InetrfaceProducts NXP
/
mini_board_PCU9669_demo
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Dependencies: mbed I2C_slaves PCU9669 parallel_bus
Fork of
mini_board_PCU9669
by 
InetrfaceProducts NXP
Revision 21:3b75b545ecfb, committed 2012-10-26
- Comitter:
- nxp_ip
- Date:
- Fri Oct 26 07:03:47 2012 +0000
- Parent:
- 20:a266fa588bd8
- Commit message:
- PCU9669, PCU9955 and PCA9629 demo code version 1.0
Changed in this revision
--- a/demo_patterns.cpp Fri Oct 26 05:59:55 2012 +0000
+++ b/demo_patterns.cpp Fri Oct 26 07:03:47 2012 +0000
@@ -1,716 +1,750 @@
-#include "demo_patterns.h"
-#include "transfer_manager.h"
-#include "PCx9955_reg.h"
-#include "PCA9629_reg.h"
-#include "PCU9669_access.h" // PCU9669 chip access interface
-
-#include "mbed.h"
-
-typedef struct pattern_st {
- int duration;
- void (*pattern_func)( int count );
-}
-pattern;
-
-char gLEDs[ N_OF_LEDS ] = { 0 };
-int gCount = 0;
-
-char nine_step_intensity[] = { 0x00, 0x01, 0x03, 0x07, 0x0F, 0x1F, 0x3F, 0x7F, 0xFF };
-char sixteen_step_intensity[] = { 0x01, 0x03, 0x07, 0x0F, 0x1F, 0x3F, 0x7F, 0xFF, 0x7F, 0x3F, 0x1F, 0x0F, 0x07, 0x03, 0x01, 0x00 };
-
-char gMot_cntl_order[ 5 ] = { MOT_ADDR5, MOT_ADDR6, MOT_ADDR7, MOT_ADDR8, MOT_ADDR9 };
-char gMot_cntl_order_halfturn[ 10 ] = { MOT_ADDR5, 0, MOT_ADDR6, MOT_ADDR7, MOT_ADDR8, MOT_ADDR9, 0, MOT_ADDR8, MOT_ADDR7, MOT_ADDR6 };
-char gMotor_count;
-
-typedef enum {
- RED,
- GREEN,
- BLUE,
-}
-color;
-
-char rgb_mask[ 3 ][ 15 ] = {
- { 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0 },
- { 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0 },
- { 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 0 }
-};
-
-char led_init_array[] = {
- 0x80, // Command
- 0x00, 0x05, // MODE1, MODE2
- 0xAA, 0xAA, 0xAA, 0xAA, // LEDOUT[3:0]
- 0x80, 0x00, // GRPPWM, GRPFREQ
- PWM_INIT, PWM_INIT, PWM_INIT, PWM_INIT, PWM_INIT, PWM_INIT, PWM_INIT, PWM_INIT, // PWM[7:0]
- PWM_INIT, PWM_INIT, PWM_INIT, PWM_INIT, PWM_INIT, PWM_INIT, PWM_INIT, PWM_INIT, // PWM[15:8]
- IREF_INIT, IREF_INIT, IREF_INIT, IREF_INIT, IREF_INIT, IREF_INIT, IREF_INIT, IREF_INIT, // IREF[7:0]
- IREF_INIT, IREF_INIT, IREF_INIT, IREF_INIT, IREF_INIT, IREF_INIT, IREF_INIT, IREF_INIT, // IREF[15:8]
- 0x08 // OFFSET: 1uS offsets
-};
-
-char led_norm_op_array[] = {
- 0x80 | PWM0, // Command
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // PWM[7:0]
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // PWM[14:8]
-};
-
-char mot_init_array[] = {
- 0x80,
- 0x20, 0xE2, 0xE4, 0xE6, 0xE0, 0x02, 0x10, // for registers MODE - WDCNTL (0x00 - 0x06
- 0x00, 0x00, // for registers IP and INTSTAT (0x07, 0x08)
- 0x0F, 0x03, 0x0C, 0x0F, 0x03, 0x01, 0x01, 0x00, 0x01, // for registers OP - INT_AUTO_CLR (0x09 - 0x11)
- 0x00, 0x00, 0x30, 0x00, 0x82, 0x06, 0x82, 0x06, // for registers SETMODE - CCWPWH (0x12 - 0x19)
- 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, // for registers CWSCOUNTL - CCWRCOUNTH (0x1A - 0x21)
- 0x00, 0x00, // for registers EXTRASTEPS0 and EXTRASTEPS1 (0x22, 0x23)
- 0x00, 0x00, 0x84 // for registers RMPCNTL - MCNTL (0x24 - 0x26)
-};
-
-char mot_all_stop[] = {
- 0x26, 0x00
-};
-
-char mot_all_start[] = {
- 0x26, 0xBA
-};
-
-char mot_ramp_array[] = {
- 0x80,
- 0x20, 0xE2, 0xE4, 0xE6, 0xE0, 0xFF, 0x10, // for registers MODE - WDCNTL (0x00 - 0x06
- 0x00, 0x00, // for registers IP and INTSTAT (0x07, 0x08)
- 0x0F, 0x03, 0x0C, 0x0F, 0x03, 0x00, 0x03, 0x03, 0x01, // for registers OP - INT_AUTO_CLR (0x09 - 0x11)
- 0x00, 0x00, 0x30, 0x00, 0x97, 0x04, 0x97, 0x04, // for registers SETMODE - CCWPWH (0x12 - 0x19)
- 0x23, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, // for registers CWSCOUNTL - CCWRCOUNTH (0x1A - 0x21)
- 0x0C, 0x0C, // for registers EXTRASTEPS0 and EXTRASTEPS1 (0x22, 0x23)
- 0x37, 0x00, 0x88 // for registers RMPCNTL - MCNTL (0x24 - 0x26)
-};
-
-char mot_vib_array[] = {
- 0x80,
- 0x20, 0xE2, 0xE4, 0xE6, 0xE0, 0xFF, 0x10, // for registers MODE - WDCNTL (0x00 - 0x06
- 0x00, 0x00, // for registers IP and INTSTAT (0x07, 0x08)
- 0x0F, 0x03, 0x0C, 0x0F, 0x03, 0x00, 0x03, 0x03, 0x01, // for registers OP - INT_AUTO_CLR (0x09 - 0x11)
- 0x00, 0x00, 0x30, 0x00, 0x82, 0x06, 0x82, 0x06, // for registers SETMODE - CCWPWH (0x12 - 0x19)
- 0x03, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, // for registers CWSCOUNTL - CCWRCOUNTH (0x1A - 0x21)
- 0x0C, 0x0C, // for registers EXTRASTEPS0 and EXTRASTEPS1 (0x22, 0x23)
- 0x00, 0x00, 0xBA // for registers RMPCNTL - MCNTL (0x24 - 0x26)
-};
-
-//#define INTERVAL128MS
-#ifdef INTERVAL128MS
-char mot_norm_op_array[] = {
- 0x80,
- 0x20, 0xE2, 0xE4, 0xE6, 0xE0, 0x02, 0x10, // for registers MODE - WDCNTL (0x00 - 0x06
- 0x00, 0x00, // for registers IP and INTSTAT (0x07, 0x08)
- 0x0F, 0x03, 0x0C, 0x0F, 0x03, 0x00, 0x01, 0x00, 0x01, // for registers OP - INT_AUTO_CLR (0x09 - 0x11)
- 0x00, 0x00, 0x30, 0x00, 0xF2, 0x06, 0xF2, 0x06, // for registers SETMODE - CCWPWH (0x12 - 0x19)
- 0x30, 0x00, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00, // for registers CWSCOUNTL - CCWRCOUNTH (0x1A - 0x21)
- 0x00, 0x00, // for registers EXTRASTEPS0 and EXTRASTEPS1 (0x22, 0x23)
- 0x00, 0x00, 0x00 // for registers RMPCNTL - MCNTL (0x24 - 0x26)
-};
-
-char mot_half_array[] = {
- 0x80,
- 0x20, 0xE2, 0xE4, 0xE6, 0xE0, 0x02, 0x10, // for registers MODE - WDCNTL (0x00 - 0x06
- 0x00, 0x00, // for registers IP and INTSTAT (0x07, 0x08)
- 0x0F, 0x03, 0x0C, 0x0F, 0x03, 0x00, 0x01, 0x00, 0x01, // for registers OP - INT_AUTO_CLR (0x09 - 0x11)
- 0x00, 0x00, 0x30, 0x00, 0xF2, 0x06, 0xF2, 0x06, // for registers SETMODE - CCWPWH (0x12 - 0x19)
- 0x18, 0x00, 0x18, 0x00, 0x00, 0x00, 0x00, 0x00, // for registers CWSCOUNTL - CCWRCOUNTH (0x1A - 0x21)
- 0x00, 0x00, // for registers EXTRASTEPS0 and EXTRASTEPS1 (0x22, 0x23)
- 0x00, 0x00, 0x00 // for registers RMPCNTL - MCNTL (0x24 - 0x26)
-};
-#else
-char mot_norm_op_array[] = {
- 0x80,
- 0x20, 0xE2, 0xE4, 0xE6, 0xE0, 0x02, 0x10, // for registers MODE - WDCNTL (0x00 - 0x06
- 0x00, 0x00, // for registers IP and INTSTAT (0x07, 0x08)
- 0x0F, 0x03, 0x0C, 0x0F, 0x03, 0x00, 0x01, 0x00, 0x01, // for registers OP - INT_AUTO_CLR (0x09 - 0x11)
- 0x00, 0x00, 0x30, 0x00, 0xE4, 0x0D, 0xE4, 0x0D, // for registers SETMODE - CCWPWH (0x12 - 0x19)
- 0x30, 0x00, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00, // for registers CWSCOUNTL - CCWRCOUNTH (0x1A - 0x21)
- 0x00, 0x00, // for registers EXTRASTEPS0 and EXTRASTEPS1 (0x22, 0x23)
- 0x00, 0x00, 0x00 // for registers RMPCNTL - MCNTL (0x24 - 0x26)
-};
-
-char mot_half_array[] = {
- 0x80,
- 0x20, 0xE2, 0xE4, 0xE6, 0xE0, 0x02, 0x10, // for registers MODE - WDCNTL (0x00 - 0x06
- 0x00, 0x00, // for registers IP and INTSTAT (0x07, 0x08)
- 0x0F, 0x03, 0x0C, 0x0F, 0x03, 0x00, 0x01, 0x00, 0x01, // for registers OP - INT_AUTO_CLR (0x09 - 0x11)
