From edebb613b2f867d4f8473747744f329cb30e38fe Mon Sep 17 00:00:00 2001 From: "Jan \"Yenya\" Kasprzak" Date: Thu, 25 Apr 2013 15:35:57 +0200 Subject: [PATCH] Imported firmware from Project Bike Lights These are firmware source code files imported verbatim from the Project Bike Lights, as of commit c30006aaf666f7cff3a6ab949c613c2f8cc6163b: http://www.fi.muni.cz/~kas/git/?p=bike-lights.git;a=tree;f=firmware;hb=c30006aaf666f7cff3a6ab949c613c2f8cc6163b These will not run directly on Tinyboard - I just want to have documented all the changes I plan to make against these source code files (and possibly to merge some future patches into both projects). --- projects/step-up/Makefile | 67 ++++++++++ projects/step-up/adc.c | 256 +++++++++++++++++++++++++++++++++++++ projects/step-up/lights.h | 117 +++++++++++++++++ projects/step-up/logging.c | 81 ++++++++++++ projects/step-up/main.c | 92 +++++++++++++ projects/step-up/pattern.c | 199 ++++++++++++++++++++++++++++ projects/step-up/pwm.c | 144 +++++++++++++++++++++ projects/step-up/pwmled.c | 244 +++++++++++++++++++++++++++++++++++ 8 files changed, 1200 insertions(+) create mode 100644 projects/step-up/Makefile create mode 100644 projects/step-up/adc.c create mode 100644 projects/step-up/lights.h create mode 100644 projects/step-up/logging.c create mode 100644 projects/step-up/main.c create mode 100644 projects/step-up/pattern.c create mode 100644 projects/step-up/pwm.c create mode 100644 projects/step-up/pwmled.c diff --git a/projects/step-up/Makefile b/projects/step-up/Makefile new file mode 100644 index 0000000..1b0113e --- /dev/null +++ b/projects/step-up/Makefile @@ -0,0 +1,67 @@ + +PROGRAM=lights +SRC=main.c logging.c adc.c pwm.c tmr.c pwmled.c gpio.c ambient.c pattern.c \ + buttons.c battery.c control.c +OBJ=$(SRC:.c=.o) + + +MCU=attiny861a +# AVRDUDE_MCU=$(MCU) +AVRDUDE_MCU=attiny861 +AVRDUDE_PROGRAMMER=usbasp + +CFLAGS=-Wall -Os -mmcu=$(MCU) -DUSE_LOGGING=1 -DF_CPU=1000000UL -std=gnu99 +LDFLAGS= +AVRDUDE_FLAGS= -p$(AVRDUDE_MCU) -c $(AVRDUDE_PROGRAMMER) + +FORMAT=ihex + +CC=avr-gcc +OBJCOPY=avr-objcopy +OBJDUMP=avr-objdump +AVRDUDE=avrdude + +all: $(PROGRAM).hex $(PROGRAM).eep + +program: $(PROGRAM).hex $(PROGRAM).eep + $(AVRDUDE) $(AVRDUDE_FLAGS) -U flash:w:$(PROGRAM).hex:i -U eeprom:w:$(PROGRAM).eep:i + +program_flash: $(PROGRAM).hex + $(AVRDUDE) $(AVRDUDE_FLAGS) -U flash:w:$(PROGRAM).hex:i + +program_eeprom: $(PROGRAM).eep + $(AVRDUDE) $(AVRDUDE_FLAGS) eeprom:w:$(PROGRAM).eep:i + +dump_eeprom: + $(AVRDUDE) $(AVRDUDE_FLAGS) -U eeprom:r:eeprom.raw:r + od -tx1 eeprom.raw + +objdump: $(PROGRAM).elf + $(OBJDUMP) --disassemble $< + +.PRECIOUS : $(OBJ) $(PROGRAM).elf + +%.hex: %.elf + $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ + +%.eep: %.elf + $(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ + --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ + +%.elf: $(OBJ) + $(CC) $(CFLAGS) $(OBJ) -o $@ $(LDFLAGS) + +%.o: %.c lights.h Makefile + $(CC) -c $(CFLAGS) $< -o $@ + +%.s: %.c lights.h Makefile + $(CC) -S -c $(CFLAGS) $< -o $@ + +%.o: %.S + $(CC) -c $(CFLAGS) $< -o $@ + +clean: + rm -f $(PROGRAM).hex $(PROGRAM).eep $(PROGRAM).elf *.o *.s eeprom.raw + +.PHONY: all clean dump_eeprom program program_flash program_eeprom objdump + diff --git a/projects/step-up/adc.c b/projects/step-up/adc.c new file mode 100644 index 0000000..ef71477 --- /dev/null +++ b/projects/step-up/adc.c @@ -0,0 +1,256 @@ +#include +#include + +#include "lights.h" + +#define AMBIENT_ADC N_PWMLEDS +#define BATTERY_ADC (N_PWMLEDS + 1) +#define ADC1_GAIN20 (N_PWMLEDS + 2) +#define BUTTON_ADC (N_PWMLEDS + 3) +#define ZERO_ADC (N_PWMLEDS + 4) + +#define NUM_ADCS ZERO_ADC + +struct { + unsigned char read_zero_log : 2; + unsigned char read_drop_log : 2; + unsigned char read_keep_log : 4; +} adc_params[NUM_ADCS] = { + { 0, 1, PWMLED_ADC_SHIFT }, // pwmled 1 + { 0, 1, PWMLED_ADC_SHIFT }, // pwmled 2 + { 0, 1, PWMLED_ADC_SHIFT }, // pwmled 3 + { 0, 1, AMBIENT_ADC_SHIFT }, // ambient + { 0, 1, 0 }, // battery + { 0, 1, 0 }, // gain20 + { 0, 1, 0 }, // buttons +}; + +volatile static unsigned char current_adc, current_slow_adc; +static uint16_t adc_sum, zero_count, drop_count, read_count, n_reads_log; +#define ADC1_GAIN20_OFFSET_SHIFT 6 +static uint16_t adc1_gain20_offset; + + +static void setup_mux(unsigned char n) +{ + /* ADC numbering: PWM LEDs first, then others, zero at the end */ + switch (n) { + case 0: // pwmled 1: 1.1V, ADC0,1 (PA0,1), gain 20 + ADMUX = _BV(REFS1) | _BV(MUX3) | _BV(MUX1) | _BV(MUX0); + break; + case 1: // pwmled 2: 1.1V, ADC2,1 (PA2,1), gain 20 + ADMUX = _BV(REFS1) | _BV(MUX3) | _BV(MUX2) | _BV(MUX1); + break; + case 2: // pwmled 3: 1.1V, ADC4 (PA5), single-ended + ADMUX = _BV(REFS1) | _BV(MUX2); + break; + case AMBIENT_ADC: // ambient light: 1.1V, ADC5 (PA6), single-ended + ADMUX = _BV(REFS1) | _BV(MUX2) | _BV(MUX0); + break; + case BATTERY_ADC: // batt voltage: 1.1V, ADC6 (PA7), single-ended + ADMUX = _BV(REFS1) | _BV(MUX2) | _BV(MUX1); + break; + case ADC1_GAIN20: // gain stage offset: 1.1V, ADC1,1, gain 20 + ADMUX = _BV(REFS1) | _BV(MUX3) | _BV(MUX2) | _BV(MUX0); + break; + case BUTTON_ADC: // buttons: 1.1V, ADC3, single-ended + PORTA |= _BV(PA3); // +5V to the voltage splitter + ADMUX = _BV(REFS1) | _BV(MUX1) | _BV(MUX0); + break; + case ZERO_ADC: // zero: 1.1V, ADC1 (PA1), single-ended + ADMUX = _BV(REFS1) | _BV(MUX0); + break; + } +} + +static void start_next_adc() +{ + if (current_adc == 0) { + if (current_slow_adc > N_PWMLEDS) { + // read one of the non-PWMLED ADCs + current_adc = --current_slow_adc; + } else { + // no more non-PWMLEDs to do, start with PWMLEDs + current_adc = N_PWMLEDS-1; + } + } else if (current_adc >= N_PWMLEDS) { + // one of the non-PWMLED ADCs just finished, skip to PWMLEDs. + current_adc = N_PWMLEDS-1; + } else { + // next PWMLED + current_adc--; + } + +#if 0 + log_byte(0x90 + current_adc); // debug ADC switching +#endif + + adc_sum = 0; + // we use the last iteration of zero_count to set up the MUX + // to its final destination, hence the "1 +" below: + if (adc_params[current_adc].read_zero_log) + zero_count = 1 + (1 << (adc_params[current_adc].read_zero_log-1)); + else + zero_count = 1; + + if (adc_params[current_adc].read_drop_log) + drop_count = 1 << (adc_params[current_adc].read_drop_log - 1); + else + drop_count = 0; + + read_count = 1 << adc_params[current_adc].read_keep_log; + n_reads_log = adc_params[current_adc].read_keep_log; + + // set up mux, start one-shot conversion + if (zero_count > 1) + setup_mux(ZERO_ADC); + else + setup_mux(current_adc); + + ADCSRA |= _BV(ADSC); +} + +void timer_start_slow_adcs() +{ + if (current_slow_adc > N_PWMLEDS) { // Don't start if in progress + log_byte(0x80 + current_slow_adc); + } else { + current_slow_adc = NUM_ADCS; + // TODO: kick the watchdog here + } +} + +/* + * Single synchronous ADC conversion. + * Has to be called with IRQs disabled (or with the ADC IRQ disabled). + */ +static uint16_t read_adc_sync() +{ + uint16_t rv; + + ADCSRA |= _BV(ADSC); // start the conversion + + // wait for the conversion to finish + while((ADCSRA & _BV(ADIF)) == 0) + ; + + rv = ADCW; + ADCSRA |= _BV(ADIF); // clear the IRQ flag + + return rv; +} + +void init_adc() +{ + unsigned char i; + current_slow_adc = NUM_ADCS; + current_adc = 0; + + ADCSRA = _BV(ADEN) // enable + | _BV(ADPS1) | _BV(ADPS0) // CLK/8 = 125 kHz + // | _BV(ADPS2) // CLK/16 = 62.5 kHz + ; + // ADCSRB |= _BV(GSEL); // gain 8 or 32 + + // Disable digital input on all bits used by ADC + DIDR0 = _BV(ADC0D) | _BV(ADC1D) | _BV(ADC2D) | _BV(ADC3D) + | _BV(ADC4D) | _BV(ADC5D) | _BV(ADC6D); + + // 1.1V, ADC1,1, gain 20 + ADMUX = _BV(REFS1) | _BV(MUX3) | _BV(MUX2) | _BV(MUX0); + + /* Do first conversion and drop the result */ + read_adc_sync(); + + adc1_gain20_offset = 0; + + for (i = 0; i < (1 << ADC1_GAIN20_OFFSET_SHIFT); i++) { + adc1_gain20_offset += read_adc_sync() + - (adc1_gain20_offset >> ADC1_GAIN20_OFFSET_SHIFT); + } + + ADCSRA |= _BV(ADIE); // enable IRQ + + start_next_adc(); +} + +void susp_adc() +{ + ADCSRA = 0; + DIDR0 = 0; +} + +static void adc1_gain20_adc(uint16_t adcsum) +{ + // running average + adc1_gain20_offset += adcsum + - (adc1_gain20_offset >> ADC1_GAIN20_OFFSET_SHIFT); +} + +ISR(ADC_vect) { // IRQ handler + uint16_t adcval = ADCW; + + if (zero_count) { + if (zero_count > 1) { + ADCSRA |= _BV(ADSC); + zero_count--; + return; + } else { + setup_mux(current_adc); + zero_count = 0; + /* fall through */ + } + } + + if (drop_count) { + ADCSRA |= _BV(ADSC); // drop this one, start the next + drop_count--; + return; + } + + if (read_count) { + ADCSRA |= _BV(ADSC); + adc_sum += adcval; + read_count--; + return; + } + + /* + * Now we have performed read_count measurements and have them + * in adc_sum. + */ + + // For inputs with gain, subtract the measured gain stage offset + if (current_adc < 2) { + uint16_t offset = adc1_gain20_offset + >> (ADC1_GAIN20_OFFSET_SHIFT - n_reads_log); + + if (adc_sum > offset) + adc_sum -= offset; + else + adc_sum = 0; + } + + switch (current_adc) { + case 0: + case 1: + case 2: + pwmled_adc(current_adc, adc_sum); + break; + case AMBIENT_ADC: + ambient_adc(adc_sum); + break; + case BATTERY_ADC: + battery_adc(adc_sum); + break; + case BUTTON_ADC: + button_adc(adc_sum); + break; + case ADC1_GAIN20: + adc1_gain20_adc(adcval); + break; + } + + start_next_adc(); +} + diff --git a/projects/step-up/lights.h b/projects/step-up/lights.h new file mode 100644 index 0000000..772613a --- /dev/null +++ b/projects/step-up/lights.h @@ -0,0 +1,117 @@ +#ifndef LIGHTS_H__ +#define LIGHTS_H__ 1 + +#define TESTING_FW 1 + +#define N_LEDS 7 +#define N_PWMLEDS 3 +#define N_PWMLED_MODES 4 + +#define N_BUTTONS 2 + +/* logging.c */ +#ifdef USE_LOGGING +void init_log(); +void log_set_state(unsigned char val); +void log_flush(); +void log_byte(unsigned char byte); +void log_word(uint16_t word); +#else +void inline init_log() { } +void inline log_set_state(unsigned char val) { } +void inline log_flush() { } +void inline log_byte(unsigned char byte) { } +void inline log_word(uint16_t word) { } +#endif + +/* adc.c */ +#define PWMLED_ADC_SHIFT 1 /* 1<<1 measurements per single callback */ +void init_adc(); +void susp_adc(); +void timer_start_slow_adcs(); + +/* pwm.c */ +/* + * The real Timer/Counter 1 frequency should not be too close to the + * A/D converter frequency (125 kHz). Note that this is not the Top + * value of T/C 1, it is shifted by PWM_STEP_SHIFT as described in pwm.c + */ +#define PWM_MAX 0x780 +void init_pwm(); +void susp_pwm(); +void pwm_off(unsigned char n); +void pwm_set(unsigned char n, uint16_t stride); +void pwm_timer(); + +/* tmr.c */ +extern volatile uint16_t jiffies; +void init_tmr(); +void susp_tmr(); + +/* pwmled.c */ +void init_pwmled(); +void pwmled_adc(unsigned char n, uint16_t adcval); +void pwmled_set_mode(unsigned char n, unsigned char mode); + +/* gpio.c */ +void init_gpio(); +void susp_gpio(); +void gpio_set(unsigned char n, unsigned char on); + +/* ambient.c */ +#define AMBIENT_ADC_SHIFT 0 /* 1 measurement per callback */ +void init_ambient(); +extern volatile unsigned char ambient_zone; +void ambient_adc(uint16_t adc_val); + +/* pattern.c */ +typedef struct { + unsigned char mode: 3; + unsigned char duration: 5; +} pattern_t; + +#define PATTERN_END { 0, 0 } +void init_pattern(); +void patterns_next_tick(); +void led_set_pattern(unsigned char led, pattern_t *pattern); +pattern_t *number_pattern(unsigned char num, unsigned char inv); +void pattern_reload(); + +/* buttons.c */ +#define MAX_USER_PARAMS 3 +void init_buttons(); +void susp_buttons(); +void timer_check_buttons(); +void button_adc(uint16_t adcval); +unsigned char get_user_param(unsigned char param); +unsigned char buttons_wait_for_release(); +unsigned char buttons_setup_in_progress(); +pattern_t *buttons_setup_status0_pattern_select(); +pattern_t *buttons_setup_status1_pattern_select(); + +/* battery.c */ +extern volatile unsigned char battery_critical; +void battery_adc(); +void init_battery(); +unsigned char battery_gauge(); + +/* control.c */ +extern pattern_t on1_pattern[]; + +void init_control(); +void brake_on(); +void brake_off(); +void toggle_dim_mode(); +void