From f75d0b7eabe275a4330eb72dc4a4c5d2af1fb13d Mon Sep 17 00:00:00 2001
From: root <root@ka-ata-killa.panaceas.james.local>
Date: Mon, 22 Nov 2021 11:23:35 +0000
Subject: turn on cycle counter correctly, and add a for-real motor

---
 stm32/app/hands.c   | 21 +++++++++++++++-
 stm32/app/leds.c    |  4 +--
 stm32/app/main.c    |  2 +-
 stm32/app/motor.c   | 72 +++++++++++++++++++++++++++++++++++++++++++++++++++--
 stm32/app/pins.h    |  1 +
 stm32/app/project.h |  3 ++-
 6 files changed, 96 insertions(+), 7 deletions(-)

diff --git a/stm32/app/hands.c b/stm32/app/hands.c
index 5414d9e..7ac8bb9 100644
--- a/stm32/app/hands.c
+++ b/stm32/app/hands.c
@@ -5,6 +5,24 @@ unsigned hands_pos[HANDS];
 unsigned hands_ready;
 
 
+static unsigned calc_second_pos (MTIME *m)
+{
+  uint64_t p;
+
+  p += m->second;
+  p *= 1000;
+  p += m->nanosecond / 1000000;
+
+  p *= MOTOR_STEPS;
+  p /= 100000;
+
+
+
+  return (unsigned) p;
+
+}
+
+
 static unsigned calc_minute_pos (MTIME *m)
 {
   uint64_t p;
@@ -58,7 +76,7 @@ void hands_tick (void)
 
   static uint32_t last;
 
-  if ((ticks - last) < 100) return;
+  if ((ticks - last) < 10) return;
 
   last = ticks;
 
@@ -72,6 +90,7 @@ void hands_tick (void)
 
   hands_pos[0] = calc_hour_pos (&m);
   hands_pos[1] = calc_minute_pos (&m);
+  //hands_pos[1] = calc_second_pos (&m);
   hands_ready = 1;
 
   for (i = 0, p = 0; i < HANDS; ++i) {
diff --git a/stm32/app/leds.c b/stm32/app/leds.c
index bcac9b6..b02e584 100644
--- a/stm32/app/leds.c
+++ b/stm32/app/leds.c
@@ -38,7 +38,7 @@ static void metric_pll (void)
 
   v %= 864;
 
-  //  printf("M:               %5u %9u\r\n",(unsigned) v, (unsigned ) (e.ns/1000000));
+  //printf("M:               %5u %9u\r\n",(unsigned) v, (unsigned ) (e.ns/1000000));
 
   ttg = 864 - (unsigned)v;
 }
@@ -60,7 +60,7 @@ static void customary_pll (void)
   last = ticks;
 
   v = e.ns / 1000000;
-  v %= 864;
+  v %= 1000;
 
   ttg = 1000 - (unsigned)v;
 
diff --git a/stm32/app/main.c b/stm32/app/main.c
index 344a106..31f220d 100644
--- a/stm32/app/main.c
+++ b/stm32/app/main.c
@@ -18,7 +18,7 @@ int main (void)
   rcc_periph_clock_enable (RCC_PWR);
   rcc_periph_clock_enable (RCC_BKP);
   pwr_disable_backup_domain_write_protect();
-  DWT_CTRL |= DWT_CTRL_CYCCNTENA;
+  dwt_enable_cycle_counter();
 
 
   nvic_set_priority (NVIC_SYSTICK_IRQ, 0x80);
diff --git a/stm32/app/motor.c b/stm32/app/motor.c
index 392089b..8ffc5e6 100644
--- a/stm32/app/motor.c
+++ b/stm32/app/motor.c
@@ -3,9 +3,42 @@
 
 static unsigned motor_pos[HANDS];
 
