#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;
+ union {
+ unsigned char probe_steady, mode_changed;
+ };
+ uint16_t mode_pwm[N_PWMLED_MODES];
+ int16_t err_sums[N_PWMLED_MODES];
+ unsigned char modes_not_yet_stable;
+} pwmled_t;
+
+pwmled_t pwmleds[N_PWMLEDS];
+
+/*
+ * Mode stabilization:
+ * when changing brightness via pwmled_set_brightness() below,
+ * we want to converge to the target value as fast as possible. Also,
+ * we would like to somehow initialize the mode 3, which is used as
+ * "mode 2 + other PWMLED on". So after the brightness is set,
+ * we also set pwmleds[n].modes_not_yet_stable to MODE_STABILIZATION_TIME.
+ * When modes_not_yet_stable is non-zero, we allow only mode 2 to be set
+ * regardless of what is fed to pwmled_set_mode. We will then converge
+ * to the target value of mode 2 only, and after MODE_STABILIZATION_TIME
+ * ADC measurements, we copy the mode_pwm value to all other modes.
+ * Only then it is allowed to set the other modes.
+ */
+#define MODE_STABILIZATION_TIME (2*16) // two seconds worth of measurements
#define PWMLED2_TESTING_WITH_350MA_LED
#define SENSE_MOHM 33 /* 0.033 Ohm */
-#define MA_MOHM_GAIN_TO_ADC(ma, mohm, gain) (\
- ((unsigned long)(ma))*(mohm) /* voltage at sensing resistor in uV */ \
- /(1100000UL/gain/1024UL) /* voltage of ADC reading == 1 */ \
-)
+/*
+ * Voltage in uV at ADC reading == 1 is 1100/gain/1024
+ * ADC module returns sum of 1 << PWMLED_ADC_SHIFT measurements
+ * Voltage in uV measured is current in mA * sense resistance in mOhm
+ */
+#define MA_GAIN_TO_ADC(ma, gain) ((uint16_t) \
+ ((uint32_t)(ma) \
+ * (SENSE_MOHM) \
+ * (1 << (PWMLED_ADC_SHIFT)) \
+ * 1024 \
+ / (1100000/(gain))))
+
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),
-#ifdef PWMLED2_TESTING_WITH_350MA_LED
- MA_MOHM_GAIN_TO_ADC( 400, SENSE_MOHM, 1)
+#ifdef TESTING_FW
+ MA_GAIN_TO_ADC( 400, 20),
+ MA_GAIN_TO_ADC( 30, 20),
+ MA_GAIN_TO_ADC( 800, 1)
#else
- MA_MOHM_GAIN_TO_ADC(2500, SENSE_MOHM, 1)
+ MA_GAIN_TO_ADC( 900, 20),
+ MA_GAIN_TO_ADC( 30, 20),
+ MA_GAIN_TO_ADC(2500, 1)
#endif
};
-static uint16_t adc_vals[N_PWMLEDS*N_PWMLED_MODES] = {
- /* pwmled0 */
- MA_MOHM_GAIN_TO_ADC( 20, SENSE_MOHM, 20),
- MA_MOHM_GAIN_TO_ADC( 50, SENSE_MOHM, 20),
- MA_MOHM_GAIN_TO_ADC( 100, SENSE_MOHM, 20),
- MA_MOHM_GAIN_TO_ADC( 350, SENSE_MOHM, 20),
- /* pwmled1 */
- 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),
- /* pwmled2 */
-#ifdef PWMLED2_TESTING_WITH_350MA_LED
- MA_MOHM_GAIN_TO_ADC( 100, SENSE_MOHM, 1),
- MA_MOHM_GAIN_TO_ADC( 140, SENSE_MOHM, 1),
- MA_MOHM_GAIN_TO_ADC( 250, SENSE_MOHM, 1),
- MA_MOHM_GAIN_TO_ADC( 350, SENSE_MOHM, 1),
+
+static uint16_t adc_targets_0[] = {
+ MA_GAIN_TO_ADC( 50, 20),
+ MA_GAIN_TO_ADC( 80, 20),
+ MA_GAIN_TO_ADC( 160, 20),
+ MA_GAIN_TO_ADC( 350, 20),
+};
+
+static uint16_t adc_targets_1[] = {
+ MA_GAIN_TO_ADC( 5, 20),
+ MA_GAIN_TO_ADC( 10, 20),
