Arkadi Rafalovich / Mbed 2 deprecated STM32_MagneticLight

MagneticLight - Modified version based on ST Components

Dependencies:   PololuLedStrip X_NUCLEO_IKS01A1 mbed

main.cpp@4:b44bc6256182, 2017-02-07 (annotated)

Committer:
Arkadi
Date:
Tue Feb 07 14:48:30 2017 +0000
Revision:
4:b44bc6256182
Parent:
3:8cbf1e2122d4 
Magnetic light Setup - Publish version 07/02/2017

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Arkadi 0:2c66000e0791 1 /*
Arkadi 0:2c66000e0791 2 STM32 - Magnetic light - Updated version to work with ST components. (MCU , Magnetic sensor)
Arkadi 1:c54fc6087d0d 3 Arkadiraf@gmail.com - 07/02/2017
Arkadi 1:c54fc6087d0d 4
Arkadi 1:c54fc6087d0d 5 Based on my previous arduino version published at:
Arkadi 0:2c66000e0791 6 */
Arkadi 0:2c66000e0791 7
Arkadi 0:2c66000e0791 8 /*
Arkadi 0:2c66000e0791 9 Hardware setup: STM32 - Nucleo-F432KC
Arkadi 0:2c66000e0791 10 Led strip 74 leds ws2812b 60 leds / meter
Arkadi 0:2c66000e0791 11 5V - 5V
Arkadi 0:2c66000e0791 12 D11 - Led Din (through voltage converter 3v3->5V)
Arkadi 0:2c66000e0791 13 GND - GND
Arkadi 0:2c66000e0791 14
Arkadi 1:c54fc6087d0d 15 Magnetic sensor LIS3MDL I2C : https://www.pololu.com/product/2737
Arkadi 1:c54fc6087d0d 16 3V3 - Vin
Arkadi 1:c54fc6087d0d 17 GND - GND
Arkadi 1:c54fc6087d0d 18 D5 - SCL
Arkadi 1:c54fc6087d0d 19 D4 - SDA
Arkadi 1:c54fc6087d0d 20
Arkadi 0:2c66000e0791 21 */
Arkadi 0:2c66000e0791 22
Arkadi 0:2c66000e0791 23 ///////////////
Arkadi 0:2c66000e0791 24 // Libraries //
Arkadi 0:2c66000e0791 25 ///////////////
Arkadi 0:2c66000e0791 26 #include "mbed.h"
Arkadi 0:2c66000e0791 27 #include "PololuLedStrip.h"
Arkadi 1:c54fc6087d0d 28 #include "x_nucleo_iks01a1.h"
Arkadi 0:2c66000e0791 29 //////////////
Arkadi 0:2c66000e0791 30 // Defines: //
Arkadi 0:2c66000e0791 31 //////////////
Arkadi 0:2c66000e0791 32 #define DEBBUG_MSG1
Arkadi 0:2c66000e0791 33 #define LED_COUNT 74
Arkadi 0:2c66000e0791 34 #define blackColor {0,0,0}
Arkadi 0:2c66000e0791 35 #define SAMPLEDELAY 30 // roughly 30 hz // magnetic sensor sample rate / Led update
Arkadi 0:2c66000e0791 36 ////////////////////
Arkadi 0:2c66000e0791 37 // define Objects //
Arkadi 0:2c66000e0791 38 ////////////////////
Arkadi 0:2c66000e0791 39 PololuLedStrip ledStrip(D11);
Arkadi 0:2c66000e0791 40 Timer timer;
Arkadi 0:2c66000e0791 41 Serial pc(SERIAL_TX, SERIAL_RX,57600);
Arkadi 1:c54fc6087d0d 42
