InetrfaceProducts NXP
demo sample to drive PCU9955 and PCA9629
Dependencies: mbed I2C_slaves PCU9669 parallel_bus
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demo_patterns.cpp
00001 #include "demo_patterns.h" 00002 #include "transfer_manager.h" 00003 #include "PCx9955_reg.h" 00004 #include "PCA9629_reg.h" 00005 #include "PCU9669_access.h" // PCU9669 chip access interface 00006 00007 #include "mbed.h" 00008 00009 typedef struct pattern_st { 00010 int duration; 00011 void (*pattern_func)( int count ); 00012 } 00013 pattern; 00014 00015 char gLEDs[ N_OF_LEDS ] = { 0 }; 00016 int gCount = 0; 00017 00018 char nine_step_intensity[] = { 0x00, 0x01, 0x03, 0x07, 0x0F, 0x1F, 0x3F, 0x7F, 0xFF }; 00019 char sixteen_step_intensity[] = { 0x01, 0x03, 0x07, 0x0F, 0x1F, 0x3F, 0x7F, 0xFF, 0x7F, 0x3F, 0x1F, 0x0F, 0x07, 0x03, 0x01, 0x00 }; 00020 00021 char gMot_cntl_order[ 5 ] = { MOT_ADDR5, MOT_ADDR6, MOT_ADDR7, MOT_ADDR8, MOT_ADDR9 }; 00022 char gMot_cntl_order_halfturn[ 10 ] = { MOT_ADDR5, 0, MOT_ADDR6, MOT_ADDR7, MOT_ADDR8, MOT_ADDR9, 0, MOT_ADDR8, MOT_ADDR7, MOT_ADDR6 }; 00023 char gMotor_count; 00024 00025 typedef enum { 00026 RED, 00027 GREEN, 00028 BLUE, 00029 } 00030 color; 00031 00032 char rgb_mask[ 3 ][ 15 ] = { 00033 { 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0 }, 00034 { 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0 }, 00035 { 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 0 } 00036 }; 00037 00038 char led_init_array[] = { 00039 0x80, // Command 00040 0x00, 0x05, // MODE1, MODE2 00041 0xAA, 0xAA, 0xAA, 0xAA, // LEDOUT[3:0] 00042 0x80, 0x00, // GRPPWM, GRPFREQ 00043 PWM_INIT, PWM_INIT, PWM_INIT, PWM_INIT, PWM_INIT, PWM_INIT, PWM_INIT, PWM_INIT, // PWM[7:0] 00044 PWM_INIT, PWM_INIT, PWM_INIT, PWM_INIT, PWM_INIT, PWM_INIT, PWM_INIT, PWM_INIT, // PWM[15:8] 00045 IREF_INIT, IREF_INIT, IREF_INIT, IREF_INIT, IREF_INIT, IREF_INIT, IREF_INIT, IREF_INIT, // IREF[7:0] 00046 IREF_INIT, IREF_INIT, IREF_INIT, IREF_INIT, IREF_INIT, IREF_INIT, IREF_INIT, IREF_INIT, // IREF[15:8] 00047 0x08 // OFFSET: 1uS offsets 00048 }; 00049 00050 char led_norm_op_array[] = { 00051 0x80 | PWM0, // Command 00052 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // PWM[7:0] 00053 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // PWM[14:8] 00054 }; 00055 00056 char mot_init_array[] = { 00057 0x80, 00058 0x20, 0xE2, 0xE4, 0xE6, 0xE0, 0x02, 0x10, // for registers MODE - WDCNTL (0x00 - 0x06 00059 0x00, 0x00, // for registers IP and INTSTAT (0x07, 0x08) 00060 0x0F, 0x03, 0x0C, 0x0F, 0x03, 0x01, 0x01, 0x00, 0x01, // for registers OP - INT_AUTO_CLR (0x09 - 0x11) 00061 0x00, 0x00, 0x30, 0x00, 0x82, 0x06, 0x82, 0x06, // for registers SETMODE - CCWPWH (0x12 - 0x19) 00062 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, // for registers CWSCOUNTL - CCWRCOUNTH (0x1A - 0x21) 00063 0x00, 0x00, // for registers EXTRASTEPS0 and EXTRASTEPS1 (0x22, 0x23) 00064 0x00, 0x00, 0x84 // for registers RMPCNTL - MCNTL (0x24 - 0x26) 00065 }; 00066 00067 char mot_all_stop[] = { 00068 0x26, 0x00 00069 }; 00070 00071 char mot_all_start[] = { 00072 0x26, 0xBA 00073 }; 00074 00075 char mot_ramp_array[] = { 00076 0x80, 00077 0x20, 0xE2, 0xE4, 0xE6, 0xE0, 0xFF, 0x10, // for registers MODE - WDCNTL (0x00 - 0x06 00078 0x00, 0x00, // for registers IP and INTSTAT (0x07, 0x08) 00079 0x0F, 0x03, 0x0C, 0x0F, 0x03, 0x00, 0x03, 0x03, 0x01, // for