Commit: fffcf59a576a33775b3bff4d556faa1b0922f786 - microMaqueen (git)

C言語でBBC micro:bit V2およびDFRobot micro:Maqueenを操作する

Commit MetaInfo

• Revisión: fffcf59a576a33775b3bff4d556faa1b0922f786 (tree)
• Tiempo: 2023-09-20 22:42:46
• Autor: xm6_original <tanaka_yasushi2008@yaho...>
• Commiter: xm6_original

Log Message

NeoPixel実装終了

Cambiar Resumen

• modified: Maqueen_Lv2/.cproject
• modified: Maqueen_Lv2/include/pf_motor.h
• modified: Maqueen_Lv2/src/main.c
• delete: Maqueen_Lv2/src/pf/neopixelsend.S
• modified: Maqueen_Lv2/src/pf/pf_motor.c
• modified: Maqueen_Lv2/src/pf/pf_neopixel.c
• modified: Maqueen_Lv2/src/pf/pf_ultra.c

Diferencia incremental

--- a/Maqueen_Lv2/.cproject
+++ b/Maqueen_Lv2/.cproject
@@ -190,13 +190,13 @@
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="${cross_rm} -rf" description="" id="ilg.gnuarmeclipse.managedbuild.cross.config.elf.release.461201669" name="Release" optionalBuildProperties="" parent="ilg.gnuarmeclipse.managedbuild.cross.config.elf.release">
+				<configuration artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="${cross_rm} -rf" description="" id="ilg.gnuarmeclipse.managedbuild.cross.config.elf.release.461201669" name="Release" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=" parent="ilg.gnuarmeclipse.managedbuild.cross.config.elf.release">
 					<folderInfo id="ilg.gnuarmeclipse.managedbuild.cross.config.elf.release.461201669." name="/" resourcePath="">
 						<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.elf.release.1909335911" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.elf.release">
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.addtools.createflash.1612481688" name="Create flash image" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.addtools.createflash" value="true" valueType="boolean"/>
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.addtools.createlisting.1951698445" name="Create extended listing" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.addtools.createlisting"/>
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.addtools.printsize.1686877566" name="Print size" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.addtools.printsize" value="true" valueType="boolean"/>
-							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.level.1757564908" name="最適化レベル" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.level" value="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.level.size" valueType="enumerated"/>
+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.level.1757564908" name="最適化レベル" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.level" value="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.level.fast" valueType="enumerated"/>
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.messagelength.1433027581" name="Message length (-fmessage-length=0)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.messagelength" value="true" valueType="boolean"/>
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.signedchar.1899825495" name="'char' is signed (-fsigned-char)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.signedchar" value="true" valueType="boolean"/>
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.functionsections.405573372" name="Function sections (-ffunction-sections)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.functionsections" value="true" valueType="boolean"/>

--- a/Maqueen_Lv2/include/pf_motor.h
+++ b/Maqueen_Lv2/include/pf_motor.h
@@ -48,7 +48,7 @@ void pf_motor_task(void);
 
 //! @brief		モータ駆動
 //! @details	モータ定期タスクで実際のモータ出力が行われる
-//! @details	pf_motor_freeとは排他的に動作する
+//! @details	pf_motor_ctrlとは排他的に動作する
 //! @param		[in] dir		モータ駆動方向
 void pf_motor_drive(PF_MOTOR_DIR dir);
 

--- a/Maqueen_Lv2/src/main.c
+++ b/Maqueen_Lv2/src/main.c
@@ -37,6 +37,7 @@
 #include "pf_motor.h"
 #include "pf_ultra.h"
 #include "pf_music.h"
+#include "pf_neopixel.h"
 
 //! @brief		プラットフォーム初期化
 //! @attention	初期化順序に注意する
@@ -63,6 +64,7 @@ static void pf_init(void)
 	pf_motor_init();
 	pf_ultra_init();
 	pf_music_init();
+	pf_neopixel_init();
 }
 
