Revision 0:89b87662e64b, committed 2020-09-29

Comitter:

elab

Date:

Tue Sep 29 09:08:55 2020 +0000

Commit message:

first version

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AsyncBuzzerLib.lib	Tue Sep 29 09:08:55 2020 +0000
@@ -0,0 +1,1 @@
+https://developer.mbed.org/teams/CreaLab/code/AsyncBuzzerLib/#91de3af62626

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LED_WS2812/LED_WS2812.cpp	Tue Sep 29 09:08:55 2020 +0000
@@ -0,0 +1,209 @@
+#include "LED_WS2812.h"
+
+
+
+LED_WS2812::LED_WS2812(PinName _PinOut, int _nbLeds) {
+     nbLeds = _nbLeds;
+    double period_ns;
+     Timer tuneTimings;
+     int sum = 0;
+     int nopRun;
+     
+     for(int kavg = 0; kavg<20;kavg++) {
+         tuneTimings.reset();
+         tuneTimings.start();
+         for(int nopCount=0; nopCount < 10000; nopCount ++) {
+             __nop();
+         }
+         tuneTimings.stop();
+         nopRun = tuneTimings.read_us();
+         sum=nopRun+sum;
+     }
+     period_ns = sum/200; /* *1000 for nanoseconds /20 average /10000 count */
+     
+     int zero_high = ZERO_HIGH/period_ns;
+     int zero_low  = ZERO_LOW/period_ns;
+     int one_high  = ONE_HIGH/period_ns;
+     int one_low   = ONE_LOW/period_ns;
+     
+     ws = new WS2812(_PinOut, nbLeds,  zero_high, zero_low, one_high, one_low);
+     ws->useII(WS2812::PER_PIXEL);
+    
+    pxArray = new PixelArray(nbLeds);
+    pxInsert = new PixelArray(nbLeds);
+    ResetColor();
+    rotationState = false;
+    rotationPosition = nbLeds-1;
+    blinkState = false;
+    blinkONOFF = false;
+    intensity = 0xff;
+};
+  
+LED_WS2812::~LED_WS2812() {
+    delete(ws);
+    delete(pxArray);
+}
+
+
+
+void LED_WS2812::SetColor(LED_COLORS _color, int position) {
+      SetColor((unsigned int) _color, position);
+};
+
+void LED_WS2812::SetColor(unsigned int _color, int position) {
+      if(position < nbLeds && position >=0 ) {
+          pxArray->Set(position, _color);
+          pxArray->SetI(position,intensity);
+      
+      }
+      __writeBuf(0);
+      nbInsert = 0;
+      if(rotationState) StopRotation();
+       rotationPosition = nbLeds;
+};
+
+void LED_WS2812::SetColor(LED_COLORS _color) {
+      SetColor((unsigned int) _color);
+};
+
+void LED_WS2812::SetColor(unsigned int _color) {
+      for(int i=0;i<nbLeds;i++) {
+          pxArray->Set(i, _color);
+          pxArray->SetI(i,intensity);
+     }
+       __writeBuf(0);
+     nbInsert = 0;
+     if(rotationState) StopRotation();
+      rotationPosition = nbLeds;
+};
+
+
+void LED_WS2812::ResetColor() {
+     SetColor(BLACK);
+                  
+ }
+
+void LED_WS2812::__writeBuf(int z) {
+     ws->write_offsets(pxArray->getBuf(),z,z,z);
+     wait(0.01);
+ }
+ 
+void LED_WS2812::__insert2buf() {
+     for(int i=0;i<nbLeds;i++) {
+          pxArray->Set(i, pxInsert->Get(i%nbInsert));
+      }
+      __writeBuf(0);
+      rotationPosition = nbLeds;    
+}
+
+void LED_WS2812::__insertColor(unsigned int _color, int _intensity) {
+      pxInsert->Set(nbInsert%nbLeds,_color);
+      pxInsert->SetI(nbInsert%nbLeds,_intensity);
+      nbInsert++;
+      
+};
+ 
+void LED_WS2812::InsertColor(unsigned int _color) {
+      InsertColor(_color,intensity*100/0xFF);
+};
+
+
+void LED_WS2812::InsertColor(unsigned int _color, float brightness) {
