pid files

2nd and 3rd channel can be coupled via percentage

adc.c

@@ -0,0 +1,93 @@
+#include <avr/io.h>
+#include <avr/interrupt.h>
+
+#include "adc.h"
+
+void adc_init()
+{
+    ADMUX = 1 << REFS0 | 0 << REFS1; //Select external Vref
+
+    //ADC Status Register A
+    ADCSRA = 1 << ADEN   //Enable ADC
+             | 1 << ADIE //Enable ISR after conversion complete
+             //|  1<<ADATE //Freerunning-Mode
+             //|  1<<ADLAR //2 results bits are left aligned
+             | 1 << ADPS2 //Set clock-prescaler to 128
+             | 1 << ADPS1 | 1 << ADPS0;
+    ADCSRA |= 1 << ADSC; //Start first Conversion for "warmup"
+}
+
+void set_ADC_Channel(uint8_t adr)
+{
+    if (adr < 11)
+    {
+        ADMUX &= (0b11110000); //Clear MUX-Address
+        ADMUX |= adr;          //Set new MUX-Address
+    }
+}
+
+ISR(ADC_vect)
+{
+    //static uint8_t init[4] = {0,0,0,0};
+    static uint8_t current_channel = 0;
+
+    static uint16_t read_buffer[128];
+    static uint8_t buffer_pos = 0;
+
+
+    //Reading 10bit conversion result
+    uint16_t ADC_reading = ADCL;        //copy the first LSB bits
+    ADC_reading |= ADCH << 8;           //copy remaing byte
+
+    read_buffer[buffer_pos] = ADC_reading;
+    buffer_pos++;
+
+    if(buffer_pos == (sizeof(read_buffer) / sizeof(read_buffer[0]))){
+        uint32_t sum = 0;
+        for(uint8_t i = 0; i < buffer_pos; i++){
+            sum += read_buffer[i];
+        }
+
+        //convert to temperature
+        sum /= 3;
+
+        switch(current_channel){
+            case 0:
+                temp_values[3] = sum/buffer_pos;
+                break;
+            case 1:
+                temp_values[0] = sum/buffer_pos;
+                break;
+            case 2:
+                temp_values[1] = sum/buffer_pos;
+                break;
+            case 3:
+                temp_values[2] = sum/buffer_pos;
+                break;
+        }
+
+        buffer_pos = 0;
+
+        current_channel++;
+        if(current_channel == 4)
+            current_channel = 0;
+        set_ADC_Channel(current_channel);
+    }
+
+    ADCSRA |= (1 << ADSC); //Start next conversion
+
+
+    //TODO write non broken adc code
+    //if(adc_buf[current_channel].position == BUFFER_SIZE-1){
+    //    //if(init[current_channel]){
+    //        //float tmp = (99*adc_avrg[current_channel]) + get_buffer_mean(&adc_buf[current_channel]);
+    //        //tmp /= 100;
+    //        adc_avrg[current_channel] = get_buffer_mean(&adc_buf[current_channel]);
+    //    //}
+    //    //else{
+    //    //    adc_avrg[current_channel] = get_buffer_mean(&adc_buf[current_channel]);
+    //    //    init[current_channel]=0;
+    //    //}
+    //}
+
+}

adc.h

@@ -0,0 +1,11 @@
+#ifndef _ADC_H_
+#define _ADC_H_
+
+#include <stdint.h>
+
+extern volatile uint16_t temp_values[4];
+
+void adc_init(void);
+
+#endif//_ADC_H_
+

buffer.c

@@ -1,42 +0,0 @@
-#include <util/atomic.h>
-
-#include "buffer.h"
-
-void insert_to_buffer(uint16_t val, volatile buffer_t* buf){
-    ATOMIC_BLOCK(ATOMIC_FORCEON){
-        buf->position++;
-        if(buf->position == BUFFER_SIZE)
-            buf->position = 0;
-        buf->values[buf->position] = val;
-    }
-}
-
-float get_buffer_mean(volatile buffer_t* buf){
-
-    ///* discard lowest and highest value */
-    //uint16_t low=0xFFFF;
-    //uint16_t high=0;
-    //uint16_t index_l = 0;
-    //uint16_t index_h = 0;
-    //for(uint16_t i=0; i<BUFFER_SIZE; i++){
-    //    if(buf->values[i] < low){
-    //        low=buf->values[i];
-    //        index_l = i;
-    //    }
-    //    if(buf->values[i] > high){
-    //        high=buf->values[i];
-    //        index_h = i;
-    //    }
-    //}
-        
-
-    uint32_t sum = 0;
-    for(uint16_t i=0; i<BUFFER_SIZE; i++){
-        //if(i == index_h || i == index_l)
-        //    continue;
-        sum += buf->values[i];
-    }
-
-    uint16_t res = sum/(BUFFER_SIZE/*-2*/);
-    return res;
-}

