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FSM mostly working, need to implement bufferd param changes

tags/v1.0.0
Simon Schmidt 2 years ago
parent
af40298378
commit
1e8d24dc40
3 changed files with 130 additions and 269 deletions
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  1. 102
    205
      lib/treppe/treppe.cpp
  2. 28
    50
      lib/treppe/treppe.h
  3. 0
    14
      src/main.cpp

+ 102
- 205
lib/treppe/treppe.cpp View File

@@ -1,183 +1,79 @@
#include "treppe.h"

uint8_t Treppe::softstart_led(uint8_t led, uint16_t startval, uint16_t stopval)
{
/*
softstart task

- get's called at regular intervals (1ms at the moment)
- dimms single led (0 - 15, PCA9685 outputs) with linear intervals vom startval to stopval
- calculates pwm steps depending on startval, stopval and timeinterval
- -> results in constanst speed
- returns 1 if led dimming is running
- returns 0 if led dimming is finished

*/

static uint8_t lastled = 255;
static float current_pwm = 0;
static float stepsize = 1.0;
if (led != lastled)
{
pwmController.setChannelPWM(led, (uint16_t)startval);
lastled = led;
current_pwm = startval;
stepsize = INT_TIME * abs(stopval - startval) / (float)time_per_stair; // only valid at 1ms function call interval
return 1;
}

if (startval > stopval)
{
current_pwm -= stepsize;
}
else
{
current_pwm += stepsize;
}
// Serial.println((uint16_t)current_pwm);
pwmController.setChannelPWM(led, (uint16_t)current_pwm);
if (current_pwm > stopval - stepsize && current_pwm < stopval + stepsize)
{
if (stopval == 0)
pwmController.setChannelPWM(led, 0);
return 0;
}
return 1;
}

void Treppe::ledsequence()
/*
dimm_stufe
- dimmt stufe (0 - 15, PCA9685 outputs) mit linearen ticks
von idle bis active brightness
- return false solange gedimmt wird
- return true bei nächster stufe
*/
bool Treppe::dimm_stufe(uint8_t stufe)
{
static int8_t led = 0;
static uint16_t brightness = 0;
static uint16_t lastbrightness = 0;
static uint16_t status = 0;
uint16_t status_build = 0;
status_build |= direction << 8;
status_build |= state;
if (status_build != status)
{ // check if any parameter changed
finish = 0; // set state unfinished -> start action
if (direction)
led = 0; // reset led counter depending of direction
else
led = stairs - 1;
if (state)
{
brightness = active_brightness; // set brightness value depending of on/off
lastbrightness = idle_brightness;
}
else
{
brightness = idle_brightness;
lastbrightness = active_brightness;
}
status = status_build; // set parameter memory

Serial.printf("----Status Changed! onoff: %d, dir: %d\n", state, direction);
}
if (!finish)
{ // finish == 0 -> action pending
if (!softstart_led(led, lastbrightness, brightness))
{
Serial.printf("one LED finished: led: %d, last: %d, curr %d\n",
led, lastbrightness, brightness);
if (fsm_outputs.dimmrichtung == DR_AUFDIMMEN)
current_pwm += differenz_pwm_pro_tick;
else
current_pwm -= differenz_pwm_pro_tick;
pwmController.setChannelPWM(stufe, static_cast<uint16_t> (current_pwm));

if (direction)
{
led++;
if (led >= stairs)
finish = 1;
}
else
{
led--;
if (led < 0)
finish = 1;
}
}
}
current_tick++;
if (current_tick >= ticks_pro_stufe)
return false;
return true;
}

void Treppe::rampe()
/*
animation tick
- nach dem dimmen einer stufe wird die stufe weitergezählt
- abbruch am ende => anim_beendet = true;
*/
void Treppe::anim_tick()
{
if (state)
if (!dimm_stufe(stufe))
{
finish = 0;
state = 0; // set parameter memory
}
Serial.printf("anim_tick(): stufe: %d, start: %d, ziel: %d, current %f\n",
stufe, start_pwm, ziel_pwm, current_pwm);

if (!finish)
{
if (direction)
{ // aufwärts
if (tick >= ticks_treppe - 1)
{ // ziel erreicht
Serial.println("[Treppe] oberster tick !");
finish = 1;
if (fsm_outputs.laufrichtung == LR_HOCH)
{
if (stufe >= stufen-1) {
anim_beendet = true;
return;
}
tick++; // eins hoch
stufe++;
}
else
{ // abwärts
if (tick <= 0)
{ // ziel erreicht
Serial.println("[Treppe] unterster tick !");
finish = 1;
{
if (stufe <= 0) {
anim_beendet = true;
return;
}
tick--; // eins runter
}

stufe = tick / ticks_pro_stufe;

float new_pwm = 0.0;
if (an_aus)
{
new_pwm = differenz_pwm_pro_tick * (tick - ticks_pro_stufe * stufe);
new_pwm += idle_brightness;
if (direction)
new_pwm += differenz_pwm_pro_tick;
}
else
{
new_pwm = active_brightness - differenz_pwm_pro_tick * (tick - ticks_pro_stufe * stufe);
new_pwm += idle_brightness;
if (direction)
new_pwm -= differenz_pwm_pro_tick;
stufe--;
}

