Hiroki Tanaka / Mbed 2 deprecated arrc_mbed

明石高専ロボ研 mbedライブラリ

Dependencies:   mbed

Dependents:   MDD_L432KC USB2RS485 pathtracking odometry ... more

neopixel.cpp@14:bdd394483434, 2021-10-13 (annotated)

Committer:
TanakaRobo
Date:
Wed Oct 13 09:12:48 2021 +0000
Revision:
14:bdd394483434
Parent:
11:eaf2e3166d20 
first? commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
TanakaRobo 0:ca84ed7518f5 1 #include "mbed.h"
TanakaRobo 0:ca84ed7518f5 2 #include "neopixel.h"
TanakaRobo 0:ca84ed7518f5 3
TanakaRobo 7:4ad54efe2fdd 4 #if defined(TARGET_NUCLEO_L432KC)
TanakaRobo 7:4ad54efe2fdd 5
TanakaRobo 7:4ad54efe2fdd 6 #define PIXEL_WAIT_1_ (6)
TanakaRobo 7:4ad54efe2fdd 7 #define PIXEL_WAIT_2_ (2)
TanakaRobo 7:4ad54efe2fdd 8 #define PIXEL_WAIT_3_ (2)
TanakaRobo 7:4ad54efe2fdd 9 #define PIXEL_WAIT_4_ (5)
TanakaRobo 7:4ad54efe2fdd 10
TanakaRobo 7:4ad54efe2fdd 11 #elif defined(TARGET_NUCLEO_F446RE)
TanakaRobo 7:4ad54efe2fdd 12
TanakaRobo 7:4ad54efe2fdd 13 #define PIXEL_WAIT_1_ (9)
TanakaRobo 7:4ad54efe2fdd 14 #define PIXEL_WAIT_2_ (5)
TanakaRobo 7:4ad54efe2fdd 15 #define PIXEL_WAIT_3_ (4)
TanakaRobo 7:4ad54efe2fdd 16 #define PIXEL_WAIT_4_ (9)
TanakaRobo 7:4ad54efe2fdd 17
TanakaRobo 7:4ad54efe2fdd 18 #else
TanakaRobo 14:bdd394483434 19 #error This board is not supported
TanakaRobo 7:4ad54efe2fdd 20 #endif
TanakaRobo 11:eaf2e3166d20 21
TanakaRobo 5:a7894e6982ea 22 NeoPixelOut::NeoPixelOut(PinName pin, int num) : DigitalOut(pin)
TanakaRobo 0:ca84ed7518f5 23 {
TanakaRobo 0:ca84ed7518f5 24 normalize = false;
TanakaRobo 0:ca84ed7518f5 25 global_scale = 1.0f;
TanakaRobo 5:a7894e6982ea 26 num_pixels_ = num;
TanakaRobo 5:a7894e6982ea 27 strip_.resize(num);
TanakaRobo 0:ca84ed7518f5 28 }
TanakaRobo 0:ca84ed7518f5 29
TanakaRobo 0:ca84ed7518f5 30 // The timing should be approximately 800ns/300ns, 300ns/800ns
TanakaRobo 0:ca84ed7518f5 31 void NeoPixelOut::byte(register uint32_t byte)
TanakaRobo 0:ca84ed7518f5 32 {
TanakaRobo 0:ca84ed7518f5 33 for (int i = 0; i < 8; i++) {
TanakaRobo 0:ca84ed7518f5 34 gpio_write(&gpio, 1);
TanakaRobo 0:ca84ed7518f5 35
TanakaRobo 0:ca84ed7518f5 36 // duty cycle determines bit value
TanakaRobo 0:ca84ed7518f5 37 if (byte & 0x80) {
TanakaRobo 0:ca84ed7518f5 38 // one
TanakaRobo 7:4ad54efe2fdd 39 for(int j = 0; j < PIXEL_WAIT_1_; j++) asm("NOP");//6 9