 //! @brief		定期タスク(入力系)
@@ -80,6 +82,7 @@ static void pf_output_task(void)
 {
 	pf_led_task();
 	pf_motor_task();
+	pf_neopixel_task();
 }
 
 //! @brief		ボタン過去状態
@@ -331,7 +334,7 @@ static void app_display_task(void)
 		}
 		break;
 
-	// 走行状態
+	// 矩形走行状態
 	case APP_MODE_ID_SQUARE:
 		if (FALSE == app_run)
 		{
@@ -343,6 +346,7 @@ static void app_display_task(void)
 		}
 		break;
 
+	// ライントレース走行状態
 	case APP_MODE_ID_LINE:
 		if (FALSE == app_run)
 		{
@@ -405,6 +409,90 @@ static void app_led_task(void)
 	}
 }
 
+//! @brief		NeoPixel
+static void app_neopixel_task(void)
+{
+	PF_NEOPIXEL_COLOR color;
+	u4 wheelpos;
+	u4 r;
+	u4 g;
+	u4 b;
+
+	// オート変数初期化
+	wheelpos = (app_step >> 1) & 0xFFU;
+	color.r = 0;
+	color.g = 0;
+	color.b = 0;
+	r = 0;
+	g = 0;
+	b = 0;
+
+	// 矩形走行状態のみ
+	if ((APP_MODE_ID_SQUARE == app_mode) && (TRUE == app_run))
+	{
+		if (wheelpos < 85)
+		{
+			r = 255 - wheelpos * 3;
+			g = 0;
+			b = wheelpos * 3;
+		}
+		else
+		{
+			if (wheelpos < 170)
+			{
+				wheelpos -= 85;
+				r = 255;
+				g = wheelpos * 3;
+				b = 255 - wheelpos * 3;
+			}
+			else
+			{
+				wheelpos -= 170;
+				r = wheelpos * 3;
+				g = 255 - wheelpos * 3;
+				b = 0;
+			}
+		}
+
+		// 輝度を1/4に落とす
+		r >>= 2;
+		g >>= 2;
+		b >>= 2;
+
+		// ID_RGB0はRGBの順
+		color.r = (u1)r;
+		color.g = (u1)g;
+		color.b = (u1)b;
+		pf_neopixel_ctrl(PF_NEOPIXEL_ID_RGB0, &color);
+
+		// ID_RGB1はGBRの順
+		color.r = (u1)g;
+		color.g = (u1)b;
+		color.b = (u1)r;
+		pf_neopixel_ctrl(PF_NEOPIXEL_ID_RGB1, &color);
+
+		// ID_RGB2はBRGの順
+		color.r = (u1)b;
+		color.g = (u1)r;
+		color.b = (u1)g;
+		pf_neopixel_ctrl(PF_NEOPIXEL_ID_RGB2, &color);
+
+		// ID_RGB3はRBGの順
+		color.r = (u1)r;
+		color.g = (u1)b;
+		color.b = (u1)g;
+		pf_neopixel_ctrl(PF_NEOPIXEL_ID_RGB3, &color);
+	}
+	else
+	{
+		// NeoPixel消灯
+		pf_neopixel_ctrl(PF_NEOPIXEL_ID_RGB0, &color);
+		pf_neopixel_ctrl(PF_NEOPIXEL_ID_RGB1, &color);
+		pf_neopixel_ctrl(PF_NEOPIXEL_ID_RGB2, &color);
+		pf_neopixel_ctrl(PF_NEOPIXEL_ID_RGB3, &color);
+	}
+}
+
 //! @brief		走行(矩形)
 static void app_run_square(void)
 {
@@ -550,6 +638,9 @@ static void app_task(void)
 	// LED表示
 	app_led_task();
 
+	// NeoPixel
+	app_neopixel_task();
+
 	// 走行(矩形)
 	if ((APP_MODE_ID_SQUARE == app_mode) && (TRUE == app_run))
 	{

