Pilotage de la LED, Vert: trouvé, rouge: non trouvé
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@ -23,7 +23,10 @@ add_executable(VL53L8X_Gradin
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VL53L8CX_ULD_API/src/vl53l8cx_plugin_xtalk.c
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VL53L8_2024.c
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Platform/platform.c
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ws2812.c
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)
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# generate the header file into the source tree as it is included in the RP2040 datasheet
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pico_generate_pio_header(VL53L8X_Gradin ${CMAKE_CURRENT_LIST_DIR}/ws2812.pio)
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target_include_directories(VL53L8X_Gradin PRIVATE VL53L8CX_ULD_API/inc/)
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@ -31,6 +34,7 @@ target_link_libraries(VL53L8X_Gradin
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hardware_adc
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hardware_spi
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hardware_i2c
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hardware_pio
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pico_stdlib
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pico_multicore
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)
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9
main.c
9
main.c
@ -11,6 +11,7 @@
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#include "Temps.h"
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#include "VL53L8_2024.h"
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#include "vl53l8cx_api.h"
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#include "ws2812.h"
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#include <stdio.h>
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#include <math.h>
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@ -73,6 +74,8 @@ void main(void)
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//tension_batterie_init();
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spi_init(spi0, 2000000);
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ws2812_init();
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uint32_t temps_ms = Temps_get_temps_ms();
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@ -242,6 +245,12 @@ void gestion_VL53L8CX(void){
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echec |= VL53L8_pos_planche_gauche(results_gauche, &gauche_planche_pos_x, &gauche_planche_pos_y);
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echec |= VL53L8_pos_planche_droit(results_droit, &droit_planche_pos_x, &droit_planche_pos_y);
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if(echec){
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ws2812_set(0x0F,0,0);
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}else{
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ws2812_set(0,0x0F,0);
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}
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droit_planche_pos_x = -droit_planche_pos_x + OFFSET_CAPTEUR_DROIT_Y_MM;
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gauche_planche_pos_x = -gauche_planche_pos_x + OFFSET_CAPTEUR_GAUCHE_X_MM;
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137
ws2812.c
Normal file
137
ws2812.c
Normal file
@ -0,0 +1,137 @@
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#include "pico/stdlib.h"
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#include "hardware/pio.h"
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#include "ws2812.h"
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#include "ws2812.pio.h"
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#define WS2812_PIN 12
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#define WS2812_POWER_PIN 11
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#define IS_RGBW false
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uint32_t couleur[13];
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uint32_t buffer_couleur[12];
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void ws2812_set_buffer(uint32_t couleur, uint8_t index_led);
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void ws2812_init(){
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/*couleur[0]=0x000200;
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couleur[1]=0x010200;
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couleur[2]=0x020200;
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couleur[3]=0x020100;
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couleur[4]=0x020000;
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couleur[5]=0x020001;
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couleur[6]=0x020002;
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couleur[7]=0x010002;
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couleur[8]=0x000002;
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couleur[9]=0x000102;
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couleur[10]=0x000202;
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couleur[11]=0x000201;
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couleur[12]=0x000200;*/
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couleur[0]=0x002000;
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couleur[1]=0x102000;
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couleur[2]=0x202000;
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couleur[3]=0x201000;
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couleur[4]=0x200000;
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couleur[5]=0x200010;
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couleur[6]=0x200020;
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couleur[7]=0x100020;
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couleur[8]=0x000020;
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couleur[9]=0x001020;
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couleur[10]=0x002020;
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couleur[11]=0x002010;
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couleur[12]=0x002000;
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/*couleur[0]=0x00FF00;
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couleur[1]=0x80FF00;
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couleur[2]=0xFFFF00;
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couleur[3]=0xFF8000;
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couleur[4]=0xFF0000;
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couleur[5]=0xFF0080;
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couleur[6]=0xFF00FF;
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couleur[7]=0x8000FF;
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couleur[8]=0x0000FF;
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couleur[9]=0x0080FF;
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couleur[10]=0x00FFFF;
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couleur[11]=0x00FF80;
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couleur[12]=0x00FF00;*/
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// initialisation du PIO
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PIO pio = pio0;
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int sm = 0;
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uint offset = pio_add_program(pio, &ws2812_program);
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gpio_init(WS2812_POWER_PIN);
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gpio_set_dir(WS2812_POWER_PIN, 1); // OUT
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gpio_put(WS2812_POWER_PIN, 1);
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ws2812_program_init(pio, sm, offset, WS2812_PIN, 800000, IS_RGBW);
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// Tout rouge !