+ MA_GAIN_TO_ADC( 20, 20),
+};
+
+static uint16_t adc_targets_2[] = {
+#ifdef TESTING_FW
+ MA_GAIN_TO_ADC( 120, 1),
+ MA_GAIN_TO_ADC( 160, 1),
+ MA_GAIN_TO_ADC( 240, 1),
+ MA_GAIN_TO_ADC( 320, 1),
+ MA_GAIN_TO_ADC( 460, 1),
#else
- MA_MOHM_GAIN_TO_ADC( 150, SENSE_MOHM, 1),
- MA_MOHM_GAIN_TO_ADC( 350, SENSE_MOHM, 1),
- MA_MOHM_GAIN_TO_ADC( 700, SENSE_MOHM, 1),
- MA_MOHM_GAIN_TO_ADC(2400, SENSE_MOHM, 1),
+ MA_GAIN_TO_ADC( 150, 1),
+ MA_GAIN_TO_ADC( 300, 1),
+ MA_GAIN_TO_ADC( 500, 1),
+ MA_GAIN_TO_ADC( 700, 1),
+ MA_GAIN_TO_ADC(1500, 1),
+ MA_GAIN_TO_ADC(2500, 1),
#endif
};
-// TODO: maybe convert this to bitmask to simplify pwmled_needs_adc() ?
-static unsigned char pwmled_state[N_PWMLEDS];
+static uint16_t adc_vals[N_PWMLEDS*N_PWMLED_MODES];
+
#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];
+void init_pwmled()
+{
+ unsigned char i, j;
-static uint16_t pwm_probes[N_PWMLEDS];
-static int16_t differences[N_PWMLEDS];
+ for (i = 0; i < N_PWMLEDS; i++) {
+ pwmled_t *led = pwmleds + i;
+ led->err_sum = 0;
+ led->target = adc_vals[i*N_PWMLED_MODES];
+ led->mode = 1;
+ led->probe_steady = 0;
+ led->state = ST_OFF;
+ led->pwm = 1;
+ pwm_set(i, led->pwm);
+
+ for (j = 0; j < N_PWMLED_MODES; j++) {
+ led->mode_pwm[j] = 0;
+ led->err_sums[j] = 0;
+ }
+ }
-static void start_probing(unsigned char n)
-{
- pwmled_state[n] = ST_PROBING;
- pwm_set(n, 0);
- pwm_probes[n] = 0;
+ pwmled_set_brightness(PWMLED_BRIGHTNESS(0, 2, 1, 0, 2));
}
-void pwmled_init()
+void pwmled_set_mode(unsigned char n, unsigned char mode)
{
- unsigned char i;
+ pwmled_t *led = pwmleds + n;
- for (i = 0; i < N_PWMLEDS*N_PWMLED_MODES; i++) {
- pwm_vals[i] = 0;
- pwmled_mode[i] = 0;
- pwmled_mode_set[i] = 0;
+ if (!ST_CAN_SET_MODE(led->state))
+ return;
+
+ if (led->mode) { // save the previous state
+ led->mode_pwm[led->mode - 1] = led->pwm;
+ led->err_sums[led->mode - 1] = led->err_sum;
}
- for (i = 0; i < N_PWMLEDS; i++) {
- differences[i] = 0;
- start_probing(i);
+ led->mode = mode;
+
+ if (mode > 0 && mode <= N_PWMLED_MODES) {
+ if (led->modes_not_yet_stable) // only mode 2 when !stable
+ mode = 2;
+ 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];
+ led->mode_changed = 1;
+ pwm_set(n, led->pwm);
+ } else {
+ led->state = ST_OFF;
+ pwm_off(n);
}
}
-unsigned char pwmled_needs_adc(unsigned char n)
-{
- unsigned char st = pwmled_state[n];
- if (st == ST_PROBING || st == ST_ON)
- return 1;
- else
- return 0;
-}
+#define CHECK_BRIGHTNESS(var, expr, array) \
+ do { \
+ (var) = (expr); \
+ if ((var) >= sizeof(array)/sizeof(array[0])) \
+ (var) = sizeof(array)/sizeof(array[0]) - 1; \
+ } while (0)
-unsigned char pwmled_enabled(unsigned char n)
+void pwmled_set_brightness(uint16_t brightness)
{
- unsigned char st = pwmled_state[n];
- if (st == ST_OFF || st == ST_ON)
- return 1;
- else
- return 0;
+ unsigned char i;
+