- 0x00, 0x00, 0x30, 0x00, 0xE4, 0x0D, 0xE4, 0x0D, // for registers SETMODE - CCWPWH (0x12 - 0x19)
- 0x18, 0x00, 0x18, 0x00, 0x00, 0x00, 0x00, 0x00, // for registers CWSCOUNTL - CCWRCOUNTH (0x1A - 0x21)
- 0x00, 0x00, // for registers EXTRASTEPS0 and EXTRASTEPS1 (0x22, 0x23)
- 0x00, 0x00, 0x00 // for registers RMPCNTL - MCNTL (0x24 - 0x26)
-};
-#endif
-
-
-transaction led_init_transfer[] = {
- { PCx9955_ADDR0, led_init_array, sizeof( led_init_array ) },
- { PCx9955_ADDR1, led_init_array, sizeof( led_init_array ) },
- { PCx9955_ADDR2, led_init_array, sizeof( led_init_array ) },
- { PCx9955_ADDR3, led_init_array, sizeof( led_init_array ) },
-};
-
-transaction led_norm_op_transfer[] = {
- { PCx9955_ADDR0, led_norm_op_array, sizeof( led_norm_op_array ) },
- { PCx9955_ADDR1, led_norm_op_array, sizeof( led_norm_op_array ) },
- { PCx9955_ADDR2, led_norm_op_array, sizeof( led_norm_op_array ) },
- { PCx9955_ADDR3, led_norm_op_array, sizeof( led_norm_op_array ) },
-};
-
-transaction mot_init_transfer[] = {
- { MOT_ADDR5, mot_init_array, sizeof( mot_init_array ) },
- { MOT_ADDR6, mot_init_array, sizeof( mot_init_array ) },
- { MOT_ADDR7, mot_init_array, sizeof( mot_init_array ) },
- { MOT_ADDR8, mot_init_array, sizeof( mot_init_array ) },
- { MOT_ADDR9, mot_init_array, sizeof( mot_init_array ) },
-};
-
-transaction mot_norm_op_transfer[] = {
- { MOT_ADDR5, mot_norm_op_array, sizeof( mot_norm_op_array ) },
- { MOT_ADDR6, mot_norm_op_array, sizeof( mot_norm_op_array ) },
- { MOT_ADDR7, mot_norm_op_array, sizeof( mot_norm_op_array ) },
- { MOT_ADDR8, mot_norm_op_array, sizeof( mot_norm_op_array ) },
- { MOT_ADDR9, mot_norm_op_array, sizeof( mot_norm_op_array ) },
-};
-
-transaction mot_half_transfer[] = {
- { MOT_ADDR5, mot_norm_op_array, sizeof( mot_norm_op_array ) },
- { MOT_ADDR6, mot_half_array, sizeof( mot_half_array ) },
- { MOT_ADDR7, mot_half_array, sizeof( mot_half_array ) },
- { MOT_ADDR8, mot_half_array, sizeof( mot_half_array ) },
- { MOT_ADDR9, mot_norm_op_array, sizeof( mot_norm_op_array ) },
-};
-
-transaction mot_half_setup_transfer[] = {
- { MOT_ADDR5, mot_half_array, sizeof( mot_half_array ) },
- { MOT_ADDR6, mot_half_array, sizeof( mot_half_array ) },
- { MOT_ADDR7, mot_half_array, sizeof( mot_half_array ) },
- { MOT_ADDR8, mot_half_array, sizeof( mot_half_array ) },
- { MOT_ADDR9, mot_half_array, sizeof( mot_half_array ) },
-};
-
-transaction mot_all_stop_transfer[] = {
- { MOT_ADDR5, mot_all_stop, sizeof( mot_all_stop ) },
- { MOT_ADDR6, mot_all_stop, sizeof( mot_all_stop ) },
- { MOT_ADDR7, mot_all_stop, sizeof( mot_all_stop ) },
- { MOT_ADDR8, mot_all_stop, sizeof( mot_all_stop ) },
- { MOT_ADDR9, mot_all_stop, sizeof( mot_all_stop ) },
-};
-
-transaction mot_all_start_transfer[] = {
- { MOT_ADDR5, mot_all_start, sizeof( mot_all_start ) },
- { MOT_ADDR6, mot_all_start, sizeof( mot_all_start ) },
- { MOT_ADDR7, mot_all_start, sizeof( mot_all_start ) },
- { MOT_ADDR8, mot_all_start, sizeof( mot_all_start ) },
- { MOT_ADDR9, mot_all_start, sizeof( mot_all_start ) },
-};
-
-transaction mot_all_vib_transfer[] = {
- { MOT_ADDR5, mot_vib_array, sizeof( mot_vib_array ) },
- { MOT_ADDR6, mot_vib_array, sizeof( mot_vib_array ) },
- { MOT_ADDR7, mot_vib_array, sizeof( mot_vib_array ) },
- { MOT_ADDR8, mot_vib_array, sizeof( mot_vib_array ) },
- { MOT_ADDR9, mot_vib_array, sizeof( mot_vib_array ) },
-};
-
-transaction mot_all_ramp_transfer[] = {
- { MOT_ADDR5, mot_ramp_array, sizeof( mot_ramp_array ) },
- { MOT_ADDR6, mot_ramp_array, sizeof( mot_ramp_array ) },
- { MOT_ADDR7, mot_ramp_array, sizeof( mot_ramp_array ) },
- { MOT_ADDR8, mot_ramp_array, sizeof( mot_ramp_array ) },
- { MOT_ADDR9, mot_ramp_array, sizeof( mot_ramp_array ) },
-};
-
-void init_slave_devices( void ) {
- // init all slave's registers
- setup_transfer( CH_FM_PLUS, mot_init_transfer, sizeof( mot_init_transfer ) / sizeof( transaction ) );
- setup_transfer( CH_UFM1, led_init_transfer, sizeof( led_init_transfer ) / sizeof( transaction ) );
- setup_transfer( CH_UFM2, led_init_transfer, sizeof( led_init_transfer ) / sizeof( transaction ) );
- start( CH_FM_PLUS ); // motors are aligned using interrupt input of PCA9629
- start( CH_UFM1 );
- start( CH_UFM2 );
-
- wait_sec( 0.5 );
-
- // update motor control buffer configuration
-
- setup_transfer( CH_FM_PLUS, mot_norm_op_transfer, sizeof( mot_norm_op_transfer ) / sizeof( transaction ) );
- setup_transfer( CH_UFM1, led_norm_op_transfer, sizeof( led_norm_op_transfer ) / sizeof( transaction ) );
- setup_transfer( CH_UFM2, led_norm_op_transfer, sizeof( led_norm_op_transfer ) / sizeof( transaction ) );
- start( CH_FM_PLUS ); // just update PCA9629 registers. no motor action
- start( CH_UFM1 );
- start( CH_UFM2 );
-}
-
-void single_byte_write_into_a_PCA9629( char ch, char i2c_addr, char reg_addr, char val ) {
- transaction t;
- char data[ 2 ];
-
- data[ 0 ] = reg_addr;
- data[ 1 ] = val;
-
- t.i2c_address = i2c_addr;
- t.data = data;
- t.length = 2;
-
- setup_transfer( ch, &t, 1 );
- start( CH_FM_PLUS );
-}
-
-void ramp_all_PCA9629( void ) {
- setup_transfer( CH_FM_PLUS, mot_all_ramp_transfer, sizeof( mot_all_ramp_transfer ) / sizeof( transaction ) );
- start( CH_FM_PLUS );
-}
-void vib_all_PCA9629( void ) {
- setup_transfer( CH_FM_PLUS, mot_all_vib_transfer, sizeof( mot_all_vib_transfer ) / sizeof( transaction ) );
- start( CH_FM_PLUS );
-}
-void start_all_PCA9629( void ) {
- setup_transfer( CH_FM_PLUS, mot_all_start_transfer, sizeof( mot_all_start_transfer ) / sizeof( transaction ) );
- start( CH_FM_PLUS );
-}
-void stop_all_PCA9629( void ) {
- setup_transfer( CH_FM_PLUS, mot_all_stop_transfer, sizeof( mot_all_stop_transfer ) / sizeof( transaction ) );
- start( CH_FM_PLUS );
-}
-void align_all_PCA9629( void ) {
- setup_transfer( CH_FM_PLUS, mot_init_transfer, sizeof( mot_init_transfer ) / sizeof( transaction ) );
- start( CH_FM_PLUS );
-}
-
-void all_LEDs_value( char v ) {
- for ( int i = 0; i < N_OF_LEDS; i++ )
- gLEDs[ i ] = v;
-}
-
-void all_LEDs_turn_off() {
- all_LEDs_value( 0x00 );
-}
-
-void all_LEDs_turn_on() {
- all_LEDs_value( 0xFF );
-}
-
-void pattern_rampup( int count ) {
- if ( count == 0 ) {
- all_LEDs_turn_off();
- return;
- }
-
- for ( int i = 0; i < N_OF_LEDS; i++ )
- gLEDs[ i ] = count & 0xFF;
-}
-
-void pattern_rampup_and_down( int count ) {
- if ( !(count & 0xFF) ) {
- ramp_all_PCA9629();
- all_LEDs_turn_off();
- return;
- }
-
- for ( int i = 0; i < N_OF_LEDS; i++ )
- gLEDs[ i ] = (((count & 0x80) ? ~count : count) << 1) & 0xFF;
-}
-
-void pattern_rampup_and_down_w_color( int count ) {
- static int color;
-
- color = (!count || (3 <= color)) ? 0 : color;
-
- if ( !(count & 0xFF) ) {
- ramp_all_PCA9629();
- all_LEDs_turn_off();
- color++;
- return;
- }
