X-Git-Url: https://www.fi.muni.cz/~kas/git//home/kas/public_html/git/?a=blobdiff_plain;f=firmware%2Fpwmled.c;h=076d032c7b4a713e4a9db98e79ddf6381ed835ab;hb=71966b0545b53262ef946c0ae26007664eff32ce;hp=8c6196481bfc64c4d60b1be62d15011d2cfe647b;hpb=c637efbe0eb8d07f2358faa5f0c4ffc1387534ea;p=bike-lights.git diff --git a/firmware/pwmled.c b/firmware/pwmled.c index 8c61964..076d032 100644 --- a/firmware/pwmled.c +++ b/firmware/pwmled.c @@ -2,12 +2,15 @@ #include "lights.h" -static uint16_t pwm_vals[N_PWMLEDS*N_PWMLED_MODES]; -static uint16_t pwm_max[N_PWMLEDS] = { - PWM_MAX/2, - PWM_MAX - (PWM_MAX >> 4), // step-up - PWM_MAX/2 -}; +typedef struct { + uint16_t target, pwm; + int16_t err_sum; + unsigned char mode, state, probe_steady; + uint16_t mode_pwm[N_PWMLED_MODES]; + int16_t err_sums[N_PWMLED_MODES]; +} pwmled_t; + +pwmled_t pwmleds[N_PWMLEDS]; #define PWMLED2_TESTING_WITH_350MA_LED @@ -16,6 +19,7 @@ static uint16_t pwm_max[N_PWMLEDS] = { ((unsigned long)(ma))*(mohm) /* voltage at sensing resistor in uV */ \ /(1100000UL/gain/1024UL) /* voltage of ADC reading == 1 */ \ ) + static uint16_t adc_max[N_PWMLEDS] = { MA_MOHM_GAIN_TO_ADC( 400, SENSE_MOHM, 20), MA_MOHM_GAIN_TO_ADC( 30, SENSE_MOHM, 20), @@ -25,6 +29,7 @@ static uint16_t adc_max[N_PWMLEDS] = { MA_MOHM_GAIN_TO_ADC(2500, SENSE_MOHM, 1) #endif }; + static uint16_t adc_vals[N_PWMLEDS*N_PWMLED_MODES] = { /* pwmled0 */ MA_MOHM_GAIN_TO_ADC( 20, SENSE_MOHM, 20), @@ -32,11 +37,16 @@ static uint16_t adc_vals[N_PWMLEDS*N_PWMLED_MODES] = { MA_MOHM_GAIN_TO_ADC( 100, SENSE_MOHM, 20), MA_MOHM_GAIN_TO_ADC( 350, SENSE_MOHM, 20), /* pwmled1 */ + 16, 32, 64, 112, +#if 0 MA_MOHM_GAIN_TO_ADC( 5, SENSE_MOHM, 20), MA_MOHM_GAIN_TO_ADC( 12, SENSE_MOHM, 20), MA_MOHM_GAIN_TO_ADC( 16, SENSE_MOHM, 20), MA_MOHM_GAIN_TO_ADC( 20, SENSE_MOHM, 20), +#endif /* pwmled2 */ + 24, 32, 40, 48 +#if 0 #ifdef PWMLED2_TESTING_WITH_350MA_LED MA_MOHM_GAIN_TO_ADC( 100, SENSE_MOHM, 1), MA_MOHM_GAIN_TO_ADC( 140, SENSE_MOHM, 1), @@ -48,233 +58,164 @@ static uint16_t adc_vals[N_PWMLEDS*N_PWMLED_MODES] = { MA_MOHM_GAIN_TO_ADC( 700, SENSE_MOHM, 1), MA_MOHM_GAIN_TO_ADC(2400, SENSE_MOHM, 1), #endif +#endif }; -// TODO: maybe convert this to bitmask to simplify pwmled_needs_adc() ? -static unsigned char pwmled_state[N_PWMLEDS]; #define ST_DISABLED 0 -#define ST_PROBING 1 -#define ST_OFF 2 +#define ST_OFF 1 +#define ST_PROBING 2 #define ST_ON 3 +// The above are constructed so that the following work: +#define ST_IS_ON(s) ((s) & 0x02) +#define ST_CAN_SET_MODE(s) ((s) & 0x01) -static unsigned char pwmled_mode[N_PWMLEDS]; -static unsigned char pwmled_mode_set[N_PWMLEDS]; - -static uint16_t pwm_probes[N_PWMLEDS]; -static int16_t differences[N_PWMLEDS]; - -static void start_probing(unsigned char n) -{ - pwmled_state[n] = ST_PROBING; - pwm_set(n, 0); - pwm_probes[n] = 0; -} - -void pwmled_init() +void init_pwmled() { - unsigned char i; - - for (i = 0; i < N_PWMLEDS*N_PWMLED_MODES; i++) { - pwm_vals[i] = 0; - pwmled_mode[i] = 0; - pwmled_mode_set[i] = 0; - } + unsigned char