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for(uint32_t i = 0; i<12; i++){
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ws2812_set_buffer_rgb(0x4, 0x1, 0, i);
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}
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ws2812_affiche_buffer();
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}
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void ws2812_set(int rouge, int vert, int bleu){
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ws2812_set_buffer_rgb(rouge, vert, bleu, 0);
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ws2812_affiche_buffer();
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}
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void ws2812_arc_en_ciel(){
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while(1){
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uint32_t i;
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sleep_ms(50);
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// Affichage
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for(i = 0; i<12; i++){
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ws2812_set_buffer(couleur[i], i);
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}
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ws2812_affiche_buffer();
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// Décalage des couleurs
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for(i = 0; i<12; i++){
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couleur[i] = couleur[i+1];
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}
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couleur[12]=couleur[0];
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}
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}
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static inline void put_pixel(uint32_t pixel_grb) {
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pio_sm_put_blocking(pio0, 0, pixel_grb << 8u);
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}
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static inline uint32_t urgb_u32(uint8_t r, uint8_t g, uint8_t b) {
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return
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((uint32_t) (r) << 8) |
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((uint32_t) (g) << 16) |
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(uint32_t) (b);
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}
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void ws2812_affiche_buffer(){
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for(uint32_t i = 0; i<12; i++){
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put_pixel(buffer_couleur[i]);
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}
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}
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void ws2812_set_buffer_rgb(uint8_t rouge, uint8_t vert, uint8_t bleu, uint8_t index_led){
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ws2812_set_buffer(urgb_u32(rouge, vert,bleu), index_led);
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}
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//Bit 7 6 5 4 3 2 1 0
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//Data R R R G G G B B
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void ws2812_set_buffer_8bits(uint8_t couleur, uint8_t index_led){
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ws2812_set_buffer(urgb_u32(couleur >> 5, (couleur >> 2) & 0x07, couleur & 0x03), index_led);
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}
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/// @brief Rempli le buffer à envoyer au LED, necessite d'appeler la fonction ws2812_affiche_buffer() ensuite
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/// @param couleur : couleur en RVB
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/// @param index_led : index entre 0 et 11
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void ws2812_set_buffer(uint32_t couleur, uint8_t index_led){
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if(index_led <12){
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buffer_couleur[index_led] = couleur;
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}
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}
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8
ws2812.h
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8
ws2812.h
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#include "pico/stdlib.h"
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void ws2812_init(void);
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void ws2812_set(int rouge, int vert, int bleu);
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void ws2812_affiche_buffer(void);
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void ws2812_set_buffer_rgb(uint8_t rouge, uint8_t vert, uint8_t bleu, uint8_t index_led);
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void ws2812_set_buffer_8bits(uint8_t couleur, uint8_t index_led);
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void ws2812_arc_en_ciel(void);
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85
ws2812.pio
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85
ws2812.pio
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;
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; Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
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;
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; SPDX-License-Identifier: BSD-3-Clause
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;
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.program ws2812
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.side_set 1
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.define public T1 2
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.define public T2 5
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.define public T3 3
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.lang_opt python sideset_init = pico.PIO.OUT_HIGH
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.lang_opt python out_init = pico.PIO.OUT_HIGH
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.lang_opt python out_shiftdir = 1
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.wrap_target
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bitloop:
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out x, 1 side 0 [T3 - 1] ; Side-set still takes place when instruction stalls
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jmp !x do_zero side 1 [T1 - 1] ; Branch on the bit we shifted out. Positive pulse
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do_one:
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jmp bitloop side 1 [T2 - 1] ; Continue driving high, for a long pulse
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do_zero:
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nop side 0 [T2 - 1] ; Or drive low, for a short pulse
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.wrap
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% c-sdk {
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#include "hardware/clocks.h"
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static inline void ws2812_program_init(PIO pio, uint sm, uint offset, uint pin, float freq, bool rgbw) {
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pio_gpio_init(pio, pin);
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pio_sm_set_consecutive_pindirs(pio, sm, pin, 1, true);
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pio_sm_config c = ws2812_program_get_default_config(offset);
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sm_config_set_sideset_pins(&c, pin);
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sm_config_set_out_shift(&c, false, true, rgbw ? 32 : 24);
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sm_config_set_fifo_join(&c, PIO_FIFO_JOIN_TX);
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int cycles_per_bit = ws2812_T1 + ws2812_T2 + ws2812_T3;
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float div = clock_get_hz(clk_sys) / (freq * cycles_per_bit);
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sm_config_set_clkdiv(&c, div);
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pio_sm_init(pio, sm, offset, &c);
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pio_sm_set_enabled(pio, sm, true);
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}
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%}
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.program ws2812_parallel
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.define public T1 2
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.define public T2 5
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.define public T3 3
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.wrap_target
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out x, 32
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mov pins, !null [T1-1]
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mov pins, x [T2-1]
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mov pins, null [T3-2]
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.wrap
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% c-sdk {
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#include "hardware/clocks.h"
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static inline void ws2812_parallel_program_init(PIO pio, uint sm, uint offset, uint pin_base, uint pin_count, float freq) {
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for(uint i=pin_base; i<pin_base+pin_count; i++) {
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pio_gpio_init(pio, i);
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}
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pio_sm_set_consecutive_pindirs(pio, sm, pin_base, pin_count, true);
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pio_sm_config c = ws2812_parallel_program_get_default_config(offset);
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sm_config_set_out_shift(&c, true, true, 32);
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sm_config_set_out_pins(&c, pin_base, pin_count);
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sm_config_set_set_pins(&c, pin_base, pin_count);
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sm_config_set_fifo_join(&c, PIO_FIFO_JOIN_TX);
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int cycles_per_bit = ws2812_parallel_T1 + ws2812_parallel_T2 + ws2812_parallel_T3;
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float div = clock_get_hz(clk_sys) / (freq * cycles_per_bit);
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sm_config_set_clkdiv(&c, div);
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pio_sm_init(pio, sm, offset, &c);
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pio_sm_set_enabled(pio, sm, true);
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}
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%}
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