make force setpoint adjustable

avrIOhelper/io-helper.h

@@ -148,6 +148,8 @@ void ioHelperEdgeDetector(void);
 #define BTN_SPULENWECHSEL       BitPinK0
 
 #define BTN_INIT                BitPinF4
+#define BTN_KRAFT_PLUS          BitPinD7
+#define BTN_KRAFT_MINUS         BitPinG2
 
 #define IN_TAENZER_HOME         BitPinF0
 #define IN_SPULE_HOME         BitPinF1

main.c

@@ -72,7 +72,7 @@ static void avr_init()
 }
 
 void send_info(void){
-    char msg[6];
+    char msg[10];
     sprintf(msg, "%d", abzug_speed);
     mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/abzug/speed", msg, strlen(msg));
 
@@ -86,11 +86,14 @@ void send_info(void){
         ltoa(kraftsensor_value, msg, 10);
     else
         msg[0] = '0';
-    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/kraft", msg, strlen(msg));
+    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/taenzer/pv_kraft", msg, strlen(msg));
 
     int8_t temp = taenzer_state.pos / 10000;
     ltoa(temp, msg, 10);
-    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/speicher/pos", msg, strlen(msg));
+    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/taenzer/pos", msg, strlen(msg));
+
+    itoa(taenzer_state.force_setpoint, msg, 10);
+    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/taenzer/sp_kraft", msg, strlen(msg));
 
     sprintf(msg, "%ld", millis()/1000);
     mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/uptime", msg, strlen(msg));

taenzer.c

@@ -6,11 +6,19 @@
 
 #include <stdlib.h>
 
+#define TAENZER_KRAFT_SETPOINT 12000
+#define TAENZER_KRAFT_HYST 1000
+
+
 taenzer_state_t taenzer_state;
 
-#define TAENZER_KRAFT_SETPOINT 12000
+taenzer_state_t taenzer_state = {
-#define TAENZER_KRAFT_HYST 2000
+    .homed = 0,
+    .pos = 0,
+    .force_setpoint = TAENZER_KRAFT_SETPOINT,
+};
 
+void send_info(void);
 void do_taenzer(){
 
     /* Homing */
@@ -24,9 +32,22 @@ void do_taenzer(){
         taenzer_state.pos = 0;
     }
 
+    if (read_Input(BTN_KRAFT_PLUS, RISING)) {
+        taenzer_state.force_setpoint += 1000;
+#if PLC_MQTT_ENABLED
+        send_info();
+#endif
+    }
+    if (read_Input(BTN_KRAFT_MINUS, RISING)) {
+        taenzer_state.force_setpoint -= 1000;
+#if PLC_MQTT_ENABLED
+        send_info();
+#endif
+    }
+
     /* Force regualtion */
-    if(kraftsensor_valid && taenzer_state.homed){
+    if(kraftsensor_valid && taenzer_state.homed && taenzer_state.pos >= 0 && taenzer_state.pos < 500000){
-        int16_t err = abs(kraftsensor_value - TAENZER_KRAFT_SETPOINT);
+        int16_t err = (kraftsensor_value - taenzer_state.force_setpoint);
 
         if(err > 8000)
             err=8000;

taenzer.h

@@ -6,8 +6,8 @@
 typedef volatile struct {
     uint8_t homed;
     uint32_t pos;
+    int16_t force_setpoint;
 } taenzer_state_t;
-
 extern taenzer_state_t taenzer_state;
 
 void do_taenzer(void);