TanakaRobo 0:ca84ed7518f5 40
TanakaRobo 0:ca84ed7518f5 41 gpio_write(&gpio, 0);
TanakaRobo 7:4ad54efe2fdd 42 for(int j = 0; j < PIXEL_WAIT_2_; j++) asm("NOP");//2 5
TanakaRobo 0:ca84ed7518f5 43 }
TanakaRobo 0:ca84ed7518f5 44 else {
TanakaRobo 0:ca84ed7518f5 45 // zero
TanakaRobo 7:4ad54efe2fdd 46 for(int j = 0; j < PIXEL_WAIT_3_; j++) asm("NOP");//2 4
TanakaRobo 0:ca84ed7518f5 47
TanakaRobo 0:ca84ed7518f5 48 gpio_write(&gpio, 0);
TanakaRobo 7:4ad54efe2fdd 49 for(int j = 0; j < PIXEL_WAIT_4_; j++) asm("NOP");//5 9
TanakaRobo 0:ca84ed7518f5 50 }
TanakaRobo 0:ca84ed7518f5 51
TanakaRobo 0:ca84ed7518f5 52 byte = byte << 1; // shift to next bit
TanakaRobo 0:ca84ed7518f5 53 }
TanakaRobo 0:ca84ed7518f5 54
TanakaRobo 0:ca84ed7518f5 55 }
TanakaRobo 0:ca84ed7518f5 56
TanakaRobo 5:a7894e6982ea 57 void NeoPixelOut::setPixelColor(uint32_t i,uint32_t color){
TanakaRobo 8:82727add54ce 58 if(i < num_pixels_){
TanakaRobo 8:82727add54ce 59 strip_[i].hex = color;
TanakaRobo 5:a7894e6982ea 60 }
TanakaRobo 5:a7894e6982ea 61 }
TanakaRobo 5:a7894e6982ea 62
TanakaRobo 5:a7894e6982ea 63 void NeoPixelOut::show(){
TanakaRobo 5:a7894e6982ea 64 // Disable interrupts in the critical section
TanakaRobo 5:a7894e6982ea 65 __disable_irq();
TanakaRobo 5:a7894e6982ea 66
TanakaRobo 5:a7894e6982ea 67 float fr,fg,fb;
TanakaRobo 7:4ad54efe2fdd 68 for (int i = 0; i < num_pixels_; i++) {
TanakaRobo 5:a7894e6982ea 69 fr = strip_[i].r;
TanakaRobo 5:a7894e6982ea 70 fg = strip_[i].g;
TanakaRobo 5:a7894e6982ea 71 fb = strip_[i].b;
TanakaRobo 5:a7894e6982ea 72
TanakaRobo 5:a7894e6982ea 73 if (normalize) {
TanakaRobo 5:a7894e6982ea 74 float scale = 255.0f/(fr+fg+fb);
TanakaRobo 5:a7894e6982ea 75 fr *= scale;
TanakaRobo 5:a7894e6982ea 76 fg *= scale;
TanakaRobo 5:a7894e6982ea 77 fb *= scale;
TanakaRobo 5:a7894e6982ea 78 }
TanakaRobo 5:a7894e6982ea 79
TanakaRobo 5:a7894e6982ea 80 fr *= global_scale;
TanakaRobo 5:a7894e6982ea 81 fg *= global_scale;
TanakaRobo 5:a7894e6982ea 82 fb *= global_scale;
TanakaRobo 5:a7894e6982ea 83
TanakaRobo 5:a7894e6982ea 84 if (fr > 255) fr = 255;
TanakaRobo 5:a7894e6982ea 85 if (fg > 255) fg = 255;
TanakaRobo 5:a7894e6982ea 86 if (fb > 255) fb = 255;
TanakaRobo 5:a7894e6982ea 87 if (fr < 0) fr = 0;
TanakaRobo 5:a7894e6982ea 88 if (fg < 0) fg = 0;
TanakaRobo 5:a7894e6982ea 89 if (fb < 0) fb = 0;
