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@7:4ad54efe2fdd, 2020-12-06 (annotated)

Committer:
TanakaRobo
Date:
Sun Dec 06 08:09:01 2020 +0000
Revision:
7:4ad54efe2fdd
Parent:
5:a7894e6982ea
Child:
8:82727add54ce
can use printf with scrp;

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 7:4ad54efe2fdd 19 #error "This board is not supported"
TanakaRobo 7:4ad54efe2fdd 20 #endif
TanakaRobo 0:ca84ed7518f5 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 5:a7894e6982ea 58 if(i >= num_pixels_){
TanakaRobo 5:a7894e6982ea 59 return;
TanakaRobo 5:a7894e6982ea 60 }
TanakaRobo 5:a7894e6982ea 61 strip_[i].hex = color;
TanakaRobo 5:a7894e6982ea 62 }
TanakaRobo 5:a7894e6982ea 63
TanakaRobo 5:a7894e6982ea 64 void NeoPixelOut::show(){
TanakaRobo 5:a7894e6982ea 65 // Disable interrupts in the critical section
TanakaRobo 5:a7894e6982ea 66 __disable_irq();
TanakaRobo 5:a7894e6982ea 67
TanakaRobo 5:a7894e6982ea 68 float fr,fg,fb;
TanakaRobo 7:4ad54efe2fdd 69 for (int i = 0; i < num_pixels_; i++) {
TanakaRobo 5:a7894e6982ea 70 fr = strip_[i].r;
TanakaRobo 5:a7894e6982ea 71 fg = strip_[i].g;
TanakaRobo 5:a7894e6982ea 72 fb = strip_[i].b;
TanakaRobo 5:a7894e6982ea 73
TanakaRobo 5:a7894e6982ea 74 if (normalize) {
TanakaRobo 5:a7894e6982ea 75 float scale = 255.0f/(fr+fg+fb);
TanakaRobo 5:a7894e6982ea 76 fr *= scale;
TanakaRobo 5:a7894e6982ea 77 fg *= scale;
TanakaRobo 5:a7894e6982ea 78 fb *= scale;
TanakaRobo 5:a7894e6982ea 79 }
TanakaRobo 5:a7894e6982ea 80
TanakaRobo 5:a7894e6982ea 81 fr *= global_scale;
TanakaRobo 5:a7894e6982ea 82 fg *= global_scale;
TanakaRobo 5:a7894e6982ea 83 fb *= global_scale;
TanakaRobo 5:a7894e6982ea 84
TanakaRobo 5:a7894e6982ea 85 if (fr > 255) fr = 255;
TanakaRobo 5:a7894e6982ea 86 if (fg > 255) fg = 255;
TanakaRobo 5:a7894e6982ea 87 if (fb > 255) fb = 255;
TanakaRobo 5:a7894e6982ea 88 if (fr < 0) fr = 0;
TanakaRobo 5:a7894e6982ea 89 if (fg < 0) fg = 0;
TanakaRobo 5:a7894e6982ea 90 if (fb < 0) fb = 0;
TanakaRobo 5:a7894e6982ea 91
TanakaRobo 5:a7894e6982ea 92 // Black magic to fix distorted timing
TanakaRobo 5:a7894e6982ea 93 #ifdef __HAL_FLASH_INSTRUCTION_CACHE_DISABLE
TanakaRobo 5:a7894e6982ea 94 __HAL_FLASH_INSTRUCTION_CACHE_DISABLE();
TanakaRobo 5:a7894e6982ea 95 #endif
TanakaRobo 5:a7894e6982ea 96
TanakaRobo 5:a7894e6982ea 97 byte((int)fg);
TanakaRobo 5:a7894e6982ea 98 byte((int)fr);
TanakaRobo 5:a7894e6982ea 99 byte((int)fb);
TanakaRobo 5:a7894e6982ea 100
TanakaRobo 5:a7894e6982ea 101 #ifdef __HAL_FLASH_INSTRUCTION_CACHE_ENABLE
TanakaRobo 5:a7894e6982ea 102 __HAL_FLASH_INSTRUCTION_CACHE_ENABLE();
TanakaRobo 5:a7894e6982ea 103 #endif
TanakaRobo 5:a7894e6982ea 104 }
TanakaRobo 5:a7894e6982ea 105
TanakaRobo 5:a7894e6982ea 106 __enable_irq();
TanakaRobo 5:a7894e6982ea 107
TanakaRobo 5:a7894e6982ea 108 flip();
TanakaRobo 5:a7894e6982ea 109 }
TanakaRobo 5:a7894e6982ea 110
TanakaRobo 0:ca84ed7518f5 111 void NeoPixelOut::send(Pixel *colors, uint32_t count, bool flipwait)
TanakaRobo 0:ca84ed7518f5 112 {
TanakaRobo 0:ca84ed7518f5 113 // Disable interrupts in the critical section
TanakaRobo 0:ca84ed7518f5 114 __disable_irq();
TanakaRobo 0:ca84ed7518f5 115
TanakaRobo 0:ca84ed7518f5 116 Pixel* rgb;
TanakaRobo 0:ca84ed7518f5 117 float fr,fg,fb;
TanakaRobo 0:ca84ed7518f5 118 for (int i = 0; i < count; i++) {