buffer.h

@@ -1,11 +0,0 @@
-#include <stdint.h>
-
-#define BUFFER_SIZE 200
-
-typedef struct {
-    uint16_t values[BUFFER_SIZE];
-    uint16_t position;
-} buffer_t;
-
-void insert_to_buffer(uint16_t val, volatile buffer_t* buf);
-float get_buffer_mean(volatile buffer_t* buf);

i2c.c

@@ -0,0 +1,61 @@
+/*
+ * i2c.c
+ *
+ * Created: 20.01.2018 12:50:54
+ *  Author: Ulrich
+ */ 
+
+#include "i2c.h"
+
+void i2c_init(void){
+	I2C_PORT |= (1 << SDA_PIN | 1 << SCL_PIN);			//Port Pullup
+	TWCR = 0;
+	TWSR = 0;
+	TWBR = ((F_CPU/SCL_CLOCK)-16)/2;
+	_delay_ms(50);
+}
+
+//***************************************************************************************
+uint8_t i2c_start (uint8_t addr){
+	uint16_t timeout = 0;
+
+    TWCR = (1 << TWINT | 1 << TWSTA | 1 << TWEN);
+    while(!(TWCR & (1<<TWINT))){
+	    if((timeout++) > 1000) return 1;
+	}
+    TWDR = addr;
+    TWCR = (1 << TWINT | 1 << TWEN);
+	timeout = 0;
+    while(!(TWCR & (1<<TWINT))){
+	    if((timeout++) > 1000) return 1;
+    }
+	return 0;
+}
+
+//***************************************************************************************
+uint8_t i2c_byte (uint8_t byte){  
+	uint16_t timeout = 0;
+    TWDR = byte;
+    TWCR = (1 << TWINT | 1 << TWEN);
+    while(!(TWCR & (1<<TWINT))){
+		if((timeout++) > 1000) return 1;
+	}
+	return 0;
+}
+
+//***************************************************************************************
+uint8_t i2c_readNak(void)
+{
+	uint16_t timeout = 0;
+	TWCR = (1<<TWINT) | (1<<TWEN);
+	while(!(TWCR & (1<<TWINT))){
+		if((timeout++) > 1000) return 0;
+	}
+    return TWDR;
+}
+
+//***************************************************************************************
+void i2c_stop (void){
+    TWCR = (1 << TWINT | 1 << TWSTO | 1 << TWEN);
+	TWCR = 0;
+}

i2c.h

@@ -0,0 +1,26 @@
+/*
+ * i2c.h
+ *
+ * Created: 20.01.2018 12:51:11
+ *  Author: Ulrich
+ */ 
+
+#ifndef I2C_H_
+	#define I2C_H_
+
+	#include <avr/io.h>
+	#include <util/delay.h>
+	
+	//I2C
+	#define SDA_PIN			PC4 //PIN am Atmel
+	#define SCL_PIN			PC5 //PIN am Atmel
+	#define I2C_PORT		PORTC //PORT am Atmel
+	#define SCL_CLOCK		40000UL
+
+	void i2c_init(void);
+	uint8_t i2c_start (uint8_t);
+	uint8_t i2c_byte (uint8_t);  
+	uint8_t i2c_readNak(void);
+	void i2c_stop (void);
+
+#endif /* I2C_H_ */

