update readme

.gitignore

@@ -1,5 +1,9 @@
 .pio
 .vscode
+.vscode/*
+.vscode/**
+compress
+data_gz
 platformio.ini
 include/wifi_credentials.h
 include/*.gz.h

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "lib/PCA9685-Arduino"]
+	path = lib/PCA9685-Arduino
+	url = https://github.com/NachtRaveVL/PCA9685-Arduino

.vscode/extensions.json

@@ -1,7 +0,0 @@
-{
-    // See http://go.microsoft.com/fwlink/?LinkId=827846
-    // for the documentation about the extensions.json format
-    "recommendations": [
-        "platformio.platformio-ide"
-    ]
-}

.vscode/settings.json

@@ -1,52 +0,0 @@
-{
-    "files.associations": {
-        "random": "cpp",
-        "array": "cpp",
-        "*.tcc": "cpp",
-        "deque": "cpp",
-        "list": "cpp",
-        "string": "cpp",
-        "unordered_map": "cpp",
-        "vector": "cpp",
-        "string_view": "cpp",
-        "memory": "cpp",
-        "ranges": "cpp",
-        "initializer_list": "cpp",
-        "utility": "cpp",
-        "atomic": "cpp",
-        "bit": "cpp",
-        "cctype": "cpp",
-        "clocale": "cpp",
-        "cmath": "cpp",
-        "compare": "cpp",
-        "concepts": "cpp",
-        "cstdarg": "cpp",
-        "cstddef": "cpp",
-        "cstdint": "cpp",
-        "cstdio": "cpp",
-        "cstdlib": "cpp",
-        "cstring": "cpp",
-        "cwchar": "cpp",
-        "cwctype": "cpp",
-        "map": "cpp",
-        "set": "cpp",
-        "exception": "cpp",
-        "algorithm": "cpp",
-        "functional": "cpp",
-        "iterator": "cpp",
-        "memory_resource": "cpp",
-        "numeric": "cpp",
-        "optional": "cpp",
-        "system_error": "cpp",
-        "tuple": "cpp",
-        "type_traits": "cpp",
-        "iosfwd": "cpp",
-        "limits": "cpp",
-        "new": "cpp",
-        "ostream": "cpp",
-        "stdexcept": "cpp",
-        "streambuf": "cpp",
-        "cinttypes": "cpp",
-        "typeinfo": "cpp"
-    }
-}

README.md

@@ -1,8 +1,9 @@
-### Steps to run it
+### __How-To use this Project__
 
-https://arduino-esp8266.readthedocs.io/en/latest/ota_updates/readme.html
-
-##### create "include/wifi_credentials.h"
+1. Download and install [Visual Studio Code](https://code.visualstudio.com/download) 
+2. Install [PlatformIO IDE extension](https://platformio.org/install/ide?install=vscode) for Visual Studio Code 
+3. Download sources from master branch, "zip" or "git clone"
+4. Create [wifi_credentials.h](include/wifi_credentials.h) from [templ_wifi_credentials.h](include/templ_wifi_credentials.h) in include/
 
 ```cpp
 #ifndef __WIFI_CREDENTIALS_H
@@ -16,24 +17,31 @@ https://arduino-esp8266.readthedocs.io/en/latest/ota_updates/readme.html
 #endif // __WIFI_CREDENTIALS_H
 ```
 
-##### platformio.ini
-see templ_platformio_ini
+5. Create [platformio.ini](platformio.ini) from [templ_platformio_ini](templ_platformio_ini)
 
