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73 lines
1.6 KiB
C
73 lines
1.6 KiB
C
#include <avr/io.h>
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#include <avr/interrupt.h>
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#include "taenzer.h"
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#include "avrIOhelper/io-helper.h"
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#include "kraftsensor.h"
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#include <stdlib.h>
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taenzer_state_t taenzer_state;
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#define TAENZER KRAFT_SETPOINT 12000
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#define TAENZER_KRAFT_HYST 2000
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void do_taenzer(){
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/* Homing */
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if(!taenzer_state.homed){
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set_Output(MOTOR_TAENZER_DIR, 1); // direction: up
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TCCR4B |= _BV(CS41); //TURN ON
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}
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if(read_Input(IN_TAENZER_HOME, LEVEL)){
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TCCR4B &= ~_BV(CS41); //TURN OFF
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taenzer_state.homed = 1;
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taenzer_state.pos = 0;
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}
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/* Force regualtion */
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if(kraftsensor_valid && taenzer_state.homed){
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int16_t err = abs(kraftsensor_value - TAENZER KRAFT_SETPOINT);
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if(err > 8000)
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err=8000;
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ICR4 = 400000/err;
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OCR4A = ICR4/2;
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if(kraftsensor_value < TAENZER KRAFT_SETPOINT - (TAENZER_KRAFT_HYST/2)){
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set_Output(MOTOR_TAENZER_DIR, 0); // direction: down
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TCCR4B |= _BV(CS41); //TURN ON
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}
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else if(kraftsensor_value > TAENZER KRAFT_SETPOINT + (TAENZER_KRAFT_HYST/2)){
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set_Output(MOTOR_TAENZER_DIR, 1); // direction: up
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TCCR4B |= _BV(CS41); //TURN ON
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}
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else
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TCCR4B &= ~_BV(CS41); //TURN OFF
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}
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}
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void timer4_init()
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{
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TCCR4A |= (1<<COM4A1);
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TCCR4B |= _BV(WGM43);
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TIMSK4 |= 1<<TOIE4;
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// TIMSK4 |= 1<<OCIE4A;
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ICR4 = 50;
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OCR4A = 25;
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DDRH |= 1 << 3;
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}
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ISR(TIMER4_OVF_vect) {
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if(ioHelperReadBit(outStates, MOTOR_TAENZER_DIR))
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taenzer_state.pos -= 1;
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else
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taenzer_state.pos += 1;
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}
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//ISR(TIMER4_OVF_vect) {
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//}
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