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-rw-r--r--spaghetti-monster/fsm-adc.c478
1 files changed, 249 insertions, 229 deletions
diff --git a/spaghetti-monster/fsm-adc.c b/spaghetti-monster/fsm-adc.c
index 6832e32..4ee2018 100644
--- a/spaghetti-monster/fsm-adc.c
+++ b/spaghetti-monster/fsm-adc.c
@@ -21,7 +21,7 @@
#define FSM_ADC_C
-inline void set_admux_therm() {
+static inline void set_admux_therm() {
#if (ATTINY == 25) || (ATTINY == 45) || (ATTINY == 85) || (ATTINY == 1634)
ADMUX = ADMUX_THERM;
#elif (ATTINY == 841)
@@ -30,6 +30,7 @@ inline void set_admux_therm() {
#else
#error Unrecognized MCU type
#endif
+ adc_channel = 1;
}
inline void set_admux_voltage() {
@@ -52,6 +53,7 @@ inline void set_admux_voltage() {
#else
#error Unrecognized MCU type
#endif
+ adc_channel = 0;
}
inline void ADC_start_measurement() {
@@ -106,43 +108,165 @@ static inline uint8_t calc_voltage_divider(uint16_t value) {
}
#endif
-// Each full cycle runs 7.8X per second with just voltage enabled,
-// or 3.9X per second with voltage and temperature.
+// Each full cycle runs 15.6X per second with just voltage enabled,
+// or 7.8X per second with voltage and temperature.
#if defined(USE_LVP) && defined(USE_THERMAL_REGULATION)
-#define ADC_CYCLES_PER_SECOND 4
-#else
#define ADC_CYCLES_PER_SECOND 8
+#else
+#define ADC_CYCLES_PER_SECOND 16
+#endif
+
+#ifdef USE_THERMAL_REGULATION
+#define ADC_STEPS 2
+#else
+#define ADC_STEPS 1
#endif
-// TODO: is this better done in main() or WDT()?
+
+// happens every time the ADC sampler finishes a measurement
ISR(ADC_vect) {
- // For some reason, the ADC interrupt is getting called a *lot*
- // more often than it should be, like it's auto-triggering after each
- // measurement, but I don't know why, or how to turn that off...
- // So, skip every call except when explicitly requested.
+ #ifdef USE_PSEUDO_RAND
+ // real-world entropy makes this a true random, not pseudo
+ pseudo_rand_seed += ADCL;
+ #endif
+
+ if (irq_adc_stable) { // skip first result; it's junk
+ adc_values[adc_channel] = ADC; // save this for later use
+ irq_adc = 1; // a value was saved, so trigger deferred logic
+ }
+ irq_adc_stable = 1;
+
+ // start another measurement
+ // (is explicit because it otherwise doesn't seem to happen during standby mode)
+ ADC_start_measurement();
+}
+
+void ADC_inner() {
+ irq_adc = 0; // event handled
+
+ // the ADC triggers repeatedly when it's on, but we only want one value
+ // (so ignore everything after the first value, until it's manually reset)
if (! adcint_enable) return;
+
+ // disable after one iteration
adcint_enable = 0;
+ #ifdef TICK_DURING_STANDBY
+ // in sleep mode, turn off after just one measurement
+ // (having the ADC on raises standby power by about 250 uA)
+ // (and the usual standby level is only ~20 uA)
+ if (go_to_standby) ADC_off();
+ #endif
+
+ // what is being measured? 0 = battery voltage, 1 = temperature
static uint8_t adc_step = 0;
- // LVP declarations
#ifdef USE_LVP
- #ifdef USE_LVP_AVG
- #define NUM_VOLTAGE_VALUES 4
- static int16_t voltage_values[NUM_VOLTAGE_VALUES];
+ if (0 == adc_step) { // voltage
+ ADC_voltage_handler();
+ }
#endif
+
+ #ifdef USE_THERMAL_REGULATION
+ else if (1 == adc_step) { // temperature
+ ADC_temperature_handler();
+ }
+ #endif
+
+ #if defined(TICK_DURING_STANDBY) && defined(USE_SLEEP_LVP)
+ // only measure battery voltage while asleep
+ if (go_to_standby) adc_step = 0;
+ else