-```ini
-[env:<BOARD>]
-platform = espressif8266
-board = <BOARD>
-framework = arduino
-monitor_speed = 115200
-
-extra_scripts = pre:extra_script.py
-
-; stuff for OTA 
-; https://docs.platformio.org/en/latest/platforms/espressif8266.html#over-the-air-ota-update
-upload_protocol = espota
-upload_port = <IPADRESS>
-upload_flags =
-  --port=8266
-  --auth=admin
+```sh
+$ cp templ_platformio_ini platformio.ini
 ```
 
+6. __Uploading new firmware__
+
+```sh
+# upload program via ota
+$ pio run -t upload
+# upload file system via ota
+$ pio run -t uploadfs
+
+# upload program via Serial Port
+# Serial Port needs to be selected in platformio.ini
+$ pio run -t upload -e serial
+# upload file system via Serial Port
+$ pio run -t uploadfs -e serial
+```
+
+------
+
+Additional used sources and  libraries in this project and [DOKU.md](DOKU.md)
+- https://arduino-esp8266.readthedocs.io/en/latest/ota_updates/readme.html
+- https://github.com/NachtRaveVL/PCA9685-Arduino
+- https://arduino-esp8266.readthedocs.io/en/latest/gdb.html
+- check different environments inside [platformio.ini](platformio.ini)

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- 0xCB, 0x87, 0x14, 0x15, 0x46, 0x05, 0x8A, 0x6D, 0x61, 0x13, 
- 0xB8, 0x08, 0x57, 0x68, 0x29, 0x43, 0x64, 0x6A, 0xC6, 0x43, 
- 0x30, 0x6F, 0xEA, 0x83, 0x2D, 0x17, 0xA9, 0xCA, 0x0E, 0x21, 
- 0x5A, 0x49, 0xE5, 0x09, 0x2A, 0x28, 0x06, 0xD6, 0x58, 0x15, 
- 0xF0, 0x2A, 0x9D, 0xA1, 0xF6, 0x1E, 0x60, 0x94, 0x14, 0x19, 
- 0xA4, 0x92, 0x28, 0x18, 0xBC, 0x45, 0x9A, 0x65, 0xA2, 0x31, 
- 0x09, 0x5C, 0x1E, 0x43, 0x2E, 0x17, 0xEF, 0xDF, 0xC1, 0x63, 
- 0x81, 0x60, 0x76, 0xC2, 0xF2, 0x02, 0x22, 0xB0, 0x74, 0x48, 
- 0xD5, 0x1E, 0x98, 0xE7, 0xCE, 0x1F, 0x0D, 0x45, 0x43, 0x0D, 
- 0xEF, 0xDE, 0x13, 0xE6, 0xD6, 0x2E, 0x40, 0x56, 0x46, 0x58, 
- 0xA1, 0xA8, 0x0E, 0x8D, 0x92, 0x59, 0xF1, 0x1C, 0x18, 0xCB, 
- 0x84, 0xA9, 0x25, 0xA3, 0x16, 0x8B, 0xCA, 0x23, 0x4C, 0xA5, 
- 0x6A, 0xEB, 0xD8, 0x89, 0xCC, 0x16, 0x09, 0x5C, 0x77, 0x82, 
- 0xE8, 0xB0, 0x5F, 0x5E, 0x1D, 0x61, 0x52, 0x3D, 0xF7, 0x94, 
- 0x0E, 0x32, 0xCC, 0x59, 0x23, 0x2D, 0xDC, 0x3F, 0x7E, 0xFE, 
- 0x13, 0x78, 0x81, 0xFC, 0xC9, 0x55, 0x35, 0xAC, 0x41, 0x54, 
- 0x75, 0x63, 0x43, 0x25, 0xCA, 0xF1, 0x65, 0x29, 0x65, 0x3C, 
- 0xCC, 0x13, 0x8F, 0x92, 0xC4, 0x83, 0x0C, 0x8F, 0x53, 0x54, 
- 0xE1, 0x7B, 0x82, 0x8A, 0xA5, 0x44, 0x64, 0xD3, 0xCA, 0x83, 
- 0x37, 0xDA, 0x38, 0xC1, 0xD4, 0x4A, 0xB4, 0x22, 0x20, 0x6D, 
- 0xA8, 0xBA, 0xCB, 0x22, 0x31, 0xB7, 0xDD, 0xB7, 0x3E, 0x26, 
- 0x74, 0xDC, 0x5B, 0xAB, 0xCA, 0xFE, 0x34, 0x57, 0x25, 0xE7, 
- 0xDC, 0x3F, 0x45, 0x3B, 0x4C, 0x9F, 0x84, 0x8D, 0xAC, 0xA6, 
- 0xC9, 0x68, 0x2B, 0xD8, 0x5C, 0x99, 0x90, 0x68, 0x76, 0x17, 
- 0x14, 0x18, 0xEA, 0x4E, 0x52, 0xCC, 0x95, 0xC6, 0xD7, 0xCB, 
- 0x27, 0xFD, 0x91, 0x7A, 0x13, 0x78, 0xF3, 0x66, 0xC4, 0xCA, 
- 0x45, 0x27, 0xC6, 0x96, 0xB3, 0xFE, 0x1C, 0x00, 0x5D, 0xB5, 
- 0xA7, 0x0E, 0x45, 0x7F, 0x9E, 0xE1, 0x38, 0x0E, 0xD2, 0xFF, 
- 0x00, 0xE2, 0x5B, 0x99, 0xF8, 0x2E, 0x63, 0x06, 0xBF, 0xC2, 
- 0xA8, 0x21, 0x27, 0x38, 0x8B, 0xAF, 0x6E, 0x6F, 0xAF, 0x3F, 
- 0x8C, 0xBD, 0x73, 0xC5, 0x1B, 0x33, 0xF3, 0x55, 0xFB, 0xC8, 
- 0x14, 0x2C, 0x53, 0x3B, 0x37, 0x2C, 0xB1, 0x9F, 0x8E, 0x93, 
- 0xDE, 0xB3, 0xDC, 0x23, 0x52, 0x47, 0x90, 0xE8, 0x9A, 0x98, 
- 0xF0, 0x9F, 0xA4, 0x7A, 0xFC, 0xFB, 0xCC, 0x71, 0xB6, 0x0A, 
- 0xD0, 0x4B, 0xF3, 0x5D, 0x9B, 0xD7, 0xDF, 0x5F, 0xBC, 0x3E, 
- 0xFF, 0x72, 0x68, 0xA9, 0x9A, 0x50, 0x8A, 0x19, 0x8A, 0x74, 
- 0x13, 0xE6, 0xF2, 0xDB, 0xA9, 0xB9, 0xEE, 0xC7, 0x68, 0x64, 
- 0x3B, 0x42, 0x32, 0x71, 0xF9, 0x2D, 0xFE, 0x65, 0xB8, 0x0C, 
- 0xA6, 0xC3, 0x21, 0xAC, 0x41, 0x99, 0x87, 0xF4, 0x54, 0xEB, 
- 0x16, 0x87, 0xDC, 0x76, 0xA4, 0xB0, 0xBA, 0x46, 0x46, 0xAF, 
- 0x9C, 0x76, 0x5B, 0xA5, 0x2A, 0xBC, 0x01, 0xA0, 0x28, 0x5F, 
- 0x9E, 0x51, 0xEB, 0xE1, 0x20, 0xDF, 0x3D, 0x3C, 0x80, 0xB1, 
- 0x07, 0x89, 0x01, 0x0E, 0xC0, 0xCC, 0x6F, 0x20, 0x43, 0x57, 
- 0x97, 0x8B, 0xF2, 0xA9, 0x91, 0x32, 0xF2, 0x77, 0xAD, 0xD3, 
- 0x68, 0x65, 0x38, 0x8B, 0x87, 0x1A, 0xB9, 0xC8, 0x05, 0x91, 
- 0x15, 0x9E, 0x5A, 0xBB, 0x53, 0xD4, 0x38, 0x73, 0x8F, 0x02, 
- 0x02, 0x87, 0x5C, 0xE9, 0xAA, 0x63, 0x77, 0x28, 0x33, 0x12, 
- 0x58, 0x76, 0xE9, 0x7E, 0xDE, 0xE3, 0x0F, 0x8D, 0x87, 0xC1, 
- 0x63, 0x6B, 0xAD, 0x1A, 0xEB, 0x96, 0x5B, 0x87, 0xD8, 0xF5, 
- 0x0C, 0x4B, 0xF5, 0x8C, 0xDD, 0x43, 0x67, 0xD6, 0x2F, 0xA6, 
- 0xCD, 0xEF, 0xA1, 0x5C, 0xB4, 0xA1, 0xED, 0x35, 0xD3, 0x58, 
- 0xF1, 0x03, 0x9C, 0x51, 0x6F, 0xA0, 0x54, 0x8D, 0xC1, 0x88, 
- 0xDC, 0x35, 0x60, 0x9E, 0x23, 0xB7, 0x06, 0x54, 0x05, 0x85, 
- 0xBB, 0x58, 0xB5, 0x91, 0x4E, 0x4E, 0xD5, 0x85, 0xF1, 0x41, 
- 0xE3, 0xCD, 0x05, 0x18, 0xA4, 0x11, 0xCF, 0xCC, 0x60, 0xC2, 
- 0xFA, 0x10, 0x6D, 0x84, 0xA1, 0x67, 0x5B, 0x97, 0x8F, 0xE0, 
- 0xDA, 0x1E, 0x64, 0xF7, 0x79, 0x5E, 0xC6, 0xB4, 0xF5, 0x49, 
- 0x88, 0x38, 0xDE, 0xBA, 0xE7, 0x7D, 0xAF, 0x0E, 0x60, 0x0A, 
- 0xB5, 0xF3, 0xA9, 0x07, 0x98, 0x5C, 0x90, 0x97, 0xA9, 0xB6, 
- 0x0A, 0x56, 0x65, 0x12, 0xE1, 0x8C, 0xAC, 0x7A, 0x70, 0x70, 
- 0x76, 0x57, 0x68, 0x55, 0xE2, 0x1A, 0xBE, 0xD4, 0xA8, 0xD9, 
- 0x1A, 0x1E, 0x58, 0xCE, 0xB4, 0x58, 0xC3, 0xC7, 0x6C, 0x8B, 
- 0x2B, 0x20, 0x0F, 0x1A, 0x31, 0xF5, 0x95, 0xEC, 0x3E, 0x09, 
- 0x4D, 0xAA, 0xDE, 0xAF, 0x68, 0x07, 0x83, 0x9A, 0x4A, 0x4D, 
- 0x2A, 0xF5, 0xB4, 0x9A, 0x97, 0x9E, 0x74, 0x69, 0xC2, 0x39, 
- 0xB2, 0x45, 0x53, 0xA6, 0xDF, 0xD3, 0xF2, 0x29, 0x29, 0xBB, 
- 0xF8, 0xFF, 0x41, 0xC4, 0x7E, 0x97, 0x76, 0x4D, 0x67, 0x60, 
- 0x82, 0x52, 0xF9, 0x84, 0x80, 0x53, 0xEA, 0x3E, 0x7A, 0x8E, 
- 0x4C, 0x5F, 0x53, 0x78, 0x37, 0x31, 0x7E, 0x75, 0xC0, 0x47, 
- 0x89, 0x25, 0xAD, 0xFB, 0x53, 0xD2, 0x6E, 0xB7, 0x5F, 0x2B, 
- 0x6D, 0xAC, 0xE6, 0xDA, 0x9E, 0xFE, 0xD5, 0x39, 0xD3, 0x3B, 
- 0x7F, 0x37, 0x96, 0xD4, 0xCB, 0x8C, 0x5F, 0xD7, 0x1B, 0x7F, 
- 0x33, 0xE4, 0xF6, 0xE7, 0xB0, 0xF1, 0xC3, 0x20, 0xFE, 0x03, 
- 0xF9, 0xD5, 0xDB, 0xFC, 0xD4, 0x0A, 0x00, 0x00};

create_gz_c_arr.py

@@ -0,0 +1,38 @@
+#!/usr/bin/python3
+
+import os, gzip
+# https://www.mischianti.org/2020/10/26/web-server-with-esp8266-and-esp32-byte-array-gzipped-pages-and-spiffs-2/
+
+def convert_to_gzip(src, out, f):
+    input_file = f'{src}{f}'
+    output_file = f'{out}{f}.gz.h'
+    output_charp = f'{f.replace(".", "_")}_gz'
+
+    top = ''
+    with open(input_file, 'rb') as f_in:
+        gz = gzip.compress(f_in.read())
+        gzlen = len(gz)
+
+        top += f'// filename: {f}.gz.h\n'
+        top += f'#define {output_charp}_len {gzlen}\n'
+        top += f'const char {output_charp}[] = '
+        top += '{'
+
+        with open(output_file, 'wb') as f_out:
+            for i, b in enumerate(gz):
+                if not i%10:
+                    top += '\n '
+                top += f'0x{b:02X}, '
+            top = top[:-2]
+            top += '};'
+            f_out.write(top.encode(encoding='utf-8'))
+
+
+src='data/'
+out='compress/'
+
+if not 'compress' in os.listdir():
+    os.mkdir('compress')
+
+for f in os.listdir(src):
+    convert_to_gzip(src, out, f)

create_gz_files.py

@@ -1,35 +1,15 @@
 #!/usr/bin/python3
 
 import os, gzip
-# https://www.mischianti.org/2020/10/26/web-server-with-esp8266-and-esp32-byte-array-gzipped-pages-and-spiffs-2/
+# https://stackoverflow.com/questions/8156707/gzip-a-file-in-python
 
-def convert_to_gzip(src, out, f):
-    input_file = f'{src}{f}'
-    output_file = f'{out}{f}.gz.h'
-    output_charp = f'{f.replace(".", "_")}_gz'
+src_dir='data'
+out_dir='data_gz'
 
-    top = ''
-    with open(input_file, 'rb') as f_in:
-        gz = gzip.compress(f_in.read())
-        gzlen = len(gz)
+if not 'data_gz' in os.listdir():
+    os.mkdir('data_gz')
 
-        top += f'// filename: {f}.gz.h\n'
-        top += f'#define {output_charp}_len {gzlen}\n'
-        top += f'const char {output_charp}[] = '
-        top += '{'
-
-        with open(output_file, 'wb') as f_out:
-            for i, b in enumerate(gz):
-                if not i%10:
-                    top += '\n '
-                top += f'0x{b:02X}, '
-            top = top[:-2]
-            top += '};'
-            f_out.write(top.encode(encoding='utf-8'))
-
-
-src='data/'
-out='compress/'
-
-for f in os.listdir(src):
-    convert_to_gzip(src, out, f)
+for f in os.listdir(src_dir):
+    with open(f'{src_dir}/{f}', 'rb') as f_in:
+        with gzip.open(f'{out_dir}/{f}.gz', 'wb') as f_out:
+            f_out.writelines(f_in)

data/index.html

@@ -1,38 +1,70 @@
 <!DOCTYPE html>
 <html>
-  <head>
-    <title>ESP8266 Treppenlicht</title>
-    <!-- main style sheet -->
-    <link href="/favicon.png" rel="icon" type="image/png" sizes="10x10">
-    <link href="/style.css" rel="stylesheet" type="text/css">
-  </head>
-  
-  <body>
-    <div class="kopfzeile"
-          style="text-align: center;">
-          <b>Treppenlicht</b>
-    </div>
+<meta name="viewport" content="width=device-width, initial-scale=1.0">
 
-    <div class="ueberschrift">
-    <center>Helligkeit</center>
-      <div class="slider">
-        <label id="label_pwm">
-        </label>
-        <input type="range" class="testregler" min="0" max="100">
-      </div>
-    </div>
-<br>
-    <div class="ueberschrift">
-    <center>Laufgeschwindigkeit</center>
-      <div class="slider">
-        <label id="label_geschwindigkeit">
-        </label>
-        <input type="range" class="testregler" min="0" max="100">
-      </div>
-    </div>
-    
-  </body> 
+<head>
+  <title>ESP8266 Treppenlicht</title>
+  <link href="/favicon.png" rel="icon" type="image/png" sizes="10x10">
+  <link href="/style.css" rel="stylesheet" type="text/css">
+</head>
 
-  <script src="/input.js"></script>
+<body>
+  <div class="topbar">Treppenlicht</div>
 
-</html>
+  <div class="param_block">
+    <input type="button" class="control" data-action="s_oben" value="sensor_oben">
+    <input type="button" class="control" data-action="s_unten" value="sensor_unten">
+    <!-- <input type="button" class="control" data-action="on_off" value="on_off"> -->
+  </div>
+
+  <div class="param_block">
+    Active Brightness: <output id="out_act_pwm" class="val_range">50</output> %
+    <div class="slider">
+      <input type="range" class="regler" id="range_act_pwm" data-output="out_act_pwm" min="0" max="100" value="50">
+    </div>
+  </div>
+
+  <div class="param_block">
+    Idle Brightness Maximum: <output id="out_idl_pwm" class="val_range">50</output> %
+    <label id="note">[100% == Active Brightness]</label>
+    <div class="slider">
+      <input type="range" class="regler" id="range_idl_pwm" data-output="out_idl_pwm" min="0" max="100" value="50">
+    </div>
+    <label id="note">idle brightness gets controlled via LDR measurments</label>
+  </div>
+
+  <div class="param_block">
+    Time per stair [ms]: <output id="out_tim_sta" class="val_range">300</output> ms
+
+    <div class="slider">
+      <input type="range" class="regler" id="range_tim_sta" data-output="out_tim_sta" min="0" max="5000" value="300">
+    </div>
+  </div>
+
+  <div class="param_block">
+    Time LDR [ms]: <output id="out_tim_ldr" class="val_range">500</output> ms
+    <div class="slider">
+      <input type="range" class="regler" id="range_tim_ldr" data-output="out_tim_ldr" min="0" max="5000" value="500">
+    </div>
+  </div>
+
+  <div class="param_block">
+    LDR Schwelle [lx]: <output id="out_ldr_shw" class="val_range">50</output> lx
+    <div class="slider">
+      <input type="range" class="regler" id="range_ldr_shw" data-output="out_ldr_shw" min="0" max="1000" value="50">
+    </div>
+  </div>
+
+
+  <div class="terminal">
+    <input type="button" id="clear_term" value="clear">
+    <input type="checkbox" id="scroll" name="scroll" value="scroll" checked>
+    <label for="scroll"> autoscroll </label>
+    <textarea id="term">waiting for log messages ...&#10;</textarea>
+  </div>
+
+</body>
+
+<script src="/input.js"></script>
+
+</html>

data/input.js

@@ -1,8 +1,120 @@
-var slider = document.getElementById("range1");
-var output = document.getElementById("l_pwm");
-output.innerHTML = slider.value; // Display the default slider value
+let rangeValues = {};
+let xhrUpd = new XMLHttpRequest();
+
+xhrUpd.onreadystatechange = function () {
+  if (xhrUpd.readyState == 4) {
+    if (xhrUpd.status == 200) {
+      console.log("xhrUpd: ", xhrUpd.responseText);
+    }
+    else {
+      console.log("xhrUpd: status=", xhrUpd.status);
+    }
+  }
+}
+
+function reloadRangeValues() {
+  let url = "/update";
+  // if there are scheduled updates, send them
+  if (Object.keys(rangeValues).length > 0) {
+    let params = [];
+    for (let p in rangeValues)
+      params.push(encodeURIComponent(p) + "=" + encodeURIComponent(rangeValues[p]));
+    params = params.join("&");
+
+    xhrUpd.open("POST", url, true);
+    xhrUpd.setRequestHeader('Content-type', 'application/x-www-form-urlencoded');
+    xhrUpd.send(params);
+
+    rangeValues = {};
+  }
+
+};
+
+function reloadTerminal() {
+  const terminal = document.querySelector("#term");
+  const autoscroll = document.querySelector("#scroll");
+
+  fetch('/terminal', {
+    method: 'POST',
+    headers: {
+      'Content-Type': 'application/x-www-form-urlencoded',
+    },
+    body: ''
+  })
+  .then(response => response.text())
+  .then(data => {
+    if(data.length > 0) {
+      terminal.innerHTML += data;
+      if (autoscroll.checked)
+        terminal.scrollTop = terminal.scrollHeight;
+    }
+  })
+  .catch(error => console.log('Error:', error));
+};
+
+function updateParameters() {
+  fetch('/parameters', {
+    method: 'POST',
+    headers: {
+      'Content-Type': 'application/x-www-form-urlencoded',
+    },
+    body: ''
+  })
+  .then(response => response.json())
+  .then(json_str => {
+    const active_pwm = Math.round(json_str.active_pwm / 4095 * 100);
+    document.querySelector('#range_act_pwm').value = active_pwm;
+    document.querySelector('#out_act_pwm').value = active_pwm;
+    
+    const idle_pwm_max = Math.round(json_str.idle_pwm_max / json_str.active_pwm * 100);
+    document.querySelector('#range_idl_pwm').value = idle_pwm_max;
+    document.querySelector('#out_idl_pwm').value = idle_pwm_max;
+
+    document.querySelector('#range_tim_sta').value = json_str.time_per_stair;
+    document.querySelector('#out_tim_sta').value = json_str.time_per_stair;
+
+    document.querySelector('#range_tim_ldr').value = json_str.time_ldr;
+    document.querySelector('#out_tim_ldr').value = json_str.time_ldr;
+
+    document.querySelector('#range_ldr_shw').value = json_str.ldr_schwelle;
+    document.querySelector('#out_ldr_shw').value = json_str.ldr_schwelle;
+
+  })
+  .catch(error => console.log('Error:', error));
+};
+
+document.addEventListener('DOMContentLoaded', () => {
+  setInterval(reloadTerminal, 1000);
+  setInterval(reloadRangeValues, 1000);
+
+  updateParameters();
+
+  // use data- attributes for action
+  document.querySelectorAll('.control').forEach((button) => {
+    button.onclick = () => {
+      fetch('/action', {
+        method: 'POST',
+        headers: {
+          'Content-Type': 'application/x-www-form-urlencoded',
+        },
+        body: `control=${button.dataset.action}`
+      })
+        .then(response => console.log(response))
+        .catch(error => console.log('Error:', error));
+    }
+  });
+
+  document.querySelectorAll('.regler').forEach((regler) => {
+    regler.oninput = () => {
+      document.querySelector(`#${regler.dataset.output}`).innerHTML = regler.value;
+      rangeValues[regler.id] = regler.value;
+    }
+  });
+  
+  document.querySelector('#clear_term').onclick = () => {
+    document.querySelector("#term").innerHTML = '';
+  };
+
+});
+
 
-// Update the current slider value (each time you drag the slider handle)
-slider.oninput = function() {
-  output.innerHTML = this.value;
-}

data/style.css

@@ -1,38 +1,50 @@
 html {
   font-size: 16px;
   font-family: sans-serif, Arial, Helvetica;
-  background-color: #d4d4d4;
+  background-color: #ffffff;
+  height: 100%;
+}
+
+body {
+  height: 100%;
+  border-radius: 3;
 }
 
 .topbar {
-  padding: 1em;
-  background-color: #1f1f1f;
-
+  padding: 10px;
+  background-color: #585858;
   color: white;
-  font-size: x-large;
+  font-size: xx-large;
   text-align: center;
 }
 
-.control {
+.param_block{
   padding: 1em;
+  color: #000000;
+  border: 1px solid darkred;
+  font-size: x-large;
+  width: 80%;
 }
 
-.ueberschrift{
-  color: #ffffff;
-  font-size: 50px;
-  width: 40%;
-  background-color: #5f5f5f;
+.val_range {
+  font-weight: bold;
 }
 
-.testregler{
-  -webkit-appearance: none;
-  height: 20px;
-  width: 98%;
+.regler {
+  /* -webkit-appearance: none; */
+  height: 50px;
+  width: 100%;
   border-radius: 20px;
   outline: black;
   background-color: rgb(176, 188, 228);
 }
-.testregler::-webkit-slider-thumb{
+
+#note {
+  font-size: medium;
+  font-style: italic;
+}
+
+/* .regler::-webkit-slider-thumb{
   -webkit-appearance: none;
   appearance: none;
   width: 5%;
@@ -40,41 +52,22 @@ html {
   border-radius: 10px;
   background-color: rgb(107, 122, 192);
   cursor:pointer;
-}
-input[type=range]::-webkit-slider-thumb{
+} */
+/* input[type=range]::-webkit-slider-thumb{
   -webkit-appearance: none;
   border:none;
-  height: 100px;
-  width: 100px;
-  background:goldenrod;
-  margin-top: -15px;
-  border-radius: o!important;
+  height: 30px;
+  width: 4%;
+  border-radius: 30px;
+} */
 
-}
-
-.kopfzeile{
-  color: #1f1f1f;
-  font-size: 50px;
-  width: 100%;
-  background-color: #8d8a8a;
-
-}
-p, li {
-  font-size: 16px;
-  line-height: 2;
-  letter-spacing: 1px;
+.slider {
+  margin: 1%;
 }
 
 
-body {
-  margin: 0 auto;
-  border: none;
-  border-radius: 3;
-}
-
-
-
-/* The switch - the box around the slider */
+/*-------------------------------------------------------*/
+/*Switch:
 .switch {
   position: relative;
   display: inline-block;
@@ -82,83 +75,60 @@ body {
   height: 34px;
 }
 
-/* Hide default HTML checkbox */
+Hide default HTML checkbox
 .switch input {
   opacity: 0;
   width: 0;
   height: 0;
 }
-
+*/
 /* The slider */
-.slider {
-  width: 100%;
-}
 
-/*.slider:before {
-  position: absolute;
-  content: "";
-  height: 26px;
-  width: 26px;
-  left: 4px;
-  bottom: 4px;
-  background-color: white;
-  -webkit-transition: .4s;
-  transition: .4s;
-}*/
 
-input:checked + .slider {
+/*input:checked + .slider {
   background-color: #04AA6D;
 }
 
 input:focus + .slider {
   box-shadow: 0 0 1px #04AA6D;
-}
-
+}*/
+/*
 input:checked + .slider:before {
   -webkit-transform: translateX(26px);
   -ms-transform: translateX(26px);
   transform: translateX(26px);
 }
-/* Rounded sliders */
-.slider.round {
-  border-radius: 34px;
-}
-.slider.round:before {
-  border-radius: 50%;
+*/
+
+.terminal {
+  margin:5%;
+  padding: 1%;
+  width: 80%;
+  border: 1px solid black;
+  border-radius: 5px;
 }
 
+#term {
+  font-size: large;
+  width: 100%;
+  height: 20em;
+}
 
-/* The slider itself */
-.rangeslider {
-  -webkit-appearance: none;  /* Override default CSS styles */
-  appearance: none;
-  width: 50%; /* Full-width */
-  height: 34px; /* Specified height */
-  border-radius: 34px; /* range round corners */
-  background: #d3d3d3; /* Grey background */
-  outline: none; /* Remove outline */
-  opacity: 0.7; /* Set transparency (for mouse-over effects on hover) */
-  -webkit-transition: .2s; /* 0.2 seconds transition on hover */
-  transition: opacity .2s;
+#clear_term {
+  margin: 2px;
+}
 
+input[type="number"] {
+  width: 100px;
 }
-/* Mouse-over effects */
-.rangeslider:hover {
-  opacity: 1; /* Fully shown on mouse-over */
+
+input:invalid+span:after {
+  content: '✖';
+  padding-left: 5px;
 }
-/* The slider handle (use -webkit- (Chrome, Opera, Safari, Edge) and -moz- (Firefox) to override default look) */
-.rangeslider::-webkit-slider-thumb {
-  -webkit-appearance: none; /* Override default look */
-  appearance: none;
-  width: 26px; /* Set a specific slider handle width */
-  height: 26px; /* Slider handle height */
-  border-radius: 50%; /* Round Element */
-  background: #04AA6D; /* Green background */
-  cursor: pointer; /* Cursor on hover */
-}
-.rangeslider::-moz-range-thumb {
-  width: 26px; /* Set a specific slider handle width */
-  height: 26px; /* Slider handle height */
-  background: #04AA6D; /* Green background */
-  cursor: pointer; /* Cursor on hover */
+
+input:valid+span:after {
+  content: '✓';
+  padding-left: 5px;
 }
+

doku.md

@@ -52,4 +52,90 @@ if(p.endsWith(".gzip")) {
 }
 else
     server.streamFile(f, mime::getContentType(SRH::_path), requestMethod);
-```
+```
+
+### HW issues
+- GPIO2 used as input -> must be high during startup
+- PCB Solution: cut trace to GPIO2, solder bridge to GPIO16
+- -> disadvantage: GPIO16 is not interrupt capable
+
+
+### FSM 2 - to do
+- stairway light switches off after timeout
+- switches concurrently on again if sensor is still high
+- desired behavior? Defective Sensor would cause continuos animation
+- edge detection / interrupts as solution ?
+
+
+### LED_sequence_v1:
+TODO: 
+- disable led stripes after defined time (webserver paramter?)
+- define what to do if people enter stairs from different directions
+- CAUTION: Sensor-Deadtime at LEAST 8 seconds
+- --> switch off with person leaving stairs might not be possible
+
+### Webserver on v0.3.0 now working with LittleFS
+TODO:
+- check dir for files automatic
+- move handleNotFound to httpserver.h
+- maybe compress files ?
+
+
+### LED Flickering issue
+https://github.com/NachtRaveVL/PCA9685-Arduino/issues/15
+PlatformIO Library veraltet !!
+
+
+### TIMER in OTA unterbrechen !!!!!
+
+
+
+### further improvments
+with streamFile gzip encoded Files can be sent
+this reduces space on fs !
+new easier script needed to just convert to .gz
+maybe measure timings on ESP
+
+__=> use serveStatic because way simpler !__
+__=> serverStatic("/") works wonders__
+
+
+AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAARHRRHRGH
+Two implementations of FSM are not that good,
+linker puts them together ?!?
+:):):):):):):)
+=> maybe investigate for doc
+
+### TODO Treppe
+- dynamic lighting with ldr
+- http control over active pwm ... => set_active_pwm()
+  -> is implemntiert, kann mit % oder abs eingestellt werden
+- testing if dimming crashes when two animations
+  -> ldr does not interrupt animation, animation get's finished and stairs fade out -> FSM works without collisions
+- interrupt to pending from sensors
+  -> rising edge trigger implemented, via pending input
+- settings struct
+  -> implemented with EEPROM
+  -> adapted to only change on ruhezustand
+- script for gdb on windows
+  -> [implemented](start_xtensa_gdb_stub.cmd)
+- welcome animation ?
+  -> wird hochgedimmt beim einschalten von 0
+- on/off switch http
+- use logging to serial http monitor with httpserver.logt()
+  -> is used for some status updates
+
+- behavior when someone enters stairway from opposite direction while animation is running?
+  -> currently ignored, second persons walks in darkness
+  -> animation from both sides?
+  -> problem: person 1 leaving stairway might pass the sensor right after person 2 -> person 1 leaving not detected
+
+- behavior when someone enters stairway from opposite direction after animation finished but person 1 is still on stairway?
+  -> currently stairs fade off from direction 1
+  -> additional wait-state between "warten hoch/runter" and "abdimmen hoch/runter" after sensor detected person?
+
+
+- active brightness can be lower than idle in the moment
+- change idle to precentage of active !!
+
+- Webpage needs to load settings from eeprom !!

include/httpserver.h

@@ -1,48 +0,0 @@
-#ifndef __HTTPSERVER_H
-#define __HTTPSERVER_H
-
-#include "filesys.h"
-#include <ESP8266WebServer.h>
-
-
-class HTTPServer : public ESP8266WebServer {
-private:
-    const char* rootDir;
- 
-    bool addRootFileHandler();
-    bool formatFS() {
-        return format_fs();
-    }
-    void listRoot() {
-        ls(rootDir);
-    }
-
-public:
-    HTTPServer(const int _port, const char* _rootDir) :
-       ESP8266WebServer(_port), rootDir(_rootDir)
-    { }
-    ~HTTPServer() 
-    {
-        Serial.printf("[HTTPServer] shut down ...\n\r");
-    }
-
-    bool start() {
-        if(!mount_fs())
-            return false;
-        Serial.printf("[HTTPServer] LittleFS mounted !\n\r");
-
-        Serial.printf("[HTTPServer] root:\n\r");
-        this->listRoot();
-        Serial.printf("\n\r");
-
-        if( this->addRootFileHandler() ){
-            this->begin();
-            Serial.printf("[HTTPServer] Server active on Port 80 !\n\r");
-            return true;
-        }
-        Serial.printf("[HTTPServer] Not starting Server, something went wrong !\n\r");
-        return false;
-    }
-};
-
-#endif // __HTTPSERVER_H

include/ota.h

@@ -0,0 +1,51 @@
+#ifndef __OTA_H
+#define __OTA_H
+
+#include <ArduinoOTA.h>
+#include <ESP8266WiFi.h>
+#include <WiFiUdp.h>
+
+void ota_setup() {
+  ArduinoOTA.setPort(8266);
+  ArduinoOTA.setHostname("ESP_Treppenlicht");
+  ArduinoOTA.setPassword("admin");
+  // Password can be set with it's md5 value as well
+  // MD5(admin) = 21232f297a57a5a743894a0e4a801fc3
+  // ArduinoOTA.setPasswordHash("21232f297a57a5a743894a0e4a801fc3");
+
+  ArduinoOTA.onStart([]() {
+    String type;
+    if (ArduinoOTA.getCommand() == U_FLASH) {
+      type = "sketch";
+    } else { // U_FS
+      type = "filesystem";
+    }
+
+    // NOTE: if updating FS this would be the place to unmount FS using FS.end()
+    Serial.println("Start updating " + type);
+  });
+  ArduinoOTA.onEnd([]() {
+    Serial.println("\nEnd");
+  });
+  ArduinoOTA.onProgress([](unsigned int progress, unsigned int total) {
+    Serial.printf("Progress: %u%%\r", (progress / (total / 100)));
+  });
+  ArduinoOTA.onError([](ota_error_t error) {
+    Serial.printf("Error[%u]: ", error);
+    if (error == OTA_AUTH_ERROR) {
+      Serial.println("Auth Failed");
+    } else if (error == OTA_BEGIN_ERROR) {
+      Serial.println("Begin Failed");
+    } else if (error == OTA_CONNECT_ERROR) {
+      Serial.println("Connect Failed");
+    } else if (error == OTA_RECEIVE_ERROR) {
+      Serial.println("Receive Failed");
+    } else if (error == OTA_END_ERROR) {
+      Serial.println("End Failed");
+    }
+  });
+  ArduinoOTA.begin();
+
+}
+
+#endif // __OTA_H

include/templ_wifi_credentials.h

@@ -0,0 +1,9 @@
+#ifndef __WIFI_CREDENTIALS_H
+#define __WIFI_CREDENTIALS_H
+
+#ifndef STASSID
+#define STASSID "ssid"
+#define STAPSK  "key"
+#endif
+
+#endif // __WIFI_CREDENTIALS_H

lib/PCA9685 16-Channel PWM Driver Module Library/.gitignore

@@ -1,14 +0,0 @@
-# OS generated files #
-######################
-.DS_Store
-.DS_Store?
-._*
-.Spotlight-V100
-.Trashes
-Icon?
-ehthumbs.db
-Thumbs.db
-
-# Generic:
-###############
-*.bak

lib/PCA9685 16-Channel PWM Driver Module Library/.piopm

@@ -1 +0,0 @@
-{"type": "library", "name": "PCA9685 16-Channel PWM Driver Module Library", "version": "1.2.9", "spec": {"owner": "ottowinter", "id": 2100, "name": "PCA9685 16-Channel PWM Driver Module Library", "requirements": null, "url": null}}

lib/PCA9685 16-Channel PWM Driver Module Library/PCA9685.cpp

@@ -1,836 +0,0 @@
-/*  Arduino Library for the PCA9685 16-Channel PWM Driver Module.
-    Copyright (c) 2016 NachtRaveVL      <nachtravevl@gmail.com>
-    Copyright (C) 2012 Kasper Skårhøj   <kasperskaarhoj@gmail.com>
-
-    This program is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    This program is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with this program.  If not, see <http://www.gnu.org/licenses/>.
-
-    Created by Kasper Skårhøj, August 3rd, 2012.
-    Forked by Vitska, June 18th, 2016.
-    Forked by NachtRaveVL, July 29th, 2016.
-
-    PCA9685-Arduino - Version 1.2.9
-*/
-
-#include "PCA9685.h"
-
-#define PCA9685_I2C_BASE_ADDRESS    (byte)0x40
-
-// Register addresses from data sheet
-#define PCA9685_MODE1_REG           (byte)0x00
-#define PCA9685_MODE2_REG           (byte)0x01
-#define PCA9685_SUBADR1_REG         (byte)0x02
-#define PCA9685_SUBADR2_REG         (byte)0x03
-#define PCA9685_SUBADR3_REG         (byte)0x04
-#define PCA9685_ALLCALL_REG         (byte)0x05
-#define PCA9685_LED0_REG            (byte)0x06 // Start of LEDx regs, 4B per reg, 2B on phase, 2B off phase, little-endian
-#define PCA9685_PRESCALE_REG        (byte)0xFE
-#define PCA9685_ALLLED_REG          (byte)0xFA
-
-// Mode1 register pin layout
-#define PCA9685_MODE_RESTART        (byte)0x80
-#define PCA9685_MODE_EXTCLK         (byte)0x40
-#define PCA9685_MODE_AUTOINC        (byte)0x20
-#define PCA9685_MODE_SLEEP          (byte)0x10
-#define PCA9685_MODE_SUBADR1        (byte)0x08
-#define PCA9685_MODE_SUBADR2        (byte)0x04
-#define PCA9685_MODE_SUBADR3        (byte)0x02
-#define PCA9685_MODE_ALLCALL        (byte)0x01
-
-#define PCA9685_SW_RESET            (byte)0x06 // Sent to address 0x00 to reset all devices on Wire line
-#define PCA9685_PWM_FULL            (uint16_t)0x01000 // Special value for full on/full off LEDx modes
-
-// To balance the load out in a weaved fashion, we use this offset table to distribute
-// the load on the outputs in a more interleaving fashion than just a simple 16 offset
-// per channel. We can set the off cycle value to be lower than the on cycle, which will
-// put the high edge across the 0-4095 phase cycle range, which is supported by device.
-static uint16_t phaseDistTable[16] = { 0, 2048, 1024, 3072, 512, 3584, 1536, 2560, 256, 3840, 1280, 2304, 3328, 768, 2816, 1792 };
-
-#ifndef PCA9685_ENABLE_SOFTWARE_I2C
-PCA9685::PCA9685(TwoWire& i2cWire, PCA9685_PhaseBalancer phaseBalancer) {
-    _i2cWire = &i2cWire;
-#else
-PCA9685::PCA9685(PCA9685_PhaseBalancer phaseBalancer) {
-#endif
-    _i2cAddress = 0;
-    _phaseBalancer = phaseBalancer;
-    _isProxyAddresser = false;
-    _lastI2CError = 0;
-}
-
-void PCA9685::resetDevices() {
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-    Serial.println("PCA9685::resetDevices");
-#endif
-
-    i2cWire_beginTransmission(0x00);
-    i2cWire_write(PCA9685_SW_RESET);
-    i2cWire_endTransmission();
-
-    delayMicroseconds(10);
-
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-    checkForErrors();
-#endif
-}
-
-void PCA9685::init(byte i2cAddress, byte mode) {
-    if (_isProxyAddresser) return;
-
-    // I2C 7-bit address is B 1 A5 A4 A3 A2 A1 A0
-    // RW bit added by Arduino core TWI library
-    _i2cAddress = PCA9685_I2C_BASE_ADDRESS | (i2cAddress & 0x3F);
-
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-    Serial.print("PCA9685::init i2cAddress: 0x");
-    Serial.println(_i2cAddress, HEX);
-#endif
-
-    writeRegister(PCA9685_MODE1_REG, PCA9685_MODE_RESTART | PCA9685_MODE_AUTOINC);
-    writeRegister(PCA9685_MODE2_REG, mode);
-}
-
-#ifndef PCA9685_EXCLUDE_EXT_FUNC
-
-void PCA9685::initAsProxyAddresser(byte i2cAddress) {
-    _i2cAddress = i2cAddress & 0xFE;
-    _isProxyAddresser = true;
-
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-    Serial.print("PCA9685::initAsProxyAddresser i2cAddress: 0x");
-    Serial.println(_i2cAddress, HEX);
-#endif
-}
-
-#endif
-
-byte PCA9685::getI2CAddress() {
-    return _i2cAddress;
-}
-
-PCA9685_PhaseBalancer PCA9685::getPhaseBalancer() {
-    return _phaseBalancer;
-}
-
-void PCA9685::setPWMFrequency(float pwmFrequency) {
-    if (pwmFrequency < 0 || _isProxyAddresser) return;
-
-    // This equation comes from section 7.3.5 of the datasheet, but the rounding has been
-    // removed because it isn't needed. Lowest freq is 23.84, highest is 1525.88.
-    int preScalerVal = (25000000 / (4096 * pwmFrequency)) - 1;
-    if (preScalerVal > 255) preScalerVal = 255;
-    if (preScalerVal < 3) preScalerVal = 3;
-
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-    Serial.print("PCA9685::setPWMFrequency pwmFrequency: ");
-    Serial.print(pwmFrequency);
-    Serial.print(", preScalerVal: 0x");
-    Serial.println(preScalerVal, HEX);
-#endif
-
-    // The PRE_SCALE register can only be set when the SLEEP bit of MODE1 register is set to logic 1.
-    byte mode1Reg = readRegister(PCA9685_MODE1_REG);
-    writeRegister(PCA9685_MODE1_REG, (mode1Reg = (mode1Reg & ~PCA9685_MODE_RESTART) | PCA9685_MODE_SLEEP));
-    writeRegister(PCA9685_PRESCALE_REG, (byte)preScalerVal);
-
-    // It takes 500us max for the oscillator to be up and running once SLEEP bit has been set to logic 0.
-    writeRegister(PCA9685_MODE1_REG, (mode1Reg = (mode1Reg & ~PCA9685_MODE_SLEEP) | PCA9685_MODE_RESTART));
-    delayMicroseconds(500);
-}
-
-void PCA9685::setChannelOn(int channel) {
-    if (channel < 0 || channel > 15) return;
-
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-    Serial.println("PCA9685::setChannelOn");
-#endif
-
-    writeChannelBegin(channel);
-    writeChannelPWM(PCA9685_PWM_FULL, 0);  // time_on = FULL; time_off = 0;
-    writeChannelEnd();
-}
-
-void PCA9685::setChannelOff(int channel) {
-    if (channel < 0 || channel > 15) return;
-
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-    Serial.println("PCA9685::setChannelOff");
-#endif
-
-    writeChannelBegin(channel);
-    writeChannelPWM(0, PCA9685_PWM_FULL);  // time_on = 0; time_off = FULL;
-    writeChannelEnd();
-}
-
-void PCA9685::setChannelPWM(int channel, uint16_t pwmAmount) {
-    if (channel < 0 || channel > 15) return;
-
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-    Serial.println("PCA9685::setChannelPWM");
-#endif
-
-    writeChannelBegin(channel);
-
-    uint16_t phaseBegin, phaseEnd;
-    getPhaseCycle(channel, pwmAmount, &phaseBegin, &phaseEnd);
-
-    writeChannelPWM(phaseBegin, phaseEnd);
-
-    writeChannelEnd();
-}
-
-void PCA9685::setChannelsPWM(int begChannel, int numChannels, const uint16_t *pwmAmounts) {
-    if (begChannel < 0 || begChannel > 15 || numChannels < 0) return;
-    if (begChannel + numChannels > 16) numChannels -= (begChannel + numChannels) - 16;
-
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-    Serial.print("PCA9685::setChannelsPWM numChannels: ");
-    Serial.println(numChannels);
-#endif
-
-    // In avr/libraries/Wire.h and avr/libraries/utility/twi.h, _BUFFER_LENGTH controls
-    // how many channels can be written at once. Therefore, we loop around until all
-    // channels have been written out into their registers.
-
-    while (numChannels > 0) {
-        writeChannelBegin(begChannel);
-
-        int maxChannels = min(numChannels, (_BUFFER_LENGTH - 1) / 4);
-        while (maxChannels-- > 0) {
-            uint16_t phaseBegin, phaseEnd;
-            getPhaseCycle(begChannel++, *pwmAmounts++, &phaseBegin, &phaseEnd);
-
-            writeChannelPWM(phaseBegin, phaseEnd);
-            --numChannels;
-        }
-
-        writeChannelEnd();
-        if (_lastI2CError) return;
-    }
-}
-
-#ifndef PCA9685_EXCLUDE_EXT_FUNC
-
-void PCA9685::setAllChannelsPWM(uint16_t pwmAmount) {
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-    Serial.println("PCA9685::setAllChannelsPWM");
-#endif
-
-    writeChannelBegin(-1); // Special value for ALLLED registers
-
-    uint16_t phaseBegin, phaseEnd;
-    getPhaseCycle(-1, pwmAmount, &phaseBegin, &phaseEnd);
-
-    writeChannelPWM(phaseBegin, phaseEnd);
-
-    writeChannelEnd();
-}
-
-uint16_t PCA9685::getChannelPWM(int channel) {
-    if (channel < 0 || channel > 15 || _isProxyAddresser) return 0;
-
-    byte regAddress = PCA9685_LED0_REG + (channel << 2);
-
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-    Serial.print("PCA9685::getChannelPWM channel: ");
-    Serial.print(channel);
-    Serial.print(", regAddress: 0x");
-    Serial.println(regAddress, HEX);
-#endif
-
-    i2cWire_beginTransmission(_i2cAddress);
-    i2cWire_write(regAddress);
-    if (i2cWire_endTransmission()) {
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-        checkForErrors();
-#endif
-        return 0;
-    }
-
-    int bytesRead = i2cWire_requestFrom((uint8_t)_i2cAddress, (uint8_t)4);
-    if (bytesRead != 4) {
-        while (bytesRead-- > 0)
-            i2cWire_read();
-        _lastI2CError = 4;
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-        checkForErrors();
-#endif
-        return 0;
-    }
-
-    uint16_t phaseBegin = (uint16_t)i2cWire_read();
-    phaseBegin |= (uint16_t)i2cWire_read() << 8;
-    uint16_t phaseEnd = (uint16_t)i2cWire_read();
-    phaseEnd |= (uint16_t)i2cWire_read() << 8;
-
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-    Serial.print("  PCA9685::getChannelPWM phaseBegin: ");
-    Serial.print(phaseBegin);
-    Serial.print(", phaseEnd: ");
-    Serial.println(phaseEnd);
-#endif
-
-    // See datasheet section 7.3.3
-    uint16_t retVal;
-    if (phaseEnd >= PCA9685_PWM_FULL)
-        // Full OFF
-        // Figure 11 Example 4: full OFF takes precedence over full ON
-        // See also remark after Table 7
-        retVal = 0;
-    else if (phaseBegin >= PCA9685_PWM_FULL)
-        // Full ON
-        // Figure 9 Example 3
-        retVal = PCA9685_PWM_FULL;
-    else if (phaseBegin <= phaseEnd)
-        // start and finish in same cycle
-        // Section 7.3.3 example 1
-        retVal = phaseEnd - phaseBegin;
-    else
-        // span cycles
-        // Section 7.3.3 example 2
-        retVal = (phaseEnd + PCA9685_PWM_FULL) - phaseBegin;
-
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-    Serial.print("  PCA9685::getChannelPWM retVal: ");
-    Serial.println(retVal);
-#endif
-
-    return retVal;
-}
-
-void PCA9685::enableAllCallAddress(byte i2cAddress) {
-    if (_isProxyAddresser) return;
-
-    i2cAddress &= 0xFE;
-
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-    Serial.print("PCA9685::enableAllCallAddress i2cAddress: 0x");
-    Serial.println(i2cAddress, HEX);
-#endif
-
-    writeRegister(PCA9685_ALLCALL_REG, i2cAddress);
-
-    byte mode1Reg = readRegister(PCA9685_MODE1_REG);
-    writeRegister(PCA9685_MODE1_REG, (mode1Reg |= PCA9685_MODE_ALLCALL));
-}
-
-void PCA9685::enableSub1Address(byte i2cAddress) {
-    if (_isProxyAddresser) return;
-
-    i2cAddress &= 0xFE;
-
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-    Serial.print("PCA9685::enableSub1Address i2cAddress: 0x");
-    Serial.println(i2cAddress, HEX);
-#endif
-
-    writeRegister(PCA9685_SUBADR1_REG, i2cAddress);
-
