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明石高専ロボ研 mbedライブラリ
Dependents: MDD_L432KC USB2RS485 pathtracking odometry ... more
Diff: neopixel.cpp
- Revision:
- 5:a7894e6982ea
- Parent:
- 0:ca84ed7518f5
- Child:
- 7:4ad54efe2fdd
--- a/neopixel.cpp Fri Jul 24 14:12:15 2020 +0000 +++ b/neopixel.cpp Thu Nov 12 16:38:23 2020 +0000 @@ -2,22 +2,25 @@ #include "neopixel.h" const int wait_time[4][2] = { - {6,14}, + {6, 9}, {2, 5}, - {2, 6}, - {5,11} + {2, 4}, + {5, 9} }; -NeoPixelOut::NeoPixelOut(PinName pin) : DigitalOut(pin) +NeoPixelOut::NeoPixelOut(PinName pin, int num) : DigitalOut(pin) { normalize = false; global_scale = 1.0f; - #ifdef __STM32L432xx_H - boad_ = 0; + #if defined(TARGET_NUCLEO_L432KC) + board_ = 0; + #elif defined(TARGET_NUCLEO_F446RE) + board_ = 1; + #else + #error "This board is not supported" #endif - #ifdef __STM32F446xx_H - boad_ = 1; - #endif + num_pixels_ = num; + strip_.resize(num); } // The timing should be approximately 800ns/300ns, 300ns/800ns @@ -29,17 +32,17 @@ // duty cycle determines bit value if (byte & 0x80) { // one - for(int j = 0; j < wait_time[0][boad_]; j++) asm("NOP");//6 14 + for(int j = 0; j < wait_time[0][board_]; j++) asm("NOP");//6 9 gpio_write(&gpio, 0); - for(int j = 0; j < wait_time[1][boad_]; j++) asm("NOP");//2 5 + for(int j = 0; j < wait_time[1][board_]; j++) asm("NOP");//2 5 } else { // zero - for(int j = 0; j < wait_time[2][boad_]; j++) asm("NOP");//2 6 + for(int j = 0; j < wait_time[2][board_]; j++) asm("NOP");//2 4 gpio_write(&gpio, 0); - for(int j = 0; j < wait_time[3][boad_]; j++) asm("NOP");//5 11 + for(int j = 0; j < wait_time[3][board_]; j++) asm("NOP");//5 9 } byte = byte << 1; // shift to next bit @@ -47,6 +50,61 @@ } +void NeoPixelOut::setPixelColor(uint32_t i,uint32_t color){ + if(i >= num_pixels_){ + return; + } + strip_[i].hex = color; +} + +void NeoPixelOut::show(){ + // Disable interrupts in the critical section + __disable_irq(); + + float fr,fg,fb; + int count = strip_.size(); + for (int i = 0; i < count; i++) { + fr = strip_[i].r; + fg = strip_[i].g; + fb = strip_[i].b; + + if (normalize) { + float scale = 255.0f/(fr+fg+fb); + fr *= scale; + fg *= scale; + fb *= scale; + } + + fr *= global_scale; + fg *= global_scale; + fb *= global_scale; + + if (fr > 255) fr = 255; + if (fg > 255) fg = 255; + if (fb > 255) fb = 255; + if (fr < 0) fr = 0; + if (fg < 0) fg = 0; + if (fb < 0) fb = 0; + + // Black magic to fix distorted timing + #ifdef __HAL_FLASH_INSTRUCTION_CACHE_DISABLE + __HAL_FLASH_INSTRUCTION_CACHE_DISABLE(); + #endif + + byte((int)fg); + byte((int)fr); + byte((int)fb); + + #ifdef __HAL_FLASH_INSTRUCTION_CACHE_ENABLE + __HAL_FLASH_INSTRUCTION_CACHE_ENABLE(); + #endif + } + + __enable_irq(); + + flip(); +} + void NeoPixelOut::send(Pixel *colors, uint32_t count, bool flipwait) { // Disable interrupts in the critical section @@ -97,6 +155,31 @@ if (flipwait) flip(); } +uint32_t NeoPixelOut::color(uint32_t b,uint32_t g,uint32_t r){ + return b + (g << 8) + (r << 16); +} + +int NeoPixelOut::numPixels(){ + return num_pixels_; +} + +void NeoPixelOut::off(bool flag){ + for(int i = 0;i < strip_.size();i++){ + strip_[i].hex = 0; + } + if(flag){ + show(); + } +} + +void NeoPixelOut::changeNum(uint32_t num){ + strip_.resize(num); + num_pixels_ = num; +} + +void NeoPixelOut::setBrightness(float brightness){ + global_scale = brightness; +} void NeoPixelOut::flip(void) {