+ #endif
+
+ adc_step = (adc_step + 1) & (ADC_STEPS-1);
+
+ // set the correct type of measurement for next time
+ #ifdef USE_THERMAL_REGULATION
+ #ifdef USE_LVP
+ if (0 == adc_step) set_admux_voltage();
+ else set_admux_therm();
+ #else
+ //set_admux_therm();
+ #error "USE_THERMAL_REGULATION set without USE_LVP"
+ #endif
+ #else
+ #ifdef USE_LVP
+ set_admux_voltage();
+ #endif
+ #endif
+
+ irq_adc_stable = 0; // first result is unstable
+}
+
+
+#ifdef USE_LVP
+static inline void ADC_voltage_handler() {
static uint8_t lvp_timer = 0;
static uint8_t lvp_lowpass = 0;
#define LVP_TIMER_START (VOLTAGE_WARNING_SECONDS*ADC_CYCLES_PER_SECOND) // N seconds between LVP warnings
#define LVP_LOWPASS_STRENGTH ADC_CYCLES_PER_SECOND // lowpass for one second
+
+ uint16_t measurement = adc_values[0]; // latest 10-bit ADC reading
+
+ #ifdef USE_VOLTAGE_LOWPASS
+ static uint16_t prev_measurement = 0;
+
+ // prime on first execution, or while asleep
+ if (go_to_standby || (! prev_measurement)) prev_measurement = measurement;
+
+ // only allow raw value to go up or down by 1 per iteration
+ if (measurement > prev_measurement) measurement = prev_measurement + 1;
+ else if (measurement < prev_measurement) measurement = prev_measurement - 1;
+
+ // remember for later
+ prev_measurement = measurement;
+ #endif // no USE_VOLTAGE_LOWPASS
+
+ #ifdef USE_VOLTAGE_DIVIDER
+ voltage = calc_voltage_divider(measurement);
+ #else
+ // calculate actual voltage: volts * 10
+ // ADC = 1.1 * 1024 / volts
+ // volts = 1.1 * 1024 / ADC
+ //voltage = (uint16_t)(1.1*1024*10)/measurement + VOLTAGE_FUDGE_FACTOR;
+ voltage = ((uint16_t)(2*1.1*1024*10)/measurement + VOLTAGE_FUDGE_FACTOR) >> 1;
#endif
+ // if low, callback EV_voltage_low / EV_voltage_critical
+ // (but only if it has been more than N ticks since last call)
+ if (lvp_timer) {
+ lvp_timer --;
+ } else { // it has been long enough since the last warning
+ if (voltage < VOLTAGE_LOW) {
+ if (lvp_lowpass < LVP_LOWPASS_STRENGTH) {
+ lvp_lowpass ++;
+ } else {
+ // try to send out a warning
+ //uint8_t err = emit(EV_voltage_low, 0);
+ //uint8_t err = emit_now(EV_voltage_low, 0);
+ emit(EV_voltage_low, 0);
+ //if (!err) {
+ // on successful warning, reset counters
+ lvp_timer = LVP_TIMER_START;
+ lvp_lowpass = 0;
+ //}
+ }
+ } else {
+ // voltage not low? reset count
+ lvp_lowpass = 0;
+ }
+ }
+}
+#endif
+
+
+#ifdef USE_THERMAL_REGULATION
+static inline void ADC_temperature_handler() {
// thermal declarations
- #ifdef USE_THERMAL_REGULATION
#ifndef THERMAL_UPDATE_SPEED
#define THERMAL_UPDATE_SPEED 2
#endif
#define NUM_THERMAL_VALUES_HISTORY 8
- #define ADC_STEPS 4
static uint8_t history_step = 0; // don't update history as often
static int16_t temperature_history[NUM_THERMAL_VALUES_HISTORY];
static uint8_t temperature_timer = 0;
@@ -151,236 +275,132 @@ ISR(ADC_vect) {
#define TEMPERATURE_TIMER_START ((THERMAL_WARNING_SECONDS-2)*ADC_CYCLES_PER_SECOND) // N seconds between thermal regulation events
#define OVERHEAT_LOWPASS_STRENGTH (ADC_CYCLES_PER_SECOND*2) // lowpass for 2 seconds
#define UNDERHEAT_LOWPASS_STRENGTH (ADC_CYCLES_PER_SECOND*2) // lowpass for 2 seconds
- #else
- #define ADC_STEPS 2
- #endif
-
- uint16_t measurement = ADC; // latest 10-bit ADC reading
-
- #ifdef USE_PSEUDO_RAND
- // real-world entropy makes this a true random, not pseudo
- pseudo_rand_seed += measurement;
- #endif
-
- #if defined(TICK_DURING_STANDBY) && defined(USE_SLEEP_LVP)
