Kevin Lee
This is a Shield Bot Library
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Shield_Bot_v12
by 
Kevin Lee
Diff: ShieldBot_v12.cpp
- Revision:
- 0:7535295d1670
- Child:
- 1:1d96ab1dbcc4
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ShieldBot_v12.cpp Wed Sep 09 05:53:29 2015 +0000
@@ -0,0 +1,300 @@
+/** Color pixels library using WS2812B and nRF51822 (16MHz)
+ * It's for
+ * + http://www.seeedstudio.com/depot/Digital-RGB-LED-FlexiStrip-60-LED-1-Meter-p-1666.html
+ * + http://www.seeedstudio.com/depot/WS2812B-Digital-RGB-LED-Waterproof-FlexiStrip-144-LEDmeter-2-meter-p-1869.html
+ * + http://www.seeedstudio.com/depot/WS2812B-RGB-LED-with-Integrated-Driver-Chip-10-PCs-pack-p-1675.html
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2014 Seeed Technology Inc.
+ *
+ * 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.
+ */
+
+#include "ShieldBot_v12.h"
+#include "nrf51.h"
+#include "nrf51_bitfields.h"
+
+#if !defined ( __GNUC__ )
+// Generate a high level pulse (0.81us) of WS2812B's 1 code (0.9us +- 0.15us)
+#define COLOR_PIXELS_ONE_HIGH(mask) \
+ NRF_GPIO->OUTSET = (mask); \
+ __ASM ( \
+ " NOP\n\t" \
+ " NOP\n\t" \
+ " NOP\n\t" \
+ " NOP\n\t" \
+ " NOP\n\t" \
+ " NOP\n\t" \
+ " NOP\n\t" \
+ " NOP\n\t" \
+ " NOP\n\t" \
+ ); \
+ NRF_GPIO->OUTCLR = (mask)
+
+// Generate a high level pulse (0.31us) of WS2812B's 0 code (0.35us +- 0.15us)
+#define COLOR_PIXELS_ZERO_HIGH(mask) \
+ NRF_GPIO->OUTSET = (mask); \
+ __ASM ( \
+ " NOP\n\t" \
+ ); \
+ NRF_GPIO->OUTCLR = (mask); \
+ __ASM ( \
+ " NOP\n\t" \
+ " NOP\n\t" \
+ " NOP\n\t" \
+ " NOP\n\t" \
+ " NOP\n\t" \
+ " NOP\n\t" \
+ " NOP\n\t" \
+ " NOP\n\t" \
+ )
+#else
+// Generate a high level pulse (0.94us) of WS2812B's 1 code (0.9us +- 0.15us)
+#define COLOR_PIXELS_ONE_HIGH(mask) \
+ NRF_GPIO->OUTSET = (mask); \
+ __ASM ( \
+ " NOP\n\t" \
+ " NOP\n\t" \
+ " NOP\n\t" \
+ " NOP\n\t" \
+ " NOP\n\t" \
+ " NOP\n\t" \
+ " NOP\n\t" \
+ " NOP\n\t" \
+ ); \
+ NRF_GPIO->OUTCLR = (mask)
+
+// Generate a high level pulse (0.44us) of WS2812B's 0 code (0.35us +- 0.15us)
+#define COLOR_PIXELS_ZERO_HIGH(mask) \
+ NRF_GPIO->OUTSET = (mask); \
+ __ASM ( \
+ " NOP\n\t" \
+ ); \
+ NRF_GPIO->OUTCLR = (mask); \
+ __ASM ( \
+ " NOP\n\t" \
+ " NOP\n\t" \
+ " NOP\n\t" \
+ " NOP\n\t" \
+ " NOP\n\t" \
+ " NOP\n\t" \
+ " NOP\n\t" \
+ " NOP\n\t" \
+ )
+#endif
+
+static void delay_us(uint32_t us)
+{
+ do {
+ __ASM volatile (
+ "NOP\n\t"
+ "NOP\n\t"
+ "NOP\n\t"
+ "NOP\n\t"
+ "NOP\n\t"
+ "NOP\n\t"
+ "NOP\n\t"
+ "NOP\n\t"
+ "NOP\n\t"
+ "NOP\n\t"
+ "NOP\n\t"
+ "NOP\n\t"
+ );
+ } while (--us);
+}
+
+ColorPixels::ColorPixels(uint8_t pin, uint16_t num)
+{
+ this->pin = pin;
+ this->num = num;
+
+ NRF_GPIO->PIN_CNF[pin] = (GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos)
+ | (GPIO_PIN_CNF_DRIVE_S0S1 << GPIO_PIN_CNF_DRIVE_Pos)
+ | (GPIO_PIN_CNF_PULL_Disabled << GPIO_PIN_CNF_PULL_Pos)
+ | (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos)
+ | (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos);
+ NRF_GPIO->OUTCLR = (1UL << pin);
+
+ colors = new grb_t[num];
+ for (int i = 0; i < num; i++) {
+ colors[i].grb = 0;
