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88 lines
1.7 KiB
C
88 lines
1.7 KiB
C
#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <stdio.h>
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#include "avrIOhelper/io-helper.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 = 500;
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OCR5C = 250;
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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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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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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_TAENZER_START, RISING)) {
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ICR5-=15;
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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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}
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if (read_Input(BTN_SPULENWECHSEL, RISING)) {
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ICR5+=15;
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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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}
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if (read_Input(BTN_INIT, RISING)) {
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spule_trans_homed = 0;
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ICR1 = 100;
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OCR1A = 50;
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}
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}
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}
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ISR(TIMER1_OVF_vect) {
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}
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ISR(TIMER5_OVF_vect) {
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}
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