Diff: led.cpp

Revision:

0:8a2dd255c508

Child:

1:a6728adaf7e7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/led.cpp	Sat Nov 26 17:28:53 2016 +0000
@@ -0,0 +1,157 @@
+#include "robot.h"
+
+// 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).
+//
+// 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.
+//
+// Their state is controlled solely by each LEDs PWM control - which is a 1 byte value between 0 (fully off) and 255 (fully on)
+
+char red_led_states [8];
+char green_led_states [8];
+
+
+
+void Led::set_green_led (char led, char brightness)
+{
+    if(led < 8) {
+        green_led_states [led] = brightness;
+        char data[2];
+        data[0] = 3 + led + led;
+        data[1] = brightness;
+        if(i2c_lock==0){
+        i2c_lock = 1;
+        primary_i2c.write(LED_ADDRESS,data,2);
+        }i2c_lock = 0;
+    }
+}
+
+void Led::set_red_led (char led, char brightness)
+{
+    
+    if(led < 8) {
+        red_led_states [led] = brightness;
+        char data[2];
+        data[0] = 2 + led + led;
+        data[1] = brightness;
+        if(i2c_lock==0){
+        i2c_lock = 1;
+        primary_i2c.write(LED_ADDRESS,data,2);  
+        }i2c_lock = 0;
+    }
+}
+
+int Led::reset_led_driver()
+{
+    // The TLC59116 has a software reset option over i2c:
+    // The bytes A5h, 5Ah are sent to special address D6h
+    char data[2];
+    data[0] = 0xA5;
+    data[1] = 0x5A;
+    return primary_i2c.write(0xD6,data,2);
+}
+
+int Led::init_led_driver()
+{
+    // This code enables the LED outputs so all LEDs are on, and are set to work on individual PWM control
+    //
+    // First we write 0x80 to the Mode 1 register (0x00) to enable the oscillator and register auto-increment
+    char data[2];
+    data[0]=0x00;
+    data[1]=0x80;
+    int okay = primary_i2c.write(LED_ADDRESS,data,2,false);
+    if(okay == 0) {
+        // Now we turn all the LEDs the enable on PWM control
+        data[0]=0x14;
+        data[1]=0xAA;
+        primary_i2c.write(LED_ADDRESS,data,2,false);
+        data[0]=0x15;
+        data[1]=0xAA;
+        primary_i2c.write(LED_ADDRESS,data,2,false);
+        data[0]=0x16;
+        data[1]=0xAA;
+        primary_i2c.write(LED_ADDRESS,data,2,false);
+        data[0]=0x17;
+        data[1]=0xAA;
+        primary_i2c.write(LED_ADDRESS,data,2,false);
+    }
+    return okay;
+}
+
+int led_ticker_sub_state = 0;
+char led_ticker_state = 0;
+char increment = 1;
+Ticker led_ticker;
+
+void Led::start_test()
+{
+    led_ticker.attach(this,&Led::test_ticker_routine,0.02);
+}
+
+void Led::test_ticker_routine()
+{
+    led_ticker_sub_state += increment;
+    increment += 1;
+    if(led_ticker_sub_state > 250) {
+        led_ticker_sub_state = 0;
+             led_ticker_state ++;
+        increment = 1;
+        if (led_ticker_state == 24) led_ticker_state = 0;
+    }
+        char working_led = led_ticker_state % 8;
+
+    if(led_ticker_state < 8 || led_ticker_state > 15) set_green_led(working_led, led_ticker_sub_state );
+    else set_green_led(working_led, 0);
+    if(led_ticker_state > 7) set_red_led(working_led, led_ticker_sub_state );
+    else set_red_led(working_led, 0);
+    if(led_ticker_sub_state == 0) {
+   
+    }
+}
+
+/*
+
+//Setup the LED driver [TLC59116]; address is 1100 000 (0xC0) {defined by LED_ADDRESS}
+    //Enable the output oscillator in mode 1 register (00h)
+
+    char ret_data[32];
+    for(int i=0;i<31;i++){
+    data[0]=i;
+    primary_i2c.write(LED_ADDRESS,data,1,false);
+    primary_i2c.read(LED_ADDRESS,ret_data+i,1);
+    }
+      for(int i=0;i<31;i++){
+        pc.printf("Register %X : %X\n",i,ret_data[i]);
+    }
+
+    wait(2);
+    data[0]=0x00;
+    data[1]=0x00;
+    primary_i2c.write(LED_ADDRESS,data,2,false);
+
+    wait(0.05);
+    data[0]=0x14;
+    data[1]=0x55;
+    primary_i2c.write(LED_ADDRESS,data,2,false);
+        wait(0.05);
+    data[0]=0x15;
+    data[1]=0x66;
+    primary_i2c.write(LED_ADDRESS,data,2,false);
+        wait(0.05);
+    data[0]=0x16;
+    data[1]=0x66;
+    primary_i2c.write(LED_ADDRESS,data,2,false);
+        wait(0.05);
+    data[0]=0x17;
+    data[1]=0x55;
+    primary_i2c.write(LED_ADDRESS,data,2,false);
+
+    for(int i=0;i<31;i++){
+    data[0]=i;
+    primary_i2c.write(LED_ADDRESS,data,1,false);
+    primary_i2c.read(LED_ADDRESS,ret_data+i,1);
+    }
+      for(int i=0;i<31;i++){
+        pc.printf("Register %X : %X\n",i,ret_data[i]);
+    }
+
+*/
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