send less mqtt msgs, improve performance

abzug.c

@@ -15,14 +15,14 @@ void timer3_init()
 }
 
 
-void send_info(void);
+void send_settings(void);
 void do_abzug(){
 
     if (read_Input(BTN_ABZUG_EIN, RISING)) {
         TCCR3B |= _BV(CS31);
         set_Output(LED_ABZUG, ON);
 #if PLC_MQTT_ENABLED
-        send_info();
+        send_settings();
 #endif
     }
 
@@ -30,7 +30,7 @@ void do_abzug(){
         TCCR3B &= ~(_BV(CS31));
         set_Output(LED_ABZUG, OFF);
 #if PLC_MQTT_ENABLED
-        send_info();
+        send_settings();
 #endif
     }
 
@@ -40,7 +40,7 @@ void do_abzug(){
         else
             abzug_speed = 1000;
 #if PLC_MQTT_ENABLED
-        send_info();
+        send_settings();
 #endif
     }
 
@@ -50,7 +50,7 @@ void do_abzug(){
         else
             abzug_speed = 10;
 #if PLC_MQTT_ENABLED
-        send_info();
+        send_settings();
 #endif
     }
 
@@ -60,7 +60,7 @@ void do_abzug(){
         else
             abzug_speed = 1000;
 #if PLC_MQTT_ENABLED
-        send_info();
+        send_settings();
 #endif
     }
 
@@ -70,7 +70,7 @@ void do_abzug(){
         else
             abzug_speed = 10;
 #if PLC_MQTT_ENABLED
-        send_info();
+        send_settings();
 #endif
     }
 

kraftsensor.c

@@ -36,7 +36,7 @@ void do_kraftsensor(){
     readReg(1,0,2);
     if(wait_receive(2, m_data, 100)){
         kraftsensor_valid = 0;
-        printf("modbus error\n\r");
+        //printf("modbus error\n\r");
     }
     else{
         kraftsensor_valid = 1;
@@ -50,12 +50,12 @@ void do_kraftsensor(){
         if(abs(kraftsensor_read - old_value) > 10000){
             if(abs(last_read - kraftsensor_read) > 10000){
                 kraftsensor_value = old_value;
-                printf("delta: %d\tvalue:%ld\n", kraftsensor_read - old_value, kraftsensor_read);
+                //printf("delta: %ld\tvalue:%ld\n", kraftsensor_read - old_value, kraftsensor_read);
-                printf("spike\n");
+                //printf("spike\n");
             }
             else{
                 kraftsensor_value = kraftsensor_read;
-                printf("jump\n");
+                //printf("jump\n");
             }
         }
         else{
@@ -117,5 +117,7 @@ void writeReg(uint8_t slaveid, uint16_t address, uint16_t value) {
 }
 
 ISR(TIMER2_COMPA_vect) { //this ISR is called 9765.625 times per second
+    //PORTH &= ~(1<<5);
 	modbusTickTimer();
+    //PORTH |= (1<<5);
 }

main.c

@@ -1,6 +1,7 @@
 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include <avr/wdt.h>
+#include <stdint.h>
 #include <string.h>
 #include <stdlib.h>
 
@@ -71,19 +72,10 @@ static void avr_init()
     return;
 }
 
-void send_info(void){
+// send processvalues that are constantly changing
+void send_values(void){
     char msg[10];
 
-    /* Abzug */
-    sprintf(msg, "%d", abzug_speed);
-    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/abzug/speed", msg, strlen(msg));
-
-    if(TCCR3B & (1<<CS31))
-        sprintf(msg, "True");
-    else
-        sprintf(msg, "False");
-    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/abzug/onoff", msg, strlen(msg));
-
     /* Taenzer */
     if(kraftsensor_valid)
         ltoa(kraftsensor_value, msg, 10);
@@ -95,23 +87,41 @@ void send_info(void){
     ltoa(temp, msg, 10);
     mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/taenzer/pos", msg, strlen(msg));
 
