switched blf-lt1-t1616 from plain PWM to PWM+DSM

(and made DSM interrupt definitions a bit cleaner)

5 files changed, 186 insertions, 89 deletions

diff --git a/hwdef-blf-lt1-t1616.c b/hwdef-blf-lt1-t1616.c
index ea7e6b4..48a401d 100644
--- a/hwdef-blf-lt1-t1616.c
+++ b/hwdef-blf-lt1-t1616.c
@@ -1,6 +1,6 @@
 // Sofirn LT1-t1616 PWM helpers
 // Copyright (C) 2023 SiteRelEnby, Selene ToyKeeper
-// (adapted from emisar-2ch 15/10/2023)
+// SPDX-License-Identifier: GPL-3.0-or-later
 #pragma once
 
 #include "chan-aux.c"
@@ -52,59 +52,125 @@ Channel channels[] = {
 
 
 void set_level_zero() {
-    CH1_PWM = 0;
-    CH2_PWM = 0;
+    // disable timer overflow interrupt
+    // (helps improve button press handling from Off state)
+    DSM_INTCTRL &= ~DSM_OVF_bm;
+
+    // turn off all LEDs
+    ch1_dsm_lvl = 0;
+    ch2_dsm_lvl = 0;
+    CH1_PWM     = 0;
+    CH2_PWM     = 0;
+    PWM_CNT     = 0;
 }
 
-void set_pwms(PWM_DATATYPE ch1_pwm, PWM_DATATYPE ch2_pwm) {
+void set_hw_levels(PWM_DATATYPE ch1, PWM_DATATYPE ch2) {
+
+    bool was_on = (CH1_PWM>0) || (CH2_PWM>0);
+
+    // set delta-sigma soft levels
+    ch1_dsm_lvl = ch1;
+    ch2_dsm_lvl = ch2;
+
+    // set hardware PWM levels and init dsm loop
+    CH1_PWM = ch1_pwm = ch1 >> 7;
+    CH2_PWM = ch2_pwm = ch2 >> 7;
+
+    // enable timer overflow interrupt so DSM can work
+    DSM_INTCTRL |= DSM_OVF_bm;
+
+    // reset phase when turning on
+    if (! was_on) PWM_CNT = 0;
+
+}
+
+// delta-sigma modulation of PWM outputs
+// happens on each Timer overflow (every 512 cpu clock cycles)
+// uses 8-bit pwm w/ 7-bit dsm (0b 0PPP PPPP PDDD DDDD)
+ISR(DSM_vect) {
+    // set new hardware values first,
+    // for best timing (reduce effect of interrupt jitter)
     CH1_PWM = ch1_pwm;
     CH2_PWM = ch2_pwm;
+
+    // calculate next values, now that timing matters less
+
+    // accumulate error
+    ch1_dsm += (ch1_dsm_lvl & 0x007f);
+    // next PWM = base PWM value + carry bit
+    ch1_pwm  = (ch1_dsm_lvl >> 7) + (ch1_dsm > 0x7f);
+    // clear carry bit
+    ch1_dsm &= 0x7f;
+
+    // repeat for other channels
+
+    ch2_dsm += (ch2_dsm_lvl & 0x007f);
+    ch2_pwm  = (ch2_dsm_lvl >> 7) + (ch2_dsm > 0x7f);
+    ch2_dsm &= 0x7f;
 }
 
+
 void set_level_ch1(uint8_t level) {
-    set_pwms(PWM_GET(pwm1_levels, level), 0);
+    set_hw_levels(PWM_GET(pwm1_levels, level), 0);
 }
 
 void set_level_ch2(uint8_t level) {
-    set_pwms(0, PWM_GET(pwm1_levels, level));
+    set_hw_levels(0, PWM_GET(pwm1_levels, level));
 }
 
 void set_level_both(uint8_t level) {
     PWM_DATATYPE pwm = PWM_GET(pwm1_levels, level);
-    set_pwms(pwm, pwm);
+    set_hw_levels(pwm, pwm);
 }
 