lcd.c

@@ -0,0 +1,211 @@
+/*
+ * lcd.c
+ *
+ * Created: 20.01.2018 12:51:11
+ *  Author: Ulrich
+ */ 
+
+#include "lcd.h"
+
+volatile unsigned char char_counter = 0;
+
+volatile uint8_t lcd_ctrl_reg = 0;
+
+// output data to lcd
+void lcd_out (unsigned char c) {
+	i2c_start(LCD_I2C_ADDR);
+	i2c_byte(c | LCD_BACKLIGHT);
+	i2c_stop();
+}
+
+//***************************************************************************************
+// CD = Command or Data
+void lcd_nibble_out(unsigned char c, unsigned char cd) {
+	unsigned char out = 0;
+	unsigned char rs = 0;
+	
+	if(cd) rs=LCD_RS;
+
+	//4 upper bits
+	if(c & (1<<4)) out |= LCD_D4;
+	if(c & (1<<5)) out |= LCD_D5;
+	if(c & (1<<6)) out |= LCD_D6;
+	if(c & (1<<7)) out |= LCD_D7;
+	lcd_out(out | rs | LCD_E);
+	_delay_ms(5);
+	lcd_out(out | rs);
+
+	//4 lower bits
+	out=0;
+	if(c & (1<<0)) out |= LCD_D4;
+	if(c & (1<<1)) out |= LCD_D5;
+	if(c & (1<<2)) out |= LCD_D6;
+	if(c & (1<<3)) out |= LCD_D7;
+	lcd_out(out | rs | LCD_E);
+	_delay_ms(5);
+	lcd_out(out | rs );
+}
+
+void lcd_set_position(uint8_t row, uint8_t col){
+    if(col >= LCD_WIDTH)
+        return;
+
+    if(row==0)
+        lcd_nibble_out(0x80|col, 0);
+    if(row==1)
+        lcd_nibble_out(0xC0|col, 0);
+    if(row==2)
+        lcd_nibble_out(0x80|(col+LCD_WIDTH), 0);
+    if(row==3)
+        lcd_nibble_out(0xC0|(col+LCD_WIDTH), 0);
+
+    char_counter = (row * LCD_WIDTH) + col;
+}
+
+void lcd_cursor(uint8_t en){
+    if(en)
+        lcd_nibble_out(0x08 | 0x04 | 0x02, 0);
+    else
+        lcd_nibble_out(0x08 | 0x04, 0);
+}
+
+//***************************************************************************************
+// clear LCD
+void lcd_clear() {
+	lcd_nibble_out(0x01, 0); // clear display
+	lcd_nibble_out(0x80, 0);
+	char_counter = 0;
+}
+
+
+//***************************************************************************************
+// LCD home
+void lcd_home() {
+	lcd_nibble_out(0x80, 0);
+	char_counter = 0;
+}
+
+//***************************************************************************************
+// Init LCD
+void lcd_init() {
+	unsigned char loop=3;
+
+	while(loop--){
+		lcd_out(LCD_D4 | LCD_D5 | LCD_E);
+		_delay_ms(10);
+		lcd_out(LCD_D4 | LCD_D5);
+		_delay_ms(100);
+	}
+
+	// 4 bit mode
+	lcd_out(LCD_D5 | LCD_E);
+	_delay_ms(10);
+	lcd_out(LCD_D5);
+	_delay_ms(10);
+
+	lcd_nibble_out(0x28, 0);
+	lcd_nibble_out(0x0C, 0);
+
+	lcd_clear();
+    lcd_cursor(0);
+}
+
+//***************************************************************************************
+void lcd_write_char (char c) {
+	if(char_counter == LCD_WIDTH) lcd_set_position(1,0);
+	if(char_counter == 2*LCD_WIDTH) lcd_set_position(2,0);
+	if(char_counter == 3*LCD_WIDTH) lcd_set_position(3,0);
+	if(char_counter == 4*LCD_WIDTH) lcd_set_position(0,0);
+	char_counter++;
+	lcd_nibble_out(c, 1);
+}
+
+//***************************************************************************************
+void lcd_print_str(char *str) {
+	while (*str != 0){
+        if(char_counter == LCD_WIDTH) lcd_set_position(1,0);
+        if(char_counter == 2*LCD_WIDTH) lcd_set_position(2,0);
+        if(char_counter == 3*LCD_WIDTH) lcd_set_position(3,0);
+        if(char_counter == 4*LCD_WIDTH) lcd_set_position(0,0);
+        char_counter++;
+		lcd_nibble_out(*str++, 1);
+	}
+}
+
+//***************************************************************************************
+void lcd_write_P (const char *Buffer,...)
+{
+	va_list ap;
+	va_start (ap, Buffer);	
+	
+	int format_flag;
+	char str_buffer[10];
+	char str_null_buffer[10];
+	char move = 0;
+	char Base = 0;
+	int tmp = 0;
+	char by;
+	char *ptr;
+		
+	//Ausgabe der Zeichen
+    for(;;){
+		by = pgm_read_byte(Buffer++);
+		if(by==0) break; // end of format string
+            
+		if (by == '%'){
+            by = pgm_read_byte(Buffer++);
+			if (isdigit(by)>0){                   
+ 				str_null_buffer[0] = by;
+				str_null_buffer[1] = '\0';
+				move = atoi(str_null_buffer);
+                by = pgm_read_byte(Buffer++);
+				}
+
+			switch (by){
+                case 's':
+                    ptr = va_arg(ap,char *);
+                    while(*ptr) { lcd_write_char(*ptr++); }
+                    break;
+				case 'b':
+					Base = 2;
+					goto ConversionLoop;
+				case 'c':
+					//Int to char
+					format_flag = va_arg(ap,int);
+					lcd_write_char (format_flag++);
+					break;
+				case 'i':
+					Base = 10;
+					goto ConversionLoop;
+				case 'o':
+					Base = 8;
+					goto ConversionLoop;
+				case 'x':
+					Base = 16;
+					//****************************
+					ConversionLoop:
+					//****************************
+					itoa(va_arg(ap,int),str_buffer,Base);
+					int b=0;
+					while (str_buffer[b++] != 0){};
+					b--;
+					if (b<move){
+						move -=b;
+						for (tmp = 0;tmp<move;tmp++){
+							str_null_buffer[tmp] = '0';
+							}
+						//tmp ++;
+						str_null_buffer[tmp] = '\0';
+						strcat(str_null_buffer,str_buffer);
+						strcpy(str_buffer,str_null_buffer);
+						}
+					lcd_print_str (str_buffer);
+					move =0;
+					break;
+				}
+		}else{
+			lcd_write_char (by);	
+		}
+	}
+	va_end(ap);
+}

