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129 lines
2.5 KiB
C
129 lines
2.5 KiB
C
#include <avr/io.h>
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#include <util/delay.h>
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#include <modbus.h>
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#include <avr/interrupt.h>
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#include "buffer.h"
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#include "pid.h"
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#include "adc.h"
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#include "i2cmaster.h"
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void modbusGet(void);
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volatile float output;
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volatile struct pid controller;
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volatile float setpoint_1 = 130;
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volatile float setpoint_2 = 150;
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volatile float setpoint_3 = 150;
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int main(){
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DDRD |= (1 << 4); // LED
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DDRD |= (1 << 3); // FU PWM
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DDRD |= (1 << 2); // 485 DE
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PORTD |= 1 << 4;
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DDRB |= 0x0F; // out channels
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PORTD|=(1<<0); // RX
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// FU PWM on PD3
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TCCR2A |= (1 << COM2B1) | (1 << COM2B0);
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TCCR2A |= (1 << WGM21) | (1 << WGM20);
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TCCR2B |= (1 << CS21);
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modbusSetAddress(1);
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modbusInit();
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// Modbus Tick Timer
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TCCR0B|=(1<<CS01); //prescaler 8
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TIMSK0|=(1<<TOIE0);
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initADC();
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i2c_init();
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sei();
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_delay_ms(1000);
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init_pid(&controller, 5, 0.2, 0);
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// timer for regler
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TCCR1B|=(1<<CS12) | (1<<CS10);
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TIMSK1|=(1<<TOIE1)|(1<<OCIE1A);
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while(1){
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modbusGet();
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}
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}
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void set_ADC_Channel(uint8_t adr)
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{
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if (adr < 11)
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{
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ADMUX &= (0b11110000); //Clear MUX-Address
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ADMUX |= adr; //Set new MUX-Address
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}
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}
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void modbusGet(void) {
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if (modbusGetBusState() & (1<<ReceiveCompleted))
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{
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switch(rxbuffer[1]) {
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case fcReadHoldingRegisters:
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case fcPresetSingleRegister:
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case fcPresetMultipleRegisters:
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modbusExchangeRegisters((uint16_t *)&OCR2B,0,1);
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break;
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case fcReadCoilStatus:
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case fcForceSingleCoil:
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case fcForceMultipleCoils:
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modbusExchangeBits(&PORTB,0,4);
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break;
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case fcReadInputRegisters:
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if(modbusRequestedAddress()<10)
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modbusExchangeRegisters((uint16_t *)&adc_avrg,0,8);
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else
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modbusExchangeRegisters((uint16_t *)&output,10,4);
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break;
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default:
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modbusSendException(ecIllegalFunction);
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break;
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}
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}
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}
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ISR(TIMER0_OVF_vect) { //this ISR is called 9765.625 times per second
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modbusTickTimer();
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}
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ISR(TIMER1_OVF_vect) {
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output = pid_step(&controller, 1, setpoint_1 - adc_avrg[1]);
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PORTD &= ~(1 << 4);
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if(output > 128)
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output = 128;
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if(output >= 1){
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uint32_t tmp = output * 512;
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if(tmp >= 0x10000)
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tmp = 0xFFFE;
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OCR1A = tmp;
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PORTB |= 0x0E;
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}
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else
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OCR1A = 1000;
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}
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ISR(TIMER1_COMPA_vect) {
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/* turn off outputs */
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PORTB &= ~(0x0E);
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}
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