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110 lines
2.3 KiB
C
110 lines
2.3 KiB
C
#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <stdint.h>
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#include <stdio.h>
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#include "avrIOhelper/io-helper.h"
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#include "taenzer.h"
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#include "abzug.h"
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int32_t spule_trans_pos = 0;
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uint8_t spule_trans_homed = 0;
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void timer1_init()
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{
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TCCR1A |= (1<<COM1A1);
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TCCR1B |= _BV(WGM13);
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ICR1 = 100;
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OCR1A = 50;
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DDRB |= 1 << 5;
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TIMSK1 |= 1<<TOIE1;
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}
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void timer5_init()
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{
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TCCR5A |= (1<<COM5C1);
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TCCR5B |= _BV(WGM53);
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ICR5 = 1000;
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OCR5C = 500;
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DDRL |= 1 << 5;
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}
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void do_spule(){
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if(read_Input(IN_SPULE_HOME, LEVEL) && spule_trans_homed == 0){
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spule_trans_homed = 1;
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spule_trans_pos = 0;
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TCCR1B &= ~(_BV(CS11));
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set_Output(MOTOR_TRANS_DIR, 0); // direction: back
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ICR1 = ICR5/0.7;
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OCR1A = ICR1/2;
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}
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if(!spule_trans_homed){
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ICR1 = 100;
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OCR1A = 50;
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set_Output(MOTOR_TRANS_DIR, 1); // direction: front
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TCCR1B |= _BV(CS11); //TURN ON
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}
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else{
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/* speed regulation - keep taenzer at 10% */
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int32_t tmp = (100 - (int32_t)taenzer_state.pos/1000)*10;
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if(tmp < -75000/abzug_speed/2)
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tmp = -75000/abzug_speed/2;
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ICR5=75000/abzug_speed + tmp;
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OCR5C = ICR5/2;
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ICR1 = ICR5/0.7;
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OCR1A = ICR1/2;
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if (read_Input(BTN_WICKELN_EIN, RISING)) {
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TCCR5B |= _BV(CS51); //TURN ON
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TCCR1B |= _BV(CS11); //TURN ON
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}
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if (read_Input(BTN_WICKELN_AUS, RISING)) {
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TCCR5B &= ~(_BV(CS51));
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TCCR1B &= ~(_BV(CS11));
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}
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if (read_Input(BTN_INIT, RISING)) {
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spule_trans_homed = 0;
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taenzer_state.homed = 0;
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taenzer_state.active = 0;
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}
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}
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}
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ISR(TIMER1_OVF_vect) {
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if(ioHelperReadBit(outStates, MOTOR_TRANS_DIR)){
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spule_trans_pos -= 1;
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if(spule_trans_homed && spule_trans_pos <= 0){
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//TCCR1B &= ~(_BV(CS11));
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//TIMSK5 |= 1<<TOIE5;
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printf("front stop\n");
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set_Output(MOTOR_TRANS_DIR, 0); // direction: back
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}
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}
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else{
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spule_trans_pos += 1;
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if(spule_trans_pos >= 85000){
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//TCCR1B &= ~(_BV(CS11));
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//TIMSK5 |= 1<<TOIE5;
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printf("end stop\n");
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set_Output(MOTOR_TRANS_DIR, 1); // direction: front
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}
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}
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}
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ISR(TIMER5_OVF_vect) {
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}
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