Arkadi 1:c54fc6087d0d 43 // Magnetic sensor:
Arkadi 1:c54fc6087d0d 44 /* Instantiate the expansion board */
Arkadi 1:c54fc6087d0d 45 static X_NUCLEO_IKS01A1 *mems_expansion_board = X_NUCLEO_IKS01A1::Instance(D4, D5);
Arkadi 1:c54fc6087d0d 46 static MagneticSensor *magnetometer = mems_expansion_board->magnetometer;
Arkadi 1:c54fc6087d0d 47
Arkadi 0:2c66000e0791 48 ///////////////
Arkadi 0:2c66000e0791 49 // variables //
Arkadi 0:2c66000e0791 50 ///////////////
Arkadi 0:2c66000e0791 51
Arkadi 0:2c66000e0791 52 // LED variables:
Arkadi 0:2c66000e0791 53 rgb_color colors[LED_COUNT];
Arkadi 0:2c66000e0791 54 rgb_color setColor= {0,0,0};
Arkadi 0:2c66000e0791 55
Arkadi 0:2c66000e0791 56 // define array of pixel vectors based on the compas:
Arkadi 0:2c66000e0791 57 float Pixel_Vect_Float[3]= {0,0,0}; // variable to store LED Power
Arkadi 0:2c66000e0791 58 const int Pixel_Vect[LED_COUNT][3]= {
Arkadi 0:2c66000e0791 59 { -41, -86, -31 },
Arkadi 0:2c66000e0791 60 { -54, -71, -45 },
Arkadi 0:2c66000e0791 61 { -66, -47, -58 },
Arkadi 0:2c66000e0791 62 { -75, -18, -63 },
Arkadi 0:2c66000e0791 63 { -76, 17, -63 },
Arkadi 0:2c66000e0791 64 { -68, 44, -58 },
Arkadi 0:2c66000e0791 65 { -56, 67, -48 },
Arkadi 0:2c66000e0791 66 { -41, 86, -32 },
Arkadi 0:2c66000e0791 67 { -35, 94, -2 },
Arkadi 0:2c66000e0791 68 { -61, 79, -4 },
Arkadi 0:2c66000e0791 69 { -82, 57, -4 },
Arkadi 0:2c66000e0791 70 { -99, 10, -10 },
Arkadi 0:2c66000e0791 71 { -97, -20, -6 },
Arkadi 0:2c66000e0791 72 { -87, -47, -6 },
Arkadi 0:2c66000e0791 73 { -68, -72, -7 },
Arkadi 0:2c66000e0791 74 { -24, -97, -3 },
Arkadi 0:2c66000e0791 75 { -50, -81, 30 },
Arkadi 0:2c66000e0791 76 { -66, -63, 41 },
Arkadi 0:2c66000e0791 77 { -80, -37, 49 },
Arkadi 0:2c66000e0791 78 { -85, 0, 53 },
Arkadi 0:2c66000e0791 79 { -80, 32, 51 },
Arkadi 0:2c66000e0791 80 { -71, 56, 42 },
Arkadi 0:2c66000e0791 81 { -50, 79, 33 },
Arkadi 0:2c66000e0791 82 { -30, 94, 19 },
Arkadi 0:2c66000e0791 83 { -20, 94, 29 },
Arkadi 0:2c66000e0791 84 { -25, 81, 54 },
Arkadi 0:2c66000e0791 85 { -34, 54, 78 },
Arkadi 0:2c66000e0791 86 { -36, 24, 90 },
Arkadi 0:2c66000e0791 87 { -36, -15, 92 },
Arkadi 0:2c66000e0791 88 { -34, -48, 81 },
Arkadi 0:2c66000e0791 89 { -25, -69, 68 },
Arkadi 0:2c66000e0791 90 { -23, -83, 54 },
Arkadi 0:2c66000e0791 91 { 22, -86, 46 },
Arkadi 0:2c66000e0791 92 { 35, -72, 60 },
