fix overflow

Makefile

@@ -38,6 +38,9 @@ load: $(BUILDDIR)/$(TARGET).hex
 
 program: clean load
 
+reset:
+	avrdude -p $(PROGC) -c $(TOOL)
+	
 size: $(BUILDDIR)/$(TARGET).elf
 	avr-size -C --mcu=$(MCU) $(BUILDDIR)/$(TARGET).elf
 

kraftsensor.c

@@ -1,4 +1,6 @@
 #include <avr/io.h>
+#include <stdint.h>
+#include <stdlib.h>
 #include <util/delay.h>
 #include <stdio.h>
 #include <avr/interrupt.h>
@@ -25,21 +27,42 @@ 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);
-    if(wait_receive(2, m_data, 10)){
+    if(wait_receive(2, m_data, 100)){
         kraftsensor_valid = 0;
         printf("modbus error\n\r");
     }
     else{
         kraftsensor_valid = 1;
-        int32_t tmp = (uint32_t)m_data[0]<<16;
+        int32_t tmp = (uint32_t)m_data[1]<<16;
-        tmp |= m_data[1];
+        tmp |= m_data[0];
 
+        //kraftsensor_value = tmp;
         /* conversion magic to milliNewton */
-        kraftsensor_value = ((tmp + 539363)*9.81)/177.380;
+        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: %d\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;
     }
 
 }
@@ -50,8 +73,9 @@ uint8_t wait_receive(uint8_t len, uint16_t dest[], uint8_t timeout){
     while(!receiveOkay && breaker) { //wait for client response, time out after 1s
         breaker--;
         _delay_ms(1);
+        if(breaker==0)
+            return -1;
     }
-    printf("breaker: %d\n\r", breaker);
 
     if(receiveOkay) { //if this fails, there was either no response or a crc error
         if(rxbuffer[1]&0x80) { //client responded with an error code

main.c

@@ -72,7 +72,7 @@ static void avr_init()
 }
 
 void send_info(void){
-    char msg[4];
+    char msg[6];
     sprintf(msg, "%d", abzug_speed);
     mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/abzug/speed", msg, strlen(msg));