Psi Swarm Robot / PRRobot

Practical Robotics Modular Robot Library

Dependents:   ModularRobot

led.cpp@1:a6728adaf7e7, 2016-11-26 (annotated)

Committer:
jah128
Date:
Sat Nov 26 21:43:52 2016 +0000
Revision:
1:a6728adaf7e7
Parent:
0:8a2dd255c508
Child:
3:8762f6b2ea8d
Added docs, debug

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 0:8a2dd255c508 1 #include "robot.h"
jah128 0:8a2dd255c508 2
jah128 0:8a2dd255c508 3 // The LED driver is quite powerful in terms of how it can be used (LEDs can be grouped, have individual and group PWM control, can be blinked etc).
jah128 0:8a2dd255c508 4 //
jah128 0:8a2dd255c508 5 // To keep things relatively simple, in this version of the code, we will not use the groups or blinking functions, and will have all LEDs enabled.
jah128 0:8a2dd255c508 6 //
jah128 0:8a2dd255c508 7 // Their state is controlled solely by each LEDs PWM control - which is a 1 byte value between 0 (fully off) and 255 (fully on)
jah128 0:8a2dd255c508 8
jah128 0:8a2dd255c508 9 char red_led_states [8];
jah128 0:8a2dd255c508 10 char green_led_states [8];
jah128 0:8a2dd255c508 11
jah128 0:8a2dd255c508 12 void Led::set_green_led (char led, char brightness)
jah128 0:8a2dd255c508 13 {
jah128 0:8a2dd255c508 14 if(led < 8) {
jah128 0:8a2dd255c508 15 green_led_states [led] = brightness;
jah128 0:8a2dd255c508 16 char data[2];
jah128 0:8a2dd255c508 17 data[0] = 3 + led + led;
jah128 0:8a2dd255c508 18 data[1] = brightness;
jah128 0:8a2dd255c508 19 if(i2c_lock==0){
jah128 0:8a2dd255c508 20 i2c_lock = 1;
jah128 0:8a2dd255c508 21 primary_i2c.write(LED_ADDRESS,data,2);
jah128 0:8a2dd255c508 22 }i2c_lock = 0;
jah128 0:8a2dd255c508 23 }
jah128 0:8a2dd255c508 24 }
jah128 0:8a2dd255c508 25
jah128 0:8a2dd255c508 26 void Led::set_red_led (char led, char brightness)
jah128 0:8a2dd255c508 27 {
jah128 0:8a2dd255c508 28
jah128 0:8a2dd255c508 29 if(led < 8) {
jah128 0:8a2dd255c508 30 red_led_states [led] = brightness;
jah128 0:8a2dd255c508 31 char data[2];
jah128 0:8a2dd255c508 32 data[0] = 2 + led + led;
jah128 0:8a2dd255c508 33 data[1] = brightness;
jah128 0:8a2dd255c508 34 if(i2c_lock==0){
jah128 0:8a2dd255c508 35 i2c_lock = 1;
jah128 0:8a2dd255c508 36 primary_i2c.write(LED_ADDRESS,data,2);
jah128 0:8a2dd255c508 37 }i2c_lock = 0;
jah128 0:8a2dd255c508 38 }
jah128 0:8a2dd255c508 39 }
jah128 0:8a2dd255c508 40
jah128 0:8a2dd255c508 41 int Led::reset_led_driver()
jah128 0:8a2dd255c508 42 {
jah128 0:8a2dd255c508 43 // The TLC59116 has a software reset option over i2c:
jah128 0:8a2dd255c508 44 // The bytes A5h, 5Ah are sent to special address D6h
jah128 0:8a2dd255c508 45 char data[2];
jah128 0:8a2dd255c508 46 data[0] = 0xA5;
jah128 0:8a2dd255c508 47 data[1] = 0x5A;
jah128 0:8a2dd255c508 48 return primary_i2c.write(0xD6,data,2);
jah128 0:8a2dd255c508 49 }
jah128 0:8a2dd255c508 50
jah128 0:8a2dd255c508 51 int Led::init_led_driver()