+ CHECK_BRIGHTNESS(i, brightness & 0x7, adc_targets_0);
+ adc_vals[0] = adc_targets_0[i];
+ CHECK_BRIGHTNESS(i, (brightness >> 3) & 0x7, adc_targets_0);
+ if (adc_vals[1] != adc_targets_0[i]) {
+ adc_vals[1] = adc_targets_0[i];
+ pwmleds[0].modes_not_yet_stable = MODE_STABILIZATION_TIME;
+ }
+ adc_vals[2] = adc_vals[1];
+
+ CHECK_BRIGHTNESS(i, (brightness >> 6) & 0x7, adc_targets_1);
+ // we use only one mode, so no modes_not_yet_stable handling here
+ adc_vals[3] = adc_targets_1[i];
+ adc_vals[4] = adc_vals[3];
+ adc_vals[5] = adc_vals[3];
+
+ CHECK_BRIGHTNESS(i, (brightness >> 9) & 0x7, adc_targets_2);
+ adc_vals[6] = adc_targets_2[i];
+ CHECK_BRIGHTNESS(i, (brightness >> 12) & 0x7, adc_targets_2);
+ if (adc_vals[7] != adc_targets_2[i]) {
+ adc_vals[7] = adc_targets_2[i];
+ pwmleds[2].modes_not_yet_stable = MODE_STABILIZATION_TIME;
+ }
+ adc_vals[8] = adc_vals[7];
+
+ for (i = 0; i < N_PWMLEDS; i++) {
+ pwmleds[i].err_sum = 0;
+ pwmled_set_mode(i, pwmleds[i].mode);
+ }
}
-void pwmled_set_mode(unsigned char n, unsigned char mode)
+#define PWMLED_PROBE_STEADY_COUNT 10
+
+static inline unsigned char pwmled_probed_ok(unsigned char n, uint16_t old_pwm)
{
- if (!pwmled_enabled(n))
- return;
+ pwmled_t *led = pwmleds + n;
-#if 0
- log_byte(0xF8);
- log_byte(n);
- log_byte(mode);
-#endif
- 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;
+ if (led->pwm == old_pwm) {
+ if (led->probe_steady < PWMLED_PROBE_STEADY_COUNT)
+ led->probe_steady++;
} else {
- pwm_off(n);
- pwmled_state[n] = ST_OFF;
+ led->probe_steady = 0;
}
-}
-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];
+ if (led->probe_steady < PWMLED_PROBE_STEADY_COUNT
+ && old_pwm <= led->pwm)
+ return 0;
-#if 0
- log_byte(0xF4);
- log_byte(n);
- log_word(adcval);
-#endif
+ // probed OK
+ led->mode_pwm[led->mode - 1] = led->pwm;
+ led->err_sums[led->mode - 1] = 0;
+
+ // next mode to probe?
+ if (led->mode < N_PWMLED_MODES) {
+ led->probe_steady = 0;
+ led->err_sum = 0;
+
+ led->mode++;
+ led->target = adc_vals[n*N_PWMLED_MODES+led->mode-1];
+
+ return 0;
+ } else {
+ unsigned char i;
- if (adcval > adc_max[n] // Too high
- || (pwm == 0 && adcval > 0) // non-zero voltage with zero PWM
- ) {
+ led->state = ST_OFF;
pwm_off(n);
- pwmled_state[n] = ST_DISABLED;
+
log_byte(0xF0);
log_byte(n);
- log_word(adcval);
- return;
- }
+ log_word(jiffies);
- 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;
- }
- }
+ for (i = 0; i < N_PWMLED_MODES; i++)
+ log_word(led->mode_pwm[i]);
-#if 0
- if ((n == 1 && pwm > 0x35) || adcval != 0) {
- log_byte(n);
- log_byte(0xF3);
- log_byte(pwm);
- log_word(adcval);
- }
-#endif
+ log_flush();
- if (!need_bigger) { // successfully probed
- pwm_off(n);
- // pwm_set(n, 0);
- pwmled_state[n] = ST_OFF;
- log_byte(0xF1);
- log_byte(n);
+ pattern_reload();
- return;
+ return 1;
}
+}
- if (pwm >= pwm_max[n]) { // over the maximum!