-void set_level_blend(uint8_t level) {
-    PWM_DATATYPE ch1_pwm, ch2_pwm;
+void blend_helper(PWM_DATATYPE *warm, PWM_DATATYPE *cool, uint8_t level) {
     PWM_DATATYPE brightness = PWM_GET(pwm1_levels, level);
-    uint8_t blend           = cfg.channel_mode_args[channel_mode];
+    uint8_t blend;
+    if (channel_mode == CM_AUTO) {
+        blend = 255 * (uint16_t)level / RAMP_SIZE;
+        if (cfg.channel_mode_args[channel_mode] & 0b01000000)
+            blend = 255 - blend;
+    } else {
+        blend = cfg.channel_mode_args[channel_mode];
+    }
 
-    calc_2ch_blend(&ch1_pwm, &ch2_pwm, brightness, PWM_TOP_INIT, blend);
+    calc_2ch_blend(warm, cool, brightness, DSM_TOP, blend);
+}
 
-    set_pwms(ch1_pwm, ch2_pwm);
+void set_level_blend(uint8_t level) {
+    PWM_DATATYPE warm, cool;
+    blend_helper(&warm, &cool, level);
+    set_hw_levels(warm, cool);
 }
 
 void set_level_auto(uint8_t level) {
-    PWM_DATATYPE ch1_pwm, ch2_pwm;
-    PWM_DATATYPE brightness = PWM_GET(pwm1_levels, level);
-    uint8_t blend           = 255 * (uint16_t)level / RAMP_SIZE;
-    if (cfg.channel_mode_args[channel_mode] & 0b01000000)
-        blend = 255 - blend;
-
-    calc_2ch_blend(&ch1_pwm, &ch2_pwm, brightness, PWM_TOP_INIT, blend);
-
-    set_pwms(ch1_pwm, ch2_pwm);
+    PWM_DATATYPE warm, cool;
+    blend_helper(&warm, &cool, level);
+    set_hw_levels(warm, cool);
 }
 
+///// "gradual tick" functions for smooth thermal regulation /////
+// (and other smooth adjustments)
 
 ///// bump each channel toward a target value /////
-bool gradual_adjust(uint16_t ch1_pwm, uint16_t ch2_pwm) {
-    GRADUAL_ADJUST_SIMPLE(ch1_pwm, CH1_PWM);
-    GRADUAL_ADJUST_SIMPLE(ch2_pwm, CH2_PWM);
+bool gradual_adjust(PWM_DATATYPE ch1, PWM_DATATYPE ch2) {
+    // adjust multiple times based on current brightness
+    // (so it adjusts faster/coarser when bright, slower/finer when dim)
+
+    // higher shift = slower/finer adjustments
+    const uint8_t shift = 9;  // ((255 << 7) >> 9) = 63 max
+    uint8_t steps;
 
-    // check for completion
-    if ((ch1_pwm == CH1_PWM)
-     && (ch2_pwm == CH2_PWM)) {
+    steps = ch1_dsm_lvl >> shift;
+    for (uint8_t i=0; i<=steps; i++)
+        GRADUAL_ADJUST_SIMPLE(ch1, ch1_dsm_lvl);
+
+    steps = ch2_dsm_lvl  >> shift;
+    for (uint8_t i=0; i<=steps; i++)
+        GRADUAL_ADJUST_SIMPLE(ch2, ch2_dsm_lvl);
+
+    if ((ch1 == ch1_dsm_lvl)
+     && (ch2 == ch2_dsm_lvl )) {
         return true;  // done
     }
     return false;  // not done yet
@@ -126,24 +192,15 @@ bool gradual_tick_both(uint8_t gt) {
 }
 
 bool gradual_tick_blend(uint8_t gt) {
-    PWM_DATATYPE ch1_pwm, ch2_pwm;
-    PWM_DATATYPE brightness = PWM_GET(pwm1_levels, gt);
-    uint8_t blend           = cfg.channel_mode_args[channel_mode];
-
-    calc_2ch_blend(&ch1_pwm, &ch2_pwm, brightness, PWM_TOP_INIT, blend);
-
-    return gradual_adjust(ch1_pwm, ch2_pwm);
+    PWM_DATATYPE warm, cool;
+    blend_helper(&warm, &cool, gt);
+    return gradual_adjust(warm, cool);
 }
 