Arkadi 0:2c66000e0791 93 { 44, -38, 80 },
Arkadi 0:2c66000e0791 94 { 53, -8, 86 },
Arkadi 0:2c66000e0791 95 { 45, 31, 83 },
Arkadi 0:2c66000e0791 96 { 35, 62, 70 },
Arkadi 0:2c66000e0791 97 { 24, 84, 50 },
Arkadi 0:2c66000e0791 98 { 10, 96, 24 },
Arkadi 0:2c66000e0791 99 { 42, 91, 12 },
Arkadi 0:2c66000e0791 100 { 68, 71, 19 },
Arkadi 0:2c66000e0791 101 { 85, 44, 24 },
Arkadi 0:2c66000e0791 102 { 95, 8, 28 },
Arkadi 0:2c66000e0791 103 { 91, -32, 28 },
Arkadi 0:2c66000e0791 104 { 80, -55, 25 },
Arkadi 0:2c66000e0791 105 { 62, -75, 20 },
Arkadi 0:2c66000e0791 106 { 50, -84, 21 },
Arkadi 0:2c66000e0791 107 { 48, -86, -19 },
Arkadi 0:2c66000e0791 108 { 67, -70, -25 },
Arkadi 0:2c66000e0791 109 { 83, -51, -26 },
Arkadi 0:2c66000e0791 110 { 93, -21, -31 },
Arkadi 0:2c66000e0791 111 { 94, 13, -30 },
Arkadi 0:2c66000e0791 112 { 85, 43, -29 },
Arkadi 0:2c66000e0791 113 { 67, 70, -25 },
Arkadi 0:2c66000e0791 114 { 42, 90, -16 },
Arkadi 0:2c66000e0791 115 { 19, 91, -35 },
Arkadi 0:2c66000e0791 116 { 38, 72, -58 },
Arkadi 0:2c66000e0791 117 { 48, 45, -74 },
Arkadi 0:2c66000e0791 118 { 55, 20, -81 },
Arkadi 0:2c66000e0791 119 { 55, -20, -81 },
Arkadi 0:2c66000e0791 120 { 47, -54, -70 },
Arkadi 0:2c66000e0791 121 { 31, -76, -56 },
Arkadi 0:2c66000e0791 122 { 20, -87, -43 },
Arkadi 0:2c66000e0791 123 { -10, -88, -45 },
Arkadi 0:2c66000e0791 124 { -14, -73, -67 },
Arkadi 0:2c66000e0791 125 { -13, -50, -85 },
Arkadi 0:2c66000e0791 126 { -17, -14, -98 },
Arkadi 0:2c66000e0791 127 { -12, 17, -98 },
Arkadi 0:2c66000e0791 128 { -14, 50, -86 },
Arkadi 0:2c66000e0791 129 { -13, 72, -68 },
Arkadi 0:2c66000e0791 130 { -9, 89, -47 },
Arkadi 0:2c66000e0791 131 { -12, 99, -10 },
Arkadi 0:2c66000e0791 132 { -12, 99, -10 }
Arkadi 0:2c66000e0791 133 };
Arkadi 0:2c66000e0791 134
Arkadi 0:2c66000e0791 135
Arkadi 0:2c66000e0791 136
Arkadi 0:2c66000e0791 137 // Magnetic sensor:
Arkadi 1:c54fc6087d0d 138 int16_t axesRaw[3]; // raw data from magnetic sensor
Arkadi 0:2c66000e0791 139 float Mag_raw[3]= {1,0,0}; //Magnetometer
Arkadi 0:2c66000e0791 140 float Mag[3]= {0,0,0}; //Magnetometer
Arkadi 0:2c66000e0791 141 float Mag_Bias[3]= {0,0,0}; //Magnetometer bias values
Arkadi 0:2c66000e0791 142
Arkadi 0:2c66000e0791 143 float MagOut[3]= {0,0,0}; //Magnetometer
Arkadi 0:2c66000e0791 144 float LMagOut[3]= {0,0,0}; //Last Magnetometer reading