+       int pixelIntensity = brightness*0xFF/100;
+       __insertColor(_color, pixelIntensity);
+       __insert2buf();
+};
+
+
+void LED_WS2812::InsertColorNtimes(int N, unsigned int _color, float brightness) {
+       for(int i=0;i<N;i++) {
+             InsertColor(_color, brightness);
+       }
+};
+    
+void LED_WS2812::InsertColorNtimes(int N, unsigned int _color) {
+       InsertColorNtimes(N, _color, intensity*100/0xFF);
+};
+      
+    
+void LED_WS2812::InsertColor(LED_COLORS _color) {
+      InsertColor((unsigned int)_color);
+};
+   
+ 
+void LED_WS2812::InsertColor(LED_COLORS _color, float brightness) {
+     InsertColor((unsigned int)_color, brightness);
+};
+
+
+void LED_WS2812::InsertColorNtimes(int N, LED_COLORS _color, float brightness) {
+      InsertColorNtimes(N, (unsigned int)_color, brightness);
+};
+    
+void LED_WS2812::InsertColorNtimes(int N, LED_COLORS _color) {
+       InsertColorNtimes(N, _color, intensity*100/0xFF);
+};
+      
+   
+void LED_WS2812::SetIntensity(float perCent) {
+    intensity = perCent*0xFF/100;
+    ws->setII(intensity);
+    for(int i=0;i<nbLeds;i++) {
+            pxArray->SetI(i,intensity);
+    }
+}
+ 
+void LED_WS2812::StartRotation(float interval) {
+    if(rotationState==false) {
+       rotationState = true;
+       LEDSystemTick.attach_us(callback(this, &LED_WS2812::Rotate), interval*1000000);
+    }
+}
+
+
+void LED_WS2812::StopRotation() {
+    if(rotationState==true) {
+        rotationState = false;
+        rotationPosition = 0;
+        LEDSystemTick.detach();
+    }
+}
+
+void LED_WS2812::Rotate() {
+    rotationPosition--;
+    if (rotationPosition == -1)
+        rotationPosition = nbLeds-1;
+    if(!blinkState)  __writeBuf(rotationPosition);
+}
+
+
+void LED_WS2812::StartBlink(float interval) {
+    StopBlink();
+    if(blinkState==false) {
+       blinkState = true;
+       LEDBlinkSystemTick.attach_us(callback(this, &LED_WS2812::Blink), interval*1000000);
+    }
+}
+
+
+void LED_WS2812::StopBlink() {
+    if(blinkState==true) {
+        blinkState = false;
+        LEDBlinkSystemTick.detach();
+    }
+}
+
+void LED_WS2812::Blink() {
+    blinkONOFF = !blinkONOFF;
+    if (blinkONOFF)
+        __writeBuf(rotationPosition);
+    else {
+            ws->useII(WS2812::GLOBAL);
+            ws->setII(0);
+           __writeBuf(rotationPosition);
+            ws->useII(WS2812::PER_PIXEL);
+            ws->setII(intensity);
+            
+    }
+        
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LED_WS2812/LED_WS2812.h	Tue Sep 29 09:08:55 2020 +0000
@@ -0,0 +1,84 @@
+
+#ifndef LED_WS2812_H
+#define LED_WS2812_H
+
+#include "mbed.h"
+#include "WS2812.h"
+#include "PixelArray.h"
+
+/*
+#define ZERO_HIGH  250.0
+#define ZERO_LOW  1000.0
+#define ONE_HIGH  1000.0
+#define ONE_LOW   250.0
+*/
+#define ZERO_HIGH  200.0
+#define ZERO_LOW  800.0
+#define ONE_HIGH  800.0
+#define ONE_LOW   200.0
+
+ typedef enum _LED_COLORS {
+        BLUE        = 0x0000FF,
+        LIGHTBLUE   = 0x00FFF6,
+        RED         = 0xFF0000,
+        ORANGE      = 0xFF3500,
+        GREEN       = 0X00FF00,
+        BLACK       = 0X000000,
+        WHITE       = 0XFFFFFF,
+        PURPLE      = 0XFF00FF,
+        PINK        = 0XFF84A3,
+        YELLOW      = 0XFFFF00,
+        DARK_YELLOW      = 0X555500,
+        DEFAULT     = 0x000000
