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app: add dial target mechanism

This commit is contained in:
King Kévin 2022-07-25 15:42:36 +02:00
parent 8bfccb86a0
commit b7da249c51
1 changed files with 18 additions and 6 deletions
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24
application.c
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@ -66,6 +66,8 @@ static uint32_t boot_time = 0;
#define DRV8825_FAULT_PIN PB12 /**< pin pulled low on error (such as over-current) */
static volatile uint32_t drv8825_steps = 0; /**< incremented with each step */
static int8_t drv8825_direction = 0; /**< direction of the steps (1 = clockwise, -1 = counter-clockwise) */
static uint32_t drv8825_goal = 0; /**< number of steps to reach */
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
*/
@ -1154,12 +1156,19 @@ void main(void)
}
}
if (dial_steps) { // hour dial position detected
if (drv8825_steps >= DIAL_MIDNIGHT_STEPS) { // wait for dial to reach midnight
speed = 0; // stop motor
command_speed(&speed); // stop motor
dial_steps = 0; // restart position counter
puts("midnight reached\n");
}
puts("dials homed\n");
dial_steps = 0; // restart position counter (and clear flag)
drv8825_goal = DIAL_MIDNIGHT_STEPS; // go to midnight
drv8825_reached = false; // wait until it's reached
action = true;
}
if (drv8825_reached) {
puts("midnight reached\n");
speed = 0; // stop motor
command_speed(&speed); // stop motor
drv8825_goal = 0; // disable goal
drv8825_reached = false; // clear flag
action = true; // redo main loop
}
if (radio_esp8266_received_len) {
if (radio_esp8266_received_len >= 18 && 0 == memcmp((char*)radio_esp8266_received, "Art-Net", 7)) {
@ -1201,6 +1210,9 @@ void TIM_ISR(DRV8825_STEP_TIMER)(void)
if (UINT32_MAX == drv8825_steps) { // underflow
drv8825_steps = DIAL_CYCLE_STEPS; // use known circumference
}
if (!drv8825_reached && drv8825_goal && drv8825_steps == drv8825_goal) { // we reached the set goal
drv8825_reached = true; // notify main loop
}
}
}