lcd.h

@@ -0,0 +1,49 @@
+/*
+ * lcd.h
+ *
+ * Created: 20.01.2018 12:51:11
+ *  Author: Ulrich
+ */ 
+
+#ifndef __LCD_H__
+#define __LCD_H__
+
+#include <inttypes.h>
+#include <avr/io.h>
+#include <avr/pgmspace.h>
+#include <stdlib.h>
+#include <stdarg.h>
+#include <ctype.h>
+#include <string.h>
+#include <util/delay.h>
+#include "i2c.h"
+
+#define LCD_I2C_ADDR	0x4E
+
+//Port Belegung am PCF8574 (1<<PORT)
+#define LCD_RS			(1<<0)
+#define LCD_RW			(1<<1)
+#define LCD_E			(1<<2)
+#define LCD_BACKLIGHT	(1<<3)
+
+#define LCD_D4			(1<<4)
+#define LCD_D5			(1<<5)
+#define LCD_D6			(1<<6)
+#define LCD_D7			(1<<7)
+
+#define LCD_WIDTH 20
+#define LCD_ADDR_LINE1	(0x80)
+#define LCD_ADDR_LINE2	(0xC0)
+
+void lcd_init(void);
+void lcd_clear(void);
+void lcd_home(void);
+void lcd_print_str (char *str);
+void lcd_write_P (const char *Buffer,...);
+
+void lcd_set_position(uint8_t row, uint8_t col);
+void lcd_cursor(uint8_t en);
+
+#define lcd_write(format, args...)   lcd_write_P(PSTR(format) , ## args)
+
+#endif

main.c

@@ -1,171 +1,216 @@
+/*
+ * LCD_HD44780.c
+ *
+ * Created: 20.01.2018 12:51:11
+ *  Author: Ulrich
+ */ 
+
 #include <avr/io.h>
-#include <util/delay.h>
-#include <modbus.h>
 #include <avr/interrupt.h>
+#include <util/delay.h>
 
-#include "buffer.h"
+#include "lcd.h"
+#include "i2c.h"
+#include "modbus.h"
+#include "menu.h"
+#include "adc.h"
 #include "pid.h"
 
-void modbusGet(void);
+#define COIL1 1<<1
+#define COIL2 1<<0
+#define COIL3 1<<2
+#define COIL4 1<<3
 
-volatile buffer_t adc_buf[4];
-volatile float adc_avrg[4];
+volatile uint16_t holdingRegisters[10];
 
-volatile float output;
+volatile uint16_t temp_values[4];
+volatile uint16_t temp_setpoints[4];
+
+volatile uint16_t output;
 volatile struct pid controller;
 
-volatile float setpoint_1 = 130; 
-volatile float setpoint_2 = 150;
-volatile float setpoint_3 = 150;
+volatile uint32_t duty[3];
 
-void initADC(void)
+void modbusGet(void) {
+	if (modbusGetBusState() & (1<<ReceiveCompleted))
 	{
-    ADMUX = 1 << REFS0 | 0 << REFS1; //Select external Vref
+        switch(rxbuffer[1]) {
+            case fcReadHoldingRegisters:
+                holdingRegisters[0] = duty[0];
+                holdingRegisters[1] = duty[1];
+                holdingRegisters[2] = duty[2];
 
