![](/media/cache/profiles/P1030212_resized.JPG.50x50_q85.jpg)
明石高専ロボ研 mbedライブラリ
Dependents: MDD_L432KC USB2RS485 pathtracking odometry ... more
neopixel.cpp
- Committer:
- TanakaRobo
- Date:
- 2020-01-02
- Revision:
- 0:ca84ed7518f5
- Child:
- 5:a7894e6982ea
File content as of revision 0:ca84ed7518f5:
#include "mbed.h" #include "neopixel.h" const int wait_time[4][2] = { {6,14}, {2, 5}, {2, 6}, {5,11} }; NeoPixelOut::NeoPixelOut(PinName pin) : DigitalOut(pin) { normalize = false; global_scale = 1.0f; #ifdef __STM32L432xx_H boad_ = 0; #endif #ifdef __STM32F446xx_H boad_ = 1; #endif } // The timing should be approximately 800ns/300ns, 300ns/800ns void NeoPixelOut::byte(register uint32_t byte) { for (int i = 0; i < 8; i++) { gpio_write(&gpio, 1); // duty cycle determines bit value if (byte & 0x80) { // one for(int j = 0; j < wait_time[0][boad_]; j++) asm("NOP");//6 14 gpio_write(&gpio, 0); for(int j = 0; j < wait_time[1][boad_]; j++) asm("NOP");//2 5 } else { // zero for(int j = 0; j < wait_time[2][boad_]; j++) asm("NOP");//2 6 gpio_write(&gpio, 0); for(int j = 0; j < wait_time[3][boad_]; j++) asm("NOP");//5 11 } byte = byte << 1; // shift to next bit } } void NeoPixelOut::send(Pixel *colors, uint32_t count, bool flipwait) { // Disable interrupts in the critical section __disable_irq(); Pixel* rgb; float fr,fg,fb; for (int i = 0; i < count; i++) { rgb = colors++; fr = (int)rgb->r; fg = (int)rgb->g; fb = (int)rgb->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(); if (flipwait) flip(); } void NeoPixelOut::flip(void) { wait_us(50); }