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fix spooling bug

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This commit is contained in:
Eggert Jung
2023-01-12 18:03:21 +01:00
parent 4ba5a3c39f
commit 701ae5501a
2 changed files with 15 additions and 2 deletions
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12
spule.c
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@@ -10,6 +10,8 @@
volatile uint16_t windings = 0; volatile uint16_t windings = 0;
volatile uint16_t windings_wakeup = 0; volatile uint16_t windings_wakeup = 0;
volatile uint8_t trans_state = 0;
int32_t spule_trans_pos = 0; int32_t spule_trans_pos = 0;
uint8_t spule_trans_homed = 0; uint8_t spule_trans_homed = 0;
@@ -118,8 +120,10 @@ void do_spule(){
ICR5 = ctrl_speed; ICR5 = ctrl_speed;
OCR5C = ICR5/2; OCR5C = ICR5/2;
if(trans_state != 4)
ICR1 = ICR5/TRANS_ROT_FACTOR; ICR1 = ICR5/TRANS_ROT_FACTOR;
else
ICR1 = 0.5*(ICR5/TRANS_ROT_FACTOR);
OCR1A = ICR1/2; OCR1A = ICR1/2;
if (read_Input(BTN_WICKELN_EIN, RISING) && !read_Input(IN_BREMSE_STATE, LEVEL)) { if (read_Input(BTN_WICKELN_EIN, RISING) && !read_Input(IN_BREMSE_STATE, LEVEL)) {
@@ -181,20 +185,24 @@ ISR(TIMER5_OVF_vect) {
uint8_t windings_on_layer = windings % 25; uint8_t windings_on_layer = windings % 25;
if(windings_on_layer == 0 && steps == 0){ if(windings_on_layer == 0 && steps == 0){
trans_state = 1;
ICR1 = ICR5/TRANS_ROT_FACTOR; ICR1 = ICR5/TRANS_ROT_FACTOR;
OCR1A = ICR1/2; OCR1A = ICR1/2;
set_Output(MOTOR_TRANS_DIR, TOGGLE); set_Output(MOTOR_TRANS_DIR, TOGGLE);
printf("toggle at pos: %ld\n", spule_trans_pos); printf("toggle at pos: %ld\n", spule_trans_pos);
} }
if(windings_on_layer == 1 && steps == 0){ if(windings_on_layer == 1 && steps == 0){
trans_state = 2;
printf("nachlauf aufbauen\n"); printf("nachlauf aufbauen\n");
TCCR1B &= ~(_BV(CS11)); TCCR1B &= ~(_BV(CS11));
} }
if(windings_on_layer == 3 && steps == 0){ if(windings_on_layer == 3 && steps == 0){
trans_state = 3;
TCCR1B |= _BV(CS11); TCCR1B |= _BV(CS11);
printf("done\n"); printf("done\n");
} }
if(windings_on_layer == 21 && steps == 0){ if(windings_on_layer == 21 && steps == 0){
trans_state = 4;
ICR1 = 0.5*(ICR5/TRANS_ROT_FACTOR); ICR1 = 0.5*(ICR5/TRANS_ROT_FACTOR);
OCR1A = ICR1/2; OCR1A = ICR1/2;
printf("nachlauf abbauen\n"); printf("nachlauf abbauen\n");

5
spule.h
View File

@@ -1,8 +1,13 @@
#ifndef _SPULE_H_ #ifndef _SPULE_H_
#define _SPULE_H_ #define _SPULE_H_
#include <stdint.h>
void timer1_init(void); void timer1_init(void);
void timer5_init(void); void timer5_init(void);
void do_spule(void); void do_spule(void);
extern volatile uint16_t windings;
extern int32_t spule_trans_pos;
#endif #endif