-    byte mode1Reg = readRegister(PCA9685_MODE1_REG);
-    writeRegister(PCA9685_MODE1_REG, (mode1Reg |= PCA9685_MODE_SUBADR1));
-}
-
-void PCA9685::enableSub2Address(byte i2cAddress) {
-    if (_isProxyAddresser) return;
-
-    i2cAddress &= 0xFE;
-
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-    Serial.print("PCA9685::enableSub2Address i2cAddress: 0x");
-    Serial.println(i2cAddress, HEX);
-#endif
-
-    writeRegister(PCA9685_SUBADR2_REG, i2cAddress);
-
-    byte mode1Reg = readRegister(PCA9685_MODE1_REG);
-    writeRegister(PCA9685_MODE1_REG, (mode1Reg |= PCA9685_MODE_SUBADR2));
-}
-
-void PCA9685::enableSub3Address(byte i2cAddress) {
-    if (_isProxyAddresser) return;
-
-    i2cAddress &= 0xFE;
-
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-    Serial.print("PCA9685::enableSub3Address i2cAddress: 0x");
-    Serial.println(i2cAddress, HEX);
-#endif
-
-    writeRegister(PCA9685_SUBADR3_REG, i2cAddress);
-
-    byte mode1Reg = readRegister(PCA9685_MODE1_REG);
-    writeRegister(PCA9685_MODE1_REG, (mode1Reg |= PCA9685_MODE_SUBADR3));
-}
-
-void PCA9685::disableAllCallAddress() {
-    if (_isProxyAddresser) return;
-
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-    Serial.println("PCA9685::disableAllCallAddress");
-#endif
-
-    byte mode1Reg = readRegister(PCA9685_MODE1_REG);
-    writeRegister(PCA9685_MODE1_REG, (mode1Reg &= ~PCA9685_MODE_ALLCALL));
-}
-
-void PCA9685::disableSub1Address() {
-    if (_isProxyAddresser) return;
-
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-    Serial.println("PCA9685::disableSub1Address");
-#endif
-
-    byte mode1Reg = readRegister(PCA9685_MODE1_REG);
-    writeRegister(PCA9685_MODE1_REG, (mode1Reg &= ~PCA9685_MODE_SUBADR1));
-}
-
-void PCA9685::disableSub2Address() {
-    if (_isProxyAddresser) return;
-
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-    Serial.println("PCA9685::disableSub2Address");
-#endif
-
-    byte mode1Reg = readRegister(PCA9685_MODE1_REG);
-    writeRegister(PCA9685_MODE1_REG, (mode1Reg &= ~PCA9685_MODE_SUBADR2));
-}
-
-void PCA9685::disableSub3Address() {
-    if (_isProxyAddresser) return;
-
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-    Serial.println("PCA9685::disableSub3Address");
-#endif
-
-    byte mode1Reg = readRegister(PCA9685_MODE1_REG);
-    writeRegister(PCA9685_MODE1_REG, (mode1Reg &= ~PCA9685_MODE_SUBADR3));
-}
-
-void PCA9685::enableExtClockLine() {
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-    Serial.println("PCA9685::enableExtClockLine");
-#endif
-
-    // The PRE_SCALE register can only be set when the SLEEP bit of MODE1 register is set to logic 1.
-    byte mode1Reg = readRegister(PCA9685_MODE1_REG);
-    writeRegister(PCA9685_MODE1_REG, (mode1Reg = (mode1Reg & ~PCA9685_MODE_RESTART) | PCA9685_MODE_SLEEP));
-    writeRegister(PCA9685_MODE1_REG, (mode1Reg |= PCA9685_MODE_EXTCLK));
-
-    // It takes 500us max for the oscillator to be up and running once SLEEP bit has been set to logic 0.
-    writeRegister(PCA9685_MODE1_REG, (mode1Reg = (mode1Reg & ~PCA9685_MODE_SLEEP) | PCA9685_MODE_RESTART));
-    delayMicroseconds(500);
-}
-
-#endif
-
-byte PCA9685::getLastI2CError() {
-    return _lastI2CError;
-}
-
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-
-static const char *textForI2CError(byte errorCode) {
-    switch (errorCode) {
-    case 0:
-        return "Success";
-    case 1:
-        return "Data too long to fit in transmit buffer";
-    case 2:
-        return "Received NACK on transmit of address";
-    case 3:
-        return "Received NACK on transmit of data";
-    default:
-        return "Other error";
-    }
-}
-
-void PCA9685::checkForErrors() {
-    if (_lastI2CError) {
-        Serial.print("  PCA9685::checkErrors lastI2CError: ");
-        Serial.print(_lastI2CError);
-        Serial.print(": ");
-        Serial.println(textForI2CError(getLastI2CError()));
-    }
-}
-
-#endif
-
-void PCA9685::getPhaseCycle(int channel, uint16_t pwmAmount, uint16_t *phaseBegin, uint16_t *phaseEnd) {
-    // Set delay
-    if (channel < 0) {
-        // All channels
-        *phaseBegin = 0;
-    }
-    else if (_phaseBalancer == PCA9685_PhaseBalancer_Linear) {
-        // Distribute high phase area over entire phase range to balance load.
-        *phaseBegin = channel * (4096 / 16);
-    }
-    else if (_phaseBalancer == PCA9685_PhaseBalancer_Weaved) {
-        // Distribute high phase area over entire phase range to balance load.
-        *phaseBegin = phaseDistTable[channel];
-    }
-    else {
-        *phaseBegin = 0;
-    }
-    
-    // See datasheet section 7.3.3
-    if (pwmAmount == 0) {
-        // Full OFF => time_off[12] = 1;
-        *phaseEnd = PCA9685_PWM_FULL;
-    }
-    else if (pwmAmount >= PCA9685_PWM_FULL) {
-        // Full ON => time_on[12] = 1; time_off = ignored;
-        *phaseBegin |= PCA9685_PWM_FULL;
-        *phaseEnd = 0;
-    }
-    else {
-        *phaseEnd = *phaseBegin + pwmAmount;
-        if (*phaseEnd >= PCA9685_PWM_FULL)
-            *phaseEnd -= PCA9685_PWM_FULL;
-    }
-}
-
-void PCA9685::writeChannelBegin(int channel) {
-    byte regAddress;
-
-    if (channel != -1)
-        regAddress = PCA9685_LED0_REG + (channel * 0x04);
-    else
-        regAddress = PCA9685_ALLLED_REG;
-
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-    Serial.print("  PCA9685::writeChannelBegin channel: ");
-    Serial.print(channel);
-    Serial.print(", regAddress: 0x");
-    Serial.println(regAddress, HEX);
-#endif
-
-    i2cWire_beginTransmission(_i2cAddress);
-    i2cWire_write(regAddress);
-}
-
-void PCA9685::writeChannelPWM(uint16_t phaseBegin, uint16_t phaseEnd) {
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-    Serial.print("  PCA9685::writeChannelPWM phaseBegin: ");
-    Serial.print(phaseBegin);
-    Serial.print(", phaseEnd: ");
-    Serial.println(phaseEnd);
-#endif
-
-    i2cWire_write(lowByte(phaseBegin));
-    i2cWire_write(highByte(phaseBegin));
-    i2cWire_write(lowByte(phaseEnd));
-    i2cWire_write(highByte(phaseEnd));
-}
-
-void PCA9685::writeChannelEnd() {
-    i2cWire_endTransmission();
-
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-    checkForErrors();
-#endif
-}
-
-void PCA9685::writeRegister(byte regAddress, byte value) {
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-    Serial.print("  PCA9685::writeRegister regAddress: 0x");
-    Serial.print(regAddress, HEX);
-    Serial.print(", value: 0x");
-    Serial.println(value, HEX);
-#endif
-
-    i2cWire_beginTransmission(_i2cAddress);
-    i2cWire_write(regAddress);
-    i2cWire_write(value);
-    i2cWire_endTransmission();
-
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-    checkForErrors();
-#endif
-}
-
-byte PCA9685::readRegister(byte regAddress) {
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-    Serial.print("  PCA9685::readRegister regAddress: 0x");
-    Serial.println(regAddress, HEX);
-#endif
-
-    i2cWire_beginTransmission(_i2cAddress);
-    i2cWire_write(regAddress);
-    if (i2cWire_endTransmission()) {
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-        checkForErrors();
-#endif
-        return 0;
-    }
-
-    int bytesRead = i2cWire_requestFrom((uint8_t)_i2cAddress, (uint8_t)1);
-    if (bytesRead != 1) {
-        while (bytesRead-- > 0)
-            i2cWire_read();
-        _lastI2CError = 4;
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-        checkForErrors();
-#endif
-        return 0;
-    }
-
-    byte retVal = i2cWire_read();
-
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-    Serial.print("    PCA9685::readRegister retVal: 0x");
-    Serial.println(retVal, HEX);
-#endif
-
-    return retVal;
-}
-
-#ifdef PCA9685_ENABLE_SOFTWARE_I2C
-bool __attribute__((noinline)) i2c_start(uint8_t addr);
-void __attribute__((noinline)) i2c_stop(void) asm("ass_i2c_stop");
-bool __attribute__((noinline)) i2c_write(uint8_t value) asm("ass_i2c_write");
-uint8_t __attribute__((noinline)) i2c_read(bool last);
-#endif
-
-void PCA9685::i2cWire_beginTransmission(uint8_t addr) {
-    _lastI2CError = 0;
-#ifndef PCA9685_ENABLE_SOFTWARE_I2C
-    _i2cWire->beginTransmission(addr);
-#else
-    i2c_start(addr);
-#endif
-}
-
-uint8_t PCA9685::i2cWire_endTransmission(void) {
-#ifndef PCA9685_ENABLE_SOFTWARE_I2C
-    return (_lastI2CError = _i2cWire->endTransmission());
-#else
-    i2c_stop();
-    return (_lastI2CError = 0);
-#endif
-}
-
-uint8_t PCA9685::i2cWire_requestFrom(uint8_t addr, uint8_t len) {
-#ifndef PCA9685_ENABLE_SOFTWARE_I2C
-    return _i2cWire->requestFrom(addr, len);
-#else
-    i2c_start(addr | 0x01);
-    return (_readBytes = len);
-#endif
-}
-
-size_t PCA9685::i2cWire_write(uint8_t data) {
-#ifndef PCA9685_ENABLE_SOFTWARE_I2C
-    return _i2cWire->write(data);
-#else
-    return (size_t)i2c_write(data);
-#endif
-}
-
-uint8_t PCA9685::i2cWire_read(void) {
-#ifndef PCA9685_ENABLE_SOFTWARE_I2C
-    return (uint8_t)(_i2cWire->read() & 0xFF);
-#else
-    if (_readBytes > 1) {
-        _readByes -= 1;
-        return (uint8_t)(i2c_read(false) & 0xFF);
-    }
-    else {
-        _readBytes = 0;
-        return (uint8_t)(i2c_read(true) & 0xFF);
-    }
-#endif
-}
-
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-
-void PCA9685::printModuleInfo() {
-    Serial.println(""); Serial.println(" ~~~ PCA9685 Module Info ~~~");
-
-    Serial.println(""); Serial.println("i2c Address:");
-    Serial.print("0x");
-    Serial.println(_i2cAddress, HEX);
-
-    Serial.println(""); Serial.println("Phase Balancer:");
-    switch (_phaseBalancer) {
-        case PCA9685_PhaseBalancer_None:
-            Serial.println("PCA9685_PhaseBalancer_None"); break;
-        case PCA9685_PhaseBalancer_Linear:
-            Serial.println("PCA9685_PhaseBalancer_Linear"); break;
-        case PCA9685_PhaseBalancer_Weaved:
-            Serial.println("PCA9685_PhaseBalancer_Weaved"); break;
-        default:
-            Serial.println(""); break;
-    }
-
-    if (!_isProxyAddresser) {
-        Serial.println(""); Serial.println("Proxy Addresser:");
-        Serial.println("false");
-
-        Serial.println(""); Serial.println("Mode1 Register:");
-        byte mode1Reg = readRegister(PCA9685_MODE1_REG);
-        Serial.print("0x");
-        Serial.print(mode1Reg, HEX);
-        Serial.print(", Bitset:");
-        if (mode1Reg & PCA9685_MODE_RESTART)
-            Serial.print(" PCA9685_MODE_RESTART");
-        if (mode1Reg & PCA9685_MODE_EXTCLK)
-            Serial.print(" PCA9685_MODE_EXTCLK");
-        if (mode1Reg & PCA9685_MODE_AUTOINC)
-            Serial.print(" PCA9685_MODE_AUTOINC");
-        if (mode1Reg & PCA9685_MODE_SLEEP)
-            Serial.print(" PCA9685_MODE_SLEEP");
-        if (mode1Reg & PCA9685_MODE_SUBADR1)
-            Serial.print(" PCA9685_MODE_SUBADR1");
-        if (mode1Reg & PCA9685_MODE_SUBADR2)
-            Serial.print(" PCA9685_MODE_SUBADR2");
-        if (mode1Reg & PCA9685_MODE_SUBADR3)
-            Serial.print(" PCA9685_MODE_SUBADR3");
-        if (mode1Reg & PCA9685_MODE_ALLCALL)
-            Serial.print(" PCA9685_MODE_ALLCALL");
-        Serial.println("");
-
-        Serial.println(""); Serial.println("Mode2 Register:");
-        byte mode2Reg = readRegister(PCA9685_MODE2_REG);
-        Serial.print("0x");
-        Serial.print(mode2Reg, HEX);
-        Serial.print(", Bitset:");
-        if (mode2Reg & PCA9685_MODE_INVRT)
-            Serial.print(" PCA9685_MODE_INVRT");
-        if (mode2Reg & PCA9685_MODE_OUTPUT_ONACK)
-            Serial.print(" PCA9685_MODE_OUTPUT_ONACK");
-        if (mode2Reg & PCA9685_MODE_OUTPUT_TPOLE)
-            Serial.print(" PCA9685_MODE_OUTPUT_TPOLE");
-        if (mode2Reg & PCA9685_MODE_OUTNE_HIGHZ)
-            Serial.print(" PCA9685_MODE_OUTNE_HIGHZ");
-        if (mode2Reg & PCA9685_MODE_OUTNE_LOW)
-            Serial.print(" PCA9685_MODE_OUTNE_LOW");
-        Serial.println("");
-
-        Serial.println(""); Serial.println("SubAddress1 Register:");
-        byte subAdr1Reg = readRegister(PCA9685_SUBADR1_REG);
-        Serial.print("0x");
-        Serial.println(subAdr1Reg, HEX);
-
-        Serial.println(""); Serial.println("SubAddress2 Register:");
-        byte subAdr2Reg = readRegister(PCA9685_SUBADR2_REG);
-        Serial.print("0x");
-        Serial.println(subAdr2Reg, HEX);
-
-        Serial.println(""); Serial.println("SubAddress3 Register:");
-        byte subAdr3Reg = readRegister(PCA9685_SUBADR3_REG);
-        Serial.print("0x");
-        Serial.println(subAdr3Reg, HEX);
-
-        Serial.println(""); Serial.println("AllCall Register:");
-        byte allCallReg = readRegister(PCA9685_ALLCALL_REG);
-        Serial.print("0x");
-        Serial.println(allCallReg, HEX);
-    }
-    else {
-        Serial.println(""); Serial.println("Proxy Addresser:");
-        Serial.println("true");
-    }
-}
-
-#endif
-
-
-#ifndef PCA9685_EXCLUDE_SERVO_EVAL
-
-PCA9685_ServoEvaluator::PCA9685_ServoEvaluator(uint16_t n90PWMAmount, uint16_t p90PWMAmount) {
-    n90PWMAmount = constrain(n90PWMAmount, 0, PCA9685_PWM_FULL);
-    p90PWMAmount = constrain(p90PWMAmount, n90PWMAmount, PCA9685_PWM_FULL);
-
-    _coeff = new float[2];
-    _isCSpline = false;
-
-    _coeff[0] = n90PWMAmount;
-    _coeff[1] = (p90PWMAmount - n90PWMAmount) / 180.0f;
-}
-
-PCA9685_ServoEvaluator::PCA9685_ServoEvaluator(uint16_t n90PWMAmount, uint16_t zeroPWMAmount, uint16_t p90PWMAmount) {
-    n90PWMAmount = constrain(n90PWMAmount, 0, PCA9685_PWM_FULL);
-    zeroPWMAmount = constrain(zeroPWMAmount, n90PWMAmount, PCA9685_PWM_FULL);
-    p90PWMAmount = constrain(p90PWMAmount, zeroPWMAmount, PCA9685_PWM_FULL);
-
-    if (p90PWMAmount - zeroPWMAmount != zeroPWMAmount - n90PWMAmount) {
-        _coeff = new float[8];
-        _isCSpline = true;
-
-        // Cubic spline code adapted from: https://shiftedbits.org/2011/01/30/cubic-spline-interpolation/
-        /* "THE BEER-WARE LICENSE" (Revision 42): Devin Lane wrote this [part]. As long as you retain
-        * this notice you can do whatever you want with this stuff. If we meet some day, and you
-        * think this stuff is worth it, you can buy me a beer in return. */
-
-        float x[3] = { 0, 90, 180 };
-        float y[3] = { (float)n90PWMAmount, (float)zeroPWMAmount, (float)p90PWMAmount };
-        float c[3], b[2], d[2], h[2], l[1], u[2], a[1], z[2]; // n = 3
-
-        h[0] = x[1] - x[0];
-        u[0] = z[0] = 0;
-        c[2] = 0;
-
-        for (int i = 1; i < 2; ++i) {
-            h[i] = x[i + 1] - x[i];
-            l[i - 1] = (2 * (x[i + 1] - x[i - 1])) - h[i - 1] * u[i - 1];
-            u[i] = h[i] / l[i - 1];
-            a[i - 1] = (3 / h[i]) * (y[i + 1] - y[i]) - (3 / h[i - 1]) * (y[i] - y[i - 1]);
-            z[i] = (a[i - 1] - h[i - 1] * z[i - 1]) / l[i - 1];
-        }
-
-        for (int i = 1; i >= 0; --i) {
-            c[i] = z[i] - u[i] * c[i + 1];
-            b[i] = (y[i + 1] - y[i]) / h[i] - (h[i] * (c[i + 1] + 2 * c[i])) / 3;
-            d[i] = (c[i + 1] - c[i]) / (3 * h[i]);
-
-            _coeff[4 * i + 0] = y[i]; // a
-            _coeff[4 * i + 1] = b[i]; // b
-            _coeff[4 * i + 2] = c[i]; // c
-            _coeff[4 * i + 3] = d[i]; // d
-        }
-    }
-    else {
-        _coeff = new float[2];
-        _isCSpline = false;
-
-        _coeff[0] = n90PWMAmount;
-        _coeff[1] = (p90PWMAmount - n90PWMAmount) / 180.0f;
-    }
-}
-
-PCA9685_ServoEvaluator::~PCA9685_ServoEvaluator() {
-    if (_coeff) delete[] _coeff;
-}
-
-uint16_t PCA9685_ServoEvaluator::pwmForAngle(float angle) {
-    float retVal;
-    angle = constrain(angle + 90, 0, 180);
-
-    if (!_isCSpline) {
-        retVal = _coeff[0] + (_coeff[1] * angle);
-    }
-    else {
-        if (angle <= 90) {
-            retVal = _coeff[0] + (_coeff[1] * angle) + (_coeff[2] * angle * angle) + (_coeff[3] * angle * angle * angle);
-        }
-        else {
-            angle -= 90;
-            retVal = _coeff[4] + (_coeff[5] * angle) + (_coeff[6] * angle * angle) + (_coeff[7] * angle * angle * angle);
-        }
-    }
-    
-    return (uint16_t)constrain((int)roundf(retVal), 0, PCA9685_PWM_FULL);
-};
-
-#endif

lib/PCA9685 16-Channel PWM Driver Module Library/PCA9685.h

@@ -1,213 +0,0 @@
-/*  Arduino Library for the PCA9685 16-Channel PWM Driver Module.
-    Copyright (c) 2016 NachtRaveVL      <nachtravevl@gmail.com>
-    Copyright (C) 2012 Kasper Skårhøj   <kasperskaarhoj@gmail.com>
-
-    This program is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    This program is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with this program.  If not, see <http://www.gnu.org/licenses/>.
-
-    Created by Kasper Skårhøj, August 3rd, 2012.
-    Forked by Vitska, June 18th, 2016.
-    Forked by NachtRaveVL, July 29th, 2016.
-
-    PCA9685-Arduino - Version 1.2.9
-*/
-
-#ifndef PCA9685_H
-#define PCA9685_H
-
-// Library Setup
-
-// Uncomment this define to enable use of the software i2c library (min 4MHz+ processor required).
-//#define PCA9685_ENABLE_SOFTWARE_I2C     1   // http://playground.arduino.cc/Main/SoftwareI2CLibrary
-
-// Uncomment this define if wanting to exclude extended functionality from compilation.
-//#define PCA9685_EXCLUDE_EXT_FUNC        1
-
-// Uncomment this define if wanting to exclude ServoEvaluator assistant from compilation.
-//#define PCA9685_EXCLUDE_SERVO_EVAL      1
-
-// Uncomment this define to enable debug output.
-//#define PCA9685_ENABLE_DEBUG_OUTPUT     1
-
-// Servo Control Note
-// Many 180 degree controlled digital servos run on a 20ms pulse width (50Hz update
-// frequency) based duty cycle, and do not utilize the entire pulse width for their
-// -90/+90 degree control. Typically, 2.5% of the 20ms pulse width (0.5ms) is considered
-// -90 degrees, and 12.5% of the 20ms pulse width (2.5ms) is considered +90 degrees. This
-// roughly translates to raw PCA9685 PWM values of 102 and 512 (out of the 4096 value
-// range) for -90 to +90 degree control, but may need to be adjusted to fit your specific
-// servo (e.g. some I've tested run ~130 to ~525 for their -90/+90 degree control). Also
-// be aware that driving some servos past their -90/+90 degrees of movement can cause a
-// little plastic limiter pin to break off and get stuck inside of the gearing, which
-// could potentially cause the servo to become jammed. See the PCA9685_ServoEvaluator
-// class to assist with calculating PWM values from Servo angle values.
-
-#if defined(ARDUINO) && ARDUINO >= 100
-#include <Arduino.h>
-#else
-#include <WProgram.h>
-#endif
-#ifndef PCA9685_ENABLE_SOFTWARE_I2C
-#include <Wire.h>
-#endif
-
-#define _BUFFER_LENGTH 32
-
-#define PCA9685_MODE_INVRT          (byte)0x10  // Inverts polarity of channel output signal
-#define PCA9685_MODE_OUTPUT_ONACK   (byte)0x08  // Channel update happens upon ACK (post-set) rather than on STOP (endTransmission)
-#define PCA9685_MODE_OUTPUT_TPOLE   (byte)0x04  // Use a totem-pole (push-pull) style output, typical for boards using this chipset
-#define PCA9685_MODE_OUTNE_HIGHZ    (byte)0x02  // For active low output enable, sets channel output to high-impedance state
-#define PCA9685_MODE_OUTNE_LOW      (byte)0x01  // Similarly, sets channel output to high if in totem-pole mode, otherwise high-impedance state
-
-#define PCA9685_MIN_CHANNEL         0
-#define PCA9685_MAX_CHANNEL         15
-#define PCA9685_CHANNEL_COUNT       16
-
-typedef enum {
-    PCA9685_PhaseBalancer_None = -1,    // Disables phase balancing, all high phase areas start at begining of cycle
-    PCA9685_PhaseBalancer_Linear = 0,   // Balances all outputs linearly, 256 steps away from previous output
-    PCA9685_PhaseBalancer_Weaved,       // Balances first few outputs better, steps away from previous shorten towards last output
-
-    PCA9685_PhaseBalancer_Count
-} PCA9685_PhaseBalancer;
-
-class PCA9685 {
-public:
-#ifndef PCA9685_ENABLE_SOFTWARE_I2C
-    // May use a different Wire instance than Wire. Some chipsets, such as Due/Zero/etc.,
-    // have a Wire1 class instance that uses the SDA1/SCL1 lines instead.
-    // Supported i2c baud rates are 100kHz, 400kHz, and 1000kHz.
-    PCA9685(TwoWire& i2cWire = Wire, PCA9685_PhaseBalancer phaseBalancer = PCA9685_PhaseBalancer_Linear);
-#else
-    // Minimum supported i2c baud rate is 100kHz, which means minimum supported processor
-    // speed is 4MHz+ while running i2c standard mode. For 400kHz i2c baud rate, minimum
-    // supported processor speed is 16MHz+ while running i2c fast mode.
-    PCA9685(PCA9685_PhaseBalancer phaseBalancer = PCA9685_PhaseBalancer_Linear);
-#endif
-
-    // Should be called only once in setup(), before any init()'s, but after Wire.begin().
-    // Only should be called once on any Wire instance to do a software reset, which
-    // will affect all devices on that line. This helps when you're constantly rebuilding
-    // and reuploading to ensure all the devices on that line are reset properly.
-    void resetDevices();
-
-    // Called in setup(). The i2c address here is the value of the A0, A1, A2, A3, A4 and
-    // A5 pins ONLY, as the class takes care of its internal base address. i2cAddress
-    // should be a value between 0 and 61, since only 62 boards can be addressed.
-    void init(byte i2cAddress = 0, byte mode = PCA9685_MODE_OUTPUT_ONACK | PCA9685_MODE_OUTPUT_TPOLE);
-
-#ifndef PCA9685_EXCLUDE_EXT_FUNC
-    // Called in setup(). Used when instance talks through to AllCall/Sub1-Sub3 instances
-    // as a proxy object. Using this method will disable any method that performs a read
-    // or conflicts certain states.
-    void initAsProxyAddresser(byte i2cAddress = 0xE0);
-#endif
-
-    byte getI2CAddress();
-    PCA9685_PhaseBalancer getPhaseBalancer();
-
-    // Min: 24Hz, Max: 1526Hz, Default: 200Hz (resolution widens as Hz goes higher)
-    void setPWMFrequency(float pwmFrequency);
-
-    // Turns channel either full on or full off
-    void setChannelOn(int channel);
-    void setChannelOff(int channel);
-
-    // PWM amounts 0 - 4096, 0 full off, 4096 full on
-    void setChannelPWM(int channel, uint16_t pwmAmount);
-    void setChannelsPWM(int begChannel, int numChannels, const uint16_t *pwmAmounts);
-
-#ifndef PCA9685_EXCLUDE_EXT_FUNC
-    // Sets all channels, but won't distribute phases
-    void setAllChannelsPWM(uint16_t pwmAmount);
-
-    // Returns PWM amounts 0 - 4096, 0 full off, 4096 full on
-    uint16_t getChannelPWM(int channel);
-
-    // Enables multiple talk-through paths via i2c bus (lsb/bit0 must stay 0)
-    // To use, create a new class instance using initAsSubAddressed() with said address
-    void enableAllCallAddress(byte i2cAddress = 0xE0);
-    void enableSub1Address(byte i2cAddress = 0xE2);
-    void enableSub2Address(byte i2cAddress = 0xE4);
-    void enableSub3Address(byte i2cAddress = 0xE8);
-    void disableAllCallAddress();
-    void disableSub1Address();
-    void disableSub2Address();
-    void disableSub3Address();
-
-    // Allows external clock line to be utilized (once enabled cannot be disabled)
-    void enableExtClockLine();
-#endif
-
-    byte getLastI2CError();
-
-#ifdef PCA9685_ENABLE_DEBUG_OUTPUT
-    void printModuleInfo();
-    void checkForErrors();
-#endif
-
-private:
-#ifndef PCA9685_ENABLE_SOFTWARE_I2C
-    TwoWire *_i2cWire;          // Wire class instance to use
-#endif
-    byte _i2cAddress;           // Module's i2c address
-    PCA9685_PhaseBalancer _phaseBalancer; // Phase balancer scheme to distribute load
-    bool _isProxyAddresser;     // Instance is a proxy for sub addressing (disables certain functionality)
-    byte _lastI2CError;         // Last i2c error
-
-    void getPhaseCycle(int channel, uint16_t pwmAmount, uint16_t *phaseBegin, uint16_t *phaseEnd);
-
-    void writeChannelBegin(int channel);
-    void writeChannelPWM(uint16_t phaseBegin, uint16_t phaseEnd);
-    void writeChannelEnd();
-
-    void writeRegister(byte regAddress, byte value);
-    byte readRegister(byte regAddress);
-
-#ifdef PCA9685_ENABLE_SOFTWARE_I2C
-    uint8_t _readBytes;
-#endif
-    void i2cWire_beginTransmission(uint8_t);
-    uint8_t i2cWire_endTransmission(void);
-    uint8_t i2cWire_requestFrom(uint8_t, uint8_t);
-    size_t i2cWire_write(uint8_t);
-    uint8_t i2cWire_read(void);
-};
-
-#ifndef PCA9685_EXCLUDE_SERVO_EVAL
-
-// Class to assist with calculating Servo PWM values from angle values
-class PCA9685_ServoEvaluator {
-public:
-    // Uses a linear interpolation method to quickly compute PWM output value. Uses
-    // default values of 2.5% and 12.5% of phase length for -90/+90.
-    PCA9685_ServoEvaluator(uint16_t n90PWMAmount = 102, uint16_t p90PWMAmount = 512);
-
-    // Uses a cubic spline to interpolate due to an offsetted zero angle that isn't
-    // exactly between -90/+90. This takes more time to compute, but gives a more
-    // accurate PWM output value along the entire range.
-    PCA9685_ServoEvaluator(uint16_t n90PWMAmount, uint16_t zeroPWMAmount, uint16_t p90PWMAmount);
-
-    ~PCA9685_ServoEvaluator();
-
-    // Returns the PWM value to use given the angle (-90 to +90)
-    uint16_t pwmForAngle(float angle);
-
-private:
-    float *_coeff;      // a,b,c,d coefficient values
-    bool _isCSpline;    // Cubic spline tracking, for _coeff length
-};
-
-#endif
-
-#endif 

lib/PCA9685 16-Channel PWM Driver Module Library/README.md

@@ -1,328 +0,0 @@
-# PCA9685-Arduino
-Arduino Library for the PCA9685 16-Channel PWM Driver Module.
-
-**PCA9685-Arduino - Version 1.2.9**
-
-Library to control a PCA9685 16-channel PWM driver module from an Arduino board.  
-Licensed under the copy-left GNU GPL v3 license.
-
-Created by Kasper Skårhøj, August 3rd, 2012.  
-Forked by Vitska, June 18th, 2016.  
-Forked by NachtRaveVL, July 29th, 2016.
-
-This library allows communication with boards running a PCA6985 16-channel PWM driver module. It supports a wide range of available functionality, from setting the output PWM frequecy, allowing multi-device proxy addressing, and provides an assistant class for working with Servos.
-
-The datasheet for the IC is available from <http://www.nxp.com/documents/data_sheet/PCA9685.pdf>.
-
-## Library Setup
-
-There are several defines inside of the library's header file that allows for more fine-tuned control.
-
-```Arduino
-// Uncomment this define to enable use of the software i2c library (min 4MHz+ processor required).
-//#define PCA9685_ENABLE_SOFTWARE_I2C     1   // http://playground.arduino.cc/Main/SoftwareI2CLibrary
-
-// Uncomment this define if wanting to exclude extended functionality from compilation.
-//#define PCA9685_EXCLUDE_EXT_FUNC        1
-
-// Uncomment this define if wanting to exclude ServoEvaluator assistant from compilation.
-//#define PCA9685_EXCLUDE_SERVO_EVAL      1
-
-// Uncomment this define to enable debug output.
-//#define PCA9685_ENABLE_DEBUG_OUTPUT     1
-```
-
-## Servo Control Note
-
-Many 180 degree controlled digital servos run on a 20ms pulse width (50Hz update frequency) based duty cycle, and do not utilize the entire pulse width for their -90/+90 degree control. Typically, 2.5% of the 20ms pulse width (0.5ms) is considered -90 degrees, and 12.5% of the 20ms pulse width (2.5ms) is considered +90 degrees. This roughly translates to raw PCA9685 PWM values of 102 and 512 (out of the 4096 value range) for -90 to +90 degree control, but may need to be adjusted to fit your specific servo (e.g. some I've tested run ~130 to ~525 for their -90/+90 degree control). Also be aware that driving some servos past their -90/+90 degrees of movement can cause a little plastic limiter pin to break off and get stuck inside of the gearing, which could potentially cause the servo to become jammed. See the PCA9685_ServoEvaluator class to assist with calculating PWM values from Servo angle values.
-
-## Example Usage
-
-Below are several examples of library usage.
-
-### Simple Example
-```Arduino
-#include <Wire.h>
-#include "PCA9685.h"
-
-PCA9685 pwmController;                  // Library using default Wire and default linear phase balancing scheme
-
-void setup() {
-    Serial.begin(115200);
-
-    Wire.begin();                       // Wire must be started first
-    Wire.setClock(400000);              // Supported baud rates are 100kHz, 400kHz, and 1000kHz
-
-    pwmController.resetDevices();       // Software resets all PCA9685 devices on Wire line
-
-    pwmController.init(B000000);        // Address pins A5-A0 set to B000000
-    pwmController.setPWMFrequency(100); // Default is 200Hz, supports 24Hz to 1526Hz
-
-    pwmController.setChannelPWM(0, 128 << 4); // Set PWM to 128/255, but in 4096 land
-
-    Serial.println(pwmController.getChannelPWM(0)); // Should output 2048, which is 128 << 4
-}
-
-```
-
-### Batching Example
-
-In this example, we randomly select PWM frequencies on all 12 outputs and allow them to drive for 5 seconds before changing them.
-
-```Arduino
-#include <Wire.h>
-#include "PCA9685.h"
-
-PCA9685 pwmController;                  // Library using default Wire and default linear phase balancing scheme
-
-void setup() {
-	Serial.begin(115200);
-
-    Wire.begin();                       // Wire must be started first
-    Wire.setClock(400000);              // Supported baud rates are 100kHz, 400kHz, and 1000kHz
-
-    pwmController.resetDevices();       // Software resets all PCA9685 devices on Wire line
-
-    pwmController.init(B010101);        // Address pins A5-A0 set to B010101
-    pwmController.setPWMFrequency(500); // Default is 200Hz, supports 24Hz to 1526Hz
-
-    randomSeed(analogRead(0));          // Use white noise for our randomness
-}
-
-void loop() {
-    word pwms[12];
-    pwms[0] = random(0, 4096);
-    pwms[1] = random(0, 4096);
-    pwms[2] = random(0, 4096);
-    pwms[3] = random(0, 4096);
-    pwms[4] = random(0, 4096);
-    pwms[5] = random(0, 4096);
-    pwms[6] = random(0, 4096);
-    pwms[7] = random(0, 4096);
-    pwms[8] = random(0, 4096);
-    pwms[9] = random(0, 4096);
-    pwms[10] = random(0, 4096);
-    pwms[11] = random(0, 4096);
-    pwmController.setChannelsPWM(0, 12, pwms);
-    delay(5000);
-
-    // Note: Only 7 channels can be written in one i2c transaction due to a
-    // BUFFER_LENGTH limit of 32, so 12 channels will take two i2c transactions.
-}
-
-```
-
-### Multi-Device Proxy Example
-
-In this example, we use a special instance to control other modules attached to it via the ALL_CALL register.
-
-```Arduino
-#include <Wire.h>
-#include "PCA9685.h"
-
-PCA9685 pwmController1;                 // Library using default Wire and default linear phase balancing scheme
-PCA9685 pwmController2;                 // Library using default Wire and default linear phase balancing scheme
-
-PCA9685 pwmControllerAll;               // Not a real device, will act as a proxy to pwmController1 and pwmController2
-
-void setup() {
-    Serial.begin(115200);
-
-    Wire.begin();                       // Wire must be started first
-    Wire.setClock(400000);              // Supported baud rates are 100kHz, 400kHz, and 1000kHz
-
-    pwmController1.resetDevices();      // Software resets all PCA9685 devices on Wire line (including pwmController2 in this case)
-
-    pwmController1.init(B000000);       // Address pins A5-A0 set to B000000
-    pwmController2.init(B000001);       // Address pins A5-A0 set to B000001
-
-    pwmController1.setChannelOff(0);    // Turn channel 0 off
-    pwmController2.setChannelOff(0);    // On both
-
-    pwmController1.enableAllCallAddress(); // Default address of 0xE0
-    pwmController2.enableAllCallAddress(); // Same default address
-
-    pwmControllerAll.initAsProxyAddresser(); // Same default address of 0x0E as used in enable above
-
-    pwmControllerAll.setChannelPWM(0, 4096); // Enables full on on both pwmController1 and pwmController2
-
-    Serial.println(pwmController1.getChannelPWM(0)); // Should output 4096
-    Serial.println(pwmController2.getChannelPWM(0)); // Should also output 4096
-
-    // Note: Various parts of functionality of the proxy class instance are actually
-    // disabled - typically anything that involves a read command being issued.
-}
-
-```
-
-### Servo Evaluator Example
-
-In this example, we utilize the ServoEvaluator class to assist with setting PWM frequencies when working with servos. We will be using Wire1, which is only available on boards with SDA1/SCL1 (Due, Zero, etc.) - change to Wire if Wire1 is unavailable.
-
-```Arduino
-#include <Wire.h>
-#include "PCA9685.h"
-
-PCA9685 pwmController(Wire1, PCA9685_PhaseBalancer_Weaved); // Library using Wire1 and weaved phase balancing scheme
-
-// Linearly interpolates between standard 2.5%/12.5% phase length (102/512) for -90°/+90°
-PCA9685_ServoEvaluator pwmServo1;
-
-// Testing our second servo has found that -90° sits at 128, 0° at 324, and +90° at 526.
-// Since 324 isn't precisely in the middle, a cubic spline will be used to smoothly
-// interpolate PWM values, which will account for said discrepancy. Additionally, since
-// 324 is closer to 128 than 526, there is less resolution in the -90° to 0° range, and
-// more in the 0° to +90° range.
-PCA9685_ServoEvaluator pwmServo2(128,324,526);
-
-void setup() {
-    Serial.begin(115200);
-
-    Wire1.begin();                      // Wire must be started first
-    Wire1.setClock(400000);             // Supported baud rates are 100kHz, 400kHz, and 1000kHz
-
-    pwmController.resetDevices();       // Software resets all PCA9685 devices on Wire line
-
-    pwmController.init(B000000);        // Address pins A5-A0 set to B000000
-    pwmController.setPWMFrequency(50);  // 50Hz provides 20ms standard servo phase length
-
-    pwmController.setChannelPWM(0, pwmServo1.pwmForAngle(-90));
-    Serial.println(pwmController.getChannelPWM(0)); // Should output 102 for -90°
-
-    // Showing linearity for midpoint, 205 away from both -90° and 90°
-    Serial.println(pwmServo1.pwmForAngle(0));   // Should output 307 for 0°
-
-    pwmController.setChannelPWM(0, pwmServo1.pwmForAngle(90));
-    Serial.println(pwmController.getChannelPWM(0)); // Should output 512 for +90°
-
-    pwmController.setChannelPWM(1, pwmServo2.pwmForAngle(-90));
-    Serial.println(pwmController.getChannelPWM(1)); // Should output 128 for -90°
-
-    // Showing less resolution in the -90° to 0° range
-    Serial.println(pwmServo2.pwmForAngle(-45)); // Should output 225 for -45°, 97 away from -90°
-
-    pwmController.setChannelPWM(1, pwmServo2.pwmForAngle(0));
-    Serial.println(pwmController.getChannelPWM(1)); // Should output 324 for 0°
-
-    // Showing more resolution in the 0° to +90° range
-    Serial.println(pwmServo2.pwmForAngle(45));  // Should output 424 for +45°, 102 away from +90°
-
-    pwmController.setChannelPWM(1, pwmServo2.pwmForAngle(90));
-    Serial.println(pwmController.getChannelPWM(1)); // Should output 526 for +90°
-}
-
-```
-
-### Software I2C Example
-
-In this example, we utilize the software I2C functionality for chips that do not have a hardware I2C bus. We must uncomment the PCA9685_ENABLE_SOFTWARE_I2C define in the libraries main header file for software I2C mode to be enabled.
-
-In PCA9685.h:
-```Arduino
-// Uncomment this define to enable use of the software i2c library (min 4MHz+ processor required).
-#define PCA9685_ENABLE_SOFTWARE_I2C     1   // http://playground.arduino.cc/Main/SoftwareI2CLibrary
-```
-
-In main sketch:
-```Arduino
-#include "PCA9685.h"
-
-#define SCL_PIN 2                       // Setup defines are written before library include
-#define SCL_PORT PORTD 
-#define SDA_PIN 0 
-#define SDA_PORT PORTC 
-
-#if F_CPU >= 16000000
-#define I2C_FASTMODE 1                  // Running a 16MHz processor allows us to use I2C fast mode
-#endif
-
-#include "SoftI2CMaster.h"              // Include must come after setup defines
-
-PCA9685 pwmController;                  // Library using default linear phase balancing scheme
-
-void setup() {
-	Serial.begin(115200);
-
-    i2c_init();                         // Software I2C must be started first
-
-    pwmController.resetDevices();       // Software resets all PCA9685 devices on software I2C line
-
-    pwmController.init(B000000);        // Address pins A5-A0 set to B000000
-
-    pwmController.setChannelPWM(0, 2048); // Should see a 50% duty cycle along the 5ms phase width
-}
-
-```
-
-## Module Info
-
-If one uncomments the PCA9685_ENABLE_DEBUG_OUTPUT define in the libraries main header file (thus enabling debug output) the printModuleInfo() method becomes available, which will display information about the module itself, including initalized states, register values, current settings, etc. All calls being made will display internal debug information about the structure of the call itself. An example of this output is shown here:
-
-In PCA9685.h:
-```Arduino
-// Uncomment this define to enable debug output.
-#define PCA9685_ENABLE_DEBUG_OUTPUT     1
-```
-
-In main sketch:
-```Arduino
-#include <Wire.h>
-#include "PCA9685.h"
-
-PCA9685 pwmController;
-
-void setup() {
-    Serial.begin(115200);
-
-    Wire.begin();                       // Wire must be started first
-    Wire.setClock(400000);              // Supported baud rates are 100kHz, 400kHz, and 1000kHz
-
-    pwmController.printModuleInfo();
-}
-
-```
-
-In serial monitor:
-```
-  ~~~ PCA9685 Module Info ~~~
-
-i2c Address:
-0x40
-
-Phase Balancer:
-PCA9685_PhaseBalancer_Weaved
-
-Proxy Addresser:
-false
-
-Mode1 Register:
-  PCA9685::readRegister regAddress: 0x0
-    PCA9685::readRegister retVal: 0x20
-0x20, Bitset: PCA9685_MODE_AUTOINC
-
-Mode2 Register:
-  PCA9685::readRegister regAddress: 0x1
-    PCA9685::readRegister retVal: 0xC
-0xC, Bitset: PCA9685_MODE_OUTPUT_ONACK PCA9685_MODE_OUTPUT_TPOLE
-
-SubAddress1 Register:
-  PCA9685::readRegister regAddress: 0x2
-    PCA9685::readRegister retVal: 0xE2
-0xE2
-
-SubAddress2 Register:
-  PCA9685::readRegister regAddress: 0x3
-    PCA9685::readRegister retVal: 0xE4
-0xE4
-
-SubAddress3 Register:
-  PCA9685::readRegister regAddress: 0x4
-    PCA9685::readRegister retVal: 0xE8
-0xE8
-
-AllCall Register:
-  PCA9685::readRegister regAddress: 0x5
-    PCA9685::readRegister retVal: 0xE0
-0xE0
-
-```