TanakaRobo 5:a7894e6982ea 90
TanakaRobo 5:a7894e6982ea 91 // Black magic to fix distorted timing
TanakaRobo 5:a7894e6982ea 92 #ifdef __HAL_FLASH_INSTRUCTION_CACHE_DISABLE
TanakaRobo 5:a7894e6982ea 93 __HAL_FLASH_INSTRUCTION_CACHE_DISABLE();
TanakaRobo 5:a7894e6982ea 94 #endif
TanakaRobo 5:a7894e6982ea 95
TanakaRobo 5:a7894e6982ea 96 byte((int)fg);
TanakaRobo 5:a7894e6982ea 97 byte((int)fr);
TanakaRobo 5:a7894e6982ea 98 byte((int)fb);
TanakaRobo 5:a7894e6982ea 99
TanakaRobo 5:a7894e6982ea 100 #ifdef __HAL_FLASH_INSTRUCTION_CACHE_ENABLE
TanakaRobo 5:a7894e6982ea 101 __HAL_FLASH_INSTRUCTION_CACHE_ENABLE();
TanakaRobo 5:a7894e6982ea 102 #endif
TanakaRobo 5:a7894e6982ea 103 }
TanakaRobo 5:a7894e6982ea 104
TanakaRobo 5:a7894e6982ea 105 __enable_irq();
TanakaRobo 5:a7894e6982ea 106
TanakaRobo 5:a7894e6982ea 107 flip();
TanakaRobo 5:a7894e6982ea 108 }
TanakaRobo 5:a7894e6982ea 109
TanakaRobo 0:ca84ed7518f5 110 void NeoPixelOut::send(Pixel *colors, uint32_t count, bool flipwait)
TanakaRobo 0:ca84ed7518f5 111 {
TanakaRobo 0:ca84ed7518f5 112 // Disable interrupts in the critical section
TanakaRobo 0:ca84ed7518f5 113 __disable_irq();
TanakaRobo 0:ca84ed7518f5 114
TanakaRobo 0:ca84ed7518f5 115 Pixel* rgb;
TanakaRobo 0:ca84ed7518f5 116 float fr,fg,fb;
TanakaRobo 0:ca84ed7518f5 117 for (int i = 0; i < count; i++) {
TanakaRobo 0:ca84ed7518f5 118 rgb = colors++;
TanakaRobo 0:ca84ed7518f5 119 fr = (int)rgb->r;
TanakaRobo 0:ca84ed7518f5 120 fg = (int)rgb->g;
TanakaRobo 0:ca84ed7518f5 121 fb = (int)rgb->b;
TanakaRobo 0:ca84ed7518f5 122
TanakaRobo 0:ca84ed7518f5 123 if (normalize) {
TanakaRobo 0:ca84ed7518f5 124 float scale = 255.0f/(fr+fg+fb);
TanakaRobo 0:ca84ed7518f5 125 fr *= scale;
TanakaRobo 0:ca84ed7518f5 126 fg *= scale;
TanakaRobo 0:ca84ed7518f5 127 fb *= scale;
TanakaRobo 0:ca84ed7518f5 128 }
TanakaRobo 0:ca84ed7518f5 129
TanakaRobo 0:ca84ed7518f5 130 fr *= global_scale;
TanakaRobo 0:ca84ed7518f5 131 fg *= global_scale;
TanakaRobo 0:ca84ed7518f5 132 fb *= global_scale;
TanakaRobo 0:ca84ed7518f5 133
TanakaRobo 0:ca84ed7518f5 134 if (fr > 255) fr = 255;
TanakaRobo 0:ca84ed7518f5 135 if (fg > 255) fg = 255;
TanakaRobo 0:ca84ed7518f5 136 if (fb > 255) fb = 255;
TanakaRobo 0:ca84ed7518f5 137 if (fr < 0) fr = 0;
TanakaRobo 0:ca84ed7518f5 138 if (fg < 0) fg = 0;
TanakaRobo 0:ca84ed7518f5 139 if (fb < 0) fb = 0;
