add direction change on layer finish

abzug.c

@@ -15,14 +15,14 @@ void timer3_init()
 }
 
 
-void send_abzug_speed(void);
+void send_info(void);
 void do_abzug(){
 
     if (read_Input(BTN_ABZUG_EIN, RISING)) {
         TCCR3B |= _BV(CS31);
         set_Output(LED_ABZUG, ON);
 #if PLC_MQTT_ENABLED
-        send_abzug_speed();
+        send_info();
 #endif
     }
 
@@ -30,7 +30,7 @@ void do_abzug(){
         TCCR3B &= ~(_BV(CS31));
         set_Output(LED_ABZUG, OFF);
 #if PLC_MQTT_ENABLED
-        send_abzug_speed();
+        send_info();
 #endif
     }
 
@@ -40,7 +40,7 @@ void do_abzug(){
         else
             abzug_speed = 1000;
 #if PLC_MQTT_ENABLED
-        send_abzug_speed();
+        send_info();
 #endif
     }
 
@@ -50,7 +50,7 @@ void do_abzug(){
         else
             abzug_speed = 10;
 #if PLC_MQTT_ENABLED
-        send_abzug_speed();
+        send_info();
 #endif
     }
 
@@ -60,7 +60,7 @@ void do_abzug(){
         else
             abzug_speed = 1000;
 #if PLC_MQTT_ENABLED
-        send_abzug_speed();
+        send_info();
 #endif
     }
 
@@ -70,7 +70,7 @@ void do_abzug(){
         else
             abzug_speed = 10;
 #if PLC_MQTT_ENABLED
-        send_abzug_speed();
+        send_info();
 #endif
     }
 

abzug.h

@@ -1,6 +1,8 @@
 #ifndef _ABZUG_H
 #define _ABZUG_H
 
+#include <stdint.h>
+
 extern uint16_t abzug_speed;
 
 void do_abzug(void);

avrIOhelper/io-helper.h

@@ -93,6 +93,7 @@ void ioHelperEdgeDetector(void);
 // Schrittmotoren richtung
 
 #define MOTOR_TAENZER_DIR       BitPH4
+#define MOTOR_TRANS_DIR         BitPB6
 
 #define LED_INIT                BitPE3
 #define LED_ABZUG               BitPL6
@@ -147,6 +148,10 @@ void ioHelperEdgeDetector(void);
 #define BTN_SPULENWECHSEL       BitPinK0
 
 #define BTN_INIT                BitPinF4
+#define BTN_KRAFT_PLUS          BitPinD7
+#define BTN_KRAFT_MINUS         BitPinG2
+
 #define IN_TAENZER_HOME         BitPinF0
+#define IN_SPULE_HOME         BitPinF1
 
 #endif

main.c

@@ -72,7 +72,7 @@ static void avr_init()
 }
 
 void send_info(void){
-    char msg[6];
+    char msg[10];
     sprintf(msg, "%d", abzug_speed);
     mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/abzug/speed", msg, strlen(msg));
 
@@ -86,13 +86,17 @@ void send_info(void){
         ltoa(kraftsensor_value, msg, 10);
     else
         msg[0] = '0';
-    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/kraft", msg, strlen(msg));
+    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/taenzer/pv_kraft", msg, strlen(msg));
 
-    ltoa(taenzer_state.pos, msg, 10);
+    int8_t temp = taenzer_state.pos / 10000;
-    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/speicher/pos", msg, strlen(msg));
+    ltoa(temp, msg, 10);
+    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/taenzer/pos", msg, strlen(msg));
+
+    itoa(taenzer_state.force_setpoint, msg, 10);
+    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/taenzer/sp_kraft", msg, strlen(msg));
 
     sprintf(msg, "%ld", millis()/1000);
-    mqtt_pub(&mqtt_client, "/Filamentanlage/04_Abzug/state/uptime", msg, strlen(msg));
+    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/uptime", msg, strlen(msg));
 }
 
 
@@ -106,6 +110,9 @@ int main()
 
     printf("moin!\n\r");
 