jah128 0:8a2dd255c508 52 {
jah128 0:8a2dd255c508 53 // This code enables the LED outputs so all LEDs are on, and are set to work on individual PWM control
jah128 0:8a2dd255c508 54 //
jah128 0:8a2dd255c508 55 // First we write 0x80 to the Mode 1 register (0x00) to enable the oscillator and register auto-increment
jah128 0:8a2dd255c508 56 char data[2];
jah128 0:8a2dd255c508 57 data[0]=0x00;
jah128 0:8a2dd255c508 58 data[1]=0x80;
jah128 0:8a2dd255c508 59 int okay = primary_i2c.write(LED_ADDRESS,data,2,false);
jah128 0:8a2dd255c508 60 if(okay == 0) {
jah128 0:8a2dd255c508 61 // Now we turn all the LEDs the enable on PWM control
jah128 0:8a2dd255c508 62 data[0]=0x14;
jah128 0:8a2dd255c508 63 data[1]=0xAA;
jah128 0:8a2dd255c508 64 primary_i2c.write(LED_ADDRESS,data,2,false);
jah128 0:8a2dd255c508 65 data[0]=0x15;
jah128 0:8a2dd255c508 66 data[1]=0xAA;
jah128 0:8a2dd255c508 67 primary_i2c.write(LED_ADDRESS,data,2,false);
jah128 0:8a2dd255c508 68 data[0]=0x16;
jah128 0:8a2dd255c508 69 data[1]=0xAA;
jah128 0:8a2dd255c508 70 primary_i2c.write(LED_ADDRESS,data,2,false);
jah128 0:8a2dd255c508 71 data[0]=0x17;
jah128 0:8a2dd255c508 72 data[1]=0xAA;
jah128 0:8a2dd255c508 73 primary_i2c.write(LED_ADDRESS,data,2,false);
jah128 0:8a2dd255c508 74 }
jah128 0:8a2dd255c508 75 return okay;
jah128 0:8a2dd255c508 76 }
jah128 0:8a2dd255c508 77
jah128 0:8a2dd255c508 78 int led_ticker_sub_state = 0;
jah128 0:8a2dd255c508 79 char led_ticker_state = 0;
jah128 0:8a2dd255c508 80 char increment = 1;
jah128 0:8a2dd255c508 81 Ticker led_ticker;
jah128 0:8a2dd255c508 82
jah128 0:8a2dd255c508 83 void Led::start_test()
jah128 0:8a2dd255c508 84 {
jah128 0:8a2dd255c508 85 led_ticker.attach(this,&Led::test_ticker_routine,0.02);
jah128 0:8a2dd255c508 86 }
jah128 0:8a2dd255c508 87
jah128 0:8a2dd255c508 88 void Led::test_ticker_routine()
jah128 0:8a2dd255c508 89 {
jah128 0:8a2dd255c508 90 led_ticker_sub_state += increment;
jah128 0:8a2dd255c508 91 increment += 1;
jah128 0:8a2dd255c508 92 if(led_ticker_sub_state > 250) {
jah128 0:8a2dd255c508 93 led_ticker_sub_state = 0;
jah128 0:8a2dd255c508 94 led_ticker_state ++;
jah128 0:8a2dd255c508 95 increment = 1;
jah128 0:8a2dd255c508 96 if (led_ticker_state == 24) led_ticker_state = 0;
jah128 0:8a2dd255c508 97 }
jah128 0:8a2dd255c508 98 char working_led = led_ticker_state % 8;
jah128 0:8a2dd255c508 99
jah128 0:8a2dd255c508 100 if(led_ticker_state < 8 || led_ticker_state > 15) set_green_led(working_led, led_ticker_sub_state );
jah128 0:8a2dd255c508 101 else set_green_led(working_led, 0);
jah128 0:8a2dd255c508 102 if(led_ticker_state > 7) set_red_led(working_led, led_ticker_sub_state );
jah128 0:8a2dd255c508 103 else set_red_led(working_led, 0);
jah128 0:8a2dd255c508 104 if(led_ticker_sub_state == 0) {
jah128 0:8a2dd255c508 105
jah128 0:8a2dd255c508 106 }
jah128 0:8a2dd255c508 107 }