- // only measure battery voltage while asleep
- if (go_to_standby) adc_step = 1;
- else
- #endif
-
- adc_step = (adc_step + 1) & (ADC_STEPS-1);
- #ifdef USE_LVP
- // voltage
- if (adc_step == 1) {
- #ifdef USE_LVP_AVG
- // prime on first execution
- if (voltage == 0) {
- for(uint8_t i=0; i<NUM_VOLTAGE_VALUES; i++)
- voltage_values[i] = measurement;
- voltage = 42; // the answer to life, the universe, and the voltage of a full li-ion cell
- } else {
- uint16_t total = 0;
- uint8_t i;
- for(i=0; i<NUM_VOLTAGE_VALUES-1; i++) {
- voltage_values[i] = voltage_values[i+1];
- total += voltage_values[i];
- }
- voltage_values[i] = measurement;
- total += measurement;
- total = total >> 2;
-
- #ifdef USE_VOLTAGE_DIVIDER
- voltage = calc_voltage_divider(total);
- #else
- voltage = (uint16_t)(1.1*1024*10)/total + VOLTAGE_FUDGE_FACTOR;
- #endif
- }
- #else // no USE_LVP_AVG
- #ifdef USE_VOLTAGE_DIVIDER
- voltage = calc_voltage_divider(measurement);
- #else
- // calculate actual voltage: volts * 10
- // ADC = 1.1 * 1024 / volts
- // volts = 1.1 * 1024 / ADC
- //voltage = (uint16_t)(1.1*1024*10)/measurement + VOLTAGE_FUDGE_FACTOR;
- voltage = ((uint16_t)(2*1.1*1024*10)/measurement + VOLTAGE_FUDGE_FACTOR) >> 1;
- #endif
- #endif
- // if low, callback EV_voltage_low / EV_voltage_critical
- // (but only if it has been more than N ticks since last call)
- if (lvp_timer) {
- lvp_timer --;
- } else { // it has been long enough since the last warning
- if (voltage < VOLTAGE_LOW) {
- if (lvp_lowpass < LVP_LOWPASS_STRENGTH) {
- lvp_lowpass ++;
- } else {
- // try to send out a warning
- //uint8_t err = emit(EV_voltage_low, 0);
- //uint8_t err = emit_now(EV_voltage_low, 0);
- emit(EV_voltage_low, 0);
- //if (!err) {
- // on successful warning, reset counters
- lvp_timer = LVP_TIMER_START;
- lvp_lowpass = 0;
- //}
- }
- } else {
- // voltage not low? reset count
- lvp_lowpass = 0;
- }
+ uint16_t measurement = adc_values[1]; // latest 10-bit ADC reading
+
+ // Convert ADC units to Celsius (ish)
+ int16_t temp = measurement - 275 + THERM_CAL_OFFSET + (int16_t)therm_cal_offset;
+
+ // prime on first execution
+ if (reset_thermal_history) {
+ reset_thermal_history = 0;
+ temperature = temp;
+ for(uint8_t i=0; i<NUM_THERMAL_VALUES_HISTORY; i++)
+ temperature_history[i] = temp;
+ } else { // update our current temperature estimate
+ // crude lowpass filter
+ // (limit rate of change to 1 degree per measurement)
+ if (temp > temperature) {
+ temperature ++;
+ } else if (temp < temperature) {
+ temperature --;
}
}
- #endif // ifdef USE_LVP
+ // guess what the temperature will be in a few seconds
+ int16_t pt;
+ {
+ int16_t diff;
+ int16_t t = temperature;
- #ifdef USE_THERMAL_REGULATION
- // temperature
- else if (adc_step == 3) {
- // Convert ADC units to Celsius (ish)
- int16_t temp = measurement - 275 + THERM_CAL_OFFSET + (int16_t)therm_cal_offset;
-
- // prime on first execution
- if (reset_thermal_history) {
- reset_thermal_history = 0;
- temperature = temp;
- for(uint8_t i=0; i<NUM_THERMAL_VALUES_HISTORY; i++)
- temperature_history[i] = temp;
- } else { // update our current temperature estimate
- // crude lowpass filter
- // (limit rate of change to 1 degree per measurement)
- if (temp > temperature) {
- temperature ++;
- } else if (temp < temperature) {
- temperature --;
+ // algorithm tweaking; not really intended to be modified
+ // how far ahead should we predict?
