From 88f407272caa26d8c63fded44d38d26972c11300 Mon Sep 17 00:00:00 2001 From: "Jan \"Yenya\" Kasprzak" Date: Thu, 14 Jun 2012 23:07:53 +0200 Subject: [PATCH] working feedback loop --- lights.c | 210 +++++++++++++++++++++++++++---------------------------- 1 file changed, 102 insertions(+), 108 deletions(-) diff --git a/lights.c b/lights.c index 635b249..78bd2e1 100644 --- a/lights.c +++ b/lights.c @@ -5,8 +5,10 @@ #include volatile uint16_t adcval; -unsigned char pwmval = 0x28; -uint16_t pwmints = 0; +unsigned char pwmval = 0x10; +volatile uint16_t adc_exp = 0x10; +unsigned char led_is_on = 0; +volatile unsigned char adccount = 0; volatile struct { @@ -19,11 +21,14 @@ intflags; static void inline led_on() { DDRB |= _BV( PB5 ); + led_is_on = 1; } static void inline led_off() { + led_is_on = 0; DDRB &= ~_BV( PB5 ); +// ADCSRA &= ~(_BV(ADIE) | _BV(ADIF)); } /* ------------ Logging/Debugging ----------- */ @@ -35,9 +40,11 @@ static void inline debug_setstate(unsigned char val) eeprom_write_byte(&debug_state, val); } -#define LOG_BUFFER 192 +#define LOG_BUFFER 64 uint16_t log_buffer[LOG_BUFFER] EEMEM; -uint16_t log_buffer_count; +unsigned char log_buffer_count; +uint16_t log_buffer2[LOG_BUFFER]; +volatile unsigned char stop = 0; static void inline init_log() { @@ -46,26 +53,32 @@ static void inline init_log() } static void log_word(uint16_t word) { - if (log_buffer_count == LOG_BUFFER) { - debug_setstate(0x42); - log_buffer_count++; - } if (log_buffer_count >= LOG_BUFFER) return; - eeprom_write_word(&log_buffer[log_buffer_count], word); + // eeprom_write_word(&log_buffer[log_buffer_count], word); + log_buffer2[log_buffer_count] = word; log_buffer_count++; + + if (log_buffer_count == LOG_BUFFER) { + unsigned char i; + for (i=0; i < LOG_BUFFER; i++) { + eeprom_write_word(&log_buffer[i], + log_buffer2[i]); + } + debug_setstate(0x42); + } } /* ------------ Timer ----------- */ -uint16_t clock = 0; +volatile uint16_t clock = 0; static void inline init_tmr() { TCCR0A = _BV(WGM00); TCCR0B = _BV(CS02) | _BV(CS00); // 1 kHz - OCR0A = 10; // 100 Hz + OCR0A = 12; // 100 Hz TIMSK |= _BV(OCIE0A); DDRA |= _BV( PA0 ); @@ -74,21 +87,38 @@ static void inline init_tmr() static void inline tmr_handler() { - unsigned char c = clock & 0x7F; - ++clock; + unsigned char c = clock & 0x1F; + unsigned char c1 = clock & 0xFF; + ++clock; +#if 0 if (c == 10 || c == 30) led_on(); if (c == 20 || c == 40) led_off(); +#endif + + if (c == 0x02 || c == 0x08) + led_on(); + if (c == 0x05 || c == 0x0b) + led_off(); - log_word(adcval); - if (adcval != 0xFFEE) { + if ((clock & 0x7F) == 0x1F) { + if (c1 < 0x80) { + adc_exp = 0x80; + } else { + adc_exp = 0x20; + } + } + ADCSRA |= _BV(ADSC); +#if 0 + if (led_is_on && adcval != 0xFFEE) { adcval = 0xFFEE; - ADCSRA |= _BV(ADIE) | _BV(ADSC); + ADCSRA |= _BV(ADIF) | _BV(ADIE) | _BV(ADSC); } +#endif } ISR(TIMER0_COMPA_vect) @@ -110,27 +140,28 @@ static void inline init_pwm() TCCR1C = _BV(COM1D0) | _BV(COM1D1) | _BV(PWM1D); TCCR1A = _BV(COM1A0) | _BV(COM1A1) | _BV(COM1B0) | _BV(COM1B1) | _BV(PWM1A) | _BV(PWM1B); // TCCR1B = 0x80| _BV(CS13) | _BV(CS11); - TCCR1B = 0x80 | _BV(CS10); - OCR1C = 0xFF; + TCCR1B = _BV(7) // PWM1X: PWM inversion mode + | _BV(CS10) // no clock prescaling + ; + OCR1C = 0xFF; // TOP value OCR1D = OCR1B = OCR1A = pwmval; - TCNT1 = 0; - DDRB |= _BV( PB5 ); + // OCR1D = 0; + // DDRB |= _BV( PB5 ); PORTB &= ~(_BV( PB5 ) | _BV( PB1 ) | _BV( PB3 )); - led_off(); + // led_off(); // TIMSK |= _BV(TOIE1); } #if 0 static void inline