Arkadi 0:2c66000e0791 145 float MagIn[3]= {0,0,0}; //Magnetometer
Arkadi 0:2c66000e0791 146 float LMagIn[3]= {0,0,0}; //Last Magnetometer reading
Arkadi 0:2c66000e0791 147 float AHPF=0.99;
Arkadi 0:2c66000e0791 148
Arkadi 0:2c66000e0791 149 float Mag_Norm[3]= {0,0,0}; //Magnetometer normalized
Arkadi 0:2c66000e0791 150 float Mag_ABS=1; // Vector size indication how far the magnet is
Arkadi 0:2c66000e0791 151 float CosAngle=0; // cosin of the angle between the two vectors
Arkadi 0:2c66000e0791 152 float LedPower=0; // variable to store LED Power
Arkadi 0:2c66000e0791 153 uint8_t LedPower_Byte=0; // Byte varible to set led power
Arkadi 0:2c66000e0791 154
Arkadi 0:2c66000e0791 155 // timer variables
Arkadi 0:2c66000e0791 156 int sampleMillis=0;
Arkadi 0:2c66000e0791 157 int timeMillis=0;
Arkadi 0:2c66000e0791 158
Arkadi 0:2c66000e0791 159 ///////////////
Arkadi 0:2c66000e0791 160 // Functions //
Arkadi 0:2c66000e0791 161 ///////////////
Arkadi 1:c54fc6087d0d 162 // HPF filter:
Arkadi 1:c54fc6087d0d 163 void HighPassFilter();
Arkadi 1:c54fc6087d0d 164 // Update Pixel array based on mag sensor
Arkadi 1:c54fc6087d0d 165 void Update_Pixels_Mag();
Arkadi 0:2c66000e0791 166 // move dot throught the strip
Arkadi 0:2c66000e0791 167 void dotMove(rgb_color dotColor);
Arkadi 0:2c66000e0791 168 // update strip colors
Arkadi 0:2c66000e0791 169 void colorStrip();
Arkadi 0:2c66000e0791 170
Arkadi 0:2c66000e0791 171 ////////////////////////
Arkadi 0:2c66000e0791 172 // Main Code Setup : //
Arkadi 0:2c66000e0791 173 ////////////////////////
Arkadi 0:2c66000e0791 174 int main()
Arkadi 0:2c66000e0791 175 {
Arkadi 0:2c66000e0791 176 // init timer
Arkadi 0:2c66000e0791 177 timer.start();
Arkadi 0:2c66000e0791 178
Arkadi 1:c54fc6087d0d 179 // init magnetometer - Rewrite library or add options to change magnetic full scale and sample rate
Arkadi 1:c54fc6087d0d 180 // read magnetic sensor ID
Arkadi 1:c54fc6087d0d 181 uint8_t id;
Arkadi 1:c54fc6087d0d 182 magnetometer->ReadID(&id);
Arkadi 1:c54fc6087d0d 183 pc.printf("LIS3MDL magnetometer = 0x%X\r\n", id);
Arkadi 0:2c66000e0791 184
Arkadi 0:2c66000e0791 185 ///////////////////////
Arkadi 0:2c66000e0791 186 // Main Code Loop : //
Arkadi 0:2c66000e0791 187 ///////////////////////
Arkadi 0:2c66000e0791 188 while(1) {
Arkadi 0:2c66000e0791 189 timeMillis=timer.read_ms();
Arkadi 0:2c66000e0791 190 // check timer overflow // returnes int.