lib/PCA9685 16-Channel PWM Driver Module Library/library.properties

@@ -1,10 +0,0 @@
-name=PCA9685 16-Channel PWM Driver Module Library
-version=1.2.9
-author=NachtRaveVL <nachtravevl@gmail.com>, Vitska, Kasper Skårhøj <kasperskaarhoj@gmail.com>
-maintainer=NachtRaveVL <nachtravevl@gmail.com>
-sentence=Library to control a PCA9685 16-channel PWM driver module from an Arduino board.
-paragraph=This library allows communication with boards running a PCA6985 16-channel PWM driver module. It supports a wide range of available functionality, from setting the output PWM frequecy, allowing multi-device proxy addressing, and provides an assistant class for working with Servos.
-category=Device Control
-url=https://github.com/NachtRaveVL/PCA9685-Arduino
-architectures=*
- 

lib/PCA9685 16-Channel PWM Driver Module Library/license.txt

@@ -1,674 +0,0 @@
-                    GNU GENERAL PUBLIC LICENSE
-                       Version 3, 29 June 2007
-
- Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
- Everyone is permitted to copy and distribute verbatim copies
- of this license document, but changing it is not allowed.
-
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-
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-software and other kinds of works.
-
-  The licenses for most software and other practical works are designed
-to take away your freedom to share and change the works.  By contrast,
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-share and change all versions of a program--to make sure it remains free
-software for all its users.  We, the Free Software Foundation, use the
-GNU General Public License for most of our software; it applies also to
-any other work released this way by its authors.  You can apply it to
-your programs, too.
-
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-price.  Our General Public Licenses are designed to make sure that you
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-that there is no warranty for this free software.  For both users' and
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-
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-modification follow.
-
-                       TERMS AND CONDITIONS
-
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-
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lib/PCA9685-Arduino

@@ -0,0 +1 @@
+Subproject commit a70be39257e317d35e9118b385006a1e030e6452

lib/README

@@ -1,46 +0,0 @@
-
-This directory is intended for project specific (private) libraries.
-PlatformIO will compile them to static libraries and link into executable file.
-
-The source code of each library should be placed in a an own separate directory
-("lib/your_library_name/[here are source files]").
-
-For example, see a structure of the following two libraries `Foo` and `Bar`:
-
-|--lib
-|  |
-|  |--Bar
-|  |  |--docs
-|  |  |--examples
-|  |  |--src
-|  |     |- Bar.c
-|  |     |- Bar.h
-|  |  |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
-|  |
-|  |--Foo
-|  |  |- Foo.c
-|  |  |- Foo.h
-|  |
-|  |- README --> THIS FILE
-|
-|- platformio.ini
-|--src
-   |- main.c
-
-and a contents of `src/main.c`:
-```
-#include <Foo.h>
-#include <Bar.h>
-
-int main (void)
-{
-  ...
-}
-
-```
-
-PlatformIO Library Dependency Finder will find automatically dependent
-libraries scanning project source files.
-
-More information about PlatformIO Library Dependency Finder
-- https://docs.platformio.org/page/librarymanager/ldf.html

lib/httpserver/filesys.cpp

@@ -1,15 +1,8 @@
 #include "filesys.h"
 
-// listDir("/");
-// deleteFile("/hello.txt");
-// writeFile("/hello.txt", "Hello ");
-// appendFile("/hello.txt", "World!\n\r");
-// readFile("/hello.txt");
-// listDir("/");
-
 FSInfo fsinfo;
 
-bool mount_fs() {
+auto mount_fs() -> bool {
   if(!LittleFS.begin()) {
     Serial.println("[ERROR] LittleFS.info(), reset ...");
     return false;
@@ -32,7 +25,7 @@ bool mount_fs() {
   return true;
 }
 
-bool format_fs() {
+auto format_fs() -> bool {
   printf("Formatting FS ! \n\r");
   return LittleFS.format();
 }
@@ -58,7 +51,12 @@ void ls(const char * dirname) {
   Serial.println();
 }
 
-void readFile(const char * path) {
+File open(const char * path) {
+  return LittleFS.open(path, "r");
+}
+
+
+void printFile(const char * path) {
   Serial.printf("Reading file: %s\n\r", path);
 
   File file = LittleFS.open(path, "r");
@@ -123,8 +121,4 @@ void deleteFile(const char * path) {
   } else {
     Serial.println("Delete failed");
   }
-}
-
-
-
- 
+}

lib/httpserver/filesys.h

@@ -1,16 +1,16 @@
-#ifndef __FILESYS_H
-#define __FILESYS_H
+#pragma once
 
 #include <LittleFS.h>
 
+// some usefull wrappers for Filesystem
 bool mount_fs();
 bool format_fs();
 
+File open(const char * path);
+
 void ls(const char * dirname);
-void readFile(const char * path);
+void printFile(const char * path);
 void writeFile(const char * path, const char * message);
 void appendFile(const char * path, const char * message);
 void renameFile(const char * path1, const char * path2);
 void deleteFile(const char * path);
-
-#endif // __FILESYS_H

lib/httpserver/httpserver.cpp

@@ -0,0 +1,122 @@
+#include "httpserver.h"
+
+auto HTTPServer::start() -> bool {
+  if (!mount_fs()) {
+    logf("cant mount filesystem, EXIT !\n\r");
+    return false;
+  }
+
+  logf("LittleFS mounted !\n\r");
+  logf("root:\n\r");
+  this->listRoot();
+  logf("\n\r");
+
+  // default handler
+  this->onNotFound([this]() {
+    String message = "File Not Found\n\n";
+    message += "URI: ";
+    message += uri();
+    message += "\nMethod: ";
+    message += (method() == HTTP_GET) ? "GET" : "POST";
+    message += "\nArguments: ";
+    message += args();
+    message += "\n";
+
+    for (uint8_t i = 0; i < args(); i++) {
+      message += " " + argName(i) + ": " + arg(i) + "\n";
+    }
+    send(404, "text/plain", message);
+  });
+
+  // add static root file handler for http
+  this->serveStatic("/", LittleFS, "/");
+  this->begin();
+  logf("Server active on Port 80 !\n\r");
+  return true;
+}
+
+void HTTPServer::start_apps() {
+  this->on("/action", HTTP_POST, [this]() {
+    if (args()) {
+      logf("%s=%s\n", argName(0).c_str(), arg(0).c_str());
+
+      if (argName(0).equals("control")) {
+        if (arg(0).equals("s_oben")) {
+          treppe->overwrite_sensors(true, false);
+          logt("control => s_oben !\n");
+        }
+        else if (arg(0).equals("s_unten")) {
+          treppe->overwrite_sensors(false, true);
+          logt("control => s_unten !\n");
+        }
+      }
+    }
+    send(200, "text/plain", "accepted");
+  });
+
+  this->on("/update", HTTP_POST, [this]() {
+    if (args()) {
+      for (int i = 0; i < args() - 1; i++) {
+        logf("%s=%s\n", argName(i).c_str(), arg(i).c_str());
+
+        if (argName(i).equals("range_act_pwm")) {
+          treppe->set_active_pwm(arg(i).toInt(), VORGABE_PROZENT);
+          logt("set_active_pwm = %d %\n", arg(i).toInt());
+        }
+        else if (argName(i).equals("range_idl_pwm")) {
+          treppe->set_idle_pwm_max(arg(i).toInt(), VORGABE_PROZENT);
+          logt("set_idle_pwm_max = %d %\n", arg(i).toInt());
+        }
+        else if (argName(i).equals("range_tim_sta")) {
+          treppe->set_time_per_stair(arg(i).toInt());
+          logt("set_time_per_stair = %d\n", arg(i).toInt());
+        }
+        else if (argName(i).equals("range_tim_ldr")) {
+          treppe->set_time_ldr(arg(i).toInt());
+          logt("set_time_ldr = %d\n", arg(i).toInt());
+        }
+        else if (argName(i).equals("range_ldr_shw")) {
+          treppe->set_ldr_schwelle(arg(i).toInt(), VORGABE_12BIT);
+          logt("set_ldr_schwelle = %d %\n", arg(i).toInt());
+        }
+
+      }
+    }
+    send(200, "text/plain", "accepted");
+  });
+
+  this->on("/terminal", HTTP_POST, [this]() {
+    // logf("got /terminal\n");
+    if (tbuf_head) {
+      send(200, "text/plain", tbuf);
+      tbuf_head = 0;
+    } else {
+      send(202, "text/plain", "");
+    }
+  });
+
+  this->on("/parameters", HTTP_POST, [this]() {
+    logt("got /parameters\n");
+    char json_str[255];
+    treppe->param_to_json(json_str, 255);
+    logt("%s\n", json_str);
+    send(200, "application/json", json_str);
+  });
+}
+
+template <class... Args>
+void HTTPServer::logf(const char *format, Args... args) const {
+  Serial.print(log_prefix);
+  Serial.printf(format, args...);
+}
+
+void HTTPServer::logt(const char *format, ...) {
+  va_list args;
+  va_start(args, format);
+  // append logging string to local buffer
+  if (tbuf_head < TBUF_LEN) {
+    tbuf_head +=
+        vsnprintf(tbuf + tbuf_head, TBUF_LEN - tbuf_head, format, args);
+  }
+  va_end(args);
+}

lib/httpserver/httpserver.h

@@ -0,0 +1,40 @@
+#ifndef __HTTPSERVER_H
+#define __HTTPSERVER_H
+// Wrapper for ESP8266WebServer with Filesystem as HTTP source
+
+#include "filesys.h"
+#include "treppe.h"
+#include <ESP8266WebServer.h>
+#include <stdarg.h>
+
+// debug log <ESP8266WebServer.h>
+// #define DEBUGV(f,...) do { Serial.printf(PSTR(f), ##__VA_ARGS__); } while (0)
+
+#define TBUF_LEN 256
+
+class HTTPServer : public ESP8266WebServer {
+
+private:
+  const char *rootDir = "/";
+  const char *log_prefix = "[HTTPServer] ";
+
+  size_t tbuf_head = 0;
+  char tbuf[TBUF_LEN];
+
+  void listRoot() { ls(rootDir); }
+  Treppe *treppe;
+
+public:
+  HTTPServer(const int _port, const char *_rootDir, Treppe *_treppe)
+      : ESP8266WebServer(_port), rootDir(_rootDir), treppe(_treppe) {}
+  ~HTTPServer() { Serial.printf("[HTTPServer] shut down ...\n\r"); }
+
+  bool start();
+  void start_apps();
+
+  template <class... Args> 
+  void logf(const char *format, Args... args) const;
+  void logt(const char *format, ...);
+};
+
+#endif // __HTTPSERVER_H

lib/treppe/FSMTreppe4/FSMTreppe4.cpp

@@ -0,0 +1,296 @@
+//
+// Academic License - for use in teaching, academic research, and meeting
+// course requirements at degree granting institutions only.  Not for
+// government, commercial, or other organizational use.
+//
+// File: FSMTreppe.cpp
+//
+// Code generated for Simulink model 'FSMTreppe'.
+//
+// Model version                  : 1.65
+// Simulink Coder version         : 9.5 (R2021a) 14-Nov-2020
+// C/C++ source code generated on : Tue Sep  7 08:47:00 2021
+//
+// Target selection: ert.tlc
+// Embedded hardware selection: ARM Compatible->ARM Cortex-M
+// Code generation objectives: Unspecified
+// Validation result: Not run
+//
+#include "FSMTreppe4.h"
+
+// Named constants for Chart: '<Root>/FSMTreppe'
+const uint8_t FSMTreppe_IN_abdimmen_hoch = 1U;
+const uint8_t FSMTreppe_IN_abdimmen_ldr = 2U;
+const uint8_t FSMTreppe_IN_abdimmen_runter = 3U;
+const uint8_t FSMTreppe_IN_aufdimmen_hoch = 4U;
+const uint8_t FSMTreppe_IN_aufdimmen_ldr = 5U;
+const uint8_t FSMTreppe_IN_aufdimmen_runter = 6U;
+const uint8_t FSMTreppe_IN_dimm_regelung = 7U;
+const uint8_t FSMTreppe_IN_inaktiv = 8U;
+const uint8_t FSMTreppe_IN_ruhezustand = 9U;
+const uint8_t FSMTreppe_IN_warten_hoch = 10U;
+const uint8_t FSMTreppe_IN_warten_runter = 11U;
+
+// Model step function
+void FSMTreppeModelClass::step()
+{
+  // Chart: '<Root>/FSMTreppe' incorporates:
+  //   Inport: '<Root>/anim_beendet'
+  //   Inport: '<Root>/ldr_changed'
+  //   Inport: '<Root>/ldr_schwelle'
+  //   Inport: '<Root>/sensor_oben'
+  //   Inport: '<Root>/sensor_unten'
+
+  if (FSMTreppe_DW.temporalCounter_i1 < 511U) {
+    FSMTreppe_DW.temporalCounter_i1 = static_cast<uint16_t>
+      (FSMTreppe_DW.temporalCounter_i1 + 1U);
+  }
+
+  if (FSMTreppe_DW.is_active_c3_FSMTreppe == 0U) {
+    FSMTreppe_DW.is_active_c3_FSMTreppe = 1U;
+    FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_inaktiv;
+
+    // Outport: '<Root>/status'
+    FSMTreppe_Y.status = 0U;
+  } else {
+    switch (FSMTreppe_DW.is_c3_FSMTreppe) {
+     case FSMTreppe_IN_abdimmen_hoch:
+      // Outport: '<Root>/dimmrichtung'
+      FSMTreppe_Y.dimmrichtung = 0U;
+
+      // Outport: '<Root>/status'
+      FSMTreppe_Y.status = 6U;
+      if ((FSMTreppe_U.anim_beendet == 1U) || (FSMTreppe_DW.temporalCounter_i1 >=
+           500U)) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_ruhezustand;
+
+        // Outport: '<Root>/status'
+        FSMTreppe_Y.status = 3U;
+      }
+      break;
+
+     case FSMTreppe_IN_abdimmen_ldr:
+      // Outport: '<Root>/status'
+      FSMTreppe_Y.status = 2U;
+
+      // Outport: '<Root>/dimmrichtung'
+      FSMTreppe_Y.dimmrichtung = 0U;
+      if ((FSMTreppe_U.anim_beendet == 1U) || (FSMTreppe_DW.temporalCounter_i1 >=
+           500U)) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_inaktiv;
+
+        // Outport: '<Root>/status'
+        FSMTreppe_Y.status = 0U;
+      }
+      break;
+
+     case FSMTreppe_IN_abdimmen_runter:
+      // Outport: '<Root>/dimmrichtung'
+      FSMTreppe_Y.dimmrichtung = 0U;
+
+      // Outport: '<Root>/status'
+      FSMTreppe_Y.status = 9U;
+      if ((FSMTreppe_U.anim_beendet == 1U) || (FSMTreppe_DW.temporalCounter_i1 >=
+           500U)) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_ruhezustand;
+
+        // Outport: '<Root>/status'
+        FSMTreppe_Y.status = 3U;
+      }
+      break;
+
+     case FSMTreppe_IN_aufdimmen_hoch:
+      // Outport: '<Root>/laufrichtung'
+      FSMTreppe_Y.laufrichtung = 1U;
+
+      // Outport: '<Root>/dimmrichtung'
+      FSMTreppe_Y.dimmrichtung = 1U;
+
+      // Outport: '<Root>/status'
+      FSMTreppe_Y.status = 4U;
+      if ((FSMTreppe_U.anim_beendet == 1U) || (FSMTreppe_DW.temporalCounter_i1 >=
+           500U)) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_warten_hoch;
+        FSMTreppe_DW.temporalCounter_i1 = 0U;
+
+        // Outport: '<Root>/status'
+        FSMTreppe_Y.status = 5U;
+      }
+      break;
+
+     case FSMTreppe_IN_aufdimmen_ldr:
+      // Outport: '<Root>/status'
+      FSMTreppe_Y.status = 1U;
+
+      // Outport: '<Root>/dimmrichtung'
+      FSMTreppe_Y.dimmrichtung = 1U;
+      if ((FSMTreppe_U.anim_beendet == 1U) || (FSMTreppe_DW.temporalCounter_i1 >=
+           500U)) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_ruhezustand;
+
+        // Outport: '<Root>/status'
+        FSMTreppe_Y.status = 3U;
+      }
+      break;
+
+     case FSMTreppe_IN_aufdimmen_runter:
+      // Outport: '<Root>/laufrichtung'
+      FSMTreppe_Y.laufrichtung = 0U;
+
+      // Outport: '<Root>/dimmrichtung'
+      FSMTreppe_Y.dimmrichtung = 1U;
+
+      // Outport: '<Root>/status'
+      FSMTreppe_Y.status = 7U;
+      if ((FSMTreppe_U.anim_beendet == 1U) || (FSMTreppe_DW.temporalCounter_i1 >=
+           500U)) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_warten_runter;
+        FSMTreppe_DW.temporalCounter_i1 = 0U;
+
+        // Outport: '<Root>/status'
+        FSMTreppe_Y.status = 8U;
+      }
+      break;
+
+     case FSMTreppe_IN_dimm_regelung:
+      // Outport: '<Root>/status'
+      FSMTreppe_Y.status = 10U;
+      if ((FSMTreppe_DW.temporalCounter_i1 >= 500U) || (FSMTreppe_U.anim_beendet
+           == 1U)) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_ruhezustand;
+
+        // Outport: '<Root>/status'
+        FSMTreppe_Y.status = 3U;
+      }
+      break;
+
+     case FSMTreppe_IN_inaktiv:
+      // Outport: '<Root>/status'
+      FSMTreppe_Y.status = 0U;
+      if (FSMTreppe_U.ldr_schwelle == 1U) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_aufdimmen_ldr;
+        FSMTreppe_DW.temporalCounter_i1 = 0U;
+
+        // Outport: '<Root>/status'
+        FSMTreppe_Y.status = 1U;
+
+        // Outport: '<Root>/dimmrichtung'
+        FSMTreppe_Y.dimmrichtung = 1U;
+      }
+      break;
+
+     case FSMTreppe_IN_ruhezustand:
+      // Outport: '<Root>/status'
+      FSMTreppe_Y.status = 3U;
+      if (FSMTreppe_U.sensor_unten == 1U) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_aufdimmen_hoch;
+        FSMTreppe_DW.temporalCounter_i1 = 0U;
+
+        // Outport: '<Root>/laufrichtung'
+        FSMTreppe_Y.laufrichtung = 1U;
+
+        // Outport: '<Root>/dimmrichtung'
+        FSMTreppe_Y.dimmrichtung = 1U;
+
+        // Outport: '<Root>/status'
+        FSMTreppe_Y.status = 4U;
+      } else if (FSMTreppe_U.sensor_oben == 1U) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_aufdimmen_runter;
+        FSMTreppe_DW.temporalCounter_i1 = 0U;
+
+        // Outport: '<Root>/laufrichtung'
+        FSMTreppe_Y.laufrichtung = 0U;
+
+        // Outport: '<Root>/dimmrichtung'
+        FSMTreppe_Y.dimmrichtung = 1U;
+
+        // Outport: '<Root>/status'
+        FSMTreppe_Y.status = 7U;
+      } else if (FSMTreppe_U.ldr_schwelle == 0U) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_abdimmen_ldr;
+        FSMTreppe_DW.temporalCounter_i1 = 0U;
+
+        // Outport: '<Root>/status'
+        FSMTreppe_Y.status = 2U;
+
+        // Outport: '<Root>/dimmrichtung'
+        FSMTreppe_Y.dimmrichtung = 0U;
+      } else if (FSMTreppe_U.ldr_changed == 1U) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_dimm_regelung;
+        FSMTreppe_DW.temporalCounter_i1 = 0U;
+
+        // Outport: '<Root>/status'
+        FSMTreppe_Y.status = 10U;
+      }
+      break;
+
+     case FSMTreppe_IN_warten_hoch:
+      // Outport: '<Root>/status'
+      FSMTreppe_Y.status = 5U;
+      if ((FSMTreppe_U.sensor_oben == 1U) || (FSMTreppe_DW.temporalCounter_i1 >=
+           500U)) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_abdimmen_hoch;
+        FSMTreppe_DW.temporalCounter_i1 = 0U;
+
+        // Outport: '<Root>/dimmrichtung'
+        FSMTreppe_Y.dimmrichtung = 0U;
+
+        // Outport: '<Root>/status'
+        FSMTreppe_Y.status = 6U;
+      }
+      break;
+
+     default:
+      // Outport: '<Root>/status'
+      // case IN_warten_runter:
+      FSMTreppe_Y.status = 8U;
+      if ((FSMTreppe_U.sensor_unten == 1U) || (FSMTreppe_DW.temporalCounter_i1 >=
+           500U)) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_abdimmen_runter;
+        FSMTreppe_DW.temporalCounter_i1 = 0U;
+
+        // Outport: '<Root>/dimmrichtung'
+        FSMTreppe_Y.dimmrichtung = 0U;
+
+        // Outport: '<Root>/status'
+        FSMTreppe_Y.status = 9U;
+      }
+      break;
+    }
+  }
+
+  // End of Chart: '<Root>/FSMTreppe'
+}
+
+// Model initialize function
+void FSMTreppeModelClass::initialize()
+{
+  // (no initialization code required)
+}
+
+// Model terminate function
+void FSMTreppeModelClass::terminate()
+{
+  // (no terminate code required)
+}
+
+// Constructor
+FSMTreppeModelClass::FSMTreppeModelClass() :
+  FSMTreppe_DW(),
+  FSMTreppe_U(),
+  FSMTreppe_Y()
+{
+  // Currently there is no constructor body generated.
+}
+
+// Destructor
+FSMTreppeModelClass::~FSMTreppeModelClass()
+{
+  // Currently there is no destructor body generated.
+}
+
+//
+// File trailer for generated code.
+//
+// [EOF]
+//

