From 1e8d24dc4081422bb6a3919f4762655084843892 Mon Sep 17 00:00:00 2001 From: Simon Schmidt Date: Sat, 3 Jul 2021 21:04:24 +0200 Subject: [PATCH] FSM mostly working, need to implement bufferd param changes --- lib/treppe/treppe.cpp | 309 ++++++++++++++---------------------------- lib/treppe/treppe.h | 78 ++++------- src/main.cpp | 14 -- 3 files changed, 131 insertions(+), 270 deletions(-) diff --git a/lib/treppe/treppe.cpp b/lib/treppe/treppe.cpp index 4ef455a..aee8b6b 100644 --- a/lib/treppe/treppe.cpp +++ b/lib/treppe/treppe.cpp @@ -1,183 +1,79 @@ #include "treppe.h" -uint8_t Treppe::softstart_led(uint8_t led, uint16_t startval, uint16_t stopval) + +/* + 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) { - /* - 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; - } + if (fsm_outputs.dimmrichtung == DR_AUFDIMMEN) + current_pwm += differenz_pwm_pro_tick; 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; + current_pwm -= differenz_pwm_pro_tick; + pwmController.setChannelPWM(stufe, static_cast (current_pwm)); + + current_tick++; + if (current_tick >= ticks_pro_stufe) + return false; + return true; } -void Treppe::ledsequence() +/* + animation tick + - nach dem dimmen einer stufe wird die stufe weitergezählt + - abbruch am ende => anim_beendet = true; +*/ +void Treppe::anim_tick() { - 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 (direction) - { - led++; - if (led >= stairs) - finish = 1; - } - else - { - led--; - if (led < 0) - finish = 1; - } - } - } -} - -void Treppe::rampe() -{ - 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--; } - - 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; - } - - 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() -{ +// startbedingunen für animation +void Treppe::start_animation() { + anim_beendet = false; - 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); + 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; + } - 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.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(finish); - if(finish) // flanke nach finished reicht ? - finish = false; + fsm_inputs.anim_beendet = static_cast(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) +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; +} + +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); + + 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); +} + +// ################################################################################################################### +// GEBUFFERT => Erst im Ruhezustand übernehmen !!!! +void Treppe::set_idle_pwm(uint16_t _idle_brightness) { idle_brightness = _idle_brightness; - Serial.println("Treppe: idle brightness changed!"); - return idle_brightness; + berechne_dimmer(); + Serial.printf("Treppe: idle_brightness=%d\n", idle_brightness); } -uint16_t Treppe::setActive(uint16_t _active_brightness) +void Treppe::set_active_pwm(uint16_t _active_brightness) { active_brightness = _active_brightness; - Serial.println("Treppe: active brightness changed!"); - return active_brightness; + berechne_dimmer(); + Serial.printf("Treppe: active_brightness=%d\n", active_brightness); } -uint16_t Treppe::setTime(uint16_t _time_per_stair) +void Treppe::set_time_per_stair(uint16_t _time_per_stair) { time_per_stair = _time_per_stair; - Serial.println("Treppe: time changed!"); - return time_per_stair; -} - -void Treppe::setDirection(uint8_t _direction) -{ - 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 -} - -void Treppe::setState(uint8_t _state) -{ - 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"); - } + berechne_dimmer(); + Serial.printf("Treppe: time_per_stair=%d\n", time_per_stair); } \ No newline at end of file diff --git a/lib/treppe/treppe.h b/lib/treppe/treppe.h index c2c9864..2190572 100644 --- a/lib/treppe/treppe.h +++ b/lib/treppe/treppe.h @@ -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(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); }; \ No newline at end of file diff --git a/src/main.cpp b/src/main.cpp index 808cfe4..dc5b5e5 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -94,23 +94,9 @@ void setup() { os_timer_arm(&timer1, 20, true); } -#include - 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;