update button handling
This commit is contained in:
parent
51a5e6fc28
commit
b631a44abb
@ -8,8 +8,10 @@ class Buttons
|
||||
public:
|
||||
|
||||
static constexpr uint8_t PRESSED = 0;
|
||||
static constexpr uint8_t LONG_PRESSED = 1;
|
||||
static constexpr uint8_t RELEASED = 2;
|
||||
static constexpr uint8_t LONG_PRESSED = 1;
|
||||
static constexpr uint8_t LONG_RELEASED= 3;
|
||||
|
||||
|
||||
private:
|
||||
volatile uint8_t * const pinReg = &PIND;
|
||||
@ -31,7 +33,8 @@ void Buttons::tick()
|
||||
{
|
||||
if(readPin(pinReg, button[i]) == true)
|
||||
{
|
||||
if(buttonCount[i] > 2) _eventHandler(i, RELEASED, _userData);
|
||||
if(buttonCount[i] >= 100) _eventHandler(i, LONG_RELEASED, _userData);
|
||||
else if(buttonCount[i] >= 3)_eventHandler(i, RELEASED, _userData);
|
||||
buttonCount[i] = 0;
|
||||
}
|
||||
else
|
||||
|
||||
1
fusebits
Normal file
1
fusebits
Normal file
@ -0,0 +1 @@
|
||||
avrdude -B10 -v -p attiny2313 -c usbasp -U lfuse:w:0xcc:m -U hfuse:w:0xdf:m -U efuse:w:0xff:m
|
||||
118
main.cpp
118
main.cpp
@ -9,24 +9,42 @@
|
||||
#include "buttons.h"
|
||||
#include "eeprom.h"
|
||||
|
||||
#define LED_1_PIN PB3
|
||||
#define LED_2_PIN PB4
|
||||
#define LED_2_PIN PB3
|
||||
#define LED_1_PIN PB4
|
||||
|
||||
#define BUTTON_1_PIN PD5
|
||||
#define BUTTON_2_PIN PD6
|
||||
|
||||
bool setup = false;
|
||||
bool direction = false;
|
||||
static bool buttonLongpressed[2];
|
||||
uint8_t lockedSpeed = 180;
|
||||
uint16_t lockedSpeed = 0xFF00;
|
||||
Stepper stepper(&PORTD, PD0, PD1, PD2, PD3);
|
||||
|
||||
void debugBlink(bool fast = true)
|
||||
ISR(TIMER0_COMPA_vect)
|
||||
{
|
||||
stepper.tick();
|
||||
}
|
||||
|
||||
void blink(bool fast = true, bool red = false)
|
||||
{
|
||||
_delay_ms(100);
|
||||
if(!fast) _delay_ms(200);
|
||||
PORTB |= 1 << LED_1_PIN;
|
||||
PORTB |= 1 << red ? LED_2_PIN : LED_1_PIN;
|
||||
_delay_ms(100);
|
||||
if(!fast) _delay_ms(200);
|
||||
PORTB &= ~(1 << LED_1_PIN);
|
||||
PORTB &= ~(1 << red ? LED_2_PIN : LED_1_PIN);
|
||||
}
|
||||
|
||||
void lowBattery(Stepper* stepper)
|
||||
{
|
||||
stepper->setEndlesMove(false);
|
||||
stepper->shutdown();
|
||||
writePin(&PORTB, LED_1_PIN, false);
|
||||
while(true)
|
||||
{
|
||||
blink(true, true);
|
||||
}
|
||||
}
|
||||
|
||||
void buttonHandler(uint8_t index, uint8_t type, void* data)
|
||||
@ -36,21 +54,23 @@ void buttonHandler(uint8_t index, uint8_t type, void* data)
|
||||
{
|
||||
if(type == Buttons::PRESSED)
|
||||
{
|
||||
stepper->setHalfCurrent(false);
|
||||
if(index == 0)
|
||||
{
|
||||
stepper->setSpeed(230);
|
||||
stepper->setSpeed(0xFFEA);
|
||||
stepper->setEndlesMove(true, true);
|
||||
}
|
||||
else
|
||||
{
|
||||
stepper->setSpeed(230);
|
||||
stepper->setSpeed(0xFFEA);
