update button handling
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51a5e6fc28
commit
b631a44abb
6 changed files with 133 additions and 52 deletions
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@ -8,8 +8,10 @@ class Buttons
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public:
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static constexpr uint8_t PRESSED = 0;
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static constexpr uint8_t LONG_PRESSED = 1;
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static constexpr uint8_t RELEASED = 2;
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static constexpr uint8_t LONG_PRESSED = 1;
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static constexpr uint8_t LONG_RELEASED= 3;
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private:
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volatile uint8_t * const pinReg = &PIND;
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@ -31,7 +33,8 @@ void Buttons::tick()
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{
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if(readPin(pinReg, button[i]) == true)
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{
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if(buttonCount[i] > 2) _eventHandler(i, RELEASED, _userData);
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if(buttonCount[i] >= 100) _eventHandler(i, LONG_RELEASED, _userData);
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else if(buttonCount[i] >= 3)_eventHandler(i, RELEASED, _userData);
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buttonCount[i] = 0;
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}
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else
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1
fusebits
Normal file
1
fusebits
Normal file
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@ -0,0 +1 @@
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avrdude -B10 -v -p attiny2313 -c usbasp -U lfuse:w:0xcc:m -U hfuse:w:0xdf:m -U efuse:w:0xff:m
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118
main.cpp
118
main.cpp
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@ -9,24 +9,42 @@
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#include "buttons.h"
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#include "eeprom.h"
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#define LED_1_PIN PB3
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#define LED_2_PIN PB4
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#define LED_2_PIN PB3
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#define LED_1_PIN PB4
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#define BUTTON_1_PIN PD5
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#define BUTTON_2_PIN PD6
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bool setup = false;
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bool direction = false;
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static bool buttonLongpressed[2];
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uint8_t lockedSpeed = 180;
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uint16_t lockedSpeed = 0xFF00;
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Stepper stepper(&PORTD, PD0, PD1, PD2, PD3);
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void debugBlink(bool fast = true)
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ISR(TIMER0_COMPA_vect)
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{
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stepper.tick();
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}
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void blink(bool fast = true, bool red = false)
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{
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_delay_ms(100);
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if(!fast) _delay_ms(200);
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PORTB |= 1 << LED_1_PIN;
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PORTB |= 1 << red ? LED_2_PIN : LED_1_PIN;
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_delay_ms(100);
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if(!fast) _delay_ms(200);
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PORTB &= ~(1 << LED_1_PIN);
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PORTB &= ~(1 << red ? LED_2_PIN : LED_1_PIN);
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}
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void lowBattery(Stepper* stepper)
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{
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stepper->setEndlesMove(false);
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stepper->shutdown();
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writePin(&PORTB, LED_1_PIN, false);
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while(true)
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{
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blink(true, true);
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}
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}
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void buttonHandler(uint8_t index, uint8_t type, void* data)
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@ -36,21 +54,23 @@ void buttonHandler(uint8_t index, uint8_t type, void* data)
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{
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if(type == Buttons::PRESSED)
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{
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stepper->setHalfCurrent(false);
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if(index == 0)
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{
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stepper->setSpeed(230);
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stepper->setSpeed(0xFFEA);
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stepper->setEndlesMove(true, true);
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}
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else
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{
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stepper->setSpeed(230);
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stepper->setSpeed(0xFFEA);
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stepper->setEndlesMove(true, false);
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}
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}
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else if(type == Buttons::RELEASED)
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else if(type == Buttons::RELEASED || type == Buttons::LONG_RELEASED)
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{
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stepper->setSpeed(lockedSpeed);
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stepper->setEndlesMove(true, true);
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stepper->setEndlesMove(true, direction);
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stepper->setHalfCurrent(true);
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buttonLongpressed[0] = false;
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buttonLongpressed[1] = false;
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}
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@ -59,16 +79,17 @@ void buttonHandler(uint8_t index, uint8_t type, void* data)
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buttonLongpressed[index] = true;
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if(buttonLongpressed[0] && buttonLongpressed[1])
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{
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stepper->setHalfCurrent(false);
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writePin(&PORTB, LED_2_PIN, true);
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writePin(&PORTB, LED_1_PIN, false);
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setup = true;
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buttonLongpressed[0] = false;
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buttonLongpressed[1] = false;
