Pilotage de la LED, Vert: trouvé, rouge: non trouvé

CMakeLists.txt

@@ -23,7 +23,10 @@ add_executable(VL53L8X_Gradin
   VL53L8CX_ULD_API/src/vl53l8cx_plugin_xtalk.c
   VL53L8_2024.c
   Platform/platform.c
+  ws2812.c
 )
+# generate the header file into the source tree as it is included in the RP2040 datasheet
+pico_generate_pio_header(VL53L8X_Gradin ${CMAKE_CURRENT_LIST_DIR}/ws2812.pio)
 
 target_include_directories(VL53L8X_Gradin PRIVATE VL53L8CX_ULD_API/inc/)
 
@@ -31,6 +34,7 @@ target_link_libraries(VL53L8X_Gradin
   hardware_adc 
   hardware_spi
   hardware_i2c
+  hardware_pio
   pico_stdlib
   pico_multicore
 )

main.c

@@ -11,6 +11,7 @@
 #include "Temps.h"
 #include "VL53L8_2024.h"
 #include "vl53l8cx_api.h"
+#include "ws2812.h"
 #include <stdio.h>
 #include <math.h>
 
@@ -73,6 +74,8 @@ void main(void)
 	//tension_batterie_init();
 	spi_init(spi0, 2000000);
 
+	ws2812_init();
+
 	
 
 	uint32_t temps_ms = Temps_get_temps_ms();
@@ -242,6 +245,12 @@ void gestion_VL53L8CX(void){
 			echec |= VL53L8_pos_planche_gauche(results_gauche, &gauche_planche_pos_x, &gauche_planche_pos_y);
 			echec |= VL53L8_pos_planche_droit(results_droit, &droit_planche_pos_x, &droit_planche_pos_y);
 
+			if(echec){
+				ws2812_set(0x0F,0,0);
+			}else{
+				ws2812_set(0,0x0F,0);
+			}
+
 			droit_planche_pos_x = -droit_planche_pos_x + OFFSET_CAPTEUR_DROIT_Y_MM;
 			gauche_planche_pos_x = -gauche_planche_pos_x + OFFSET_CAPTEUR_GAUCHE_X_MM;
 

ws2812.c

@@ -0,0 +1,137 @@
+#include "pico/stdlib.h"
+#include "hardware/pio.h"
+#include "ws2812.h"
+#include "ws2812.pio.h"
+
+#define WS2812_PIN 12
+#define WS2812_POWER_PIN 11
+#define IS_RGBW false
+
+
+uint32_t couleur[13];
+uint32_t buffer_couleur[12];
+
+void ws2812_set_buffer(uint32_t couleur, uint8_t index_led);
+
+void ws2812_init(){
+    /*couleur[0]=0x000200;
+    couleur[1]=0x010200;
+    couleur[2]=0x020200;
+    couleur[3]=0x020100;
+    couleur[4]=0x020000;
+    couleur[5]=0x020001;
+    couleur[6]=0x020002;
+    couleur[7]=0x010002;
+    couleur[8]=0x000002;
+    couleur[9]=0x000102;
+    couleur[10]=0x000202;
+    couleur[11]=0x000201;
+    couleur[12]=0x000200;*/
+
+    couleur[0]=0x002000;
+    couleur[1]=0x102000;
+    couleur[2]=0x202000;
+    couleur[3]=0x201000;
+    couleur[4]=0x200000;
+    couleur[5]=0x200010;
+    couleur[6]=0x200020;
+    couleur[7]=0x100020;
+    couleur[8]=0x000020;
+    couleur[9]=0x001020;
+    couleur[10]=0x002020;
+    couleur[11]=0x002010;
+    couleur[12]=0x002000;
+
+    /*couleur[0]=0x00FF00;
+    couleur[1]=0x80FF00;
+    couleur[2]=0xFFFF00;
+    couleur[3]=0xFF8000;
+    couleur[4]=0xFF0000;
+    couleur[5]=0xFF0080;
+    couleur[6]=0xFF00FF;
+    couleur[7]=0x8000FF;
+    couleur[8]=0x0000FF;
+    couleur[9]=0x0080FF;
+    couleur[10]=0x00FFFF;
+    couleur[11]=0x00FF80;
+    couleur[12]=0x00FF00;*/
+
+    // initialisation du PIO 
+    PIO pio = pio0;
+    int sm = 0;
+    uint offset = pio_add_program(pio, &ws2812_program);
+
+
+    gpio_init(WS2812_POWER_PIN);
+    gpio_set_dir(WS2812_POWER_PIN, 1); // OUT
+    gpio_put(WS2812_POWER_PIN, 1);
+
+
+    ws2812_program_init(pio, sm, offset, WS2812_PIN, 800000, IS_RGBW);
+
+    // Tout rouge !
+    for(uint32_t i = 0; i<12; i++){
+        ws2812_set_buffer_rgb(0x4, 0x1, 0, i);
+    }
+    ws2812_affiche_buffer();
+}
+
+void ws2812_set(int rouge, int vert, int bleu){
+    ws2812_set_buffer_rgb(rouge, vert, bleu, 0);
+    ws2812_affiche_buffer();
+}
+
+void ws2812_arc_en_ciel(){
+    while(1){
+        uint32_t i;
+        sleep_ms(50);
+
+        // Affichage
+        for(i = 0; i<12; i++){
+            ws2812_set_buffer(couleur[i], i);
+        }
+        ws2812_affiche_buffer();
+
+        // Décalage des couleurs
+        for(i = 0; i<12; i++){
+            couleur[i] = couleur[i+1];
+        }
+        couleur[12]=couleur[0];
+    }
+}
+
+static inline void put_pixel(uint32_t pixel_grb) {
+    pio_sm_put_blocking(pio0, 0, pixel_grb << 8u);
+}
+
+static inline uint32_t urgb_u32(uint8_t r, uint8_t g, uint8_t b) {
+    return
+            ((uint32_t) (r) << 8) |
+            ((uint32_t) (g) << 16) |
+            (uint32_t) (b);
+}
+
+void ws2812_affiche_buffer(){
+    for(uint32_t i = 0; i<12; i++){
+        put_pixel(buffer_couleur[i]);
+    }
+}
+
+void ws2812_set_buffer_rgb(uint8_t rouge, uint8_t vert, uint8_t bleu, uint8_t index_led){
+        ws2812_set_buffer(urgb_u32(rouge, vert,bleu), index_led);
+}
+
+//Bit    7  6  5  4  3  2  1  0
+//Data   R  R  R  G  G  G  B  B
+void ws2812_set_buffer_8bits(uint8_t couleur, uint8_t index_led){
+        ws2812_set_buffer(urgb_u32(couleur >> 5, (couleur >> 2) & 0x07, couleur & 0x03), index_led);
+}
+
+/// @brief Rempli le buffer à envoyer au LED, necessite d'appeler la fonction ws2812_affiche_buffer() ensuite
+/// @param couleur : couleur en RVB
+/// @param index_led : index entre 0 et 11
+void ws2812_set_buffer(uint32_t couleur, uint8_t index_led){
+    if(index_led <12){
+        buffer_couleur[index_led] = couleur;
+    }
+}