pwmController.setChannelPWM(stufe, (uint16_t)new_pwm);
Serial.printf("tick %04u, led %02d:%02u, pwm %4.1f\n",
tick,
stufe,
(tick - ticks_pro_stufe * stufe),
new_pwm);
current_tick = 0;
current_pwm = start_pwm;
}
}

void Treppe::setup()
{

pwmController.resetDevices();
// Deactive PCA9685 Phase Balancer due to LED Flickering
// https://github.com/NachtRaveVL/PCA9685-Arduino/issues/15
// see also lib/PCA9685-Arduin/PCA9685.h:204
pwmController.init(PCA9685_PhaseBalancer_None);
//pwmController.init(PCA9685_PhaseBalancer_Linear);
pwmController.setPWMFrequency(100);
pwmController.setAllChannelsPWM(idle_brightness);
// startbedingunen für animation
void Treppe::start_animation() {
anim_beendet = false;

pinMode(A0, INPUT);
pinMode(SENSOR_OBEN, INPUT);
pinMode(SENSOR_UNTEN, INPUT);
pinMode(OE, OUTPUT);
digitalWrite(OE, 0);
if(fsm_outputs.laufrichtung == LR_HOCH)
stufe = 0;
else
stufe = stufen-1;
if(fsm_outputs.dimmrichtung == DR_AUFDIMMEN) {
start_pwm = idle_brightness;
ziel_pwm = active_brightness;
} else {
start_pwm = active_brightness;
ziel_pwm = idle_brightness;
}

Serial.printf("differenz_pwm_pro_tick %f\n", differenz_pwm_pro_tick);
Serial.println("Hello from Treppe");
Serial.print("Treppe: initial parameters: stairs=");
Serial.println(stairs);
current_tick = 0;
current_pwm = start_pwm;
}

void Treppe::print_state_on_change()
@@ -214,68 +110,69 @@ void Treppe::task()

fsm_inputs.sensor_oben = read_sensor(SENSOR_OBEN);
fsm_inputs.sensor_unten = read_sensor(SENSOR_UNTEN);
fsm_inputs.anim_beendet = static_cast<bool>(finish);
if(finish) // flanke nach finished reicht ?
finish = false;
fsm_inputs.anim_beendet = static_cast<bool>(anim_beendet);

FSMTreppe_Obj.setExternalInputs(&fsm_inputs);
FSMTreppe_Obj.step();
fsm_outputs = FSMTreppe_Obj.getExternalOutputs();
print_state_on_change();

direction = fsm_outputs.laufrichtung;
state = fsm_outputs.dimmrichtung;

if(fsm_outputs.status > ST_INAKTIV_LDR) {
ledsequence();
if(fsm_outputs.status > ST_RUHEZUSTAND) {
if( anim_beendet == true &&
( fsm_outputs.status == ST_AUFDIMMEN_HOCH || fsm_outputs.status == ST_ABDIMMEN_HOCH ||
fsm_outputs.status == ST_AUFDIMMEN_RUNTER || fsm_outputs.status == ST_ABDIMMEN_RUNTER ))
{
start_animation();
}
if( !anim_beendet )
anim_tick();
}
// setTick(ticks_treppe);
// setAnAus(1);
// setDirection(0);
// setState(0);
}

uint16_t Treppe::setIdle(uint16_t _idle_brightness)
{
idle_brightness = _idle_brightness;
Serial.println("Treppe: idle brightness changed!");
return idle_brightness;
void Treppe::berechne_dimmer() {
ticks_pro_stufe = time_per_stair / 20; // [ms]
differenz_pwm_pro_tick = (float) (active_brightness - idle_brightness)
/ (float) ticks_pro_stufe;
}
uint16_t Treppe::setActive(uint16_t _active_brightness)

void Treppe::setup()
{
active_brightness = _active_brightness;
Serial.println("Treppe: active brightness changed!");
return active_brightness;
pwmController.resetDevices();
// Deactive PCA9685 Phase Balancer due to LED Flickering
// https://github.com/NachtRaveVL/PCA9685-Arduino/issues/15
// see also lib/PCA9685-Arduin/PCA9685.h:204
pwmController.init(PCA9685_PhaseBalancer_None);
//pwmController.init(PCA9685_PhaseBalancer_Linear);
pwmController.setPWMFrequency(100);
pwmController.setAllChannelsPWM(idle_brightness);

pinMode(A0, INPUT);
pinMode(SENSOR_OBEN, INPUT);
pinMode(SENSOR_UNTEN, INPUT);
pinMode(OE, OUTPUT);
digitalWrite(OE, 0);

Serial.printf("differenz_pwm_pro_tick %f\n", differenz_pwm_pro_tick);
Serial.printf("Treppe: initial parameters: stufen=%d\n", stufen);
}
uint16_t Treppe::setTime(uint16_t _time_per_stair)