-    //ADC Status Register A
-    ADCSRA = 1 << ADEN   //Enable ADC
-             | 1 << ADIE //Enable ISR after conversion complete
-             //|  1<<ADATE //Freerunning-Mode
-             //|  1<<ADLAR //2 results bits are left aligned
-             | 1 << ADPS2 //Set clock-prescaler to 128
-             | 1 << ADPS1 | 1 << ADPS0;
-    ADCSRA |= 1 << ADSC; //Start first Conversion for "warmup"
+                holdingRegisters[3] = temp_values[0];
+                holdingRegisters[4] = temp_values[1];
+                holdingRegisters[5] = temp_values[2];
+
+                modbusExchangeRegisters(holdingRegisters,0,10);
+                break;
+            case fcPresetSingleRegister:
+            case fcPresetMultipleRegisters:
+                modbusExchangeRegisters(holdingRegisters,0,4);
+                menu_state = holdingRegisters[0];
+                break;
+            default:
+                modbusSendException(ecIllegalFunction);
+                break;
+		}
+	}
 }
 
-int main(){
-    DDRD |= (1 << 4); // LED
-    DDRD |= (1 << 3); // FU PWM
-    DDRD |= (1 << 2); // 485 DE
+void read_buttons(){
+    i2c_start(0x71);
+    uint8_t buttons = i2c_readNak();
+    i2c_stop();
+    //TODO error handling
 
-    PORTD |= 1 << 4;
+    if(buttons & (1 << 0))
+        set_item(1);
+    else if(buttons & (1 << 1))
+        set_item(2);
+    else if(buttons & (1 << 2))
+        set_item(3);
+    else if(buttons & (1 << 3))
+        set_item(4);
+    else if(buttons & (1 << 4))
+        set_item(5);
+    else if((buttons & (1 << 5)) == 0) // inverted logic on this one
+        set_item(0);
 
-    DDRB |= 0x0F; // out channels
+}
+
+int main(void)
+{
+    DDRB |= 0x0F;       // output coils
+    DDRD |= (1 << 4);   // board LED
 
-	PORTD|=(1<<0); // RX
+	i2c_init();
+	lcd_init();
+    adc_init();
+    enc_init();
 
-    // FU PWM on PD3
-    TCCR2A |= (1 << COM2B1) | (1 << COM2B0);
-    TCCR2A |= (1 << WGM21) | (1 << WGM20);
-    TCCR2B |= (1 << CS21);
+    init_pid(&controller, 1, 0.05, 0);
 
     modbusSetAddress(1);
     modbusInit();
 
-    // Modbus Tick Timer
-    TCCR0B|=(1<<CS01); //prescaler 8
+    //modbus timer
+    TCCR0B|=(1<<CS01);
 	TIMSK0|=(1<<TOIE0);
 
-    initADC();
-    sei();
+    // timer for regulator
+    TCCR1B|=(1<<CS12) | (1<<CS10);
+	TIMSK1|=(1<<TOIE1)|(1<<OCIE1A);
 
-    _delay_ms(1000);
-    init_pid(&controller, 5, 0.2, 0);
+    sei();
 
+	lcd_clear();
+    draw_menu();
 
-    // timer for regler
-    TCCR1B|=(1<<CS12) | (1<<CS10);
-	TIMSK1|=(1<<TOIE1)|(1<<OCIE1A);
 
+    uint16_t x = 0;
 	while(1){
         modbusGet();
-    }
-}
+        read_buttons();
 
-void set_ADC_Channel(uint8_t adr)
-{
-    if (adr < 11)
-    {
-        ADMUX &= (0b11110000); //Clear MUX-Address
-        ADMUX |= adr;          //Set new MUX-Address
+        //blink cursor
+        if(x==0){
+        //}
+        ////write values
+        //if(x % 2048 == 0){
+            lcd_cursor(0);
+            write_temps();
+            write_setpoints();
+            write_motor();
+            update_cursor();
+        }
+        x++;
+        if(x >= 1024)
+            x=0;
 	}
 }
 
-void modbusGet(void) {
-	if (modbusGetBusState() & (1<<ReceiveCompleted))
-	{
-		switch(rxbuffer[1]) {
-            case fcReadHoldingRegisters:
-            case fcPresetSingleRegister:
-			case fcPresetMultipleRegisters: 
-				modbusExchangeRegisters((uint16_t *)&OCR2B,0,1);
-                break;
+ISR(PCINT2_vect){
+    encoder_isr();
+}
 