+    } LED_COLORS;
+    
+class LED_WS2812
+{
+public:
+    LED_WS2812(PinName _PinOut,  int _nbLeds);
+    ~LED_WS2812();
+    void SetColor(LED_COLORS _color, int position);
+    void SetColor(unsigned int _color, int position);
+    void SetColor(unsigned int _color);
+    void SetColor(LED_COLORS _color);
+    void ResetColor();
+    void SetIntensity(float perCent);
+ 
+    void InsertColor(unsigned int _color);
+    void InsertColor(unsigned int _color, float brightness);
+    void InsertColorNtimes(int N, unsigned int _color, float brightness);  
+    void InsertColorNtimes(int N, unsigned int _color);
+
+    void InsertColor(LED_COLORS _color);
+    void InsertColor(LED_COLORS _color, float brightness);
+    void InsertColorNtimes(int N, LED_COLORS _color, float brightness);  
+    void InsertColorNtimes(int N, LED_COLORS _color);
+
+    void StartRotation(float interval); // interval in s
+    void StopRotation();  // 
+    void Rotate(); // One Rotation
+    
+    void StartBlink(float interval); // interval in s
+    void StopBlink();  //
+    void Blink(); // One Rotation
+      
+private:
+    void __writeBuf(int z);
+    void __insert2buf();
+    void __insertColor(unsigned int _color, int _intensity);
+
+    WS2812 *ws;
+    int nbLeds;
+    PixelArray *pxArray;
+    int nbInsert;
+    PixelArray *pxInsert;
+    Ticker  LEDSystemTick;    // System Callback for Rotation
+    Ticker  LEDBlinkSystemTick;    // System Callback for Rotation
+    bool rotationState;
+   bool blinkState;
+    int rotationPosition;
+    bool blinkONOFF; // ON = true, OFF = false
+    int intensity;
+};
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LED_WS2812/Pixel/PixelArray.cpp	Tue Sep 29 09:08:55 2020 +0000
@@ -0,0 +1,173 @@
+#include "PixelArray.h"
+
+PixelArray::PixelArray(int size)
+{
+    pbufsize = size;
+    pbuf = new int[pbufsize];
+    SetAll(0x0); // initialise memory to zeros
+    
+}
+
+PixelArray::~PixelArray()
+{
+    delete[] pbuf;
+}
+
+void PixelArray::SetAll(unsigned int value)
+{
+    // for each pixel
+    for (int i=0 ; i < pbufsize; i++) {
+        __set_pixel(i,value);
+    }
+}
+
+
+void PixelArray::SetAllI(unsigned char value)
+{
+    // for each pixel
+    for (int i=0 ; i < pbufsize; i++) {
+        __set_pixel_component(i,3,value);
+    }
+}
+
+
+
+void PixelArray::SetAllR(unsigned char value)
+{
+    // for each pixel
+    for (int i=0 ; i < pbufsize; i++) {
+        __set_pixel_component(i,2,value);
+    }
+}
+
+void PixelArray::SetAllG(unsigned char value)
+{
+    // for each pixel
+    for (int i=0 ; i < pbufsize; i++) {
+        __set_pixel_component(i,1,value);
+    }
+}
+
+void PixelArray::SetAllB(unsigned char value)
+{
+    // for each pixel
+    for (int i=0 ; i < pbufsize; i++) {
+        __set_pixel_component(i,0,value);
+    }
+}
+
+
+
+
+
+void PixelArray::Set(int i, unsigned int value)
+{
+    if ((i >= 0) && (i < pbufsize)) {
+        __set_pixel(i,value);
+    }
+}
+
+
+
+void PixelArray::SetI(int i, unsigned char value)
+{
+    if ((i >= 0) && (i < pbufsize)) {
+        __set_pixel_component(i,3,value);
+    }
+}
+
+
+void PixelArray::SetR(int i, unsigned char value)
+{
+    if ((i >= 0) && (i < pbufsize)) {
+        __set_pixel_component(i,2,value);
+    }
+}
+
+void PixelArray::SetG(int i, unsigned char value)
