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Bluetooth: Mesh: Recalculate regulator internal sum #11713

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Aug 21, 2023
Merged

Bluetooth: Mesh: Recalculate regulator internal sum #11713

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7dc35cc
tests: bluetooth: mesh: light_ctrl: Use system time instead of mocking
PavelVPV Jul 5, 2023
6f6fab6
tests: bluetooth: mesh: light_ctrl: Avoid long exec time in reg test
PavelVPV Jul 6, 2023
06a4de1
Bluetooth: Mesh: Recalculate regulator internal sum
PavelVPV Jul 6, 2023
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19 changes: 15 additions & 4 deletions include/bluetooth/mesh/light_ctrl_reg.h
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Original file line number Diff line number Diff line change
Expand Up @@ -39,11 +39,22 @@ struct bt_mesh_light_ctrl_reg_cfg {

/** Common regulator context */
struct bt_mesh_light_ctrl_reg {
/** Initialize the regulator. */
/** Initialize the regulator.
*
* @param[in] reg Illuminance regulator instance.
*/
void (*init)(struct bt_mesh_light_ctrl_reg *reg);
/** Start the regulator. */
void (*start)(struct bt_mesh_light_ctrl_reg *reg);
/** Stop the regulator. */
/** Start the regulator.
*
* @param[in] reg Illuminance regulator instance.
* @param[in] lightness Current lightness level
* value equal to @c lightness.
*/
void (*start)(struct bt_mesh_light_ctrl_reg *reg, uint16_t lightness);
/** Stop the regulator.
*
* @param[in] reg Illuminance regulator instance.
*/
void (*stop)(struct bt_mesh_light_ctrl_reg *reg);
/** Regulator configuration. */
struct bt_mesh_light_ctrl_reg_cfg cfg;
Expand Down
4 changes: 3 additions & 1 deletion include/bluetooth/mesh/light_ctrl_reg_spec.h
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Expand Up @@ -43,11 +43,13 @@ struct bt_mesh_light_ctrl_reg_spec {
float i;
/** Regulator enabled flag. */
bool enabled;
/* If true, internal integral sum can be negative until it becomes positive. */
bool neg;
};

/** @cond INTERNAL_HIDDEN */
void bt_mesh_light_ctrl_reg_spec_init(struct bt_mesh_light_ctrl_reg *reg);
void bt_mesh_light_ctrl_reg_spec_start(struct bt_mesh_light_ctrl_reg *reg);
void bt_mesh_light_ctrl_reg_spec_start(struct bt_mesh_light_ctrl_reg *reg, uint16_t lightness);
void bt_mesh_light_ctrl_reg_spec_stop(struct bt_mesh_light_ctrl_reg *reg);
/** @endcond */

Expand Down
2 changes: 1 addition & 1 deletion include/bluetooth/mesh/light_ctrl_srv.h
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Original file line number Diff line number Diff line change
Expand Up @@ -186,7 +186,7 @@ struct bt_mesh_light_ctrl_srv {
struct bt_mesh_light_ctrl_reg *reg;
/** Previous regulator value */
uint16_t reg_prev;
#endif
#endif /* CONFIG_BT_MESH_LIGHT_CTRL_SRV_REG */
/** Lightness server instance */
struct bt_mesh_lightness_srv *lightness;
/** Extended Generic OnOff server */
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74 changes: 55 additions & 19 deletions subsys/bluetooth/mesh/light_ctrl_reg_spec.c
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Expand Up @@ -8,24 +8,19 @@