+    set_Output(LED_FEHLER, ON);
+
+    timer1_init(); //translation
     timer3_init(); //abzug
     timer4_init(); //taenzer
     timer5_init(); //spule
@@ -134,7 +141,7 @@ int main()
     MQTTPacket_connectData data = MQTTPacket_connectData_initializer;
     data.willFlag = 0;
     data.MQTTVersion = 4;//3;
-    data.clientID.cstring = (char*)"controllino";
+    data.clientID.cstring = (char*)"controllino_aufspuleinheit";
     data.username.cstring = (char*)"Aufspuleinheit";
     data.password.cstring = (char*)"\0";
     data.keepAliveInterval = 10;
@@ -162,6 +169,8 @@ int main()
     uint32_t timer_send_info = millis();
     uint32_t timer_modbus_poll = millis();
 
+    set_Output(LED_FEHLER, OFF);
+
     while(1)
     {
         wdt_reset(); // WDT reset at least every sec
@@ -184,9 +193,9 @@ int main()
             timer_blink_outs = millis();
         }
 
-        if(millis() - timer_modbus_poll > 100){
+        if(millis() - timer_modbus_poll > 20){
             do_kraftsensor();
-            timer_modbus_poll += 100;
+            timer_modbus_poll += 20;
         }
 
 #if PLC_MQTT_ENABLED

notaus.c

@@ -1,10 +1,16 @@
 #include "kraftsensor.h"
 #include "avrIOhelper/io-helper.h"
+#include <stdint.h>
 #include <stdio.h>
+#include "notaus.h"
+
+uint8_t notaus_state = POWER_OFF;
 
 void do_notaus(){
     if(!read_Input(IN_NOTAUS_ANLAGE, LEVEL) || read_Input(IN_NOTAUS_SCHRANK, LEVEL) || read_Input(IN_NOTAUS_DISPLAY, LEVEL)){
-        /* at least on pressed */
+        /* at least one pressed */
+        notaus_state = POWER_OFF;
+
         ioHelperSetBit(outStates, AMPEL_ROT,  1);
         ioHelperSetBit(outStates, AMPEL_GELB,  0);
         ioHelperSetBit(outStates, AMPEL_GRUEN,  0);
@@ -34,6 +40,8 @@ void do_notaus(){
     }
     else if(!read_Input(IN_ANLAGE_EIN, LEVEL)){
         /* nothing pressed, but power not on */
+        notaus_state = ARMED;
+
         ioHelperSetBit(outStates, AMPEL_ROT,  0);
         ioHelperSetBit(outStates, AMPEL_GELB,  1);
         ioHelperSetBit(outStates, AMPEL_GRUEN,  0);
@@ -48,6 +56,8 @@ void do_notaus(){
     }
     else{
         /* powered on */
+        notaus_state = POWER_ON;
+
         ioHelperSetBit(outStates, AMPEL_ROT,  0);
         ioHelperSetBit(outStates, AMPEL_GELB,  0);
         ioHelperSetBit(outStates, AMPEL_GRUEN,  1);

notaus.h

@@ -1,6 +1,14 @@
 #ifndef _NOTAUS_H_
 #define _NOTAUS_H_
 
+#include <stdint.h>
+
+#define POWER_ON  2
+#define ARMED     1
+#define POWER_OFF 0
+
+extern uint8_t notaus_state;
+
 void do_notaus(void);
 
 #endif

spule.c

@@ -1,30 +1,106 @@
 #include <avr/io.h>
+#include <avr/interrupt.h>
+#include <stdio.h>
 #include "avrIOhelper/io-helper.h"
 
+
+int32_t spule_trans_pos = 0;
+uint8_t spule_trans_homed = 0;
+
+void timer1_init()
+{
+    TCCR1A |= (1<<COM1A1);
+    TCCR1B |= _BV(WGM13);
+
+    ICR1 = 100;
+    OCR1A = 50;
+
+    DDRB |= 1 << 5;
+
+    TIMSK1 |= 1<<TOIE1;
+}
+
 void timer5_init()
 {
     TCCR5A |= (1<<COM5C1);
     TCCR5B |= _BV(WGM53);
 
-    ICR5 = 500;
+    ICR5 = 1000;
-    OCR5C = 250;
+    OCR5C = 500;
 
