From d4c1237780a79a5c2fa865ef3ebf97006c3ece06 Mon Sep 17 00:00:00 2001
From: Michael Wiebusch <m.wiebusch@gsi.de>
Date: Mon, 15 Dec 2014 18:17:19 +0100
Subject: [PATCH] both interrupt for touchpad and motor control, don't seem to
 work, so I disabled touchpad. Can now configure the timer delay in
 microseconds

---
 firmware/main.c  |  7 +++++--
 firmware/plate.c | 10 +++++-----
 firmware/plate.h |  5 ++++-
 3 files changed, 14 insertions(+), 8 deletions(-)

diff --git a/firmware/main.c b/firmware/main.c
index 56bc262..3dcae35 100644
--- a/firmware/main.c
+++ b/firmware/main.c
@@ -227,11 +227,11 @@ int main(void){
   
   SetupHardware();
   init_plate_timer();
-  touchpad_init(); // you need to call this to setup the I/O pin!
+//   touchpad_init(); // you need to call this to setup the I/O pin!
   _delay_ms(500);
   sei();
   
-  touchpad_set_rel_mode_100dpi();// use touchpad in relative mode
+//   touchpad_set_abs_mode();// use touchpad in relative mode
 
   while (1) {
     Usb2SerialTask();
@@ -239,6 +239,9 @@ int main(void){
 //     touchpad_read(); // read data from touchpad
 //     inc_target_plate_pos_x(4*delta_x());
 //     inc_target_plate_pos_y(-4*delta_y());
+//     uart_print_number(x_abs(),5);
+//     uart_puts("\n\r");
+//     _delay_ms(200);
     if(plate_ready()){
       pos_report();
     }
diff --git a/firmware/plate.c b/firmware/plate.c
index e1d3274..b5b15ee 100644
--- a/firmware/plate.c
+++ b/firmware/plate.c
@@ -11,8 +11,8 @@
 
 // plate stuff
 
-int32_t plate_pos_x = 0,plate_pos_y = 0;
-int32_t target_plate_pos_x = 0,target_plate_pos_y = 0;
+volatile int32_t plate_pos_x = 0,plate_pos_y = 0;
+volatile int32_t target_plate_pos_x = 0,target_plate_pos_y = 0;
 
 uint8_t ready = 0;
 
@@ -105,7 +105,7 @@ uint8_t move_plate(void){
   
   
   
-  _delay_us(PHASE_DELAY_US);
+//   _delay_us(PHASE_DELAY_US);
   
   if( busy && (todo_x==0) && (todo_y==0) ){
     busy=0;
@@ -116,12 +116,12 @@ uint8_t move_plate(void){
 }
 
 
-
+// the following is only needed if used with interrupt
 
 void init_plate_timer(void){
   TCCR1B |= (1<<CS10) | (1<<CS12) | (1<<WGM12);
   TCCR1C |= (1<<FOC1A);
-  OCR1A = 32;
+  OCR1A = TIMER_SETTING;
   TIMSK1 |= (1<<OCIE1A);
   
 }
diff --git a/firmware/plate.h b/firmware/plate.h
index 7a57922..a5dba60 100644
--- a/firmware/plate.h
+++ b/firmware/plate.h
@@ -1,5 +1,8 @@
-#define PHASE_DELAY_US 0
+#define PHASE_DELAY_US 1500
 
+#define TIMER_STEP 6.4e-5
+
+#define TIMER_SETTING PHASE_DELAY_US*1e-6/TIMER_STEP
 
 
 
-- 
2.43.0