+#define M1_A  GPIO11
+#define M1_A_PORT GPIOB
+#define M1_B  GPIO12
+#define M1_B_PORT GPIOB
+#define M1_C  GPIO13
+#define M1_C_PORT GPIOB
+#define M1_D  GPIO14
+#define M1_D_PORT GPIOB
+
 
 static void  coils (unsigned m, int a, int b, int c, int d)
 {
+
+  if (!m) return;
+
+  if (a)
+    SET (M1_A);
+  else
+    CLEAR (M1_A);
+
+  if (b)
+    SET (M1_B);
+  else
+    CLEAR (M1_B);
+
+  if (c)
+    SET (M1_C);
+  else
+    CLEAR (M1_C);
+
+  if (d)
+    SET (M1_D);
+  else
+    CLEAR (M1_D);
+
+
   printf ("Motor %d: %+d %+d\r\n", m, a - b, c - d);
 }
 
@@ -18,7 +51,26 @@ static void step (unsigned m, int d)
   s += d;
   s %= MOTOR_STEPS;
 
-  coils (m, !! ((s + 6) & 4), !! ((s + 1) & 4), !! ((s + 4) & 4), !! ((s + 7) & 4));
+
+  switch (s & 3) {
+  case  0:
+    coils (m, 0, 1, 0, 1);
+    break;
+
+  case 1:
+    coils (m, 0, 1, 1, 0);
+    break;
+
+  case 2:
+    coils (m, 1, 0, 1, 0);
+    break;
+
+  case 3:
+    coils (m, 1, 0, 0, 1);
+    break;
+  }
+
+
 
   if (!m)
     BKP_DR8 = motor_pos[0] = s;
@@ -36,11 +88,20 @@ void motor_tick (void)
 {
   static uint32_t last;
   unsigned i, d;
+  static unsigned wiggle = MOTOR_STEPS;
+
 
-  if ((ticks - last) < 10) return;
+
+  if ((ticks - last) < 4) return;
 
   last = ticks;
 
+  if (wiggle) {
+    step (1, 1);
+    wiggle--;
+    return;
+  }
+
   if (!hands_ready) return;
 
   //printf("HANDS: %d -> %d    %d -> %d\r\n",hands_pos[0],motor_pos[0],hands_pos[1],motor_pos[1]);
@@ -51,6 +112,7 @@ void motor_tick (void)
     d -= motor_pos[i];
     d %= MOTOR_STEPS;
 
+
     if (d) {
       if (d < (MOTOR_STEPS / 2))
         step (i, 1);
@@ -66,10 +128,16 @@ void motor_tick (void)
 void motor_init (void)
 {
 
+  MAP_OUTPUT_PP (M1_A);
+  MAP_OUTPUT_PP (M1_B);
+  MAP_OUTPUT_PP (M1_C);
+  MAP_OUTPUT_PP (M1_D);
+
   motor_pos[0] = BKP_DR8;
   motor_pos[1] = BKP_DR9;
 
   step (0, 0);
   step (1, 0);
 
+
 }
diff --git a/stm32/app/pins.h b/stm32/app/pins.h
index 954396f..41fd0a1 100644
--- a/stm32/app/pins.h
+++ b/stm32/app/pins.h
@@ -49,6 +49,7 @@
 #define CLEAR(a) gpio_clear( a ## _PORT, a)
 #define SET(a) gpio_set( a ## _PORT, a)
 #define GET(a) gpio_get( a ## _PORT, a)
+#define WRITE(a,b) do { if (b) SET(a); else CLEAR(a) } while (0)
 #define TOGGLE(a) gpio_toggle( a ## _PORT, a)
 
 #endif
diff --git a/stm32/app/project.h b/stm32/app/project.h
index fd71876..0d73544 100644
--- a/stm32/app/project.h
+++ b/stm32/app/project.h
@@ -35,7 +35,8 @@
 #define DWT_FREQ 48000000
 
 #define HANDS 2
-#define MOTOR_STEPS (1080 * 2)
+//#define MOTOR_STEPS (1080 * 2)
+#define MOTOR_STEPS (720 )
 
 #include "board.h"
 #include "ring.h"
-- 
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