-
- for ( int i = 0; i < N_OF_LEDS; i++ )
- gLEDs[ i ] = (rgb_mask[ color ][ i % N_LED_PER_BOARD ]) ? (((count & 0x80) ? ~count : count) << 1) & 0xFF : 0x00;
-}
-
-
-void pattern_colors2( int count ) {
-
- if ( !count ) {
- gMotor_count = 0;
- setup_transfer( CH_FM_PLUS, mot_norm_op_transfer, sizeof( mot_norm_op_transfer ) / sizeof( transaction ) );
- start( CH_FM_PLUS ); // just update PCA9629 registers. no motor action
- }
-
- if ( !((count + 20) & 0x3F) ) {
- single_byte_write_into_a_PCA9629( CH_FM_PLUS, gMot_cntl_order[ gMotor_count % 5 ], 0x26, 0x80 | ((gMotor_count / 5) & 0x1) );
- gMotor_count++;
- }
-
-#define PI 3.14159265358979323846
-
- float r;
- float g;
- float b;
- float k;
- float c;
-
- k = (2 * PI) / 300.0;
- c = count;
-
-#if 0
- r = sin( k * (c + 0.0) );
- g = sin( k * (c + 100.0) );
- b = sin( k * (c + 200.0) );
- r = (0 < r) ? r * 255.0 : 0;
- g = (0 < g) ? g * 255.0 : 0;
- b = (0 < b) ? b * 255.0 : 0;
-#else
- r = (sin( k * (c + 0.0) ) + 1) * (127.5 * ((count < 500) ? (float)count / 500.0 : 1.0));
- g = (sin( k * (c + 100.0) ) + 1) * (127.5 * ((count < 500) ? (float)count / 500.0 : 1.0));
- b = (sin( k * (c + 200.0) ) + 1) * (127.5 * ((count < 500) ? (float)count / 500.0 : 1.0));
-#endif
- for ( int i = 0; i < N_OF_LEDS; i += N_LED_PER_BOARD ) {
- for ( int j = 0; j < 12; j += 3 ) {
- gLEDs[ i + j + 0 ] = (char)r;
- gLEDs[ i + j + 1 ] = (char)g;
- gLEDs[ i + j + 2 ] = (char)b;
- }
- for ( int j = 12; j < 15; j ++ )
- gLEDs[ i + j ] = (char)((((2500 <= count) && (count < 3000)) ? ((float)(count - 2500) / 500.0) : 0.0) * 255.0);
- }
-}
-
-//void pattern_color_phase( int count ) {
-void pattern_colors( int count ) {
-
- if ( !count ) {
- gMotor_count = 0;
- setup_transfer( CH_FM_PLUS, mot_norm_op_transfer, sizeof( mot_norm_op_transfer ) / sizeof( transaction ) );
- start( CH_FM_PLUS ); // just update PCA9629 registers. no motor action
- }
-
- if ( !((count + 20) & 0x3F) ) {
- single_byte_write_into_a_PCA9629( CH_FM_PLUS, gMot_cntl_order[ gMotor_count % 5 ], 0x26, 0x80 | ((gMotor_count / 5) & 0x1) );
- gMotor_count++;
- }
-
-#define PI 3.14159265358979323846
-
- float p;
- float k;
- float c;
-
- k = (2 * PI) / 300.0;
- p = 300.0 / N_OF_LEDS;
- c = count;
-
- for ( int i = 0; i < N_OF_LEDS; i += N_LED_PER_BOARD ) {
- for ( int j = 0; j < 12; j += 3 ) {
- gLEDs[ i + j + 0 ] = (char)((sin( k * (c + 0.0) + p * (i + j) ) + 1) * (127.5 * ((count < 500) ? (float)count / 500.0 : 1.0)));
- gLEDs[ i + j + 1 ] = (char)((sin( k * (c + 100.0) + p * (i + j) ) + 1) * (127.5 * ((count < 500) ? (float)count / 500.0 : 1.0)));
- gLEDs[ i + j + 2 ] = (char)((sin( k * (c + 200.0) + p * (i + j) ) + 1) * (127.5 * ((count < 500) ? (float)count / 500.0 : 1.0)));
- }
- for ( int j = 12; j < 15; j ++ )
- gLEDs[ i + j ] = (char)((((2500 <= count) && (count < 3000)) ? ((float)(count - 2500) / 500.0) : 0.0) * 255.0);
- }
-}
-
-
-
-
-
-void pattern_one_by_one( int count ) {
- if ( count == 0 ) {
- all_LEDs_turn_off();
- return;
- }
-
- gLEDs[ (count / 9) % N_OF_LEDS ] = nine_step_intensity[ count % 9 ];
-}
-
-void pattern_random( int count ) {
- if ( count == 0 ) {
- all_LEDs_turn_off();
- return;
- }
- gLEDs[ rand() % N_OF_LEDS ] = rand() % 0xFF;
-}
-
-void pattern_random_with_decay0( int count ) {
- if ( count == 0 ) {
- all_LEDs_turn_off();
- return;
- }
- gLEDs[ rand() % N_OF_LEDS ] = 0xFF;
-
- for ( int i = 0; i < N_OF_LEDS; i++ )
- gLEDs[ i ] = (char)((float)gLEDs[ i ] * 0.90);
-}
-
-void pattern_random_with_decay1( int count ) {
- if ( count == 0 ) {
- all_LEDs_turn_off();
- return;
- }
- gLEDs[ rand() % N_OF_LEDS ] = 0xFF;
-
- for ( int i = 0; i < N_OF_LEDS; i++ )
- gLEDs[ i ] = (char)((float)gLEDs[ i ] * 0.7);
-}
-
-void pattern_flashing( int count ) {
-#define SUSTAIN_DURATION 10
- static float interval;
- static int timing;
- static int sustain;
-
- if ( count == 0 ) {
- interval = 100.0;
- timing = 0;
- sustain = SUSTAIN_DURATION;
- vib_all_PCA9629();
- }
- if ( (timing == count) || !((int)interval) ) {
- sustain = SUSTAIN_DURATION;
- all_LEDs_turn_on();
- start_all_PCA9629();
-
- timing += (int)interval;
- interval *= 0.96;
- } else {
- for ( int i = 0; i < N_OF_LEDS; i++ )
- gLEDs[ i ] = (char)((float)gLEDs[ i ] * 0.90);
-
- if ( sustain-- < 0 )
- stop_all_PCA9629();
- }
-}
-
-void stop( int count ) {
- if ( !count ) {
- all_LEDs_turn_off();
- stop_all_PCA9629();
- }
-}
-
-void pattern_init( int count ) {
-
- if ( !count )
- align_all_PCA9629();
-}
-
-
-void pattern_scan( int count ) {
- static char gMotor_count;
-
- if ( !count ) {
- gMotor_count = 0;
- setup_transfer( CH_FM_PLUS, mot_norm_op_transfer, sizeof( mot_norm_op_transfer ) / sizeof( transaction ) );
- start( CH_FM_PLUS ); // just update PCA9629 registers. no motor action
- }
-
- if ( !(count & 0x1F) ) {
- single_byte_write_into_a_PCA9629( CH_FM_PLUS, gMot_cntl_order[ gMotor_count % 5 ], 0x26, 0x80 | ((gMotor_count / 5) & 0x1) );
- gMotor_count++;
- }
-
- all_LEDs_turn_off();
- gLEDs[ (count >> 3) % N_OF_LEDS ] = 0xFF;
-}
-
-void pattern_setup_half_turns( int count ) {
-
- if ( !count ) {
- align_all_PCA9629();
- gMotor_count = 0;
- } else if ( count == 50 ) {
- setup_transfer( CH_FM_PLUS, mot_half_setup_transfer, sizeof( mot_half_transfer ) / sizeof( transaction ) );
- start( CH_FM_PLUS );
- } else if ( count == 60 ) {
- single_byte_write_into_a_PCA9629( CH_FM_PLUS, gMot_cntl_order[ 4 ], 0x26, 0x80 );
- } else if ( count == 75 ) {
- single_byte_write_into_a_PCA9629( CH_FM_PLUS, gMot_cntl_order[ 3 ], 0x26, 0x80 );
- } else if ( count == 90 ) {
- single_byte_write_into_a_PCA9629( CH_FM_PLUS, gMot_cntl_order[ 2 ], 0x26, 0x80 );
- } else if ( count == 115 ) {
- single_byte_write_into_a_PCA9629( CH_FM_PLUS, gMot_cntl_order[ 1 ], 0x26, 0x80 );
- } else if ( count == 150 ) {
- setup_transfer( CH_FM_PLUS, mot_half_transfer, sizeof( mot_half_transfer ) / sizeof( transaction ) );
- start( CH_FM_PLUS );
- }
-}
-
-
-
-void pattern_half_turns( int count ) {
-
-#ifdef INTERVAL128MS
- if ( !(count & 0x0F) ) {
-#else
- if ( !(count & 0x1F) ) {
-#endif
- if ( gMot_cntl_order_halfturn[ gMotor_count ] )
- single_byte_write_into_a_PCA9629( CH_FM_PLUS, gMot_cntl_order_halfturn[ gMotor_count ], 0x26, 0x80 | ((gMot_cntl_order_halfturn[ gMotor_count ] >> 1) & 0x1) );
- gMotor_count++;
-
- gMotor_count = (gMotor_count == 10) ? 0 : gMotor_count;
- }
-
-
-// all_LEDs_turn_off();
-// gLEDs[ (count >> 3) % N_OF_LEDS ] = 0xFF;
-}
-
-
-
-void pattern_fadeout300( int count ) {
-
- if ( !count )
- stop_all_PCA9629();
- else if ( count == 100 )
- align_all_PCA9629();
-
- for ( int i = 0; i < N_OF_LEDS; i++ )
- gLEDs[ i ] = (char)((float)gLEDs[ i ] * 0.994469); // (0.994469 = 1/(255^(1/999))) BUT VALUE IS TRANCATED IN THE LOOP. IT DECALYS FASTER THAN FLOAT CALC.
