converted noctigon-dm11-boost to use PWM+DSM, and recalibrated timing for delays + smooth steps

Anduril has gradually gotten faster over the years, apparently, so it
needed longer delays to get accurate-ish timing for beacon and other modes.
Adding DSM also changes the timing perceptibly, so I made it possible to
calibrate the delay fudge factor on a per-build basis.

4 files changed, 26 insertions, 8 deletions

diff --git a/spaghetti-monster/anduril/cfg-noctigon-dm11-boost.h b/spaghetti-monster/anduril/cfg-noctigon-dm11-boost.h
index 5c5db00..2174fdb 100644
--- a/spaghetti-monster/anduril/cfg-noctigon-dm11-boost.h
+++ b/spaghetti-monster/anduril/cfg-noctigon-dm11-boost.h
@@ -14,18 +14,31 @@
 // - boost: 8A?
 // - DD FET: none (can't do DD on a boost driver)
 
+#if 0  // old, dynamic PWM method
 // level_calc.py 5.01 1 149 7135 1 0.3 1740 --pwm dyn:78:16384:255
 // (plus a 0 at the beginning for moon)
 #define PWM1_LEVELS 0,1,1,1,2,3,3,4,5,6,7,8,9,10,11,13,14,16,17,19,21,23,25,27,29,31,34,36,39,42,44,47,50,53,57,60,63,67,70,74,77,81,85,88,92,96,99,103,107,110,113,117,120,123,126,128,130,133,134,136,137,137,137,137,136,135,133,130,126,122,117,111,104,96,87,76,65,52,38,22,23,25,26,27,28,29,30,32,33,34,36,37,39,40,42,43,45,47,49,51,53,55,57,59,61,63,66,68,70,73,76,78,81,84,87,90,93,96,99,103,106,110,113,117,121,125,129,133,137,142,146,151,155,160,165,170,175,181,186,192,197,203,209,215,222,228,234,241,248,255
 #define PWM_TOPS 16383,16383,12404,8140,11462,14700,11041,12947,13795,14111,14124,13946,13641,13248,12791,13418,12808,13057,12385,12428,12358,12209,12000,11746,11459,11147,11158,10793,10708,10576,10173,9998,9800,9585,9527,9278,9023,8901,8634,8486,8216,8053,7881,7615,7440,7261,7009,6832,6656,6422,6196,6031,5819,5615,5419,5190,4973,4803,4571,4386,4179,3955,3745,3549,3340,3145,2940,2729,2513,2312,2109,1903,1697,1491,1286,1070,871,662,459,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255
-
 #define MAX_1x7135 150
 #define DEFAULT_LEVEL 70
 #define MIN_THERM_STEPDOWN 80  // must be > end of dynamic PWM range
 #define HALFSPEED_LEVEL 12
 #define QUARTERSPEED_LEVEL 4
+#endif
+
+// delta-sigma modulated PWM (0b0HHHHHHHHLLLLLLL = 0, 8xHigh, 7xLow bits)
+// level_calc.py 5.01 1 150 7135 0 0.2 2000 --pwm 32640
+// (max is (255 << 7), because it's 8-bit PWM plus 7 bits of DSM)
+#define PWM1_LEVELS 0,1,2,3,4,5,6,7,9,10,12,14,17,19,22,25,28,32,36,41,45,50,56,62,69,76,84,92,101,110,121,132,143,156,169,184,199,215,232,251,270,291,313,336,360,386,414,442,473,505,539,574,612,651,693,736,782,829,880,932,987,1045,1105,1168,1233,1302,1374,1449,1527,1608,1693,1781,1873,1969,2068,2172,2279,2391,2507,2628,2753,2883,3018,3158,3303,3454,3609,3771,3938,4111,4289,4475,4666,4864,5068,5280,5498,5724,5957,6197,6445,6701,6965,7237,7518,7808,8106,8413,8730,9056,9392,9737,10093,10459,10835,11223,11621,12031,12452,12884,13329,13786,14255,14737,15232,15741,16262,16798,17347,17911,18489,19082,19691,20314,20954,21609,22281,22969,23674,24397,25137,25895,26671,27465,28279,29111,29963,30835,31727,32640
+#define MIN_THERM_STEPDOWN 50
+#define DEFAULT_LEVEL 70
+#define MAX_1x7135 150
+// always run at 1/4th speed, because 4 kHz PWM is enough for this circuit
+// and speed changes make a big visible bump
+#define HALFSPEED_LEVEL     255
+#define QUARTERSPEED_LEVEL  255
 