#define REG_INT CONFIG_BT_MESH_LIGHT_CTRL_REG_SPEC_INTERVAL

static void reg_step(struct k_work *work)
{
struct k_work_delayable *dwork = k_work_delayable_from_work(work);
struct bt_mesh_light_ctrl_reg_spec *spec_reg = CONTAINER_OF(
dwork, struct bt_mesh_light_ctrl_reg_spec, timer);

if (!spec_reg->enabled) {
/* The regulator might be disabled asynchronously. */
return;
}

k_work_reschedule(&spec_reg->timer, K_MSEC(REG_INT));
struct reg_terms {
float i;
float p;
};

static struct reg_terms reg_terms_calc(struct bt_mesh_light_ctrl_reg_spec *spec_reg)
{
float target = bt_mesh_light_ctrl_reg_target_get(&spec_reg->reg);
float error = target - spec_reg->reg.measured;
/* Accuracy should be in percent and both up and down: */
float accuracy = (spec_reg->reg.cfg.accuracy * target) / (2 * 100.0f);
float input;
float kp, ki;

if (error > accuracy) {
input = error - accuracy;
Expand All @@ -35,8 +30,6 @@ static void reg_step(struct k_work *work)
input = 0.0f;
}

float kp, ki;

if (input >= 0) {
kp = spec_reg->reg.cfg.kp.up;
ki = spec_reg->reg.cfg.ki.up;
Expand All @@ -45,21 +38,64 @@ static void reg_step(struct k_work *work)
ki = spec_reg->reg.cfg.ki.down;
}

spec_reg->i += (input * ki) * ((float)REG_INT / (float)MSEC_PER_SEC);
spec_reg->i = CLAMP(spec_reg->i, 0, UINT16_MAX);
return (struct reg_terms){
.i = ((input) * (ki) * ((float)REG_INT / (float)MSEC_PER_SEC)),
.p = input * kp,
};
}

static void reg_step(struct k_work *work)
{
struct k_work_delayable *dwork = k_work_delayable_from_work(work);
struct bt_mesh_light_ctrl_reg_spec *spec_reg = CONTAINER_OF(
dwork, struct bt_mesh_light_ctrl_reg_spec, timer);
struct reg_terms reg_terms;

if (!spec_reg->enabled) {
/* The regulator might be disabled asynchronously. */
return;
}

k_work_reschedule(&spec_reg->timer, K_MSEC(REG_INT));

reg_terms = reg_terms_calc(spec_reg);
spec_reg->i += reg_terms.i;

if (spec_reg->i >= 0) {
/* Drop the negative flag as soon as the internal sum becomes positive. */
spec_reg->neg = false;
}

if (!spec_reg->neg) {
spec_reg->i = CLAMP(spec_reg->i, 0, UINT16_MAX);
}

float p = input * kp;
float output = spec_reg->i + p;
float output = spec_reg->i + reg_terms.p;

spec_reg->reg.updated(&spec_reg->reg, output);
}

void bt_mesh_light_ctrl_reg_spec_start(struct bt_mesh_light_ctrl_reg *reg)
static void internal_sum_recover(struct bt_mesh_light_ctrl_reg_spec *spec_reg, uint16_t lightness)
{
struct reg_terms reg_terms;

reg_terms = reg_terms_calc(spec_reg);

/* Recalculate the internal sum so that it is equal to the passed lightness level at the
* next regulator step.
*/
spec_reg->i = lightness - reg_terms.i;
/* Allow the internal sum to be negative until it becomes positive. */
spec_reg->neg = true;
}

void bt_mesh_light_ctrl_reg_spec_start(struct bt_mesh_light_ctrl_reg *reg, uint16_t lightness)
{
struct bt_mesh_light_ctrl_reg_spec *spec_reg = CONTAINER_OF(
reg, struct bt_mesh_light_ctrl_reg_spec, reg);
spec_reg->enabled = true;
k_work_schedule(&spec_reg->timer, K_MSEC(REG_INT));
internal_sum_recover(spec_reg, lightness);
}

void bt_mesh_light_ctrl_reg_spec_stop(struct bt_mesh_light_ctrl_reg *reg)
Expand Down
39 changes: 19 additions & 20 deletions subsys/bluetooth/mesh/light_ctrl_srv.c
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Original file line number Diff line number Diff line change
Expand Up @@ -56,25 +56,6 @@ static void restart_timer(struct bt_mesh_light_ctrl_srv *srv, uint32_t delay)
k_work_reschedule(&srv->timer, K_MSEC(delay));
}