-            case fcReadCoilStatus:
-            case fcForceSingleCoil:
-            case fcForceMultipleCoils:
-				modbusExchangeBits(&PORTB,0,4);
-                break;
+ISR(TIMER0_OVF_vect) { //this ISR is called 9765.625 times per second
+	modbusTickTimer();
+}
 
-            case fcReadInputRegisters:
-                if(modbusRequestedAddress()<10)
-                    modbusExchangeRegisters((uint16_t *)&adc_avrg,0,8);
-                else
-                    modbusExchangeRegisters((uint16_t *)&output,10,4);
-                break;
+ISR(TIMER1_COMPA_vect) {
+    /* turn off outputs */
 
-            default:
-				modbusSendException(ecIllegalFunction);
-                break;
-		}
+    if(OCR1A >= duty[0]){
+        PORTB &= ~(COIL1);
+        PORTD &= ~(1 << 4);
     }
+    if(OCR1A >= duty[1])
+        PORTB &= ~(COIL2);
+    if(OCR1A >= duty[2])
+        PORTB &= ~(COIL3);
+
+    uint16_t new_ocr = 0xFFFE;
+    for(uint8_t i = 0; i < 3; i++){
+        if((duty[i] > OCR1A) && (duty[i] < new_ocr))
+            new_ocr = duty[i];
     }
+    OCR1A = new_ocr;
 
-ISR(TIMER0_OVF_vect) { //this ISR is called 9765.625 times per second
-	modbusTickTimer();
+    //uint16_t tmp1 = duty[0];
+    //uint16_t tmp2;
+    //for(uint8_t i = 0; i < 3; i++){
+    //    if(duty[i] < tmp1 && duty[i] > OCR1A)
+    //        tmp2 = duty[i];
+    //}
+    //OCR1A = tmp2;
 }
 
 ISR(TIMER1_OVF_vect) {
-    output = pid_step(&controller, 1, setpoint_1 - adc_avrg[1]);
+    int16_t tmp_pid = pid_step(&controller, 1, temp_setpoints[0] - temp_values[0]);
     
-    PORTD &= ~(1 << 4);
+    if(tmp_pid>=0)
+        output = tmp_pid;
+    else
+        output = 0;
 
-    if(output > 128)
-        output = 128;
 
-    if(output >= 1){
+    if(output >= 128){
+        output = 128;
+        duty[0]=0xFFFE;
+    }
+    else if(output >= 1){
         uint32_t tmp = output * 512;
-        if(tmp >= 0x10000)
-            tmp = 0xFFFE;
-
-        OCR1A = tmp;
-        PORTB |= 0x0E;
+        duty[0] = tmp;
     }
     else
-        OCR1A = 1000;
-}
-
-ISR(TIMER1_COMPA_vect) {
-    /* turn off outputs */
-    PORTB &= ~(0x0E);
-}
+        duty[0]=0;
 
-ISR(ADC_vect)
-{
-    static uint8_t init[4] = {0,0,0,0};
-    static uint8_t current_channel = 0;
 
-    //Reading 10bit conversion result
-    uint16_t ADC_reading = ADCL;        //copy the first LSB bits
-    ADC_reading |= ADCH << 8;           //copy remaing byte
-    ADC_reading *= 0.33;
-    insert_to_buffer(ADC_reading, &adc_buf[current_channel]);
+    duty[1] = duty[0] / 100 * temp_setpoints[1];
+    duty[2] = duty[0] / 100 * temp_setpoints[2];
 
-    if(adc_buf[current_channel].position == BUFFER_SIZE-1){
-        if(init[current_channel]){
-            float tmp = (99*adc_avrg[current_channel]) + get_buffer_mean(&adc_buf[current_channel]);
-            tmp /= 100;
-            adc_avrg[current_channel] = tmp;
+    for(uint8_t i = 0; i < 3; i++){
+        if(duty[i] >= 0xFFFE)
+            duty[i] = 0xFFFE;
     }
-        else{
-            adc_avrg[current_channel] = get_buffer_mean(&adc_buf[current_channel]);
-            init[current_channel]=0;
+
+    OCR1A = 0xFFFE;
+    for(uint8_t i = 0; i < 3; i++){
+        if(duty[i] < OCR1A && duty[i] >= (uint16_t)1000)
+            OCR1A = duty[i];
     }
+
+    if(duty[0] >= 1000){
+        PORTB |= COIL1;
+        PORTD |= 1<<4;
     }
+    if(duty[1] >= 1000)
+        PORTB |= COIL2;
+
+    if(duty[2] >= 1000)
+        PORTB |= COIL3;
 
