split code into more files

kraftsensor.c

@@ -0,0 +1,92 @@
+#include <avr/io.h>
+#include <util/delay.h>
+#include <stdio.h>
+#include <avr/interrupt.h>
+
+#include "kraftsensor.h"
+#include "modbus.h"
+#include "common.h"
+
+int32_t kraftsensor_value;
+uint8_t kraftsensor_valid;
+
+void timer2_init()
+{
+    TCCR2A = (1<<WGM21); //TIMER0 SET-UP: CTC MODE
+    TCCR2B|=(1<<CS21); //prescaler 8
+    OCR2A = 200; 
+	TIMSK2|=(1<<OCIE2A);
+}
+
+void kraftsensor_init(){
+    modbusSetAddress(1); //better set this to sth.
+	modbusInit();
+    timer2_init(); // modbus tick timer
+}
+
+void do_kraftsensor(){
+    uint16_t m_data[4];
+
+    readReg(1,0,2);
+    if(wait_receive(2, m_data, 10))
+        kraftsensor_valid = 0;
+    else{
+        kraftsensor_valid = 1;
+        int32_t tmp = (uint32_t)m_data[0]<<16;
+        tmp |= m_data[1];
+        kraftsensor_value = tmp;
+    }
+
+}
+
+uint8_t wait_receive(uint8_t len, uint16_t dest[], uint8_t timeout){
+
+    uint8_t breaker = timeout;
+    while(!receiveOkay && breaker) { //wait for client response, time out after 1s
+        breaker--;
+        _delay_ms(10);	
+    }
+
+    if(receiveOkay) { //if this fails, there was either no response or a crc error
+        if(rxbuffer[1]&0x80) { //client responded with an error code
+            //handle the error
+            printf("error\n\r");
+            return -1;
+        }
+        else {
+            for(uint8_t x=0;x<len;x++) { //rxbuffer[2] should be 8 (4 registers => 8 bytes). You might want to check this at this point.
+                dest[x]=(rxbuffer[3+x*2]<<8)+rxbuffer[4+x*2]; //do sth with the acquired data.
+            }
+        }
+
+    }
+    return 0;
+}
+
+void readReg(uint8_t slaveid, uint16_t address, uint8_t amount) {
+    _delay_ms(2);
+    rxbuffer[0]=slaveid;
+    modbusSetAddress(slaveid);
+    rxbuffer[1]=0x03;
+    rxbuffer[2]=(address>>8)&0xFF;
+    rxbuffer[3]=address&0xFF;
+    rxbuffer[4]=0x00;
+    rxbuffer[5]=amount;
+    modbusSendMessage(5);
+}
+
+void writeReg(uint8_t slaveid, uint16_t address, uint16_t value) {
+    _delay_ms(2);
+    rxbuffer[0]=slaveid;
+    modbusSetAddress(slaveid);
+    rxbuffer[1]=0x06;
+    rxbuffer[2]=(address>>8)&0xFF;
+    rxbuffer[3]=address&0xFF;
+    rxbuffer[4]=(value>>8)&0xFF;;
+    rxbuffer[5]=value&0xFF;
+    modbusSendMessage(5);
+}
+
+ISR(TIMER2_COMPA_vect) { //this ISR is called 9765.625 times per second
+	modbusTickTimer();
+}