+ #ifndef THERM_PREDICTION_STRENGTH
+ #define THERM_PREDICTION_STRENGTH 4
+ #endif
+ // how proportional should the adjustments be? (not used yet)
+ #ifndef THERM_RESPONSE_MAGNITUDE
+ #define THERM_RESPONSE_MAGNITUDE 128
+ #endif
+ // acceptable temperature window size in C
+ #define THERM_WINDOW_SIZE 5
+ // highest temperature allowed
+ #define THERM_CEIL ((int16_t)therm_ceil)
+ // bottom of target temperature window
+ #define THERM_FLOOR (THERM_CEIL - THERM_WINDOW_SIZE)
+
+ // if it's time to rotate the thermal history, do it
+ history_step ++;
+ #if (THERMAL_UPDATE_SPEED == 4) // new value every 4s
+ #define THERM_HISTORY_STEP_MAX ((2*ADC_CYCLES_PER_SECOND)-1)
+ #elif (THERMAL_UPDATE_SPEED == 2) // new value every 2s
+ #define THERM_HISTORY_STEP_MAX (ADC_CYCLES_PER_SECOND-1)
+ #elif (THERMAL_UPDATE_SPEED == 1) // new value every 1s
+ #define THERM_HISTORY_STEP_MAX ((ADC_CYCLES_PER_SECOND/2)-1)
+ #elif (THERMAL_UPDATE_SPEED == 0) // new value every 0.5s
+ #define THERM_HISTORY_STEP_MAX ((ADC_CYCLES_PER_SECOND/4)-1)
+ #endif
+ if (0 == (history_step & THERM_HISTORY_STEP_MAX)) {
+ // rotate measurements and add a new one
+ for (uint8_t i=0; i<NUM_THERMAL_VALUES_HISTORY-1; i++) {
+ temperature_history[i] = temperature_history[i+1];
}
+ temperature_history[NUM_THERMAL_VALUES_HISTORY-1] = t;
}
- // guess what the temperature will be in a few seconds
- int16_t pt;
- {
- int16_t diff;
- int16_t t = temperature;
-
- // algorithm tweaking; not really intended to be modified
- // how far ahead should we predict?
- #ifndef THERM_PREDICTION_STRENGTH
- #define THERM_PREDICTION_STRENGTH 4
- #endif
- // how proportional should the adjustments be? (not used yet)
- #ifndef THERM_RESPONSE_MAGNITUDE
- #define THERM_RESPONSE_MAGNITUDE 128
- #endif
- // acceptable temperature window size in C
- #define THERM_WINDOW_SIZE 5
- // highest temperature allowed
- #define THERM_CEIL ((int16_t)therm_ceil)
- // bottom of target temperature window
- #define THERM_FLOOR (THERM_CEIL - THERM_WINDOW_SIZE)
-
- // if it's time to rotate the thermal history, do it
- history_step ++;
- #if (THERMAL_UPDATE_SPEED == 4) // new value every 4s
- #define THERM_HISTORY_STEP_MAX 15
- #elif (THERMAL_UPDATE_SPEED == 2) // new value every 2s
- #define THERM_HISTORY_STEP_MAX 7
- #elif (THERMAL_UPDATE_SPEED == 1) // new value every 1s
- #define THERM_HISTORY_STEP_MAX 3
- #elif (THERMAL_UPDATE_SPEED == 0) // new value every 0.5s
- #define THERM_HISTORY_STEP_MAX 1
- #endif
- if (0 == (history_step & THERM_HISTORY_STEP_MAX)) {
- // rotate measurements and add a new one
- for (uint8_t i=0; i<NUM_THERMAL_VALUES_HISTORY-1; i++) {
- temperature_history[i] = temperature_history[i+1];
- }
- temperature_history[NUM_THERMAL_VALUES_HISTORY-1] = t;
- }
-
- // guess what the temp will be several seconds in the future
- // diff = rate of temperature change
- //diff = temperature_history[NUM_THERMAL_VALUES_HISTORY-1] - temperature_history[0];
- diff = t - temperature_history[0];
- // slight bias toward zero; ignore very small changes (noise)
- for (uint8_t z=0; z<3; z++) {
- if (diff < 0) diff ++;
- if (diff > 0) diff --;
- }
- // projected_temperature = current temp extended forward by amplified rate of change
- //projected_temperature = temperature_history[NUM_THERMAL_VALUES_HISTORY-1] + (diff<<THERM_PREDICTION_STRENGTH);
- pt = projected_temperature = t + (diff<<THERM_PREDICTION_STRENGTH);
+ // guess what the temp will be several seconds in the future
+ // diff = rate of temperature change
+ //diff = temperature_history[NUM_THERMAL_VALUES_HISTORY-1] - temperature_history[0];
+ diff = t - temperature_history[0];
+ // slight bias toward zero; ignore very small changes (noise)
+ for (uint8_t z=0; z<3; z++) {
+ if (diff < 0) diff ++;
+ if (diff > 0) diff --;
}
+ // projected_temperature = current temp extended forward by amplified rate of change
+ //projected_temperature = temperature_history[NUM_THERMAL_VALUES_HISTORY-1] + (diff<<THERM_PREDICTION_STRENGTH);
+ pt = projected_temperature = t + (diff<<THERM_PREDICTION_STRENGTH);
+ }
- // cancel counters if appropriate
- if (pt > THERM_FLOOR) {
- underheat_lowpass = 0; // we're probably not too cold
- }
- if (pt < THERM_CEIL) {
- overheat_lowpass = 0; // we're probably not too hot
- }
+ // cancel counters if appropriate
+ if (pt > THERM_FLOOR) {
+ underheat_lowpass = 0; // we're probably not too cold
+ }
+ if (pt < THERM_CEIL) {
+ overheat_lowpass = 0; // we're probably not too hot
+ }
+
+ if (temperature_timer) {
+ temperature_timer --;
+ } else { // it has been long enough since the last warning
- if (temperature_timer) {
- temperature_timer --;
- } else { // it has been long enough since the last warning
-
- // Too hot?