-    current_channel++;
-    if(current_channel == 4)
-        current_channel = 0;
-    set_ADC_Channel(current_channel);
 
-    ADCSRA |= (1 << ADSC); //Start next conversion
 }
+

makefile

@@ -1,5 +1,5 @@
 TARGET  = main
-FILES   = main modbus buffer pid
+FILES   = main i2c lcd modbus menu adc pid
 MCU     = atmega328p
 PROGC	= m328p
 CC      = avr-gcc
@@ -9,7 +9,7 @@ BUILDDIR = build
 
 DEFINES = -DF_CPU=18432000UL
 
-CFLAGS  =-mmcu=$(MCU) -O2 -Wall $(DEFINES) -I. -std=c99 -ffunction-sections -fdata-sections
+CFLAGS  =-mmcu=$(MCU) -g -O2 -Wall $(DEFINES) -I. -std=c99 -ffunction-sections -fdata-sections
 LDFLAGS =-mmcu=$(MCU) -Wl,--gc-sections
 
 LDFILES = $(foreach FILE,$(FILES),$(BUILDDIR)/$(FILE).o)
@@ -27,17 +27,15 @@ $(BUILDDIR)/$(TARGET).elf: $(LDFILES)
 $(BUILDDIR)/$(TARGET).hex : $(BUILDDIR)/$(TARGET).elf
 	avr-objcopy -j .data -j .text -O ihex $< $@
 
-fuse: 
-	avrdude -p $(PROGC) -c $(TOOL) -U lfuse:w:0xE8:m -U hfuse:w:0xD1:m
+.PHONY=load program size clean
 
 load: $(BUILDDIR)/$(TARGET).hex
-	avrdude -p $(PROGC) -c $(TOOL) -U flash:w:$(BUILDDIR)/$(TARGET).hex -v -B 2
+	avrdude -p $(PROGC) -c $(TOOL) -U flash:w:$(BUILDDIR)/$(TARGET).hex -v -B 4MHz
 
 program: clean load
 
 size: $(BUILDDIR)/$(TARGET).elf
 	avr-size -C --mcu=$(MCU) $(BUILDDIR)/$(TARGET).elf
 
-.PHONY=clean
 clean:
 	rm -rf $(BUILDDIR)

menu.c

@@ -0,0 +1,145 @@
+#include "lcd.h"
+#include "menu.h"
+#include <stdio.h>
+
+// 0 = nothing selected
+// 1 = change zone 1
+// 2 = change zone 2
+// 3 = change zone 3
+volatile uint8_t menu_state = 0;
+
+void write_heater_real_temp(uint8_t n, uint16_t temp){
+
+}
+
+void write_heater_set_temp(uint8_t n, uint16_t temp){
+
+}
+
+void update_cursor(){
+    switch(menu_state){
+        case 1:
+            lcd_set_position(0,5);
+            lcd_cursor(1); 
+            break;
+        case 2:
+            lcd_set_position(0,9);
+            lcd_cursor(1); 
+            break;
+        case 3:
+            lcd_set_position(0,14);
+            lcd_cursor(1); 
+            break;
+        case 4:
+            lcd_set_position(2,9);
+            lcd_cursor(1); 
+            break;
+        case 5:
+            lcd_set_position(3,9);
+            lcd_cursor(1); 
+            break;
+        default:
+            lcd_cursor(0); 
+            break;
+    }
+}
+
+void draw_menu(){
+	lcd_clear();
+    lcd_set_position(0, 0);
+    lcd_write("s:");
+    lcd_set_position(1, 0);
+    lcd_write("r:");
+    lcd_set_position(2, 0);
+    lcd_write("motor:");
+    lcd_set_position(3, 0);
+    lcd_write("fan  :");
+}
+
+void write_motor(){
+    char str[5];
+    str[4] = 0; //null terminated
+
+    lcd_set_position(2, 7);
+    sprintf(str, "%3i", OCR2B);
+    lcd_print_str(str);
+}
+
+void write_temps(){
+    char str[5];
+    str[4] = 0; //null terminated
+
+    lcd_set_position(1, 3);
+    sprintf(str, "%3i", temp_values[0]);
+    str[3] = 0xDF;
+    lcd_print_str(str);
+
+    lcd_set_position(1, 7);
+    sprintf(str, "%3i", temp_values[1]);
+    str[3] = 0xDF;
+    lcd_print_str(str);
+
+    lcd_set_position(1, 12);
+    sprintf(str, "%3d", temp_values[2]);
+    str[3] = 0xDF;
+    lcd_print_str(str);
+}
+
+void write_setpoints(){
+    char str[5];
+    str[4] = 0; //null terminated
+
+    lcd_set_position(0, 3);
+    sprintf(str, "%3i", temp_setpoints[0]);
+    str[3] = 0xDF;
+    lcd_print_str(str);
+
+    lcd_set_position(0, 7);
+    sprintf(str, "%3i%%", temp_setpoints[1]);
+    lcd_print_str(str);
+
+    lcd_set_position(0, 12);
+    sprintf(str, "%3i%%", temp_setpoints[2]);
+    lcd_print_str(str);
+}
+
+void set_item(uint8_t page_num){
+    //if(menu_state=page_num)
+    //    menu_state=0;
+    //else
+    menu_state = page_num;
+}
+
+void enc_init(){
+    PORTD |= (1<<6) | (1 << 7);
+    PCICR |= (1<<PCIE2);
+    PCMSK2 |= (1<<PCINT23);
+}
+
+
+
+void encoder_isr(){
+    //TODO good quadrature reading code
+    if((PIND & (1<<7))){
+        if((menu_state >= 1) && (menu_state <= 3)){
+            if(PIND & (1<<6))
+                temp_setpoints[menu_state-1]--;
+            else
+                temp_setpoints[menu_state-1]++;
+        }
+        if(menu_state == 4){
+            if(PIND & (1<<6) && (OCR2B > 0))
+                OCR2B--;
+            else if(!(PIND & (1<<6)) && (OCR2B < 255))
+                OCR2B++;
+        }
+    }
+
+    //if(PIND & (1<<7))
+    //    if(PIND & (1<<6)){
+    //        if(temp_setpoints[menu_state] > 0)
+    //    }
+    //    else{
+    //        if(temp_setpoints[menu_state] < 300)
+    //    }
+}