     DDRL |= 1 << 5;
+
 }
 
 void do_spule(){
+
+    if(read_Input(IN_SPULE_HOME, LEVEL) && spule_trans_homed == 0){
+        spule_trans_homed = 1;
+        spule_trans_pos = 0;
+
+        TCCR1B &= ~(_BV(CS11));
+        set_Output(MOTOR_TRANS_DIR, 0); // direction: back
+
+        ICR1 = ICR5/0.7;
+        OCR1A = ICR1/2;
+    }
+
+    if(!spule_trans_homed){
+        set_Output(MOTOR_TRANS_DIR, 1); // direction: front
+        TCCR1B |= _BV(CS11); //TURN ON
+    }
+    else{
         if (read_Input(BTN_WICKELN_EIN, RISING)) {
             TCCR5B |= _BV(CS51); //TURN ON
+            TCCR1B |= _BV(CS11); //TURN ON
         }
         if (read_Input(BTN_WICKELN_AUS, RISING)) {
             TCCR5B &= ~(_BV(CS51));
+            TCCR1B &= ~(_BV(CS11));
         }
         if (read_Input(BTN_TAENZER_START, RISING)) {
             ICR5-=15;
             OCR5C = ICR5/2;
+
+            ICR1 = ICR5/0.7;
+            OCR1A = ICR1/2;
         }
         if (read_Input(BTN_SPULENWECHSEL, RISING)) {
             ICR5+=15;
             OCR5C = ICR5/2;
+
+            ICR1 = ICR5/0.7;
+            OCR1A = ICR1/2;
+        }
+
+        if (read_Input(BTN_INIT, RISING)) {
+            spule_trans_homed = 0;
+            ICR1 = 100;
+            OCR1A = 50;
         }
     }
+}
+
+ISR(TIMER1_OVF_vect) {
+    if(ioHelperReadBit(outStates, MOTOR_TRANS_DIR)){
+        spule_trans_pos -= 1;
+        if(spule_trans_homed && spule_trans_pos <= 0){
+            //TCCR1B &= ~(_BV(CS11));
+            //TIMSK5 |= 1<<TOIE5;
+            printf("front stop\n");
+            set_Output(MOTOR_TRANS_DIR, 0); // direction: back
+        }
+    }
+    else{
+        spule_trans_pos += 1;
+        if(spule_trans_pos >= 85000){
+            //TCCR1B &= ~(_BV(CS11));
+            //TIMSK5 |= 1<<TOIE5;
+            printf("end stop\n");
+            set_Output(MOTOR_TRANS_DIR, 1); // direction: front
+        }
+    }
+}
+
+ISR(TIMER5_OVF_vect) {
+}

spule.h

@@ -1,6 +1,7 @@
 #ifndef _SPULE_H_
 #define _SPULE_H_
 
+void timer1_init(void);
 void timer5_init(void);
 void do_spule(void);
 

taenzer.c

@@ -6,27 +6,48 @@
 
 #include <stdlib.h>
 
+#define TAENZER_KRAFT_SETPOINT 12000
+#define TAENZER_KRAFT_HYST 1000
+
+
 taenzer_state_t taenzer_state;
 
-#define TAENZER_KRAFT_SETPOINT 12000
+taenzer_state_t taenzer_state = {
-#define TAENZER_KRAFT_HYST 2000
+    .homed = 0,
+    .pos = 0,
+    .force_setpoint = TAENZER_KRAFT_SETPOINT,
+};
 
+void send_info(void);
 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;
         taenzer_state.pos = 0;
     }
+    if(!taenzer_state.homed && notaus_state == POWER_ON){
+        set_Output(MOTOR_TAENZER_DIR, 1); // direction: up
+        TCCR4B |= _BV(CS41); //TURN ON
+    }
+
+    if (read_Input(BTN_KRAFT_PLUS, RISING)) {
+        taenzer_state.force_setpoint += 1000;
+#if PLC_MQTT_ENABLED
+        send_info();
+#endif
+    }
+    if (read_Input(BTN_KRAFT_MINUS, RISING)) {
+        taenzer_state.force_setpoint -= 1000;
+#if PLC_MQTT_ENABLED
+        send_info();
+#endif
+    }
 
     /* Force regualtion */
-    if(kraftsensor_valid && taenzer_state.homed){
+    if(kraftsensor_valid && taenzer_state.homed && taenzer_state.pos >= 0 && taenzer_state.pos < 500000){
-        int16_t err = abs(kraftsensor_value - TAENZER_KRAFT_SETPOINT);
+        int16_t err = (kraftsensor_value - taenzer_state.force_setpoint);
 
         if(err > 8000)
             err=8000;

taenzer.h

@@ -3,11 +3,11 @@
 
 #include <stdint.h>
 
-typedef struct {
+typedef volatile struct {
     uint8_t homed;
     uint32_t pos;
+    int16_t force_setpoint;
 } taenzer_state_t;
-
 extern taenzer_state_t taenzer_state;
 
 void do_taenzer(void);