TanakaRobo 0:ca84ed7518f5 140
TanakaRobo 0:ca84ed7518f5 141 // Black magic to fix distorted timing
TanakaRobo 0:ca84ed7518f5 142 #ifdef __HAL_FLASH_INSTRUCTION_CACHE_DISABLE
TanakaRobo 0:ca84ed7518f5 143 __HAL_FLASH_INSTRUCTION_CACHE_DISABLE();
TanakaRobo 0:ca84ed7518f5 144 #endif
TanakaRobo 0:ca84ed7518f5 145
TanakaRobo 0:ca84ed7518f5 146 byte((int)fg);
TanakaRobo 0:ca84ed7518f5 147 byte((int)fr);
TanakaRobo 0:ca84ed7518f5 148 byte((int)fb);
TanakaRobo 0:ca84ed7518f5 149
TanakaRobo 0:ca84ed7518f5 150 #ifdef __HAL_FLASH_INSTRUCTION_CACHE_ENABLE
TanakaRobo 0:ca84ed7518f5 151 __HAL_FLASH_INSTRUCTION_CACHE_ENABLE();
TanakaRobo 0:ca84ed7518f5 152 #endif
TanakaRobo 0:ca84ed7518f5 153 }
TanakaRobo 0:ca84ed7518f5 154
TanakaRobo 0:ca84ed7518f5 155 __enable_irq();
TanakaRobo 0:ca84ed7518f5 156
TanakaRobo 0:ca84ed7518f5 157 if (flipwait) flip();
TanakaRobo 0:ca84ed7518f5 158 }
TanakaRobo 0:ca84ed7518f5 159
TanakaRobo 8:82727add54ce 160 uint32_t NeoPixelOut::color(uint8_t b,uint8_t g,uint8_t r){
TanakaRobo 8:82727add54ce 161 return (uint32_t)b + ((uint32_t)g << 8) + ((uint32_t)r << 16);
TanakaRobo 5:a7894e6982ea 162 }
TanakaRobo 5:a7894e6982ea 163
TanakaRobo 5:a7894e6982ea 164 int NeoPixelOut::numPixels(){
TanakaRobo 5:a7894e6982ea 165 return num_pixels_;
TanakaRobo 5:a7894e6982ea 166 }
TanakaRobo 5:a7894e6982ea 167
TanakaRobo 5:a7894e6982ea 168 void NeoPixelOut::off(bool flag){
TanakaRobo 8:82727add54ce 169 for(int i = 0;i < num_pixels_;i++){
TanakaRobo 5:a7894e6982ea 170 strip_[i].hex = 0;
TanakaRobo 5:a7894e6982ea 171 }
TanakaRobo 5:a7894e6982ea 172 if(flag){
TanakaRobo 5:a7894e6982ea 173 show();
TanakaRobo 5:a7894e6982ea 174 }
TanakaRobo 5:a7894e6982ea 175 }
TanakaRobo 5:a7894e6982ea 176
TanakaRobo 5:a7894e6982ea 177 void NeoPixelOut::changeNum(uint32_t num){
TanakaRobo 5:a7894e6982ea 178 strip_.resize(num);
TanakaRobo 5:a7894e6982ea 179 num_pixels_ = num;
TanakaRobo 5:a7894e6982ea 180 }
TanakaRobo 5:a7894e6982ea 181
TanakaRobo 5:a7894e6982ea 182 void NeoPixelOut::setBrightness(float brightness){
TanakaRobo 5:a7894e6982ea 183 global_scale = brightness;
TanakaRobo 5:a7894e6982ea 184 }
TanakaRobo 0:ca84ed7518f5 185
TanakaRobo 0:ca84ed7518f5 186 void NeoPixelOut::flip(void)
TanakaRobo 0:ca84ed7518f5 187 {
TanakaRobo 0:ca84ed7518f5 188 wait_us(50);
TanakaRobo 0:ca84ed7518f5 189 }