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zeroing

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This commit is contained in:
wolfgang 2013-02-04 22:47:02 +01:00
parent 16f109fb80
commit cea727198a
3 changed files with 103 additions and 17 deletions
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114
src/stepper.c
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@ -6,6 +6,7 @@
#include "clock.h" #include "clock.h"
#include "stepper.h" #include "stepper.h"
#include "validLed.h"
#define STEPPER_REG_1_DIR DDRC #define STEPPER_REG_1_DIR DDRC
#define STEPPER_REG_1 PORTC #define STEPPER_REG_1 PORTC
@ -50,19 +51,19 @@ static inline void minuteMotorDisable() {
} }
static inline void hourMotorForward() { static inline void hourMotorBackward() {
STEPPER_REG_1 &= ~(1 << HOUR_MOTOR_DIRECTION); STEPPER_REG_1 &= ~(1 << HOUR_MOTOR_DIRECTION);
} }
static inline void hourMotorBackward() { static inline void hourMotorForward() {
STEPPER_REG_1 |= (1 << HOUR_MOTOR_DIRECTION); STEPPER_REG_1 |= (1 << HOUR_MOTOR_DIRECTION);
} }
static inline void minuteMotorBackward() { static inline void minuteMotorForward() {
STEPPER_REG_1 &= ~(1 << MINUTE_MOTOR_DIRECTION); STEPPER_REG_1 &= ~(1 << MINUTE_MOTOR_DIRECTION);
} }
static inline void minuteMotorForward() { static inline void minuteMotorBackward() {
STEPPER_REG_1 |= (1 << MINUTE_MOTOR_DIRECTION); STEPPER_REG_1 |= (1 << MINUTE_MOTOR_DIRECTION);
} }
@ -113,12 +114,6 @@ void stepperInit() {
} }
//static uint8_t oldPositionSwitch = 255;
//uint8_t positionSwitch = PINB & ((1 << PB1) | (1 << PB2));
//if (oldPositionSwitch != positionSwitch) {
// oldPositionSwitch = positionSwitch;
// printf("POS: %02d\n", positionSwitch);
//}
void stepperEnable() { void stepperEnable() {
@ -127,22 +122,111 @@ void stepperEnable() {
} }
void stepperEngine() { void stepperEngine() {
static uint8_t stepperState = 0; static uint8_t stepperState = 100;
static uint8_t currentMinutePosition = 0; static uint16_t currentMinutePosition = 0;
static uint8_t minuteStepPosition = 0; static uint16_t minuteStepPosition = 0;
static int8_t minuteDirection = 0; static int8_t minuteDirection = 0;
static uint8_t currentHourPosition = 0; static uint16_t currentHourPosition = 0;
static uint8_t hourStepPosition = 0; static uint16_t hourStepPosition = 0;
static int8_t hourDirection = 0; static int8_t hourDirection = 0;
if (clockNextStep()) { if (clockNextStep()) {
static uint8_t oldPositionSwitch = 255;
uint8_t positionSwitch = PINB & ((1 << PB1) | (1 << PB2));
uint8_t minutePositionSwitch = (positionSwitch & (1 << PB2)) != 0;
uint8_t hourPositionSwitch = (positionSwitch & (1 << PB1)) != 0;
if (oldPositionSwitch != positionSwitch) {
oldPositionSwitch = positionSwitch;
printf("POS: %02d\n", positionSwitch);
printf("MinuteSwitch: %d\n", minutePositionSwitch);
printf("HourSwitch: %d\n", hourPositionSwitch);
}
clock_t clock = clockGetClock(); clock_t clock = clockGetClock();
switch (stepperState) { switch (stepperState) {
case 100:
printf("100 Minute zeroing ");
minuteMotorEnable();
minuteMotorBackward();
currentMinutePosition = 0;
stepperState = 101;
break;
case 101:
printf("101 ");
currentMinutePosition++;
printf("%d\n", currentMinutePosition);
minuteMotorPulse();
if (minutePositionSwitch == 0) {
stepperState = 102;
}
if (currentMinutePosition > 500) {
stepperState = 200;
}
break;
case 102:
printf("102 Minute zeroed\n");
currentMinutePosition = 0;
minuteMotorDisable();
stepperState = 103;
break;
case 103:
printf("103 Hour zeroing ");
hourMotorEnable();
hourMotorBackward();
currentHourPosition = 0;
stepperState = 104;
break;
case 104:
printf("104 ");
currentHourPosition++;
printf("%d\n", currentHourPosition);
hourMotorPulse();
if (hourPositionSwitch == 0) {
stepperState = 105;
}
if (currentHourPosition > 500) {
stepperState = 201;
}
break;
case 105:
printf("105 Hour zeroed\n");
currentHourPosition = 0;
hourMotorDisable();
stepperState = 0;
break;
case 200:
printf("200 Minute zeroing error\n");
{
static uint8_t ledToggle = 0;
if (ledToggle != 0) {
ledToggle = 0;
validLedDisable();
} else {
ledToggle = 1;
validLedEnable();
}
}
break;
case 201:
printf("201 Hour zeroing error\n");
{
static uint8_t ledToggle = 0;
if (ledToggle != 0) {
ledToggle = 0;
validLedDisable();
} else {
ledToggle = 1;
validLedEnable();
}
}
break;
case 0: case 0:
//printf("0 "); //printf("0 ");
if (stepperEnableFlag == 1) { if (stepperEnableFlag == 1) {

4
src/validLed.c
View File

@ -39,11 +39,11 @@ uint8_t isNotDark() {
return DARK_SWITCH_IN_REG & (1 << DARK_SWITCH); return DARK_SWITCH_IN_REG & (1 << DARK_SWITCH);
} }
static inline void validLedEnable() { void validLedEnable() {
VALID_LED_REG |= (1 << VALID_LED); VALID_LED_REG |= (1 << VALID_LED);
} }
static inline void validLedDisable() { void validLedDisable() {
VALID_LED_REG &= ~(1 << VALID_LED); VALID_LED_REG &= ~(1 << VALID_LED);
} }

2
src/validLed.h
View File

@ -7,5 +7,7 @@ void validLedInit();
void validLedEngine(); void validLedEngine();
void validLedSetStatus(uint8_t x); void validLedSetStatus(uint8_t x);
void validLedEnable();
void validLedDisable();
#endif /* VALIDLED_H_ */ #endif /* VALIDLED_H_ */