-#define RAMP_SMOOTH_FLOOR 10  // low levels may be unreliable
+#define RAMP_SMOOTH_FLOOR 1  // low levels may be unreliable
 #define RAMP_SMOOTH_CEIL  130
 // 10, 30, 50, [70], 90, 110, 130
 // Nichia B35 model: (0.56), 1.4, 8.4, 34.5, [102], 250, 500, 860, (1300) lm
diff --git a/spaghetti-monster/anduril/smooth-steps.c b/spaghetti-monster/anduril/smooth-steps.c
index d907bc1..b8664bd 100644
--- a/spaghetti-monster/anduril/smooth-steps.c
+++ b/spaghetti-monster/anduril/smooth-steps.c
@@ -23,12 +23,12 @@ void smooth_steps_iter() {
         uint8_t this = diff / smooth_steps_speed;
         if (!this) this = 1;
         set_level(actual_level + this);
-        nice_delay_ms(10);
+        nice_delay_ms(9);
     } else {
         // ramp-linear descent
         // (jump by 1 on each frame, frame rate gives constant total time)
         uint8_t diff = smooth_steps_start - smooth_steps_target;
-        uint16_t delay = 1 + (26 * smooth_steps_speed / diff);
+        uint16_t delay = 1 + (22 * smooth_steps_speed / diff);
         set_level(actual_level - 1);
         // TODO? if delay < one PWM cycle, this can look a little weird
         nice_delay_ms(delay);
diff --git a/spaghetti-monster/fsm-events.c b/spaghetti-monster/fsm-events.c
index ffa93d1..6987ae2 100644
--- a/spaghetti-monster/fsm-events.c
+++ b/spaghetti-monster/fsm-events.c
@@ -127,7 +127,7 @@ uint8_t nice_delay_ms(uint16_t ms) {
         uint8_t level = actual_level;  // volatile, avoid repeat access
         if (level < QUARTERSPEED_LEVEL) {
             clock_prescale_set(clock_div_4);
-            _delay_loop_2(BOGOMIPS*90/100/4);
+            _delay_loop_2(BOGOMIPS*DELAY_FACTOR/100/4);
         }
         //else if (level < HALFSPEED_LEVEL) {
         //    clock_prescale_set(clock_div_2);
@@ -135,7 +135,7 @@ uint8_t nice_delay_ms(uint16_t ms) {
         //}
         else {
             clock_prescale_set(clock_div_1);
-            _delay_loop_2(BOGOMIPS*90/100);
+            _delay_loop_2(BOGOMIPS*DELAY_FACTOR/100);
         }
         // restore regular clock speed
         clock_prescale_set(clock_div_1);
@@ -143,13 +143,13 @@ uint8_t nice_delay_ms(uint16_t ms) {
         // underclock MCU to save power
         clock_prescale_set(clock_div_4);
         // wait
-        _delay_loop_2(BOGOMIPS*90/100/4);
+        _delay_loop_2(BOGOMIPS*DELAY_FACTOR/100/4);
         // restore regular clock speed
         clock_prescale_set(clock_div_1);
         #endif  // ifdef USE_RAMPING
         #else
         // wait
-        _delay_loop_2(BOGOMIPS*90/100);
+        _delay_loop_2(BOGOMIPS*DELAY_FACTOR/100);
         #endif  // ifdef USE_DYNAMIC_UNDERCLOCKING
 
         // run pending system processes while we wait
diff --git a/spaghetti-monster/fsm-events.h b/spaghetti-monster/fsm-events.h
index 10d3317..9692163 100644
--- a/spaghetti-monster/fsm-events.h
+++ b/spaghetti-monster/fsm-events.h
@@ -54,6 +54,11 @@ uint8_t push_event(uint8_t ev_type);  // only for use by PCINT_inner()
 
 // TODO: Maybe move these to their own file...
 // ... this probably isn't the right place for delays.
+#ifndef DELAY_FACTOR
+// adjust the timing of delays, lower = shorter delays
+// 90 = 90% delay, 10% for other things
+#define DELAY_FACTOR 92
+#endif
 inline void interrupt_nice_delays();
 uint8_t nice_delay_ms(uint16_t ms);
 //uint8_t nice_delay_s();