ws2812.h

@@ -0,0 +1,8 @@
+#include "pico/stdlib.h"
+
+void ws2812_init(void);
+void ws2812_set(int rouge, int vert, int bleu);
+void ws2812_affiche_buffer(void);
+void ws2812_set_buffer_rgb(uint8_t rouge, uint8_t vert, uint8_t bleu, uint8_t index_led);
+void ws2812_set_buffer_8bits(uint8_t couleur, uint8_t index_led);
+void ws2812_arc_en_ciel(void);

ws2812.pio

@@ -0,0 +1,85 @@
+;
+; Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
+;
+; SPDX-License-Identifier: BSD-3-Clause
+;
+
+.program ws2812
+.side_set 1
+
+.define public T1 2
+.define public T2 5
+.define public T3 3
+
+.lang_opt python sideset_init = pico.PIO.OUT_HIGH
+.lang_opt python out_init     = pico.PIO.OUT_HIGH
+.lang_opt python out_shiftdir = 1
+
+.wrap_target
+bitloop:
+    out x, 1       side 0 [T3 - 1] ; Side-set still takes place when instruction stalls
+    jmp !x do_zero side 1 [T1 - 1] ; Branch on the bit we shifted out. Positive pulse
+do_one:
+    jmp  bitloop   side 1 [T2 - 1] ; Continue driving high, for a long pulse
+do_zero:
+    nop            side 0 [T2 - 1] ; Or drive low, for a short pulse
+.wrap
+
+% c-sdk {
+#include "hardware/clocks.h"
+
+static inline void ws2812_program_init(PIO pio, uint sm, uint offset, uint pin, float freq, bool rgbw) {
+
+    pio_gpio_init(pio, pin);
+    pio_sm_set_consecutive_pindirs(pio, sm, pin, 1, true);
+
+    pio_sm_config c = ws2812_program_get_default_config(offset);
+    sm_config_set_sideset_pins(&c, pin);
+    sm_config_set_out_shift(&c, false, true, rgbw ? 32 : 24);
+    sm_config_set_fifo_join(&c, PIO_FIFO_JOIN_TX);
+
+    int cycles_per_bit = ws2812_T1 + ws2812_T2 + ws2812_T3;
+    float div = clock_get_hz(clk_sys) / (freq * cycles_per_bit);
+    sm_config_set_clkdiv(&c, div);
+
+    pio_sm_init(pio, sm, offset, &c);
+    pio_sm_set_enabled(pio, sm, true);
+}
+%}
+
+.program ws2812_parallel
+
+.define public T1 2
+.define public T2 5
+.define public T3 3
+
+.wrap_target
+    out x, 32
+    mov pins, !null [T1-1]
+    mov pins, x     [T2-1]
+    mov pins, null  [T3-2]
+.wrap
+
+% c-sdk {
+#include "hardware/clocks.h"
+
+static inline void ws2812_parallel_program_init(PIO pio, uint sm, uint offset, uint pin_base, uint pin_count, float freq) {
+    for(uint i=pin_base; i<pin_base+pin_count; i++) {
+        pio_gpio_init(pio, i);
+    }
+    pio_sm_set_consecutive_pindirs(pio, sm, pin_base, pin_count, true);
+
+    pio_sm_config c = ws2812_parallel_program_get_default_config(offset);
+    sm_config_set_out_shift(&c, true, true, 32);
+    sm_config_set_out_pins(&c, pin_base, pin_count);
+    sm_config_set_set_pins(&c, pin_base, pin_count);
+    sm_config_set_fifo_join(&c, PIO_FIFO_JOIN_TX);
+
+    int cycles_per_bit = ws2812_parallel_T1 + ws2812_parallel_T2 + ws2812_parallel_T3;
+    float div = clock_get_hz(clk_sys) / (freq * cycles_per_bit);
+    sm_config_set_clkdiv(&c, div);
+
+    pio_sm_init(pio, sm, offset, &c);
+    pio_sm_set_enabled(pio, sm, true);
+}
+%}