update button handling

buttons.h

@@ -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 

fusebits

@@ -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

main.cpp

@@ -9,24 +9,42 @@
 #include "buttons.h"
 #include "eeprom.h"
 
-#define LED_1_PIN PB3
+#define LED_2_PIN PB3
-#define LED_2_PIN PB4
+#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);
+				stepper->setEndlesMove(true, direction);
-				debugBlink();
+				blink();
-				debugBlink();
+				blink();
-				debugBlink();
+				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)
+			if(index == 0 && lockedSpeed < 0xFF00) lockedSpeed+=80; 
-			{
+			else if(lockedSpeed > 0xEF00) lockedSpeed-=80;
-				lockedSpeed+=5;
+			cli();
-			}
+			EEPROM_write_char(6, lockedSpeed>>8);
-			else
+			EEPROM_write_char(5, lockedSpeed & 0x00FF);
-			{
+			sei();
-				lockedSpeed-=5;
-			}
-			EEPROM_write_char(0, lockedSpeed);
 			stepper->setSpeed(lockedSpeed);
 		}
 		else if(type == Buttons::LONG_PRESSED)
 		{
-			buttonLongpressed[index] = true;
+			if(index == 0)
-			if(buttonLongpressed[0] && buttonLongpressed[1])
 			{
 				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);
+	TCCR0A = (1<<WGM01); //CTC timer mode
-	debugBlink(false);
+	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.setSpeed(lockedSpeed);
-	stepper.setEndlesMove(true);
+	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();
+		if(comperator.compare()) lowBattery(&stepper);
-		stepper.tick();
+		buttons.tick();
-		_delay_us(50);
+		_delay_ms(2);
 	}
 }
 

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(halfCurrent)
-	else if(_speed>>8 > _targetSpeed)_speed = _speed - acceleration;;
+	{
+		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();
 }

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 acceleration = 1;
-	static constexpr uint8_t speedFloor = 50;
+	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();
 };

writepin.h

@@ -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 );