lib/treppe/FSMTreppe4/FSMTreppe4.h

@@ -0,0 +1,120 @@
+//
+// Academic License - for use in teaching, academic research, and meeting
+// course requirements at degree granting institutions only.  Not for
+// government, commercial, or other organizational use.
+//
+// File: FSMTreppe.h
+//
+// Code generated for Simulink model 'FSMTreppe'.
+//
+// Model version                  : 1.65
+// Simulink Coder version         : 9.5 (R2021a) 14-Nov-2020
+// C/C++ source code generated on : Tue Sep  7 08:47:00 2021
+//
+// Target selection: ert.tlc
+// Embedded hardware selection: ARM Compatible->ARM Cortex-M
+// Code generation objectives: Unspecified
+// Validation result: Not run
+//
+#ifndef RTW_HEADER_FSMTreppe_h_
+#define RTW_HEADER_FSMTreppe_h_
+
+#include <stdint.h>
+
+// Class declaration for model FSMTreppe
+class FSMTreppeModelClass {
+  // public data and function members
+ public:
+  // Block states (default storage) for system '<Root>'
+  struct DW_FSMTreppe_T {
+    uint16_t temporalCounter_i1;       // '<Root>/FSMTreppe'
+    uint8_t is_active_c3_FSMTreppe;    // '<Root>/FSMTreppe'
+    uint8_t is_c3_FSMTreppe;           // '<Root>/FSMTreppe'
+  };
+
+  // External inputs (root inport signals with default storage)
+  struct ExtU_FSMTreppe_T {
+    uint32_t sensor_unten;             // '<Root>/sensor_unten'
+    uint32_t sensor_oben;              // '<Root>/sensor_oben'
+    uint32_t anim_beendet;             // '<Root>/anim_beendet'
+    uint32_t ldr_schwelle;             // '<Root>/ldr_schwelle'
+    uint32_t ldr_changed;              // '<Root>/ldr_changed'
+  };
+
+  // External outputs (root outports fed by signals with default storage)
+  struct ExtY_FSMTreppe_T {
+    uint32_t laufrichtung;             // '<Root>/laufrichtung'
+    uint32_t status;                   // '<Root>/status'
+    uint32_t dimmrichtung;             // '<Root>/dimmrichtung'
+  };
+
+  // model initialize function
+  void initialize();
+
+  // model step function
+  void step();
+
+  // model terminate function
+  void terminate();
+
+  // Constructor
+  FSMTreppeModelClass();
+
+  // Destructor
+  ~FSMTreppeModelClass();
+
+  // Root-level structure-based inputs set method
+
+  // Root inports set method
+  void setExternalInputs(const ExtU_FSMTreppe_T* pExtU_FSMTreppe_T)
+  {
+    FSMTreppe_U = *pExtU_FSMTreppe_T;
+  }
+
+  // Root-level structure-based outputs get method
+
+  // Root outports get method
+  const FSMTreppeModelClass::ExtY_FSMTreppe_T & getExternalOutputs() const
+  {
+    return FSMTreppe_Y;
+  }
+
+  // private data and function members
+ private:
+  // Block states
+  DW_FSMTreppe_T FSMTreppe_DW;
+
+  // External inputs
+  ExtU_FSMTreppe_T FSMTreppe_U;
+
+  // External outputs
+  ExtY_FSMTreppe_T FSMTreppe_Y;
+};
+
+//-
+//  The generated code includes comments that allow you to trace directly
+//  back to the appropriate location in the model.  The basic format
+//  is <system>/block_name, where system is the system number (uniquely
+//  assigned by Simulink) and block_name is the name of the block.
+//
+//  Note that this particular code originates from a subsystem build,
+//  and has its own system numbers different from the parent model.
+//  Refer to the system hierarchy for this subsystem below, and use the
+//  MATLAB hilite_system command to trace the generated code back
+//  to the parent model.  For example,
+//
+//  hilite_system('FSM_Treppenlicht/FSMTreppe')    - opens subsystem FSM_Treppenlicht/FSMTreppe
+//  hilite_system('FSM_Treppenlicht/FSMTreppe/Kp') - opens and selects block Kp
+//
+//  Here is the system hierarchy for this model
+//
+//  '<Root>' : 'FSM_Treppenlicht'
+//  '<S1>'   : 'FSM_Treppenlicht/FSMTreppe'
+
+#endif                                 // RTW_HEADER_FSMTreppe_h_
+
+//
+// File trailer for generated code.
+//
+// [EOF]
+//

lib/treppe/MatLabSrc/FSMTreppe_ert_rtw/FSMTreppe.cpp

@@ -0,0 +1,304 @@
+//
+// Academic License - for use in teaching, academic research, and meeting
+// course requirements at degree granting institutions only.  Not for
+// government, commercial, or other organizational use.
+//
+// File: FSMTreppe.cpp
+//
+// Code generated for Simulink model 'FSMTreppe'.
+//
+// Model version                  : 1.65
+// Simulink Coder version         : 9.5 (R2021a) 14-Nov-2020
+// C/C++ source code generated on : Tue Sep  7 08:47:00 2021
+//
+// Target selection: ert.tlc
+// Embedded hardware selection: ARM Compatible->ARM Cortex-M
+// Code generation objectives: Unspecified
+// Validation result: Not run
+//
+#include "FSMTreppe.h"
+#include "FSMTreppe_private.h"
+
+// Named constants for Chart: '<Root>/FSMTreppe'
+const uint8_T FSMTreppe_IN_abdimmen_hoch = 1U;
+const uint8_T FSMTreppe_IN_abdimmen_ldr = 2U;
+const uint8_T FSMTreppe_IN_abdimmen_runter = 3U;
+const uint8_T FSMTreppe_IN_aufdimmen_hoch = 4U;
+const uint8_T FSMTreppe_IN_aufdimmen_ldr = 5U;
+const uint8_T FSMTreppe_IN_aufdimmen_runter = 6U;
+const uint8_T FSMTreppe_IN_dimm_regelung = 7U;
+const uint8_T FSMTreppe_IN_inaktiv = 8U;
+const uint8_T FSMTreppe_IN_ruhezustand = 9U;
+const uint8_T FSMTreppe_IN_warten_hoch = 10U;
+const uint8_T FSMTreppe_IN_warten_runter = 11U;
+
+// Model step function
+void FSMTreppeModelClass::step()
+{
+  // Chart: '<Root>/FSMTreppe' incorporates:
+  //   Inport: '<Root>/anim_beendet'
+  //   Inport: '<Root>/ldr_changed'
+  //   Inport: '<Root>/ldr_schwelle'
+  //   Inport: '<Root>/sensor_oben'
+  //   Inport: '<Root>/sensor_unten'
+
+  if (FSMTreppe_DW.temporalCounter_i1 < 511U) {
+    FSMTreppe_DW.temporalCounter_i1 = static_cast<uint16_T>
+      (FSMTreppe_DW.temporalCounter_i1 + 1U);
+  }
+
+  if (FSMTreppe_DW.is_active_c3_FSMTreppe == 0U) {
+    FSMTreppe_DW.is_active_c3_FSMTreppe = 1U;
+    FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_inaktiv;
+
+    // Outport: '<Root>/status'
+    FSMTreppe_Y.status = 0U;
+  } else {
+    switch (FSMTreppe_DW.is_c3_FSMTreppe) {
+     case FSMTreppe_IN_abdimmen_hoch:
+      // Outport: '<Root>/dimmrichtung'
+      FSMTreppe_Y.dimmrichtung = 0U;
+
+      // Outport: '<Root>/status'
+      FSMTreppe_Y.status = 6U;
+      if ((FSMTreppe_U.anim_beendet == 1U) || (FSMTreppe_DW.temporalCounter_i1 >=
+           500U)) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_ruhezustand;
+
+        // Outport: '<Root>/status'
+        FSMTreppe_Y.status = 3U;
+      }
+      break;
+
+     case FSMTreppe_IN_abdimmen_ldr:
+      // Outport: '<Root>/status'
+      FSMTreppe_Y.status = 2U;
+
+      // Outport: '<Root>/dimmrichtung'
+      FSMTreppe_Y.dimmrichtung = 0U;
+      if ((FSMTreppe_U.anim_beendet == 1U) || (FSMTreppe_DW.temporalCounter_i1 >=
+           500U)) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_inaktiv;
+
+        // Outport: '<Root>/status'
+        FSMTreppe_Y.status = 0U;
+      }
+      break;
+
+     case FSMTreppe_IN_abdimmen_runter:
+      // Outport: '<Root>/dimmrichtung'
+      FSMTreppe_Y.dimmrichtung = 0U;
+
+      // Outport: '<Root>/status'
+      FSMTreppe_Y.status = 9U;
+      if ((FSMTreppe_U.anim_beendet == 1U) || (FSMTreppe_DW.temporalCounter_i1 >=
+           500U)) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_ruhezustand;
+
+        // Outport: '<Root>/status'
+        FSMTreppe_Y.status = 3U;
+      }
+      break;
+
+     case FSMTreppe_IN_aufdimmen_hoch:
+      // Outport: '<Root>/laufrichtung'
+      FSMTreppe_Y.laufrichtung = 1U;
+
+      // Outport: '<Root>/dimmrichtung'
+      FSMTreppe_Y.dimmrichtung = 1U;
+
+      // Outport: '<Root>/status'
+      FSMTreppe_Y.status = 4U;
+      if ((FSMTreppe_U.anim_beendet == 1U) || (FSMTreppe_DW.temporalCounter_i1 >=
+           500U)) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_warten_hoch;
+        FSMTreppe_DW.temporalCounter_i1 = 0U;
+
+        // Outport: '<Root>/status'
+        FSMTreppe_Y.status = 5U;
+      }
+      break;
+
+     case FSMTreppe_IN_aufdimmen_ldr:
+      // Outport: '<Root>/status'
+      FSMTreppe_Y.status = 1U;
+
+      // Outport: '<Root>/dimmrichtung'
+      FSMTreppe_Y.dimmrichtung = 1U;
+      if ((FSMTreppe_U.anim_beendet == 1U) || (FSMTreppe_DW.temporalCounter_i1 >=
+           500U)) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_ruhezustand;
+
+        // Outport: '<Root>/status'
+        FSMTreppe_Y.status = 3U;
+      }
+      break;
+
+     case FSMTreppe_IN_aufdimmen_runter:
+      // Outport: '<Root>/laufrichtung'
+      FSMTreppe_Y.laufrichtung = 0U;
+
+      // Outport: '<Root>/dimmrichtung'
+      FSMTreppe_Y.dimmrichtung = 1U;
+
+      // Outport: '<Root>/status'
+      FSMTreppe_Y.status = 7U;
+      if ((FSMTreppe_U.anim_beendet == 1U) || (FSMTreppe_DW.temporalCounter_i1 >=
+           500U)) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_warten_runter;
+        FSMTreppe_DW.temporalCounter_i1 = 0U;
+
+        // Outport: '<Root>/status'
+        FSMTreppe_Y.status = 8U;
+      }
+      break;
+
+     case FSMTreppe_IN_dimm_regelung:
+      // Outport: '<Root>/status'
+      FSMTreppe_Y.status = 10U;
+      if ((FSMTreppe_DW.temporalCounter_i1 >= 500U) || (FSMTreppe_U.anim_beendet
+           == 1U)) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_ruhezustand;
+
+        // Outport: '<Root>/status'
+        FSMTreppe_Y.status = 3U;
+      }
+      break;
+
+     case FSMTreppe_IN_inaktiv:
+      // Outport: '<Root>/status'
+      FSMTreppe_Y.status = 0U;
+      if (FSMTreppe_U.ldr_schwelle == 1U) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_aufdimmen_ldr;
+        FSMTreppe_DW.temporalCounter_i1 = 0U;
+
+        // Outport: '<Root>/status'
+        FSMTreppe_Y.status = 1U;
+
+        // Outport: '<Root>/dimmrichtung'
+        FSMTreppe_Y.dimmrichtung = 1U;
+      }
+      break;
+
+     case FSMTreppe_IN_ruhezustand:
+      // Outport: '<Root>/status'
+      FSMTreppe_Y.status = 3U;
+      if (FSMTreppe_U.sensor_unten == 1U) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_aufdimmen_hoch;
+        FSMTreppe_DW.temporalCounter_i1 = 0U;
+
+        // Outport: '<Root>/laufrichtung'
+        FSMTreppe_Y.laufrichtung = 1U;
+
+        // Outport: '<Root>/dimmrichtung'
+        FSMTreppe_Y.dimmrichtung = 1U;
+
+        // Outport: '<Root>/status'
+        FSMTreppe_Y.status = 4U;
+      } else if (FSMTreppe_U.sensor_oben == 1U) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_aufdimmen_runter;
+        FSMTreppe_DW.temporalCounter_i1 = 0U;
+
+        // Outport: '<Root>/laufrichtung'
+        FSMTreppe_Y.laufrichtung = 0U;
+
+        // Outport: '<Root>/dimmrichtung'
+        FSMTreppe_Y.dimmrichtung = 1U;
+
+        // Outport: '<Root>/status'
+        FSMTreppe_Y.status = 7U;
+      } else if (FSMTreppe_U.ldr_schwelle == 0U) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_abdimmen_ldr;
+        FSMTreppe_DW.temporalCounter_i1 = 0U;
+
+        // Outport: '<Root>/status'
+        FSMTreppe_Y.status = 2U;
+
+        // Outport: '<Root>/dimmrichtung'
+        FSMTreppe_Y.dimmrichtung = 0U;
+      } else if (FSMTreppe_U.ldr_changed == 1U) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_dimm_regelung;
+        FSMTreppe_DW.temporalCounter_i1 = 0U;
+
+        // Outport: '<Root>/status'
+        FSMTreppe_Y.status = 10U;
+      }
+      break;
+
+     case FSMTreppe_IN_warten_hoch:
+      // Outport: '<Root>/status'
+      FSMTreppe_Y.status = 5U;
+      if ((FSMTreppe_U.sensor_oben == 1U) || (FSMTreppe_DW.temporalCounter_i1 >=
+           500U)) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_abdimmen_hoch;
+        FSMTreppe_DW.temporalCounter_i1 = 0U;
+
+        // Outport: '<Root>/dimmrichtung'
+        FSMTreppe_Y.dimmrichtung = 0U;
+
+        // Outport: '<Root>/status'
+        FSMTreppe_Y.status = 6U;
+      }
+      break;
+
+     default:
+      // Outport: '<Root>/status'
+      // case IN_warten_runter:
+      FSMTreppe_Y.status = 8U;
+      if ((FSMTreppe_U.sensor_unten == 1U) || (FSMTreppe_DW.temporalCounter_i1 >=
+           500U)) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_abdimmen_runter;
+        FSMTreppe_DW.temporalCounter_i1 = 0U;
+
+        // Outport: '<Root>/dimmrichtung'
+        FSMTreppe_Y.dimmrichtung = 0U;
+
+        // Outport: '<Root>/status'
+        FSMTreppe_Y.status = 9U;
+      }
+      break;
+    }
+  }
+
+  // End of Chart: '<Root>/FSMTreppe'
+}
+
+// Model initialize function
+void FSMTreppeModelClass::initialize()
+{
+  // (no initialization code required)
+}
+
+// Model terminate function
+void FSMTreppeModelClass::terminate()
+{
+  // (no terminate code required)
+}
+
+// Constructor
+FSMTreppeModelClass::FSMTreppeModelClass() :
+  FSMTreppe_DW(),
+  FSMTreppe_U(),
+  FSMTreppe_Y(),
+  FSMTreppe_M()
+{
+  // Currently there is no constructor body generated.
+}
+
+// Destructor
+FSMTreppeModelClass::~FSMTreppeModelClass()
+{
+  // Currently there is no destructor body generated.
+}
+
+// Real-Time Model get method
+FSMTreppeModelClass::RT_MODEL_FSMTreppe_T * FSMTreppeModelClass::getRTM()
+{
+  return (&FSMTreppe_M);
+}
+
+//
+// File trailer for generated code.
+//
+// [EOF]
+//

lib/treppe/MatLabSrc/FSMTreppe_ert_rtw/FSMTreppe.h

@@ -0,0 +1,140 @@
+//
+// Academic License - for use in teaching, academic research, and meeting
+// course requirements at degree granting institutions only.  Not for
+// government, commercial, or other organizational use.
+//
+// File: FSMTreppe.h
+//
+// Code generated for Simulink model 'FSMTreppe'.
+//
+// Model version                  : 1.65
+// Simulink Coder version         : 9.5 (R2021a) 14-Nov-2020
+// C/C++ source code generated on : Tue Sep  7 08:47:00 2021
+//
+// Target selection: ert.tlc
+// Embedded hardware selection: ARM Compatible->ARM Cortex-M
+// Code generation objectives: Unspecified
+// Validation result: Not run
+//
+#ifndef RTW_HEADER_FSMTreppe_h_
+#define RTW_HEADER_FSMTreppe_h_
+#include "rtwtypes.h"
+#include "FSMTreppe_types.h"
+
+// Macros for accessing real-time model data structure
+#ifndef rtmGetErrorStatus
+#define rtmGetErrorStatus(rtm)         ((rtm)->errorStatus)
+#endif
+
+#ifndef rtmSetErrorStatus
+#define rtmSetErrorStatus(rtm, val)    ((rtm)->errorStatus = (val))
+#endif
+
+// Class declaration for model FSMTreppe
+class FSMTreppeModelClass {
+  // public data and function members
+ public:
+  // Block states (default storage) for system '<Root>'
+  struct DW_FSMTreppe_T {
+    uint16_T temporalCounter_i1;       // '<Root>/FSMTreppe'
+    uint8_T is_active_c3_FSMTreppe;    // '<Root>/FSMTreppe'
+    uint8_T is_c3_FSMTreppe;           // '<Root>/FSMTreppe'
+  };
+
+  // External inputs (root inport signals with default storage)
+  struct ExtU_FSMTreppe_T {
+    uint32_T sensor_unten;             // '<Root>/sensor_unten'
+    uint32_T sensor_oben;              // '<Root>/sensor_oben'
+    uint32_T anim_beendet;             // '<Root>/anim_beendet'
+    uint32_T ldr_schwelle;             // '<Root>/ldr_schwelle'
+    uint32_T ldr_changed;              // '<Root>/ldr_changed'
+  };
+
+  // External outputs (root outports fed by signals with default storage)
+  struct ExtY_FSMTreppe_T {
+    uint32_T laufrichtung;             // '<Root>/laufrichtung'
+    uint32_T status;                   // '<Root>/status'
+    uint32_T dimmrichtung;             // '<Root>/dimmrichtung'
+  };
+
+  // Real-time Model Data Structure
+  struct RT_MODEL_FSMTreppe_T {
+    const char_T * volatile errorStatus;
+  };
+
+  // model initialize function
+  void initialize();
+
+  // model step function
+  void step();
+
+  // model terminate function
+  void terminate();
+
+  // Constructor
+  FSMTreppeModelClass();
+
+  // Destructor
+  ~FSMTreppeModelClass();
+
+  // Root-level structure-based inputs set method
+
+  // Root inports set method
+  void setExternalInputs(const ExtU_FSMTreppe_T* pExtU_FSMTreppe_T)
+  {
+    FSMTreppe_U = *pExtU_FSMTreppe_T;
+  }
+
+  // Root-level structure-based outputs get method
+
+  // Root outports get method
+  const FSMTreppeModelClass::ExtY_FSMTreppe_T & getExternalOutputs() const
+  {
+    return FSMTreppe_Y;
+  }
+
+  // Real-Time Model get method
+  FSMTreppeModelClass::RT_MODEL_FSMTreppe_T * getRTM();
+
+  // private data and function members
+ private:
+  // Block states
+  DW_FSMTreppe_T FSMTreppe_DW;
+
+  // External inputs
+  ExtU_FSMTreppe_T FSMTreppe_U;
+
+  // External outputs
+  ExtY_FSMTreppe_T FSMTreppe_Y;
+
+  // Real-Time Model
+  RT_MODEL_FSMTreppe_T FSMTreppe_M;
+};
+
+//-
+//  The generated code includes comments that allow you to trace directly
+//  back to the appropriate location in the model.  The basic format
+//  is <system>/block_name, where system is the system number (uniquely
+//  assigned by Simulink) and block_name is the name of the block.
+//
+//  Note that this particular code originates from a subsystem build,
+//  and has its own system numbers different from the parent model.
+//  Refer to the system hierarchy for this subsystem below, and use the
+//  MATLAB hilite_system command to trace the generated code back
+//  to the parent model.  For example,
+//
+//  hilite_system('FSM_Treppenlicht/FSMTreppe')    - opens subsystem FSM_Treppenlicht/FSMTreppe
+//  hilite_system('FSM_Treppenlicht/FSMTreppe/Kp') - opens and selects block Kp
+//
+//  Here is the system hierarchy for this model
+//
+//  '<Root>' : 'FSM_Treppenlicht'
+//  '<S1>'   : 'FSM_Treppenlicht/FSMTreppe'
+
+#endif                                 // RTW_HEADER_FSMTreppe_h_
+
+//
+// File trailer for generated code.
+//
+// [EOF]
+//

lib/treppe/MatLabSrc/FSMTreppe_ert_rtw/FSMTreppe_private.h

@@ -0,0 +1,28 @@
+//
+// Academic License - for use in teaching, academic research, and meeting
+// course requirements at degree granting institutions only.  Not for
+// government, commercial, or other organizational use.
+//
+// File: FSMTreppe_private.h
+//
+// Code generated for Simulink model 'FSMTreppe'.
+//
+// Model version                  : 1.65
+// Simulink Coder version         : 9.5 (R2021a) 14-Nov-2020
+// C/C++ source code generated on : Tue Sep  7 08:47:00 2021
+//
+// Target selection: ert.tlc
+// Embedded hardware selection: ARM Compatible->ARM Cortex-M
+// Code generation objectives: Unspecified
+// Validation result: Not run
+//
+#ifndef RTW_HEADER_FSMTreppe_private_h_
+#define RTW_HEADER_FSMTreppe_private_h_
+#include "rtwtypes.h"
+#endif                                 // RTW_HEADER_FSMTreppe_private_h_
+
+//
+// File trailer for generated code.
+//
+// [EOF]
+//

lib/treppe/MatLabSrc/FSMTreppe_ert_rtw/FSMTreppe_types.h

@@ -0,0 +1,29 @@
+//
+// Academic License - for use in teaching, academic research, and meeting
+// course requirements at degree granting institutions only.  Not for
+// government, commercial, or other organizational use.
+//
+// File: FSMTreppe_types.h
+//
+// Code generated for Simulink model 'FSMTreppe'.
+//
+// Model version                  : 1.65
+// Simulink Coder version         : 9.5 (R2021a) 14-Nov-2020
+// C/C++ source code generated on : Tue Sep  7 08:47:00 2021
+//
+// Target selection: ert.tlc
+// Embedded hardware selection: ARM Compatible->ARM Cortex-M
+// Code generation objectives: Unspecified
+// Validation result: Not run
+//
+#ifndef RTW_HEADER_FSMTreppe_types_h_
+#define RTW_HEADER_FSMTreppe_types_h_
+
+// Model Code Variants
+#endif                                 // RTW_HEADER_FSMTreppe_types_h_
+
+//
+// File trailer for generated code.
+//
+// [EOF]
+//

lib/treppe/MatLabSrc/FSMTreppe_ert_rtw/defines.txt

@@ -0,0 +1,14 @@
+MODEL=FSMTreppe
+NUMST=1
+NCSTATES=0
+HAVESTDIO
+MODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0
+CLASSIC_INTERFACE=0
+ALLOCATIONFCN=0
+TID01EQ=0
+TERMFCN=1
+ONESTEPFCN=1
+MAT_FILE=0
+MULTI_INSTANCE_CODE=1
+INTEGER_CODE=0
+MT=0

lib/treppe/MatLabSrc/FSMTreppe_ert_rtw/ert_main.cpp

@@ -0,0 +1,109 @@
+//
+// Academic License - for use in teaching, academic research, and meeting
+// course requirements at degree granting institutions only.  Not for
+// government, commercial, or other organizational use.
+//
+// File: ert_main.cpp
+//
+// Code generated for Simulink model 'FSMTreppe'.
+//
+// Model version                  : 1.65
+// Simulink Coder version         : 9.5 (R2021a) 14-Nov-2020
+// C/C++ source code generated on : Tue Sep  7 08:47:00 2021
+//
+// Target selection: ert.tlc
+// Embedded hardware selection: ARM Compatible->ARM Cortex-M
+// Code generation objectives: Unspecified
+// Validation result: Not run
+//
+#include <stddef.h>
+#include <stdio.h>                // This ert_main.c example uses printf/fflush
+#include "FSMTreppe.h"                 // Model's header file
+#include "rtwtypes.h"
+
+static FSMTreppeModelClass FSMTreppe_Obj;// Instance of model class
+
+//
+// Associating rt_OneStep with a real-time clock or interrupt service routine
+// is what makes the generated code "real-time".  The function rt_OneStep is
+// always associated with the base rate of the model.  Subrates are managed
+// by the base rate from inside the generated code.  Enabling/disabling
+// interrupts and floating point context switches are target specific.  This
+// example code indicates where these should take place relative to executing
+// the generated code step function.  Overrun behavior should be tailored to
+// your application needs.  This example simply sets an error status in the
+// real-time model and returns from rt_OneStep.
+//
+void rt_OneStep(void);
+void rt_OneStep(void)
+{
+  static boolean_T OverrunFlag = false;
+
+  // Disable interrupts here
+
+  // Check for overrun
+  if (OverrunFlag) {
+    rtmSetErrorStatus(FSMTreppe_Obj.getRTM(), "Overrun");
+    return;
+  }
+
+  OverrunFlag = true;
+
+  // Save FPU context here (if necessary)
+  // Re-enable timer or interrupt here
+  // Set model inputs here
+
+  // Step the model
+  FSMTreppe_Obj.step();
+
+  // Get model outputs here
+
+  // Indicate task complete
+  OverrunFlag = false;
+
+  // Disable interrupts here
+  // Restore FPU context here (if necessary)
+  // Enable interrupts here
+}
+
+//
+// The example "main" function illustrates what is required by your
+// application code to initialize, execute, and terminate the generated code.
+// Attaching rt_OneStep to a real-time clock is target specific.  This example
+// illustrates how you do this relative to initializing the model.
+//
+int_T main(int_T argc, const char *argv[])
+{
+  // Unused arguments
+  (void)(argc);
+  (void)(argv);
+
+  // Initialize model
+  FSMTreppe_Obj.initialize();
+
+  // Attach rt_OneStep to a timer or interrupt service routine with
+  //  period 0.01 seconds (the model's base sample time) here.  The
+  //  call syntax for rt_OneStep is
+  //
+  //   rt_OneStep();
+
+  printf("Warning: The simulation will run forever. "
+         "Generated ERT main won't simulate model step behavior. "
+         "To change this behavior select the 'MAT-file logging' option.\n");
+  fflush((NULL));
+  while (rtmGetErrorStatus(FSMTreppe_Obj.getRTM()) == (NULL)) {
+    //  Perform other application tasks here
+  }
+
+  // Disable rt_OneStep() here
+
+  // Terminate model
+  FSMTreppe_Obj.terminate();
+  return 0;
+}
+
+//
+// File trailer for generated code.
+//
+// [EOF]
+//