- pwm_off(n);
- pwmled_state[n] = ST_DISABLED;
- log_byte(0xF2);
- log_byte(n);
- // pwm_set(n, 0);
- return;
- }
+static inline void pwmled_err(unsigned char n)
+{
+ pwmleds[n].state = ST_DISABLED;
+ pwm_off(n);
+
+ log_byte(0xF1);
+ log_byte(n);
+ log_word(jiffies);
+ log_flush();
- // try to increase
- pwm++;
- pwm_probes[n] = pwm;
- pwm_set(n, pwm);
+ switch (n) {
+ case 0: err_flags.err_pwmled0 = 1; break;
+ case 1: err_flags.err_pwmled1 = 1; break;
+ case 2: err_flags.err_pwmled2 = 1; break;
+ }
}
-// Feedback loop
-static void inline on_adc(unsigned char n, uint16_t adcval)
+
+void pwmled_adc(unsigned char n, uint16_t adcval)
{
- 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;
-
-#if 0
- log_byte(0xF5);
- log_byte(n);
- log_word(adcval);
-#endif
+ pwmled_t *led = pwmleds + n;
+ uint16_t old_pwm;
+ int32_t sum;
+ unsigned char shift;
+ if (!ST_IS_ON(led->state))
+ return;
- if (pwmled_mode_set[n]) { // ignore the first reading
- pwmled_mode_set[n] = 0;
+ if (led->state == ST_ON && led->mode_changed) {
+ led->mode_changed--;
return;
}
+ // FIXME: test for maximum adcval value (adc_max[n])
- differences[n] += adcval;
- differences[n] -= adc_exp;
+ old_pwm = led->pwm;
- 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;
+ // shift = led->state == ST_PROBING ? 3 : 8;
+ shift = 3;
- if (new_pwm == old_pwm)
- return;
+ sum = ((int32_t)led->pwm << shift)
+ + led->err_sum + led->target - adcval;
- differences[n] = 0;
+ if (sum < 0)
+ sum = 0;
- if (new_pwm > (int16_t)pwm_max[n]) {
- // FIXME: disconnected?
- new_pwm = pwm_max[n];
- }
+ led->pwm = sum >> shift;
+ sum -= led->pwm << shift;
+ led->err_sum = sum;
- if (new_pwm < 1) {
- // FIXME: short-circuit?
- new_pwm = 1;
+ if (led->pwm >= PWM_MAX
+ || (n == 1 && led->pwm > PWM_MAX/2 && adcval < 0x08)) {
+ pwmled_err(n);
+ return;
}
- *pwm_p = new_pwm;
- pwm_set(n, new_pwm);
-
- if (jiffies > 500 && n == 1) {
- log_byte(adcval & 0xFF);
- log_byte(new_pwm);
+ if (led->state == ST_PROBING)
+ if (pwmled_probed_ok(n, old_pwm))
+ return;
+
+ if (led->modes_not_yet_stable) {
+ if (!--led->modes_not_yet_stable) {
+ // reached stability, copy mode 2 to mode 3 (-1)
+ led->mode_pwm[0] = led->pwm;
+ led->mode_pwm[2] = led->pwm;
+ led->err_sums[0] = 0;
+ led->err_sums[2] = 0;
+ }
}
-}
-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->pwm == old_pwm)
return;
- // WTF am I doing in this function then? Maybe recently switched off?
- }
+
+ pwm_set(n, led->pwm);
}
+
https://www.fi.muni.cz/~kas/git / bike-lights.git / blobdiff