From 4cac11ec86415cb364c8a15701c96e948cf5996d Mon Sep 17 00:00:00 2001
From: Simen Svale Skogsrud <simen@bengler.no>
Date: Fri, 25 Feb 2011 13:30:03 +0100
Subject: [PATCH] fixed synchronization problem with spindle_control

---
 spindle_control.c | 22 +++++++++++++---------
 1 file changed, 13 insertions(+), 9 deletions(-)

diff --git a/spindle_control.c b/spindle_control.c
index 548e477..34d559b 100644
--- a/spindle_control.c
+++ b/spindle_control.c
@@ -25,24 +25,28 @@
 
 #include <avr/io.h>
 
+static int current_direction;
+
 void spindle_init()
 {
-  SPINDLE_ENABLE_DDR |= 1<<SPINDLE_ENABLE_BIT;
+  spindle_run(0, 0);
 }
 
 void spindle_run(int direction, uint32_t rpm) 
 {
-  st_synchronize();
-  if(direction >= 0) {
-    SPINDLE_DIRECTION_PORT &= ~(1<<SPINDLE_DIRECTION_BIT);
-  } else {
-    SPINDLE_DIRECTION_PORT |= 1<<SPINDLE_DIRECTION_BIT;
+  if (direction != current_direction) {
+    st_synchronize();
+    if(direction >= 0) {
+      SPINDLE_DIRECTION_PORT &= ~(1<<SPINDLE_DIRECTION_BIT);
+    } else {
+      SPINDLE_DIRECTION_PORT |= 1<<SPINDLE_DIRECTION_BIT;
+    }
+    SPINDLE_ENABLE_PORT |= 1<<SPINDLE_ENABLE_BIT;
+    current_direction = direction;
   }
-  SPINDLE_ENABLE_PORT |= 1<<SPINDLE_ENABLE_BIT;
 }
 
 void spindle_stop()
 {
-  st_synchronize();
-  SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT);
+  spindle_run(0, 0);
 }