Rename myself

[bertos.git] / bertos / drv / stepper.c

diff --git a/bertos/drv/stepper.c b/bertos/drv/stepper.c
index 3e4fc7b9dbe9c48bb5085d3f5fe3512199041cf6..6614623d409b676b6ea3d8731bf90c11bbd4e4de 100644 (file)
--- a/bertos/drv/stepper.c
+++ b/bertos/drv/stepper.c
@@ -11,7 +11,7 @@
  *
  * \author Francesco Michelini <francesco.michelini@seacfi.com>
  * \author Giovanni Bajo <rasky@develer.com>
- * \author Bernardo Innocenti <bernie@develer.com>
+ * \author Bernie Innocenti <bernie@codewiz.org>
  * \author Simone Zinanni <s.zinanni@develer.com>
  * \author Daniele Basile <asterix@develer.com>
  */
@@ -24,6 +24,11 @@
 #include "cfg/cfg_stepper.h"
 #include <cfg/debug.h>
 
+// Define logging setting (for cfg/log.h module).
+#define LOG_LEVEL         STEPPER_LOG_LEVEL
+#define LOG_VERBOSITY     STEPPER_LOG_VERBOSITY
+#include <cfg/log.h>
+
 #include <kern/proc.h>
 
 #include <algo/ramp.h>
@@ -131,10 +136,8 @@ INLINE void FAST_FUNC stepper_schedule_irq(struct Stepper* motor, stepper_time_t
 
 static void stepper_accel(struct Stepper *motor)
 {
-#ifdef _DEBUG
-       uint16_t old_val = motor->rampValue;
-       uint32_t old_clock = motor->rampClock;
-#endif
+       DB(uint16_t old_val = motor->rampValue;)
+       DB(uint32_t old_clock = motor->rampClock;)
 
        const struct Ramp *ramp = &motor->cfg->ramp;
 
@@ -144,13 +147,12 @@ static void stepper_accel(struct Stepper *motor)
        motor->rampClock += motor->rampValue;
        motor->rampStep++;
 
-#ifdef _DEBUG
-       if (old_val && motor->rampValue > old_val)
+       DB(if (old_val && motor->rampValue > old_val)
        {
-               kprintf("Runtime ramp error: (max=%x, min=%x)\n", ramp->clocksMaxWL, ramp->clocksMinWL);
-               kprintf("    %04x @ %lu   -->   %04x @ %lu\n", old_val, old_clock, motor->rampValue, motor->rampClock);
-       }
-#endif
+               LOG_ERR("Runtime ramp error: (max=%x, min=%x)\n", ramp->clocksMaxWL, ramp->clocksMinWL);
+               LOG_ERR("    %04x @ %lu   -->   %04x @ %lu\n", old_val, old_clock, motor->rampValue, motor->rampClock);
+       })
+
 }
 
 static void stepper_decel(struct Stepper *motor)
@@ -269,7 +271,7 @@ static void stepper_checkLevelSensor(struct Stepper* motor)
                        // record current position, disable check and stop motor
                        motor->stepsDeaf = DEAFSTEPS_DEFAULT;
                        motor->stepsLevel = motor->step;
-//                     motor->stepToReach = motor->step + motor->rampStep * motor->dir;
+                        //motor->stepToReach = motor->step + motor->rampStep * motor->dir;
 
                        motor->stepToReach = motor->step;
                        motor->rampClock = motor->cfg->ramp.clocksMaxWL;
@@ -305,13 +307,13 @@ static enum StepperState FAST_FUNC FSM_run(struct Stepper *motor)
 
        if (distance == 0)
                // Position reached - stop motor
-               //                              motor->speed = SPEED_STOPPED;
+               //motor->speed = SPEED_STOPPED;
                motor->rampStep = -1;
-               //                              motor->rampClock = motor->ramp->clocksMaxWL;
-               //                              motor->rampValue = 0;
-               //                              motor->rampClock = motor->rampValue = motor->ramp->clocksMaxWL;
+               //motor->rampClock = motor->ramp->clocksMaxWL;
+               //motor->rampValue = 0;
+               //motor->rampClock = motor->rampValue = motor->ramp->clocksMaxWL;
 
-       else if (distance <= motor->rampStep)
+       else if (distance <= (uint16_t)motor->rampStep)
                stepper_decel(motor);
 
        // check whether the velocity must be changed
@@ -500,7 +502,7 @@ static enum StepperState FSM_init(struct Stepper* motor)
         * That will be our absolute zero.
         */
 
-       motor->step = motor->cfg->stepsInHome - 1;      // start counting down steps in home
+       motor->step = motor->cfg->stepsInHome - 1; // start counting down steps in home
        motor->stepToReach = 0;
 
        stepper_schedule_irq(motor, motor->cfg->clocksHome, true);
@@ -510,7 +512,7 @@ static enum StepperState FSM_init(struct Stepper* motor)
 static enum StepperState FSM_entering(struct Stepper* motor)
 {
        // We must be in home
-//     ASSERT(stepper_readHome(motor));
+       //ASSERT(stepper_readHome(motor));
 
        // if while entering the sensor we are no more in home we reset the steps
        // counter (optical sensor)
@@ -557,7 +559,7 @@ static enum StepperState FSM_outhome(struct Stepper* motor)
 
     // We must be out of home: once we are no more in home
     // we just need to move away, even if not very precide (optical sensor)
-       // ASSERT(!stepper_readHome(motor));
+    // ASSERT(!stepper_readHome(motor));
 
     if(motor->step >= motor->cfg->stepsOutHome)
     {
@@ -783,7 +785,7 @@ int16_t stepper_get_stepCircular(struct Stepper *motor)
        return motor->stepCircular;
 }
 
-int16_t        stepper_scaleSteps(struct Stepper *motor, int16_t dir)
+int16_t stepper_scaleSteps(struct Stepper *motor, int16_t dir)
 {
        int16_t steps;
 
@@ -808,14 +810,14 @@ int16_t   stepper_scaleSteps(struct Stepper *motor, int16_t dir)
 
 static void stepper_enableCheckHome(struct Stepper *motor, bool bDirPositive)
 {
-       enum MotorHomeSensorCheck value = MOTOR_HOMESENSOR_NOCHECK;   // default
+       enum MotorHomeSensorCheck value = MOTOR_HOMESENSOR_NOCHECK; // default
 
        motor->stepsTollMin = 0;
 
-    if(        (motor->stepToReach != STEPS_INFINITE_POSITIVE) &&
+    if((motor->stepToReach != STEPS_INFINITE_POSITIVE) &&
                (motor->stepToReach != STEPS_INFINITE_NEGATIVE)  )
        {
-               if(bDirPositive)    //  else if(motor->dir == DIR_POSITIVE)
+               if(bDirPositive) // else if(motor->dir == DIR_POSITIVE)
                {
                        /* if the direction is positive (movement from 0 position),
                         * if the starting position is inside home and the target position
@@ -857,8 +859,8 @@ static void stepper_enableCheckHome(struct Stepper *motor, bool bDirPositive)
 /**
  * Move motor to absolute position at specified speed
  *
- * \arg steps  position to reach in steps
- * \arg speed  speed in timer ticks (use TIME2CLOCKS() to convert)
+ * \arg steps position to reach in steps
+ * \arg speed speed in timer ticks (use TIME2CLOCKS() to convert)
  */
 int16_t stepper_move(struct Stepper *motor, int16_t steps, uint16_t speed, int16_t deafstep)
 {