call do_* functions

main.c

@@ -2,6 +2,9 @@
 #include <avr/interrupt.h>
 #include <avr/wdt.h> // WatchDog
 #include <string.h>
+#include <stdlib.h>
+
+#include "common.h"
 
 #include "Ethernet/socket.h"
 #include "Ethernet/wizchip_conf.h"
@@ -17,10 +20,9 @@
 
 #include "util/delay.h"
 
-#include "modbus.h"
-#include "modbus_master.h"
-
-#define PLC_MQTT_ENABLED 1
+#include "kraftsensor.h"
+#include "taenzer.h"
+#include "abzug.h"
 
 Client mqtt_client;
 
@@ -39,12 +41,9 @@ void get_mcusr(void)
 }
 //***********Prologue for fast WDT disable & and save reason of reset/power-up: END
 
-
 //FUNC headers
 static void avr_init(void);
-void modbus_master_init(void);
 void timer0_init(void);
-void timer2_init(void);
 void timer3_init(void);
 void print_network_information(void);
 
@@ -60,12 +59,6 @@ void IO_LIBRARY_Init(void) {
     //wizchip_setinterruptmask(IK_SOCK_0);
 }
 
-void modbus_master_init(){
-    modbusSetAddress(1); //better set this to sth.
-	modbusInit();
-    timer2_init(); // modbus tick timer
-}
-
 static void avr_init()
 {
     // Initialize device here.
@@ -82,22 +75,16 @@ static void avr_init()
     return;
 }
 
-void do_kraftsensor(){
-    uint16_t m_data[4];
-    char msg[64];
+void send_abzug_speed(void){
+    char msg[4];
+    sprintf(msg, "%d", abzug_speed);
+    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/abzug/speed", msg, strlen(msg));
 
-    readReg(1,0,2);
-    if(wait_receive(2, m_data, 10))
-        sprintf(msg, "n/a");
-    else{
-        int32_t tmp = (uint32_t)m_data[0]<<16;
-        tmp |= m_data[1];
-        sprintf(msg, "%ld", tmp);
-    }
-
-#if PLC_MQTT_ENABLED
-    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/kraft", msg, strlen(msg));
-#endif
+    if(TCCR3B & (1<<CS31))
+        sprintf(msg, "True");
+    else
+        sprintf(msg, "False");
+    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/abzug/onoff", msg, strlen(msg));
 }
 
 void do_notaus(){
@@ -165,9 +152,11 @@ int main()
     // INIT MCU
     avr_init();
     spi_init(); //SPI Master, MODE0, 4Mhz(DIV4), CS_PB.3=HIGH - suitable for WIZNET 5x00(1/2/5)
-    modbus_master_init();
+    kraftsensor_init();
 
     printf("moin!\n\r");
+    timer3_init();
+    timer4_init();
 
     ioHelperInitBuffer();
     ioHelperIoConf();
@@ -207,7 +196,7 @@ int main()
     else
     {
         printf("--MQTT Connected ERROR: %ld\r\n", mqtt_rc);
-        //while(1); //Reboot the board
+        while(1); //Reboot the board
     }
 
     char SubString[] = "/Filamentanlage/04_Messmodul/set/#";
@@ -227,12 +216,14 @@ int main()
     {
         wdt_reset(); // WDT reset at least every sec
 
-        //if (flag_refresh_inStates) {
+#if PLC_MQTT_ENABLED
+        if(millis() < 10)
+            send_abzug_speed();
+#endif
+
         ioHelperReadPins();
         ioHelperDebounce();
         ioHelperEdgeDetector();
-        //    flag_refresh_inStates = 0;
-        //}
 
         // Toggle all outs which are set to blinking
         if(millis() - timer_blink_outs > 500){
@@ -245,19 +236,29 @@ int main()
 
 #if PLC_MQTT_ENABLED
         // send misc info
-        if(millis() - timer_send_uptime > 5000){
-            timer_send_uptime += 5000;
-            char msg[64];
-            sprintf(msg, "%ld", millis()/1000);
-            mqtt_pub(&mqtt_client, "/Filamentanlage/04_Messmodul/state/uptime", msg, strlen(msg));
-        }
+        //if(millis() - timer_send_uptime > 5000){
+        //    timer_send_uptime += 5000;
+        //    char msg[64];
+        //    sprintf(msg, "%ld", millis()/1000);
+        //    mqtt_pub(&mqtt_client, "/Filamentanlage/04_Messmodul/state/uptime", msg, strlen(msg));
+        //}
 #endif
-        if(millis() - timer_modbus_poll > 1000){
-            timer_modbus_poll += 1000;
+        if(millis() - timer_modbus_poll > 200){
+            timer_modbus_poll += 200;
             do_kraftsensor();
+#if PLC_MQTT_ENABLED
+            send_abzug_speed();
+            char msg[10];
+            ltoa(kraftsensor_value, msg, 10);
+            mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/kraft", msg, strlen(msg));
+            ltoa(taenzer_state.pos, msg, 10);
+            mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/speicher/pos", msg, strlen(msg));
+#endif
         }
 
         do_notaus();
+        do_rolle();
+        do_taenzer();
 