-}
-
-void pattern_speed_variations( int count ) {
-
- char data[ 4 ];
- int v;
-
- if ( !count ) {
- setup_transfer( CH_FM_PLUS, mot_norm_op_transfer, sizeof( mot_norm_op_transfer ) / sizeof( transaction ) );
-
- data[ 0 ] = 0x2;
- for ( int i = 0; i < 5; i++ )
- buffer_overwrite( CH_FM_PLUS, i, 20, data, 1 ); // Set half step operation
-
- for ( int i = 0; i < 5; i++ ) {
- v = 833;// 400pps for halfstep
- data[ 0 ] = data[ 2 ] = v & 0xFF;
- data[ 1 ] = data[ 3 ] = (i << 5) | (v >> 8);
- buffer_overwrite( CH_FM_PLUS, i, 23, data, 4 );
- }
-
- for ( int i = 0; i < 5; i++ ) {
- v = (0x1 << (5 - i));
- data[ 0 ] = data[ 2 ] = v & 0xFF;
- data[ 1 ] = data[ 3 ] = v >> 8;
- buffer_overwrite( CH_FM_PLUS, i, 31, data, 4 );
- }
-
-
- }
-
- if ( !(count % 500) ) {
- data[ 0 ] = 0x84 | ((count / 500) & 0x1);
- for ( int i = 0; i < 5; i++ )
- buffer_overwrite( CH_FM_PLUS, i, 39, data, 1 );
- start( CH_FM_PLUS );
- }
-}
-
-void pattern_mot_ramp_variations( int count ) {
-
- char ramp_var[5][17] = {
- { 0x5D, 0x03, 0x5D, 0x03, 0x0B, 0x00, 0x00, 0x00, 0x0F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x36, 0x00, 0x88 },
- { 0x4B, 0x05, 0x4B, 0x05, 0x25, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x00, 0x00, 0x37, 0x00, 0x88 },
- { 0x15, 0x06, 0x15, 0x06, 0x2D, 0x00, 0x00, 0x00, 0x12, 0x00, 0x00, 0x00, 0x00, 0x00, 0x38, 0x00, 0x88 },
- { 0x71, 0x06, 0x71, 0x06, 0x17, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x00, 0x00, 0x39, 0x00, 0x88 },
- { 0x9C, 0x06, 0x9C, 0x06, 0x23, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3A, 0x00, 0x88 },
- };
-
- if ( !count ) {
- setup_transfer( CH_FM_PLUS, mot_norm_op_transfer, sizeof( mot_norm_op_transfer ) / sizeof( transaction ) );
-
- for ( int i = 0; i < 5; i++ )
- buffer_overwrite( CH_FM_PLUS, i, 23, ramp_var[ i ], 17 );
-
- start( CH_FM_PLUS );
- }
-
- all_LEDs_turn_off();
- gLEDs[ count % N_OF_LEDS ] = 0xFF;
-
-}
-
-void pattern_knightrider( int count ) {
- short led_pat[ 12 ] = { 0x7000, 0x0004, 0x0E00, 0x0002, 0x01C0, 0x0001, 0x0038, 0x0001, 0x01C0, 0x0002, 0x0E00, 0x0004 };
- short led_bits;
-
-#if 0
- //if ( !(count && 0x7) )
- {
- led_bits = led_pat[ (count >> 4) % 12 ];
- for ( int i = 0; i < N_OF_LEDS; i += N_LED_PER_BOARD ) {
- for ( int j = 0; j < N_LED_PER_BOARD; j ++ ) {
- gLEDs[ i + j ] = ((led_bits << j) & 0x4000) ? 0xFF : gLEDs[ i + j ];
- }
- }
- }
- for ( int i = 0; i < N_OF_LEDS; i++ )
- gLEDs[ i ] = (char)((float)gLEDs[ i ] * 0.90 * ((700 < count) ? (float)(1000 - count) / 300.0 : 1.0));
-#else
- //if ( !(count && 0x7) )
- {
- led_bits = led_pat[ (count >> 4) % 12 ];
- for ( int i = 0; i < N_OF_LEDS; i += N_LED_PER_BOARD ) {
- for ( int j = 0; j < N_LED_PER_BOARD; j ++ ) {
- gLEDs[ i + j ] = ((led_bits << j) & 0x4000) ? ((744 < count) ? (1000 - count) : 255) : gLEDs[ i + j ];
-// gLEDs[ i + j ] = ((led_bits << j) & 0x4000) ? 0xFF : gLEDs[ i + j ];
- }
- }
- }
- for ( int i = 0; i < N_OF_LEDS; i++ )
- gLEDs[ i ] = (char)((float)gLEDs[ i ] * 0.90);
-#endif
-
-}
-pattern _gPt[] = {
-// { 256, pattern_rampup },
- { 3000, pattern_colors },
-};
-pattern gPt[] = {
-// { 256, pattern_rampup },
- { 20, stop },
- { 120, pattern_init },
- { 3000, pattern_colors },
- { 300, pattern_fadeout300 },
- { 3000, pattern_speed_variations },
- { 250, pattern_setup_half_turns },
- { 3000, pattern_half_turns },
- { 20, stop },
- { 120, pattern_init },
- { 960, pattern_rampup_and_down_w_color },
- { 960, pattern_scan },
- { 20, stop },
- { 120, pattern_init },
- { 1024, pattern_rampup_and_down },
- { 700, pattern_mot_ramp_variations },
- { 700, pattern_mot_ramp_variations },
- { 700, pattern_mot_ramp_variations },
- { 700, pattern_mot_ramp_variations },
-
- { 3000, pattern_flashing },
- { 300, pattern_fadeout300 },
- { 512, pattern_random },
- { 512, pattern_random_with_decay1 },
- { 512, pattern_random_with_decay0 },
- { 9 * 120, pattern_one_by_one },
- { 1000, pattern_knightrider },
-
-};
-
-
-
-void pattern_update( int count ) {
- static int next_pattern_change = 0;
- static int local_count = 0;
- static int pattern_index = -1;
-
- if ( next_pattern_change == count ) {
- local_count = 0;
- pattern_index++;
- pattern_index = (pattern_index == (sizeof( gPt ) / sizeof( pattern )) ) ? 0 : pattern_index;
- next_pattern_change += gPt[ pattern_index ].duration;
- }
-
- (*gPt[ pattern_index ].pattern_func)( local_count++ );
-}
-
+#include "demo_patterns.h"
+#include "transfer_manager.h"
+#include "PCx9955_reg.h"
+#include "PCA9629_reg.h"
+#include "PCU9669_access.h" // PCU9669 chip access interface
+
+#include "mbed.h"
+
+typedef struct pattern_st {
+ int duration;
+ void (*pattern_func)( int count );
+}
+pattern;
+
+char gLEDs[ N_OF_LEDS ] = { 0 };
+int gCount = 0;
+
+char nine_step_intensity[] = { 0x00, 0x01, 0x03, 0x07, 0x0F, 0x1F, 0x3F, 0x7F, 0xFF };
+char sixteen_step_intensity[] = { 0x01, 0x03, 0x07, 0x0F, 0x1F, 0x3F, 0x7F, 0xFF, 0x7F, 0x3F, 0x1F, 0x0F, 0x07, 0x03, 0x01, 0x00 };
+
+char gMot_cntl_order[ 5 ] = { MOT_ADDR5, MOT_ADDR6, MOT_ADDR7, MOT_ADDR8, MOT_ADDR9 };
+char gMot_cntl_order_halfturn[ 10 ] = { MOT_ADDR5, 0, MOT_ADDR6, MOT_ADDR7, MOT_ADDR8, MOT_ADDR9, 0, MOT_ADDR8, MOT_ADDR7, MOT_ADDR6 };
+char gMotor_count;
+
+typedef enum {
+ RED,
+ GREEN,
+ BLUE,
+}
+color;
+
+char rgb_mask[ 3 ][ 15 ] = {
+ { 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0 },
+ { 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0 },
+ { 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 0 }
+};
+
+char led_init_array[] = {
+ 0x80, // Command
+ 0x00, 0x05, // MODE1, MODE2
+ 0xAA, 0xAA, 0xAA, 0xAA, // LEDOUT[3:0]
+ 0x80, 0x00, // GRPPWM, GRPFREQ
+ PWM_INIT, PWM_INIT, PWM_INIT, PWM_INIT, PWM_INIT, PWM_INIT, PWM_INIT, PWM_INIT, // PWM[7:0]
+ PWM_INIT, PWM_INIT, PWM_INIT, PWM_INIT, PWM_INIT, PWM_INIT, PWM_INIT, PWM_INIT, // PWM[15:8]
+ IREF_INIT, IREF_INIT, IREF_INIT, IREF_INIT, IREF_INIT, IREF_INIT, IREF_INIT, IREF_INIT, // IREF[7:0]
+ IREF_INIT, IREF_INIT, IREF_INIT, IREF_INIT, IREF_INIT, IREF_INIT, IREF_INIT, IREF_INIT, // IREF[15:8]
+ 0x08 // OFFSET: 1uS offsets
+};
+
+char led_norm_op_array[] = {
+ 0x80 | PWM0, // Command
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // PWM[7:0]
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // PWM[14:8]
+};
+
+char mot_init_array[] = {
+ 0x80,
+ 0x20, 0xE2, 0xE4, 0xE6, 0xE0, 0x02, 0x10, // for registers MODE - WDCNTL (0x00 - 0x06
+ 0x00, 0x00, // for registers IP and INTSTAT (0x07, 0x08)
+ 0x0F, 0x03, 0x0C, 0x0F, 0x03, 0x01, 0x01, 0x00, 0x01, // for registers OP - INT_AUTO_CLR (0x09 - 0x11)
+ 0x00, 0x00, 0x30, 0x00, 0x82, 0x06, 0x82, 0x06, // for registers SETMODE - CCWPWH (0x12 - 0x19)
+ 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, // for registers CWSCOUNTL - CCWRCOUNTH (0x1A - 0x21)
+ 0x00, 0x00, // for registers EXTRASTEPS0 and EXTRASTEPS1 (0x22, 0x23)
+ 0x00, 0x00, 0x84 // for registers RMPCNTL - MCNTL (0x24 - 0x26)
+};
+
+char mot_all_stop[] = {
+ 0x26, 0x00
+};
+
+char mot_all_start[] = {
+ 0x26, 0xBA
+};
+
+char mot_ramp_array[] = {
+ 0x80,
+ 0x20, 0xE2, 0xE4, 0xE6, 0xE0, 0xFF, 0x10, // for registers MODE - WDCNTL (0x00 - 0x06
+ 0x00, 0x00, // for registers IP and INTSTAT (0x07, 0x08)