|
||||
stepper->setEndlesMove(true, false);
|
||||
}
|
||||
}
|
||||
else if(type == Buttons::RELEASED)
|
||||
else if(type == Buttons::RELEASED || type == Buttons::LONG_RELEASED)
|
||||
{
|
||||
stepper->setSpeed(lockedSpeed);
|
||||
stepper->setEndlesMove(true, true);
|
||||
stepper->setEndlesMove(true, direction);
|
||||
stepper->setHalfCurrent(true);
|
||||
buttonLongpressed[0] = false;
|
||||
buttonLongpressed[1] = false;
|
||||
}
|
||||
@ -59,16 +79,17 @@ void buttonHandler(uint8_t index, uint8_t type, void* data)
|
||||
buttonLongpressed[index] = true;
|
||||
if(buttonLongpressed[0] && buttonLongpressed[1])
|
||||
{
|
||||
stepper->setHalfCurrent(false);
|
||||
writePin(&PORTB, LED_2_PIN, true);
|
||||
writePin(&PORTB, LED_1_PIN, false);
|
||||
setup = true;
|
||||
buttonLongpressed[0] = false;
|
||||
buttonLongpressed[1] = false;
|
||||
stepper->setSpeed(lockedSpeed);
|
||||
stepper->setEndlesMove(true, true);
|
||||
debugBlink();
|
||||
debugBlink();
|
||||
debugBlink();
|
||||
stepper->setEndlesMove(true, direction);
|
||||
blink();
|
||||
blink();
|
||||
blink();
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -78,21 +99,17 @@ void buttonHandler(uint8_t index, uint8_t type, void* data)
|
||||
if(type == Buttons::RELEASED)
|
||||
{
|
||||
writePin(&PORTB, LED_1_PIN, false);
|
||||
if(index == 0)
|
||||
{
|
||||
lockedSpeed+=5;
|
||||
}
|
||||
else
|
||||
{
|
||||
lockedSpeed-=5;
|
||||
}
|
||||
EEPROM_write_char(0, lockedSpeed);
|
||||
if(index == 0 && lockedSpeed < 0xFF00) lockedSpeed+=80;
|
||||
else if(lockedSpeed > 0xEF00) lockedSpeed-=80;
|
||||
cli();
|
||||
EEPROM_write_char(6, lockedSpeed>>8);
|
||||
EEPROM_write_char(5, lockedSpeed & 0x00FF);
|
||||
sei();
|
||||
stepper->setSpeed(lockedSpeed);
|
||||
}
|
||||
else if(type == Buttons::LONG_PRESSED)
|
||||
{
|
||||
buttonLongpressed[index] = true;
|
||||
if(buttonLongpressed[0] && buttonLongpressed[1])
|
||||
if(index == 0)
|
||||
{
|
||||
writePin(&PORTB, LED_2_PIN, false);
|
||||
writePin(&PORTB, LED_1_PIN, true);
|
||||
@ -100,7 +117,17 @@ void buttonHandler(uint8_t index, uint8_t type, void* data)
|
||||
buttonLongpressed[0] = false;
|
||||
buttonLongpressed[1] = false;
|
||||
stepper->setSpeed(lockedSpeed);
|
||||
stepper->setEndlesMove(true, true);
|
||||
stepper->setEndlesMove(true, direction);
|
||||
}
|
||||
else
|
||||
{
|
||||
direction = !direction;
|
||||
cli();
|
||||
EEPROM_write_char(2, direction);
|
||||
sei();
|
||||
blink();
|
||||
blink();
|
||||
stepper->setEndlesMove(true, direction);
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -112,26 +139,43 @@ int main()
|
||||
DDRD = 1 << PD0 | 1 << PD1 | 1 << PD2 | 1 << PD3;
|
||||
PORTD = 1 << BUTTON_1_PIN | 1 << BUTTON_2_PIN;
|
||||
|