--- a/Maqueen_Lv2/src/pf/neopixelsend.S
+++ /dev/null
@@ -1,110 +0,0 @@
-/*
-  Portions of this code based on code provided under MIT license from Microsoft
-  https://github.com/Microsoft/pxt-ws2812b
-
-  MIT License
-
-  Copyright (c) Microsoft Corporation. All rights reserved.
-
-  Permission is hereby granted, free of charge, to any person obtaining a copy
-  of this software and associated documentation files (the "Software"), to deal
-  in the Software without restriction, including without limitation the rights
-  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-  copies of the Software, and to permit persons to whom the Software is
-  furnished to do so, subject to the following conditions:
-
-  The above copyright notice and this permission notice shall be included in all
-  copies or substantial portions of the Software.'
-
-  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-  SOFTWARE
-*/
-
-.global sendNeopixelBuffer
-
- /* declared as extern void sendBuffer(uint32_t pin, uint8_t* data_address, uint16_t num_bytes) */
-
-sendNeopixelBuffer:
-    push {r0, r1, r2, r3, r4, r5, r6}
-
-    /*
-    We are expecting from the callee:
-    r0 = pinmask to waggle in the GPIO register
-    r1 = address of the data we are supposed to be sending
-    r2 = number of bytes to send
-
-    Setup the initial values
-     r1 = Pin mask in the GPIO register
-     r2 = GPIO clear register
-     r3 = GPIO SET
-     r4 = Address pointer for the data - we cast this as a byte earlier because it really is.
-     r5 = Length of the data
-     r6 = Parallel to serial conversion mask
-    */
-    mov r4, r1
-    mov r5, r2
-
-    /*load the pin set and clr addresses by a cunning combo of shifts and adds*/
-    movs r3, #160
-    movs r1, #0x0c
-    lsl r3, r3, #15
-    add r3, #05
-    lsl r3, r3, #8
-    add r2, r3, r1
-    add r3, #0x08
-
-    mov r1, r0 /* finally move the pin mask from r0 to r1*/
-
-    /*
-    This code serialises the data bits for each LED.
-    The data byte is loaded in the common section (label .common) and then each bit is masked and tested for '0' (label .nextbit)
-    If it is a '0' we turn off the pin asap and then move to the code that advances to the next bit/byte. If a '1' we leave the pin on and do the same thing.
-    If the mask (r6) is still valid then we are still moving out the current byte, so repeat.
-    If it is '0' then we have done this byte and need to load the next byte from the pointer in r4.
-    r5 contains the count of bytes.
-    Once we run r5 down to '0' we exit the data shifting and return.
-    */
-
-    mrs r6, PRIMASK /* disable interrupts whilst we mess with timing critical waggling. */
-    push {r6}
-    cpsid i
-
-    b .start
-
-    .nextbit:
-        str r1, [r3, #0]
-        tst r6, r0
-        bne .bitisone
-        str r1, [r2, #0]
-    .bitisone:
-        lsr r6, #1
-        bne .justbit
-
-        add r4, #1
-        sub r5, #1
-        beq .stop
-
-    .start:
-        movs r6, #0x80
-        nop
-
-    .common:
-        str r1, [r2, #0]
-        ldrb r0, [r4, #0]
-        b .nextbit
-
-    .justbit:
-        b .common
-
-    .stop:
-        str r1, [r2, #0]
-
-    pop {r6}
-    msr PRIMASK, r6
-    pop {r0, r1, r2, r3, r4, r5, r6}
-    bx lr

--- a/Maqueen_Lv2/src/pf/pf_motor.c
+++ b/Maqueen_Lv2/src/pf/pf_motor.c
@@ -397,7 +397,7 @@ void pf_motor_task(void)
 
 //! @brief		モータ駆動
 //! @details	モータ定期タスクで実際のモータ出力が行われる
-//! @details	pf_motor_freeとは排他的に動作する
+//! @details	pf_motor_ctrlとは排他的に動作する
 //! @param		[in] dir		モータ駆動方向
 void pf_motor_drive(PF_MOTOR_DIR dir)
 {

--- a/Maqueen_Lv2/src/pf/pf_neopixel.c
+++ b/Maqueen_Lv2/src/pf/pf_neopixel.c
@@ -23,19 +23,17 @@
 // DEALINGS IN THE SOFTWARE.
 