registers OP - INT_AUTO_CLR (0x09 - 0x11) 00080 0x00, 0x00, 0x30, 0x00, 0x97, 0x04, 0x97, 0x04, // for registers SETMODE - CCWPWH (0x12 - 0x19) 00081 0x23, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, // for registers CWSCOUNTL - CCWRCOUNTH (0x1A - 0x21) 00082 0x0C, 0x0C, // for registers EXTRASTEPS0 and EXTRASTEPS1 (0x22, 0x23) 00083 0x37, 0x00, 0x88 // for registers RMPCNTL - MCNTL (0x24 - 0x26) 00084 }; 00085 00086 char mot_vib_array[] = { 00087 0x80, 00088 0x20, 0xE2, 0xE4, 0xE6, 0xE0, 0xFF, 0x10, // for registers MODE - WDCNTL (0x00 - 0x06 00089 0x00, 0x00, // for registers IP and INTSTAT (0x07, 0x08) 00090 0x0F, 0x03, 0x0C, 0x0F, 0x03, 0x00, 0x03, 0x03, 0x01, // for registers OP - INT_AUTO_CLR (0x09 - 0x11) 00091 0x00, 0x00, 0x30, 0x00, 0x82, 0x06, 0x82, 0x06, // for registers SETMODE - CCWPWH (0x12 - 0x19) 00092 0x03, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, // for registers CWSCOUNTL - CCWRCOUNTH (0x1A - 0x21) 00093 0x0C, 0x0C, // for registers EXTRASTEPS0 and EXTRASTEPS1 (0x22, 0x23) 00094 0x00, 0x00, 0xBA // for registers RMPCNTL - MCNTL (0x24 - 0x26) 00095 }; 00096 00097 //#define INTERVAL128MS 00098 #ifdef INTERVAL128MS 00099 char mot_norm_op_array[] = { 00100 0x80, 00101 0x20, 0xE2, 0xE4, 0xE6, 0xE0, 0x02, 0x10, // for registers MODE - WDCNTL (0x00 - 0x06 00102 0x00, 0x00, // for registers IP and INTSTAT (0x07, 0x08) 00103 0x0F, 0x03, 0x0C, 0x0F, 0x03, 0x00, 0x01, 0x00, 0x01, // for registers OP - INT_AUTO_CLR (0x09 - 0x11) 00104 0x00, 0x00, 0x30, 0x00, 0xF2, 0x06, 0xF2, 0x06, // for registers SETMODE - CCWPWH (0x12 - 0x19) 00105 0x30, 0x00, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00, // for registers CWSCOUNTL - CCWRCOUNTH (0x1A - 0x21) 00106 0x00, 0x00, // for registers EXTRASTEPS0 and EXTRASTEPS1 (0x22, 0x23) 00107 0x00, 0x00, 0x00 // for registers RMPCNTL - MCNTL (0x24 - 0x26) 00108 }; 00109 00110 char mot_half_array[] = { 00111 0x80, 00112 0x20, 0xE2, 0xE4, 0xE6, 0xE0, 0x02, 0x10, // for registers MODE - WDCNTL (0x00 - 0x06 00113 0x00, 0x00, // for registers IP and INTSTAT (0x07, 0x08) 00114 0x0F, 0x03, 0x0C, 0x0F, 0x03, 0x00, 0x01, 0x00, 0x01, // for registers OP - INT_AUTO_CLR (0x09 - 0x11) 00115 0x00, 0x00, 0x30, 0x00, 0xF2, 0x06, 0xF2, 0x06, // for registers SETMODE - CCWPWH (0x12 - 0x19) 00116 0x18, 0x00, 0x18, 0x00, 0x00, 0x00, 0x00, 0x00, // for registers CWSCOUNTL - CCWRCOUNTH (0x1A - 0x21) 00117 0x00, 0x00, // for registers EXTRASTEPS0 and EXTRASTEPS1 (0x22, 0x23) 00118 0x00, 0x00, 0x00 // for registers RMPCNTL - MCNTL (0x24 - 0x26) 00119 }; 00120 #else 00121 char mot_norm_op_array[] = { 00122 0x80, 00123 0x20, 0xE2, 0xE4, 0xE6, 0xE0, 0x02, 0x10, // for registers MODE - WDCNTL (0x00 - 0x06 00124 0x00, 0x00, // for registers IP and INTSTAT (0x07, 0x08) 00125 0x0F, 0x03, 0x0C, 0x0F, 0x03, 0x00, 0x01, 0x00, 0x01, // for registers OP - INT_AUTO_CLR (0x09 - 0x11) 00126 0x00, 0x00, 0x30, 0x00, 0xE4, 0x0D, 0xE4, 0x0D, // for registers SETMODE - CCWPWH (0x12 - 0x19) 00127 0x30, 0x00, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00, // for registers CWSCOUNTL - CCWRCOUNTH (0x1A - 0x21) 00128 0x00, 0x00, // for registers EXTRASTEPS0 and EXTRASTEPS1 (0x22, 0x23) 00129 0x00, 0x00, 0x00 // for registers RMPCNTL - MCNTL (0x24 - 0x26) 00130 }; 00131 00132 char mot_half_array[] = { 00133 0x80, 00134 0x20, 0xE2, 0xE4, 0xE6, 0xE0, 0x02, 0x10, // for registers MODE - WDCNTL (0x00 - 0x06 00135 0x00, 0x00, // for registers IP and INTSTAT (0x07, 0x08) 00136 0x0F, 0x03, 0x0C, 0x0F, 0x03, 0x00, 0x01, 0x00, 0x01, // for registers OP - INT_AUTO_CLR (0x09 - 0x11) 00137 0x00, 0x00, 0x30, 0x00, 0xE4, 0x0D, 0xE4, 0x0D, // for registers SETMODE - CCWPWH (0x12 - 0x19) 00138 0x18, 0x00, 0x18, 0x00, 0x00, 0x00, 0x00, 0x00, // for registers CWSCOUNTL - CCWRCOUNTH (0x1A - 0x21) 00139 0x00, 0x00, // for registers EXTRASTEPS0 and EXTRASTEPS1 (0x22, 0x23) 00140 0x00, 0x00, 0x00 // for registers RMPCNTL - MCNTL (0x24 - 0x26) 00141 }; 00142 #endif 00143 00144 00145 transaction led_init_transfer[] = { 00146 { PCx9955_ADDR0, led_init_array, sizeof( led_init_array ) }, 00147 { PCx9955_ADDR1, led_init_array, sizeof( led_init_array ) }, 00148 { PCx9955_ADDR2, led_init_array, sizeof( led_init_array ) }, 00149 { PCx9955_ADDR3, led_init_array, sizeof( led_init_array ) }, 00150 }; 00151 00152 transaction led_norm_op_transfer[] = { 00153 { PCx9955_ADDR0, led_norm_op_array, sizeof( led_norm_op_array ) }, 00154 { PCx9955_ADDR1, led_norm_op_array, sizeof( led_norm_op_array ) }, 00155 { PCx9955_ADDR2, led_norm_op_array, sizeof( led_norm_op_array ) }, 00156 { PCx9955_ADDR3, led_norm_op_array, sizeof( led_norm_op_array ) }, 00157 }; 00158 00159 transaction mot_init_transfer[] = { 00160 { MOT_ADDR5, mot_init_array, sizeof( mot_init_array ) }, 00161 { MOT_ADDR6, mot_init_array, sizeof( mot_init_array ) }, 00162 { MOT_ADDR7, mot_init_array, sizeof( mot_init_array ) }, 00163 { MOT_ADDR8, mot_init_array, sizeof( mot_init_array ) }, 00164 { MOT_ADDR9, mot_init_array, sizeof( mot_init_array ) }, 00165 }; 00166 00167 transaction mot_norm_op_transfer[] = { 00168 { MOT_ADDR5, mot_norm_op_array, sizeof( mot_norm_op_array ) }, 00169 { MOT_ADDR6, mot_norm_op_array, sizeof( mot_norm_op_array ) }, 00170 { MOT_ADDR7, mot_norm_op_array, sizeof( mot_norm_op_array ) }, 00171 { MOT_ADDR8, mot_norm_op_array, sizeof( mot_norm_op_array ) }, 00172 { MOT_ADDR9, mot_norm_op_array, sizeof( mot_norm_op_array ) }, 00173 }; 00174 00175 transaction mot_half_transfer[] = { 00176 { MOT_ADDR5, mot_norm_op_array, sizeof( mot_norm_op_array ) }, 00177 { MOT_ADDR6, mot_half_array, sizeof( mot_half_array ) }, 00178 { MOT_ADDR7, mot_half_array, sizeof( mot_half_array ) }, 00179 { MOT_ADDR8, mot_half_array, sizeof( mot_half_array ) }, 00180 { MOT_ADDR9, mot_norm_op_array, sizeof( mot_norm_op_array ) }, 00181 }; 00182 00183 transaction mot_half_setup_transfer[] = { 00184 { MOT_ADDR5, mot_half_array, sizeof( mot_half_array ) }, 00185 { MOT_ADDR6, mot_half_array, sizeof( mot_half_array ) }, 00186 { MOT_ADDR7, mot_half_array, sizeof( mot_half_array ) }, 00187 { MOT_ADDR8, mot_half_array, sizeof( mot_half_array ) }, 00188 { MOT_ADDR9, mot_half_array, sizeof( mot_half_array ) }, 00189 }; 00190 00191 transaction mot_all_stop_transfer[] = { 00192 { MOT_ADDR5, mot_all_stop, sizeof( mot_all_stop ) }, 00193 { MOT_ADDR6, mot_all_stop, sizeof( mot_all_stop ) }, 00194 { MOT_ADDR7, mot_all_stop, sizeof( mot_all_stop ) }, 00195 { MOT_ADDR8, mot_all_stop, sizeof( mot_all_stop ) }, 00196 { MOT_ADDR9, mot_all_stop, sizeof( mot_all_stop ) }, 00197 }; 00198 00199 transaction mot_all_start_transfer[] = { 00200 { MOT_ADDR5, mot_all_start, sizeof( mot_all_start ) }, 00201 { MOT_ADDR6, mot_all_start, sizeof( mot_all_start ) }, 00202 { MOT_ADDR7, mot_all_start, sizeof( mot_all_start ) }, 00203 { MOT_ADDR8, mot_all_start, sizeof( mot_all_start ) }, 00204 { MOT_ADDR9, mot_all_start, sizeof( mot_all_start ) }, 00205 }; 00206 00207 transaction mot_all_vib_transfer[] = { 00208 { MOT_ADDR5, mot_vib_array, sizeof( mot_vib_array ) }, 00209 { MOT_ADDR6, mot_vib_array, sizeof( mot_vib_array ) }, 00210 { MOT_ADDR7, mot_vib_array, sizeof( mot_vib_array ) }, 00211 { MOT_ADDR8, mot_vib_array, sizeof( mot_vib_array ) }, 00212 { MOT_ADDR9, mot_vib_array, sizeof( mot_vib_array ) }, 00213 }; 00214 00215 transaction mot_all_ramp_transfer[] = { 00216 { MOT_ADDR5, mot_ramp_array, sizeof( mot_ramp_array ) }, 00217 { MOT_ADDR6, mot_ramp_array, sizeof( mot_ramp_array ) }, 00218 { MOT_ADDR7, mot_ramp_array, sizeof( mot_ramp_array ) }, 00219 { MOT_ADDR8, mot_ramp_array, sizeof( mot_ramp_array ) }, 00220 { MOT_ADDR9, mot_ramp_array, sizeof( mot_ramp_array ) }, 00221 }; 00222 00223 void init_slave_devices( void ) 00224 { 00225 // init all slave's registers 00226 setup_transfer( CH_FM_PLUS, mot_init_transfer, sizeof( mot_init_transfer ) / sizeof( transaction ) ); 00227 setup_transfer( CH_UFM1, led_init_transfer, sizeof( led_init_transfer ) / sizeof( transaction ) ); 00228 setup_transfer( CH_UFM2, led_init_transfer, sizeof( led_init_transfer ) / sizeof( transaction ) ); 00229 start( CH_FM_PLUS ); // motors are aligned using interrupt input of PCA9629 00230 start( CH_UFM1 ); 00231 start( CH_UFM2 ); 00232 00233 wait_sec( 0.5 ); 00234 00235 // update motor control buffer configuration 00236 00237 setup_transfer( CH_FM_PLUS, mot_norm_op_transfer, sizeof( mot_norm_op_transfer ) / sizeof( transaction ) ); 00238 setup_transfer( CH_UFM1, led_norm_op_transfer, sizeof( led_norm_op_transfer ) / sizeof( transaction ) ); 00239 setup_transfer( CH_UFM2, led_norm_op_transfer, sizeof( led_norm_op_transfer ) / sizeof( transaction ) ); 00240 start( CH_FM_PLUS ); // just update PCA9629 registers. no motor action 00241 start( CH_UFM1 ); 00242 start( CH_UFM2 ); 00243 } 00244 00245 void single_byte_write_into_a_PCA9629( char ch, char i2c_addr, char reg_addr, char val ) 00246 { 00247 transaction t; 00248 char data[ 2 ]; 00249 00250 data[ 0 ] = reg_addr; 00251 data[ 1 ] = val; 00252 00253 t.i2c_address = i2c_addr; 00254 t.data = data; 00255 t.length = 2; 00256 00257 setup_transfer( ch, &t, 1 ); 00258 start( CH_FM_PLUS ); 00259 } 00260 00261 void ramp_all_PCA9629( void ) 00262 { 00263 setup_transfer( CH_FM_PLUS, mot_all_ramp_transfer, sizeof( mot_all_ramp_transfer ) / sizeof( transaction ) ); 00264 start( CH_FM_PLUS ); 00265 } 00266 void vib_all_PCA9629( void ) 00267 { 00268 setup_transfer( CH_FM_PLUS, mot_all_vib_transfer, sizeof( mot_all_vib_transfer ) / sizeof( transaction ) ); 00269 start( CH_FM_PLUS ); 00270 } 00271 void start_all_PCA9629( void ) 00272 { 00273 setup_transfer( CH_FM_PLUS, mot_all_start_transfer, sizeof( mot_all_start_transfer ) / sizeof( transaction ) ); 00274 start( CH_FM_PLUS ); 00275 } 00276 void stop_all_PCA9629( void ) 00277 { 00278 setup_transfer( CH_FM_PLUS, mot_all_stop_transfer, sizeof( mot_all_stop_transfer ) / sizeof( transaction ) ); 00279 start( CH_FM_PLUS ); 00280 } 00281 void align_all_PCA9629( void ) 00282 { 00283 setup_transfer( CH_FM_PLUS, mot_init_transfer, sizeof( mot_init_transfer ) / sizeof( transaction ) ); 00284 start( CH_FM_PLUS ); 00285 } 00286 00287 void all_LEDs_value( char v ) 00288 { 00289 for ( int i = 0; i < N_OF_LEDS; i++ ) 00290 gLEDs[ i ] = v; 00291 } 00292 00293 void all_LEDs_turn_off() 00294 { 00295 all_LEDs_value( 0x00 ); 00296 } 00297 00298 void all_LEDs_turn_on() 00299 { 00300 all_LEDs_value( 0xFF ); 00301 } 00302 00303 void pattern_rampup( int count ) 00304 { 00305 if ( count == 0 ) { 00306 all_LEDs_turn_off(); 00307 return; 00308 } 00309 00310 for ( int i = 0; i < N_OF_LEDS; i++ ) 00311 gLEDs[ i ] = count & 0xFF; 00312 } 00313 00314 void pattern_rampup_and_down( int count ) 00315 { 00316 if ( !(count & 0xFF) ) { 00317 ramp_all_PCA9629(); 00318 all_LEDs_turn_off(); 00319 return; 00320 } 00321 00322 for ( int i = 0; i < N_OF_LEDS; i++ ) 00323 gLEDs[ i ] = (((count & 0x80) ? ~count : count) << 1) & 0xFF; 00324 } 00325 00326 void pattern_rampup_and_down_w_color( int count ) 00327 { 00328 static int color; 00329 00330 color = (!count || (3 <= color)) ? 0 : color; 00331 00332 if ( !(count & 0xFF) ) { 00333 ramp_all_PCA9629(); 00334 all_LEDs_turn_off(); 00335 color++; 00336 return; 00337 } 00338 00339 for ( int i = 0; i < N_OF_LEDS; i++ ) 00340 gLEDs[ i ] = (rgb_mask[ color ][ i % N_LED_PER_BOARD ]) ? (((count & 0x80) ? ~count : count) << 1) & 0xFF : 0x00; 00341 } 00342 00343 00344 void pattern_colors2( int count ) 00345 { 00346 00347 if ( !count ) { 00348 gMotor_count = 0; 00349 setup_transfer( CH_FM_PLUS, mot_norm_op_transfer, sizeof( mot_norm_op_transfer ) / sizeof( transaction ) ); 00350 start( CH_FM_PLUS ); // just update PCA9629 registers. no motor action 00351 } 00352 00353 if ( !((count + 20) & 0x3F) ) { 00354 single_byte_write_into_a_PCA9629( CH_FM_PLUS, gMot_cntl_order[ gMotor_count % 5 ], 0x26, 0x80 | ((gMotor_count / 5) & 0x1) ); 00355 gMotor_count++; 00356 } 00357 00358 #define PI 3.14159265358979323846 00359 00360 float r; 00361 float g; 00362 float b; 00363 float k; 00364 float c; 00365 float f; 00366 00367 k = (2 * PI) / 300.0; 00368 c = count; 00369 f = 127.5 * ((count < 500) ? (float)count / 500.0 : 1.0); 00370 00371 #if 0 00372 r = sin( k * (c + 0.0) ); 00373 g = sin( k * (c + 100.0) ); 00374 b = sin( k * (c + 200.0) ); 00375 r = (0 < r) ? r * 255.0 : 0; 00376 g = (0 < g) ? g * 255.0 : 0; 00377 b = (0 < b) ? b * 255.0 : 0; 00378 #else 00379 r = (sin( k * (c + 0.0) ) + 1) * f; 00380 g = (sin( k * (c + 100.0) ) + 1) * f; 00381 b = (sin( k * (c + 200.0) ) + 1) * f; 00382 #endif 00383 for ( int i = 0; i < N_OF_LEDS; i += N_LED_PER_BOARD ) { 00384 for ( int j = 0; j < 12; j += 3 ) { 00385 gLEDs[ i + j + 0 ] = (char)r; 00386 gLEDs[ i + j + 1 ] = (char)g; 00387 gLEDs[ i + j + 2 ] = (char)b; 00388 } 00389 for ( int j = 12; j < 15; j ++ ) 00390 gLEDs[ i + j ] = (char)((((2500 <= count) && (count < 3000)) ? ((float)(count - 2500) / 500.0) : 0.0) * 255.0); 00391 } 00392 } 00393 00394 //void pattern_color_phase( int count ) { 00395 void pattern_colors( int count ) 00396 { 00397 00398 if ( !count ) { 00399 gMotor_count = 0; 00400 setup_transfer( CH_FM_PLUS, mot_norm_op_transfer, sizeof( mot_norm_op_transfer ) / sizeof( transaction ) ); 00401 start( CH_FM_PLUS ); // just update PCA9629 registers. no motor action 00402 } 00403 00404 if ( !