eddy/BTA_utils
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fix little bugs in derotator

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eddyem
2018-07-03 12:21:20 +03:00
parent 841ac20c88
commit b1771c5104
3 changed files with 32 additions and 20 deletions
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28
p1rotator/stepper.c
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@@ -98,9 +98,11 @@ void print_PA(double ang){
#ifdef __arm__
static void Write(int pin, int val){
double t0 = dtime();
if(val) val = 1;
digitalWrite(pin, val);
while(digitalRead(pin) != val);
while(digitalRead(pin) != val && dtime() - t0 > 1.);
if(digitalRead(pin) != val) WARNX("error setting pin value: need %d, got %d", val, digitalRead(pin));
}
static void Toggle(int pin){
int v = digitalRead(pin);
@@ -110,15 +112,19 @@ static void Toggle(int pin){
void setup_pins(){
#ifdef __arm__
DBG("setup GPIO");
wiringPiSetupGpio();
Write(EN_PIN, PIN_PASSIVE); // disable all @ start
Write(DIR_PIN, PIN_PASSIVE);
Write(STEP_PIN, PIN_PASSIVE);
DBG("setup PINs");
pinMode(DIR_PIN, OUTPUT);
pinMode(EN_PIN, OUTPUT);
pinMode(STEP_PIN, OUTPUT);
pinMode(ESW_PIN, INPUT);
Write(EN_PIN, PIN_PASSIVE); // disable all @ start
Write(DIR_PIN, PIN_PASSIVE);
Write(STEP_PIN, PIN_PASSIVE);
DBG("setup pullup");
pullUpDnControl(ESW_PIN, PUD_UP);
DBG("done");
#else // __arm__
green("Setup GPIO\n");
#endif // __arm__
@@ -129,17 +135,19 @@ void setup_pins(){
*/
void stop_motor(){
// force_exit = 1;
usleep(1000);
// usleep(1000);
#ifdef __arm__
// disable motor & all other
pullUpDnControl(ESW_PIN, PUD_OFF);
pinMode(DIR_PIN, INPUT);
pinMode(EN_PIN, INPUT);
pinMode(STEP_PIN, INPUT);
DBG("return pin modes");
// return values to initial state
Write(EN_PIN, 0);
Write(DIR_PIN, 0);
Write(STEP_PIN, 0);
pinMode(DIR_PIN, INPUT);
//pinMode(EN_PIN, INPUT);
pinMode(STEP_PIN, INPUT);
DBG("pull control");
pullUpDnControl(ESW_PIN, PUD_OFF);
DBG("STOPPED");
#else
green("Stop Stepper\n");
@@ -170,6 +178,7 @@ static void move_motor(int nusteps){
dir = -1;
nusteps = -nusteps;
}
DBG("moving for %d steps", nusteps);
#ifdef __arm__
Write(DIR_PIN, (dir > 0) ? DIR_POSITIVE : DIR_NEGATIVE); // prepare direction
for(; nusteps; --nusteps){
@@ -187,6 +196,7 @@ int gotozero(){
#ifdef __arm__
int nusteps = ONETURN_USTEPS * 1.1;
Write(DIR_PIN, DIR_NEGATIVE);
DBG("go to zero position");
for(; nusteps; --nusteps){
Toggle(STEP_PIN);
mk_pause(USTEP_DELAY);