set_panic_mode(); +pattern_t *pwmled0_pattern_select(); +pattern_t *pwmled1_pattern_select(); +pattern_t *pwmled2_pattern_select(); +pattern_t *status_led_pattern_select(); +pattern_t *illumination_led_pattern_select(); +pattern_t *laser_pattern_select(); + +/* main.c */ +void power_down(); + +#endif /* !LIGHTS_H__ */ + diff --git a/projects/step-up/logging.c b/projects/step-up/logging.c new file mode 100644 index 0000000..2b8d242 --- /dev/null +++ b/projects/step-up/logging.c @@ -0,0 +1,81 @@ +#ifdef USE_LOGGING + +#include +#include + +#include "lights.h" + +#define LOG_BUFFER 128 +static unsigned char log_buffer_ee[LOG_BUFFER] EEMEM; +static unsigned char log_buffer_count; +static unsigned char log_buffer[LOG_BUFFER]; +static unsigned char log_state EEMEM; +/* Upper 4 bits are reset count, lower 4 bits are reset reason from MCUSR */ +static unsigned char reboot_count EEMEM = 0; +static unsigned char can_write_eeprom = 0; +static uint16_t flushed_end; + +void log_set_state(unsigned char val) +{ + if (can_write_eeprom) + eeprom_write_byte(&log_state, val); +} + +void init_log() +{ + unsigned char r_count; + + r_count = eeprom_read_byte(&reboot_count); + r_count >>= 4; + + if (r_count < 5) { + r_count++; + eeprom_write_byte(&reboot_count, + (r_count << 4) | (MCUSR & 0xF)); + MCUSR = 0; + can_write_eeprom = 1; + } else { + //eeprom_write_byte(&log_state, 0xFF); + can_write_eeprom = 0; + } + + log_set_state(1); + log_buffer_count = 0; + flushed_end = 0; +} + +void log_byte(unsigned char byte) { + if (log_buffer_count >= LOG_BUFFER) + return; + + // eeprom_write_word(&log_buffer[log_buffer_count], word); + log_buffer[log_buffer_count++] = byte; + + if (log_buffer_count == LOG_BUFFER) + log_flush(); +} + +void log_word(uint16_t word) { + log_byte(word & 0xFF); + log_byte(word >> 8); +} + +void log_flush() { + unsigned char i; + + if (!can_write_eeprom) + return; + + for (i=flushed_end; i < log_buffer_count; i++) { + eeprom_write_byte(&log_buffer_ee[i], + log_buffer[i]); + } + + flushed_end = i; + + if (flushed_end == LOG_BUFFER) + log_set_state(0x42); +} + +#endif + diff --git a/projects/step-up/main.c b/projects/step-up/main.c new file mode 100644 index 0000000..90bea63 --- /dev/null +++ b/projects/step-up/main.c @@ -0,0 +1,92 @@ +#include +#include +#include +#include +#include +#include + +#include "lights.h" + +static void hw_setup() +{ + wdt_enable(WDTO_1S); + + init_battery(); + init_pwm(); + init_adc(); + init_tmr(); + init_buttons(); + + init_pwmled(); + init_gpio(); + init_ambient(); + init_pattern(); + init_control(); + + set_sleep_mode(SLEEP_MODE_IDLE); +} + +static void hw_suspend() +{ + susp_pwm(); + susp_adc(); + susp_tmr(); + susp_gpio(); + susp_buttons(); + + wdt_disable(); +} + +void power_down() +{ + hw_suspend(); + + do { + // G'night + set_sleep_mode(SLEEP_MODE_PWR_DOWN); + sleep_enable(); + sleep_bod_disable(); + sei(); + sleep_cpu(); + + // G'morning + cli(); + sleep_disable(); + + // allow wakeup by long button-press only + } while (!buttons_wait_for_release()); + + // ok, so I