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122 lines
3.2 KiB
C
122 lines
3.2 KiB
C
#include <avr/io.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <util/delay.h>
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#include <stdio.h>
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#include <avr/interrupt.h>
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#include "kraftsensor.h"
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#include "modbus.h"
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#include "common.h"
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int32_t kraftsensor_value;
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uint8_t kraftsensor_valid;
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void timer2_init()
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{
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TCCR2A = (1<<WGM21); //TIMER0 SET-UP: CTC MODE
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TCCR2B|=(1<<CS21); //prescaler 8
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OCR2A = 200;
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TIMSK2|=(1<<OCIE2A);
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}
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void kraftsensor_init(){
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modbusSetAddress(1); //better set this to sth.
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modbusInit();
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timer2_init(); // modbus tick timer
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}
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void do_kraftsensor(){
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static int32_t last_read;
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static int32_t old_value;
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uint16_t m_data[4];
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int32_t kraftsensor_read;
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/* read 2 16bit values and merge to 32bit signed integer */
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readReg(1,0,2);
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if(wait_receive(2, m_data, 100)){
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kraftsensor_valid = 0;
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printf("modbus error\n\r");
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}
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else{
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kraftsensor_valid = 1;
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int32_t tmp = (uint32_t)m_data[1]<<16;
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tmp |= m_data[0];
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//kraftsensor_value = tmp;
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/* conversion magic to milliNewton */
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kraftsensor_read = ((tmp + 197700 /*539363*/)*9.81)/177.380;
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if(abs(kraftsensor_read - old_value) > 10000){
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if(abs(last_read - kraftsensor_read) > 10000){
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kraftsensor_value = old_value;
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printf("delta: %d\tvalue:%ld\n", kraftsensor_read - old_value, kraftsensor_read);
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printf("spike\n");
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}
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else{
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kraftsensor_value = kraftsensor_read;
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printf("jump\n");
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}
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}
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else{
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kraftsensor_value = kraftsensor_read;
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}
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last_read = kraftsensor_read;
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old_value = kraftsensor_value;
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}
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}
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uint8_t wait_receive(uint8_t len, uint16_t dest[], uint8_t timeout){
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uint8_t breaker = timeout;
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while(!receiveOkay && breaker) { //wait for client response, time out after 1s
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breaker--;
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_delay_ms(1);
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if(breaker==0)
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return -1;
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}
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if(receiveOkay) { //if this fails, there was either no response or a crc error
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if(rxbuffer[1]&0x80) { //client responded with an error code
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//handle the error
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return -1;
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}
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else {
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for(uint8_t x=0;x<len;x++) { //rxbuffer[2] should be 8 (4 registers => 8 bytes). You might want to check this at this point.
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dest[x]=(rxbuffer[3+x*2]<<8)+rxbuffer[4+x*2]; //do sth with the acquired data.
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}
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}
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}
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return 0;
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}
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void readReg(uint8_t slaveid, uint16_t address, uint8_t amount) {
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_delay_ms(2);
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rxbuffer[0]=slaveid;
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modbusSetAddress(slaveid);
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rxbuffer[1]=0x03;
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rxbuffer[2]=(address>>8)&0xFF;
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rxbuffer[3]=address&0xFF;
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rxbuffer[4]=0x00;
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rxbuffer[5]=amount;
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modbusSendMessage(5);
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}
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void writeReg(uint8_t slaveid, uint16_t address, uint16_t value) {
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_delay_ms(2);
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rxbuffer[0]=slaveid;
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modbusSetAddress(slaveid);
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rxbuffer[1]=0x06;
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rxbuffer[2]=(address>>8)&0xFF;
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rxbuffer[3]=address&0xFF;
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rxbuffer[4]=(value>>8)&0xFF;;
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rxbuffer[5]=value&0xFF;
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modbusSendMessage(5);
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}
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ISR(TIMER2_COMPA_vect) { //this ISR is called 9765.625 times per second
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modbusTickTimer();
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}
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