+{
+    if ((i >= 0) && (i < pbufsize)) {
+        __set_pixel_component(i,1,value);
+    }
+}
+
+void PixelArray::SetB(int i, unsigned char value)
+{
+    if ((i >= 0) && (i < pbufsize)) {
+        __set_pixel_component(i,0,value);
+    }
+}
+
+
+unsigned int  PixelArray::Get(int i)
+{
+         return __get_pixel(i);
+}
+
+unsigned int  PixelArray::GetI(int i)
+{
+         return __get_pixel_component(i,3);
+}
+
+unsigned int  PixelArray::GetR(int i)
+{
+         return __get_pixel_component(i,2);
+}
+
+unsigned int  PixelArray::GetG(int i)
+{
+         return __get_pixel_component(i,1);
+}
+
+unsigned int  PixelArray::GetB(int i)
+{
+         return __get_pixel_component(i,0);
+}
+
+
+
+int* PixelArray::getBuf()
+{
+    return (pbuf);
+}
+
+
+// set either the I,R,G,B value of specific pixel channel
+void PixelArray::__set_pixel_component(int index, int channel, int value)
+{
+
+    // AND with 0x00 shifted to the right location to clear the bits
+    pbuf[index] &= ~(0xFF << (8 * channel));
+
+    // Set the bits with an OR
+    pbuf[index] |= (value << (8 * channel));
+}
+
+
+// set either the I,R,G,B value of specific pixel channel
+void PixelArray::__set_pixel(int index, int value)
+{
+    // AND with 0x00 shifted to the right location to clear the bits
+    pbuf[index] = value;
+}
+
+
+// get specific pixel
+int  PixelArray::__get_pixel(int index)
+{
+    if ((index >= 0) && (index < pbufsize)) {
+        return pbuf[index];
+    } else {
+        return 0;
+    }
+}
+
+
+// get specific pixel
+int  PixelArray::__get_pixel_component(int index, int channel)
+{
+    // AND with 0xFF shifted to the right location to get the bits
+    return ( (__get_pixel(index) & (0xFF << (8 * channel))) >> (8*channel) );
+}
+
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LED_WS2812/Pixel/PixelArray.h	Tue Sep 29 09:08:55 2020 +0000
@@ -0,0 +1,77 @@
+/* Copyright (c) 2012 cstyles, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#ifndef PixelArray_H
+#define PixelArray_H
+
+#include "mbed.h"
+
+//!Library for the WS2812 RGB LED with integrated controller
+/*!
+PixelArray
+*/
+class PixelArray
+{
+public:
+    //!Creates an instance of the class.
+    /*!
+    Pixel Array
+    */
+    PixelArray(int);
+
+    /*!
+    Destroys instance.
+    */
+    ~PixelArray();
+
+    int* getBuf();
+    
+    void SetAll(unsigned int);
+    void SetAllI(unsigned char);
+    void SetAllR(unsigned char);
+    void SetAllG(unsigned char);
+    void SetAllB(unsigned char);
+
+    // location, value
+    void Set(int, unsigned int);
+    void SetI(int, unsigned char);
+    void SetR(int, unsigned char);
+    void SetG(int, unsigned char);
+    void SetB(int, unsigned char);
+    
+    unsigned int Get(int);
+    unsigned int GetI(int);
+    unsigned int GetR(int);
+    unsigned int GetG(int);
+    unsigned int GetB(int);
+
+private:
+
+    int *pbuf;
+    int pbufsize;
+
+    void __set_pixel_component(int index, int channel, int value);
+    void __set_pixel(int index, int value);
+
+    int __get_pixel_component(int index, int channel);
+    int __get_pixel(int index);
+
+};
+
+#endif
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LED_WS2812/WS2812.lib	Tue Sep 29 09:08:55 2020 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/bridadan/code/WS2812/#6e647820f587