will wake up + hw_setup(); +} + +int main(void) +{ + init_log(); + + power_usi_disable(); // Once for lifetime + ACSRA |= _BV(ACD); // disable analog comparator + + log_set_state(3); + + hw_setup(); + power_down(); + + sei(); +#if 1 + while (1) { + wdt_reset(); + sleep_mode(); + } +#endif + +#if 0 + DDRB |= _BV(PB2); + while (1) { + PORTB |= _BV( PB2 ); + _delay_ms(200); + PORTB &=~ _BV( PB2 ); + _delay_ms(200); + } +#endif +} diff --git a/projects/step-up/pattern.c b/projects/step-up/pattern.c new file mode 100644 index 0000000..55b64cc --- /dev/null +++ b/projects/step-up/pattern.c @@ -0,0 +1,199 @@ +#include +#include // for NULL + +#include "lights.h" + +static unsigned char led_counters[N_LEDS]; +static pattern_t *led_patterns[N_LEDS]; + +static pattern_t boot_pattern[] = { + { 1, 0x6 }, + { 0, 0x6 }, + { 1, 0x3 }, + { 0, 0x3 }, + { 1, 0x2 }, + { 0, 0x2 }, + { 1, 0x1 }, + { 0, 0x1 }, + { 1, 0x1 }, + { 0, 0x1 }, + { 1, 0x1 }, + { 0, 0x1 }, + { 1, 0x1 }, + { 0, 0x1 }, + { 1, 0x10 }, + { 0, 0x10 }, + PATTERN_END +}; + +static pattern_t pattern_num[] = { + { 0, 0x5 }, + { 1, 0x1 }, /* 10 */ + { 0, 0x5 }, + { 1, 0x1 }, /* 9 */ + { 0, 0x5 }, + { 1, 0x1 }, /* 8 */ + { 0, 0x5 }, + { 1, 0x1 }, /* 7 */ + { 0, 0x5 }, + { 1, 0x1 }, /* 6 */ + { 0, 0x5 }, + { 1, 0x1 }, /* 5 */ + { 0, 0x5 }, + { 1, 0x1 }, /* 4 */ + { 0, 0x5 }, + { 1, 0x1 }, /* 3 */ + { 0, 0x5 }, + { 1, 0x1 }, /* 2 */ + { 0, 0x5 }, + { 1, 0x1 }, /* 1 */ + { 0, 0xF }, + PATTERN_END +}; + +static pattern_t pattern_invnum[] = { + { 1, 0x5 }, + { 0, 0x1 }, /* 10 */ + { 1, 0x5 }, + { 0, 0x1 }, /* 9 */ + { 1, 0x5 }, + { 0, 0x1 }, /* 8 */ + { 1, 0x5 }, + { 0, 0x1 }, /* 7 */ + { 1, 0x5 }, + { 0, 0x1 }, /* 6 */ + { 1, 0x5 }, + { 0, 0x1 }, /* 5 */ + { 1, 0x5 }, + { 0, 0x1 }, /* 4 */ + { 1, 0x5 }, + { 0, 0x1 }, /* 3 */ + { 1, 0x5 }, + { 0, 0x1 }, /* 2 */ + { 1, 0x5 }, + { 0, 0x1 }, /* 1 */ + { 1, 0xF }, + PATTERN_END +}; + +pattern_t off_pattern[] = { + { 0, 0x1 }, + PATTERN_END +}; + +static void led_set_mode(unsigned char n, unsigned char mode) +{ + if (n < N_PWMLEDS) { + pwmled_set_mode(n, mode); + } else if (n < N_LEDS) { + gpio_set(n - N_PWMLEDS, mode); + } +} + +void led_set_pattern(unsigned char n, pattern_t *pattern) +{ + if (!pattern) + pattern = off_pattern; + + led_patterns[n] = pattern; + + led_counters[n] = pattern->duration; + led_set_mode(n, pattern->mode); +} + +void init_pattern() +{ + unsigned char i; + + for (i = 0; i < N_LEDS; i++) + led_set_pattern(i, NULL); + + led_set_pattern(N_PWMLEDS+1, boot_pattern); +} + +pattern_t *number_pattern(unsigned char num, unsigned char inv) +{ + if (num >= 10) + num = 10; + + if (inv) { + return pattern_invnum + + sizeof(pattern_invnum)/sizeof(pattern_t) + - 2 - 2*num; + } else { + return pattern_num + + sizeof(pattern_num)/sizeof(pattern_t) + - 2 - 2*num; + } +} + +static pattern_t *pattern_select(unsigned char n) +{ + switch(n) { + case 0: return pwmled0_pattern_select(); + case 1: return pwmled1_pattern_select(); + case 2: return pwmled2_pattern_select(); + case 3: return