pwm_handler() { - TCNT1 = 0; - OCR1D = pwmval; + // TIMSK &= ~_BV(TOIE1); + // OCR1D = pwmval; } ISR(TIMER1_OVF_vect) { - TIMSK &= ~_BV(TOIE1); pwm_handler(); } #endif @@ -139,72 +170,60 @@ ISR(TIMER1_OVF_vect) static void inline init_adc() { - ADCSRA = _BV(ADEN) | _BV(ADATE) | _BV(ADPS1) | _BV(ADPS0); - ADMUX = _BV(REFS1) | _BV(MUX0); + ADCSRA = _BV(ADEN) // enable + | _BV(ADPS1) | _BV(ADPS0) // CLK/8 = 125 kHz + // | _BV(ADPS2) // CLK/16 = 62.5 kHz + ; + ADMUX = _BV(REFS1) // 1.1V internal reference + | _BV(MUX4)|_BV(MUX3) // port ADC5-6, gain 1 + ; // ADCSRB = _BV(REFS2); - DIDR0 = _BV(ADC1D) | _BV(AREFD); + ADCSRB |= _BV(GSEL); + // Disable digital input on all bits used by ADC + DIDR0 = _BV(ADC5D)|_BV(ADC6D) | _BV(AREFD); + ADCSRA |= _BV(ADIE); } static void inline adc_handler() { - static unsigned char last_pwmval = 0; - static unsigned char counter = 0; - uint16_t tmp = pwmval; - static uint16_t discard = 5; - + uint16_t new_pwm = pwmval; + uint16_t old_pwm = pwmval; + uint16_t old_adc = adcval; adcval = ADCW; - ADCSRA &= ~_BV(ADIE); /* disable ADC interrupt */ -#if 0 - if (--discard > 0) - goto out; - - if (adcval > 0x300) - tmp = 3*tmp/4; - else if (adcval > 0x280) - tmp = 7*tmp/8; - else if (adcval > 0x201) - tmp--; - else if (adcval < 0x100) - tmp = 5*tmp/4; - else if (adcval < 0x180) - tmp = 9*tmp/8; - else if (adcval < 0x1ff) - tmp++; - - if (tmp > 0xFF) - tmp = 0xFF; - if (tmp == 0) - tmp = 1; - - counter++; - if ((last_pwmval > tmp && last_pwmval - tmp > 10) - || (last_pwmval < tmp && tmp - last_pwmval > 10) - || (counter > 2)) { - counter = 0; - - if (rv_count < BUFFER-1) { - eeprom_write_word(&readval[rv_count++], adcval); - eeprom_write_word(&readval[rv_count++], pwmval); - if (rv_count >= BUFFER) - eeprom_write_byte(&debug, 42); - } - } + adccount++; - last_pwmval = pwmval; - pwmval = tmp; + // log_word(((adcval & 0x3FC) << 6) | pwmval); + log_word(((adcval & 0xFF) << 8) | pwmval); - if (pwmval != last_pwmval) { - TIMSK |= _BV(TOIE1); - - discard = 1000; - } else { - discard = 0; + if (!led_is_on) + return; + // adcval = (adcval + 3*old_adc)/4; + + // ADCSRA &= ~(_BV(ADIE) | _BV(ADIF)); + + if (adcval < 1) { + adcval = 1; + } else if (adcval > adc_exp) { + new_pwm = old_pwm*adc_exp/adcval; + } else if (adcval < adc_exp && 2 * adcval > adc_exp) { + new_pwm = old_pwm*adc_exp/adcval; + } else if (adcval < adc_exp) { + new_pwm = 2 * old_pwm; } -out: - //TIMSK |= _BV(TOIE1); - ADCSRA |= _BV(ADIE) | _BV(ADSC); -#endif + new_pwm = (3*old_pwm + new_pwm) / 4; + if (new_pwm > 0x60) { // odpojeno? + new_pwm = 0x60; + } + if (new_pwm < 2) { // zkrat? + new_pwm = 2; + } + + // if (new_pwm < 15*old_pwm/16 || new_pwm > 17*old_pwm/16) { + pwmval = new_pwm; + OCR1D = pwmval; + // } + // ADCSRA |= _BV(ADSC); } ISR(ADC_vect) @@ -212,29 +231,8 @@ ISR(ADC_vect) adc_handler(); } -#if 0 - if (--pcount == 0) { - ppos++; - pcount = pattern[ppos].length; - if (!pcount) { - ppos = 0; - pcount = pattern[ppos].length; - } - if (pattern[ppos].intensity) { - PORTA |= _BV(PA0); - } else { - PORTA &= ~_BV(PA0); - } - } -#endif - int main(void) { - char seen = 0; - char pcount, ppos; - unsigned char adcidx = 0; - uint16_t adcvals[16]; - init_log(); init_pwm(); @@ -245,18 +243,14 @@ int main(void) sei(); while (1) - ; //sleep_mode(); -#if 0 - if (!seen) { - seen = 1; - eeprom_write_byte(&debug, 2); - } -#endif + ;// sleep_mode(); +#if 0 DDRA |= _BV( PA0 ); while( 1 ) { PORTA |= _BV( PA0 ); _delay_ms(200); PORTA &=~ _BV( PA0 ); } +#endif } -- 2.39.3