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/X_NUCLEO_53L1A1_mbed.lib	Tue Sep 29 09:08:55 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/ST-Expansion-SW-Team/code/X_NUCLEO_53L1A1_mbed/#0e99f593daa9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Sep 29 09:08:55 2020 +0000
@@ -0,0 +1,183 @@
+/*
+ * This VL53L1X satellite board sample application performs range measurements
+ * with interrupts enabled to generate a hardware interrupt each time a new
+ * measurement is ready to be read.
+ *
+ *  Measured ranges are output on the Serial Port, running at 115200 baud.
+ *
+ *  On STM32-Nucleo boards :
+ *      The User Blue button stops the current measurement and entire program,
+ *      releasing all resources.
+ *
+ *      The Black Reset button is used to restart the program.
+ *
+ *  *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of
+ *            the X-NUCELO-53L1A1 expansion board are not made/OFF.
+ *            These links must be made to allow interrupts from the Satellite boards
+ *            to be received.
+ *            U11 and U18 must be made/ON to allow interrupts to be received from the
+ *            INT_L & INT_R positions; or
+ *            U10 and U15 must be made/ON to allow interrupts to be received from the
+ *            Alternate INT_L & INT_R positions.
+ *            The X_NUCLEO_53L1A1 firmware library defaults to use the INT_L/INT_R
+ *            positions.
+ *            INT_L is available on expansion board Arduino Connector CN5, pin 1 as D9.
+ *            Alternate INT_L is on CN5 Connector pin 2 as D8.
+ *            INT_R is available on expansion board Arduino Connector CN9, pin 3 as D4.
+ *            Alternate INT_R is on CN9 Connector pin 5 as D2.
+ *            The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L1A1/
+ */
+
+#include <stdio.h>
+
+#include "mbed.h"
+#include "VL53L1X_I2C.h"
+#include "VL53L1X_Class.h"
+#include "LED_WS2812.h"
+
+#define VL53L1_I2C_SDA   D14
+#define VL53L1_I2C_SCL   D15
+
+static VL53L1X *sensor = NULL;
+Serial pc(SERIAL_TX, SERIAL_RX);
+PwmOut servo(D6);
+
+/* flags that handle interrupt request for sensor and user blue button*/
+volatile bool int_sensor = false;
+volatile bool int_stop = false;
+
+
+/* ISR callback function of the sensor */
+void sensor_irq(void)
+{
+    int_sensor = true;
+    sensor->disable_interrupt_measure_detection_irq();
+}
+
+/* ISR callback function of the user blue button to switch measuring sensor. */
+void measuring_stop_irq(void)
+{
+    int_stop = true;
+}
+
+/* Start the sensor ranging */
+int start_ranging()
+{
+    int status = 0;
+    /* start the measure on the sensor */
+    if (NULL != sensor) {
+        status = sensor->stop_measurement();
+        if (status != 0) {
+                return status;
+        }
+
+        status = sensor->start_measurement(&sensor_irq);
+        if (status != 0) {
+            return status;
+        }
+    }
+    return status;
+}
+
+int range_measure(VL53L1X_DevI2C *device_i2c)
+{
+    int status = 0;
+    uint16_t distance = 0;
+    int distance_close = 0;
+    
+    LED_WS2812 LED(A0,12);
+    LED.SetIntensity(5);
+    LED.SetColor(BLACK);
+    
+    /* Create a xshutdown pin */
+    DigitalOut xshutdown(D7);
+
+    /* create instance of sensor class */
+    sensor = new VL53L1X(device_i2c, &xshutdown, A2);
+
+    sensor->vl53l1_off();
+    /* initialise sensor */
+    sensor->init_sensor(0x52);
+
+    if (status) {
+        delete sensor;
+        sensor= NULL;
+        printf("Sensor centre not present\n\r");
+    }
+
+    status = sensor->vl53l1x_set_inter_measurement_in_ms(1000);    
+    status = sensor->vl53l1x_set_distance_threshold(50,
+                  50, 0, 0);
+    status = start_ranging();
+    if (status != 0) {
+        printf("Failed to start ranging!\r\n");
+        return status;
+    }
+    if (NULL != sensor) {
+        printf("Entering loop mode\r\n");
+        /* Main ranging interrupt loop */
+        while (true) {
+            if (int_sensor) {
+                
+                servo.period_ms(20);
+                
+                servo.pulsewidth_us(1150);
+                wait_ms(100);    
+                servo.pulsewidth_us(1100);
+                wait_ms(100);    
+                servo.pulsewidth_us(1050);
+                wait_ms(100);    
+                servo.pulsewidth_us(1000);
+                wait_ms(100);    
+                servo.pulsewidth_us(950);
+                wait_ms(100);    
+                servo.pulsewidth_us(900);
+                wait_ms(100);    
+
+                servo.pulsewidth_us(850);
+                wait_ms(100);    
+                servo.pulsewidth_us(800);
+                wait_ms(100);
+                servo.pulsewidth_us(750);
+                wait_ms(100);
+                servo.pulsewidth_us(700);
+//                wait_ms(100);
+//                servo.pulsewidth_us(650);
+//                wait_ms(100);
+//                servo.pulsewidth_us(600);
+//                wait_ms(100);   
+//                servo.pulsewidth_us(550);
+//                wait_ms(100);
+//                servo.pulsewidth_us(500);
+ 
+                wait_ms(500);
+                servo.pulsewidth_us(1150);
+                
+                int_sensor = false;
+                status = sensor->handle_irq(&distance);
+                printf("distance: %d\r\n", distance);         
+            }
+
+        }
+    }
+
+    return status;
+
+}
+
+
+/*=================================== Main ==================================
+=============================================================================*/
+int main()
+{
+#if TARGET_STM  // we are cross compiling for an STM32-Nucleo    
+    InterruptIn stop_button(USER_BUTTON);
+    stop_button.rise(&measuring_stop_irq);
+#endif
+#if TARGET_Freescale // we are cross-compiling for NXP FRDM boards.
+    InterruptIn stop_button(SW2);
+    stop_button.rise(&measuring_stop_irq);
+#endif
+    VL53L1X_DevI2C *device_i2c = new VL53L1X_DevI2C(VL53L1_I2C_SDA, VL53L1_I2C_SCL);
+    range_measure(device_i2c);  // start continuous measures
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue Sep 29 09:08:55 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file