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| author | Selene ToyKeeper | 2021-08-23 03:05:32 -0600 |
|---|---|---|
| committer | Selene ToyKeeper | 2021-08-23 03:05:32 -0600 |
| commit | 07877b6a549b0e7bad7f6e1db4e0f280410f4be6 (patch) | |
| tree | 4b03a370e17de439282899277d7507db4c3029d2 | |
| parent | merged digitalcircuit's branch to make autolock timer configurable at build time (diff) | |
| download | anduril-07877b6a549b0e7bad7f6e1db4e0f280410f4be6.tar.gz anduril-07877b6a549b0e7bad7f6e1db4e0f280410f4be6.tar.bz2 anduril-07877b6a549b0e7bad7f6e1db4e0f280410f4be6.zip | |
force reset PWM phase when turning on from zero
(to make initial response consistent)
(otherwise, it can randomly take up to ~16ms to turn on)
| -rw-r--r-- | spaghetti-monster/fsm-ramping.c | 30 |
1 files changed, 27 insertions, 3 deletions
diff --git a/spaghetti-monster/fsm-ramping.c b/spaghetti-monster/fsm-ramping.c index 1a08149..017a5b8 100644 --- a/spaghetti-monster/fsm-ramping.c +++ b/spaghetti-monster/fsm-ramping.c @@ -58,6 +58,11 @@ void set_level(uint8_t level) { set_level_override(level); #else + #ifdef PWM1_CNT + static uint8_t prev_level = 0; + uint8_t api_level = level; + #endif + //TCCR0A = PHASE; if (level == 0) { #if PWM_CHANNELS >= 1 @@ -97,6 +102,7 @@ void set_level(uint8_t level) { LED2_ENABLE_PORT |= (1 << LED2_ENABLE_PIN); #endif + // PWM array index = level - 1 level --; #ifdef USE_TINT_RAMPING @@ -160,8 +166,10 @@ void set_level(uint8_t level) { // goes all the way to 65535 before returning) // (see attiny1634 reference manual page 103 for a warning about // the timing of changing the TOP value (section 12.8.4)) + // (but don't wait when turning on from zero, because + // it'll reset the phase below anyway) // to be safe, allow at least 64 cycles to update TOP - while(PWM1_CNT > (top - 64)) {} + while(prev_level && (PWM1_CNT > (top - 64))) {} #endif // pulse frequency modulation, a.k.a. dynamic PWM PWM1_TOP = top; @@ -169,18 +177,34 @@ void set_level(uint8_t level) { // repeat for other channels if necessary #ifdef PMW2_TOP #ifdef PWM2_CNT - while(PWM2_CNT > (top - 64)) {} + while(prev_level && (PWM2_CNT > (top - 64))) {} #endif PWM2_TOP = top; #endif #ifdef PMW3_TOP #ifdef PWM3_CNT - while(PWM3_CNT > (top - 64)) {} + while(prev_level && (PWM3_CNT > (top - 64))) {} #endif PWM3_TOP = top; #endif #endif // ifdef USE_DYN_PWM + #ifdef PWM1_CNT + // force reset phase when turning on from zero + // (because otherwise the initial response is inconsistent) + if (! prev_level) { + PWM1_CNT = 0; + #ifdef PWM2_CNT + PWM2_CNT = 0; + #endif + #ifdef PWM3_CNT + PWM3_CNT = 0; + #endif + } + #endif } + #ifdef PWM1_CNT + prev_level = api_level; + #endif #endif // ifdef OVERRIDE_SET_LEVEL #ifdef USE_DYNAMIC_UNDERCLOCKING auto_clock_speed(); |