+ }
+}
+
+ColorPixels::~ColorPixels()
+{
+ delete colors;
+}
+
+
+void ColorPixels::set_color(uint16_t index, uint8_t r, uint8_t g, uint8_t b)
+{
+ if (index < num) {
+ colors[index].r = r;
+ colors[index].g = g;
+ colors[index].b = b;
+ }
+}
+
+void ColorPixels::set_color(uint16_t index, uint32_t rgb) {
+ color_t c = *(color_t *)&rgb;
+ set_color(index, c.r, c.g, c.b);
+}
+
+void ColorPixels::set_all_color(uint8_t r, uint8_t g, uint8_t b)
+{
+ for (int i = 0; i < num; i++) {
+ colors[i].r = r;
+ colors[i].g = g;
+ colors[i].b = b;
+ }
+
+ update();
+}
+
+void ColorPixels::update()
+{
+ uint32_t mask = 1 << pin;
+ NRF_GPIO->OUTCLR = mask;
+ delay_us(50);
+
+ grb_t *pcolor = colors;
+ for (int i = 0; i < num; i++) {
+ uint32_t grb = (*pcolor).grb;
+ for (int bit = 0; bit < 24; bit++) {
+ if (grb & 1) {
+ COLOR_PIXELS_ONE_HIGH(mask);
+ } else {
+ COLOR_PIXELS_ZERO_HIGH(mask);
+ }
+ grb >>= 1;
+ }
+ pcolor++;
+ }
+}
+
+void ColorPixels::clear()
+{
+ for (int i = 0; i < num; i++) {
+ colors[i].grb = 0;
+ }
+
+ update();
+}
+
+uint32_t toRGB(uint8_t red, uint8_t green, uint8_t blue)
+{
+ color_t c;
+
+ c.r = red;
+ c.g = green;
+ c.b = blue;
+
+ return c.rgb;
+};
+
+uint32_t wheel(float position, uint8_t min = 0, uint8_t max = 255)
+{
+ uint8_t d = max - min;
+ uint32_t c;
+
+ if(position < 0.166) {
+ c = toRGB(max, min + position * 6 * d, min);
+ } else if(position < 0.332) {
+ position -= 0.166;
+ c = toRGB(max - position * 6 * d, max, min);
+ } else if(position < 0.498) {
+ position -= 0.332;
+ c = toRGB(min, max, min + position * 6 * d);
+ } else if(position < 0.664) {
+ position -= 0.498;
+ c = toRGB(min, max - position * 6 * d, max);
+ } else if(position < 0.83) {
+ position -= 0.664;
+ c = toRGB(min + d * position * 6, min, max);
+ } else {
+ position -= 0.83;
+ c = toRGB(max, min, max - position * 6 * d);
+ }
+
+ return c;
+}
+
+void find_wheel_options(uint32_t rgb, float *position, uint8_t *min, uint8_t *max)
+{
+ color_t c;
+ c.rgb = rgb;
+
+ if (c.r > c.g) {
+ if (c.g >= c.b) {
+ *max = c.r;
+ *min = c.b;
+ *position = (float)(c.g - c.b) / (c.r - c.b) / 6.0;
+ } else if (c.b >= c.r) {
+ *max = c.b;
+ *min = c.g;
+ *position = (float)(c.r - c.g) / (c.b - c.g) / 6.0 + 0.664;
+ } else {
+ *max = c.r;
+ *min = c.g;
+ *position = (float)(c.b - c.g) / (c.r - c.g) / 6.0 + 0.83;
+ }
+ } else {
+ if (c.r > c.b) {
+ *max = c.g;
+ *min = c.b;
+ *position = (float)(c.r - c.b) / (c.g - c.b) / 6.0 + 0.166;
+ } else if (c.b > c.g) {
+ *max = c.b;
+ *min = c.r;
+ *position = (float)(c.g - c.r) / (c.b - c.r) / 6.0 + 0.498;
+ } else {
+ *max = c.g;
+ *min = c.r;
+ *position = (float)(c.b - c.r) / (c.g - c.r) / 6.0 + 0.332;
+ }
+ }
+}
+
+void ColorPixels::rainbow(uint32_t rgb)
+{
+ float position;
+ uint8_t min, max;
+
+ find_wheel_options(rgb, &position, &min, &max);
+ for (int i = 0; i < num; i++) {
+ float current = ((int)(i + num * position) % num) / (float)num;
+ set_color(i, wheel(current, min, max));
+ }
+
+ update();
+}
+
+void ColorPixels::rainbow(uint8_t r, uint8_t g, uint8_t b)
+{
+ color_t c;
+
+ c.r = r;
+ c.g = g;
+ c.b = b;
+
+ rainbow(c.rgb);
+}
+