+ 0x0F, 0x03, 0x0C, 0x0F, 0x03, 0x00, 0x03, 0x03, 0x01, // for registers OP - INT_AUTO_CLR (0x09 - 0x11)
+ 0x00, 0x00, 0x30, 0x00, 0x97, 0x04, 0x97, 0x04, // for registers SETMODE - CCWPWH (0x12 - 0x19)
+ 0x23, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, // for registers CWSCOUNTL - CCWRCOUNTH (0x1A - 0x21)
+ 0x0C, 0x0C, // for registers EXTRASTEPS0 and EXTRASTEPS1 (0x22, 0x23)
+ 0x37, 0x00, 0x88 // for registers RMPCNTL - MCNTL (0x24 - 0x26)
+};
+
+char mot_vib_array[] = {
+ 0x80,
+ 0x20, 0xE2, 0xE4, 0xE6, 0xE0, 0xFF, 0x10, // for registers MODE - WDCNTL (0x00 - 0x06
+ 0x00, 0x00, // for registers IP and INTSTAT (0x07, 0x08)
+ 0x0F, 0x03, 0x0C, 0x0F, 0x03, 0x00, 0x03, 0x03, 0x01, // for registers OP - INT_AUTO_CLR (0x09 - 0x11)
+ 0x00, 0x00, 0x30, 0x00, 0x82, 0x06, 0x82, 0x06, // for registers SETMODE - CCWPWH (0x12 - 0x19)
+ 0x03, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, // for registers CWSCOUNTL - CCWRCOUNTH (0x1A - 0x21)
+ 0x0C, 0x0C, // for registers EXTRASTEPS0 and EXTRASTEPS1 (0x22, 0x23)
+ 0x00, 0x00, 0xBA // for registers RMPCNTL - MCNTL (0x24 - 0x26)
+};
+
+//#define INTERVAL128MS
+#ifdef INTERVAL128MS
+char mot_norm_op_array[] = {
+ 0x80,
+ 0x20, 0xE2, 0xE4, 0xE6, 0xE0, 0x02, 0x10, // for registers MODE - WDCNTL (0x00 - 0x06
+ 0x00, 0x00, // for registers IP and INTSTAT (0x07, 0x08)
+ 0x0F, 0x03, 0x0C, 0x0F, 0x03, 0x00, 0x01, 0x00, 0x01, // for registers OP - INT_AUTO_CLR (0x09 - 0x11)
+ 0x00, 0x00, 0x30, 0x00, 0xF2, 0x06, 0xF2, 0x06, // for registers SETMODE - CCWPWH (0x12 - 0x19)
+ 0x30, 0x00, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00, // for registers CWSCOUNTL - CCWRCOUNTH (0x1A - 0x21)
+ 0x00, 0x00, // for registers EXTRASTEPS0 and EXTRASTEPS1 (0x22, 0x23)
+ 0x00, 0x00, 0x00 // for registers RMPCNTL - MCNTL (0x24 - 0x26)
+};
+
+char mot_half_array[] = {
+ 0x80,
+ 0x20, 0xE2, 0xE4, 0xE6, 0xE0, 0x02, 0x10, // for registers MODE - WDCNTL (0x00 - 0x06
+ 0x00, 0x00, // for registers IP and INTSTAT (0x07, 0x08)
+ 0x0F, 0x03, 0x0C, 0x0F, 0x03, 0x00, 0x01, 0x00, 0x01, // for registers OP - INT_AUTO_CLR (0x09 - 0x11)
+ 0x00, 0x00, 0x30, 0x00, 0xF2, 0x06, 0xF2, 0x06, // for registers SETMODE - CCWPWH (0x12 - 0x19)
+ 0x18, 0x00, 0x18, 0x00, 0x00, 0x00, 0x00, 0x00, // for registers CWSCOUNTL - CCWRCOUNTH (0x1A - 0x21)
+ 0x00, 0x00, // for registers EXTRASTEPS0 and EXTRASTEPS1 (0x22, 0x23)
+ 0x00, 0x00, 0x00 // for registers RMPCNTL - MCNTL (0x24 - 0x26)
+};
+#else
+char mot_norm_op_array[] = {
+ 0x80,
+ 0x20, 0xE2, 0xE4, 0xE6, 0xE0, 0x02, 0x10, // for registers MODE - WDCNTL (0x00 - 0x06
+ 0x00, 0x00, // for registers IP and INTSTAT (0x07, 0x08)
+ 0x0F, 0x03, 0x0C, 0x0F, 0x03, 0x00, 0x01, 0x00, 0x01, // for registers OP - INT_AUTO_CLR (0x09 - 0x11)
+ 0x00, 0x00, 0x30, 0x00, 0xE4, 0x0D, 0xE4, 0x0D, // for registers SETMODE - CCWPWH (0x12 - 0x19)
+ 0x30, 0x00, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00, // for registers CWSCOUNTL - CCWRCOUNTH (0x1A - 0x21)
+ 0x00, 0x00, // for registers EXTRASTEPS0 and EXTRASTEPS1 (0x22, 0x23)
+ 0x00, 0x00, 0x00 // for registers RMPCNTL - MCNTL (0x24 - 0x26)
+};
+
+char mot_half_array[] = {
+ 0x80,
+ 0x20, 0xE2, 0xE4, 0xE6, 0xE0, 0x02, 0x10, // for registers MODE - WDCNTL (0x00 - 0x06
+ 0x00, 0x00, // for registers IP and INTSTAT (0x07, 0x08)
+ 0x0F, 0x03, 0x0C, 0x0F, 0x03, 0x00, 0x01, 0x00, 0x01, // for registers OP - INT_AUTO_CLR (0x09 - 0x11)
+ 0x00, 0x00, 0x30, 0x00, 0xE4, 0x0D, 0xE4, 0x0D, // for registers SETMODE - CCWPWH (0x12 - 0x19)
+ 0x18, 0x00, 0x18, 0x00, 0x00, 0x00, 0x00, 0x00, // for registers CWSCOUNTL - CCWRCOUNTH (0x1A - 0x21)
+ 0x00, 0x00, // for registers EXTRASTEPS0 and EXTRASTEPS1 (0x22, 0x23)
+ 0x00, 0x00, 0x00 // for registers RMPCNTL - MCNTL (0x24 - 0x26)
+};
+#endif
+
+
+transaction led_init_transfer[] = {
+ { PCx9955_ADDR0, led_init_array, sizeof( led_init_array ) },
+ { PCx9955_ADDR1, led_init_array, sizeof( led_init_array ) },
+ { PCx9955_ADDR2, led_init_array, sizeof( led_init_array ) },
+ { PCx9955_ADDR3, led_init_array, sizeof( led_init_array ) },
+};
+
+transaction led_norm_op_transfer[] = {
+ { PCx9955_ADDR0, led_norm_op_array, sizeof( led_norm_op_array ) },
+ { PCx9955_ADDR1, led_norm_op_array, sizeof( led_norm_op_array ) },
+ { PCx9955_ADDR2, led_norm_op_array, sizeof( led_norm_op_array ) },
+ { PCx9955_ADDR3, led_norm_op_array, sizeof( led_norm_op_array ) },
+};
+
+transaction mot_init_transfer[] = {
+ { MOT_ADDR5, mot_init_array, sizeof( mot_init_array ) },
+ { MOT_ADDR6, mot_init_array, sizeof( mot_init_array ) },
+ { MOT_ADDR7, mot_init_array, sizeof( mot_init_array ) },
+ { MOT_ADDR8, mot_init_array, sizeof( mot_init_array ) },
+ { MOT_ADDR9, mot_init_array, sizeof( mot_init_array ) },
+};
+
+transaction mot_norm_op_transfer[] = {
+ { MOT_ADDR5, mot_norm_op_array, sizeof( mot_norm_op_array ) },
+ { MOT_ADDR6, mot_norm_op_array, sizeof( mot_norm_op_array ) },
+ { MOT_ADDR7, mot_norm_op_array, sizeof( mot_norm_op_array ) },
+ { MOT_ADDR8, mot_norm_op_array, sizeof( mot_norm_op_array ) },
+ { MOT_ADDR9, mot_norm_op_array, sizeof( mot_norm_op_array ) },
+};
+
+transaction mot_half_transfer[] = {
+ { MOT_ADDR5, mot_norm_op_array, sizeof( mot_norm_op_array ) },
+ { MOT_ADDR6, mot_half_array, sizeof( mot_half_array ) },
+ { MOT_ADDR7, mot_half_array, sizeof( mot_half_array ) },
+ { MOT_ADDR8, mot_half_array, sizeof( mot_half_array ) },
+ { MOT_ADDR9, mot_norm_op_array, sizeof( mot_norm_op_array ) },
+};
+
+transaction mot_half_setup_transfer[] = {
+ { MOT_ADDR5, mot_half_array, sizeof( mot_half_array ) },
+ { MOT_ADDR6, mot_half_array, sizeof( mot_half_array ) },
+ { MOT_ADDR7, mot_half_array, sizeof( mot_half_array ) },
+ { MOT_ADDR8, mot_half_array, sizeof( mot_half_array ) },
+ { MOT_ADDR9, mot_half_array, sizeof( mot_half_array ) },
+};
+
+transaction mot_all_stop_transfer[] = {
+ { MOT_ADDR5, mot_all_stop, sizeof( mot_all_stop ) },
+ { MOT_ADDR6, mot_all_stop, sizeof( mot_all_stop ) },
+ { MOT_ADDR7, mot_all_stop, sizeof( mot_all_stop ) },
+ { MOT_ADDR8, mot_all_stop, sizeof( mot_all_stop ) },
+ { MOT_ADDR9, mot_all_stop, sizeof( mot_all_stop ) },
+};
+
+transaction mot_all_start_transfer[] = {
+ { MOT_ADDR5, mot_all_start, sizeof( mot_all_start ) },
+ { MOT_ADDR6, mot_all_start, sizeof( mot_all_start ) },
+ { MOT_ADDR7, mot_all_start, sizeof( mot_all_start ) },
+ { MOT_ADDR8, mot_all_start, sizeof( mot_all_start ) },
+ { MOT_ADDR9, mot_all_start, sizeof( mot_all_start ) },
+};
+
+transaction mot_all_vib_transfer[] = {
+ { MOT_ADDR5, mot_vib_array, sizeof( mot_vib_array ) },
+ { MOT_ADDR6, mot_vib_array, sizeof( mot_vib_array ) },
+ { MOT_ADDR7, mot_vib_array, sizeof( mot_vib_array ) },
+ { MOT_ADDR8, mot_vib_array, sizeof( mot_vib_array ) },
+ { MOT_ADDR9, mot_vib_array, sizeof( mot_vib_array ) },
+};
+
+transaction mot_all_ramp_transfer[] = {
+ { MOT_ADDR5, mot_ramp_array, sizeof( mot_ramp_array ) },
+ { MOT_ADDR6, mot_ramp_array, sizeof( mot_ramp_array ) },
+ { MOT_ADDR7, mot_ramp_array, sizeof( mot_ramp_array ) },
+ { MOT_ADDR8, mot_ramp_array, sizeof( mot_ramp_array ) },
+ { MOT_ADDR9, mot_ramp_array, sizeof( mot_ramp_array ) },
+};
+
+void init_slave_devices( void )