 #if PLC_MQTT_ENABLED
         ioHelperSetBit(outStates, LED_BUS_OK, 1);
@@ -270,25 +271,6 @@ int main()
     return 0;
 }
 
-// Timer0
-// 1ms IRQ
-// Used for millis() timing
-void timer0_init()
-{
-    TCCR0A = (1<<WGM01); //TIMER0 SET-UP: CTC MODE
-    TCCR0B = (1<<CS01)|(1<<CS00); // PS 1:64
-    OCR0A = 249; // 1ms reach for clear (16mz:64=>250kHz:250-=>1kHz)
-    TIMSK0 |= 1<<OCIE0A;	 //IRQ on TIMER0 output compareA
-}
-
-void timer2_init()
-{
-    TCCR2A = (1<<WGM21); //TIMER0 SET-UP: CTC MODE
-    TCCR2B|=(1<<CS21); //prescaler 8
-    OCR2A = 200; // 1ms reach for clear (16mz/8/200=>10kHz)
-	TIMSK2|=(1<<OCIE2A);
-}
-
 void print_network_information()
 {
 
@@ -311,6 +293,4 @@ void print_network_information()
     printf("DNS Server : %d.%d.%d.%d\n\r",gWIZNETINFO.dns[0],gWIZNETINFO.dns[1],gWIZNETINFO.dns[2],gWIZNETINFO.dns[3]);
 }
 
-ISR(TIMER2_COMPA_vect) { //this ISR is called 9765.625 times per second
-	modbusTickTimer();
-}
+

millis.c

@@ -4,6 +4,17 @@
 
 volatile unsigned long _millis; // for millis tick !! Overflow every ~49.7 days
 
+// Timer0
+// 1ms IRQ
+// Used for millis() timing
+void timer0_init()
+{
+    TCCR0A = (1<<WGM01); //TIMER0 SET-UP: CTC MODE
+    TCCR0B = (1<<CS01)|(1<<CS00); // PS 1:64
+    OCR0A = 249; // 1ms reach for clear (16mz:64=>250kHz:250-=>1kHz)
+    TIMSK0 |= 1<<OCIE0A;	 //IRQ on TIMER0 output compareA
+}
+
 ISR (TIMER0_COMPA_vect)
 {
 	_millis++; // INC millis tick

millis.h

@@ -3,5 +3,6 @@
 
 #define TICK_PER_SEC 1000UL
 unsigned long millis(void);
+void timer0_init(void);
 
 #endif

modbus_master.c

@@ -1,55 +0,0 @@
-#include "modbus_master.h"
-#include "modbus.h"
-#include <util/delay.h>
-
-#include <stdio.h>
-
-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);
-}
-
-

modbus_master.h

@@ -1,12 +0,0 @@
-#ifndef _MODBUS_MASTER_H_
-#define _MODBUS_MASTER_H_
-
-#include <stdint.h>
-
-#define receiveOkay (modbusGetBusState() & (1<<ReceiveCompleted))
-
-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

@@ -8,19 +8,20 @@ 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;
-    //}
+    /* 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;
+        taenzer_state.pos = 0;
+    }
 
     /* Force regualtion */
-    if(kraftsensor_valid /* && taenzer_state.homed */){
-        if(kraftsensor_value < 0){
+    if(kraftsensor_valid && taenzer_state.homed){
+        if(kraftsensor_value < 9000){
             set_Output(MOTOR_TAENZER_DIR, 0); // direction: down
             TCCR4B |= _BV(CS41); //TURN ON
         }
@@ -38,7 +39,7 @@ void timer4_init()
     TCCR4A |= (1<<COM4A1);
     TCCR4B |= _BV(WGM43);
 
-//    TIMSK4 |= 1<<TOIE4;
+    TIMSK4 |= 1<<TOIE4;
 //    TIMSK4 |= 1<<OCIE4A;
 
     ICR4 = 100;
@@ -47,8 +48,12 @@ void timer4_init()
     DDRH |= 1 << 3;
 }
 
-//ISR(TIMER4_OVF_vect) {
-//}
+ISR(TIMER4_OVF_vect) {
+    if(ioHelperReadBit(outStates, MOTOR_TAENZER_DIR))
+        taenzer_state.pos -= 1;
+    else
+        taenzer_state.pos += 1;
+}
 
 //ISR(TIMER4_OVF_vect) {
 //}

taenzer.h

@@ -6,6 +6,8 @@ typedef struct {
     uint32_t pos;
 } taenzer_state_t;
 
+extern taenzer_state_t taenzer_state;
+
 void do_taenzer(void);
 void timer4_init(void);