lib/treppe/MatLabSrc/FSMTreppe_ert_rtw/modelsources.txt

@@ -0,0 +1,2 @@
+  FSMTreppe.cpp
+

lib/treppe/MatLabSrc/FSMTreppe_ert_rtw/rtw_proj.tmw

@@ -0,0 +1,4 @@
+Simulink Coder project for FSMTreppe using . MATLAB root = C:\Program Files\MATLAB\R2021a. SimStruct date: 15-Nov-2020 02:10:14
+This file is generated by Simulink Coder for use by the make utility
+to determine when to rebuild objects when the name of the current Simulink Coder project changes.
+The rtwinfomat located at: ..\slprj\ert\FSMTreppe\tmwinternal\binfo.mat

lib/treppe/MatLabSrc/FSMTreppe_ert_rtw/rtwtypes.h

@@ -0,0 +1,160 @@
+//
+// Academic License - for use in teaching, academic research, and meeting
+// course requirements at degree granting institutions only.  Not for
+// government, commercial, or other organizational use.
+//
+// File: rtwtypes.h
+//
+// Code generated for Simulink model 'FSMTreppe'.
+//
+// Model version                  : 1.65
+// Simulink Coder version         : 9.5 (R2021a) 14-Nov-2020
+// C/C++ source code generated on : Tue Sep  7 08:47:00 2021
+//
+// Target selection: ert.tlc
+// Embedded hardware selection: ARM Compatible->ARM Cortex-M
+// Code generation objectives: Unspecified
+// Validation result: Not run
+//
+
+#ifndef RTWTYPES_H
+#define RTWTYPES_H
+
+// Logical type definitions
+#if (!defined(__cplusplus))
+#ifndef false
+#define false                          (0U)
+#endif
+
+#ifndef true
+#define true                           (1U)
+#endif
+#endif
+
+//=======================================================================*
+//  Target hardware information
+//    Device type: ARM Compatible->ARM Cortex-M
+//    Number of bits:     char:   8    short:   16    int:  32
+//                        long:  32
+//                        native word size:  32
+//    Byte ordering: LittleEndian
+//    Signed integer division rounds to: Zero
+//    Shift right on a signed integer as arithmetic shift: on
+// =======================================================================
+
+//=======================================================================*
+//  Fixed width word size data types:                                     *
+//    int8_T, int16_T, int32_T     - signed 8, 16, or 32 bit integers     *
+//    uint8_T, uint16_T, uint32_T  - unsigned 8, 16, or 32 bit integers   *
+//    real32_T, real64_T           - 32 and 64 bit floating point numbers *
+// =======================================================================
+typedef signed char int8_T;
+typedef unsigned char uint8_T;
+typedef short int16_T;
+typedef unsigned short uint16_T;
+typedef int int32_T;
+typedef unsigned int uint32_T;
+typedef float real32_T;
+typedef double real64_T;
+
+//===========================================================================*
+//  Generic type definitions: boolean_T, char_T, byte_T, int_T, uint_T,       *
+//                            real_T, time_T, ulong_T.                        *
+// ===========================================================================
+typedef double real_T;
+typedef double time_T;
+typedef unsigned char boolean_T;
+typedef int int_T;
+typedef unsigned int uint_T;
+typedef unsigned long ulong_T;
+typedef char char_T;
+typedef unsigned char uchar_T;
+typedef char_T byte_T;
+
+//===========================================================================*
+//  Complex number type definitions                                           *
+// ===========================================================================
+#define CREAL_T
+
+typedef struct {
+  real32_T re;
+  real32_T im;
+} creal32_T;
+
+typedef struct {
+  real64_T re;
+  real64_T im;
+} creal64_T;
+
+typedef struct {
+  real_T re;
+  real_T im;
+} creal_T;
+
+#define CINT8_T
+
+typedef struct {
+  int8_T re;
+  int8_T im;
+} cint8_T;
+
+#define CUINT8_T
+
+typedef struct {
+  uint8_T re;
+  uint8_T im;
+} cuint8_T;
+
+#define CINT16_T
+
+typedef struct {
+  int16_T re;
+  int16_T im;
+} cint16_T;
+
+#define CUINT16_T
+
+typedef struct {
+  uint16_T re;
+  uint16_T im;
+} cuint16_T;
+
+#define CINT32_T
+
+typedef struct {
+  int32_T re;
+  int32_T im;
+} cint32_T;
+
+#define CUINT32_T
+
+typedef struct {
+  uint32_T re;
+  uint32_T im;
+} cuint32_T;
+
+//=======================================================================*
+//  Min and Max:                                                          *
+//    int8_T, int16_T, int32_T     - signed 8, 16, or 32 bit integers     *
+//    uint8_T, uint16_T, uint32_T  - unsigned 8, 16, or 32 bit integers   *
+// =======================================================================
+#define MAX_int8_T                     ((int8_T)(127))
+#define MIN_int8_T                     ((int8_T)(-128))
+#define MAX_uint8_T                    ((uint8_T)(255U))
+#define MAX_int16_T                    ((int16_T)(32767))
+#define MIN_int16_T                    ((int16_T)(-32768))
+#define MAX_uint16_T                   ((uint16_T)(65535U))
+#define MAX_int32_T                    ((int32_T)(2147483647))
+#define MIN_int32_T                    ((int32_T)(-2147483647-1))
+#define MAX_uint32_T                   ((uint32_T)(0xFFFFFFFFU))
+
+// Block D-Work pointer type
+typedef void * pointer_T;
+
+#endif                                 // RTWTYPES_H
+
+//
+// File trailer for generated code.
+//
+// [EOF]
+//

lib/treppe/MatLabSrc/slprj/_sfprj/FSMTreppe/_self/rtw/ert/src/FSMTreppe_rtw.tlc

@@ -0,0 +1,49 @@
+%implements "machineSource" "C"
+%function CacheMachineDefinitions(block,system) void
+%openfile tmpFcnBuf
+%closefile tmpFcnBuf
+%<SLibCacheCodeToFile("sf_machine_data_defn",tmpFcnBuf)>\
+
+%endfunction
+%function DumpMachineInitializer(block) Output
+
+%openfile tmpFcnBuf
+
+%closefile tmpFcnBuf
+%if !WHITE_SPACE(tmpFcnBuf)
+
+  /* Machine initializer */
+  %<tmpFcnBuf>\
+%endif
+%endfunction
+%function GlobalMachineInitializer(block) void
+  %openfile tmpFcnBuf
+  %<DumpMachineInitializer(block)>\
+  %closefile tmpFcnBuf
+  %return tmpFcnBuf              
+%endfunction %% GlobalMachineInitializer
+
+%function DumpMachineTerminator(block) Output
+%openfile tmpFcnBuf
+
+%closefile tmpFcnBuf
+%if !WHITE_SPACE(tmpFcnBuf)
+
+  /* Machine initializer */
+  %<tmpFcnBuf>\
+%endif
+%endfunction
+%function GlobalMachineTerminator(block) void
+  %openfile tmpFcnBuf
+  %<DumpMachineTerminator(block)>\
+  %closefile tmpFcnBuf
+  %return tmpFcnBuf              
+%endfunction %% GlobalMachineTerminator
+
+%function CacheMachineFunctions(block,system) void
+  %openfile tmpFcnBuf
+            
+            
+  %closefile tmpFcnBuf
+  %<SLibCacheCodeToFile("sf_machine_fcn_defn",tmpFcnBuf)>
+%endfunction

lib/treppe/MatLabSrc/slprj/_sfprj/FSMTreppe/_self/rtw/ert/src/FSMTreppe_rtw.tlh

@@ -0,0 +1,40 @@
+%implements "machineHeader" "C"
+%function CacheOutputs(block,system) void
+ %assign srcFileName = SLibGetFullFileNameForSystemCode("sys_src_incl", system.SystemIdx)
+%openfile typedefsBuf   
+            
+%closefile typedefsBuf
+%<SLibCacheCodeToFile("sf_machine_typedef",typedefsBuf)>
+%if !WHITE_SPACE(typedefsBuf)
+  %<SLibUpdateHeadersNeededByFile(srcFileName, SLibGetFullFileNameForCode("sf_machine_typedef"))>
+%endif
+%openfile definesBuf   
+%closefile definesBuf
+%<SLibCacheCodeToFile("sf_machine_data_define",definesBuf)>
+%if !WHITE_SPACE(definesBuf)
+  %<SLibUpdateHeadersNeededByFile(srcFileName, SLibGetFullFileNameForCode("sf_machine_data_define"))>
+%endif
+%openfile externDataBuf
+%closefile externDataBuf
+%<SLibCacheCodeToFile("sf_machine_extern_data_decl",externDataBuf)>
+%if !WHITE_SPACE(externDataBuf)
+  %<SLibUpdateHeadersNeededByFile(srcFileName, SLibGetFullFileNameForCode("sf_machine_extern_data_decl"))>
+%endif
+%openfile externDataBuf
+%closefile externDataBuf
+%<SLibCacheCodeToFile("sf_machine_public_extern_data_decl",externDataBuf)>
+%if !WHITE_SPACE(externDataBuf)
+  %<SLibUpdateHeadersNeededByFile(srcFileName, SLibGetFullFileNameForCode("sf_machine_public_extern_data_decl"))>
+%endif
+%openfile externDataBuf
+
+            
+            
+%closefile externDataBuf
+%<SLibCacheCodeToFile("sf_machine_extern_fcn_decl",externDataBuf)>
+%if !WHITE_SPACE(externDataBuf)
+  %<SLibUpdateHeadersNeededByFile(srcFileName, SLibGetFullFileNameForCode("sf_machine_extern_fcn_decl"))>
+%endif
+%endfunction %% CacheOutputs
+ 
+

lib/treppe/MatLabSrc/slprj/_sfprj/FSMTreppe/_self/rtw/ert/src/c3_FSMTreppe.tlc

@@ -0,0 +1,39 @@
+%implements "chartSource" "C"
+%function ChartConfig(block, system) void
+  %createrecord chartConfiguration { ...
+          executeAtInitialization  0 ...
+  }
+  %return chartConfiguration
+%endfunction
+%function ChartDataMap(block, system) void
+  %createrecord ChartDataElements {\
+    NumChartData   3 \
+    ChartDataDefaults {\
+      RecordType   "ChartData"\
+      Dimensions   []\
+      IsTestPoint  0\
+    }\
+    ChartData {\
+      Name         "is_active_c3_FSMTreppe"\
+      Description  "StateIsActive"\
+      SFName       ""\
+      Path         ""\
+      SrcLocation  ""\
+    }\
+    ChartData {\
+      Name         "is_c3_FSMTreppe"\
+      Description  "StateActiveChild"\
+      SFName       ""\
+      Path         ""\
+      SrcLocation  ""\
+    }\
+    ChartData {\
+      Name         "temporalCounter_i1"\
+      Description  "TemporalCounter"\
+      SFName       ""\
+      Path         ""\
+      SrcLocation  ""\
+    }\
+  }
+  %return ChartDataElements
+%endfunction

lib/treppe/MatLabSrc/slprj/_sfprj/FSMTreppe/_self/rtw/ert/src/c3_FSMTreppe.tlh

@@ -0,0 +1 @@
+

lib/treppe/MatLabSrc/slprj/ert/FSMTreppe/tmwinternal/CompileInfo.xml

@@ -0,0 +1,369 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<MF0 version="1.1" packageUris="http://schema.mathworks.com/mf0/ci/19700101 http://schema.mathworks.com/mf0/sl_modelref_info/R2021a http://schema.mathworks.com/mf0/slexec_mm_sto/R2021a_202007071525">
+  <ModelRefInfoRepo.ModelRefInfoRoot type="ModelRefInfoRepo.ModelRefInfoRoot" uuid="8c91d049-4f97-4bab-9878-75249f9e4ce5">
+    <autoSolverStatusFlags>327</autoSolverStatusFlags>
+    <childModelRefInfo type="ModelRefInfoRepo.ChildModelRefInfo" uuid="a6d6d289-18e5-4e3a-a084-25aa29dfde4c">
+      <modelName>FSMTreppe</modelName>
+      <modelPath>FSMTreppe</modelPath>
+    </childModelRefInfo>
+    <dataTransferInfos>AAFJTQAAAAAOAAAAOAAAAAYAAAAIAAAAAgAAAAAAAAAFAAAACAAAAAAAAAABAAAAAQAAAAAAAAAFAAQAAQAAAAEAAAAAAAAA</dataTransferInfos>
+    <fundamentalSampleTimePeriod>.01</fundamentalSampleTimePeriod>
+    <hasBlockWithPeriodicDiscreteSampleTime>true</hasBlockWithPeriodicDiscreteSampleTime>
+    <hasBwsAccessed>true</hasBwsAccessed>
+    <hasBwsAccessedByAnyModel>true</hasBwsAccessedByAnyModel>
+    <hasStatesModifiedInOutputUpdate>true</hasStatesModifiedInOutputUpdate>
+    <inports type="ModelRefInfoRepo.InportInformation" uuid="3dc97546-0910-427f-9bc7-9e91fec18867">
+      <isNotDerivPort>true</isNotDerivPort>
+      <designMax>Inf</designMax>
+      <designMin>-Inf</designMin>
+      <indexType>2</indexType>
+      <rateInfo type="ModelRefInfoRepo.RateInfo">
+        <compiled>true</compiled>
+        <nonFcnCallPartitionName>D1</nonFcnCallPartitionName>
+        <period>.01</period>
+        <priority>40</priority>
+        <rateIdx>0</rateIdx>
+      </rateInfo>
+      <resolvedSignalObject></resolvedSignalObject>
+      <sigNameToEMVCEMap type="ModelRefInfoRepo.SigNameEMVCEInfo" uuid="9cd81293-70da-4c16-8844-138377fd2ffa"/>
+    </inports>
+    <inports type="ModelRefInfoRepo.InportInformation" uuid="f73563dc-9c8d-4480-99e9-2c0b052edfc9">
+      <isNotDerivPort>true</isNotDerivPort>
+      <designMax>Inf</designMax>
+      <designMin>-Inf</designMin>
+      <indexType>2</indexType>
+      <originalPortNumber>1</originalPortNumber>
+      <rateInfo type="ModelRefInfoRepo.RateInfo">
+        <compiled>true</compiled>
+        <nonFcnCallPartitionName>D1</nonFcnCallPartitionName>
+        <period>.01</period>
+        <priority>40</priority>
+        <rateIdx>0</rateIdx>
+      </rateInfo>
+      <resolvedSignalObject></resolvedSignalObject>
+      <sigNameToEMVCEMap type="ModelRefInfoRepo.SigNameEMVCEInfo" uuid="98c95bd5-dcdd-41dd-87c0-d47532b36c10"/>
+    </inports>
+    <inports type="ModelRefInfoRepo.InportInformation" uuid="2034510f-ecff-4ad3-b7a1-bd08f645356b">
+      <isNotDerivPort>true</isNotDerivPort>
+      <designMax>Inf</designMax>
+      <designMin>-Inf</designMin>
+      <indexType>2</indexType>
+      <originalPortNumber>2</originalPortNumber>
+      <rateInfo type="ModelRefInfoRepo.RateInfo">
+        <compiled>true</compiled>
+        <nonFcnCallPartitionName>D1</nonFcnCallPartitionName>
+        <period>.01</period>
+        <priority>40</priority>
+        <rateIdx>0</rateIdx>
+      </rateInfo>
+      <resolvedSignalObject></resolvedSignalObject>
+      <sigNameToEMVCEMap type="ModelRefInfoRepo.SigNameEMVCEInfo" uuid="cd2922c2-d42f-4799-aeec-e36598671a09"/>
+    </inports>
+    <inports type="ModelRefInfoRepo.InportInformation" uuid="cc6453dd-0d6b-44c7-ae81-7ae9ea6fee69">
+      <isNotDerivPort>true</isNotDerivPort>
+      <designMax>Inf</designMax>
+      <designMin>-Inf</designMin>
+      <indexType>2</indexType>
+      <originalPortNumber>3</originalPortNumber>
+      <rateInfo type="ModelRefInfoRepo.RateInfo">
+        <compiled>true</compiled>
+        <nonFcnCallPartitionName>D1</nonFcnCallPartitionName>
+        <period>.01</period>
+        <priority>40</priority>
+        <rateIdx>0</rateIdx>
+      </rateInfo>
+      <resolvedSignalObject></resolvedSignalObject>
+      <sigNameToEMVCEMap type="ModelRefInfoRepo.SigNameEMVCEInfo" uuid="b541c213-306d-4f84-a877-ad3423724d21"/>
+    </inports>
+    <inports type="ModelRefInfoRepo.InportInformation" uuid="bd911fe8-045d-4191-ba64-990a9b0baba8">
+      <isNotDerivPort>true</isNotDerivPort>
+      <designMax>Inf</designMax>
+      <designMin>-Inf</designMin>
+      <indexType>2</indexType>
+      <originalPortNumber>4</originalPortNumber>
+      <rateInfo type="ModelRefInfoRepo.RateInfo">
+        <compiled>true</compiled>
+        <nonFcnCallPartitionName>D1</nonFcnCallPartitionName>
+        <period>.01</period>
+        <priority>40</priority>
+        <rateIdx>0</rateIdx>
+      </rateInfo>
+      <resolvedSignalObject></resolvedSignalObject>
+      <sigNameToEMVCEMap type="ModelRefInfoRepo.SigNameEMVCEInfo" uuid="9282f124-0226-4425-9c6a-8fbc484d8f62"/>
+    </inports>
+    <isBdInSimModeForSimCodegenVariants>false</isBdInSimModeForSimCodegenVariants>
+    <isInlineParamsOn>true</isInlineParamsOn>
+    <isOrigInportVirtualBus>false</isOrigInportVirtualBus>
+    <isOrigInportVirtualBus>false</isOrigInportVirtualBus>
+    <isOrigInportVirtualBus>false</isOrigInportVirtualBus>
+    <isOrigInportVirtualBus>false</isOrigInportVirtualBus>
+    <isOrigInportVirtualBus>false</isOrigInportVirtualBus>
+    <isOrigOutportVirtualBus>false</isOrigOutportVirtualBus>
+    <isOrigOutportVirtualBus>false</isOrigOutportVirtualBus>
+    <isOrigOutportVirtualBus>false</isOrigOutportVirtualBus>
+    <loggingSaveFormat>2</loggingSaveFormat>
+    <maxFreqHz>-1.0</maxFreqHz>
+    <numDataInputPorts>5</numDataInputPorts>
+    <numLoggableJacobianDStates>0</numLoggableJacobianDStates>
+    <origInportBusType></origInportBusType>
+    <origInportBusType></origInportBusType>
+    <origInportBusType></origInportBusType>
+    <origInportBusType></origInportBusType>
+    <origInportBusType></origInportBusType>
+    <origOutportBusOutputAsStruct>false</origOutportBusOutputAsStruct>
+    <origOutportBusOutputAsStruct>false</origOutportBusOutputAsStruct>
+    <origOutportBusOutputAsStruct>false</origOutportBusOutputAsStruct>
+    <origOutportBusType></origOutportBusType>
+    <origOutportBusType></origOutportBusType>
+    <origOutportBusType></origOutportBusType>
+    <outports type="ModelRefInfoRepo.OutportInformation" uuid="730188ea-a135-4ebe-90bf-6d86de487f40">
+      <hasSystemInitMethod>true</hasSystemInitMethod>
+      <designMax>Inf</designMax>
+      <designMin>-Inf</designMin>
+      <rateInfo type="ModelRefInfoRepo.RateInfo">
+        <compiled>true</compiled>
+        <nonFcnCallPartitionName>D1</nonFcnCallPartitionName>
+        <period>.01</period>
+        <priority>40</priority>
+        <rateIdx>0</rateIdx>
+      </rateInfo>
+      <resolvedSignalObject></resolvedSignalObject>
+      <sigNameToEMVCEMap type="ModelRefInfoRepo.SigNameEMVCEInfo" uuid="022f3f70-d650-4c09-b92e-a82eae70cca0"/>
+    </outports>
+    <outports type="ModelRefInfoRepo.OutportInformation" uuid="a4bd5e44-5daa-439d-9fcd-074b1f23791b">
+      <hasSystemInitMethod>true</hasSystemInitMethod>
+      <designMax>Inf</designMax>
+      <designMin>-Inf</designMin>
+      <originalPortNumber>1</originalPortNumber>
+      <rateInfo type="ModelRefInfoRepo.RateInfo">
+        <compiled>true</compiled>
+        <nonFcnCallPartitionName>D1</nonFcnCallPartitionName>
+        <period>.01</period>
+        <priority>40</priority>
+        <rateIdx>0</rateIdx>
+      </rateInfo>
+      <resolvedSignalObject></resolvedSignalObject>
+      <sigNameToEMVCEMap type="ModelRefInfoRepo.SigNameEMVCEInfo" uuid="9a85f83a-af2f-4a8b-8b39-f87903bab9e3"/>
+    </outports>
+    <outports type="ModelRefInfoRepo.OutportInformation" uuid="b045b60e-3dae-4adc-990e-4bb63a007aa3">
+      <hasSystemInitMethod>true</hasSystemInitMethod>
+      <designMax>Inf</designMax>
+      <designMin>-Inf</designMin>
+      <originalPortNumber>2</originalPortNumber>
+      <rateInfo type="ModelRefInfoRepo.RateInfo">
+        <compiled>true</compiled>
+        <nonFcnCallPartitionName>D1</nonFcnCallPartitionName>
+        <period>.01</period>
+        <priority>40</priority>
+        <rateIdx>0</rateIdx>
+      </rateInfo>
+      <resolvedSignalObject></resolvedSignalObject>
+      <sigNameToEMVCEMap type="ModelRefInfoRepo.SigNameEMVCEInfo" uuid="c528ad7d-8ccf-4847-9b02-7492d282a463"/>
+    </outports>
+    <removeResetFunc>true</removeResetFunc>
+    <runtimeNonFcnCallRateInfos type="ModelRefInfoRepo.RateInfo">
+      <compiled>true</compiled>
+      <nonFcnCallPartitionName>D1</nonFcnCallPartitionName>
+      <period>.01</period>
+      <priority>40</priority>
+      <rateIdx>0</rateIdx>
+    </runtimeNonFcnCallRateInfos>
+    <sampleTimeInheritanceRule>2</sampleTimeInheritanceRule>
+    <timingAndTaskingRegistry>&lt;?xml version=&quot;1.0&quot;?&gt;
+&lt;slexec_sto version=&quot;1.1&quot; packageUris=&quot;http://schema.mathworks.com/mf0/slexec_mm_sto/R2021a_202007071525&quot;&gt;
+  &lt;sto.Registry type=&quot;sto.Registry&quot; uuid=&quot;9b7d34e5-9d96-44f0-b2a3-9f989daf3c92&quot;&gt;
+    &lt;clocks type=&quot;sto.Timer&quot; uuid=&quot;626dfc1a-2af1-4bf4-b453-3f3a1fda66c1&quot;&gt;
+      &lt;computedFundamentalDiscretePeriod&gt;.01&lt;/computedFundamentalDiscretePeriod&gt;
+      &lt;resolution&gt;.01&lt;/resolution&gt;
+      &lt;clockTickConstraint&gt;PeriodicWithFixedResolution&lt;/clockTickConstraint&gt;
+      &lt;specifiedTaskingMode&gt;ClassicMultiTasking&lt;/specifiedTaskingMode&gt;
+      &lt;timeAdvanceMode&gt;FixedStep&lt;/timeAdvanceMode&gt;
+      &lt;clockDomain type=&quot;sto.ClockDomain&quot; uuid=&quot;e7bc3f67-5218-4c0d-9dea-3c07a32eafc4&quot;&gt;
+        &lt;baseTaskID&gt;_task0&lt;/baseTaskID&gt;
+        &lt;rates type=&quot;sto.Rate&quot; uuid=&quot;d4495b93-a61c-4a6a-81c8-0f9b18a67d05&quot;/&gt;
+        &lt;rootTaskHierarchyElements type=&quot;sto.Task&quot; uuid=&quot;5a391a5c-a43d-4aa9-bc41-2a93663da7b2&quot;&gt;
+          &lt;isExecutable&gt;true&lt;/isExecutable&gt;
+          &lt;orderIndex&gt;1&lt;/orderIndex&gt;
+          &lt;rates type=&quot;sto.Rate&quot; uuid=&quot;d4495b93-a61c-4a6a-81c8-0f9b18a67d05&quot;&gt;
+            &lt;annotation&gt;D1&lt;/annotation&gt;
+            &lt;colorIndex&gt;2&lt;/colorIndex&gt;
+            &lt;description&gt;Discrete 1&lt;/description&gt;
+            &lt;eventSourceType&gt;UNSPECIFIED_EVENT_SOURCE&lt;/eventSourceType&gt;
+            &lt;registry type=&quot;sto.Registry&quot; uuid=&quot;9b7d34e5-9d96-44f0-b2a3-9f989daf3c92&quot;/&gt;
+            &lt;taskId&gt;_task0&lt;/taskId&gt;
+            &lt;rateSpec type=&quot;sto.RateSpec&quot; uuid=&quot;ae5af4bd-9e1d-4b56-893c-68e4b2480f8d&quot;&gt;
+              &lt;period&gt;.01&lt;/period&gt;
+              &lt;rateType&gt;ClassicPeriodicDiscrete&lt;/rateType&gt;
+            &lt;/rateSpec&gt;
+          &lt;/rates&gt;
+          &lt;elementType&gt;Task&lt;/elementType&gt;
+          &lt;identifier&gt;_task0&lt;/identifier&gt;
+          &lt;priority&gt;40&lt;/priority&gt;
+        &lt;/rootTaskHierarchyElements&gt;
+      &lt;/clockDomain&gt;
+    &lt;/clocks&gt;
+    &lt;executionSpec&gt;Undetermined&lt;/executionSpec&gt;
+    &lt;taskDependencyGraph type=&quot;sto.SerializedTaskConnectionList&quot; uuid=&quot;f3e9c73b-bb20-4ef6-a737-eff2b3a03780&quot;&gt;
+      &lt;taskIdentifier&gt;_task0&lt;/taskIdentifier&gt;
+    &lt;/taskDependencyGraph&gt;
+    &lt;taskPriorityDirection&gt;HighNumberLast&lt;/taskPriorityDirection&gt;
+    &lt;taskingMode&gt;ClassicMultiTasking&lt;/taskingMode&gt;
+    &lt;tasks type=&quot;sto.Task&quot; uuid=&quot;5a391a5c-a43d-4aa9-bc41-2a93663da7b2&quot;/&gt;
+    &lt;timeAdvanceMode&gt;FixedStep&lt;/timeAdvanceMode&gt;
+  &lt;/sto.Registry&gt;
+&lt;/slexec_sto&gt;</timingAndTaskingRegistry>
+    <zeroInternalMemoryAtStartupUnchecked>true</zeroInternalMemoryAtStartupUnchecked>
+    <FMUBlockMap type="ModelRefInfoRepo.FMUBlockInfo" uuid="b93b26b0-22f0-4764-a798-053907f178f4"/>
+    <codeGenInfo type="ModelRefInfoRepo.CodeGenInformation" uuid="d598be23-3911-4922-9ca1-b6dca592cdf8"/>
+    <configSettingsForConsistencyChecks type="ModelRefInfoRepo.ConfigSettingsForConsistencyChecks" uuid="79532f7e-333b-46dc-830a-de1e37104a81">
+      <consistentOutportInitialization>true</consistentOutportInitialization>
+      <fixedStepSize>.01</fixedStepSize>
+      <hasHybridSampleTime>true</hasHybridSampleTime>
+      <optimizedInitCode>true</optimizedInitCode>
+      <signalLoggingSaveFormat>2</signalLoggingSaveFormat>
+      <simSIMDOptimization>1</simSIMDOptimization>
+      <solverName>FixedStepDiscrete</solverName>
+      <solverType>SOLVER_TYPE_FIXEDSTEP</solverType>
+      <hardwareSettings type="ModelRefInfoRepo.HardwareSettings" uuid="69f559cc-e983-4421-8260-4b0ab3d57945">
+        <prodBitPerChar>8</prodBitPerChar>
+        <prodBitPerDouble>64</prodBitPerDouble>
+        <prodBitPerFloat>32</prodBitPerFloat>
+        <prodBitPerInt>32</prodBitPerInt>
+        <prodBitPerLong>32</prodBitPerLong>
+        <prodBitPerLongLong>64</prodBitPerLongLong>
+        <prodBitPerPointer>32</prodBitPerPointer>
+        <prodBitPerPtrDiffT>32</prodBitPerPtrDiffT>
+        <prodBitPerShort>16</prodBitPerShort>
+        <prodBitPerSizeT>32</prodBitPerSizeT>
+        <prodEndianess>1</prodEndianess>
+        <prodLargestAtomicFloat>1</prodLargestAtomicFloat>
+        <prodLargestAtomicInteger>3</prodLargestAtomicInteger>
+        <prodShiftRight>true</prodShiftRight>
+        <prodWordSize>32</prodWordSize>
+      </hardwareSettings>
+    </configSettingsForConsistencyChecks>
+    <controllableInputRatesMap type="ModelRefInfoRepo.VarTsUIDMap" uuid="188fca95-6ffa-4497-91c4-097c5c5aee33"/>
+    <controllableOutputRatesMap type="ModelRefInfoRepo.VarTsUIDMap" uuid="34d898ee-0488-42bb-be25-40cbd6819eaf"/>
+    <dataPortGroup type="ModelRefInfoRepo.DataPortGroup" uuid="99ea55ca-19b6-439c-b494-ab33265aa22b">
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+      <compDataInputPorts>2</compDataInputPorts>
+      <compDataInputPorts>3</compDataInputPorts>
+      <compDataInputPorts>4</compDataInputPorts>
+      <compDataOutputPorts>0</compDataOutputPorts>
+      <compDataOutputPorts>1</compDataOutputPorts>
+      <compDataOutputPorts>2</compDataOutputPorts>
+      <dataInputPorts>0</dataInputPorts>
+      <dataInputPorts>1</dataInputPorts>
+      <dataInputPorts>2</dataInputPorts>
+      <dataInputPorts>3</dataInputPorts>
+      <dataInputPorts>4</dataInputPorts>
+      <dataOutputPorts>0</dataOutputPorts>
+      <dataOutputPorts>1</dataOutputPorts>
+      <dataOutputPorts>2</dataOutputPorts>
+    </dataPortGroup>
+    <expFcnUnconnectedDataPortGroup type="ModelRefInfoRepo.DataPortGroup" uuid="9857c752-3ac8-4e50-8860-b306bd783dd4"/>
+    <interfaceParameterInfo type="ModelRefInfoRepo.InterfaceParameterInfo" uuid="e1381a12-d132-4b2a-8837-635f4863a9c2"/>
+    <messageInfo type="ModelRefInfoRepo.MessageInformation" uuid="d14ba5d4-7085-4560-87a6-b9de7a83fb36"/>
+    <methodInfo type="ModelRefInfoRepo.MethodExistenceInfo" uuid="d88c6655-e78d-4745-93e1-9f8837d13b0b">
+      <hasEnableMethod>true</hasEnableMethod>
+      <hasSystemInitializeMethod>true</hasSystemInitializeMethod>
+      <hasSystemResetMethod>true</hasSystemResetMethod>
+      <hasTerminateMethod>true</hasTerminateMethod>
+    </methodInfo>
+    <periodicEventPortUnsupportedBlockInfo type="ModelRefInfoRepo.PeriodicEventPortUnsupportedBlockInfo" uuid="f61487e4-ebaf-4b99-9d2b-c4b1ea41af92"/>
+    <portGroupsRequireSameRate type="ModelRefInfoRepo.PortGroupsRequireSameRate" uuid="79702c85-5b35-40f3-ae57-7023f221a663">
+      <DSMPortGroups type="ModelRefInfoRepo.NameToPortGroupIdxVectMap" uuid="6de7bfcb-0451-406e-8e38-16e7fe1c75a6"/>
+      <GlobalDSMPortGroups type="ModelRefInfoRepo.NameToPortGroupIdxVectMap" uuid="6f27c871-22fc-4c10-8f4d-1d41d46055ee"/>
+      <mergedPortGroups type="ModelRefInfoRepo.NameToPortGroupIdxVectMap" uuid="5d9254a5-a2a4-4a98-9aef-3308701c81f0"/>
+    </portGroupsRequireSameRate>
+    <rateBasedMdlGlobalDSMRateSpec type="ModelRefInfoRepo.GlobalDSMRateSpecMap" uuid="a29995d7-52f1-4edd-aaef-698a2a68529b"/>
+    <rateSpecOfGlobalDSMAccessedByDescExpFcnMdlMap type="ModelRefInfoRepo.GlobalDSMRateSpecMap" uuid="45b11e5f-09ce-4444-be7c-9384c8ed3d75"/>
+    <rootBlockDiagramInterface type="ci.Model" uuid="25370f49-f80f-4984-a40b-a7f84df8f739">
+      <p_RootComponentInterface type="ci.ComponentInterface" uuid="70af63cd-69ac-460e-af61-b81475e3805e">
+        <p_InputPorts type="ci.SignalInterface" uuid="05356a46-76c9-496b-b870-a6606a2681b4">
+          <p_ComputedNumericDimensions>1.0</p_ComputedNumericDimensions>
+          <p_ComputedSampleTime>.01</p_ComputedSampleTime>
+          <p_ComputedSampleTime>0.0</p_ComputedSampleTime>
+          <p_ComputedSymbolicDimensions>inherit</p_ComputedSymbolicDimensions>
+          <p_ComputedType>uint32</p_ComputedType>
+        </p_InputPorts>
+        <p_InputPorts type="ci.SignalInterface" uuid="65b4f285-1e30-435e-93ab-dd78ef98157e">
+          <p_ComputedNumericDimensions>1.0</p_ComputedNumericDimensions>
+          <p_ComputedSampleTime>.01</p_ComputedSampleTime>
+          <p_ComputedSampleTime>0.0</p_ComputedSampleTime>
+          <p_ComputedSymbolicDimensions>inherit</p_ComputedSymbolicDimensions>
+          <p_ComputedType>uint32</p_ComputedType>
+        </p_InputPorts>
+        <p_InputPorts type="ci.SignalInterface" uuid="7af0a6c1-c38b-47c3-b02a-8930848add94">
+          <p_ComputedNumericDimensions>1.0</p_ComputedNumericDimensions>
+          <p_ComputedSampleTime>.01</p_ComputedSampleTime>
+          <p_ComputedSampleTime>0.0</p_ComputedSampleTime>
+          <p_ComputedSymbolicDimensions>inherit</p_ComputedSymbolicDimensions>
+          <p_ComputedType>uint32</p_ComputedType>
+        </p_InputPorts>
+        <p_InputPorts type="ci.SignalInterface" uuid="6840ec21-0ff0-4091-9e69-78eafc35d6f5">
+          <p_ComputedNumericDimensions>1.0</p_ComputedNumericDimensions>
+          <p_ComputedSampleTime>.01</p_ComputedSampleTime>
+          <p_ComputedSampleTime>0.0</p_ComputedSampleTime>
+          <p_ComputedSymbolicDimensions>inherit</p_ComputedSymbolicDimensions>
+          <p_ComputedType>uint32</p_ComputedType>
+        </p_InputPorts>
+        <p_InputPorts type="ci.SignalInterface" uuid="11187d0c-88fb-4a76-b6c1-8ae6af93ec59">
+          <p_ComputedNumericDimensions>1.0</p_ComputedNumericDimensions>
+          <p_ComputedSampleTime>.01</p_ComputedSampleTime>
+          <p_ComputedSampleTime>0.0</p_ComputedSampleTime>
+          <p_ComputedSymbolicDimensions>inherit</p_ComputedSymbolicDimensions>
+          <p_ComputedType>uint32</p_ComputedType>
+        </p_InputPorts>
+        <p_Name>FSMTreppe</p_Name>
+        <p_OutputPorts type="ci.SignalInterface" uuid="a983c36b-3a44-48e2-95a5-3cf9884f8810">
+          <p_ComputedNumericDimensions>1.0</p_ComputedNumericDimensions>
+          <p_ComputedSampleTime>.01</p_ComputedSampleTime>
+          <p_ComputedSampleTime>0.0</p_ComputedSampleTime>
+          <p_ComputedSymbolicDimensions>inherit</p_ComputedSymbolicDimensions>
+          <p_ComputedType>uint32</p_ComputedType>
+        </p_OutputPorts>
+        <p_OutputPorts type="ci.SignalInterface" uuid="f099e52b-3f98-4f3d-9a53-e5f41ee8bd93">
+          <p_ComputedNumericDimensions>1.0</p_ComputedNumericDimensions>
+          <p_ComputedSampleTime>.01</p_ComputedSampleTime>
+          <p_ComputedSampleTime>0.0</p_ComputedSampleTime>
+          <p_ComputedSymbolicDimensions>inherit</p_ComputedSymbolicDimensions>
+          <p_ComputedType>uint32</p_ComputedType>
+        </p_OutputPorts>
+        <p_OutputPorts type="ci.SignalInterface" uuid="21fb1cab-f5bf-4b33-8280-97ca7bd77920">
+          <p_ComputedNumericDimensions>1.0</p_ComputedNumericDimensions>
+          <p_ComputedSampleTime>.01</p_ComputedSampleTime>
+          <p_ComputedSampleTime>0.0</p_ComputedSampleTime>
+          <p_ComputedSymbolicDimensions>inherit</p_ComputedSymbolicDimensions>
+          <p_ComputedType>uint32</p_ComputedType>
+        </p_OutputPorts>
+        <p_Type>ROOT</p_Type>
+      </p_RootComponentInterface>
+    </rootBlockDiagramInterface>
+    <simulinkFunctions type="ModelRefInfoRepo.SimulinkFunctions" uuid="d5f398f3-db0d-4011-8e70-b49ab7ad1d2e">
+      <compSimulinkFunctionCatalog></compSimulinkFunctionCatalog>
+    </simulinkFunctions>
+    <stateWriterToOwnerMap type="ModelRefInfoRepo.StateWriterInfo" uuid="bd389837-c442-4b09-904b-968bdf13ec78"/>
+    <stoClientDataRegistry type="sto.ClientDataRegistry" uuid="b745f9d4-b391-4ce6-8b3b-ddfa4c1c3048">
+      <dataSets type="sto.ClientClockNamedDataSet" uuid="295512be-0378-4fde-8696-c3318b490c08">
+        <tag>sltpEvents</tag>
+      </dataSets>
+      <dataSets type="sto.ClientTaskHierarchyElementNamedDataSet" uuid="aee088fb-049d-4150-9f5f-88ba57760916">
+        <tag>sltpTaskGroups</tag>
+      </dataSets>
+      <dataSets type="sto.ClientTaskHierarchyElementNamedDataSet" uuid="26bbddc2-d033-4b56-bd42-4ebc47367e3f">
+        <dSet type="ModelRefInfoRepo.SltpTaskData" uuid="e04174da-4467-4c63-a2fe-3974591c9c06"/>
+        <tSet type="ModelRefInfoRepo.SltpTaskData" uuid="e04174da-4467-4c63-a2fe-3974591c9c06">
+          <dataName>D1</dataName>
+          <linkedSet type="sto.ClientTaskHierarchyElementNamedDataSet" uuid="26bbddc2-d033-4b56-bd42-4ebc47367e3f"/>
+          <id type="sto.TaskHierarchyElementId">
+            <id>_task0</id>
+          </id>
+        </tSet>
+        <tag>sltpTasks</tag>
+      </dataSets>
+    </stoClientDataRegistry>
+    <varTsUIDMap type="ModelRefInfoRepo.VarTsUIDMap" uuid="5509c4d8-513d-44e6-94d3-3b9fa42f55f1"/>
+  </ModelRefInfoRepo.ModelRefInfoRoot>
+</MF0>

