From 1f74d8e77ce93104f3da560ed8855fb039f2623e Mon Sep 17 00:00:00 2001 From: Brett Weiland Date: Fri, 3 Nov 2023 18:19:15 -0500 Subject: just need to fix the macro --- software_pwm.c | 84 ++++++++++++++++++++++++++++++++++++++++++---------------- 1 file changed, 61 insertions(+), 23 deletions(-) diff --git a/software_pwm.c b/software_pwm.c index ca120d9..1de0d37 100644 --- a/software_pwm.c +++ b/software_pwm.c @@ -23,9 +23,13 @@ static struct pwm_event { bool enabled; } events[SOFTPWM_PIN_COUNT + 1]; - +//if list_insert and list_remove end up being too slow, these have a lot of room for +//optimization. We could do a preprocessor IF/THEN instead of using member offset +//TODO accept pointer instead of actual value #define LIST_INSERT(new, prev, member) (\ - list_insert(&(new.member), &(prev.member), offsetof(struct pwm_event, member))) + list_insert(new->member, prev->member, offsetof(struct pwm_event, member))) + +#define LIST_REMOVE(event, member) list_remove((event)->member, offsetof(struct pwm_event, member)) #define EVENT_FROM_MEMBER(member_ptr, member_offset) \ ((struct pwm_event *)(char *)member_ptr - member_offset) @@ -36,30 +40,33 @@ static struct pwm_event { static void list_insert(struct link_pair *new_links, struct link_pair *prev_links, size_t parent_offset) { new_links->next = prev_links->next; new_links->prev = EVENT_FROM_MEMBER(prev_links, parent_offset); - MEMBER_FROM_EVENT()->prev = + MEMBER_FROM_EVENT(prev_links->next, parent_offset)->prev = EVENT_FROM_MEMBER(new_links, parent_offset); //GYAAAAGH prev_links->next = EVENT_FROM_MEMBER(prev_links, parent_offset); } static void list_remove(struct link_pair *event_link, size_t parent_offset) { - event_link->prev + MEMBER_FROM_EVENT(event_link->next, parent_offset)->prev = + EVENT_FROM_MEMBER(event_link->prev, parent_offset); + MEMBER_FROM_EVENT(event_link->prev, parent_offset)->next = + EVENT_FROM_MEMBER(event_link->next, parent_offset); } void init_softpwm() { - //this one never moves - events[SOFTPWM_PIN_COUNT].time = 0; - events[SOFTPWM_PIN_COUNT].pins = 0; - events[SOFTPWM_PIN_COUNT].active.next = &events[SOFTPWM_PIN_COUNT]; - events[SOFTPWM_PIN_COUNT].active.prev = &events[SOFTPWM_PIN_COUNT]; - events[SOFTPWM_PIN_COUNT].enabled = true; - //TODO: move all to zero once init_softpwm tested - for(size_t event_i = 0; event_i < SOFTPWM_PIN_COUNT; event_i++) { + events[0].active.prev = events; + events[0].active.next = events; + events[0].enabled = true; + events[0].pins = 0; + events[0].time = 0; + + for(size_t event_i = 1; event_i <= SOFTPWM_PIN_COUNT; event_i++) { events[event_i].time = event_i; - events[event_i].pins = (1 << (event_i + 1)) - 1; - LIST_INSERT(events[event_i], - events[((int)event_i - 1) % (SOFTPWM_PIN_COUNT + 1)], active); + events[event_i].pins = (1 << event_i) - 1; + LIST_INSERT(&(events[event_i]), + &events[((int)event_i - 1) % (SOFTPWM_PIN_COUNT + 1)], active); + events[event_i].enabled = true; } SOFTPWM_DDR = 0xff; @@ -74,16 +81,47 @@ void init_softpwm() { } void softpwm_set(uint8_t pin, uint8_t duty) { - /** - struct pwm_event *event_unmoved = &events[pin]; //TODO describe if you want ig - struct pwm_event *this_event = &events[pin]; - this_event->time = duty; - if(duty < events[pin].time) { - while(duty < event_unmoved->time) event_unmoved = event_unmoved->next; + struct pwm_event *pin_event = &events[pin + 1]; + struct pwm_event *closest_event; + if(duty == pin_event->time) return; + for(closest_event = pin_event; !pin_event->enabled; pin_event = pin_event->twins.next); + if(pin_event->time < duty) { + while(duty > closest_event->time) { + closest_event->time ^= (1 << pin); + closest_event = closest_event->active.prev; + } + } + if(pin_event->time > duty) { + while(duty < closest_event->time) { + closest_event->time |= (1 << pin); + closest_event = closest_event->active.prev; + } + } + + //I'm sure I could clean the following a bit + //unlinking + if(pin_event->enabled) { + if(pin_event->twins.next == pin_event) { LIST_REMOVE(pin_event, active); } + else { + //lol + pin_event->active.prev->active.next = pin_event->twins.next; + pin_event->active.next->active.prev = pin_event->twins.next; + pin_event->twins.next->active.prev = pin_event->active.prev; + pin_event->twins.next->active.next = pin_event->active.next; + } + } + else { LIST_REMOVE(pin_event, twins); } + + //linking + pin_event->enabled = !(duty == pin_event->time); + if(pin_event->enabled) { + LIST_INSERT(pin_event, closest_event, active); } else { + LIST_INSERT(pin_event, closest_event, twins); } - **/ + + pin_event->time = duty; } /** @@ -94,6 +132,6 @@ ISR(TIMER0_OVF_vect) { ISR(TIMER0_COMP_vect) { static struct pwm_event *on_event = &events[SOFTPWM_PIN_COUNT]; SOFTPWM_PORT = on_event->pins; - on_event = on_event->next; + on_event = on_event->active.next; OCR0A = on_event->time; } -- cgit v1.2.3