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54 lines
1.4 KiB
C
54 lines
1.4 KiB
C
#include <avr/io.h>
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#include <stdio.h>
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#include "kraftsensor.h"
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#include "modbus.h"
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#include "modbus-master.h"
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int32_t kraftsensor_value;
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uint8_t kraftsensor_valid;
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int32_t kraftsensor_zero_offset = 0/*197700*/;
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void do_kraftsensor(){
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//static int32_t last_read;
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//static int32_t old_value;
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uint16_t m_data[4];
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//int32_t kraftsensor_read;
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/* read 2 16bit values and merge to 32bit signed integer */
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readReg(1,0,2);
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if(wait_receive(2, m_data, 10)){
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kraftsensor_valid = 0;
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printf("modbus error\n\r");
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}
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else{
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kraftsensor_valid = 1;
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int32_t tmp = (uint32_t)m_data[1]<<16;
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tmp |= m_data[0];
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//kraftsensor_value = tmp;
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/* conversion magic to milliNewton */
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kraftsensor_value = (((tmp /* + 539363*/)*9.81)/177.380)+kraftsensor_zero_offset;
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//if(abs(kraftsensor_read - old_value) > 10000){
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// if(abs(last_read - kraftsensor_read) > 10000){
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// kraftsensor_value = old_value;
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// //printf("delta: %ld\tvalue:%ld\n", kraftsensor_read - old_value, kraftsensor_read);
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// //printf("spike\n");
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// }
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// else{
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// kraftsensor_value = kraftsensor_read;
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// //printf("jump\n");
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// }
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//}
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//else{
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// kraftsensor_value = kraftsensor_read;
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//}
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//last_read = kraftsensor_read;
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//old_value = kraftsensor_value;
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}
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}
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