lib/treppe/MatLabSrc/slprj/sl_proj.tmw

@@ -0,0 +1,2 @@
+Simulink Coder project marker file. Please don't change it. 
+slprjVersion: 10.3_086

lib/treppe/treppe.cpp

@@ -0,0 +1,463 @@
+#include "treppe.h"
+// #define DEBUG_TIMING
+
+/*
+    - dimmer_tick: increment pwm jeden tick, bis anim beendet
+    - return: fsm_pend.anim_beendet
+*/
+bool Treppe::dimmer_tick(dimmer_t *dimmer, bool dim_type) {
+  dimmer->pwm += dimmer->delta_pwm;
+  
+#ifdef DIMMDEBUG
+  Serial.printf("%.0f", dimmer->pwm);
+#endif
+
+  if (dim_type == DIM_STUFEN) {
+    pwmController.setChannelPWM(dimmer->stufe,
+                                static_cast<uint16_t>(dimmer->pwm));
+  } else { // DIM_LDR
+    pwmController.setAllChannelsPWM(static_cast<uint16_t>(dimmer->pwm));
+  }
+
+  dimmer->tick++;
+  if (dimmer->tick < dimmer->ticks) {
+#ifdef DIMMDEBUG
+    Serial.print("-");
+#endif
+    return false;
+  }
+#ifdef DIMMDEBUG
+  Serial.println("");
+#endif
+
+  if (dim_type == DIM_LDR) {
+    Serial.printf("DIM_LDR: start: %d, ziel: %d\n", dimmer->start_pwm,
+                  dimmer->ziel_pwm);
+    return true;
+  } else { // DIM_STUFEN
+    Serial.printf("DIM_STUFEN:  stufe: %d, start: %d, ziel: %d\n",
+                  dimmer->stufe, dimmer->start_pwm, dimmer->ziel_pwm);
+
+    if (fsm_outputs.laufrichtung == LR_HOCH) {
+      if (dimmer->stufe >= stufen - 1)
+        return true;
+      dimmer->stufe++;
+    } else { // LR_RUNTER
+      if (dimmer->stufe <= 0)
+        return true;
+      dimmer->stufe--;
+    }
+    dimmer->tick = 0;
+    dimmer->pwm = dimmer->start_pwm;
+  }
+  return false;
+}
+
+// startbedingunen für animation
+void Treppe::start_animation(dimmer_t *dimmer, bool dim_type, uint16_t on_pwm,
+                             uint16_t off_pwm) {
+  fsm_pend.anim_beendet = false;
+
+  if (dim_type == DIM_STUFEN) {
+    if (fsm_outputs.laufrichtung == LR_HOCH)
+      dimmer->stufe = 0;
+    else
+      dimmer->stufe = stufen - 1;
+
+    dimmer->ticks = param.time_per_stair / INT_TIME; // [ms]
+  } else {                                           // DIM_LDR
+    dimmer->ticks = param.time_ldr / INT_TIME;       // [ms]
+  }
+
+  if (fsm_outputs.dimmrichtung == DR_AUFDIMMEN) {
+    dimmer->start_pwm = off_pwm;
+    dimmer->ziel_pwm = on_pwm;
+    dimmer->delta_pwm = (float)(on_pwm - off_pwm) / (float)dimmer->ticks;
+  } else {
+    dimmer->start_pwm = on_pwm;
+    dimmer->ziel_pwm = off_pwm;
+    dimmer->delta_pwm = (float)(off_pwm - on_pwm) / (float)dimmer->ticks;
+  }
+
+  dimmer->tick = 0;
+  dimmer->pwm = dimmer->start_pwm;
+
+#ifndef LDR_REGELUNG
+  idle_pwm_ist = param.idle_pwm_max;
+#endif
+
+  Serial.printf("stufe %d, ticks %d, delta %f, start %d, ziel %d\n",
+                dimmer->stufe, dimmer->ticks, dimmer->delta_pwm,
+                dimmer->start_pwm, dimmer->ziel_pwm);
+}
+
+void Treppe::print_state_on_change() {
+  static FSMTreppeModelClass::ExtU_FSMTreppe_T last_in;
+  static FSMTreppeModelClass::ExtY_FSMTreppe_T last_out;
+  if (fsm_inputs.anim_beendet != last_in.anim_beendet ||
+      fsm_inputs.sensor_oben != last_in.sensor_oben ||
+      fsm_inputs.sensor_unten != last_in.sensor_unten ||
+      fsm_inputs.ldr_schwelle != last_in.ldr_schwelle ||
+      fsm_outputs.dimmrichtung != last_out.dimmrichtung ||
+      fsm_outputs.laufrichtung != last_out.laufrichtung ||
+      fsm_outputs.status != last_out.status) {
+    last_in.anim_beendet = fsm_inputs.anim_beendet;
+    last_in.sensor_oben = fsm_inputs.sensor_oben;
+    last_in.sensor_unten = fsm_inputs.sensor_unten;
+    last_in.ldr_schwelle = fsm_inputs.ldr_schwelle;
+    last_out.dimmrichtung = fsm_outputs.dimmrichtung;
+    last_out.laufrichtung = fsm_outputs.laufrichtung;
+    last_out.status = fsm_outputs.status;
+
+    Serial.printf("FSM IN: s_u: %d, s_o: %d, a_b: %d, l_s: %d => ",
+                  fsm_inputs.sensor_oben, fsm_inputs.sensor_unten,
+                  fsm_inputs.anim_beendet, fsm_inputs.ldr_schwelle);
+    Serial.printf("OUT: LR: %d DR: %d ST: %d\n", fsm_outputs.laufrichtung,
+                  fsm_outputs.dimmrichtung, fsm_outputs.status);
+  }
+}
+
+void Treppe::overwrite_sensors(bool s_oben, bool s_unten) {
+  fsm_pend.web_ctrl_s_oben = s_oben;
+  fsm_pend.web_ctrl_s_unten = s_unten;
+}
+
+void Treppe::read_sensors() {
+  const bool s_oben = digitalRead(SENSOR_OBEN);
+  const bool s_unten = digitalRead(SENSOR_UNTEN);
+
+  fsm_pend.sensor_oben = false;
+  fsm_pend.sensor_unten = false;
+
+  // rising trigger => 1 cycle true !
+  if (s_oben && !fsm_pend.last_s_oben) {
+    fsm_pend.sensor_oben = true;
+  }
+  if (s_unten && !fsm_pend.last_s_unten) {
+    fsm_pend.sensor_unten = true;
+  }
+
+  fsm_pend.last_s_oben = s_oben;
+  fsm_pend.last_s_unten = s_unten;
+
+  // check for manipulation over webserver
+  if (fsm_pend.web_ctrl_s_oben) {
+    fsm_pend.sensor_oben = true;
+    fsm_pend.web_ctrl_s_oben = false;
+  }
+  if (fsm_pend.web_ctrl_s_unten) {
+    fsm_pend.sensor_unten = true;
+    fsm_pend.web_ctrl_s_unten = false;
+  }
+}
+
+float Treppe::read_ldr() {
+  /*
+  Reads Illuminance in Lux
+
+  FUTURE USE : show current Illuminance on Webserver in order to calibrate
+
+  Voltage Divider 1 (R13, R14):
+  R13 = 220k, R14 = 82k
+  V(ADC) = V(in1) * R14/(R13+R14)
+  -> V(in1) = V(ADC) * (R13+R14)/R14
+  V(ADC) = analogRead(A0)/1023.00
+  -> V(in1) = analogRead(A0)/1023.00 * (R13+R14)/R14
+            = analogRead(A0) * (R13+R14)/(R14*1023.00)
+            = analogRead(A0) * (220k+82k)/(82k*1023.00)
+            = analogRead(A0) * 0.0036
+
+  Voltage Divider 2 (LDR, R1 || (R13+R14))
+  R1 = 47k, R13+R14 = 302k -> R1||(R13+R14) = 40,67k
+  Vcc/V(in1) = R(LDR) / (R1||(R13+R14))
+  -> R(LDR) = Vcc/V(in1) * (R1||(R13+R14))
+  R(LDR) = 3.3V * 40.67k / V(in1)
+
+  Join formulas:
+
+  R(LDR) = 3.3V * 40.67k / (0.0036 * analogRead(A0))
+         = 37280.00/analogRead(A0)
+  ldr_ohm = R(LDR)
+
+  E(LDR) = 6526.5 * R(LDR)^-2   (see Excel Regression)
+  E(LDR) = 6526.5 / (R(LDR)^2)
+  ldr_value = E(LDR)
+  */
+  // float ldr_ohm = 37280.00 / analogRead(A0);
+  float vol_adc = analogRead(A0) * 0.0036;
+  if(vol_adc > 3.29) // prevent negative values !
+    vol_adc = 3.29;
+  float ldr_ohm = 40.67 * (3.3 - vol_adc) / vol_adc;
+  float ldr_value = 6526.6 / (ldr_ohm * ldr_ohm);
+#ifdef LDRDEBUG
+  Serial.printf("vol_adc: %f Ohm: %f lux: %f Comp: %d\n", vol_adc, ldr_ohm, ldr_value,
+                param.ldr_schwelle);
+#endif
+  return ldr_value;
+}
+
+void Treppe::sample_ldr() {
+  ldr_average += read_ldr();
+  ldr_average_cnt++;
+  if(ldr_average_cnt > LDR_AVERAGE_SAMPLES) {
+    float ldr_avg = static_cast<float>(ldr_average / LDR_AVERAGE_SAMPLES);
+    Serial.printf("ldr_avg: %f schwelle: %d\n", ldr_avg, param.ldr_schwelle);
+    if(check_ldr(ldr_avg)) {
+      update_soll_pwm_with_ldr(ldr_avg);
+    }
+    ldr_average = 0.0;
+    ldr_average_cnt = 0;
+  }
+}
+
+void Treppe::update_soll_pwm_with_ldr(float ldr_avg) {
+  // LDR quasi linear :)
+/*
+  soll     ldr_average
+  ----  =  ------------
+  ist      ldr_schwelle
+*/
+
+#ifdef LDR_REGELUNG
+  if(ldr_avg >= param.ldr_schwelle) {
+    return;
+  }
+  idle_pwm_soll = (1 - (ldr_avg / param.ldr_schwelle)) * param.idle_pwm_max;
+  Serial.printf("Update idle_pwm_soll_with_ldr: %d\n", idle_pwm_soll);
+
+  if(idle_pwm_ist != idle_pwm_soll)
+    fsm_inputs.ldr_changed = true;
+#endif
+}
+
+bool Treppe::check_ldr(float ldr_avg) {
+  static uint8_t active = 0;
+  
+  if (ldr_avg < param.ldr_schwelle) {
+    active = 1;
+  }
+  if (ldr_avg > param.ldr_schwelle + LDR_HYS) {
+    active = 0;
+  }
+  fsm_inputs.ldr_schwelle = active;
+  return active;
+}
+
+void Treppe::task() {
+#ifdef DEBUG_TIMING
+  uint32_t m = micros();
+#endif
+  sample_ldr();
+
+
+#ifdef DEBUG_TIMING
+  Serial.print("1:");
+  Serial.println(micros() - m);
+  m = micros();
+#endif
+
+  read_sensors();
+  fsm_inputs.sensor_oben = fsm_pend.sensor_oben;
+  fsm_inputs.sensor_unten = fsm_pend.sensor_unten;
+
+  fsm_inputs.anim_beendet = fsm_pend.anim_beendet;
+
+#ifdef DEBUG_TIMING
+  Serial.print("2:");
+  Serial.println(micros() - m);
+  m = micros();
+#endif
+
+  FSMTreppe_Obj.setExternalInputs(&fsm_inputs);
+  FSMTreppe_Obj.step();
+  fsm_outputs = FSMTreppe_Obj.getExternalOutputs();
+
+#ifdef DEBUG_TIMING
+  Serial.print("3:");
+  Serial.println(micros() - m);
+  m = micros();
+#endif
+
+  print_state_on_change();
+
+#ifdef DEBUG_TIMING
+  Serial.print("4:");
+  Serial.println(micros() - m);
+  m = micros();
+#endif
+
+  if (fsm_outputs.status == ST_AUFDIMMEN_HOCH ||
+      fsm_outputs.status == ST_ABDIMMEN_HOCH ||
+      fsm_outputs.status == ST_AUFDIMMEN_RUNTER ||
+      fsm_outputs.status == ST_ABDIMMEN_RUNTER) {
+    if (fsm_pend.anim_beendet) {
+      start_animation(&dimmer_stufen, DIM_STUFEN, param.active_pwm,
+                      idle_pwm_ist);
+    }
+    else {
+      fsm_pend.anim_beendet = dimmer_tick(&dimmer_stufen, DIM_STUFEN);
+    }
+  }
+  else if (fsm_outputs.status == ST_AUFDIMMEN_LDR ||
+             fsm_outputs.status == ST_ABDIMMEN_LDR) {
+    if (fsm_pend.anim_beendet) {
+#ifdef LDR_REGELUNG
+      start_animation(&dimmer_ldr, DIM_LDR, idle_pwm_soll, 0);
+      idle_pwm_ist = idle_pwm_soll;
+#else
+      start_animation(&dimmer_ldr, DIM_LDR, idle_pwm_ist, 0);
+#endif
+    }
+    else
+      fsm_pend.anim_beendet = dimmer_tick(&dimmer_ldr, DIM_LDR);
+  }
+  else if(fsm_outputs.status == ST_LDR_CHANGED) {
+    fsm_inputs.ldr_changed = false;
+
+#ifdef LDR_REGELUNG
+    if (fsm_pend.anim_beendet) {
+      if(idle_pwm_soll < idle_pwm_ist) {
+        fsm_outputs.dimmrichtung = DR_ABDIMMEN;
+        start_animation(&dimmer_ldr, DIM_LDR, idle_pwm_ist, idle_pwm_soll);
+      }
+      else {
+        fsm_outputs.dimmrichtung = DR_AUFDIMMEN;
+        start_animation(&dimmer_ldr, DIM_LDR, idle_pwm_soll, idle_pwm_ist);
+      }
+      idle_pwm_ist = idle_pwm_soll;
+    }
+    else { 
+      fsm_pend.anim_beendet = dimmer_tick(&dimmer_ldr, DIM_LDR);
+    }
+#endif
+  }
+
+  if (fsm_outputs.status == ST_RUHEZUSTAND ||
+      fsm_outputs.status == ST_INAKTIV_LDR) {
+    if (param_changed) {
+      param_changed = false;
+      param = param_pend;
+      save_param_to_eeprom();
+      Serial.printf("Parameter Change applied!\n");
+    }
+  }
+
+#ifdef DEBUG_TIMING
+  Serial.print("5:");
+  Serial.println(micros() - m);
+#endif
+}
+
+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(200);
+  // pwmController.setAllChannelsPWM(idle_pwm);
+
+  // WARNING: before getting Parameters of Flash, make sure plausible parameters
+  // are written in flash!
+  EEPROM.get(EEP_START_ADDR, param); // get Parameters of flash
+  param_pend = param;
+#ifndef LDR_REGELUNG
+  idle_pwm_ist = param.idle_pwm_max;
+#endif
+
+  pinMode(13, OUTPUT);
+  pinMode(0, OUTPUT);
+  digitalWrite(13, HIGH);
+  digitalWrite(0, HIGH);
+
+  pinMode(A0, INPUT);
+  pinMode(SENSOR_OBEN, INPUT);
+  pinMode(SENSOR_UNTEN, INPUT);
+  pinMode(OE, OUTPUT);
+  digitalWrite(OE, 0);
+
+  Serial.printf("Treppe: stufen=%d\n", stufen);
+}
+
+void Treppe::save_param_to_eeprom() {
+  EEPROM.put(EEP_START_ADDR,
+             param); // copy Parameters so "EEPROM"-section in RAM
+  EEPROM.commit();   // write "EEPROM"-section to flash
+}
+
+void Treppe::set_idle_pwm_max(const uint16_t value,
+                              const vorgabe_typ_t vorgabe_typ) {
+  if (vorgabe_typ == VORGABE_PROZENT) {
+    param_pend.idle_pwm_max = param_pend.active_pwm * value / 100;
+  } else if (vorgabe_typ == VORGABE_12BIT) {
+    param_pend.idle_pwm_max = value;
+  }
+
+  if (param_pend.idle_pwm_max > param_pend.active_pwm) {
+    param_pend.idle_pwm_max = param_pend.active_pwm;
+  }
+  param_changed = true;
+
+  Serial.printf("Treppe: param_pend.idle_pwm_max=%d\n",
+                param_pend.idle_pwm_max);
+}
+
+void Treppe::set_active_pwm(const uint16_t value,
+                            const vorgabe_typ_t vorgabe_typ) {
+
+  if (vorgabe_typ == VORGABE_PROZENT) {
+    param_pend.active_pwm = 4095 * value / 100;
+  } else if (vorgabe_typ == VORGABE_12BIT) {
+    param_pend.active_pwm = value;
+  }
+
+  if (param_pend.active_pwm > 4095) {
+    param_pend.idle_pwm_max = 4095;
+  }
+  param_changed = true;
+
+  Serial.printf("Treppe: param_pend.active_pwm=%d\n", param_pend.active_pwm);
+}
+
+void Treppe::set_time_ldr(const uint16_t value) {
+  param_pend.time_ldr = value;
+  if (param_pend.time_ldr > TIME_MS_MAX)
+    param_pend.time_ldr = TIME_MS_MAX;
+  param_changed = true;
+
+  Serial.printf("Treppe: time_ldr=%d\n", param_pend.time_ldr);
+}
+
+void Treppe::set_time_per_stair(const uint16_t value) {
+  param_pend.time_per_stair = value;
+  if (param_pend.time_per_stair > TIME_MS_MAX)
+    param_pend.time_per_stair = TIME_MS_MAX;
+  param_changed = true;
+
+  Serial.printf("Treppe: time_per_stair=%d\n", param_pend.time_per_stair);
+}
+
+void Treppe::set_ldr_schwelle(const uint16_t value,
+                              const vorgabe_typ_t vorgabe_typ) {
+  if (vorgabe_typ == VORGABE_PROZENT) {
+    // ?!
+    param_pend.ldr_schwelle = 10 * value / 100;
+  } else if (vorgabe_typ == VORGABE_12BIT) {
+    param_pend.ldr_schwelle = value;
+  }
+  param_changed = true;
+
+  Serial.printf("Treppe: ldr_schwelle=%d\n", param_pend.ldr_schwelle);
+}
+
+void Treppe::param_to_json(char *json_str, size_t sz) {
+  snprintf(json_str, sz, "{\n\
+    \"time_ldr\": %d,\n\
+    \"time_per_stair\": %d,\n\
+    \"idle_pwm_max\": %d,\n\
+    \"active_pwm\": %d,\n\
+    \"ldr_schwelle\": %d\n}\n",
+           param.time_ldr, param.time_per_stair, param.idle_pwm_max,
+           param.active_pwm, param.ldr_schwelle);
+}