+    itoa((250*60)/ICR5, msg, 10);
+    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/spule/speed", msg, strlen(msg));
+}
+
+// send settings wich only change on buttion press
+void send_settings(void){
+    //TODO only send on change or improve performance otherwise
+    char msg[10];
+
+    //PORTH &= ~(1<<5);
+    //PORTH |= (1<<5);
+    /* Abzug */
+    sprintf(msg, "%d", abzug_speed);
+    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/abzug/speed", msg, strlen(msg));
+
+    if(TCCR3B & (1<<CS31))
+        sprintf(msg, "True");
+    else
+        sprintf(msg, "False");
+    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/abzug/onoff", msg, strlen(msg));
+
+    /* Taenzer */
     itoa(taenzer_state.force_setpoint, msg, 10);
     mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/taenzer/sp_kraft", msg, strlen(msg));
 
-
     /* Spule */
-    itoa((250*60)/ICR5, msg, 10);
-    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/spule/speed", msg, strlen(msg));
-
     if(TCCR5B & (1<<CS31))
         sprintf(msg, "True");
     else
         sprintf(msg, "False");
     mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/spule/onoff", msg, strlen(msg));
 
-    /* Uptime */
+    ///* Uptime */
-    sprintf(msg, "%ld", millis()/1000);
+    //sprintf(msg, "%ld", millis()/1000);
-    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/uptime", msg, strlen(msg));
+    //mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/uptime", msg, strlen(msg));
 }
 
 
@@ -186,13 +196,16 @@ int main()
 
     set_Output(LED_FEHLER, OFF);
 
+    set_Output(BitPH5, ON);
+    
+
     while(1)
     {
         wdt_reset(); // WDT reset at least every sec
 
 #if PLC_MQTT_ENABLED
         if(millis() < 10)
-            send_info();
+            send_settings();
 #endif
 
         ioHelperReadPins();
@@ -206,6 +219,7 @@ int main()
             outStates[2] ^= outStatesBlinking[2];
             outStates[3] ^= outStatesBlinking[3];
             timer_blink_outs = millis();
+            //printf("icr5: %u\n", ICR5);
         }
 
         if(millis() - timer_modbus_poll > 20){
@@ -217,7 +231,8 @@ int main()
         // send misc info
         if(millis() - timer_send_info > 200){
             timer_send_info += 200;
-            send_info();
+            send_values();
+            //send_info(); // 27ms every 200ms
         }
 #endif
 
@@ -229,10 +244,10 @@ int main()
 #if PLC_MQTT_ENABLED
         ioHelperSetBit(outStates, LED_BUS_OK, 1);
         ioHelperSetOuts();
-        MQTTYield(&mqtt_client, 10); //blocking call
+        MQTTYield(&mqtt_client, 1); //blocking call
         ioHelperSetBit(outStates, LED_BUS_OK, 0);
 #endif
-        ioHelperSetOuts();
+        ioHelperSetOuts(); //40us
     }
     return 0;
 }

pid_controller.h

@@ -25,7 +25,7 @@ typedef struct {
 } PID_vars;
 
 
-#define PID_VARS_INIT(x) PID_vars x = {.Kp=1.3,.Ki=0.00,.Kd=0.0,.output_max=20000.0, \
+#define PID_VARS_INIT(x) PID_vars x = {.Kp=1.5,.Ki=0.00,.Kd=0.0,.output_max=20000.0, \
                        .output_min=-20000.0,._integral_sum=0.0,._prev_err=0.0,._dt=1.0}
 
 /* Function Prototypes */

spule.c

@@ -39,8 +39,19 @@ void timer5_init()
     TIMSK5 |= 1<<TOIE5;
 }
 
-void do_spule(){
+static void spule_onoff(uint8_t state){
+    if(state){
+        TCCR5B |= _BV(CS51); // ROTATION
+        TCCR1B |= _BV(CS11); // TRANSLATION
+    }
+    else{
+        TCCR5B &= ~(_BV(CS51));
+        TCCR1B &= ~(_BV(CS11));
+    }
+}
 
