FSM mostly working, need to implement bufferd param changes
This commit is contained in:
parent
af40298378
commit
1e8d24dc40
@ -1,183 +1,79 @@
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#include "treppe.h"
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uint8_t Treppe::softstart_led(uint8_t led, uint16_t startval, uint16_t stopval)
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/*
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dimm_stufe
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- dimmt stufe (0 - 15, PCA9685 outputs) mit linearen ticks
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von idle bis active brightness
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- return false solange gedimmt wird
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- return true bei nächster stufe
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*/
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bool Treppe::dimm_stufe(uint8_t stufe)
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{
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/*
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softstart task
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- get's called at regular intervals (1ms at the moment)
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- dimms single led (0 - 15, PCA9685 outputs) with linear intervals vom startval to stopval
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- calculates pwm steps depending on startval, stopval and timeinterval
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- -> results in constanst speed
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- returns 1 if led dimming is running
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- returns 0 if led dimming is finished
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*/
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static uint8_t lastled = 255;
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static float current_pwm = 0;
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static float stepsize = 1.0;
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if (led != lastled)
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{
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pwmController.setChannelPWM(led, (uint16_t)startval);
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lastled = led;
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current_pwm = startval;
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stepsize = INT_TIME * abs(stopval - startval) / (float)time_per_stair; // only valid at 1ms function call interval
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return 1;
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}
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if (startval > stopval)
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{
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current_pwm -= stepsize;
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}
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if (fsm_outputs.dimmrichtung == DR_AUFDIMMEN)
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current_pwm += differenz_pwm_pro_tick;
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else
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{
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current_pwm += stepsize;
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}
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// Serial.println((uint16_t)current_pwm);
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pwmController.setChannelPWM(led, (uint16_t)current_pwm);
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if (current_pwm > stopval - stepsize && current_pwm < stopval + stepsize)
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{
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if (stopval == 0)
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pwmController.setChannelPWM(led, 0);
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return 0;
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}
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return 1;
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current_pwm -= differenz_pwm_pro_tick;
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pwmController.setChannelPWM(stufe, static_cast<uint16_t> (current_pwm));
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current_tick++;
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if (current_tick >= ticks_pro_stufe)
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return false;
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return true;
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}
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void Treppe::ledsequence()
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/*
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animation tick
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- nach dem dimmen einer stufe wird die stufe weitergezählt
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- abbruch am ende => anim_beendet = true;
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*/
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void Treppe::anim_tick()
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{
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static int8_t led = 0;
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static uint16_t brightness = 0;
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static uint16_t lastbrightness = 0;
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static uint16_t status = 0;
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uint16_t status_build = 0;
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status_build |= direction << 8;
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status_build |= state;
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if (status_build != status)
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{ // check if any parameter changed
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finish = 0; // set state unfinished -> start action
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if (direction)
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led = 0; // reset led counter depending of direction
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else
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led = stairs - 1;
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if (state)
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{
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brightness = active_brightness; // set brightness value depending of on/off
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lastbrightness = idle_brightness;
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}
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else
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{
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brightness = idle_brightness;
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lastbrightness = active_brightness;
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}
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status = status_build; // set parameter memory
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Serial.printf("----Status Changed! onoff: %d, dir: %d\n", state, direction);
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}
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if (!finish)
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{ // finish == 0 -> action pending
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if (!softstart_led(led, lastbrightness, brightness))
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{
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Serial.printf("one LED finished: led: %d, last: %d, curr %d\n",
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led, lastbrightness, brightness);
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if (direction)
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{
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led++;
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if (led >= stairs)
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finish = 1;
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}
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else
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{
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led--;
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if (led < 0)