((count + 20) & 0x3F) ) { 00405 single_byte_write_into_a_PCA9629( CH_FM_PLUS, gMot_cntl_order[ gMotor_count % 5 ], 0x26, 0x80 | ((gMotor_count / 5) & 0x1) ); 00406 gMotor_count++; 00407 } 00408 00409 #define PI 3.14159265358979323846 00410 00411 float p; 00412 float k; 00413 float c; 00414 float f; 00415 00416 k = (2 * PI) / 300.0; 00417 p = 300.0 / N_OF_LEDS; 00418 c = count; 00419 f = 127.5 * ((count < 500) ? c / 500.0 : 1.0); 00420 00421 for ( int i = 0; i < N_OF_LEDS; i += N_LED_PER_BOARD ) { 00422 for ( int j = 0; j < 12; j += 3 ) { 00423 gLEDs[ i + j + 0 ] = (char)((sin( k * (c + 0.0) + p * (i + j) ) + 1) * f); 00424 gLEDs[ i + j + 1 ] = (char)((sin( k * (c + 100.0) + p * (i + j) ) + 1) * f); 00425 gLEDs[ i + j + 2 ] = (char)((sin( k * (c + 200.0) + p * (i + j) ) + 1) * f); 00426 } 00427 for ( int j = 12; j < 15; j ++ ) 00428 gLEDs[ i + j ] = (char)((((2500 <= count) && (count < 3000)) ? ((float)(count - 2500) / 500.0) : 0.0) * 255.0); 00429 } 00430 } 00431 00432 00433 00434 00435 00436 void pattern_one_by_one( int count ) 00437 { 00438 if ( count == 0 ) { 00439 all_LEDs_turn_off(); 00440 return; 00441 } 00442 00443 gLEDs[ (count / 9) % N_OF_LEDS ] = nine_step_intensity[ count % 9 ]; 00444 } 00445 00446 void pattern_random( int count ) 00447 { 00448 if ( count == 0 ) { 00449 all_LEDs_turn_off(); 00450 return; 00451 } 00452 gLEDs[ rand() % N_OF_LEDS ] = rand() % 0xFF; 00453 } 00454 00455 void pattern_random_with_decay0( int count ) 00456 { 00457 if ( count == 0 ) { 00458 all_LEDs_turn_off(); 00459 return; 00460 } 00461 gLEDs[ rand() % N_OF_LEDS ] = 0xFF; 00462 00463 for ( int i = 0; i < N_OF_LEDS; i++ ) 00464 gLEDs[ i ] = (char)((float)gLEDs[ i ] * 0.90); 00465 } 00466 00467 void pattern_random_with_decay1( int count ) 00468 { 00469 if ( count == 0 ) { 00470 all_LEDs_turn_off(); 00471 return; 00472 } 00473 gLEDs[ rand() % N_OF_LEDS ] = 0xFF; 00474 00475 for ( int i = 0; i < N_OF_LEDS; i++ ) 00476 gLEDs[ i ] = (char)((float)gLEDs[ i ] * 0.7); 00477 } 00478 00479 void pattern_flashing( int count ) 00480 { 00481 #define SUSTAIN_DURATION 10 00482 static float interval; 00483 static int timing; 00484 static int sustain; 00485 00486 if ( count == 0 ) { 00487 interval = 100.0; 00488 timing = 0; 00489 sustain = SUSTAIN_DURATION; 00490 vib_all_PCA9629(); 00491 } 00492 if ( (timing == count) || !((int)interval) ) { 00493 sustain = SUSTAIN_DURATION; 00494 all_LEDs_turn_on(); 00495 start_all_PCA9629(); 00496 00497 timing += (int)interval; 00498 interval *= 0.96; 00499 } else { 00500 for ( int i = 0; i < N_OF_LEDS; i++ ) 00501 gLEDs[ i ] = (char)((float)gLEDs[ i ] * 0.90); 00502 00503 if ( sustain-- < 0 ) 00504 stop_all_PCA9629(); 00505 } 00506 } 00507 00508 void stop( int count ) 00509 { 00510 if ( !count ) { 00511 all_LEDs_turn_off(); 00512 stop_all_PCA9629(); 00513 } 00514 } 00515 00516 void pattern_init( int count ) 00517 { 00518 00519 if ( !count ) 00520 align_all_PCA9629(); 00521 } 00522 00523 00524 void pattern_scan( int count ) 00525 { 00526 static char gMotor_count; 00527 00528 if ( !count ) { 00529 gMotor_count = 0; 00530 setup_transfer( CH_FM_PLUS, mot_norm_op_transfer, sizeof( mot_norm_op_transfer ) / sizeof( transaction ) ); 00531 start( CH_FM_PLUS ); // just update PCA9629 registers. no motor action 00532 } 00533 00534 if ( !