+void do_spule(){
+    //PORTH &= ~(1<<5);
     if(read_Input(IN_SPULE_HOME, LEVEL) && spule_trans_homed == 0){
         spule_trans_homed = 1;
         spule_trans_pos = 0;
@@ -58,26 +69,32 @@ void do_spule(){
         set_Output(MOTOR_TRANS_DIR, 1); // direction: front
         TCCR1B |= _BV(CS11); //TURN ON
     }
+    else if(taenzer_state.pos <= 10){
+        spule_onoff(0);
+    }
     else{
         /* speed regulation - keep taenzer at 10% */
-        int32_t tmp = (100 - (int32_t)taenzer_state.pos/1000)*10;
+        int32_t tmp = 0;//(100 - (int32_t)taenzer_state.pos/1000);
 
-        if(tmp < -75000/abzug_speed/2)
+        //printf("temp1: %d\n", tmp);
-            tmp = -75000/abzug_speed/2;
+        //TODO fix bounds
+        //if(tmp < -7500/abzug_speed/2)
+        //    tmp = -7500/abzug_speed/2;
+        //printf("temp2: %d\n", tmp);
+        if(tmp < -35)
+            tmp = -35;
 
-        ICR5=75000/abzug_speed + tmp;
+        ICR5=7500/abzug_speed + tmp;
         OCR5C = ICR5/2;
 
-        ICR1 = ICR5/0.7;
+        ICR1 = ICR5/TRANS_ROT_FACTOR;
         OCR1A = ICR1/2;
 
         if (read_Input(BTN_WICKELN_EIN, RISING)) {
-            TCCR5B |= _BV(CS51); //TURN ON
+            spule_onoff(1);
-            TCCR1B |= _BV(CS11); //TURN ON
         }
         if (read_Input(BTN_WICKELN_AUS, RISING)) {
-            TCCR5B &= ~(_BV(CS51));
+            spule_onoff(0);
-            TCCR1B &= ~(_BV(CS11));
         }
 
         if (read_Input(BTN_INIT, RISING)) {
@@ -88,9 +105,11 @@ void do_spule(){
             windings_wakeup = 0;
         }
     }
+    //PORTH |= (1<<5);
 }
 
 ISR(TIMER1_OVF_vect) {
+    //PORTH &= ~(1<<5);
     //if(ioHelperReadBit(outStates, MOTOR_TRANS_DIR)){
     if(PORTB & (1<<6)){
         spule_trans_pos -= 1;
@@ -99,12 +118,14 @@ ISR(TIMER1_OVF_vect) {
         spule_trans_pos += 1;
     }
     //TODO keep track if position stays in bounds
+    //PORTH |= (1<<5);
 }
 
 ISR(TIMER5_OVF_vect) {
+    //PORTH &= ~(1<<5);
     static uint16_t steps = 0;
     steps++;
-    if(steps == 5000){
+    if(steps == 50000){
         windings++;
         steps=0;
         printf("windungen: %d\n", windings);
@@ -135,4 +156,5 @@ ISR(TIMER5_OVF_vect) {
         OCR1A = ICR1/2;
         printf("nachlauf abbauen\n");
     }
+    //PORTH |= (1<<5);
 }

taenzer.c

@@ -89,7 +89,7 @@ void do_taenzer(){
         OCR4A = ICR4/2;
 
         if(kraftsensor_valid && notaus_state == POWER_ON){
-            if(out < -TAENZER_KRAFT_HYST/2 && taenzer_state.pos < 300000UL){
+            if(out < -TAENZER_KRAFT_HYST/2 /* && taenzer_state.pos < 300000UL*/){
                 set_Output(MOTOR_TAENZER_DIR, 0); // direction: down
                 TCCR4B |= _BV(CS41); //TURN ON
             }