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Enable multiple user-defined servo profiles

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This commit is contained in:
Neil McKechnie 2023-04-19 00:02:23 +01:00
parent 1b4faa92cd
commit fafd3cbc04
2 changed files with 46 additions and 15 deletions
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15
IODevice.h
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@ -277,13 +277,23 @@ private:
class PCA9685 : public IODevice {
public:
static void create(VPIN vpin, int nPins, I2CAddress i2cAddress, uint16_t frequency = 50);
#define NUMUSERPROFILES 8
enum ProfileType : uint8_t {
Instant = 0, // Moves immediately between positions (if duration not specified)
UseDuration = 0, // Use specified duration
Fast = 1, // Takes around 500ms end-to-end
Medium = 2, // 1 second end-to-end
Slow = 3, // 2 seconds end-to-end
Bounce = 4, // For semaphores/turnouts with a bit of bounce!!
UserProfile0 = 4, // For user-defined profiles
UserProfile1 = 5,
UserProfile2 = 6,
UserProfile3 = 7,
UserProfile4 = 8,
UserProfile5 = 9,
UserProfile6 = 10,
UserProfile7 = 11,
LastUserProfile = 11,
Bounce = UserProfile0, // For semaphores/turnouts with a bit of bounce!!
NoPowerOff = 0x80, // Flag to be ORed in to suppress power off after move.
};
@ -319,7 +329,8 @@ private:
struct ServoData *_servoData [16];
static const uint8_t _catchupSteps = 5; // number of steps to wait before switching servo off
static const uint8_t FLASH _bounceProfile[30];
static const FLASH uint8_t _bounceProfile[];
static const uint8_t *_profiles[];
const unsigned int refreshInterval = 50; // refresh every 50ms

46
IO_PCA9685.cpp
View File

@ -141,7 +141,7 @@ void PCA9685::_write(VPIN vpin, int value) {
// 1 (Fast) Move servo in 0.5 seconds
// 2 (Medium) Move servo in 1.0 seconds
// 3 (Slow) Move servo in 2.0 seconds
// 4 (Bounce) Servo 'bounces' at extremes.
// >=4 Predefined profiles: Bounce, UserProfile1, UserProfile2 etc.
//
void PCA9685::_writeAnalogue(VPIN vpin, int value, uint8_t profile, uint16_t duration) {
#ifdef DIAG_IO
@ -165,13 +165,22 @@ void PCA9685::_writeAnalogue(VPIN vpin, int value, uint8_t profile, uint16_t dur
}
// Animated profile. Initiate the appropriate action.
s->currentProfile = profile;
uint8_t profileValue = profile & ~NoPowerOff; // Mask off 'don't-power-off' bit.
s->numSteps = profileValue==Fast ? 10 : // 0.5 seconds
profileValue==Medium ? 20 : // 1.0 seconds
profileValue==Slow ? 40 : // 2.0 seconds
profileValue==Bounce ? sizeof(_bounceProfile)-1 : // ~ 1.5 seconds
duration * 2 + 1; // Convert from deciseconds (100ms) to refresh cycles (50ms)
if (profileValue >= UserProfile0 && profileValue <= LastUserProfile) {
const uint8_t *ptr = _profiles[profileValue - UserProfile0];
if (ptr != NULL) {
s->numSteps = GETFLASH(ptr); // First entry in array is number of steps (1-255)
} else {
profileValue = 0; // Profile not assigned, so use instant.
s->numSteps = 1;
}
} else {
s->numSteps = profileValue==Fast ? 10 : // 0.5 seconds
profileValue==Medium ? 20 : // 1.0 seconds
profileValue==Slow ? 40 : // 2.0 seconds
duration * 2 + 1; // Convert from deciseconds (100ms) to refresh cycles (50ms)
}
s->currentProfile = (profile & NoPowerOff) | profileValue; // Adjust profile if necessary
s->stepNumber = 0;
s->toPosition = value;
s->fromPosition = s->currentPosition;
@ -213,9 +222,10 @@ void PCA9685::updatePosition(uint8_t pin) {
if (s->stepNumber < s->numSteps) {
// Animation in progress, reposition servo
s->stepNumber++;
if ((s->currentProfile & ~NoPowerOff) == Bounce) {
// Retrieve step positions from array in flash
byte profileValue = GETFLASH(&_bounceProfile[s->stepNumber]);
uint8_t profile = s->currentProfile & ~NoPowerOff;
if (profile >= UserProfile0 && profile <= LastUserProfile) {
const uint8_t *ptr = _profiles[profile-UserProfile0];
byte profileValue = GETFLASH(ptr + s->stepNumber);
s->currentPosition = map(profileValue, 0, 100, s->fromPosition, s->toPosition);
} else {
// All other profiles - calculate step by linear interpolation between from and to positions.
@ -274,6 +284,16 @@ static void writeRegister(byte address, byte reg, byte value) {
// Profile for a bouncing signal or turnout
// The profile below is in the range 0-100% and should be combined with the desired limits
// of the servo set by _activePosition and _inactivePosition. The profile is symmetrical here,
// i.e. the bounce is the same on the down action as on the up action. First entry isn't used.
const uint8_t FLASH PCA9685::_bounceProfile[30] =
{0,2,3,7,13,33,50,83,100,83,75,70,65,60,60,65,74,84,100,83,75,70,70,72,75,80,87,92,97,100};
// i.e. the bounce is the same on the down action as on the up action. First entry is the number of steps.
const FLASH uint8_t PCA9685::_bounceProfile[] =
{30, 0,2,3,7,13,33,50,83,100,83,75,70,65,60,60,65,74,84,100,83,75,70,70,72,75,80,87,92,97,100};
extern __attribute__((weak)) const FLASH uint8_t _UserProfile1[];
extern __attribute__((weak)) const FLASH uint8_t _UserProfile2[];
extern __attribute__((weak)) const FLASH uint8_t _UserProfile3[];
extern __attribute__((weak)) const FLASH uint8_t _UserProfile4[];
extern __attribute__((weak)) const FLASH uint8_t _UserProfile5[];
extern __attribute__((weak)) const FLASH uint8_t _UserProfile6[];
extern __attribute__((weak)) const FLASH uint8_t _UserProfile7[];
const uint8_t *PCA9685::_profiles[] = {_bounceProfile,
_UserProfile1, _UserProfile2, _UserProfile3, _UserProfile4, _UserProfile5, _UserProfile6, _UserProfile7};