TanakaRobo 0:ca84ed7518f5 119 rgb = colors++;
TanakaRobo 0:ca84ed7518f5 120 fr = (int)rgb->r;
TanakaRobo 0:ca84ed7518f5 121 fg = (int)rgb->g;
TanakaRobo 0:ca84ed7518f5 122 fb = (int)rgb->b;
TanakaRobo 0:ca84ed7518f5 123
TanakaRobo 0:ca84ed7518f5 124 if (normalize) {
TanakaRobo 0:ca84ed7518f5 125 float scale = 255.0f/(fr+fg+fb);
TanakaRobo 0:ca84ed7518f5 126 fr *= scale;
TanakaRobo 0:ca84ed7518f5 127 fg *= scale;
TanakaRobo 0:ca84ed7518f5 128 fb *= scale;
TanakaRobo 0:ca84ed7518f5 129 }
TanakaRobo 0:ca84ed7518f5 130
TanakaRobo 0:ca84ed7518f5 131 fr *= global_scale;
TanakaRobo 0:ca84ed7518f5 132 fg *= global_scale;
TanakaRobo 0:ca84ed7518f5 133 fb *= global_scale;
TanakaRobo 0:ca84ed7518f5 134
TanakaRobo 0:ca84ed7518f5 135 if (fr > 255) fr = 255;
TanakaRobo 0:ca84ed7518f5 136 if (fg > 255) fg = 255;
TanakaRobo 0:ca84ed7518f5 137 if (fb > 255) fb = 255;
TanakaRobo 0:ca84ed7518f5 138 if (fr < 0) fr = 0;
TanakaRobo 0:ca84ed7518f5 139 if (fg < 0) fg = 0;
TanakaRobo 0:ca84ed7518f5 140 if (fb < 0) fb = 0;
TanakaRobo 0:ca84ed7518f5 141
TanakaRobo 0:ca84ed7518f5 142 // Black magic to fix distorted timing
TanakaRobo 0:ca84ed7518f5 143 #ifdef __HAL_FLASH_INSTRUCTION_CACHE_DISABLE
TanakaRobo 0:ca84ed7518f5 144 __HAL_FLASH_INSTRUCTION_CACHE_DISABLE();
TanakaRobo 0:ca84ed7518f5 145 #endif
TanakaRobo 0:ca84ed7518f5 146
TanakaRobo 0:ca84ed7518f5 147 byte((int)fg);
TanakaRobo 0:ca84ed7518f5 148 byte((int)fr);
TanakaRobo 0:ca84ed7518f5 149 byte((int)fb);
TanakaRobo 0:ca84ed7518f5 150
TanakaRobo 0:ca84ed7518f5 151 #ifdef __HAL_FLASH_INSTRUCTION_CACHE_ENABLE
TanakaRobo 0:ca84ed7518f5 152 __HAL_FLASH_INSTRUCTION_CACHE_ENABLE();
TanakaRobo 0:ca84ed7518f5 153 #endif
TanakaRobo 0:ca84ed7518f5 154 }
TanakaRobo 0:ca84ed7518f5 155
TanakaRobo 0:ca84ed7518f5 156 __enable_irq();
TanakaRobo 0:ca84ed7518f5 157
TanakaRobo 0:ca84ed7518f5 158 if (flipwait) flip();
TanakaRobo 0:ca84ed7518f5 159 }
TanakaRobo 0:ca84ed7518f5 160
TanakaRobo 5:a7894e6982ea 161 uint32_t NeoPixelOut::color(uint32_t b,uint32_t g,uint32_t r){
TanakaRobo 5:a7894e6982ea 162 return b + (g << 8) + (r << 16);
TanakaRobo 5:a7894e6982ea 163 }
TanakaRobo 5:a7894e6982ea 164
TanakaRobo 5:a7894e6982ea 165 int NeoPixelOut::numPixels(){
TanakaRobo 5:a7894e6982ea 166 return num_pixels_;
TanakaRobo 5:a7894e6982ea 167 }
TanakaRobo 5:a7894e6982ea 168
TanakaRobo 5:a7894e6982ea 169 void NeoPixelOut::off(bool flag){
TanakaRobo 5:a7894e6982ea 170 for(int i = 0;i < strip_.size();i++){
TanakaRobo 5:a7894e6982ea 171 strip_[i].hex = 0;
TanakaRobo 5:a7894e6982ea 172 }
TanakaRobo 5:a7894e6982ea 173 if(flag){
TanakaRobo 5:a7894e6982ea 174 show();
TanakaRobo 5:a7894e6982ea 175 }
TanakaRobo 5:a7894e6982ea 176 }
TanakaRobo 5:a7894e6982ea 177
TanakaRobo 5:a7894e6982ea 178 void NeoPixelOut::changeNum(uint32_t num){
TanakaRobo 5:a7894e6982ea 179 strip_.resize(num);
TanakaRobo 5:a7894e6982ea 180 num_pixels_ = num;
TanakaRobo 5:a7894e6982ea 181 }
TanakaRobo 5:a7894e6982ea 182
TanakaRobo 5:a7894e6982ea 183 void NeoPixelOut::setBrightness(float brightness){
TanakaRobo 5:a7894e6982ea 184 global_scale = brightness;
TanakaRobo 5:a7894e6982ea 185 }
TanakaRobo 0:ca84ed7518f5 186
TanakaRobo 0:ca84ed7518f5 187 void NeoPixelOut::flip(void)
TanakaRobo 0:ca84ed7518f5 188 {
TanakaRobo 0:ca84ed7518f5 189 wait_us(50);
TanakaRobo 0:ca84ed7518f5 190 }