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stepper->setSpeed(lockedSpeed);
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stepper->setEndlesMove(true, true);
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debugBlink();
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debugBlink();
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debugBlink();
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stepper->setEndlesMove(true, direction);
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blink();
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blink();
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blink();
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}
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}
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}
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@ -78,21 +99,17 @@ void buttonHandler(uint8_t index, uint8_t type, void* data)
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if(type == Buttons::RELEASED)
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{
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writePin(&PORTB, LED_1_PIN, false);
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if(index == 0)
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{
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lockedSpeed+=5;
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}
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else
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{
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lockedSpeed-=5;
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}
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EEPROM_write_char(0, lockedSpeed);
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if(index == 0 && lockedSpeed < 0xFF00) lockedSpeed+=80;
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else if(lockedSpeed > 0xEF00) lockedSpeed-=80;
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cli();
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EEPROM_write_char(6, lockedSpeed>>8);
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EEPROM_write_char(5, lockedSpeed & 0x00FF);
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sei();
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stepper->setSpeed(lockedSpeed);
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}
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else if(type == Buttons::LONG_PRESSED)
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{
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buttonLongpressed[index] = true;
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if(buttonLongpressed[0] && buttonLongpressed[1])
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if(index == 0)
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{
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writePin(&PORTB, LED_2_PIN, false);
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writePin(&PORTB, LED_1_PIN, true);
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@ -100,7 +117,17 @@ void buttonHandler(uint8_t index, uint8_t type, void* data)
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buttonLongpressed[0] = false;
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buttonLongpressed[1] = false;
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stepper->setSpeed(lockedSpeed);
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stepper->setEndlesMove(true, true);
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stepper->setEndlesMove(true, direction);
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}
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else
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{
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direction = !direction;
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cli();
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EEPROM_write_char(2, direction);
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sei();
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blink();
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blink();
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stepper->setEndlesMove(true, direction);
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}
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}
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}
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@ -112,26 +139,43 @@ int main()
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DDRD = 1 << PD0 | 1 << PD1 | 1 << PD2 | 1 << PD3;
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PORTD = 1 << BUTTON_1_PIN | 1 << BUTTON_2_PIN;
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if(EEPROM_read_char(0) != 0) lockedSpeed = EEPROM_read_char(0);
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if(EEPROM_read_char(6) != 0)
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{
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lockedSpeed = (uint16_t)EEPROM_read_char(5) | ((uint16_t)EEPROM_read_char(6) << 8);
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direction = EEPROM_read_char(2);
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}
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Stepper stepper(&PORTD, PD0, PD1, PD2, PD3);
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if(lockedSpeed > 0xFF00 || lockedSpeed < 0xEF00)
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{
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lockedSpeed = 0xFF00;
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blink(true, true);
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}
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debugBlink(false);
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debugBlink(false);
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TCCR0A = (1<<WGM01); //CTC timer mode
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TIMSK = (1<<OCIE0A); //OCIE0A compeare interrupt enable
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OCR0A = 255;
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TCCR0B = (1<<CS00); //start with no prescaleing
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sei();
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blink(false);
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blink(false);
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writePin(&PORTB, LED_1_PIN, true);
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stepper.setSpeed(180);
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stepper.setEndlesMove(true);
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stepper.setSpeed(lockedSpeed);
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stepper.setEndlesMove(true, direction);
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stepper.setHalfCurrent(true);
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Comperator comperator;
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comperator.on();
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Buttons buttons(&buttonHandler, reinterpret_cast<void*>(&stepper));
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uint8_t timer = 0;
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while(true)
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{
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if(++timer == 0)buttons.tick();
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stepper.tick();
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_delay_us(50);
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if(comperator.compare()) lowBattery(&stepper);
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buttons.tick();
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_delay_ms(2);
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}
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}
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40
stepper.cpp
40
stepper.cpp
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@ -4,7 +4,7 @@
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void Stepper::tick()
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{
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if(++_tickCounter > UINT8_MAX - (_speed>>8) )