 #include "pf_types.h"
+#include "nrf52833.h"
 #include "pf_gpio.h"
+#include "pf_interrupt.h"
 #include "pf_neopixel.h"
 
 //! @brief		NepPixelあたりの送信バイト数
-#define PF_NEOPIXEL_SEND_BYTES			((u4)24U)
+#define PF_NEOPIXEL_SEND_BYTES			((u4)3U)
 
 //! @brief		R/G/Bの階調マスク値
 #define PF_NEOPIXEL_COLOR_MASK			((u1)0x7FU)
 
-//! @brief		外部関数(アセンブラ)定義
-//! @details	pin=13<<1, num_bytes=(Gx8,Bx8,Rx8)xLEDs=96を指定する
-extern void sendNeopixelBuffer(uint32_t pin, uint8_t* data_address, uint16_t num_bytes);
-
 //! @brief		NeoPixel動作情報構造体
 typedef struct PF_NEOPIXEL_INFO_Tag
 {
@@ -52,14 +50,14 @@ static PF_NEOPIXEL_INFO pf_neopixel_info;
 static void pf_neopixel_init_id(PF_NEOPIXEL_ID id)
 {
 	// 現在の状態は消灯
-	pf_neopixel_info.current[id].r = 0U;
-	pf_neopixel_info.current[id].g = 0U;
-	pf_neopixel_info.current[id].b = 0U;
+	pf_neopixel_info.current[id].r = 0;
+	pf_neopixel_info.current[id].g = 0;
+	pf_neopixel_info.current[id].b = 0;
 
 	// 目的とする状態は消灯
-	pf_neopixel_info.target[id].r = 0U;
-	pf_neopixel_info.target[id].g = 0U;
-	pf_neopixel_info.target[id].b = 0U;
+	pf_neopixel_info.target[id].r = 0;
+	pf_neopixel_info.target[id].g = 0;
+	pf_neopixel_info.target[id].b = 0;
 }
 