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finish = 1;
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}
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}
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}
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}
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void Treppe::rampe()
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{
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if (state)
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if (!dimm_stufe(stufe))
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{
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finish = 0;
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state = 0; // set parameter memory
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}
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Serial.printf("anim_tick(): stufe: %d, start: %d, ziel: %d, current %f\n",
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stufe, start_pwm, ziel_pwm, current_pwm);
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if (!finish)
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{
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if (direction)
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{ // aufwärts
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if (tick >= ticks_treppe - 1)
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{ // ziel erreicht
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Serial.println("[Treppe] oberster tick !");
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finish = 1;
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if (fsm_outputs.laufrichtung == LR_HOCH)
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{
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if (stufe >= stufen-1) {
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anim_beendet = true;
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return;
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}
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tick++; // eins hoch
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stufe++;
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}
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else
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{ // abwärts
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if (tick <= 0)
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{ // ziel erreicht
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Serial.println("[Treppe] unterster tick !");
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finish = 1;
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{
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if (stufe <= 0) {
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anim_beendet = true;
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return;
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}
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tick--; // eins runter
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stufe--;
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}
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stufe = tick / ticks_pro_stufe;
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float new_pwm = 0.0;
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if (an_aus)
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{
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new_pwm = differenz_pwm_pro_tick * (tick - ticks_pro_stufe * stufe);
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new_pwm += idle_brightness;
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if (direction)
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new_pwm += differenz_pwm_pro_tick;
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}
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else
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{
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new_pwm = active_brightness - differenz_pwm_pro_tick * (tick - ticks_pro_stufe * stufe);
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new_pwm += idle_brightness;
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if (direction)
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new_pwm -= differenz_pwm_pro_tick;
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}
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pwmController.setChannelPWM(stufe, (uint16_t)new_pwm);
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Serial.printf("tick %04u, led %02d:%02u, pwm %4.1f\n",
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tick,
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stufe,
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(tick - ticks_pro_stufe * stufe),
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new_pwm);
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current_tick = 0;
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current_pwm = start_pwm;
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}
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}
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void Treppe::setup()
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{
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// startbedingunen für animation
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void Treppe::start_animation() {
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anim_beendet = false;
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pwmController.resetDevices();
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// Deactive PCA9685 Phase Balancer due to LED Flickering
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// https://github.com/NachtRaveVL/PCA9685-Arduino/issues/15
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// see also lib/PCA9685-Arduin/PCA9685.h:204
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pwmController.init(PCA9685_PhaseBalancer_None);
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//pwmController.init(PCA9685_PhaseBalancer_Linear);
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pwmController.setPWMFrequency(100);
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pwmController.setAllChannelsPWM(idle_brightness);
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if(fsm_outputs.laufrichtung == LR_HOCH)
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stufe = 0;
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else
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stufe = stufen-1;
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if(fsm_outputs.dimmrichtung == DR_AUFDIMMEN) {
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start_pwm = idle_brightness;
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ziel_pwm = active_brightness;
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} else {
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start_pwm = active_brightness;
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ziel_pwm = idle_brightness;
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}
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pinMode(A0, INPUT);
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pinMode(SENSOR_OBEN, INPUT);
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pinMode(SENSOR_UNTEN, INPUT);
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pinMode(OE, OUTPUT);
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digitalWrite(OE, 0);
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Serial.printf("differenz_pwm_pro_tick %f\n", differenz_pwm_pro_tick);
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Serial.println("Hello from Treppe");
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Serial.print("Treppe: initial parameters: stairs=");
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Serial.println(stairs);
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current_tick = 0;
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current_pwm = start_pwm;
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}
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void Treppe::print_state_on_change()
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@ -214,68 +110,69 @@ void Treppe::task()
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fsm_inputs.sensor_oben = read_sensor(SENSOR_OBEN);
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fsm_inputs.sensor_unten = read_sensor(SENSOR_UNTEN);
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fsm_inputs.anim_beendet = static_cast<bool>(finish);
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if(finish) // flanke nach finished reicht ?
