Revision 0:7535295d1670, committed 2015-09-09

Comitter:

Kevin_Lee

Date:

Wed Sep 09 05:53:29 2015 +0000

Commit message:

Shield Bot Library

Changed in this revision

diff -r 000000000000 -r 7535295d1670 ShieldBot_v12.cpp
--- /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);
+}
+

diff -r 000000000000 -r 7535295d1670 ShieldBot_v12.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ShieldBot_v12.h	Wed Sep 09 05:53:29 2015 +0000
@@ -0,0 +1,111 @@
+/** Color pixels library using WS2812B and nRF51822 (16Hz)
+ *  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.
+ */
+
+#ifndef __SHIELDBOT_V12_H__
+#define __SHIELDBOT_V12_H__
+
+#include <stdint.h>
+
+typedef union {
+    uint32_t rgb;
+    struct {
+        uint8_t r;
+        uint8_t g;
+        uint8_t b;
+    };
+} color_t;
+
+/** Color pixels class using WS2812B and nRF51822 (16Hz)
+ *
+ * Example:
+ * @code
+ * #include "mbed.h"
+ * #include "color_pixels.h"
+ *
+ * ColorPixels pixels(1, 32);
+ *
+ * int main() {
+ *    pixels.set_color(0, 0, 255, 0);
+ *    pixels.update();
+ *
+ *    while(1) {
+ *    }
+ * }
+ * @endcode
+ */
+class ColorPixels
+{
+public:
+    /** Initilaze
+     * \param pin    number of GPIO
+     * \param num    number of pixels
+     */
+    ColorPixels(uint8_t pin, uint16_t num);
+
+    ~ColorPixels();
+
+    /** Set the color of a pixel (without update)
+     * \param index  index of a pixel
+     * \param r      red
+     * \param g      green
+     * \param b      blue
+     */
+    void set_color(uint16_t index, uint8_t r, uint8_t g, uint8_t b);
+
+    void set_color(uint16_t index, uint32_t rgb);
+    
+    void set_all_color(uint8_t r, uint8_t g, uint8_t b);
+    
+    void rainbow(uint8_t r, uint8_t g, uint8_t b);
+
+    void rainbow(uint32_t rgb = 0x0000FF);
+
+    /** Update
+     */
+    void update();
+
+    /** Turn off all pixels
+     */
+    void clear();
+
+private:
+    typedef union {
+        struct {
+            uint8_t g, r, b;
+        };
+        uint32_t grb;
+    } grb_t;
+
+    uint8_t  pin;
+    uint16_t num;
+    grb_t *colors;
+
+};
+
+#endif // __COLOR_PIXELS_H__