Arkadi 0:2c66000e0791 191 if (timeMillis<0) {
Arkadi 0:2c66000e0791 192 timer.reset();
Arkadi 0:2c66000e0791 193 timeMillis=timer.read_ms();
Arkadi 0:2c66000e0791 194 // reset variables
Arkadi 0:2c66000e0791 195 sampleMillis=0;
Arkadi 0:2c66000e0791 196 }
Arkadi 0:2c66000e0791 197
Arkadi 0:2c66000e0791 198 // update leds based on magnetometer
Arkadi 0:2c66000e0791 199 if (timeMillis-sampleMillis>SAMPLEDELAY) {
Arkadi 0:2c66000e0791 200 sampleMillis=timeMillis;
Arkadi 0:2c66000e0791 201
Arkadi 0:2c66000e0791 202 // Read magnetometer values
Arkadi 1:c54fc6087d0d 203 magnetometer->Get_M_AxesRaw(axesRaw);
Arkadi 1:c54fc6087d0d 204 // debbug messages
Arkadi 1:c54fc6087d0d 205 //pc.printf("LIS3MDL [mag/mgauss]: %6ld, %6ld, %6ld\r\n", axesRaw[0], axesRaw[1], axesRaw[2]);
Arkadi 1:c54fc6087d0d 206
Arkadi 1:c54fc6087d0d 207 // update float ariables
Arkadi 1:c54fc6087d0d 208 // axis adjustment to fit the previous setup, (visual aligment).
Arkadi 3:8cbf1e2122d4 209 Mag_raw[0]=-axesRaw[1];
Arkadi 1:c54fc6087d0d 210 Mag_raw[1]=axesRaw[0];
Arkadi 3:8cbf1e2122d4 211 Mag_raw[2]=-axesRaw[2];
Arkadi 0:2c66000e0791 212
Arkadi 1:c54fc6087d0d 213 // bias samples and scale
Arkadi 0:2c66000e0791 214 Mag[0]=Mag_raw[0]-Mag_Bias[0];
Arkadi 0:2c66000e0791 215 Mag[1]=Mag_raw[1]-Mag_Bias[1];
Arkadi 0:2c66000e0791 216 Mag[2]=Mag_raw[2]-Mag_Bias[2];
Arkadi 0:2c66000e0791 217
Arkadi 0:2c66000e0791 218 Mag_ABS=sqrt(Mag[0]*Mag[0]+Mag[1]*Mag[1]+Mag[2]*Mag[2]);
Arkadi 0:2c66000e0791 219 Mag_Norm[0]=Mag[0]/Mag_ABS;
Arkadi 0:2c66000e0791 220 Mag_Norm[1]=Mag[1]/Mag_ABS;
Arkadi 0:2c66000e0791 221 Mag_Norm[2]=Mag[2]/Mag_ABS;
Arkadi 0:2c66000e0791 222
Arkadi 1:c54fc6087d0d 223 // HPF filter:
Arkadi 1:c54fc6087d0d 224 HighPassFilter();
Arkadi 0:2c66000e0791 225
Arkadi 1:c54fc6087d0d 226 // Update Pixel array based on mag sensor
Arkadi 1:c54fc6087d0d 227 Update_Pixels_Mag();
Arkadi 1:c54fc6087d0d 228
Arkadi 0:2c66000e0791 229 // Send the colors to the LED strip.
Arkadi 0:2c66000e0791 230 ledStrip.write(colors, LED_COUNT);
Arkadi 1:c54fc6087d0d 231
Arkadi 0:2c66000e0791 232 // debug messages:
Arkadi 1:c54fc6087d0d 233 //pc.printf("DBG_1: mill: %d , MAG: %.2f , %.2f , %.2f \r\n",sampleMillis,Mag[0],Mag[1],Mag[2]);
Arkadi 1:c54fc6087d0d 234 //pc.printf("DBG_1: mill: %d , MAG: %.2f , %.2f , %.2f \r\n",sampleMillis,Mag_Norm[0],Mag_Norm[1],Mag_Norm[2]);
Arkadi 0:2c66000e0791 235 }// end update pixels based on mag
Arkadi 0:2c66000e0791 236
Arkadi 0:2c66000e0791 237
Arkadi 0:2c66000e0791 238
Arkadi 0:2c66000e0791 239 // pixels test
Arkadi 0:2c66000e0791 240 if (0) {
Arkadi 0:2c66000e0791 241 setColor=(rgb_color) {
Arkadi 0:2c66000e0791 242 125,125,0
Arkadi 0:2c66000e0791 243 };
Arkadi 0:2c66000e0791 244 dotMove(setColor);
Arkadi 0:2c66000e0791 245
Arkadi 0:2c66000e0791 246 // Send the colors to the LED strip.