i, j; for (i = 0; i < N_PWMLEDS; i++) { - differences[i] = 0; - start_probing(i); + pwmled_t *led = pwmleds + i; + led->err_sum = 0; + led->target = adc_vals[i*N_PWMLED_MODES]; + led->pwm = 0; + led->mode = 1; + led->state = ST_PROBING; + led->probe_steady = 0; + + for (j = 0; j < N_PWMLED_MODES; j++) { + led->mode_pwm[j] = 0; + led->err_sums[j] = 0; + } } } -unsigned char pwmled_enabled(unsigned char n) -{ - unsigned char st = pwmled_state[n]; - if (st == ST_OFF || st == ST_ON) - return 1; - else - return 0; -} - void pwmled_set_mode(unsigned char n, unsigned char mode) { - if (!pwmled_enabled(n)) + pwmled_t *led = pwmleds + n; + + if (!ST_CAN_SET_MODE(led->state)) return; -#if 0 - log_byte(0xF8); - log_byte(n); - log_byte(mode); -#endif + if (led->mode) { // save the previous state + led->mode_pwm[led->mode - 1] = led->pwm; + led->err_sums[led->mode - 1] = led->err_sum; + } + + led->mode = mode; + if (mode > 0 && mode <= N_PWMLED_MODES) { - uint16_t pwmval; - mode--; - pwmval = pwm_vals[n*N_PWMLED_MODES+mode]; - pwm_set(n, pwmval); -#if 0 - log_byte(pwmval); -#endif - pwmled_state[n] = ST_ON; - pwmled_mode[n] = mode; - pwmled_mode_set[n] = 1; - differences[n] = 0; + led->target = adc_vals[n*N_PWMLED_MODES + mode - 1]; + led->state = ST_ON; + led->pwm = led->mode_pwm[mode - 1]; + led->err_sum = led->err_sums[mode - 1]; + pwm_set(n, led->pwm); } else { + led->state = ST_OFF; pwm_off(n); - pwmled_state[n] = ST_OFF; } } -static void inline probing_adc(unsigned char n, uint16_t adcval) -{ - unsigned char need_bigger = 0, i; - uint16_t *pwm_p = &pwm_vals[n*N_PWMLED_MODES]; - uint16_t *adc_p = &adc_vals[n*N_PWMLED_MODES]; - uint16_t pwm = pwm_probes[n]; +#define PWMLED_PROBE_STEADY_COUNT 10 -#if 0 - log_byte(0xF4); - log_byte(n); - log_word(adcval); -#endif +static inline unsigned char pwmled_probed_ok(unsigned char n, uint16_t old_pwm) +{ + pwmled_t *led = pwmleds + n; - if (adcval > adc_max[n] // Too high - || (pwm == 0 && adcval > 0) // non-zero voltage with zero PWM - ) { - pwm_off(n); - pwmled_state[n] = ST_DISABLED; - log_byte(0xF0); - log_byte(n); - log_word(adcval); - return; + if (led->pwm == old_pwm) { + if (led->probe_steady < PWMLED_PROBE_STEADY_COUNT) + led->probe_steady++; + } else { + led->probe_steady = 0; } - for (i = 0; i < N_PWMLED_MODES; i++, pwm_p++, adc_p++) { - uint16_t adc = *adc_p; - if (adc >= adcval) { - *pwm_p = pwm; - need_bigger = 1; - } - } + if (led->probe_steady < PWMLED_PROBE_STEADY_COUNT + && old_pwm <= led->pwm) + return 0; -#if 0 - if ((n == 1 && pwm > 0x35) || adcval != 0) { - log_byte(n); - log_byte(0xF3); - log_byte(pwm); - log_word(adcval); - } -#endif + // probed OK + led->mode_pwm[led->mode - 1] = led->pwm; + led->err_sums[led->mode - 1] = 0; - if (!need_bigger) { // successfully probed - pwm_off(n); - // pwm_set(n, 0); - pwmled_state[n] = ST_OFF; - log_byte(0xF1); - log_byte(n); + // next mode to probe? + if (led->mode < N_PWMLED_MODES) { + led->probe_steady = 0; + led->err_sum = 0; - return; - } + led->mode++; + led->target = adc_vals[n*N_PWMLED_MODES+led->mode-1]; + + return 0; + } else { + unsigned char i; - if (pwm >= pwm_max[n]) { // over the maximum! + led->state = ST_OFF; pwm_off(n); - pwmled_state[n] = ST_DISABLED; - log_byte(0xF2); + + log_byte(0xF0); log_byte(n); - // pwm_set(n, 0); - return; - } + log_word(jiffies); + + for (i = 0; i < N_PWMLED_MODES; i++) + log_word(led->mode_pwm[i]); - // try to increase - pwm++; - pwm_probes[n] = pwm; - pwm_set(n, pwm); + log_flush(); + + pattern_reload(); + + return 1; + } } -// Feedback loop -static void inline on_adc(unsigned char n, uint16_t adcval) +static inline void pwmled_err(unsigned char n) { - unsigned char mode = pwmled_mode[n]; - uint16_t adc_exp = adc_vals[n*N_PWMLED_MODES+mode]; - uint16_t *pwm_p = &pwm_vals[n*N_PWMLED_MODES+mode]; - int16_t old_pwm = *pwm_p; - int16_t new_pwm = old_pwm; + pwmleds[n].state = ST_DISABLED; + pwm_off(n); -#if 0 - log_byte(0xF5); + log_byte(0xF1); log_byte(n); - log_word(adcval); -#endif + log_word(jiffies); + log_flush(); +} - if (pwmled_mode_set[n]) { // ignore the first reading - pwmled_mode_set[n] = 0; - return; - } +void pwmled_adc(unsigned char n, uint16_t adcval) +{ + pwmled_t *led = pwmleds + n; + uint16_t old_pwm; + int32_t sum; + unsigned char shift; - differences[n] += adcval; - differences[n] -= adc_exp; + if (!ST_IS_ON(led->state)) + return; - if (differences[n] > 16) - new_pwm -= 2; - else if (differences[n] > 4) - new_pwm--; - else if (differences[n] < -16) - new_pwm += 2; - else if (differences[n] < -4) - new_pwm++; - // new_pwm -= differences[n] >> 3; + // FIXME: test for maximum adcval value (adc_max[n]) - if (new_pwm == old_pwm) - return; + old_pwm = led->pwm; - differences[n] = 0; + shift = led->state == ST_PROBING ? 3 : 5; - if (new_pwm > (int16_t)pwm_max[n]) { - // FIXME: disconnected? - new_pwm = pwm_max[n]; - } + sum = ((int32_t)led->pwm << shift) + + led->err_sum + led->target - adcval; - if (new_pwm < 1) { - // FIXME: short-circuit? - new_pwm = 1; - } + if (sum < 0) + sum = 0; - *pwm_p = new_pwm; - pwm_set(n, new_pwm); + led->pwm = sum >> shift; + sum -= led->pwm << shift; + led->err_sum = sum; - if (jiffies > 500 && n == 1) { - log_byte(adcval & 0xFF); - log_byte(new_pwm); + if (led->pwm > (PWM_MAX << PWM_STEP_SHIFT)-5) { + pwmled_err(n); + return; } -} -void pwmled_adc(unsigned char n, uint16_t adcval) -{ - unsigned char i, probing; - - switch (pwmled_state[n]) { - case ST_PROBING: - probing_adc(n, adcval); -#if 1 - probing = 0; - for (i = 0; i < N_PWMLEDS; i++) - if (pwmled_state[i] == ST_PROBING) - probing = 1; - - if (!probing) { - for (i = 0; i < N_PWMLEDS; i++) - log_byte(pwmled_state[i]); - - for (i = 0; i < N_PWMLEDS*N_PWMLED_MODES; i++) - log_word(pwm_vals[i]); - log_flush(); - log_set_state(4); - } -#endif - - return; - case ST_ON: - on_adc(n, adcval); + if (led->state == ST_PROBING) + if (pwmled_probed_ok(n, old_pwm)) + return; + + if (led->pwm == old_pwm) return; - // WTF am I doing in this function then? Maybe recently switched off? - } + + pwm_set(n, led->pwm); } +