+{
+ // init all slave's registers
+ setup_transfer( CH_FM_PLUS, mot_init_transfer, sizeof( mot_init_transfer ) / sizeof( transaction ) );
+ setup_transfer( CH_UFM1, led_init_transfer, sizeof( led_init_transfer ) / sizeof( transaction ) );
+ setup_transfer( CH_UFM2, led_init_transfer, sizeof( led_init_transfer ) / sizeof( transaction ) );
+ start( CH_FM_PLUS ); // motors are aligned using interrupt input of PCA9629
+ start( CH_UFM1 );
+ start( CH_UFM2 );
+
+ wait_sec( 0.5 );
+
+ // update motor control buffer configuration
+
+ setup_transfer( CH_FM_PLUS, mot_norm_op_transfer, sizeof( mot_norm_op_transfer ) / sizeof( transaction ) );
+ setup_transfer( CH_UFM1, led_norm_op_transfer, sizeof( led_norm_op_transfer ) / sizeof( transaction ) );
+ setup_transfer( CH_UFM2, led_norm_op_transfer, sizeof( led_norm_op_transfer ) / sizeof( transaction ) );
+ start( CH_FM_PLUS ); // just update PCA9629 registers. no motor action
+ start( CH_UFM1 );
+ start( CH_UFM2 );
+}
+
+void single_byte_write_into_a_PCA9629( char ch, char i2c_addr, char reg_addr, char val )
+{
+ transaction t;
+ char data[ 2 ];
+
+ data[ 0 ] = reg_addr;
+ data[ 1 ] = val;
+
+ t.i2c_address = i2c_addr;
+ t.data = data;
+ t.length = 2;
+
+ setup_transfer( ch, &t, 1 );
+ start( CH_FM_PLUS );
+}
+
+void ramp_all_PCA9629( void )
+{
+ setup_transfer( CH_FM_PLUS, mot_all_ramp_transfer, sizeof( mot_all_ramp_transfer ) / sizeof( transaction ) );
+ start( CH_FM_PLUS );
+}
+void vib_all_PCA9629( void )
+{
+ setup_transfer( CH_FM_PLUS, mot_all_vib_transfer, sizeof( mot_all_vib_transfer ) / sizeof( transaction ) );
+ start( CH_FM_PLUS );
+}
+void start_all_PCA9629( void )
+{
+ setup_transfer( CH_FM_PLUS, mot_all_start_transfer, sizeof( mot_all_start_transfer ) / sizeof( transaction ) );
+ start( CH_FM_PLUS );
+}
+void stop_all_PCA9629( void )
+{
+ setup_transfer( CH_FM_PLUS, mot_all_stop_transfer, sizeof( mot_all_stop_transfer ) / sizeof( transaction ) );
+ start( CH_FM_PLUS );
+}
+void align_all_PCA9629( void )
+{
+ setup_transfer( CH_FM_PLUS, mot_init_transfer, sizeof( mot_init_transfer ) / sizeof( transaction ) );
+ start( CH_FM_PLUS );
+}
+
+void all_LEDs_value( char v )
+{
+ for ( int i = 0; i < N_OF_LEDS; i++ )
+ gLEDs[ i ] = v;
+}
+
+void all_LEDs_turn_off()
+{
+ all_LEDs_value( 0x00 );
+}
+
+void all_LEDs_turn_on()
+{
+ all_LEDs_value( 0xFF );
+}
+
+void pattern_rampup( int count )
+{
+ if ( count == 0 ) {
+ all_LEDs_turn_off();
+ return;
+ }
+
+ for ( int i = 0; i < N_OF_LEDS; i++ )
+ gLEDs[ i ] = count & 0xFF;
+}
+
+void pattern_rampup_and_down( int count )
+{
+ if ( !(count & 0xFF) ) {
+ ramp_all_PCA9629();
+ all_LEDs_turn_off();
+ return;
+ }
+
+ for ( int i = 0; i < N_OF_LEDS; i++ )
+ gLEDs[ i ] = (((count & 0x80) ? ~count : count) << 1) & 0xFF;
+}
+
+void pattern_rampup_and_down_w_color( int count )
+{
+ static int color;
+
+ color = (!count || (3 <= color)) ? 0 : color;
+
+ if ( !(count & 0xFF) ) {
+ ramp_all_PCA9629();
+ all_LEDs_turn_off();
+ color++;
+ return;
+ }
+
+ for ( int i = 0; i < N_OF_LEDS; i++ )
+ gLEDs[ i ] = (rgb_mask[ color ][ i % N_LED_PER_BOARD ]) ? (((count & 0x80) ? ~count : count) << 1) & 0xFF : 0x00;
+}
+
+
+void pattern_colors2( int count )
+{
+
+ if ( !count ) {
+ gMotor_count = 0;
+ setup_transfer( CH_FM_PLUS, mot_norm_op_transfer, sizeof( mot_norm_op_transfer ) / sizeof( transaction ) );
+ start( CH_FM_PLUS ); // just update PCA9629 registers. no motor action
+ }
+
+ if ( !((count + 20) & 0x3F) ) {
+ single_byte_write_into_a_PCA9629( CH_FM_PLUS, gMot_cntl_order[ gMotor_count % 5 ], 0x26, 0x80 | ((gMotor_count / 5) & 0x1) );
+ gMotor_count++;
+ }
+
+#define PI 3.14159265358979323846
+
+ float r;
+ float g;
+ float b;
+ float k;
+ float c;
+ float f;
+
+ k = (2 * PI) / 300.0;
+ c = count;
+ f = 127.5 * ((count < 500) ? (float)count / 500.0 : 1.0);
+
+#if 0
+ r = sin( k * (c + 0.0) );
+ g = sin( k * (c + 100.0) );
+ b = sin( k * (c + 200.0) );
+ r = (0 < r) ? r * 255.0 : 0;
+ g = (0 < g) ? g * 255.0 : 0;
+ b = (0 < b) ? b * 255.0 : 0;
+#else
+ r = (sin( k * (c + 0.0) ) + 1) * f;
+ g = (sin( k * (c + 100.0) ) + 1) * f;
+ b = (sin( k * (c + 200.0) ) + 1) * f;
+#endif
+ for ( int i = 0; i < N_OF_LEDS; i += N_LED_PER_BOARD ) {
+ for ( int j = 0; j < 12; j += 3 ) {
+ gLEDs[ i + j + 0 ] = (char)r;
+ gLEDs[ i + j + 1 ] = (char)g;
+ gLEDs[ i + j + 2 ] = (char)b;
+ }
+ for ( int j = 12; j < 15; j ++ )
+ gLEDs[ i + j ] = (char)((((2500 <= count) && (count < 3000)) ? ((float)(count - 2500) / 500.0) : 0.0) * 255.0);
+ }
+}
+
+//void pattern_color_phase( int count ) {
+void pattern_colors( int count )
+{
+
+ if ( !count ) {
+ gMotor_count = 0;
+ setup_transfer( CH_FM_PLUS, mot_norm_op_transfer, sizeof( mot_norm_op_transfer ) / sizeof( transaction ) );
+ start( CH_FM_PLUS ); // just update PCA9629 registers. no motor action
+ }
+
+ if ( !((count + 20) & 0x3F) ) {
+ single_byte_write_into_a_PCA9629( CH_FM_PLUS, gMot_cntl_order[ gMotor_count % 5 ], 0x26, 0x80 | ((gMotor_count / 5) & 0x1) );
+ gMotor_count++;
+ }
+
+#define PI 3.14159265358979323846
+
+ float p;
+ float k;
+ float c;
+ float f;
+
+ k = (2 * PI) / 300.0;
+ p = 300.0 / N_OF_LEDS;
+ c = count;
+ f = 127.5 * ((count < 500) ? c / 500.0 : 1.0);
+
+ for ( int i = 0; i < N_OF_LEDS; i += N_LED_PER_BOARD ) {
+ for ( int j = 0; j < 12; j += 3 ) {
+ gLEDs[ i + j + 0 ] = (char)((sin( k * (c + 0.0) + p * (i + j) ) + 1) * f);
+ gLEDs[ i + j + 1 ] = (char)((sin( k * (c + 100.0) + p * (i + j) ) + 1) * f);
+ gLEDs[ i + j + 2 ] = (char)((sin( k * (c + 200.0) + p * (i + j) ) + 1) * f);
+ }
+ for ( int j = 12; j < 15; j ++ )
+ gLEDs[ i + j ] = (char)((((2500 <= count) && (count < 3000)) ? ((float)(count - 2500) / 500.0) : 0.0) * 255.0);
+ }
+}
+
+
+
+
+
+void pattern_one_by_one( int count )
+{
+ if ( count == 0 ) {
+ all_LEDs_turn_off();
+ return;
+ }
+
+ gLEDs[ (count / 9) % N_OF_LEDS ] = nine_step_intensity[ count % 9 ];
+}
+
+void pattern_random( int count )
+{
+ if ( count == 0 ) {
+ all_LEDs_turn_off();
+ return;
+ }
+ gLEDs[ rand() % N_OF_LEDS ] = rand() % 0xFF;
+}
+
+void pattern_random_with_decay0( int count )
+{
+ if ( count == 0 ) {
+ all_LEDs_turn_off();
+ return;
+ }
+ gLEDs[ rand() % N_OF_LEDS ] = 0xFF;
+
+ for ( int i = 0; i < N_OF_LEDS; i++ )
+ gLEDs[ i ] = (char)((float)gLEDs[ i ] * 0.90);
+}
+
+void pattern_random_with_decay1( int count )
+{
+ if ( count == 0 ) {
+ all_LEDs_turn_off();
+ return;
+ }
+ gLEDs[ rand() % N_OF_LEDS ] = 0xFF;
+
+ for ( int i = 0; i < N_OF_LEDS; i++ )
+ gLEDs[ i ] = (char)((float)gLEDs[ i ] * 0.7);
+}
+
+void pattern_flashing( int count )
+{
+#define SUSTAIN_DURATION 10
+ static float interval;
+ static int timing;
+ static int sustain;
+
+ if ( count == 0 ) {
+ interval = 100.0;
+ timing = 0;
+ sustain = SUSTAIN_DURATION;
+ vib_all_PCA9629();
+ }
+ if ( (timing == count) || !((int)interval) ) {
+ sustain = SUSTAIN_DURATION;
+ all_LEDs_turn_on();
+ start_all_PCA9629();
+
+ timing += (int)interval;
+ interval *= 0.96;
+ } else {
+ for ( int i = 0; i < N_OF_LEDS; i++ )
+ gLEDs[ i ] = (char)((float)gLEDs[ i ] * 0.90);
+
+ if ( sustain-- < 0 )
+ stop_all_PCA9629();
+ }
+}
+
+void stop( int count )
+{
+ if ( !count ) {
+ all_LEDs_turn_off();