- if (pt > THERM_CEIL) {
- if (overheat_lowpass < OVERHEAT_LOWPASS_STRENGTH) {
- overheat_lowpass ++;
- } else {
- // reset counters
- overheat_lowpass = 0;
- temperature_timer = TEMPERATURE_TIMER_START;
- // how far above the ceiling?
- //int16_t howmuch = (pt - THERM_CEIL) * THERM_RESPONSE_MAGNITUDE / 128;
- int16_t howmuch = pt - THERM_CEIL;
- // try to send out a warning
- emit(EV_temperature_high, howmuch);
- }
+ // Too hot?
+ if (pt > THERM_CEIL) {
+ if (overheat_lowpass < OVERHEAT_LOWPASS_STRENGTH) {
+ overheat_lowpass ++;
+ } else {
+ // reset counters
+ overheat_lowpass = 0;
+ temperature_timer = TEMPERATURE_TIMER_START;
+ // how far above the ceiling?
+ //int16_t howmuch = (pt - THERM_CEIL) * THERM_RESPONSE_MAGNITUDE / 128;
+ int16_t howmuch = pt - THERM_CEIL;
+ // try to send out a warning
+ emit(EV_temperature_high, howmuch);
}
+ }
- // Too cold?
- else if (pt < THERM_FLOOR) {
- if (underheat_lowpass < UNDERHEAT_LOWPASS_STRENGTH) {
- underheat_lowpass ++;
- } else {
- // reset counters
- underheat_lowpass = 0;
- temperature_timer = TEMPERATURE_TIMER_START;
- // how far below the floor?
- //int16_t howmuch = (THERM_FLOOR - pt) * THERM_RESPONSE_MAGNITUDE / 128;
- int16_t howmuch = THERM_FLOOR - pt;
- // try to send out a warning (unless voltage is low)
- // (LVP and underheat warnings fight each other)
- if (voltage > VOLTAGE_LOW)
- emit(EV_temperature_low, howmuch);
- }
+ // Too cold?
+ else if (pt < THERM_FLOOR) {
+ if (underheat_lowpass < UNDERHEAT_LOWPASS_STRENGTH) {
+ underheat_lowpass ++;
+ } else {
+ // reset counters
+ underheat_lowpass = 0;
+ temperature_timer = TEMPERATURE_TIMER_START;
+ // how far below the floor?
+ //int16_t howmuch = (THERM_FLOOR - pt) * THERM_RESPONSE_MAGNITUDE / 128;
+ int16_t howmuch = THERM_FLOOR - pt;
+ // try to send out a warning (unless voltage is low)
+ // (LVP and underheat warnings fight each other)
+ if (voltage > VOLTAGE_LOW)
+ emit(EV_temperature_low, howmuch);
}
}
}
- #endif // ifdef USE_THERMAL_REGULATION
-
-
- // set the correct type of measurement for next time
- #ifdef USE_THERMAL_REGULATION
- #ifdef USE_LVP
- if (adc_step < 2) set_admux_voltage();
- else set_admux_therm();
- #else
- set_admux_therm();
- #endif
- #else
- #ifdef USE_LVP
- set_admux_voltage();
- #endif
- #endif
-
- #ifdef TICK_DURING_STANDBY
- // if we were asleep, go back to sleep
- if (go_to_standby) ADC_off();
- #endif
}
+#endif
+
#ifdef USE_BATTCHECK
#ifdef BATTCHECK_4bars
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