abzug.c

@@ -1,7 +1,5 @@
 #include <avr/io.h>
-#include <stdint.h>
 #include "avrIOhelper/io-helper.h"
-#include "common.h"
 
 uint16_t abzug_speed = 100;
 
@@ -16,11 +14,8 @@ void timer3_init()
     DDRE |= 1 << 4;
 }
 
-uint8_t get_abzug_state(){
-    return TCCR3B & _BV(CS31);
-}
 
-extern void send_settings(void);
+void send_settings(void);
 void do_abzug(){
 
     if (read_Input(BTN_ABZUG_EIN, RISING)) {

abzug.h

@@ -7,6 +7,5 @@ extern uint16_t abzug_speed;
 
 void do_abzug(void);
 void timer3_init(void);
-uint8_t get_abzug_state(void);
 
 #endif

kraftsensor.c

@@ -34,9 +34,9 @@ void do_kraftsensor(){
 
     /* read 2 16bit values and merge to 32bit signed integer */
     readReg(1,0,2);
-    if(wait_receive(2, m_data, 10)){
+    if(wait_receive(2, m_data, 100)){
         kraftsensor_valid = 0;
-        printf("modbus error\n\r");
+        //printf("modbus error\n\r");
     }
     else{
         kraftsensor_valid = 1;
@@ -45,24 +45,24 @@ void do_kraftsensor(){
 
         //kraftsensor_value = tmp;
         /* conversion magic to milliNewton */
-        kraftsensor_value = ((tmp + 197700 /*539363*/)*9.81)/177.380;
-
-        //if(abs(kraftsensor_read - old_value) > 10000){
-        //    if(abs(last_read - kraftsensor_read) > 10000){
-        //        kraftsensor_value = old_value;
-        //        //printf("delta: %ld\tvalue:%ld\n", kraftsensor_read - old_value, kraftsensor_read);
-        //        //printf("spike\n");
-        //    }
-        //    else{
-        //        kraftsensor_value = kraftsensor_read;
-        //        //printf("jump\n");
-        //    }
-        //}
-        //else{
-        //    kraftsensor_value = kraftsensor_read;
-        //}
-        //last_read = kraftsensor_read;
-        //old_value = kraftsensor_value;
+        kraftsensor_read = ((tmp + 197700 /*539363*/)*9.81)/177.380;
+
+        if(abs(kraftsensor_read - old_value) > 10000){
+            if(abs(last_read - kraftsensor_read) > 10000){
+                kraftsensor_value = old_value;
+                //printf("delta: %ld\tvalue:%ld\n", kraftsensor_read - old_value, kraftsensor_read);
+                //printf("spike\n");
+            }
+            else{
+                kraftsensor_value = kraftsensor_read;
+                //printf("jump\n");
+            }
+        }
+        else{
+            kraftsensor_value = kraftsensor_read;
+        }
+        last_read = kraftsensor_read;
+        old_value = kraftsensor_value;
     }
 
 }

main.c

@@ -198,13 +198,16 @@ int main()
 
     set_Output(BitPH5, ON);
     
+
+    while(1)
+    {
+        wdt_reset(); // WDT reset at least every sec
+
 #if PLC_MQTT_ENABLED
+        if(millis() < 10)
             send_settings();
 #endif
 
-    while(1){
-        wdt_reset(); // WDT reset at least every sec
-
         ioHelperReadPins();
         ioHelperDebounce();
         ioHelperEdgeDetector();

spule.c

@@ -50,14 +50,6 @@ static void spule_onoff(uint8_t state){
     }
 }
 
-void set_spooling_speed(uint16_t speed){
-    ICR5=speed;
-    OCR5C = ICR5/2;
-
-    ICR1 = ICR5/TRANS_ROT_FACTOR;
-    OCR1A = ICR1/2;
-}
-
 void do_spule(){
     //PORTH &= ~(1<<5);
     if(read_Input(IN_SPULE_HOME, LEVEL) && spule_trans_homed == 0){
@@ -77,38 +69,22 @@ void do_spule(){
         set_Output(MOTOR_TRANS_DIR, 1); // direction: front
         TCCR1B |= _BV(CS11); //TURN ON
     }
-    else if(!get_abzug_state()){
-        if(read_Input(BTN_WICKELN_EIN, LEVEL)){
-            set_spooling_speed(300);
-            spule_onoff(1);
-        }
-        else
+    else if(taenzer_state.pos <= 10){
         spule_onoff(0);
     }
     else{
         /* speed regulation - keep taenzer at 10% */
-        float p = 100.0/(int32_t)(taenzer_state.pos/1000);
-        p-=1;
-        p/=2;
-        p+=1;
+        int32_t tmp = 0;//(100 - (int32_t)taenzer_state.pos/1000);
 
         //printf("temp1: %d\n", tmp);
         //TODO fix bounds
         //if(tmp < -7500/abzug_speed/2)
         //    tmp = -7500/abzug_speed/2;
         //printf("temp2: %d\n", tmp);
-        if(p < 0.75)
-            p = 0.75;
-        if(p > 1.5)
-            p = 1.5;
-
-        uint16_t base_speed = (7500/abzug_speed);
-        uint16_t ctrl_speed = base_speed * p;
-
-        if(ctrl_speed <= 70)
-            ctrl_speed = 70;
+        if(tmp < -35)
+            tmp = -35;
 
-        ICR5 = ctrl_speed;
+        ICR5=7500/abzug_speed + tmp;
         OCR5C = ICR5/2;
 
         ICR1 = ICR5/TRANS_ROT_FACTOR;
@@ -120,7 +96,7 @@ void do_spule(){
         if (read_Input(BTN_WICKELN_AUS, RISING)) {
             spule_onoff(0);
         }
-    }
+
         if (read_Input(BTN_INIT, RISING)) {
             spule_trans_homed = 0;
             taenzer_state.homed = 0;
@@ -128,6 +104,7 @@ void do_spule(){
             windings = 0;
             windings_wakeup = 0;
         }
+    }
     //PORTH |= (1<<5);
 }
 

taenzer.c

@@ -5,7 +5,6 @@
 #include "kraftsensor.h"
 #include "notaus.h"
 #include "pid_controller.h"
-#include "common.h"
 
 #include <stdint.h>
 #include <stdio.h>
@@ -47,7 +46,7 @@ double pid(PID_vars *vars, double current_err) {
   return output;
 }
 
-extern void send_settings(void);
+void send_info(void);
 void do_taenzer(){
 
     /* Homing */
@@ -66,13 +65,13 @@ void do_taenzer(){
     if (read_Input(BTN_KRAFT_PLUS, RISING)) {
         taenzer_state.force_setpoint += 1000;
 #if PLC_MQTT_ENABLED
-        send_settings();
+        send_info();
 #endif
     }
     if (read_Input(BTN_KRAFT_MINUS, RISING)) {
         taenzer_state.force_setpoint -= 1000;
 #if PLC_MQTT_ENABLED
-        send_settings();
+        send_info();
 #endif
     }
     if (read_Input(BTN_TAENZER_START, RISING)) {