||||
if(EEPROM_read_char(0) != 0) lockedSpeed = EEPROM_read_char(0);
|
||||
if(EEPROM_read_char(6) != 0)
|
||||
{
|
||||
lockedSpeed = (uint16_t)EEPROM_read_char(5) | ((uint16_t)EEPROM_read_char(6) << 8);
|
||||
direction = EEPROM_read_char(2);
|
||||
}
|
||||
|
||||
Stepper stepper(&PORTD, PD0, PD1, PD2, PD3);
|
||||
if(lockedSpeed > 0xFF00 || lockedSpeed < 0xEF00)
|
||||
{
|
||||
lockedSpeed = 0xFF00;
|
||||
blink(true, true);
|
||||
}
|
||||
|
||||
|
||||
debugBlink(false);
|
||||
debugBlink(false);
|
||||
TCCR0A = (1<<WGM01); //CTC timer mode
|
||||
TIMSK = (1<<OCIE0A); //OCIE0A compeare interrupt enable
|
||||
OCR0A = 255;
|
||||
TCCR0B = (1<<CS00); //start with no prescaleing
|
||||
sei();
|
||||
|
||||
blink(false);
|
||||
blink(false);
|
||||
|
||||
writePin(&PORTB, LED_1_PIN, true);
|
||||
stepper.setSpeed(180);
|
||||
stepper.setEndlesMove(true);
|
||||
stepper.setSpeed(lockedSpeed);
|
||||
stepper.setEndlesMove(true, direction);
|
||||
stepper.setHalfCurrent(true);
|
||||
|
||||
Comperator comperator;
|
||||
comperator.on();
|
||||
|
||||
Buttons buttons(&buttonHandler, reinterpret_cast<void*>(&stepper));
|
||||
|
||||
uint8_t timer = 0;
|
||||
|
||||
while(true)
|
||||
{
|
||||
if(++timer == 0)buttons.tick();
|
||||
stepper.tick();
|
||||
_delay_us(50);
|
||||
if(comperator.compare()) lowBattery(&stepper);
|
||||
buttons.tick();
|
||||
_delay_ms(2);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
40
stepper.cpp
40
stepper.cpp
@ -4,7 +4,7 @@
|
||||
|
||||
void Stepper::tick()
|
||||
{
|
||||
if(++_tickCounter > UINT8_MAX - (_speed>>8) )
|
||||
if(++_tickCounter > UINT16_MAX - _speed )
|
||||
{
|
||||
if(_targetStep != _currentStep)
|
||||
{
|
||||
@ -13,8 +13,13 @@ void Stepper::tick()
|
||||
else if(endlessMove) step(endlessDriection);
|
||||
_tickCounter = 0;
|
||||
}
|
||||
if(_speed>>8 < _targetSpeed) _speed = _speed + acceleration;
|
||||
else if(_speed>>8 > _targetSpeed)_speed = _speed - acceleration;;
|
||||
/*else if(halfCurrent)
|
||||
{
|
||||
if(_tickCounter % 2 == 0) disableOutputs();
|
||||
else setOutputs();
|
||||
}*/
|
||||
if(_speed < _targetSpeed) _speed = _speed + acceleration;
|
||||
else if(_speed > _targetSpeed)_speed = _speed - acceleration;
|
||||
}
|
||||
|
||||
void Stepper::moveTo(const int32_t step)
|
||||
@ -27,7 +32,7 @@ void Stepper::moveRelative(const int16_t dist)
|
||||
moveTo(_targetStep + dist);
|
||||
}
|
||||
|
||||
void Stepper::setSpeed(const uint8_t speed)
|
||||
void Stepper::setSpeed(const uint16_t speed)
|
||||
{
|
||||
_targetSpeed = speed;
|
||||
if(_targetSpeed < speedFloor) _targetSpeed = speedFloor;
|
||||
@ -53,7 +58,22 @@ bool Stepper::isStoped()
|
||||
return _currentStep == _targetStep;
|
||||
}
|
||||
|
||||