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finish = false;
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fsm_inputs.anim_beendet = static_cast<bool>(anim_beendet);
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FSMTreppe_Obj.setExternalInputs(&fsm_inputs);
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FSMTreppe_Obj.step();
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fsm_outputs = FSMTreppe_Obj.getExternalOutputs();
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print_state_on_change();
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direction = fsm_outputs.laufrichtung;
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state = fsm_outputs.dimmrichtung;
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if(fsm_outputs.status > ST_INAKTIV_LDR) {
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ledsequence();
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if(fsm_outputs.status > ST_RUHEZUSTAND) {
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if( anim_beendet == true &&
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( fsm_outputs.status == ST_AUFDIMMEN_HOCH || fsm_outputs.status == ST_ABDIMMEN_HOCH ||
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fsm_outputs.status == ST_AUFDIMMEN_RUNTER || fsm_outputs.status == ST_ABDIMMEN_RUNTER ))
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{
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start_animation();
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}
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if( !anim_beendet )
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anim_tick();
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}
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// setTick(ticks_treppe);
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// setAnAus(1);
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// setDirection(0);
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// setState(0);
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}
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uint16_t Treppe::setIdle(uint16_t _idle_brightness)
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void Treppe::berechne_dimmer() {
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ticks_pro_stufe = time_per_stair / 20; // [ms]
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differenz_pwm_pro_tick = (float) (active_brightness - idle_brightness)
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/ (float) ticks_pro_stufe;
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}
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void Treppe::setup()
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{
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pwmController.resetDevices();
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// Deactive PCA9685 Phase Balancer due to LED Flickering
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// https://github.com/NachtRaveVL/PCA9685-Arduino/issues/15
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// see also lib/PCA9685-Arduin/PCA9685.h:204
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pwmController.init(PCA9685_PhaseBalancer_None);
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//pwmController.init(PCA9685_PhaseBalancer_Linear);
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pwmController.setPWMFrequency(100);
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pwmController.setAllChannelsPWM(idle_brightness);
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pinMode(A0, INPUT);
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pinMode(SENSOR_OBEN, INPUT);
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pinMode(SENSOR_UNTEN, INPUT);
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pinMode(OE, OUTPUT);
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digitalWrite(OE, 0);
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Serial.printf("differenz_pwm_pro_tick %f\n", differenz_pwm_pro_tick);
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Serial.printf("Treppe: initial parameters: stufen=%d\n", stufen);
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}
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// ###################################################################################################################
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// GEBUFFERT => Erst im Ruhezustand übernehmen !!!!
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void Treppe::set_idle_pwm(uint16_t _idle_brightness)
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{
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idle_brightness = _idle_brightness;
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Serial.println("Treppe: idle brightness changed!");
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return idle_brightness;
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berechne_dimmer();
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Serial.printf("Treppe: idle_brightness=%d\n", idle_brightness);
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}
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uint16_t Treppe::setActive(uint16_t _active_brightness)
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void Treppe::set_active_pwm(uint16_t _active_brightness)
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{
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active_brightness = _active_brightness;
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Serial.println("Treppe: active brightness changed!");
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return active_brightness;
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berechne_dimmer();
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Serial.printf("Treppe: active_brightness=%d\n", active_brightness);
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}
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uint16_t Treppe::setTime(uint16_t _time_per_stair)
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void Treppe::set_time_per_stair(uint16_t _time_per_stair)
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{
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time_per_stair = _time_per_stair;
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Serial.println("Treppe: time changed!");
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return time_per_stair;
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}
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void Treppe::setDirection(uint8_t _direction)
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{
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switch_direction = _direction;
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Serial.printf("Treppe: switch_direction=%d!\n", switch_direction);
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if (finish)
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Serial.println("apply direction request immediately");
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else
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Serial.println("currently active, dir change afterwards");
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// to do: implement state command variable to determine dimm-state
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}
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void Treppe::setState(uint8_t _state)
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{
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if (state == _state)
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return;
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else
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{
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switch_state = _state;
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Serial.printf("Treppe: switch_state=%d!\n", switch_state);
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if (finish)
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Serial.println("apply state request immediately");
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else
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Serial.println("currently active, state changes after activity");
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}