(count & 0x1F) ) { 00535 single_byte_write_into_a_PCA9629( CH_FM_PLUS, gMot_cntl_order[ gMotor_count % 5 ], 0x26, 0x80 | ((gMotor_count / 5) & 0x1) ); 00536 gMotor_count++; 00537 } 00538 00539 all_LEDs_turn_off(); 00540 gLEDs[ (count >> 3) % N_OF_LEDS ] = 0xFF; 00541 } 00542 00543 void pattern_setup_half_turns( int count ) 00544 { 00545 00546 if ( !count ) { 00547 align_all_PCA9629(); 00548 gMotor_count = 0; 00549 } else if ( count == 50 ) { 00550 setup_transfer( CH_FM_PLUS, mot_half_setup_transfer, sizeof( mot_half_transfer ) / sizeof( transaction ) ); 00551 start( CH_FM_PLUS ); 00552 } else if ( count == 60 ) { 00553 single_byte_write_into_a_PCA9629( CH_FM_PLUS, gMot_cntl_order[ 4 ], 0x26, 0x80 ); 00554 } else if ( count == 75 ) { 00555 single_byte_write_into_a_PCA9629( CH_FM_PLUS, gMot_cntl_order[ 3 ], 0x26, 0x80 ); 00556 } else if ( count == 90 ) { 00557 single_byte_write_into_a_PCA9629( CH_FM_PLUS, gMot_cntl_order[ 2 ], 0x26, 0x80 ); 00558 } else if ( count == 115 ) { 00559 single_byte_write_into_a_PCA9629( CH_FM_PLUS, gMot_cntl_order[ 1 ], 0x26, 0x80 ); 00560 } else if ( count == 150 ) { 00561 setup_transfer( CH_FM_PLUS, mot_half_transfer, sizeof( mot_half_transfer ) / sizeof( transaction ) ); 00562 start( CH_FM_PLUS ); 00563 } 00564 } 00565 00566 00567 00568 void pattern_half_turns( int count ) 00569 { 00570 00571 #ifdef INTERVAL128MS 00572 if ( !(count & 0x0F) ) { 00573 #else 00574 if ( !(count & 0x1F) ) { 00575 #endif 00576 if ( gMot_cntl_order_halfturn[ gMotor_count ] ) 00577 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) ); 00578 gMotor_count++; 00579 00580 gMotor_count = (gMotor_count == 10) ? 0 : gMotor_count; 00581 } 00582 00583 00584 // all_LEDs_turn_off(); 00585 // gLEDs[ (count >> 3) % N_OF_LEDS ] = 0xFF; 00586 } 00587 00588 00589 00590 void pattern_fadeout300( int count ) 00591 { 00592 00593 if ( !count ) 00594 stop_all_PCA9629(); 00595 else if ( count == 100 ) 00596 align_all_PCA9629(); 00597 00598 for ( int i = 0; i < N_OF_LEDS; i++ ) 00599 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. 00600 } 00601 00602 void pattern_speed_variations( int count ) 00603 { 00604 00605 char data[ 4 ]; 00606 int v; 00607 00608 if ( !count ) { 00609 setup_transfer( CH_FM_PLUS, mot_norm_op_transfer, sizeof( mot_norm_op_transfer ) / sizeof( transaction ) ); 00610 00611 data[ 0 ] = 0x2; 00612 for ( int i = 0; i < 5; i++ ) 00613 buffer_overwrite( CH_FM_PLUS, i, 20, data, 1 ); // Set half step operation 00614 00615 for ( int i = 0; i < 5; i++ ) { 00616 v = 833;// 400pps for halfstep 00617 data[ 0 ] = data[ 2 ] = v & 0xFF; 00618 data[ 1 ] = data[ 3 ] = (i << 5) | (v >> 8); 00619 buffer_overwrite( CH_FM_PLUS, i, 23, data, 4 ); 00620 } 00621 00622 for ( int i = 0; i < 5; i++ ) { 00623 v = (0x1 << (5 - i)); 00624 data[ 0 ] = data[ 2 ] = v & 0xFF; 00625 data[ 1 ] = data[ 3 ] = v >> 8; 00626 buffer_overwrite( CH_FM_PLUS, i, 31, data, 4 ); 00627 } 00628 00629 00630 } 00631 00632 if ( !(count % 500) ) { 00633 data[ 0 ] = 0x84 | ((count / 500) & 0x1); 00634 for ( int i = 0; i < 5; i++ ) 00635 buffer_overwrite( CH_FM_PLUS, i, 39, data, 1 ); 00636 start( CH_FM_PLUS ); 00637 } 00638 } 00639 00640 void pattern_mot_ramp_variations( int count ) 00641 { 00642 00643 char ramp_var[5][17] = { 00644 { 0x5D, 0x03, 0x5D, 0x03, 0x0B, 0x00, 0x00, 0x00, 0x0F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x36, 0x00, 0x88 }, 00645 { 0x4B, 0x05, 0x4B, 0x05, 0x25, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x00, 0x00, 0x37, 0x00, 0x88 }, 00646 { 0x15, 0x06, 0x15, 0x06, 0x2D, 0x00, 0x00, 0x00, 0x12, 0x00, 0x00, 0x00, 0x00, 0x00, 0x38, 0x00, 0x88 }, 00647 { 0x71, 0x06, 0x71, 0x06, 0x17, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x00, 0x00, 0x39, 0x00, 