 bool gradual_tick_auto(uint8_t gt) {
-    PWM_DATATYPE ch1_pwm, ch2_pwm;
-    PWM_DATATYPE brightness = PWM_GET(pwm1_levels, gt);
-    uint8_t blend           = 255 * (uint16_t)gt / RAMP_SIZE;
-    if (cfg.channel_mode_args[channel_mode] & 0b01000000)
-        blend = 255 - blend;
-
-    calc_2ch_blend(&ch1_pwm, &ch2_pwm, brightness, PWM_TOP_INIT, blend);
-
-    return gradual_adjust(ch1_pwm, ch2_pwm);
+    PWM_DATATYPE warm, cool;
+    blend_helper(&warm, &cool, gt);
+    return gradual_adjust(warm, cool);
 }
 
+
diff --git a/hwdef-blf-lt1-t1616.h b/hwdef-blf-lt1-t1616.h
index 4a411d4..cc6d065 100644
--- a/hwdef-blf-lt1-t1616.h
+++ b/hwdef-blf-lt1-t1616.h
@@ -46,40 +46,49 @@ enum channel_modes_e {
 #define USE_CALC_2CH_BLEND
 
 
-#define PWM_CHANNELS   1  // old, remove this
+#define PWM_CHANNELS  1  // old, remove this
 
-#define PWM_BITS      8  //
-
-#define PWM_GET       PWM_GET8
-#define PWM_DATATYPE  uint8_t
-#define PWM_DATATYPE2 uint16_t  // only needs 32-bit if ramp values go over 255
-#define PWM1_DATATYPE uint8_t   //
+#define PWM_BITS      16     // 0 to 32640 (0 to 255 PWM + 0 to 127 DSM) at constant kHz
+#define PWM_GET       PWM_GET16
+#define PWM_DATATYPE  uint16_t
+#define PWM_DATATYPE2 uint32_t  // only needs 32-bit if ramp values go over 255
+#define PWM1_DATATYPE uint16_t  // 15-bit PWM+DSM ramp
 
 // PWM parameters of both channels are tied together because they share a counter
-#define PWM_TOP_INIT  255  // highest value used in the top half of the ramp
-#define PWM_TOP TCA0.SINGLE.PERBUF   // holds the TOP value for for variable-resolution PWM
-#define PWM_CNT TCA0.SINGLE.CNT   // for resetting phase after each TOP adjustment
-// TODO: implement DSM
+// dynamic PWM
+#define PWM_TOP  TCA0.SINGLE.PERBUF  // holds the TOP value for for variable-resolution PWM
+#define PWM_TOP_INIT  255
+#define PWM_CNT  TCA0.SINGLE.CNT  // for resetting phase after each TOP adjustment
+// (max is (255 << 7), because it's 8-bit PWM plus 7 bits of DSM)
 #define DSM_TOP       (255<<7) // 15-bit resolution leaves 1 bit for carry
 
+// timer interrupt for DSM
+#define DSM_vect     TCA0_OVF_vect
+#define DSM_INTCTRL  TCA0.SINGLE.INTCTRL
+#define DSM_OVF_bm   TCA_SINGLE_OVF_bm
+
 // warm LEDs
+uint16_t ch1_dsm_lvl;
+uint8_t ch1_pwm, ch1_dsm;
 #define CH1_PIN  PB1
-#define CH1_PWM TCA0.SINGLE.CMP1  // CMP1 is the output compare register for PB1
+#define CH1_PWM  TCA0.SINGLE.CMP1  // CMP1 is the output compare register for PB1
 
 // cold LEDs
-#define CH2_PIN PB0
-#define CH2_PWM TCA0.SINGLE.CMP0  // CMP0 is the output compare register for PB0
+uint16_t ch2_dsm_lvl;
+uint8_t ch2_pwm, ch2_dsm;
+#define CH2_PIN  PB0
+#define CH2_PWM  TCA0.SINGLE.CMP0  // CMP0 is the output compare register for PB0
 
