60 lines
1.3 KiB
C
60 lines
1.3 KiB
C
#include <avr/io.h>
|
|
#include <avr/interrupt.h>
|
|
#include "taenzer.h"
|
|
#include "avrIOhelper/io-helper.h"
|
|
#include "kraftsensor.h"
|
|
|
|
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;
|
|
taenzer_state.pos = 0;
|
|
}
|
|
|
|
/* Force regualtion */
|
|
if(kraftsensor_valid && taenzer_state.homed){
|
|
if(kraftsensor_value < 9000){
|
|
set_Output(MOTOR_TAENZER_DIR, 0); // direction: down
|
|
TCCR4B |= _BV(CS41); //TURN ON
|
|
}
|
|
else if(kraftsensor_value > 10000){
|
|
set_Output(MOTOR_TAENZER_DIR, 1); // direction: up
|
|
TCCR4B |= _BV(CS41); //TURN ON
|
|
}
|
|
else
|
|
TCCR4B &= ~_BV(CS41); //TURN OFF
|
|
}
|
|
}
|
|
|
|
void timer4_init()
|
|
{
|
|
TCCR4A |= (1<<COM4A1);
|
|
TCCR4B |= _BV(WGM43);
|
|
|
|
TIMSK4 |= 1<<TOIE4;
|
|
// TIMSK4 |= 1<<OCIE4A;
|
|
|
|
ICR4 = 100;
|
|
OCR4A = 50;
|
|
|
|
DDRH |= 1 << 3;
|
|
}
|
|
|
|
ISR(TIMER4_OVF_vect) {
|
|
if(ioHelperReadBit(outStates, MOTOR_TAENZER_DIR))
|
|
taenzer_state.pos -= 1;
|
|
else
|
|
taenzer_state.pos += 1;
|
|
}
|
|
|
|
//ISR(TIMER4_OVF_vect) {
|
|
//}
|