void run_pwm(uint8_t pin, struct Event *event)
{
int32_t time = current_time();
if (pin == PWM0_PD6)
{
if (event->type == CLOUDS)
{
//***
// CLOUDS mode
int32_t subevent_passed_time = time - event->temp_time;
// new cloud: if no cloud before (new event) or passed time of last cloud
if ((event->temp_duration == 0) | (subevent_passed_time > event->temp_duration))
{
if (subevent_passed_time > event->temp_duration)
{
if (event->temp_duration == 0)
send_string("new cloud - beginning ");
else
send_string("new cloud ");
// start value for new subevent
event->pin_state = event->pin_state + event->inc;
}
// start time for subevent
event->temp_time = time;
// if last cloud
int32_t margin = 200; // 200 seconds before end of the duration of CLOUDS event
if (((event->time + event->duration) - time) <= margin)
{
// last cloud
send_string("last cloud ");
event->temp_duration = (event->time + event->duration) - time;
// final pin_state
event->inc = event->final_state - event->pin_state;
}
else
{
event->temp_duration = util_rand2(10, margin);
// range of changes: 70..100%
int new_state = util_rand2(70, 100);
event->inc = new_state - event->pin_state;
}
}
// start value
// convert % => 0..255
uint8_t ti = (event->pin_state * 255) / 100;
// increment/decrement value
// convert % => 0..255
int16_t tinc = (event->inc * 255) / 100;
if (subevent_passed_time <= event->temp_duration)
{
ti = ti + ((int32_t) tinc * subevent_passed_time) / event->temp_duration;
}
else
{
// correction
// 50%/15s = 3.3%/s (3%/s) => 15s * 3% = 45% => 50% - 45% = 5% of error
ti = ti + tinc;
}
set_pwm0(ti);
}
else if (event->type == PWM)
{
// start value
// convert % => 0..255
uint8_t ti = (event->pin_state * 255) / 100;
if (event->duration != 0)
{
// increment/decrement value
// convert % => 0..255
int16_t tinc = (event->inc * 255) / 100;
int32_t passed_time = time - event->time;
if (passed_time <= event->duration)
{
ti = ti + ((int32_t) tinc * passed_time) / event->duration;
}
else
{
// correction
// 50%/15s = 3.3%/s (3%/s) => 15s * 3% = 45% => 50% - 45% = 5% of error
ti = ti + tinc;
}
}
set_pwm0(ti);
}
}
else if (pin == PWM1_PD5)
{
if (event->type == CLOUDS)
{
//***
// CLOUDS mode
int32_t subevent_passed_time = time - event->temp_time;
// new cloud: if no cloud before (new event) or passed time of last cloud
//if ((event->temp_time == 0) | (event->temp_time < time))
if ((event->temp_duration == 0) | (subevent_passed_time > event->temp_duration))
{
if (subevent_passed_time > event->temp_duration)
{
if (event->temp_duration == 0)
send_string("new cloud - beginning ");
else
send_string("new cloud ");
// start value for new subevent
event->pin_state = event->pin_state + event->inc;
}
// start time for subevent
event->temp_time = time;
// if last cloud
int32_t margin = 200; // 200 seconds before end of the duration of CLOUDS event
if (((event->time + event->duration) - time) <= margin)
{
// last cloud
send_string("last cloud ");
event->temp_duration = (event->time + event->duration) - time;
// final pin_state
event->inc = event->final_state - event->pin_state;
}
else
{
event->temp_duration = util_rand2(10, margin);
// range of changes: 70..100%
int new_state = util_rand2(70, 100);
event->inc = new_state - event->pin_state;
}
}
// start value
// convert % => 0..255
uint8_t ti = (event->pin_state * 255) / 100;
// increment/decrement value
// convert % => 0..255
int16_t tinc = (event->inc * 255) / 100;
if (subevent_passed_time <= event->temp_duration)
{
ti = ti + ((int32_t) tinc * subevent_passed_time) / event->temp_duration;
}
else
{
// correction
// 50%/15s = 3.3%/s (3%/s) => 15s * 3% = 45% => 50% - 45% = 5% of error
ti = ti + tinc;
}
set_pwm1(ti);
}
else if (event->type == PWM)
{
// start value
// convert % => 0..255
uint8_t ti = (event->pin_state * 255) / 100;
if (event->duration != 0)
{
// increment/decrement value
// convert % => 0..255
int16_t tinc = (event->inc * 255) / 100;
int32_t passed_time = time - event->time;
if (passed_time <= event->duration)
{
ti = ti + ((int32_t) tinc * passed_time) / event->duration;
}
else
{
// correction
// 50%/15s = 3.3%/s (3%/s) => 15s * 3% = 45% => 50% - 45% = 5% of error
ti = ti + tinc;
}
}
set_pwm1(ti);
}
}
}
static void do_encoder(uint32_t enc)
{
uint32_t i;
int32_t lspeed, rspeed;
int32_t diff;
/* reset odometer counters */
rodo = 0;
lodo = 0;
/* set pwms from speed */
rspeed = clamp(speed / 2, 0, 128);
lspeed = rspeed;
set_pwm0(128 + (ldir == 1 ? lspeed : -lspeed));
set_pwm1(128 + (rdir == 1 ? rspeed : -rspeed));
/* wait until dont */
i = 0;
while (i < enc)
{
i += (lodo + rodo) / 2;
diff = (int32_t)(lenc - renc);
if (diff > 0)
{
/* left faster than right */
if ((lspeed > speed) || (rspeed > 244))
lspeed -= CONFIG_SPEED_INTEGRATOR;
else
rspeed += CONFIG_SPEED_INTEGRATOR;
}
else if (diff < 0)
{
/* right faster than left */
if ((rspeed > speed) || (lspeed > 244))
rspeed -= CONFIG_SPEED_INTEGRATOR;
else
lspeed += CONFIG_SPEED_INTEGRATOR;
}
/* reset the odometer */
rodo = 0;
lodo = 0;
/* set motor pwms */
lspeed = clamp(lspeed / 2, 0, 128);
rspeed = clamp(rspeed / 2, 0, 128);
set_pwm0(128 + (ldir == 1 ? lspeed : -lspeed));
set_pwm1(128 + (rdir == 1 ? rspeed : -rspeed));
/* small delay */
{
volatile int i;
for (i = 0; i < 1000; ++i) __asm__ __volatile__ ("nop\n\t");
}
}
/* stop the motor */
set_pwm0(0);
set_pwm1(0);
}