 // lighted button
 #define AUXLED_PIN   PIN5_bp
 #define AUXLED_PORT  PORTB
 
 // e-switch
-#define SWITCH_PIN     PIN5_bp
-#define SWITCH_PORT    VPORTA.IN
-#define SWITCH_ISC_REG PORTA.PIN2CTRL
-#define SWITCH_VECT    PORTA_PORT_vect
-#define SWITCH_INTFLG  VPORTA.INTFLAGS
+#define SWITCH_PIN      PIN5_bp
+#define SWITCH_PORT     VPORTA.IN
+#define SWITCH_ISC_REG  PORTA.PIN2CTRL
+#define SWITCH_VECT     PORTA_PORT_vect
+#define SWITCH_INTFLG   VPORTA.INTFLAGS
 
 // average drop across diode on this hardware
 #ifndef VOLTAGE_FUDGE_FACTOR
@@ -89,11 +98,12 @@ enum channel_modes_e {
 
 inline void hwdef_setup() {
 
-    // set up the system clock to run at 5 MHz instead of the default 3.33 MHz
-    _PROTECTED_WRITE( CLKCTRL.MCLKCTRLB, CLKCTRL_PDIV_4X_gc | CLKCTRL_PEN_bm );
+    // set up the system clock to run at 10 MHz instead of the default 3.33 MHz
+    _PROTECTED_WRITE( CLKCTRL.MCLKCTRLB,
+                      CLKCTRL_PDIV_2X_gc | CLKCTRL_PEN_bm );
 
     //VPORTA.DIR = ...;
-    // Outputs:
+    // Outputs
     VPORTB.DIR = PIN0_bm   // cool white
                | PIN1_bm   // warm white
                | PIN5_bm;  // aux LED
@@ -130,10 +140,16 @@ inline void hwdef_setup() {
     // TODO: add references to MCU documentation
     TCA0.SINGLE.CTRLB = TCA_SINGLE_CMP0EN_bm
                       | TCA_SINGLE_CMP1EN_bm
-                      | TCA_SINGLE_WGMODE_SINGLESLOPE_gc;
-    PWM_TOP = PWM_TOP_INIT;
+                      | TCA_SINGLE_WGMODE_DSBOTTOM_gc;
     TCA0.SINGLE.CTRLA = TCA_SINGLE_CLKSEL_DIV1_gc
                       | TCA_SINGLE_ENABLE_bm;
+
+    PWM_TOP = PWM_TOP_INIT;
+
+    // set up interrupt for delta-sigma modulation
+    // (moved to hwdef.c functions so it can be enabled/disabled based on ramp level)
+    //DSM_INTCTRL |= DSM_OVF_bm;  // interrupt once for each timer cycle
+
 }
 
 
diff --git a/hwdef-noctigon-m44.c b/hwdef-noctigon-m44.c
index 0b7f027..395a7a2 100644
--- a/hwdef-noctigon-m44.c
+++ b/hwdef-noctigon-m44.c
@@ -52,9 +52,9 @@ Channel channels[] = {
 
 
 void set_level_zero() {
-    // disable timer 1 overflow interrupt
+    // disable timer overflow interrupt
     // (helps improve button press handling from Off state)
-    TIMSK &= ~(1 << TOIE1);
+    DSM_INTCTRL &= ~DSM_OVF_bm;
 
     // turn off all LEDs
     ch1_dsm_lvl = 0;
@@ -120,19 +120,19 @@ void set_hw_levels(PWM_DATATYPE ch1, PWM_DATATYPE ch2,
     PWM_TOP = top;
     #endif
 
-    // enable timer 1 overflow interrupt so DSM can work
-    TIMSK |= (1 << TOIE1);
+    // enable timer overflow interrupt so DSM can work
+    DSM_INTCTRL |= DSM_OVF_bm;
 
-    // reset phase when turning on or off
+    // reset phase when turning on
     //if ((! was_on) | (! now_on)) PWM_CNT = 0;
     if (! was_on) PWM_CNT = 0;
 
