braking is handled behind the patterns inside pattern.c

See the comment above pwmled_update_mode():

This is tricky: we use a single pattern for all three pwmleds,
but on some occasions, we want to be able to modify only a single
pwmled status without affecting other outputs. For example, during
braking, we want to modify only the rear pwmled status. We don't
use a separate "braking" pattern for every other pattern used, but instead
we change the pwmled0 status regardless of the original value when
braking. The rule is the following:
- if during braking the pwmled2 (front) is at mode 2, we switch it to
    mode 3 (which has the same target current) to avoid flicker.
- if pwmled0 (rear) is off, we set it to mode 2
    (if it is with mode 1, we keep it at mode 1)
TODO: something similar should be done for the "entering the dark area"
    condition, where we want to switch pwmled2 (front) on, to mode 2.

diff --git a/firmware/control.c b/firmware/control.c
index a789acce1b7a57827d3328b51dbd32879cf1ea0b..8477722f86bd8095d461af75735c90e991b6c4c1 100644 (file)
--- a/firmware/control.c
+++ b/firmware/control.c
@@ -28,12 +28,6 @@ static pattern_t panic_pattern[] = {
        PATTERN_END
 };
 
-static pattern_t brake_pattern [] = {
-       { 4, D_2 },
-       { 3, D_8 },
-       PATTERN_END
-};
-
 static pattern_t slow_pattern[] = {
        { PWM_PAT(1, 0, 0), D_1 },
        { PWM_PAT(0, 0, 1), D_1 },
@@ -70,7 +64,8 @@ pattern_t on_pattern[] = {
        PATTERN_END
 };
 
-static unsigned char dim_mode, towbar_mode, braking;
+volatile unsigned char braking;
+static unsigned char dim_mode, towbar_mode;
 
 void init_control()
 {
@@ -84,7 +79,7 @@ void brake_on()
        braking = 1;
        gpio_set(0, 1);
        led_set_pattern(N_STATUS_LED, status_led_pattern_select());
-       led_set_pattern(0, pwmled_pattern_select());
+       pwmleds_update_mode();
 }
 
 void brake_off()
@@ -92,7 +87,7 @@ void brake_off()
        braking = 0;
        gpio_set(0, 0);
        led_set_pattern(N_STATUS_LED, status_led_pattern_select());
-       led_set_pattern(0, pwmled_pattern_select());
+       pwmleds_update_mode();
 }
 
 void toggle_dim_mode()
@@ -112,12 +107,6 @@ pattern_t *pwmled_pattern_select()
        if (battery_critical)
                return slow_pattern;
 
-       if (towbar_mode)
-               return NULL;
-
-       if (braking)
-               return brake_pattern;
-
        switch (ambient_zone) {
        case 0: return night_pattern;
        case 1:

diff --git a/firmware/lights.h b/firmware/lights.h
index 26f7372988d00bff323654f41adea2459581b59f..2c06b57e910b2288d296893457f6a1ceda71e538 100644 (file)
--- a/firmware/lights.h
+++ b/firmware/lights.h
@@ -108,6 +108,7 @@ void patterns_next_tick();
 void led_set_pattern(unsigned char led, pattern_t *pattern);
 pattern_t *number_pattern(unsigned char num, unsigned char inv);
 void pattern_reload();
+void pwmleds_update_mode();
 
 /* buttons.c */
 #define MAX_USER_PARAMS 3
@@ -129,6 +130,7 @@ unsigned char battery_gauge();
 
 /* control.c */
 extern pattern_t on_pattern[];
+extern volatile unsigned char braking;
 
 void init_control();
 void brake_on();

diff --git a/firmware/pattern.c b/firmware/pattern.c
index ab63e3482e3516cb69577fcfb1240aa9793afd21..c9f4ded4ef230142fc77adecf7669ade8ec1074a 100644 (file)
--- a/firmware/pattern.c
+++ b/firmware/pattern.c
@@ -85,11 +85,41 @@ pattern_t off_pattern[] = {
        PATTERN_END
 };
 
-static void inline pwmleds_set_mode(unsigned char mode)
+/*
+ * This is tricky: we use a single pattern for all three pwmleds,
+ * but on some occasions, we want to be able to modify only a single
+ * pwmled status without affecting other outputs. For example, during
+ * braking, we want to modify only the rear pwmled status. We don't
+ * use a separate "braking" pattern for every other pattern used, but instead
+ * we change the pwmled0 status regardless of the original value when
+ * braking. The rule is the following:
+ * - if during braking the pwmled2 (front) is at mode 2, we switch it to
+ *   mode 3 (which has the same target current) to avoid flicker.
+ * - if pwmled0 (rear) is off, we set it to mode 2
+ *     (if it is with mode 1, we keep it at mode 1)
+ * TODO: something similar should be done for the "entering the dark area"
+ *     condition, where we want to switch pwmled2 (front) on, to mode 2.
+ */
+void pwmleds_update_mode()
 {
-       pwmled_set_mode(0, mode & 3);
-       pwmled_set_mode(1, (mode >> 2) & 1);
-       pwmled_set_mode(2, (mode >> 3) & 3);
+       unsigned char mode, mode0, mode1, mode2;
+
+       mode = led_patterns[0]->mode;
+
+       mode0 = mode & 3;
+       mode1 = (mode >> 2) & 1;
+       mode2 = (mode >> 3) & 3;
+
+       if (braking) {
+               if (!mode0)
+                       mode0 = 2;
+               if (mode2 == 2)
+                       mode2 = 3;
+       }
+
+       pwmled_set_mode(0, mode0);
+       pwmled_set_mode(1, mode1);
+       pwmled_set_mode(2, mode2);
 }
 
 void led_set_pattern(unsigned char n, pattern_t *pattern)
@@ -102,7 +132,7 @@ void led_set_pattern(unsigned char n, pattern_t *pattern)
        led_counters[n] = fibonacci[pattern->duration_fib];
 
        if (n == 0) {
-               pwmleds_set_mode(pattern->mode);
+               pwmleds_update_mode();
        } else if (n < N_LEDS) {
                gpio_set(n - 1, pattern->mode);
        }