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app: fix motor speed and direction

This commit is contained in:
King Kévin 2022-08-11 14:11:13 +02:00
parent 8d6d7f315f
commit 55ac60e080
1 changed files with 4 additions and 3 deletions
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7
application.c
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@ -79,7 +79,7 @@ static bool drv8825_reached = false; /**< set when the goal is reached */
/** maximum speed (in steps/s) before the motor stalls (found empirically)
* @note found empirically 300 @ 9V/180mA, 420 @ 12V/150mA
*/
#define DRV8825_SPEED_LIMIT 420U
#define DRV8825_SPEED_LIMIT 600U
// dials position info
#define DIAL_SWITCH_PIN PB4 /**< pin connected to reed switch, connected to ground when the hour dial is nearby */
@ -115,10 +115,10 @@ static void drv8825_speed(int16_t speed)
drv8825_direction = 0; // remember we stopped
} else {
if (speed > 0) {
gpio_clear(GPIO_PORT(DRV8825_DIRECTION_PIN), GPIO_PIN(DRV8825_DIRECTION_PIN)); // set clockwise
gpio_set(GPIO_PORT(DRV8825_DIRECTION_PIN), GPIO_PIN(DRV8825_DIRECTION_PIN)); // set clockwise
drv8825_direction = 1; // remember we go clockwise
} else {
gpio_set(GPIO_PORT(DRV8825_DIRECTION_PIN), GPIO_PIN(DRV8825_DIRECTION_PIN)); // set counter-clockwise
gpio_clear(GPIO_PORT(DRV8825_DIRECTION_PIN), GPIO_PIN(DRV8825_DIRECTION_PIN)); // set counter-clockwise
drv8825_direction = -1; // remember we go counter-clockwise
speed = -speed; // get positive speed
}
@ -961,6 +961,7 @@ void main(void)
rcc_periph_clock_enable(GPIO_RCC(DRV8825_FAULT_PIN)); // enable clock for GPIO port peripheral
gpio_mode_setup(GPIO_PORT(DRV8825_FAULT_PIN), GPIO_MODE_INPUT, GPIO_PUPD_PULLUP, GPIO_PIN(DRV8825_FAULT_PIN)); // set GPIO to input and pull up (a 10 kOhm external pull-up resistor is still required, the internal is too weak)
bool drv8825_fault = false; // if driver reported fault
gpio_set(GPIO_PORT(DRV8825_RESET_PIN), GPIO_PIN(DRV8825_RESET_PIN)); // power up driver
puts_debug("OK\n");
puts_debug("setup dial position: ");