add prints

abzug.c

@@ -40,8 +40,8 @@ void do_abzug(){
     }
 
     if (read_Input(BTN_ABZUG_PLUS, RISING)) {
-        if(abzug_speed <= 900)
+        if(abzug_speed <= 990)
-            abzug_speed += 100;
+            abzug_speed += 10;
         else
             abzug_speed = 1000;
 #if PLC_MQTT_ENABLED
@@ -50,8 +50,8 @@ void do_abzug(){
     }
 
     if (read_Input(BTN_ABZUG_MINUS, RISING)) {
-        if(abzug_speed >= 110)
+        if(abzug_speed >= 20)
-            abzug_speed -= 100;
+            abzug_speed -= 10;
         else
             abzug_speed = 10;
 #if PLC_MQTT_ENABLED
@@ -60,8 +60,8 @@ void do_abzug(){
     }
 
     if (read_Input(BTN_ABZUG_PLUS_FEIN, RISING)) {
-        if(abzug_speed <= 990)
+        if(abzug_speed <= 999)
-            abzug_speed += 10;
+            abzug_speed += 1;
         else
             abzug_speed = 1000;
 #if PLC_MQTT_ENABLED
@@ -70,8 +70,8 @@ void do_abzug(){
     }
 
     if (read_Input(BTN_ABZUG_MINUS_FEIN, RISING)) {
-        if(abzug_speed >= 20)
+        if(abzug_speed >= 11)
-            abzug_speed -= 10;
+            abzug_speed -= 1;
         else
             abzug_speed = 10;
 #if PLC_MQTT_ENABLED

avrIOhelper/io-helper.h

@@ -152,6 +152,8 @@ void ioHelperEdgeDetector(void);
 #define BTN_KRAFT_MINUS         BitPinG2
 
 #define IN_TAENZER_HOME         BitPinF0
-#define IN_SPULE_HOME         BitPinF1
+#define IN_SPULE_HOME           BitPinF1
+
+#define IN_BREMSE_STATE         BitPinF2
 
 #endif

kraftsensor.c

@@ -29,10 +29,7 @@ void kraftsensor_init(){
 }
 
 void do_kraftsensor(){
-    static int32_t last_read;
-    static int32_t old_value;
     uint16_t m_data[4];
-    int32_t kraftsensor_read;
 
     /* read 2 16bit values and merge to 32bit signed integer */
     readReg(1,0,2);
@@ -45,31 +42,12 @@ void do_kraftsensor(){
         int32_t tmp = (uint32_t)m_data[1]<<16;
         tmp |= m_data[0];
 
-        //kraftsensor_value = tmp;
         /* conversion magic to milliNewton */
         kraftsensor_value = (((tmp /* + 539363*/)*9.81)/177.380)+kraftsensor_zero_offset;
-
-        //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;
     }
-
 }
 
-uint8_t wait_receive(uint8_t len, uint16_t dest[], uint8_t timeout){
+int8_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
@@ -94,6 +72,23 @@ uint8_t wait_receive(uint8_t len, uint16_t dest[], uint8_t timeout){
     return 0;
 }
 
+int8_t wait_write(uint8_t timeout){
+    uint8_t breaker = timeout;
+    while(!receiveOkay && breaker) { //wait for client response, time out after 1s
+        breaker--;
+        _delay_ms(1);
+        if(breaker==0)
+            return -1;
+    }
+
+    if(receiveOkay) { //if this fails, there was either no response or a crc error
+        if(rxbuffer[1]&0x80) { //client responded with an error code
+            return rxbuffer[1]&0x80;
+        }
+    }
+    return 0;
+}
+
 void readReg(uint8_t slaveid, uint16_t address, uint8_t amount) {
     _delay_ms(2);
     rxbuffer[0]=slaveid;

kraftsensor.h

@@ -13,7 +13,7 @@ extern int32_t kraftsensor_zero_offset;
 void timer2_init();
 void kraftsensor_init();
 void do_kraftsensor(void);
-uint8_t wait_receive(uint8_t len, uint16_t dest[], uint8_t timeout);
+int8_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);
 

main.c

@@ -2,6 +2,7 @@
 #include <avr/interrupt.h>
 #include <avr/wdt.h>
 #include <stdint.h>
+#include <stdio.h>
 #include <string.h>
 #include <stdlib.h>
 
@@ -89,6 +90,12 @@ void send_values(void){
 
     itoa((250*60)/ICR5, msg, 10);
     mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/spule/speed", msg, strlen(msg));
+
+    sprintf(msg, "%d", windings);
+    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/spule/windings", msg, strlen(msg));
+
+    sprintf(msg, "%ld", spule_trans_pos);
+    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/spule/trans_pos", msg, strlen(msg));
 }
 
 // send settings wich only change on buttion press
@@ -96,8 +103,6 @@ void send_settings(void){
     //TODO only send on change or improve performance otherwise
     char msg[10];
 
-    //PORTH &= ~(1<<5);
-    //PORTH |= (1<<5);
     /* Abzug */
     sprintf(msg, "%d", abzug_speed);
     mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/abzug/speed", msg, strlen(msg));
@@ -196,7 +201,7 @@ int main()
 
     set_Output(LED_FEHLER, OFF);
 
