Smooth LED lights level change

Core/Inc/board_logic.h

@@ -9,18 +9,20 @@
 #define MODBUS_FIRMWARE_VERSION ( /*major*/ 11 + /*minor*/ 0 * 0x100)
 #define MODBUS_BOARD_TYPE (8)   //Relay Module board ID
 
-#define REL_MAIN_BIT      	(1u<<0)
+#define REL_MAIN_BIT    (1u<<0)
-#define REL_AUX_BIT    		(1u<<1)
+#define REL_AUX_BIT     (1u<<1)
 
-#define MOTOR_MIN   		0
+#define PWM_DUTY_MIN    0
-#define MOTOR_MAX   		255
+#define PWM_DUTY_MAX    255
+#define PWM_LIGHTS_STEP 20      // Time step in ms between LED light PWM changes
+#define LIGHTS_TIME     1000    // Time in ms to spend for smooth lights level change
 
 
 void estop_reset(void);
 void board_init(void);
+uint16_t clamp_duty(uint16_t duty);
 void set_pwm(uint8_t unit, uint16_t duty);
 void loop_iterate();
-void timer1_ovf_isr(void);
 void update_service_indication(void);
 
 #endif 

Core/Src/board_logic.c

@@ -17,7 +17,6 @@ extern TIM_HandleTypeDef htim3;
 extern TIM_HandleTypeDef htim14;
 static const char board_description[BOARD_DESC_LEN] = "RS485_Relay V2R1";
 extern uint16_t tranfer_errors_count;
-extern uint16_t last_rx_time;
 
 #define REL_MAIN_ON		HAL_GPIO_WritePin(RL_MAIN_GPIO_Port, RL_MAIN_Pin, GPIO_PIN_SET)
 #define REL_MAIN_OFF	HAL_GPIO_WritePin(RL_MAIN_GPIO_Port, RL_MAIN_Pin, GPIO_PIN_RESET)
@@ -36,6 +35,8 @@ uint16_t status = 0;
 uint16_t motor1_pwm = 0;
 uint16_t motor2_pwm = 0;
 uint16_t lights_pwm = 0;
+uint16_t lights_pwm_target = 0;
+int16_t  lights_pwm_delta = 0;
 uint16_t led_time_act = 0;
 
 void estop_reset(void) {
@@ -52,6 +53,13 @@ void board_init(void) {
   HAL_TIM_Base_Start_IT(&htim1);
 }
 
+
+uint16_t clamp_duty(uint16_t duty) {
+  if (duty > PWM_DUTY_MAX) return PWM_DUTY_MAX;
+  if (duty < PWM_DUTY_MIN) return PWM_DUTY_MIN;
+  return duty;
+}
+
 void set_pwm(uint8_t unit, uint16_t duty) {
   uint32_t channel;
   TIM_HandleTypeDef* tim;
@@ -73,8 +81,7 @@ void set_pwm(uint8_t unit, uint16_t duty) {
       return;
   }
 
-  if (duty > MOTOR_MAX) duty = MOTOR_MAX;
+  duty = clamp_duty(duty);
-  if (duty < MOTOR_MIN) duty = MOTOR_MIN;
   if (duty == 0)
     HAL_TIM_PWM_Stop(tim, channel);
   else {
@@ -114,22 +121,6 @@ void loop_iterate()
   HAL_Delay(1);
 }
 
-// Timer1 overflow interrupt service routine
-void timer1_ovf_isr(void) //1 ms
-{
-	static uint32_t count_1sec=0;
-    if(last_rx_time<0xFFFF)last_rx_time++;
-
-    update_service_indication();
-
-    if(++count_1sec==1000)
-	{
-		count_1sec = 0;
-		//led_time_g += 10;
-	}
-
-}
-
 void update_service_indication(void)
 {
 	if (led_time_act) {
@@ -208,8 +199,14 @@ uint8_t write_register(uint16_t address, uint16_t value)
       set_pwm(2, motor2_pwm);
       break;
     case 0x2004:
-      lights_pwm = value;
+      lights_pwm_target = clamp_duty(value);
-      set_pwm(3, lights_pwm);
+      if (lights_pwm_target != lights_pwm) {
+        lights_pwm_delta = (lights_pwm_target - lights_pwm) / LIGHTS_TIME / PWM_LIGHTS_STEP;
+        if (lights_pwm_delta == 0) {
+          if (lights_pwm_target - lights_pwm > 0) lights_pwm_delta = 1;
+          else lights_pwm_delta = -1;
+        }
+      }
       break;
     case 0x2020:
       if (value == 1) {
@@ -230,10 +227,35 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
     status = status | 0b010;
   }
   if(GPIO_Pin == LIGHTS_SW_Pin) {
-    status |= 0b100;  // Set "lights switch pressed" status bit
+    // Set "lights switch pressed" status bit
+    status |= 0b100;
   }
   if(GPIO_Pin == WATER_Pin) {
     // Set or reset "water" status bit
     status |= HAL_GPIO_ReadPin(WATER_GPIO_Port, WATER_Pin);
   }
 }
+
+// Timers overflow interrupt
+void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
+  // check if the interrupt comes from TIM1
+  if(htim->Instance == TIM1) {
+    static uint32_t count_ms = 0;
+
+    update_service_indication();
+
+    // Check if we should change lights pwm for smooth transition
+    if (lights_pwm != lights_pwm_target) {
+      // Change pwm only every 20ms (PWM_LIGHTS_STEP)
+      if(++count_ms == PWM_LIGHTS_STEP) {
+        count_ms = 0;
+
+        lights_pwm += lights_pwm_delta;
+        // Set lights pwm to target if the difference is less than the delta
+        if (abs(lights_pwm_target - lights_pwm) < abs(lights_pwm_delta))
+          lights_pwm = lights_pwm_target;
+        set_pwm(3, lights_pwm);
+      }
+    }
+  }
+}

Core/Src/main.c

@@ -428,13 +428,7 @@ static void MX_GPIO_Init(void)
 }
 
 /* USER CODE BEGIN 4 */
-void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
+
-{
-        if(htim->Instance == TIM1) //check if the interrupt comes from TIM1
-        {
-        	timer1_ovf_isr();
-        }
-}
 /* USER CODE END 4 */
 
 /**

Core/Src/modbus_logic.c

@@ -15,7 +15,7 @@ uint8_t recv_buffer[BUFFERS_SIZE];
 uint8_t send_buffer[BUFFERS_SIZE];
 
 uint16_t bytes_to_send = 0;
-uint16_t last_rx_time = 0xFFFF;
+//uint16_t last_rx_time = 0xFFFF;
 enum recv_state cmd_receiving = RECV_IDLE;
 enum send_state cmd_sending = SEND_IDLE;
 uint16_t tranfer_errors_count;
@@ -79,14 +79,7 @@ void modbus_loop_iterate()
 	{
 		if (cmd_receiving == RECV_ERROR)
 		{
-			// poor man's way to synchronize packets
+      cmd_receiving = RECV_IDLE;
-            //if(last_rx_time>=BUS_IDLE_TIME)
-            //{
-                cmd_receiving = RECV_IDLE;
-                //TXEN_485 = 1;
-                //delay_us(10);
-                //TXEN_485 = 0;
-            //}
 		}
 		if (cmd_receiving == RECV_IDLE)
 		{