new spooling speed regulation

still needs some tuning

abzug.c

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

abzug.h

@@ -7,5 +7,6 @@ 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, 100)){
+    if(wait_receive(2, m_data, 10)){
         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_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;
+        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;
     }
 
 }

main.c

@@ -198,16 +198,13 @@ 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();
+    send_settings();
 #endif
 
+    while(1){
+        wdt_reset(); // WDT reset at least every sec
+
         ioHelperReadPins();
         ioHelperDebounce();
         ioHelperEdgeDetector();

spule.c

@@ -50,6 +50,14 @@ 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){
@@ -69,22 +77,38 @@ 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 if(!get_abzug_state()){
+        if(read_Input(BTN_WICKELN_EIN, LEVEL)){
+            set_spooling_speed(300);
+            spule_onoff(1);
+        }
+        else
+            spule_onoff(0);
     }
     else{
         /* speed regulation - keep taenzer at 10% */
-        int32_t tmp = 0;//(100 - (int32_t)taenzer_state.pos/1000);
+        float p = 100.0/(int32_t)(taenzer_state.pos/1000);
+        p-=1;
+        p/=2;
+        p+=1;
 
         //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(tmp < -35)
-            tmp = -35;
+        if(p < 0.75)
+            p = 0.75;
+        if(p > 1.5)
+            p = 1.5;
 
-        ICR5=7500/abzug_speed + tmp;
+        uint16_t base_speed = (7500/abzug_speed);
+        uint16_t ctrl_speed = base_speed * p;
+
+        if(ctrl_speed <= 70)
+            ctrl_speed = 70;
+
+        ICR5 = ctrl_speed;
         OCR5C = ICR5/2;
 
         ICR1 = ICR5/TRANS_ROT_FACTOR;
@@ -96,14 +120,13 @@ 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;
-            taenzer_state.active = 0;
-            windings = 0;
-            windings_wakeup = 0;
-        }
+    }
+    if (read_Input(BTN_INIT, RISING)) {
+        spule_trans_homed = 0;
+        taenzer_state.homed = 0;
+        taenzer_state.active = 0;
+        windings = 0;
+        windings_wakeup = 0;
     }
     //PORTH |= (1<<5);
 }

taenzer.c

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