status_led_pattern_select(); + case 4: return illumination_led_pattern_select(); + case 6: return laser_pattern_select(); + default: return NULL; + } +} + +void pattern_reload() +{ + unsigned char i; + + for (i = 0; i < N_LEDS; i++) + led_set_pattern(i, pattern_select(i)); +} + +static void inline pattern_finished(unsigned char n) +{ + unsigned char i; + + led_patterns[n] = NULL; + + if (n < N_PWMLEDS) { + for (i = 0; i < N_PWMLEDS; i++) + if (led_patterns[i]) + return; + + /* all pwmleds finished; restart them */ + for (i = 0; i < N_PWMLEDS; i++) + led_set_pattern(i, pattern_select(i)); + } else if (n == 3) { + if (!led_patterns[4]) + led_set_pattern(4, pattern_select(4)); + } else if (n == 4) { + if (!led_patterns[3]) + led_set_pattern(3, pattern_select(3)); + } else { + led_set_pattern(n, pattern_select(n)); + } +} + +void patterns_next_tick() +{ + unsigned char i; + + for (i = 0; i < N_LEDS; i++) { + if (!led_patterns[i]) { + pattern_finished(i); + continue; + } + + if (--led_counters[i] == 0) { + pattern_t *p = led_patterns[i]; + p++; + if (p->duration == 0) { // END + /* Keep the last state, wait for others */ + pattern_finished(i); + continue; + } + led_set_pattern(i, p); + } + + } +} + diff --git a/projects/step-up/pwm.c b/projects/step-up/pwm.c new file mode 100644 index 0000000..b472273 --- /dev/null +++ b/projects/step-up/pwm.c @@ -0,0 +1,144 @@ +#include +#include +#include +#include + +#include "lights.h" + +#define PWM_STEP_SHIFT 2 /* sub-LSB precision */ +#define PWM_TOP (((PWM_MAX) + (4 << (PWM_STEP_SHIFT))) >> (PWM_STEP_SHIFT)) +#if PWM_TOP > 0x3FF +#error PWM_TOP too high +#endif + +static uint16_t pwm[N_PWMLEDS]; +static volatile unsigned char step; + +static void enable_pll() +{ + /* Async clock */ + PLLCSR = _BV(PLLE); + + /* Synchronize to the phase lock */ + _delay_us(100); + while ((PLLCSR & _BV(PLOCK)) == 0) + ; + PLLCSR |= _BV(PCKE); +} + +void init_pwm() +{ + int i; + + step = 0; + + for (i = 0; i < N_PWMLEDS; i++) + pwm[i] = 0; + + enable_pll(); + + // PWM channel D is inverted, ... + TCCR1C = _BV(COM1D1) | _BV(COM1D0) | _BV(PWM1D); + // PWM channels A and B are not + TCCR1A = _BV(COM1A1) | _BV(COM1B1) | _BV(PWM1A) | _BV(PWM1B); + TCCR1D = 0; + TCCR1B = _BV(CS10); // no clock prescaling + + TC1H = PWM_TOP >> 8; + OCR1C = PWM_TOP & 0xFF; // TOP value + + TC1H = PWM_TOP >> 8; // PWM3 is inverted + OCR1D = PWM_TOP & 0xFF; + + TC1H = 0x00; + OCR1B = OCR1A = 0; // initial stride is 0 + + DDRB &= ~(_BV( PB1 ) | _BV( PB3 ) | _BV( PB5 )); // tristate it + PORTB &= ~(_BV( PB1 ) | _BV( PB3 ) | _BV( PB5 )); // set to zero +} + +void susp_pwm() +{ + unsigned char i; + + for (i = 0; i < N_PWMLEDS; i++) + pwm[i] = 0; + + DDRB &= ~(_BV( PB1 ) | _BV( PB3 ) | _BV( PB5 )); + TCCR1D = TCCR1C = TCCR1B = TCCR1A = 0; + TIMSK = 0; + TIFR = 0; + + PLLCSR &= ~(_BV(PLLE) | _BV(PCKE)); +} + +void pwm_off(unsigned char n) +{ + ATOMIC_BLOCK(ATOMIC_RESTORESTATE) { + pwm[n] = 0; + + switch (n) { + case 0: DDRB &= ~_BV(PB1); break; + case 1: DDRB &= ~_BV(PB3); break; + case 2: DDRB &= ~_BV(PB5); break; + } + } +} + +static