lib/treppe/treppe.h

@@ -0,0 +1,128 @@
+#ifndef __TREPPE_H
+#define __TREPPE_H
+
+#include "FSMTreppe4/FSMTreppe4.h"
+#include "PCA9685.h"
+#include <EEPROM.h>
+
+// #define LDR_REGELUNG // comment in to activate LDR control
+// #define LDRDEBUG  // comment in to show LDR measurement
+#define LDR_HYS 5 // Hysteresis for switching off FSM [lux]
+#define LDR_AVERAGE_SAMPLES 50
+
+#define SENSOR_OBEN 16
+#define SENSOR_UNTEN 12
+#define OE 14
+
+#define INT_TIME 20       // interrupt intervall [ms]
+#define TIME_MS_MAX 5000  // maximum time for animation [ms]
+
+enum vorgabe_typ_t { VORGABE_PROZENT = 0, VORGABE_12BIT = 1 };
+
+#define EEP_START_ADDR 100      // define Start Address for "EEPROM" storage -> depends on size of "wifi_data"!
+
+class Treppe {
+private:
+  const uint8_t stufen;
+
+  struct stairway_param_t {
+    uint16_t time_ldr = 500;
+    uint16_t time_per_stair = 300; // dimmtime per stair [ms]
+    uint16_t idle_pwm_max = 100;
+    uint16_t active_pwm = 2000;
+    uint16_t ldr_schwelle = 30; // activation value for FSM [lx]
+  };
+  stairway_param_t param;
+  stairway_param_t param_pend; // zwischenspeicher änderungen
+  bool param_changed = false;
+
+  float ldr_average = 0.0;
+  uint16_t ldr_average_cnt = 0;
+  uint16_t idle_pwm_ist = 0;
+  uint16_t idle_pwm_soll = 0;
+
+  struct fsm_pending_inputs_t {
+    bool anim_beendet = true;
+    bool sensor_unten = false;
+    bool last_s_unten = false;
+    bool web_ctrl_s_unten = false;
+    bool sensor_oben = false;
+    bool last_s_oben = false;
+    bool web_ctrl_s_oben = false;
+    bool ldr_changed = false;
+  };
+  fsm_pending_inputs_t fsm_pend;
+
+  struct dimmer_t {
+    uint8_t stufe = 0;
+    uint16_t ticks = 0;
+    uint16_t tick = 0;
+
+    float delta_pwm = 0.0;
+    float pwm = 0.0;
+    uint16_t start_pwm = 0;
+    uint16_t ziel_pwm = 0;
+  };
+  enum dimmer_type_t { DIM_STUFEN = 0, DIM_LDR = 1 };
+  dimmer_t dimmer_stufen;
+  dimmer_t dimmer_ldr;
+
+  // initialize with i2c-Address 0, use Wire Library
+  PCA9685 pwmController;
+  FSMTreppeModelClass FSMTreppe_Obj;
+  FSMTreppeModelClass::ExtU_FSMTreppe_T fsm_inputs;
+  FSMTreppeModelClass::ExtY_FSMTreppe_T fsm_outputs;
+  enum fsm_status_t {
+    ST_INAKTIV_LDR = 0,
+    ST_AUFDIMMEN_LDR = 1,
+    ST_ABDIMMEN_LDR = 2,
+    ST_RUHEZUSTAND = 3,
+    ST_AUFDIMMEN_HOCH = 4,
+    ST_WARTEN_HOCH = 5,
+    ST_ABDIMMEN_HOCH = 6,
+    ST_AUFDIMMEN_RUNTER = 7,
+    ST_WARTEN_RUNTER = 8,
+    ST_ABDIMMEN_RUNTER = 9,
+    ST_LDR_CHANGED = 10
+  };
+  enum fsm_laufrichtung_t { LR_RUNTER = 0, LR_HOCH = 1 };
+  enum fsm_dimmrichtung_t { DR_ABDIMMEN = 0, DR_AUFDIMMEN = 1 };
+
+  void read_sensors();
+  void print_state_on_change();
+
+  /* DIMM */
+  bool dimmer_tick(dimmer_t *dimmer, bool dim_type);
+  void start_animation(dimmer_t *dimmer, bool dim_type, uint16_t on_pwm,
+                       uint16_t off_pwm);
+
+  /* LDR */
+  bool read_sensor(int sensor);
+  float read_ldr();
+  void sample_ldr();
+
+  bool check_ldr(float ldr_avg);
+  void update_soll_pwm_with_ldr(float ldr_avg);
+
+public:
+  Treppe(uint8_t _stufen) : stufen(_stufen) { FSMTreppe_Obj.initialize(); }
+  ~Treppe() { FSMTreppe_Obj.terminate(); }
+
+  void setup();
+  void task(); // call periodically
+
+  // Parameter section
+  void save_param_to_eeprom();
+  void param_to_json(char* json_str, size_t sz);
+
+  void set_idle_pwm_max(const uint16_t value, const vorgabe_typ_t vorgabe_typ);
+  void set_active_pwm(const uint16_t value, const vorgabe_typ_t vorgabe_typ);
+  
+  void set_time_ldr(const uint16_t value);
+  void set_time_per_stair(const uint16_t value);
+  void set_ldr_schwelle(const uint16_t value, const vorgabe_typ_t vorgabe_typ);
+
+  void overwrite_sensors(bool s_oben, bool s_unten);
+};
+
+#endif // __TREPPE_H

scripts/gdboptions_win

@@ -0,0 +1,17 @@
+set remote hardware-breakpoint-limit 1
+set remote hardware-watchpoint-limit 1
+set remote interrupt-on-connect on
+set remote kill-packet off
+set remote symbol-lookup-packet off
+set remote verbose-resume-packet off
+mem 0x20000000 0x3fefffff ro cache
+mem 0x3ff00000 0x3fffffff rw
+mem 0x40000000 0x400fffff ro cache
+mem 0x40100000 0x4013ffff rw cache
+mem 0x40140000 0x5fffffff ro cache
+mem 0x60000000 0x60001fff rw
+set serial baud 460800
+
+file .pio/build/debug/firmware.elf
+target remote \\.\COM23
+thb loop 

src/httpserver.cpp

@@ -1,17 +0,0 @@
-#include "httpserver.h"
-
-
-bool HTTPServer::addRootFileHandler() {
-
-  // //experimental, see doku.md
-  // server.serveStatic("/compressed", LittleFS, "/compressed.html.gzip");
-
-  this->serveStatic("", LittleFS, "/index.html");
-  this->serveStatic("/", LittleFS, "/index.html");
-  this->serveStatic("/#", LittleFS, "/index.html");
-  this->serveStatic("/style.css", LittleFS, "/style.css");
-  this->serveStatic("/input.js", LittleFS, "/input.js");
-  this->serveStatic("/favicon.png", LittleFS, "/favicon.png");
-
-  return true;
-}

src/main.cpp

@@ -1,146 +1,90 @@
 #include <Arduino.h>
 
-// debugging support via GDBStub over UART
 #ifdef WITH_DEBUGGING_ON
-#include <GDBStub.h>
+#include <GDBStub.h> // debugging support via GDBStub over UART
 #endif
 
 #include "PCA9685.h"
 extern "C" {
 #include "user_interface.h"
 }
-
-#define ESP12_LED 2
-#define NODEMCU_LED 16
-
 // OTA & WEB
-#include "wifi_credentials.h"
-#include <ESP8266WiFi.h>
-#include <WiFiUdp.h>
-#include <ArduinoOTA.h>
-
+#include <ESP8266mDNS.h>
 #include "httpserver.h"
+#include "ota.h"
+#include "wifi_credentials.h"
+#include <EEPROM.h>
 
-const char* ssid = STASSID;
-const char* password = STAPSK;
+// BOARD
+#define ESP12_LED 2
+// #define NODEMCU_LED 16
 
+// PWM
+#include "treppe.h"
 os_timer_t timer1;
-int timer_arg;
+uint8_t timer_flag = 0;
+Treppe stairs(12);
 
-void setup_ota();
-void setup_pwm_pca9685();
-void handleNotFound();
+// WIFI
+const char *ssid = STASSID;
+const char *password = STAPSK;
 
-const int led = 13;
+// port 80, root directory of server '/'
+HTTPServer httpServer(80, "/", &stairs);
 
-HTTPServer httpServer(80, "/");
-
-void handleNotFound() {
-  String message = "File Not Found\n\n";
-  message += "URI: ";
-  message += httpServer.uri();
-  message += "\nMethod: ";
-  message += (httpServer.method() == HTTP_GET) ? "GET" : "POST";
-  message += "\nArguments: ";
-  message += httpServer.args();
-  message += "\n";
-
-  for (uint8_t i = 0; i < httpServer.args(); i++) {
-    message += " " + httpServer.argName(i) + ": " + httpServer.arg(i) + "\n";
+uint32_t _t = 0;
+#define SP_US(_str, _a)                                                        \
+  Serial.print(_str);                                                          \
+  Serial.print(" took: ");                                                     \
+  Serial.print(_a);                                                            \
+  Serial.println("us")
+#define TIMEIF_US(_f, _l, _str)                                                \
+  _t = micros();                                                               \
+  _f;                                                                          \
+  _t = micros() - _t;                                                          \
+  if (_t > (_l)) {                                                             \
+    SP_US(_str, _t);                                                           \
   }
 
-  httpServer.send(404, "text/plain", message);
-}
-
-PCA9685 pwmController;
-
-
-
-
-void setup_ota() {
-  ArduinoOTA.setPort(8266);
-  ArduinoOTA.setHostname("ESP_Treppenlicht");
-  ArduinoOTA.setPassword("admin");
-  // Password can be set with it's md5 value as well
-  // MD5(admin) = 21232f297a57a5a743894a0e4a801fc3
-  // ArduinoOTA.setPasswordHash("21232f297a57a5a743894a0e4a801fc3");
-
-  ArduinoOTA.onStart([]() {
-    String type;
-    if (ArduinoOTA.getCommand() == U_FLASH) {
-      type = "sketch";
-    } else { // U_FS
-      type = "filesystem";
-    }
-
-    // NOTE: if updating FS this would be the place to unmount FS using FS.end()
-    Serial.println("Start updating " + type);
-  });
-  ArduinoOTA.onEnd([]() {
-    Serial.println("\nEnd");
-  });
-  ArduinoOTA.onProgress([](unsigned int progress, unsigned int total) {
-    Serial.printf("Progress: %u%%\r", (progress / (total / 100)));
-  });
-  ArduinoOTA.onError([](ota_error_t error) {
-    Serial.printf("Error[%u]: ", error);
-    if (error == OTA_AUTH_ERROR) {
-      Serial.println("Auth Failed");
-    } else if (error == OTA_BEGIN_ERROR) {
-      Serial.println("Begin Failed");
-    } else if (error == OTA_CONNECT_ERROR) {
-      Serial.println("Connect Failed");
-    } else if (error == OTA_RECEIVE_ERROR) {
-      Serial.println("Receive Failed");
-    } else if (error == OTA_END_ERROR) {
-      Serial.println("End Failed");
-    }
-  });
-  ArduinoOTA.begin();
-}
-
-void setup_pwm_pca9685() {
-  pwmController.resetDevices();       // Software resets all PCA9685 devices on Wire line
-
-  pwmController.init(B000000);        // Address pins A5-A0 set to B000000
-  pwmController.setPWMFrequency(200); // Default is 200Hz, supports 24Hz to 1526Hz
-
-  Serial.println(pwmController.getChannelPWM(0)); // Should output 2048, which is 128 << 4
-}
-
-
-uint32_t dimmtimer = 0; 
-uint8_t direction = 1;
-uint8_t onoff = 1;
-
-void ledsequence(uint8_t direction, uint8_t onoff, uint8_t factor);
-uint8_t softstart_led(uint8_t led, uint16_t startval, uint16_t stopval, uint8_t factor);
-
-uint8_t flag = 0;
-void timer_callback(void *pArg)
-{
-  *((int *) pArg) += 1;
-  
-  flag = 1;
+struct { // Struct for wifi-data, 40 Bytes each SSID and PW
+  char SSID[40] = "";
+  char PW[40] = "";
+} wifi_data;
+
+void timerCallback(void *pArg) {
+  *(static_cast<int *>(pArg)) += 1;
+  stairs.task();
 }
 
+// ===============================================
+uint8_t inter = 0;
+ICACHE_RAM_ATTR void int_test() { inter = 1; }
 
 void setup() {
 #ifdef WITH_DEBUGGING_ON
   Serial.begin(460800);
   gdbstub_init();
 #else
-  Serial.begin(115200);
+  Serial.begin(76800);
 #endif
-
-  Serial.println(F("Booting ...."));
-
-
-  pinMode(NODEMCU_LED, OUTPUT);
+  Serial.println("Booting ....");
   pinMode(ESP12_LED, OUTPUT);
 
-  Wire.begin();                       // Wire must be started first
-  Wire.setClock(400000);              // Supported baud rates are 100kHz, 400kHz, and 1000kHz
+  EEPROM.begin(512); // init virtual "EEPROM" with size 512 Bytes
+
+  // strncpy(wifi_data.SSID, "donotconnect", 40);
+  // strncpy(wifi_data.PW, "unsafe lol", 40);
+
+  EEPROM.get(0, wifi_data);
+  // EEPROM.commit();
+
+  Wire.begin(); // Wire must be started first
+  Wire.setClock(
+      1000000); // Supported baud rates are 100kHz, 400kHz, and 1000kHz
+  stairs.setup();
+  Serial.println("PCA9685 connected !");
+  // attachInterrupt(digitalPinToInterrupt(2), int_test, RISING);
+  // attachInterrupt(digitalPinToInterrupt(12), int_test, RISING);
 
   WiFi.mode(WIFI_STA);
   WiFi.begin(ssid, password);
@@ -151,133 +95,35 @@ void setup() {
     ESP.restart();
   }
 
-  pinMode(led, OUTPUT);
-  digitalWrite(led, 0);
   Serial.println("");
   Serial.print("Connected to ");
   Serial.println(ssid);
   Serial.print("IP address: ");
   Serial.println(WiFi.localIP());
 
-  os_timer_setfn(&timer1, timer_callback, &timer_arg);
-  os_timer_arm(&timer1, 1, true);
-
-  Serial.println("Ready");
-  Serial.print("IP address: ");
-  Serial.println(WiFi.localIP());
-
-  setup_ota();
+  ota_setup();
 
   httpServer.start();
-  httpServer.onNotFound(handleNotFound);
+  httpServer.start_apps();
   Serial.println("HTTP server started !");
-
-  setup_pwm_pca9685();
-  Serial.println("PCA9685 connected !");
-}
-
-uint8_t softstart_led(uint8_t led, uint16_t startval, uint16_t stopval, uint8_t factor){
-    static uint8_t lastled = 255;
-    static uint8_t current_pwm = 0;
-    
-    if(led != lastled){
-      pwmController.setChannelPWM(led, startval);
-      lastled = led;
-      current_pwm = startval;
-      return 1;
-    }
-    
-    if(current_pwm == stopval){
-      return 0;
-    } 
-
-    else if(startval > stopval){
-      current_pwm -= 1;
-    }
-    else {
-      current_pwm += 1;
-    }
-    pwmController.setChannelPWM(led, current_pwm*factor);
-    return 1;
-}
-
-#define LEDCOUNT 16
-
-void ledsequence(uint8_t direction, uint8_t onoff, uint8_t factor){
-  static int8_t led = 0;
-  static uint8_t brightness = 0;
-  static uint8_t lastbrightness = 0;
-  static uint8_t finish = 1;
-  static uint32_t status = 0;
-  uint32_t status_build = 0;
-  status_build |= direction << 16;
-  status_build |= onoff << 8;
-  status_build |= factor;
-  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 = LEDCOUNT-1;
-    if(onoff){
-      brightness = 127;           // set brightness value depending of on/off
-      lastbrightness = 0;
-    }     
-    else{
-      brightness = 0;
-      lastbrightness = 127;
-    }          
-    status = status_build;                    // set parameter memory
-    Serial.print("----Status Changed! onoff: ");
-    Serial.print(onoff);
-    Serial.print(" dir: ");
-    Serial.println(direction);
-
+  
+  if (MDNS.begin("treppenlicht")) {
+    Serial.println("MDNS for treppenlicht started");
   }
-  if(!finish){                                // finish == 0 -> action pending
-      if(!softstart_led(led,lastbrightness, brightness, factor)){
-        Serial.print("one LED finished, new set led: ");
-        Serial.print(led);
-        Serial.print(" last: ");
-        Serial.print(lastbrightness);
-        Serial.print(" curr: ");
-        Serial.println(brightness);
-        if(direction){
-          led++;
-          if(led >= LEDCOUNT) {
-            finish = 1;
-            //lastbrightness = brightness;
-            }
-        } 
-        else{
-           led--;
-           if(led < 0){
-             //lastbrightness = brightness;
-             finish = 1;
-            }
-        }
-      }
-  }
-}
 
-uint32_t _t=0;
-#define SP_US(_str,_a) Serial.print(_str); Serial.print(" took: "); Serial.print(_a); Serial.println("us")
-#define TIMEIF_US(_f, _l, _str) _t=micros(); _f; _t=micros()-_t; if(_t > _l) { SP_US(_str, _t); }
+  os_timer_setfn(&timer1, timerCallback, &timer_flag);
+  os_timer_arm(&timer1, 20, true);
+
+  Serial.println("SSID: " + String(wifi_data.SSID) +
+                 " PW: " + String(wifi_data.PW));
+}
 
 void loop() {
-  if(millis() - dimmtimer > 2){
-    //ledsequence(direction, onoff, 4);
-    dimmtimer = millis();
+  if (inter != 0u) {
+    Serial.printf("interrupt\n");
+    inter = 0;
   }
-  if(millis() > 25000 && onoff == 1 && direction == 1) onoff = 0;
-  if(millis() > 35000 && direction == 1){
-    onoff = 1;
-    direction = 0;
-  }
-  TIMEIF_US(ArduinoOTA.handle(), 1000, "OTA");
-  TIMEIF_US(httpServer.handleClient(), 1000, "HTTP");
 
-  if(flag) {
-    flag = 0;
-    ledsequence(direction, onoff, 4);
-    //Serial.printf("[%lu] interrupt\n\r", millis());
-  }
+  TIMEIF_US(ArduinoOTA.handle(), 10000, "OTA");
+  TIMEIF_US(httpServer.handleClient(), 10000, "HTTP");
 }

start_xtensa_gdb_stub.cmd

@@ -0,0 +1,5 @@
+SET GDB_PATH=C:\Users\simon\AppData\Local\Arduino15\packages\esp8266\tools\xtensa-lx106-elf-gcc\3.0.0-newlib4.0.0-gnu23-48f7b08\bin\xtensa-lx106-elf-gdb.exe
+
+echo "Starting gdb"
+echo %GDB_PATH%
+%GDB_PATH% -x ".\scripts\gdboptions_win"

start_xtensa_gdb_stub.sh

@@ -1,6 +1,5 @@
 #!/bin/bash
 GDB_PATH=~/.arduino15/packages/esp8266/tools/xtensa-lx106-elf-gcc/3.0.0-newlib4.0.0-gnu23-48f7b08/bin/xtensa-lx106-elf-gdb
 
-cd ..
 echo "Starting gdb"
-$GDB_PATH -x scripts/gdboptions
+$GDB_PATH -x scripts/gdboptions

templ_platformio_ini

@@ -8,38 +8,90 @@
 ; Please visit documentation for the other options and examples
 ; https://docs.platformio.org/page/projectconf.html
 
-[env]
-platform = espressif8266
-board = nodemcuv2
-framework = arduino
+[platformio]
+description = ESP8266 Treppenlicht Steuerung
+default_envs = ota
+; test_dir = test
+data_dir = data_gz
+
+[env:hardware]
+platform = espressif8266
+; board = nodemcuv2
+board = huzzah
+framework = arduino
+; build_unflags = -Os
+; build_flags = -O2
 
-; for http files
 board_build.filesystem = littlefs
 board_build.ldscript = eagle.flash.4m1m.ld
 extra_scripts = pre:create_gz_files.py
 
-monitor_speed = 115200
-
 [env:serial]
+extends = env:hardware
 upload_protocol = esptool
 upload_speed = 921600
+upload_port = COM23
+monitor_port = COM23
+monitor_speed = 76800
 
 [env:ota]
+extends = env:hardware
 ; OTA => https://docs.platformio.org/en/latest/platforms/espressif8266.html#over-the-air-ota-update
 upload_protocol = espota
 upload_port = <!! IP ADDRESS !!>
 upload_flags =
-  --port=8266
+  --port=8266  
   --host_port=<!! PORT !!>
   --auth=admin
 
+
 [env:debug]
+extends = env:hardware
 ; look at doku.md
 build_flags = -DWITH_DEBUGGING_ON -Os -g3 -ggdb3
 upload_protocol = esptool
 upload_speed = 921600
+upload_port = COM23
+
+; for pio check
+; check_tool = cppcheck
+check_tool = clangtidy
+check_flags = 
+  clangtidy: --fix-errors lib/httpserver/*
+  ; clangtidy: lib/httpserver/* lib/treppe/* lib/treppe/FSMTreppe3/* lib/PCA9685-Arduino/*
+check_skip_packages = yes
+
+# This file is used compile and run tests located in the `unit` directory.
+# For more info, see:
+# https://docs.platformio.org/en/latest/plus/unit-testing.html
+# https://github.com/ThrowTheSwitch/Unity
+# https://github.com/ThrowTheSwitch/Unity/blob/master/docs/UnityAssertionsReference.md
 
 
 
+# To prepare coverage data for lcov, add ${coverage.build_flags} to env:test build flags
+# To actually generate coverage report:
+# $ `pio test` / run the test `program` manually
+# $ lcov --include (readlink -f ../espurna)'/*' --capture --directory .pio/build/test/ --output-file test.info
+# $ genhtml --ignore-errors source test.info --output-directory out
+
+[coverage]
+build_flags = -lgcov -fprofile-arcs -ftest-coverage
+
+[env:test]
+extends = env:hardware
+
+
+[env:native]
+platform = native
+test_build_project_src = true
+build_flags =
+    -DMANUFACTURER="PLATFORMIO"
+    -DDEVICE="TEST"
+    -std=gnu++11
+    -g
+    -Os
+    -I lib/treppe
+    -I lib/PCA9685-Arduino
 
 

test/test_main.cpp

@@ -1,40 +1,40 @@
-#include <Arduino.h>
-#include <unity.h>
+// #include <Arduino.h>
+// #include <unity.h>
 
-String STR_TO_TEST;
+// String STR_TO_TEST;
 
-void setUp(void) {
-    // set stuff up here
-    STR_TO_TEST = "Hello, world!";
-}
+// // void setUp(void) {
+// //     // set stuff up here
+// //     STR_TO_TEST = "Hello, world!";
+// // }
 
-void tearDown(void) {
-    // clean stuff up here
-    STR_TO_TEST = "";
-}
+// // void tearDown(void) {
+// //     // clean stuff up here
+// //     STR_TO_TEST = "";
+// // }
 
-void test_led_builtin_pin_number(void) {
-    TEST_ASSERT_EQUAL(2, LED_BUILTIN);
-}
+// void test_led_builtin_pin_number(void) {
+//     TEST_ASSERT_EQUAL(2, LED_BUILTIN);
+// }
 
-void test_string_concat(void) {
-    String hello = "Hello, ";
-    String world = "world!";
-    TEST_ASSERT_EQUAL_STRING(STR_TO_TEST.c_str(), (hello + world).c_str());
-}
+// void test_string_concat(void) {
+//     String hello = "Hello, ";
+//     String world = "world!";
+//     TEST_ASSERT_EQUAL_STRING(STR_TO_TEST.c_str(), (hello + world).c_str());
+// }
 
 
-void setup()
-{
-    delay(2000); // service delay
-    UNITY_BEGIN();
+// void setup()
+// {
+//     delay(2000); // service delay
+//     UNITY_BEGIN();
 
-    RUN_TEST(test_led_builtin_pin_number);
-    RUN_TEST(test_string_concat);
+//     RUN_TEST(test_led_builtin_pin_number);
+//     RUN_TEST(test_string_concat);
 
-    UNITY_END(); // stop unit testing
-}
+//     UNITY_END(); // stop unit testing
+// }
 
-void loop()
-{
-}
+// void loop()
+// {
+// }

test/test_pwm.cpp

@@ -0,0 +1,47 @@
+// #include <Arduino.h>
+#include "treppe.h"
+#include <unity.h>
+
+Treppe stairs(10);
+
+void setUp(void) {
+  // run before each test
+  // set stuff up here
+  stairs.setup();
+  Serial.println("Treppe initialized !");
+  Serial.println("PCA9685 connected !");
+}
+
+void tearDown(void) {
+    // clean stuff up here
+}
+
+void test_set_state(void) {
+  stairs.setState(1);
+  TEST_ASSERT_EQUAL(1, stairs.getState());
+  stairs.setState(0);
+  TEST_ASSERT_EQUAL(0, stairs.getState());
+}
+
+
+void test_set_direction(void) {
+  stairs.setDirection(1);
+  TEST_ASSERT_EQUAL(1, stairs.getDirection());
+  stairs.setDirection(0);
+  TEST_ASSERT_EQUAL(0, stairs.getDirection());
+}
+
+void setup()
+{   
+    delay(2000); // service delay
+    UNITY_BEGIN();
+
+    RUN_TEST(test_set_state);
+    RUN_TEST(test_set_direction);
+
+    UNITY_END(); // stop unit testing
+}
+
+void loop()
+{
+}