static void reg_start(struct bt_mesh_light_ctrl_srv *srv)
{
#if CONFIG_BT_MESH_LIGHT_CTRL_SRV_REG
if (srv->reg && srv->reg->start) {
srv->reg->start(srv->reg);
}
#endif
}

static void reg_stop(struct bt_mesh_light_ctrl_srv *srv)
{
#if CONFIG_BT_MESH_LIGHT_CTRL_SRV_REG
if (srv->reg && srv->reg->stop) {
srv->reg->stop(srv->reg);
}
#endif
}


static inline uint32_t to_centi_lux(const struct sensor_value *lux)
{
return lux->val1 * 100L + lux->val2 / 10000L;
Expand Down Expand Up @@ -539,6 +520,24 @@ static void ctrl_enable(struct bt_mesh_light_ctrl_srv *srv)
/* Regulator remains stopped until fresh LuxLevel is received. */
}

static void reg_start(struct bt_mesh_light_ctrl_srv *srv)
{
#if CONFIG_BT_MESH_LIGHT_CTRL_SRV_REG
if (srv->reg && srv->reg->start) {
srv->reg->start(srv->reg, to_linear(light_get(srv)));
}
#endif
}

static void reg_stop(struct bt_mesh_light_ctrl_srv *srv)
{
#if CONFIG_BT_MESH_LIGHT_CTRL_SRV_REG
if (srv->reg && srv->reg->stop) {
srv->reg->stop(srv->reg);
}
#endif
}

static void ctrl_disable(struct bt_mesh_light_ctrl_srv *srv)
{
/* Do not change the light level, disabling the control server just
Expand Down Expand Up @@ -589,7 +588,7 @@ static void timeout(struct k_work *work)
* of the transition:
*/
if (atomic_test_and_clear_bit(&srv->flags, FLAG_TRANSITION)) {
LOG_DBG("Transition complete");
LOG_DBG("Transition complete. State: %d", srv->state);

/* If the fade wasn't instant, we've already published the
* steady state in the state change function.
Expand Down
8 changes: 4 additions & 4 deletions tests/subsys/bluetooth/mesh/light_ctrl/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -36,13 +36,13 @@ target_compile_options(app
-DCONFIG_BT_MESH_LIGHT_CTRL_SRV_TIME_MANUAL=5
-DCONFIG_BT_MESH_LIGHT_CTRL_SRV_OCCUPANCY_MODE=1
-DCONFIG_BT_MESH_LIGHT_CTRL_SRV_OCCUPANCY_DELAY=0
-DCONFIG_BT_MESH_LIGHT_CTRL_SRV_TIME_FADE_ON=500
-DCONFIG_BT_MESH_LIGHT_CTRL_SRV_TIME_ON=3
-DCONFIG_BT_MESH_LIGHT_CTRL_SRV_TIME_FADE_ON=1000
-DCONFIG_BT_MESH_LIGHT_CTRL_SRV_TIME_ON=60
-DCONFIG_BT_MESH_LIGHT_CTRL_SRV_TIME_FADE_PROLONG=5000
-DCONFIG_BT_MESH_LIGHT_CTRL_SRV_TIME_FADE_STANDBY_AUTO=5000
-DCONFIG_BT_MESH_LIGHT_CTRL_SRV_TIME_PROLONG=3
-DCONFIG_BT_MESH_LIGHT_CTRL_SRV_TIME_FADE_STANDBY_MANUAL=500
-DCONFIG_BT_MESH_LIGHT_CTRL_SRV_LVL_STANDBY=500
-DCONFIG_BT_MESH_LIGHT_CTRL_SRV_TIME_FADE_STANDBY_MANUAL=700
-DCONFIG_BT_MESH_LIGHT_CTRL_SRV_LVL_STANDBY=700
-DCONFIG_BT_MESH_LIGHT_CTRL_SRV_LVL_ON=20000
-DCONFIG_BT_MESH_LIGHT_CTRL_SRV_LVL_PROLONG=10000
-DCONFIG_BT_MESH_LIGHT_CTRL_SRV_REG=1
Expand Down
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