split code into more files

abzug.c

@@ -0,0 +1,83 @@
+#include <avr/io.h>
+#include "avrIOhelper/io-helper.h"
+
+uint16_t abzug_speed = 100;
+
+void timer3_init()
+{
+    TCCR3A |= (1<<COM3B1);
+    TCCR3B |= _BV(WGM33);
+
+    ICR3 = 100;
+    OCR3B = 50;
+
+    DDRE |= 1 << 4;
+}
+
+
+void send_abzug_speed(void);
+void do_rolle(){
+
+    if (read_Input(BTN_ABZUG_EIN, RISING)) {
+        TCCR3B |= _BV(CS31);
+        set_Output(LED_ABZUG, ON);
+#if PLC_MQTT_ENABLED
+        send_abzug_speed();
+#endif
+    }
+
+    if (read_Input(BTN_ABZUG_AUS, RISING)) {
+        TCCR3B &= ~(_BV(CS31));
+        set_Output(LED_ABZUG, OFF);
+#if PLC_MQTT_ENABLED
+        send_abzug_speed();
+#endif
+    }
+
+    if (read_Input(BTN_ABZUG_PLUS, RISING)) {
+        if(abzug_speed <= 900)
+            abzug_speed += 100;
+        else
+            abzug_speed = 1000;
+#if PLC_MQTT_ENABLED
+        send_abzug_speed();
+#endif
+    }
+
+    if (read_Input(BTN_ABZUG_MINUS, RISING)) {
+        if(abzug_speed >= 110)
+            abzug_speed -= 100;
+        else
+            abzug_speed = 10;
+#if PLC_MQTT_ENABLED
+        send_abzug_speed();
+#endif
+    }
+
+    if (read_Input(BTN_ABZUG_PLUS_FEIN, RISING)) {
+        if(abzug_speed <= 990)
+            abzug_speed += 10;
+        else
+            abzug_speed = 1000;
+#if PLC_MQTT_ENABLED
+        send_abzug_speed();
+#endif
+    }
+
+    if (read_Input(BTN_ABZUG_MINUS_FEIN, RISING)) {
+        if(abzug_speed >= 20)
+            abzug_speed -= 10;
+        else
+            abzug_speed = 10;
+#if PLC_MQTT_ENABLED
+        send_abzug_speed();
+#endif
+    }
+
+    // 16000000/8
+
+    ICR3 = ((1.0/abzug_speed)*3.14*42.0*(1.0/5.0))*2.0*500.0*(1/1.03);
+    OCR3B = ICR3/2;
+}
+
+

abzug.h

@@ -0,0 +1,8 @@
+#ifndef _ABZUG_H
+#define _ABZUG_H
+
+extern uint16_t abzug_speed;
+
+void do_rolle(void);
+
+#endif

common.h

@@ -0,0 +1 @@
+#define PLC_MQTT_ENABLED 1

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();
+}

kraftsensor.h

@@ -0,0 +1,18 @@
+#ifndef _MODBUS_MASTER_H_
+#define _MODBUS_MASTER_H_
+
+#include <stdint.h>
+
+#define receiveOkay (modbusGetBusState() & (1<<ReceiveCompleted))
+
+extern int32_t kraftsensor_value;
+extern uint8_t kraftsensor_valid;
+
+void timer2_init();
+void kraftsensor_init();
+void do_kraftsensor(void);
+uint8_t wait_receive(uint8_t len, uint16_t dest[], uint8_t timeout);
+void readReg(uint8_t slaveid, uint16_t address, uint8_t amount);
+void writeReg(uint8_t slaveid, uint16_t address, uint16_t value);
+
+#endif

taenzer.c

@@ -0,0 +1,54 @@
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include "taenzer.h"
+#include "avrIOhelper/io-helper.h"
+#include "kraftsensor.h"
+
+taenzer_state_t taenzer_state;
+
+void do_taenzer(){
+
+    ///* Homing */
+    //if(!taenzer_state.homed){
+    //    set_Output(MOTOR_TAENZER_DIR, 1); // direction: up
+    //    TCCR4B |= _BV(CS41); //TURN ON
+    //}
+    //if(read_Input(IN_TAENZER_HOME, LEVEL)){
+    //    TCCR4B &= ~_BV(CS41); //TURN OFF
+    //    taenzer_state.homed = 1;
+    //}
+
+    /* Force regualtion */
+    if(kraftsensor_valid /* && taenzer_state.homed */){
+        if(kraftsensor_value < 0){
+            set_Output(MOTOR_TAENZER_DIR, 0); // direction: down
+            TCCR4B |= _BV(CS41); //TURN ON
+        }
+        else if(kraftsensor_value > 10000){
+            set_Output(MOTOR_TAENZER_DIR, 1); // direction: up
+            TCCR4B |= _BV(CS41); //TURN ON
+        }
+        else
+            TCCR4B &= ~_BV(CS41); //TURN OFF
+    }
+}
+
+void timer4_init()
+{
+    TCCR4A |= (1<<COM4A1);
+    TCCR4B |= _BV(WGM43);
+
+//    TIMSK4 |= 1<<TOIE4;
+//    TIMSK4 |= 1<<OCIE4A;
+
+    ICR4 = 100;
+    OCR4A = 50;
+
+    DDRH |= 1 << 3;
+}
+
+//ISR(TIMER4_OVF_vect) {
+//}
+
+//ISR(TIMER4_OVF_vect) {
+//}

taenzer.h

@@ -0,0 +1,12 @@
+#ifndef _TAENZER_H_
+#define _TAENZER_H
+
+typedef struct {
+    uint8_t homed;
+    uint32_t pos;
+} taenzer_state_t;
+
+void do_taenzer(void);
+void timer4_init(void);
+
+#endif