Arkadi 0:2c66000e0791 247 ledStrip.write(colors, LED_COUNT);
Arkadi 0:2c66000e0791 248 wait_ms(10);
Arkadi 0:2c66000e0791 249 }
Arkadi 0:2c66000e0791 250 }// end main loop
Arkadi 0:2c66000e0791 251 }// end main
Arkadi 0:2c66000e0791 252
Arkadi 0:2c66000e0791 253 ///////////////
Arkadi 0:2c66000e0791 254 // Functions //
Arkadi 0:2c66000e0791 255 ///////////////
Arkadi 1:c54fc6087d0d 256 // HPF filter:
Arkadi 1:c54fc6087d0d 257 void HighPassFilter()
Arkadi 1:c54fc6087d0d 258 {
Arkadi 1:c54fc6087d0d 259 LMagIn[0]=MagIn[0];
Arkadi 1:c54fc6087d0d 260 LMagIn[1]=MagIn[1];
Arkadi 1:c54fc6087d0d 261 LMagIn[2]=MagIn[2];
Arkadi 1:c54fc6087d0d 262 LMagOut[0]=MagOut[0];
Arkadi 1:c54fc6087d0d 263 LMagOut[1]=MagOut[1];
Arkadi 1:c54fc6087d0d 264 LMagOut[2]=MagOut[2];
Arkadi 1:c54fc6087d0d 265 // update reading
Arkadi 1:c54fc6087d0d 266 MagIn[0]=Mag_raw[0];
Arkadi 1:c54fc6087d0d 267 MagIn[1]=Mag_raw[1];
Arkadi 1:c54fc6087d0d 268 MagIn[2]=Mag_raw[2];
Arkadi 1:c54fc6087d0d 269 // update filter
Arkadi 1:c54fc6087d0d 270 MagOut[0]=AHPF*(LMagOut[0]+MagIn[0]-LMagIn[0]);
Arkadi 1:c54fc6087d0d 271 MagOut[1]=AHPF*(LMagOut[1]+MagIn[1]-LMagIn[1]);
Arkadi 1:c54fc6087d0d 272 MagOut[2]=AHPF*(LMagOut[2]+MagIn[2]-LMagIn[2]);
Arkadi 1:c54fc6087d0d 273
Arkadi 1:c54fc6087d0d 274 // Normalize vector and calculate ABS value
Arkadi 1:c54fc6087d0d 275 Mag_ABS=sqrt(MagOut[0]*MagOut[0]+MagOut[1]*MagOut[1]+MagOut[2]*MagOut[2]);
Arkadi 1:c54fc6087d0d 276 Mag_Norm[0]=MagOut[0]/Mag_ABS;
Arkadi 1:c54fc6087d0d 277 Mag_Norm[1]=MagOut[1]/Mag_ABS;
Arkadi 1:c54fc6087d0d 278 Mag_Norm[2]=MagOut[2]/Mag_ABS;
Arkadi 1:c54fc6087d0d 279 }// end high pass filter
Arkadi 1:c54fc6087d0d 280
Arkadi 1:c54fc6087d0d 281 // Update Pixel array based on mag sensor
Arkadi 1:c54fc6087d0d 282 void Update_Pixels_Mag()
Arkadi 1:c54fc6087d0d 283 {
Arkadi 1:c54fc6087d0d 284 // Calculate angle between magnetic vector and LED vectors
Arkadi 1:c54fc6087d0d 285 for (uint16_t ii=0 ; ii<LED_COUNT ; ii++) {
Arkadi 1:c54fc6087d0d 286 Pixel_Vect_Float[0]=((float)Pixel_Vect[ii][0])/100;
Arkadi 1:c54fc6087d0d 287 Pixel_Vect_Float[1]=((float)Pixel_Vect[ii][1])/100;
Arkadi 1:c54fc6087d0d 288 Pixel_Vect_Float[2]=((float)Pixel_Vect[ii][2])/100;