 }
 
 // delta-sigma modulation of PWM outputs
-// happens on each Timer0 overflow (every 512 cpu clock cycles)
+// happens on each Timer overflow (every 512 cpu clock cycles)
 // uses 8-bit pwm w/ 7-bit dsm (0b 0PPP PPPP PDDD DDDD)
-ISR(TIMER1_OVF_vect) {
+ISR(DSM_vect) {
     // set new hardware values first,
     // for best timing (reduce effect of interrupt jitter)
     CH1_PWM = ch1_pwm;
diff --git a/hwdef-noctigon-m44.h b/hwdef-noctigon-m44.h
index 2a9198a..a41ea79 100644
--- a/hwdef-noctigon-m44.h
+++ b/hwdef-noctigon-m44.h
@@ -39,8 +39,8 @@
 // channel modes:
 // * 0. channel 1 only
 // * 1. channel 2 only
-// * 2. both channels, tied together
-// * 3. both channels, manual blend
+// * 2. both channels, tied together, max "200%" power
+// * 3. both channels, manual blend, max "100%" power
 // * 4? both channels, manual blend, max 200% power
 // * 4. both channels, auto blend, reversible
 #define NUM_CHANNEL_MODES   (5 + NUM_RGB_AUX_CHANNEL_MODES)
@@ -65,7 +65,7 @@ enum channel_modes_e {
 
 #define PWM_CHANNELS  1  // old, remove this
 
-#define PWM_BITS      16     // 0 to 16383 at variable Hz, not 0 to 255 at 16 kHz
+#define PWM_BITS      16     // 0 to 32640 (0 to 255 PWM + 0 to 127 DSM) at constant kHz
 #define PWM_GET       PWM_GET16
 #define PWM_DATATYPE  uint16_t
 #define PWM_DATATYPE2 uint32_t  // only needs 32-bit if ramp values go over 255
@@ -80,6 +80,11 @@ enum channel_modes_e {
 // (max is (255 << 7), because it's 8-bit PWM plus 7 bits of DSM)
 #define DSM_TOP       (255<<7) // 15-bit resolution leaves 1 bit for carry
 
+// timer interrupt for DSM
+#define DSM_vect     TIMER1_OVF_vect
+#define DSM_INTCTRL  TIMSK
+#define DSM_OVF_bm   (1<<TOIE1)
+
 // 1st channel (8 LEDs)
 uint16_t ch1_dsm_lvl;
 uint8_t ch1_pwm, ch1_dsm;
@@ -187,7 +192,7 @@ inline void hwdef_setup() {
 
     // set up interrupt for delta-sigma modulation
     // (moved to hwdef.c functions so it can be enabled/disabled based on ramp level)
-    //TIMSK |= (1<<TOIE1);  // interrupt once for each timer 1 cycle
+    //DSM_INTCTRL |= DSM_OVF_bm;  // interrupt once for each timer cycle
 
     // set up e-switch
     SWITCH_PUE = (1 << SWITCH_PIN);  // pull-up for e-switch
diff --git a/spaghetti-monster/anduril/cfg-blf-lantern-t1616.h b/spaghetti-monster/anduril/cfg-blf-lantern-t1616.h
index 85784bb..24a7c7c 100644
--- a/spaghetti-monster/anduril/cfg-blf-lantern-t1616.h
+++ b/spaghetti-monster/anduril/cfg-blf-lantern-t1616.h
@@ -19,6 +19,7 @@
 // CM_CH1, CM_CH2, CM_BOTH, CM_BLEND, CM_AUTO
 #define DEFAULT_CHANNEL_MODE  CM_AUTO
 #define DEFAULT_BLINK_CHANNEL  CM_BOTH
+#define USE_CHANNEL_MODE_ARGS
 
 // how much to increase total brightness at middle tint
 // (0 = 100% brightness, 64 = 200% brightness)
@@ -26,14 +27,19 @@
 #define TINT_RAMPING_CORRECTION 10  // production model, 115%
 
