 1
 #define M_ENABLE 2
 #define M_RESET 3
-#define M_HALFSTEPS 4
+#define M_FULLSTEPS 4
 
-static uint8_t m_clk_divisor_ = 0;
+#define M_START_DIVISOR 2;
+
+static uint8_t cur_speed = 0xFF - M_START_DIVISOR;
+static uint8_t m_clk_divisor_ = M_START_DIVISOR;
 static uint8_t m_clk_divisor_counter_ = 0;
 static uint16_t m_steps_to_go_ = 0;
 
@@ -116,9 +119,14 @@ ISR(TIMER0_OVF_vect)
         m_clk_divisor_counter_--;
 }
 
+static char set_speed_msg[] = "m_clk_divisor_ = %d\n\r";
+
 void motor_set_speed(uint8_t speed)
 {
     m_clk_divisor_ = 0xFF - speed;
+    char tmp[sizeof(set_speed_msg)+4];
+    sprintf(tmp, set_speed_msg,m_clk_divisor_);
+    CDC_Device_SendString(&VirtualSerial_CDC_Interface, tmp);
 }
 
 void motor_run(uint16_t steps, uint8_t direction)
@@ -144,7 +152,7 @@ void motor_run(uint16_t steps, uint8_t direction)
 void init_pins()
 {
     M_DDR = 0x0F;
-    M_PORT = 0 | (1 << M_RESET);
+    M_PORT = (1 << M_RESET) | (1 << M_FULLSTEPS);
     
     // Configure timer 0 to generate a timer overflow interrupt every
     // 560us (NEC Protocol)
@@ -156,7 +164,6 @@ void init_pins()
     OCR0A = 255;        // (1+139)*8 = 1120 -> 70us @ 16 MHz -> 1*alpha
 }
 
-uint8_t cur_speed = 0xFF;
 void handle_cmd(uint8_t cmd)
 {
   switch(cmd) {
@@ -165,15 +172,15 @@ void handle_cmd(uint8_t cmd)
   case 't': led_toggle(); break;
   case 'r': reset2bootloader(); break;
   case 's': motor_stop(); break;
-  case 'c': motor_run(300,0); break;
-  case 'w': motor_run(300,1); break;
-  case 'C': motor_run(1000,0); break;
-  case 'W': motor_run(1000,1); break;
+  case 'c': motor_run(50,0); break;
+  case 'w': motor_run(50,1); break;
+  case 'C': motor_run(300,0); break;
+  case 'W': motor_run(300,1); break;
   case '+': motor_set_speed(++cur_speed); break;
   case '-': motor_set_speed(--cur_speed); break;
-  default: CDC_Device_SendString(&VirtualSerial_CDC_Interface, "error\n"); return;
+  default: CDC_Device_SendString(&VirtualSerial_CDC_Interface, "error\n\r"); return;
   }
-  CDC_Device_SendString(&VirtualSerial_CDC_Interface, "ok\n");
+  CDC_Device_SendString(&VirtualSerial_CDC_Interface, "ok\n\r");
 }