+ stop_all_PCA9629();
+ }
+}
+
+void pattern_init( int count )
+{
+
+ if ( !count )
+ align_all_PCA9629();
+}
+
+
+void pattern_scan( int count )
+{
+ static char gMotor_count;
+
+ if ( !count ) {
+ gMotor_count = 0;
+ setup_transfer( CH_FM_PLUS, mot_norm_op_transfer, sizeof( mot_norm_op_transfer ) / sizeof( transaction ) );
+ start( CH_FM_PLUS ); // just update PCA9629 registers. no motor action
+ }
+
+ if ( !(count & 0x1F) ) {
+ single_byte_write_into_a_PCA9629( CH_FM_PLUS, gMot_cntl_order[ gMotor_count % 5 ], 0x26, 0x80 | ((gMotor_count / 5) & 0x1) );
+ gMotor_count++;
+ }
+
+ all_LEDs_turn_off();
+ gLEDs[ (count >> 3) % N_OF_LEDS ] = 0xFF;
+}
+
+void pattern_setup_half_turns( int count )
+{
+
+ if ( !count ) {
+ align_all_PCA9629();
+ gMotor_count = 0;
+ } else if ( count == 50 ) {
+ setup_transfer( CH_FM_PLUS, mot_half_setup_transfer, sizeof( mot_half_transfer ) / sizeof( transaction ) );
+ start( CH_FM_PLUS );
+ } else if ( count == 60 ) {
+ single_byte_write_into_a_PCA9629( CH_FM_PLUS, gMot_cntl_order[ 4 ], 0x26, 0x80 );
+ } else if ( count == 75 ) {
+ single_byte_write_into_a_PCA9629( CH_FM_PLUS, gMot_cntl_order[ 3 ], 0x26, 0x80 );
+ } else if ( count == 90 ) {
+ single_byte_write_into_a_PCA9629( CH_FM_PLUS, gMot_cntl_order[ 2 ], 0x26, 0x80 );
+ } else if ( count == 115 ) {
+ single_byte_write_into_a_PCA9629( CH_FM_PLUS, gMot_cntl_order[ 1 ], 0x26, 0x80 );
+ } else if ( count == 150 ) {
+ setup_transfer( CH_FM_PLUS, mot_half_transfer, sizeof( mot_half_transfer ) / sizeof( transaction ) );
+ start( CH_FM_PLUS );
+ }
+}
+
+
+
+void pattern_half_turns( int count )
+{
+
+#ifdef INTERVAL128MS
+ if ( !(count & 0x0F) ) {
+#else
+ if ( !(count & 0x1F) ) {
+#endif
+ if ( gMot_cntl_order_halfturn[ gMotor_count ] )
+ single_byte_write_into_a_PCA9629( CH_FM_PLUS, gMot_cntl_order_halfturn[ gMotor_count ], 0x26, 0x80 | ((gMot_cntl_order_halfturn[ gMotor_count ] >> 1) & 0x1) );
+ gMotor_count++;
+
+ gMotor_count = (gMotor_count == 10) ? 0 : gMotor_count;
+ }
+
+
+// all_LEDs_turn_off();
+// gLEDs[ (count >> 3) % N_OF_LEDS ] = 0xFF;
+}
+
+
+
+void pattern_fadeout300( int count )
+{
+
+ if ( !count )
+ stop_all_PCA9629();
+ else if ( count == 100 )
+ align_all_PCA9629();
+
+ for ( int i = 0; i < N_OF_LEDS; i++ )
+ gLEDs[ i ] = (char)((float)gLEDs[ i ] * 0.994469); // (0.994469 = 1/(255^(1/999))) BUT VALUE IS TRANCATED IN THE LOOP. IT DECALYS FASTER THAN FLOAT CALC.
+}
+
+void pattern_speed_variations( int count )
+{
+
+ char data[ 4 ];
+ int v;
+
+ if ( !count ) {
+ setup_transfer( CH_FM_PLUS, mot_norm_op_transfer, sizeof( mot_norm_op_transfer ) / sizeof( transaction ) );
+
+ data[ 0 ] = 0x2;
+ for ( int i = 0; i < 5; i++ )
+ buffer_overwrite( CH_FM_PLUS, i, 20, data, 1 ); // Set half step operation
+
+ for ( int i = 0; i < 5; i++ ) {
+ v = 833;// 400pps for halfstep
+ data[ 0 ] = data[ 2 ] = v & 0xFF;
+ data[ 1 ] = data[ 3 ] = (i << 5) | (v >> 8);
+ buffer_overwrite( CH_FM_PLUS, i, 23, data, 4 );
+ }
+
+ for ( int i = 0; i < 5; i++ ) {
+ v = (0x1 << (5 - i));
+ data[ 0 ] = data[ 2 ] = v & 0xFF;
+ data[ 1 ] = data[ 3 ] = v >> 8;
+ buffer_overwrite( CH_FM_PLUS, i, 31, data, 4 );
+ }
+
+
+ }
+
+ if ( !(count % 500) ) {
+ data[ 0 ] = 0x84 | ((count / 500) & 0x1);
+ for ( int i = 0; i < 5; i++ )
+ buffer_overwrite( CH_FM_PLUS, i, 39, data, 1 );
+ start( CH_FM_PLUS );
+ }
+}
+
+void pattern_mot_ramp_variations( int count )
+{
+
+ char ramp_var[5][17] = {
+ { 0x5D, 0x03, 0x5D, 0x03, 0x0B, 0x00, 0x00, 0x00, 0x0F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x36, 0x00, 0x88 },
+ { 0x4B, 0x05, 0x4B, 0x05, 0x25, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x00, 0x00, 0x37, 0x00, 0x88 },
+ { 0x15, 0x06, 0x15, 0x06, 0x2D, 0x00, 0x00, 0x00, 0x12, 0x00, 0x00, 0x00, 0x00, 0x00, 0x38, 0x00, 0x88 },
+ { 0x71, 0x06, 0x71, 0x06, 0x17, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x00, 0x00, 0x39, 0x00, 0x88 },
+ { 0x9C, 0x06, 0x9C, 0x06, 0x23, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3A, 0x00, 0x88 },
+ };
+
+ if ( !count ) {
+ setup_transfer( CH_FM_PLUS, mot_norm_op_transfer, sizeof( mot_norm_op_transfer ) / sizeof( transaction ) );
+
+ for ( int i = 0; i < 5; i++ )
+ buffer_overwrite( CH_FM_PLUS, i, 23, ramp_var[ i ], 17 );
+
+ start( CH_FM_PLUS );
+ }
+
+ all_LEDs_turn_off();
+ gLEDs[ count % N_OF_LEDS ] = 0xFF;
+
+}
+
+void pattern_knightrider( int count )
+{
+ short led_pat[ 12 ] = { 0x7000, 0x0004, 0x0E00, 0x0002, 0x01C0, 0x0001, 0x0038, 0x0001, 0x01C0, 0x0002, 0x0E00, 0x0004 };
+ short led_bits;
+
+#if 0
+ //if ( !(count && 0x7) )
+ {
+ led_bits = led_pat[ (count >> 4) % 12 ];
+ for ( int i = 0; i < N_OF_LEDS; i += N_LED_PER_BOARD ) {
+ for ( int j = 0; j < N_LED_PER_BOARD; j ++ ) {
+ gLEDs[ i + j ] = ((led_bits << j) & 0x4000) ? 0xFF : gLEDs[ i + j ];
+ }
+ }
+ }
+ for ( int i = 0; i < N_OF_LEDS; i++ )
+ gLEDs[ i ] = (char)((float)gLEDs[ i ] * 0.90 * ((700 < count) ? (float)(1000 - count) / 300.0 : 1.0));
+#else
+ //if ( !(count && 0x7) )
+ {
+ led_bits = led_pat[ (count >> 4) % 12 ];
+ for ( int i = 0; i < N_OF_LEDS; i += N_LED_PER_BOARD ) {
+ for ( int j = 0; j < N_LED_PER_BOARD; j ++ ) {
+ gLEDs[ i + j ] = ((led_bits << j) & 0x4000) ? ((744 < count) ? (1000 - count) : 255) : gLEDs[ i + j ];
+// gLEDs[ i + j ] = ((led_bits << j) & 0x4000) ? 0xFF : gLEDs[ i + j ];
+ }
+ }
+ }
+ for ( int i = 0; i < N_OF_LEDS; i++ )
+ gLEDs[ i ] = (char)((float)gLEDs[ i ] * 0.90);
+#endif
+
+}
+pattern _gPt[] = {
+// { 256, pattern_rampup },
+ { 3000, pattern_colors },
+};
+pattern gPt[] = {
+// { 256, pattern_rampup },
+ { 20, stop },
+ { 120, pattern_init },
+ { 3000, pattern_colors },
+ { 300, pattern_fadeout300 },
+ { 3000, pattern_speed_variations },
+ { 250, pattern_setup_half_turns },
+ { 3000, pattern_half_turns },
+ { 20, stop },
+ { 120, pattern_init },
+ { 960, pattern_rampup_and_down_w_color },
+ { 960, pattern_scan },
+ { 20, stop },
+ { 120, pattern_init },
+ { 1024, pattern_rampup_and_down },
+ { 700, pattern_mot_ramp_variations },
+ { 700, pattern_mot_ramp_variations },
+ { 700, pattern_mot_ramp_variations },
+ { 700, pattern_mot_ramp_variations },
+
+ { 3000, pattern_flashing },
+ { 300, pattern_fadeout300 },
+ { 512, pattern_random },
+ { 512, pattern_random_with_decay1 },
+ { 512, pattern_random_with_decay0 },
+ { 9 * 120, pattern_one_by_one },
+ { 1000, pattern_knightrider },
+
+};
+
+
+
+void pattern_update( int count )
+{
+ static int next_pattern_change = 0;
+ static int local_count = 0;
+ static int pattern_index = -1;
+
+ if ( next_pattern_change == count ) {
+ local_count = 0;
+ pattern_index++;
+ pattern_index = (pattern_index == (sizeof( gPt ) / sizeof( pattern )) ) ? 0 : pattern_index;
+ next_pattern_change += gPt[ pattern_index ].duration;
+ }
+
+ (*gPt[ pattern_index ].pattern_func)( local_count++ );
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.c Fri Oct 26 07:03:47 2012 +0000
@@ -0,0 +1,123 @@
+/** A demo code for PCU9669, PCU9955 and PCA9629
+ *
+ * @author Tedd OKANO, NXP Semiconductors
+ * @version 1.0
+ * @date 26-Oct-2012
+ *
+ * Released under the MIT License: http://mbed.org/license/mit
+ *
+ * An operation sample of PCU9669 I2C bus controller.