Arkadi 1:c54fc6087d0d 289 CosAngle=Mag_Norm[0]*Pixel_Vect_Float[0] + Mag_Norm[1]*Pixel_Vect_Float[1] + Mag_Norm[2]*Pixel_Vect_Float[2];
Arkadi 1:c54fc6087d0d 290 //LedPower=Mag_ABS*CosAngle*CosAngle*CosAngle*CosAngle*CosAngle;
Arkadi 1:c54fc6087d0d 291 LedPower=Mag_ABS*((float)pow(CosAngle,9));
Arkadi 1:c54fc6087d0d 292 if (LedPower>=0) {
Arkadi 1:c54fc6087d0d 293 if (LedPower>255) LedPower=255;
Arkadi 1:c54fc6087d0d 294 LedPower_Byte=(uint8_t)(LedPower);
Arkadi 1:c54fc6087d0d 295 colors[ii] = (rgb_color) {
Arkadi 1:c54fc6087d0d 296 LedPower_Byte, 0, 0
Arkadi 1:c54fc6087d0d 297 };
Arkadi 1:c54fc6087d0d 298 }
Arkadi 1:c54fc6087d0d 299 if (LedPower<0) {
Arkadi 1:c54fc6087d0d 300 if (LedPower<-255) LedPower=-255;
Arkadi 1:c54fc6087d0d 301 LedPower_Byte=(uint8_t)(-LedPower);
Arkadi 1:c54fc6087d0d 302 colors[ii] = (rgb_color) {
Arkadi 1:c54fc6087d0d 303 0, 0, LedPower_Byte
Arkadi 1:c54fc6087d0d 304 };
Arkadi 1:c54fc6087d0d 305 }
Arkadi 1:c54fc6087d0d 306 }
Arkadi 1:c54fc6087d0d 307 }// end pixel update based on magnetic field
Arkadi 1:c54fc6087d0d 308
Arkadi 1:c54fc6087d0d 309
Arkadi 0:2c66000e0791 310 // move dot throught the strip
Arkadi 0:2c66000e0791 311 void dotMove(rgb_color dotColor)
Arkadi 0:2c66000e0791 312 {
Arkadi 0:2c66000e0791 313 static int pixelNum=0;
Arkadi 0:2c66000e0791 314 colors[pixelNum]=dotColor;
Arkadi 0:2c66000e0791 315 if (pixelNum==0) {
Arkadi 0:2c66000e0791 316 colors[LED_COUNT-1]=(rgb_color) blackColor;
Arkadi 0:2c66000e0791 317 } else {
Arkadi 0:2c66000e0791 318 colors[pixelNum-1]=(rgb_color) blackColor;
Arkadi 0:2c66000e0791 319 }
Arkadi 0:2c66000e0791 320 pixelNum++;
Arkadi 0:2c66000e0791 321 pixelNum=pixelNum%LED_COUNT;
Arkadi 0:2c66000e0791 322 }
Arkadi 0:2c66000e0791 323
Arkadi 0:2c66000e0791 324 // update strip colors
Arkadi 0:2c66000e0791 325 void colorStrip()
Arkadi 0:2c66000e0791 326 {
Arkadi 0:2c66000e0791 327 // Update the colors array.
Arkadi 0:2c66000e0791 328 uint8_t time = timer.read_ms() >> 3;
Arkadi 0:2c66000e0791 329 for(uint32_t i = 0; i < LED_COUNT; i++) {
Arkadi 0:2c66000e0791 330 uint8_t x = (time - 8*i)%255;
Arkadi 0:2c66000e0791 331 colors[i] = (rgb_color) {
Arkadi 0:2c66000e0791 332 x, 255 - x, x
Arkadi 0:2c66000e0791 333 };
Arkadi 0:2c66000e0791 334 }
Arkadi 0:2c66000e0791 335 }