-    set_Output(BitPH5, ON);
+    set_Output(BitPH5, ON); //DEBUG
     
 #if PLC_MQTT_ENABLED
     send_settings();
@@ -220,7 +225,7 @@ int main()
         }
 
         if(millis() - timer_modbus_poll > 20){
-            do_kraftsensor();
+            do_kraftsensor();   // 8ms !!!
             timer_modbus_poll += 20;
         }
 
@@ -228,7 +233,7 @@ int main()
         // send misc info
         if(millis() - timer_send_info > 200){
             timer_send_info += 200;
-            send_values();
+            send_values(); // 10ms
             //send_info(); // 27ms every 200ms
         }
 #endif

pid_controller.h

@@ -25,7 +25,7 @@ typedef struct {
 } PID_vars;
 
 
-#define PID_VARS_INIT(x) PID_vars x = {.Kp=1.7,.Ki=0.00,.Kd=0.00,.output_max=25000.0, \
+#define PID_VARS_INIT(x) PID_vars x = {.Kp=1.3,.Ki=0.00,.Kd=0.00,.output_max=25000.0, \
                        .output_min=-25000.0,._integral_sum=0.0,._prev_err=0.0,._dt=1.0}
 
 /* Function Prototypes */

spule.c

@@ -10,6 +10,8 @@
 volatile uint16_t windings = 0;
 volatile uint16_t windings_wakeup = 0;
 
+volatile uint8_t trans_state = 0;
+
 int32_t spule_trans_pos = 0;
 uint8_t spule_trans_homed = 0;
 
@@ -80,7 +82,7 @@ void do_spule(){
     }
 
     // manual forwarding if button is held
-    else if(!get_abzug_state()){
+    else if(!get_abzug_state() || (get_abzug_state() && read_Input(IN_BREMSE_STATE, LEVEL)) ){
         if(read_Input(BTN_WICKELN_EIN, LEVEL)){
             set_spooling_speed(300);
             spule_onoff(1);
@@ -118,11 +120,13 @@ void do_spule(){
         ICR5 = ctrl_speed;
         OCR5C = ICR5/2;
 
-
+        if(trans_state != 4)
-        ICR1 = ICR5/TRANS_ROT_FACTOR;
+            ICR1 = ICR5/TRANS_ROT_FACTOR;
+        else
+            ICR1 = 0.5*(ICR5/TRANS_ROT_FACTOR);
         OCR1A = ICR1/2;
 
-        if (read_Input(BTN_WICKELN_EIN, RISING)) {
+        if (read_Input(BTN_WICKELN_EIN, RISING) && !read_Input(IN_BREMSE_STATE, LEVEL)) {
             spule_onoff(1);
         }
         if (read_Input(BTN_WICKELN_AUS, RISING)) {
@@ -136,6 +140,17 @@ void do_spule(){
         windings = 0;
         windings_wakeup = 0;
     }
+
+    if (read_Input(IN_BREMSE_STATE, FALLING)) {
+        printf("draußen\n");
+        spule_onoff(1);
+    }
+
+    if (read_Input(IN_BREMSE_STATE, RISING)) {
+        printf("drinne\n");
+        spule_onoff(0);
+    }
+
     //PORTH |= (1<<5);
 }
 
@@ -160,7 +175,8 @@ ISR(TIMER5_OVF_vect) {
         windings++;
         steps=0;
         printf("windungen: %d\t", windings);
-        printf("trans pos: %ld\n", taenzer_state.pos);
+        printf("trans pos: %ld\n", spule_trans_pos);
+        printf("speed %d\n", ICR1);
     }
 
     if(windings == windings_wakeup){
@@ -170,23 +186,30 @@ ISR(TIMER5_OVF_vect) {
     uint8_t windings_on_layer = windings % 25;
 
     if(windings_on_layer == 0 && steps == 0){
+        trans_state = 1;
         ICR1 = ICR5/TRANS_ROT_FACTOR;
         OCR1A = ICR1/2;
         set_Output(MOTOR_TRANS_DIR, TOGGLE);
         printf("toggle at pos: %ld\n", spule_trans_pos);
+        printf("speed %d\n", ICR1);
     }
     if(windings_on_layer == 1 && steps == 0){
+        trans_state = 2;
         printf("nachlauf aufbauen\n");
         TCCR1B &= ~(_BV(CS11));
     }
     if(windings_on_layer == 3 && steps == 0){
+        trans_state = 3;
         TCCR1B |= _BV(CS11);
         printf("done\n");
+        printf("speed %d\n", ICR1);
     }
     if(windings_on_layer == 21 && steps == 0){
+        trans_state = 4;
         ICR1 = 0.5*(ICR5/TRANS_ROT_FACTOR);
         OCR1A = ICR1/2;
         printf("nachlauf abbauen\n");
+        printf("speed %d\n", ICR1);
     }
     //;PORTH |= (1<<5);
 }

spule.h

@@ -1,8 +1,13 @@
 #ifndef _SPULE_H_
 #define _SPULE_H_
 
+#include <stdint.h>
+
 void timer1_init(void);
 void timer5_init(void);
 void do_spule(void);
 
+extern volatile uint16_t windings;
+extern int32_t spule_trans_pos;
+
 #endif