 #define RAMP_SIZE 150
-// level_calc.py 1 150 7135 1 30 800
-#define PWM1_LEVELS 1,1,2,2,3,3,4,4,5,5,6,6,7,7,8,8,9,9,10,11,11,12,13,13,14,15,15,16,17,18,18,19,20,21,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,43,44,45,46,48,49,50,51,53,54,56,57,58,60,61,63,64,66,67,69,70,72,74,75,77,79,80,82,84,85,87,89,91,93,95,97,98,100,102,104,106,108,111,113,115,117,119,121,124,126,128,130,133,135,137,140,142,145,147,150,152,155,157,160,163,165,168,171,173,176,179,182,185,188,190,193,196,199,202,205,209,212,215,218,221,224,228,231,234,238,241,245,248,251,255
-#define MAX_1x7135 65
-#define HALFSPEED_LEVEL 14
-#define QUARTERSPEED_LEVEL 5
+// delta-sigma modulated PWM (0b0HHHHHHHHLLLLLLL = 0, 8xHigh, 7xLow bits)
+// (max is (255 << 7), because it's 8-bit PWM plus 7 bits of DSM)
+// level_calc.py 3.333 1 150 7135 32 0.2 600 --pwm 32640
+#define PWM1_LEVELS  32,35,38,41,45,50,55,61,67,74,82,91,100,110,121,133,146,160,175,192,209,227,247,268,291,314,340,366,395,424,456,489,524,560,599,639,681,726,772,820,871,924,979,1036,1096,1158,1222,1289,1359,1431,1506,1584,1664,1747,1834,1923,2015,2111,2209,2311,2416,2524,2636,2751,2870,2992,3118,3247,3380,3518,3659,3803,3952,4105,4262,4423,4589,4759,4933,5111,5294,5482,5674,5871,6073,6279,6491,6707,6928,7155,7386,7623,7865,8113,8365,8624,8888,9157,9432,9713,10000,10292,10591,10895,11206,11523,11846,12175,12511,12853,13202,13557,13919,14287,14663,15045,15434,15830,16233,16644,17061,17486,17919,18358,18805,19260,19723,20193,20671,21156,21650,22152,22662,23180,23706,24241,24784,25335,25895,26464,27041,27627,28222,28826,29439,30060,30691,31332,31981,32640
+
+#define DEFAULT_LEVEL 75
+#define MAX_1x7135 75
+#define HALFSPEED_LEVEL 1  // lowest level for tint ramping correction
+#define QUARTERSPEED_LEVEL 1
+#undef USE_DYNAMIC_UNDERCLOCKING  // makes huge bumps in the ramp
+
+#define USE_SET_LEVEL_GRADUALLY
 
-// the default of 26 looks a bit flat, so increase it
-#define CANDLE_AMPLITUDE 40
 
 // override default ramp style
 #undef RAMP_STYLE
@@ -42,7 +48,7 @@
 // because this lantern isn't overpowered
 #define RAMP_SMOOTH_FLOOR    1
 #define RAMP_SMOOTH_CEIL     150
-#define RAMP_DISCRETE_FLOOR  10
+#define RAMP_DISCRETE_FLOOR  1
 #define RAMP_DISCRETE_CEIL   150
 #define RAMP_DISCRETE_STEPS  7
 
@@ -58,6 +64,22 @@
 #define USE_SOS_MODE
 #define USE_SOS_MODE_IN_BLINKY_GROUP
 
+// the default of 26 looks a bit flat, so increase it
+#define CANDLE_AMPLITUDE 40
+
+#define USE_POLICE_COLOR_STROBE_MODE
+#define POLICE_COLOR_STROBE_CH1        CM_CH1
+#define POLICE_COLOR_STROBE_CH2        CM_CH2
+// aux red + aux blue are the correct colors, but are dim
+//#define POLICE_COLOR_STROBE_CH1        CM_AUXRED
+//#define POLICE_COLOR_STROBE_CH2        CM_AUXBLU
+
+#undef  TACTICAL_LEVELS
+#define TACTICAL_LEVELS 120,30,(RAMP_SIZE+3)  // high, low, police strobe
+
+// party strobe, tac strobe, police, lightning, candle, bike
+#define DEFAULT_STROBE_CHANNELS  CM_BOTH,CM_BOTH,CM_BOTH,CM_AUTO,CM_AUTO,CM_AUTO
+
 // the sensor (attiny1616) is nowhere near the emitters
 // so thermal regulation can't work
 #ifdef USE_THERMAL_REGULATION
@@ -76,9 +98,6 @@
 #define BLINK_AT_RAMP_CEIL
 #endif
 
-#define USE_CHANNEL_MODE_ARGS
-#define USE_SET_LEVEL_GRADUALLY
-
 // for consistency with other models
 #define USE_SOFT_FACTORY_RESET