// ###################################################################################################################
// GEBUFFERT => Erst im Ruhezustand übernehmen !!!!
void Treppe::set_idle_pwm(uint16_t _idle_brightness)
{
time_per_stair = _time_per_stair;
Serial.println("Treppe: time changed!");
return time_per_stair;
idle_brightness = _idle_brightness;
berechne_dimmer();
Serial.printf("Treppe: idle_brightness=%d\n", idle_brightness);
}

void Treppe::setDirection(uint8_t _direction)
void Treppe::set_active_pwm(uint16_t _active_brightness)
{
switch_direction = _direction;
Serial.printf("Treppe: switch_direction=%d!\n", switch_direction);
if (finish)
Serial.println("apply direction request immediately");
else
Serial.println("currently active, dir change afterwards");
// to do: implement state command variable to determine dimm-state
active_brightness = _active_brightness;
berechne_dimmer();
Serial.printf("Treppe: active_brightness=%d\n", active_brightness);
}

void Treppe::setState(uint8_t _state)
void Treppe::set_time_per_stair(uint16_t _time_per_stair)
{
if (state == _state)
return;
else
{
switch_state = _state;
Serial.printf("Treppe: switch_state=%d!\n", switch_state);
if (finish)
Serial.println("apply state request immediately");
else
Serial.println("currently active, state changes after activity");
}
time_per_stair = _time_per_stair;
berechne_dimmer();
Serial.printf("Treppe: time_per_stair=%d\n", time_per_stair);
}

+ 28
- 50
lib/treppe/treppe.h View File

@@ -11,26 +11,25 @@

class Treppe {
private:
uint8_t stairs;
uint16_t time_per_stair = 300; // dimmtime per stair [ms]
const uint8_t stufen;
uint16_t time_per_stair = 300; // dimmtime per stair [ms]
uint16_t idle_brightness = 0;
uint16_t active_brightness = 500;

uint8_t direction = 0;
uint8_t switch_direction = 0;
uint8_t state = 0;
uint8_t switch_state = 0;
bool finish = 1;

// alternative
uint32_t tick = 0;
uint32_t stufe = 0;
uint8_t an_aus = 0;

uint32_t ticks_treppe = 0;
uint32_t ticks_pro_stufe = 0;
uint16_t start_pwm = 0;
uint16_t ziel_pwm = 0;
bool anim_beendet = true;
uint8_t stufe = 0;
uint16_t current_tick = 0;
float current_pwm = 0.0;
uint16_t ticks_pro_stufe = 0;
float differenz_pwm_pro_tick = 0.0;
// alternative
bool dimm_stufe(uint8_t stufe);
void anim_tick();
void start_animation();
void berechne_dimmer();

// initialize with i2c-Address 0, use Wire Library
PCA9685 pwmController;
@@ -48,25 +47,23 @@ private:
ST_WARTEN_RUNTER =6,
ST_ABDIMMEN_RUNTER =7
};
enum fsm_laufrichtung_t {
LR_RUNTER=0,
LR_HOCH=1
};
enum fsm_dimmrichtung_t {
DR_ABDIMMEN=0,
DR_AUFDIMMEN=1
};

uint8_t softstart_led(uint8_t led, uint16_t startval, uint16_t stopval);
void ledsequence();
void rampe();
bool read_sensor(int sensor) {
int pegel = digitalRead(sensor);
return static_cast<bool>(pegel);
}
public:
Treppe(uint8_t _stairs) : stairs(_stairs){
Treppe(uint8_t _stufen) : stufen(_stufen){
FSMTreppe_Obj.initialize();



ticks_pro_stufe = time_per_stair / 20; // [ms]
ticks_treppe = ticks_pro_stufe * stairs;

differenz_pwm_pro_tick = (float) (active_brightness - idle_brightness)
/ (float) ticks_pro_stufe;
berechne_dimmer();
}
~Treppe() {
FSMTreppe_Obj.terminate();
@@ -76,26 +73,7 @@ public:
void task(); // call periodically

// Parameter section
uint16_t setIdle(uint16_t _idle_brightness);
uint16_t setActive(uint16_t _active_brightness);
uint16_t setTime(uint16_t _time_per_stair);

void setTick(uint32_t _tick) {
tick = _tick;
Serial.printf("Treppe: Tick: %u!\n", tick);
}
uint32_t getTicks() {
return ticks_treppe;
}

// Runtime Parameter section
void setDirection(uint8_t _direction);
void setState(uint8_t _state);
void setAnAus(uint8_t _an_aus) {
an_aus = _an_aus;
}

uint8_t getState() { return state;};
uint8_t getFinished() { return finish;};
uint8_t getDirection() {return direction;};
void set_idle_pwm(uint16_t _idle_brightness);
void set_active_pwm(uint16_t _active_brightness);
void set_time_per_stair(uint16_t _time_per_stair);
};

+ 0
- 14
src/main.cpp View File

@@ -94,23 +94,9 @@ void setup() {
os_timer_arm(&timer1, 20, true);
}

#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;

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