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if(++_tickCounter > UINT16_MAX - _speed )
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{
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if(_targetStep != _currentStep)
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{
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@ -13,8 +13,13 @@ void Stepper::tick()
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else if(endlessMove) step(endlessDriection);
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_tickCounter = 0;
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}
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if(_speed>>8 < _targetSpeed) _speed = _speed + acceleration;
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else if(_speed>>8 > _targetSpeed)_speed = _speed - acceleration;;
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/*else if(halfCurrent)
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{
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if(_tickCounter % 2 == 0) disableOutputs();
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else setOutputs();
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}*/
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if(_speed < _targetSpeed) _speed = _speed + acceleration;
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else if(_speed > _targetSpeed)_speed = _speed - acceleration;
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}
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void Stepper::moveTo(const int32_t step)
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@ -27,7 +32,7 @@ void Stepper::moveRelative(const int16_t dist)
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moveTo(_targetStep + dist);
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}
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void Stepper::setSpeed(const uint8_t speed)
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void Stepper::setSpeed(const uint16_t speed)
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{
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_targetSpeed = speed;
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if(_targetSpeed < speedFloor) _targetSpeed = speedFloor;
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@ -53,7 +58,22 @@ bool Stepper::isStoped()
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return _currentStep == _targetStep;
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}
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void Stepper::step(bool direction)
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void Stepper::shutdown()
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{
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_currentStep = _targetStep;
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_speed = 0;
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disableOutputs();
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}
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void Stepper::disableOutputs()
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{
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writePin(_port, _pinA, false);
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writePin(_port, _pinB, false);
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writePin(_port, _pinC, false);
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writePin(_port, _pinD, false);
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}
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void Stepper::setOutputs()
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{
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switch(_currentStep & 0x03)
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{
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@ -87,6 +107,16 @@ void Stepper::step(bool direction)
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writePin(_port, _pinC, false);
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writePin(_port, _pinD, false);
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}
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}
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void Stepper::setHalfCurrent( bool current)
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{
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halfCurrent = current;
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}
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void Stepper::step(bool direction)
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{
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_currentStep = _currentStep + (direction ? 1 : -1);
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if(endlessMove) _targetStep = _currentStep;
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setOutputs();
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}
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18
stepper.h
18
stepper.h
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@ -11,14 +11,15 @@ private:
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const uint8_t _pinC;
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const uint8_t _pinD;
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static constexpr uint8_t acceleration = 5;
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static constexpr uint8_t speedFloor = 50;
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static constexpr uint8_t acceleration = 1;
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static constexpr uint16_t speedFloor = 0xEF00;
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bool endlessMove = false;
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bool endlessDriection = true;
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bool endlessDriection = true;
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bool halfCurrent = false;
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uint16_t _speed = speedFloor;
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uint8_t _targetSpeed = 220;
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uint16_t _targetSpeed = 220;
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uint8_t _stepInterval = 0;
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uint16_t _tickCounter = 0;
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@ -27,16 +28,19 @@ private:
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int32_t _targetStep = 0;
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void step(bool direction);
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void setOutputs();
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void disableOutputs();
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public:
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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){}
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void tick();
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void moveTo(const int32_t step);
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void moveRelative(const int16_t dist);
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void setSpeed(const uint8_t speed);
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void setSpeed(const uint16_t speed);
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uint32_t isAt();
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void setHalfCurrent(bool current);
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bool isStoped();
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void setEndlesMove(bool endless, bool direction = true);
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void shutdown();
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};
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@ -2,7 +2,6 @@
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#define WRITEPIN_H
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#include <avr/io.h>
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void writePin(volatile unsigned char * const port, const unsigned char pin, const bool state);
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void setBit( volatile unsigned char * const reg, const unsigned char bit, const bool value );
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