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berechne_dimmer();
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Serial.printf("Treppe: time_per_stair=%d\n", time_per_stair);
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}
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@ -11,26 +11,25 @@
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class Treppe {
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private:
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uint8_t stairs;
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uint16_t time_per_stair = 300; // dimmtime per stair [ms]
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const uint8_t stufen;
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uint16_t time_per_stair = 300; // dimmtime per stair [ms]
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uint16_t idle_brightness = 0;
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uint16_t active_brightness = 500;
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uint8_t direction = 0;
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uint8_t switch_direction = 0;
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uint8_t state = 0;
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uint8_t switch_state = 0;
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bool finish = 1;
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// alternative
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uint32_t tick = 0;
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uint32_t stufe = 0;
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uint8_t an_aus = 0;
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uint32_t ticks_treppe = 0;
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uint32_t ticks_pro_stufe = 0;
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uint16_t start_pwm = 0;
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uint16_t ziel_pwm = 0;
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bool anim_beendet = true;
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uint8_t stufe = 0;
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uint16_t current_tick = 0;
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float current_pwm = 0.0;
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uint16_t ticks_pro_stufe = 0;
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float differenz_pwm_pro_tick = 0.0;
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// alternative
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bool dimm_stufe(uint8_t stufe);
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void anim_tick();
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void start_animation();
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void berechne_dimmer();
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// initialize with i2c-Address 0, use Wire Library
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PCA9685 pwmController;
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@ -48,25 +47,23 @@ private:
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ST_WARTEN_RUNTER =6,
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ST_ABDIMMEN_RUNTER =7
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};
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enum fsm_laufrichtung_t {
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LR_RUNTER=0,
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LR_HOCH=1
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};
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enum fsm_dimmrichtung_t {
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DR_ABDIMMEN=0,
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DR_AUFDIMMEN=1
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};
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uint8_t softstart_led(uint8_t led, uint16_t startval, uint16_t stopval);
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void ledsequence();
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void rampe();
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bool read_sensor(int sensor) {
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int pegel = digitalRead(sensor);
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return static_cast<bool>(pegel);
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}
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public:
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Treppe(uint8_t _stairs) : stairs(_stairs){
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Treppe(uint8_t _stufen) : stufen(_stufen){
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FSMTreppe_Obj.initialize();
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ticks_pro_stufe = time_per_stair / 20; // [ms]
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ticks_treppe = ticks_pro_stufe * stairs;
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differenz_pwm_pro_tick = (float) (active_brightness - idle_brightness)
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/ (float) ticks_pro_stufe;
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berechne_dimmer();
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}
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~Treppe() {
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FSMTreppe_Obj.terminate();
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@ -76,26 +73,7 @@ public:
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void task(); // call periodically
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// Parameter section
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uint16_t setIdle(uint16_t _idle_brightness);
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uint16_t setActive(uint16_t _active_brightness);
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uint16_t setTime(uint16_t _time_per_stair);
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void setTick(uint32_t _tick) {
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tick = _tick;
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Serial.printf("Treppe: Tick: %u!\n", tick);
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}
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uint32_t getTicks() {
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return ticks_treppe;
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}
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// Runtime Parameter section
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void setDirection(uint8_t _direction);
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void setState(uint8_t _state);
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void setAnAus(uint8_t _an_aus) {
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an_aus = _an_aus;
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}
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uint8_t getState() { return state;};
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uint8_t getFinished() { return finish;};
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uint8_t getDirection() {return direction;};
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void set_idle_pwm(uint16_t _idle_brightness);
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void set_active_pwm(uint16_t _active_brightness);
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void set_time_per_stair(uint16_t _time_per_stair);
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};
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14
src/main.cpp
14
src/main.cpp
@ -94,23 +94,9 @@ void setup() {
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os_timer_arm(&timer1, 20, true);
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}
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#include <random>
|
||||
|
||||
uint32_t c = 0;
|
||||
|
||||
void loop() {
|
||||
// if(stairs.getState() == 0) {
|
||||
// delay(1000);
|
||||
|
||||
// // uint32_t t = rand() % stairs.getTicks();
|
||||
// // uint32_t d = rand() % 2;
|
||||
|
||||
// // stairs.setTick(t);
|
||||
// // stairs.setDirection(d);
|
||||
|
||||
// stairs.setDirection(!stairs.getDirection());
|
||||
// stairs.setState(1);
|
||||
// }
|
||||
if(inter){
|
||||
Serial.printf("interrupt\n");
|
||||
inter = 0;
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user