void Stepper::step(bool direction)
|
||||
void Stepper::shutdown()
|
||||
{
|
||||
_currentStep = _targetStep;
|
||||
_speed = 0;
|
||||
disableOutputs();
|
||||
}
|
||||
|
||||
void Stepper::disableOutputs()
|
||||
{
|
||||
writePin(_port, _pinA, false);
|
||||
writePin(_port, _pinB, false);
|
||||
writePin(_port, _pinC, false);
|
||||
writePin(_port, _pinD, false);
|
||||
}
|
||||
|
||||
void Stepper::setOutputs()
|
||||
{
|
||||
switch(_currentStep & 0x03)
|
||||
{
|
||||
@ -87,6 +107,16 @@ void Stepper::step(bool direction)
|
||||
writePin(_port, _pinC, false);
|
||||
writePin(_port, _pinD, false);
|
||||
}
|
||||
}
|
||||
|
||||
void Stepper::setHalfCurrent( bool current)
|
||||
{
|
||||
halfCurrent = current;
|
||||
}
|
||||
|
||||
void Stepper::step(bool direction)
|
||||
{
|
||||
_currentStep = _currentStep + (direction ? 1 : -1);
|
||||
if(endlessMove) _targetStep = _currentStep;
|
||||
setOutputs();
|
||||
}
|
||||
|
||||
18
stepper.h
18
stepper.h
@ -11,14 +11,15 @@ private:
|
||||
const uint8_t _pinC;
|
||||
const uint8_t _pinD;
|
||||
|
||||
static constexpr uint8_t acceleration = 5;
|
||||
static constexpr uint8_t speedFloor = 50;
|
||||
static constexpr uint8_t acceleration = 1;
|
||||
static constexpr uint16_t speedFloor = 0xEF00;
|
||||
|
||||
bool endlessMove = false;
|
||||
bool endlessDriection = true;
|
||||
|
||||
bool endlessDriection = true;
|
||||
bool halfCurrent = false;
|
||||
|
||||
uint16_t _speed = speedFloor;
|
||||
uint8_t _targetSpeed = 220;
|
||||
uint16_t _targetSpeed = 220;
|
||||
uint8_t _stepInterval = 0;
|
||||
|
||||
uint16_t _tickCounter = 0;
|
||||
@ -27,16 +28,19 @@ private:
|
||||
int32_t _targetStep = 0;
|
||||
|
||||
void step(bool direction);
|
||||
void setOutputs();
|
||||
void disableOutputs();
|
||||
|
||||
|
||||
public:
|
||||
|
||||
Stepper( volatile uint8_t * const port, const uint8_t pinA, const uint8_t pinB, const uint8_t pinC, const uint8_t pinD): _port(port), _pinA(pinA), _pinB(pinB), _pinC(pinC), _pinD(pinD){}
|
||||
void tick();
|
||||
void moveTo(const int32_t step);
|
||||
void moveRelative(const int16_t dist);
|
||||
void setSpeed(const uint8_t speed);
|
||||
void setSpeed(const uint16_t speed);
|
||||
uint32_t isAt();
|
||||
void setHalfCurrent(bool current);
|
||||
bool isStoped();
|
||||
void setEndlesMove(bool endless, bool direction = true);
|
||||
void shutdown();
|
||||
};
|
||||
|
||||
@ -2,7 +2,6 @@
|
||||
#define WRITEPIN_H
|
||||
#include <avr/io.h>
|
||||
|
||||
|
||||
void writePin(volatile unsigned char * const port, const unsigned char pin, const bool state);
|
||||
|
||||
void setBit( volatile unsigned char * const reg, const unsigned char bit, const bool value );
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user