X-Git-Url: https://git.realraum.at/?p=svn42.git;a=blobdiff_plain;f=avr-projects%2Fr3cam-steppermotor%2Fr3cam-steppermotor.c;h=f9ab2093cc5a406faa10f3bd88488ba4646cba9a;hp=1bcad566016d57461d72c8c40c4b8fb6e1ab80d7;hb=fff7d88ae580a68519a3b9f590a2cf9cce21ef8b;hpb=4c2c5449084ed35b84341c91c08595c0d55ef20d

diff --git a/avr-projects/r3cam-steppermotor/r3cam-steppermotor.c b/avr-projects/r3cam-steppermotor/r3cam-steppermotor.c
index 1bcad56..f9ab209 100644
--- a/avr-projects/r3cam-steppermotor/r3cam-steppermotor.c
+++ b/avr-projects/r3cam-steppermotor/r3cam-steppermotor.c
@@ -81,9 +81,13 @@ void EVENT_USB_Device_ControlRequest(void)
 #define M_RESET 3
 #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;
+static uint16_t m_steps_to_go_back_ = 0;
 
 inline void m_timer_enable(void)
 {
@@ -100,12 +104,21 @@ void motor_stop(void)
     m_timer_disable();
     M_PORT &= ~(1 << M_ENABLE);
     m_steps_to_go_ = 0;
+    m_steps_to_go_back_ = 0;
 }
 
 ISR(TIMER0_OVF_vect)
 {
-    if (m_steps_to_go_ == 0)
-        motor_stop();
+    //if (m_steps_to_go_ == 0)
+    //{
+        //if(m_steps_to_go_back_)
+        //{  
+    //      M_PORT ^= (1 << M_DIRECTION);
+    //      m_steps_to_go_=m_steps_to_go_back_;
+          //m_steps_to_go_back_=0;
+        //} else   
+        //  motor_stop();
+    //}    
     if (m_clk_divisor_counter_ == 0)
     {
         m_clk_divisor_counter_ = m_clk_divisor_;
@@ -116,13 +129,17 @@ 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;
-    CDC_Device_SendString(&VirtualSerial_CDC_Interface, "m_clk_divisor_ = %d\n",m_clk_divisor_);
+    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)
+void motor_run(uint16_t steps, uint8_t direction,uint16_t steps_back)
 {
     //reset by pulling reset low for 100ms
     M_PORT &= ~(1 << M_RESET);
@@ -131,6 +148,7 @@ void motor_run(uint16_t steps, uint8_t direction)
     
     m_clk_divisor_counter_ = 0;
     m_steps_to_go_ = steps;
+    m_steps_to_go_back_ = steps_back;
     
     if (direction)
         M_PORT |= (1 << M_DIRECTION);
@@ -157,7 +175,6 @@ 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) {
@@ -166,15 +183,20 @@ void handle_cmd(uint8_t cmd)
   case 't': led_toggle(); break;
   case 'r': reset2bootloader(); break;
   case 's': motor_stop(); 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 'y': motor_run(30,0,20); break;
+  //case 'x': motor_run(140,0,40); break;
+  //case 'c': motor_run(60,0,20); break;
+  //case 'v': motor_run(40,0,20); break;
+  //case 'q': motor_run(140,1,40); break;
+  //case 'w': motor_run(60,1,20); break;
+  //case 'e': motor_run(40,1,20); break;
+  //case 'C': motor_run(330,0,40); break;
+  //case 'W': motor_run(330,1,40); 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");
 }