menu.h

@@ -0,0 +1,18 @@
+#ifndef _MENU_H_
+#include <stdint.h>
+
+extern volatile uint8_t menu_state;
+
+extern volatile uint16_t temp_values[4];
+extern volatile uint16_t temp_setpoints[4];
+
+void write_temps(void);
+void write_setpoints(void);
+void write_motor(void);
+void update_cursor(void);
+void set_item(uint8_t page_num);
+void draw_menu(void);
+void enc_init(void);
+void encoder_isr(void);
+
+#endif

pid.c

@@ -1,9 +1,11 @@
 #include <util/atomic.h>
 #include "pid.h"
 
-float pid_step(volatile struct pid* controller, float dt, float error) {
+extern volatile uint16_t holdingRegisters[10];
+int16_t pid_step(volatile struct pid* controller, float dt, int16_t error) {
     // Calculate p term
-    float p = error * controller->kP;
+
+    uint16_t p = error * controller->kP;
 
     // Calculate i term
     ATOMIC_BLOCK(ATOMIC_FORCEON){
@@ -13,6 +15,8 @@ float pid_step(volatile struct pid* controller, float dt, float error) {
         if(controller->integral < -80)
             controller->integral = -80;
     }
+    //holdingRegisters[3]=((float)(error) * controller->kI);
+    //holdingRegisters[4] = error;
 
     // Calculate d term, taking care to not divide by zero
     float d = dt == 0 ? 0 : ((error - controller->lastError) / dt) * controller->kD;

pid.h

@@ -1,3 +1,8 @@
+#ifndef _PID_H_
+#define _PID_H_
+
+#include <stdint.h>
+
 struct pid{
     // Controller gains
     float kP;
@@ -9,6 +14,8 @@ struct pid{
     float integral;
 };
 
-float pid_step(volatile struct pid* controller, float dt, float error);
+//float pid_step(volatile struct pid* controller, float dt, float error);
+int16_t pid_step(volatile struct pid* controller, float dt, int16_t error);
 void init_pid(volatile struct pid* controller, float p, float i, float d);
 
+#endif

scripts/dw.sh

@@ -0,0 +1,7 @@
+make program
+avrdude -c atmelice_isp -p m328p -U hfuse:w:0x99:m 
+echo "Power cycle now!"
+read
+avarice -5 -w -P atmega328p :4242 &
+read
+avrdude -c atmelice_isp -p m328p  -U hfuse:w:0xD9:m

scripts/exitdw.sh

@@ -0,0 +1,3 @@
+avarice -5 -w -P atmega328p :4242 &
+sleep 2
+avrdude -c atmelice_isp -p m328p  -U hfuse:w:0xD9:m