void pwm_update_hw(unsigned char n) +{ + unsigned char hi, lo; + uint16_t stride = (pwm[n] + step) >> PWM_STEP_SHIFT; + + if (n == 2) + stride = PWM_TOP - stride; + + hi = stride >> 8; + lo = stride & 0xFF; + + switch (n) { + case 0: + TC1H = hi; + OCR1A = lo; + break; + case 1: + TC1H = hi; + OCR1B = lo; + break; + case 2: + TC1H = hi; + OCR1D = lo; + break; + } +} + +void pwm_set(unsigned char n, uint16_t stride) +{ + if (stride > PWM_MAX) + stride = PWM_MAX; + + ATOMIC_BLOCK(ATOMIC_RESTORESTATE) { + pwm[n] = stride; + + pwm_update_hw(n); + + switch(n) { + case 0: DDRB |= _BV(PB1); break; + case 1: DDRB |= _BV(PB3); break; + case 2: DDRB |= _BV(PB5); break; + } + } +} + +void pwm_timer() +{ + unsigned char i; + + if (++step >= (1 << PWM_STEP_SHIFT)) + step = 0; + + for (i = 0; i < N_PWMLEDS; i++) + if (pwm[i]) + pwm_update_hw(i); +} + diff --git a/projects/step-up/pwmled.c b/projects/step-up/pwmled.c new file mode 100644 index 0000000..9aa6d80 --- /dev/null +++ b/projects/step-up/pwmled.c @@ -0,0 +1,244 @@ +#include + +#include "lights.h" + +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 */ + 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( 18, 20), + MA_GAIN_TO_ADC( 23, 20), + /* pwmled2 */ + 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 +}; + +#define ST_DISABLED 0 +#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) + +void init_pwmled() +{ + 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_set_mode(unsigned char n, unsigned char mode) +{ + pwmled_t *led = pwmleds + n; + + 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; + } + + 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); + } +} + +#define PWMLED_PROBE_STEADY_COUNT 10 + +static inline unsigned char pwmled_probed_ok(unsigned char n, uint16_t old_pwm) +{ + pwmled_t *led = pwmleds + n; + + if (led->pwm == old_pwm) { + if (led->probe_steady < PWMLED_PROBE_STEADY_COUNT) + led->probe_steady++; + } else { + led->probe_steady = 0; + } + + if (led->probe_steady < PWMLED_PROBE_STEADY_COUNT + && old_pwm <= led->pwm) + return 0; + + // 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; + + led->state = ST_OFF; + pwm_off(n); + + log_byte(0xF0); + log_byte(n); + log_word(jiffies); + + for (i = 0; i < N_PWMLED_MODES; i++) + log_word(led->mode_pwm[i]); + + log_flush(); + + pattern_reload(); + + return 1; + } +} + +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(); +} + + +void pwmled_adc(unsigned char n, uint16_t adcval) +{ + pwmled_t *led = pwmleds + n; + uint16_t old_pwm; + int32_t sum; + unsigned char shift; + + if (!ST_IS_ON(led->state)) + return; + + if (led->state == ST_ON && led->mode_changed) { + led->mode_changed--; + return; + } + // FIXME: test for maximum adcval value (adc_max[n]) + + old_pwm = led->pwm; + + shift = led->state == ST_PROBING ? 3 : 8; + + 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; + } + + if (led->state == ST_PROBING) + if (pwmled_probed_ok(n, old_pwm)) + return; + + if (led->pwm == old_pwm) + return; + + pwm_set(n, led->pwm); +} + -- 2.39.3