+ * The mbed accesses the PCU9669's parallel port (8 bit address and 8 bit data) using bit-banging.
+ * The bit-banging is poerformed by PortInOut function of mbed library.
+ *
+ * DEMO CODE version
+ * v0.5 written on 13-Oct-2011
+ * v1.0 poerted to PCU9669 sample code API
+ *
+ * Simple code sample for PCU9669 is available on
+ * http://mbed.org/users/nxp_ip/code/mini_board_PCU9669/
+ */
+
+
+#include "transfer_manager.h"
+#include "PCU9669_access.h"
+#include "hardware_abs.h"
+#include "PCx9955_reg.h"
+#include "PCA9629_reg.h"
+#include "demo_patterns.h"
+
+#include "mbed.h"
+
+#define TICKER_INTERVAL 0.008
+
+#define RESET_PULSE_WIDTH_US 10 // Minimum pulse width is 4us for PCU9669
+#define RESET_RECOVERY_US 1000
+
+Ticker op;
+
+
+void operation( void );
+void led_action( int count );
+void motor_action( int count );
+void interrupt_handler( void );
+void init_slave_devices( void );
+void single_byte_write_into_a_PCA9629( char ch, char i2c_addr, char reg_addr, char val );
+void set_one_turn_on_each_end( void );
+
+int main() {
+ printf( "\r\nPCU9669 simple demo program on mbed (16 device check)\r\n build : %s (UTC), %s \r\n\r\n", __TIME__, __DATE__ );
+
+ hardware_initialize(); // initializing bit-banging parallel port
+ reset( RESET_PULSE_WIDTH_US, RESET_RECOVERY_US ); // assert hardware /RESET sgnal
+
+ if ( start_bus_controller( PCU9669_ID ) ) // wait the bus controller ready and check chip ID
+ return 1;
+
+ write_ch_register( CH_FM_PLUS, INTMSK, 0x30 ); // set bus controller to ignore NAK return from Fm+ slaves
+ install_ISR( &interrupt_handler ); // interrupt service routine install
+
+ init_slave_devices(); // set all slaves' all registers and configure buffer for the operation
+
+ op.attach( &operation, TICKER_INTERVAL );
+
+ while ( 1 ) {
+ }
+}
+
+void operation( void ) {
+ pattern_update( gCount );
+
+ motor_action( gCount ); // motor operation
+ led_action( gCount ); // LED operation
+
+ gCount++;
+}
+
+
+void led_action( int count ) {
+ buffer_overwrite( CH_UFM1, 0, 1, gLEDs + N_LED_PER_BOARD * 0, N_LED_PER_BOARD );
+ buffer_overwrite( CH_UFM1, 1, 1, gLEDs + N_LED_PER_BOARD * 1, N_LED_PER_BOARD );
+ buffer_overwrite( CH_UFM1, 2, 1, gLEDs + N_LED_PER_BOARD * 2, N_LED_PER_BOARD );
+ buffer_overwrite( CH_UFM1, 3, 1, gLEDs + N_LED_PER_BOARD * 3, N_LED_PER_BOARD );
+ buffer_overwrite( CH_UFM2, 0, 1, gLEDs + N_LED_PER_BOARD * 4, N_LED_PER_BOARD );
+ buffer_overwrite( CH_UFM2, 1, 1, gLEDs + N_LED_PER_BOARD * 5, N_LED_PER_BOARD );
+ buffer_overwrite( CH_UFM2, 2, 1, gLEDs + N_LED_PER_BOARD * 6, N_LED_PER_BOARD );
+ buffer_overwrite( CH_UFM2, 3, 1, gLEDs + N_LED_PER_BOARD * 7, N_LED_PER_BOARD );
+
+ start( CH_UFM1 );
+ start( CH_UFM2 );
+}
+
+
+void motor_action( int count ) {
+#if 0
+ static char mot_cntl_order[ 5 ] = {
+ MOT_ADDR5, MOT_ADDR6, MOT_ADDR7, MOT_ADDR8, MOT_ADDR9
+ };
+ static char motor_count = 0;
+
+ if ( !(count & 0x1F) ) {
+ single_byte_write_into_a_PCA9629( CH_FM_PLUS, mot_cntl_order[ motor_count % 5 ], 0x26, 0x80 | ((motor_count / 5) & 0x1) );
+ motor_count++;
+ }
+#endif
+
+}
+
+void interrupt_handler( void ) {
+ char global_status;
+ char channel_status;
+
+ global_status = read_data( CTRLSTATUS );
+
+ if ( global_status & 0x01 ) { // ch0
+ channel_status = read_ch_register( 0, CHSTATUS );
+ }
+ if ( global_status & 0x02 ) {
+ channel_status = read_ch_register( 1, CHSTATUS );
+ }
+ if ( global_status & 0x04 ) {
+ channel_status = read_ch_register( 2, CHSTATUS );
+ }
+// printf( "ISR channel_status 0x%02X\r\n", channel_status );
+}
--- a/main_PCU9669.c Fri Oct 26 05:59:55 2012 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,123 +0,0 @@
-/** A demo code for PCU9669, PCU9955 and PCA9629
- *
- * @author Tedd OKANO, NXP Semiconductors
- * @version 1.0
- * @date 26-Oct-2012
- *
- * Released under the MIT License: http://mbed.org/license/mit
- *
- * An operation sample of PCU9669 I2C bus controller.
- * The mbed accesses the PCU9669's parallel port (8 bit address and 8 bit data) using bit-banging.
- * The bit-banging is poerformed by PortInOut function of mbed library.
- *
- * DEMO CODE version
- * v0.5 written on 13-Oct-2011
- * v1.0 poerted to PCU9669 sample code API
- *
- * Simple code sample for PCU9669 is available on
- * http://mbed.org/users/nxp_ip/code/mini_board_PCU9669/
- */
-
-
-#include "transfer_manager.h"
-#include "PCU9669_access.h"
-#include "hardware_abs.h"
-#include "PCx9955_reg.h"
-#include "PCA9629_reg.h"
-#include "demo_patterns.h"
-
-#include "mbed.h"
-
-#define TICKER_INTERVAL 0.008
-
-#define RESET_PULSE_WIDTH_US 10 // Minimum pulse width is 4us for PCU9669
-#define RESET_RECOVERY_US 1000
-
-Ticker op;
-
-
-void operation( void );
-void led_action( int count );
-void motor_action( int count );
-void interrupt_handler( void );
-void init_slave_devices( void );
-void single_byte_write_into_a_PCA9629( char ch, char i2c_addr, char reg_addr, char val );
-void set_one_turn_on_each_end( void );
-
-int main() {
- printf( "\r\nPCU9669 simple demo program on mbed (16 device check)\r\n build : %s (UTC), %s \r\n\r\n", __TIME__, __DATE__ );
-
- hardware_initialize(); // initializing bit-banging parallel port
- reset( RESET_PULSE_WIDTH_US, RESET_RECOVERY_US ); // assert hardware /RESET sgnal
-
- if ( start_bus_controller( PCU9669_ID ) ) // wait the bus controller ready and check chip ID
- return 1;
-
- write_ch_register( CH_FM_PLUS, INTMSK, 0x30 ); // set bus controller to ignore NAK return from Fm+ slaves
- install_ISR( &interrupt_handler ); // interrupt service routine install
-
- init_slave_devices(); // set all slaves' all registers and configure buffer for the operation
-
- op.attach( &operation, TICKER_INTERVAL );
-
- while ( 1 ) {
- }
-}
-
-void operation( void ) {
- pattern_update( gCount );
-
- motor_action( gCount ); // motor operation
- led_action( gCount ); // LED operation
-
- gCount++;
-}
-
-
-void led_action( int count ) {
- buffer_overwrite( CH_UFM1, 0, 1, gLEDs + N_LED_PER_BOARD * 0, N_LED_PER_BOARD );
- buffer_overwrite( CH_UFM1, 1, 1, gLEDs + N_LED_PER_BOARD * 1, N_LED_PER_BOARD );
- buffer_overwrite( CH_UFM1, 2, 1, gLEDs + N_LED_PER_BOARD * 2, N_LED_PER_BOARD );
- buffer_overwrite( CH_UFM1, 3, 1, gLEDs + N_LED_PER_BOARD * 3, N_LED_PER_BOARD );
- buffer_overwrite( CH_UFM2, 0, 1, gLEDs + N_LED_PER_BOARD * 4, N_LED_PER_BOARD );
- buffer_overwrite( CH_UFM2, 1, 1, gLEDs + N_LED_PER_BOARD * 5, N_LED_PER_BOARD );
- buffer_overwrite( CH_UFM2, 2, 1, gLEDs + N_LED_PER_BOARD * 6, N_LED_PER_BOARD );
- buffer_overwrite( CH_UFM2, 3, 1, gLEDs + N_LED_PER_BOARD * 7, N_LED_PER_BOARD );
-
- start( CH_UFM1 );
- start( CH_UFM2 );
-}
-
-
-void motor_action( int count ) {
-#if 0
- static char mot_cntl_order[ 5 ] = {
- MOT_ADDR5, MOT_ADDR6, MOT_ADDR7, MOT_ADDR8, MOT_ADDR9
- };
- static char motor_count = 0;
-
- if ( !(count & 0x1F) ) {
- single_byte_write_into_a_PCA9629( CH_FM_PLUS, mot_cntl_order[ motor_count % 5 ], 0x26, 0x80 | ((motor_count / 5) & 0x1) );
- motor_count++;
- }
-#endif
-
-}
-
-void interrupt_handler( void ) {
- char global_status;
- char channel_status;
-
- global_status = read_data( CTRLSTATUS );
-
- if ( global_status & 0x01 ) { // ch0
- channel_status = read_ch_register( 0, CHSTATUS );
- }
- if ( global_status & 0x02 ) {
- channel_status = read_ch_register( 1, CHSTATUS );
- }
- if ( global_status & 0x04 ) {
- channel_status = read_ch_register( 2, CHSTATUS );
- }
-// printf( "ISR channel_status 0x%02X\r\n", channel_status );
-}