X-Git-Url: https://www.fi.muni.cz/~kas/git//home/kas/public_html/git/?p=bike-lights.git;a=blobdiff_plain;f=firmware%2Fpwmled.c;h=9aa6d8074689dd9b5e08de41e2d0a23e805e4a60;hp=06c6b1127a96a6ce4e42af3ed66f68206419e0d9;hb=65c3ad96cf307c3b77b36e6f6a2af5201c213a3c;hpb=38a3c5783c24a17e6cf1fbf0af40ae1dec805419 diff --git a/firmware/pwmled.c b/firmware/pwmled.c index 06c6b11..9aa6d80 100644 --- a/firmware/pwmled.c +++ b/firmware/pwmled.c @@ -2,242 +2,243 @@ #include "lights.h" -static uint16_t pwm_vals[N_PWMLEDS*N_PWMLED_MODES]; -static uint16_t pwm_max[N_PWMLEDS] = { 0x70, 0x70, 0xF0 }; -static uint16_t adc_max[N_PWMLEDS] = { 0x70, 0x70, 0xF0 }; +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]; +} pwmled_t; + +pwmled_t pwmleds[N_PWMLEDS]; + +#define PWMLED2_TESTING_WITH_350MA_LED + +#define SENSE_MOHM 33 /* 0.033 Ohm */ +/* + * 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] = { +#ifdef TESTING_FW + MA_GAIN_TO_ADC( 400, 20), + MA_GAIN_TO_ADC( 30, 20), + MA_GAIN_TO_ADC( 800, 1) +#else + 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] = { +#ifdef TESTING_FW + /* pwmled0 */ + MA_GAIN_TO_ADC( 50, 20), + MA_GAIN_TO_ADC( 100, 20), + MA_GAIN_TO_ADC( 200, 20), + MA_GAIN_TO_ADC( 350, 20), + /* pwmled1 */ + MA_GAIN_TO_ADC( 5, 20), + MA_GAIN_TO_ADC( 10, 20), + MA_GAIN_TO_ADC( 15, 20), + MA_GAIN_TO_ADC( 20, 20), + /* pwmled2 */ + MA_GAIN_TO_ADC( 50, 1), + MA_GAIN_TO_ADC( 80, 1), + MA_GAIN_TO_ADC( 150, 1), + MA_GAIN_TO_ADC( 200, 1) +#else /* pwmled0 */ - 0x04, 0x14, 0x24, 0x38, + MA_GAIN_TO_ADC( 50, 20), + MA_GAIN_TO_ADC( 100, 20), + MA_GAIN_TO_ADC( 200, 20), + MA_GAIN_TO_ADC( 350, 20), /* pwmled1 */ - 0x04, 0x14, 0x24, 0x38, + MA_GAIN_TO_ADC( 5, 20), + MA_GAIN_TO_ADC( 10, 20), + MA_GAIN_TO_ADC( 18, 20), + MA_GAIN_TO_ADC( 23, 20), /* pwmled2 */ - 0x0c, 0x24, 0x48, 0x90, + MA_GAIN_TO_ADC( 150, 1), + MA_GAIN_TO_ADC( 300, 1), + MA_GAIN_TO_ADC( 800, 1), + MA_GAIN_TO_ADC(1500, 1) +#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 void start_probing(unsigned char n) +void init_pwmled() { - pwmled_state[n] = ST_PROBING; - pwm_set(n, 0); - pwm_probes[n] = 0; + unsigned char i, j; + + 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->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; + } + } } -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++) { - start_probing(i); + led->mode = mode; + + if (mode > 0 && mode <= N_PWMLED_MODES) { + 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 PWMLED_PROBE_STEADY_COUNT 10 -unsigned char pwmled_enabled(unsigned char n) +static inline unsigned char pwmled_probed_ok(unsigned char n, uint16_t old_pwm) { - unsigned char st = pwmled_state[n]; - if (st == ST_OFF || st == ST_ON) - return 1; - else - return 0; -} + pwmled_t *led = pwmleds + n; -void pwmled_set_mode(unsigned char n, unsigned char mode) -{ - if (!pwmled_enabled(n)) - return; + if (led->pwm == old_pwm) { + if (led->probe_steady < PWMLED_PROBE_STEADY_COUNT) + led->probe_steady++; + } else { + led->probe_steady = 0; + } -#if 0 - log_byte(0xF8); - log_byte(n); - log_byte(mode); -#endif + if (led->probe_steady < PWMLED_PROBE_STEADY_COUNT + && old_pwm <= led->pwm) + return 0; - if (mode == 0) { - pwm_off(n); - pwmled_state[n] = ST_OFF; - return; - } + // probed OK + led->mode_pwm[led->mode - 1] = led->pwm; + led->err_sums[led->mode - 1] = 0; - if (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; - } -} + // next mode to probe? + if (led->mode < N_PWMLED_MODES) { + led->probe_steady = 0; + led->err_sum = 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]; + led->mode++; + led->target = adc_vals[n*N_PWMLED_MODES+led->mode-1]; -#if 0 - log_byte(0xF4); - log_byte(n); - log_word(adcval); -#endif + 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); - // try to increase - pwm++; - pwm_probes[n] = pwm; - pwm_set(n, pwm); + log_byte(0xF1); + log_byte(n); + log_word(jiffies); + log_flush(); } -// 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]; - uint16_t old_pwm = *pwm_p; - uint16_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 (pwmled_mode_set[n]) { // ignore the first reading - pwmled_mode_set[n] = 0; + if (!ST_IS_ON(led->state)) return; - } - // FIXME: running average? - if (2*adcval > 5*adc_exp) { // >2.5x expected, lower significantly - new_pwm = 2*old_pwm/3; - } else if (3*adcval > 4*adc_exp) { // >1.33x expected, lower a bit - new_pwm = old_pwm - 1; - } else if (4*adcval < 3*adc_exp) { // 0.75x expected, raise a bit - new_pwm = old_pwm + 1; + if (led->state == ST_ON && led->mode_changed) { + led->mode_changed--; + return; } + // FIXME: test for maximum adcval value (adc_max[n]) - // FIXME: better disconnect detection - if (new_pwm > pwm_max[n]) { // FIXME: disconnected? - new_pwm = pwm_max[n]; - } - if (new_pwm < 2) { // short-circuit? - new_pwm = 2; - } + old_pwm = led->pwm; - if (new_pwm != old_pwm) { - *pwm_p = new_pwm; - pwm_set(n, new_pwm); -#if 0 - log_byte(0xF9); - log_byte(new_pwm); -#endif - } -} + shift = led->state == ST_PROBING ? 3 : 8; -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); + sum = ((int32_t)led->pwm << shift) + + led->err_sum + led->target - adcval; + + if (sum < 0) + sum = 0; + + led->pwm = sum >> shift; + sum -= led->pwm << shift; + led->err_sum = sum; + + if (led->pwm >= PWM_MAX + || (n == 1 && led->pwm > PWM_MAX/2 && adcval < 0x08)) { + pwmled_err(n); return; - // WTF am I doing in this function then? Maybe recently switched off? } + + if (led->state == ST_PROBING) + if (pwmled_probed_ok(n, old_pwm)) + return; + + if (led->pwm == old_pwm) + return; + + pwm_set(n, led->pwm); } +