0x88 }, 00648 { 0x9C, 0x06, 0x9C, 0x06, 0x23, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3A, 0x00, 0x88 }, 00649 }; 00650 00651 if ( !count ) { 00652 setup_transfer( CH_FM_PLUS, mot_norm_op_transfer, sizeof( mot_norm_op_transfer ) / sizeof( transaction ) ); 00653 00654 for ( int i = 0; i < 5; i++ ) 00655 buffer_overwrite( CH_FM_PLUS, i, 23, ramp_var[ i ], 17 ); 00656 00657 start( CH_FM_PLUS ); 00658 } 00659 00660 all_LEDs_turn_off(); 00661 gLEDs[ count % N_OF_LEDS ] = 0xFF; 00662 00663 } 00664 00665 void pattern_knightrider( int count ) 00666 { 00667 short led_pat[ 12 ] = { 0x7000, 0x0004, 0x0E00, 0x0002, 0x01C0, 0x0001, 0x0038, 0x0001, 0x01C0, 0x0002, 0x0E00, 0x0004 }; 00668 short led_bits; 00669 00670 #if 0 00671 //if ( !(count && 0x7) ) 00672 { 00673 led_bits = led_pat[ (count >> 4) % 12 ]; 00674 for ( int i = 0; i < N_OF_LEDS; i += N_LED_PER_BOARD ) { 00675 for ( int j = 0; j < N_LED_PER_BOARD; j ++ ) { 00676 gLEDs[ i + j ] = ((led_bits << j) & 0x4000) ? 0xFF : gLEDs[ i + j ]; 00677 } 00678 } 00679 } 00680 for ( int i = 0; i < N_OF_LEDS; i++ ) 00681 gLEDs[ i ] = (char)((float)gLEDs[ i ] * 0.90 * ((700 < count) ? (float)(1000 - count) / 300.0 : 1.0)); 00682 #else 00683 //if ( !(count && 0x7) ) 00684 { 00685 led_bits = led_pat[ (count >> 4) % 12 ]; 00686 for ( int i = 0; i < N_OF_LEDS; i += N_LED_PER_BOARD ) { 00687 for ( int j = 0; j < N_LED_PER_BOARD; j ++ ) { 00688 gLEDs[ i + j ] = ((led_bits << j) & 0x4000) ? ((744 < count) ? (1000 - count) : 255) : gLEDs[ i + j ]; 00689 // gLEDs[ i + j ] = ((led_bits << j) & 0x4000) ? 0xFF : gLEDs[ i + j ]; 00690 } 00691 } 00692 } 00693 for ( int i = 0; i < N_OF_LEDS; i++ ) 00694 gLEDs[ i ] = (char)((float)gLEDs[ i ] * 0.90); 00695 #endif 00696 00697 } 00698 pattern _gPt[] = { 00699 // { 256, pattern_rampup }, 00700 { 3000, pattern_colors }, 00701 }; 00702 pattern gPt[] = { 00703 // { 256, pattern_rampup }, 00704 { 20, stop }, 00705 { 120, pattern_init }, 00706 { 3000, pattern_colors }, 00707 { 300, pattern_fadeout300 }, 00708 { 3000, pattern_speed_variations }, 00709 { 250, pattern_setup_half_turns }, 00710 { 3000, pattern_half_turns }, 00711 { 20, stop }, 00712 { 120, pattern_init }, 00713 { 960, pattern_rampup_and_down_w_color }, 00714 { 960, pattern_scan }, 00715 { 20, stop }, 00716 { 120, pattern_init }, 00717 { 1024, pattern_rampup_and_down }, 00718 { 700, pattern_mot_ramp_variations }, 00719 { 700, pattern_mot_ramp_variations }, 00720 { 700, pattern_mot_ramp_variations }, 00721 { 700, pattern_mot_ramp_variations }, 00722 00723 { 3000, pattern_flashing }, 00724 { 300, pattern_fadeout300 }, 00725 { 512, pattern_random }, 00726 { 512, pattern_random_with_decay1 }, 00727 { 512, pattern_random_with_decay0 }, 00728 { 9 * 120, pattern_one_by_one }, 00729 { 1000, pattern_knightrider }, 00730 00731 }; 00732 00733 00734 00735 void pattern_update( int count ) 00736 { 00737 static int next_pattern_change = 0; 00738 static int local_count = 0; 00739 static int pattern_index = -1; 00740 00741 if ( next_pattern_change == count ) { 00742 local_count = 0; 00743 pattern_index++; 00744 pattern_index = (pattern_index == (sizeof( gPt ) / sizeof( pattern )) ) ? 0 : pattern_index; 00745 next_pattern_change += gPt[ pattern_index ].duration; 00746 } 00747 00748 (*gPt[ pattern_index ].pattern_func)( local_count++ ); 00749 } 00750
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