 //! @brief		NeoPixel初期化
@@ -79,11 +77,183 @@ void pf_neopixel_init(void)
 	}
 }
 
+//! @brief		NeoPixel送信(約888kbps)
+//! @param		[in] pinmask	NRF_P0->OUTSETまたはNRF_P0->OUTCLRへの出力値
+//! @param		[in] buf		送信バッファ
+//! @param		[in] bytes		送信バイト数
+//! @attention	割り込み禁止区間が非常に長い(約200us)ことに注意する
+static void pf_neopixel_888k(u4 pinmask, const u1 *buf, u4 bytes)
+{
+	u4 enable;
+	u4 val;
+	u1 data;
+	u1 bit;
+
+	// オート変数初期化
+	enable = 0;
+	val = 0;
+	data = 0;
+	bit = 0;
+
+	// ms境界まで残り250us未満の場合、次のms開始まで待つ(ラップアラウンドを避ける)
+	while (SysTick->VAL < (SystemCoreClock / 4000))
+	{
+		;
+	}
+
+	// 割り込み禁止
+	enable = pf_interrupt_global_disable();
+
+	// 現在のSysTickカウンタ
+	val = SysTick->VAL;
+
+	// バイトループ
+	while (bytes > 0)
+	{
+		// データフェッチ
+		data = *buf;
+		bit = 0x80;
+
+		// 8ビットループ
+		while (0 != bit)
+		{
+			// 現在のSysTickカウンタを保存し、H出力
+			val = SysTick->VAL;
+			NRF_P0->OUTSET = pinmask;
+
+			// 判定
+			if (0 != (data & bit))
+			{
+				// H区間を812.5nsホールド(T1H)
+				while ((val - SysTick->VAL) < 52)
+				{
+					;
+				}
+
+				// 現在のSysTickカウンタを保存し、L出力
+				val = SysTick->VAL;
+				NRF_P0->OUTCLR = pinmask;
+
+				// L区間を312.5nsホールド(T1L)
+				while ((val - SysTick->VAL) < 20)
+				{
+					;
+				}
+			}
+			else
+			{
+				// H区間を312.5nsホールド(T0H)
+				while ((val - SysTick->VAL) < 20)
+				{
+					;
+				}
+
+				// 現在のSysTickカウンタを保存し、L出力
+				val = SysTick->VAL;
+				NRF_P0->OUTCLR = pinmask;
+
+				// L区間を812.5nsホールド(T0L)
+				while ((val - SysTick->VAL) < 52)
+				{
+					;
+				}
+			}
+
+			// 次のビットへ
+			bit >>= 1;
+		}
+
+		// 次のデータへ
+		buf++;
+		bytes--;
+	}
+
+	// 割り込み復元
+	pf_interrupt_global_restore(enable);
+}
+
+//! @brief		NeoPixel送信
+static void pf_neopixel_send(void)
+{
+	PF_NEOPIXEL_ID id;
+	u4 pin;
+	u1 *ptr;
+
+	// オート変数初期化
+	id = 0;
+	pin = 0;
+	ptr = NULL;
+
+	// 'L'出力
+	pf_gpio_output(PF_GPIO_ID_MAQUEEN_NEOPIXEL, FALSE);
+
+	// すべてのIDをループ
+	for (id = 0; id < PF_NEOPIXEL_ID_MAX; id++)
+	{
+		// 目的とするIDのバッファをポイント
+		ptr = &pf_neopixel_info.buf[id][0];
+
+		// 送信データを作成(G)
+		*ptr = pf_neopixel_info.target[id].g;
+		ptr++;
+
+		// 送信データを作成(R)
+		*ptr = pf_neopixel_info.target[id].r;
+		ptr++;
+
+		// 送信データを作成(B)
+		*ptr = pf_neopixel_info.target[id].b;
+		ptr++;
+	}
+
+	// GPIOからピンを取得
+	pin = pf_gpio_get_pin(PF_GPIO_ID_MAQUEEN_NEOPIXEL);
+
+	// 送信(内部で割り込み禁止されるため処理時間に注意)
+	pf_neopixel_888k(1U << pin, &(pf_neopixel_info.buf[0][0]), PF_NEOPIXEL_ID_MAX * PF_NEOPIXEL_SEND_BYTES);
+}
+
 //! @brief		NeoPixel定期タスク
 //! @remarks	プラットフォーム定期タスク(出力系)処理から呼び出すこと
 void pf_neopixel_task(void)
 {
+	BOOL send;
+	PF_NEOPIXEL_ID id;
+
+	// オート変数初期化
+	send = FALSE;
+	id = 0;
 
+	// すべてのIDをループ
+	for (id = 0; id < PF_NEOPIXEL_ID_MAX; id++)
+	{
+		// R比較
+		if (pf_neopixel_info.current[id].r != pf_neopixel_info.target[id].r)
+		{
+			pf_neopixel_info.current[id].r = pf_neopixel_info.target[id].r;
+			send = TRUE;
+		}
+
+		// G比較
+		if (pf_neopixel_info.current[id].g != pf_neopixel_info.target[id].g)
+		{
+			pf_neopixel_info.current[id].g = pf_neopixel_info.target[id].g;
+			send = TRUE;
+		}
+
+		// B比較
+		if (pf_neopixel_info.current[id].b != pf_neopixel_info.target[id].b)
+		{
+			pf_neopixel_info.current[id].b = pf_neopixel_info.target[id].b;
+			send = TRUE;
+		}
+	}
+
+	// 必要に応じて送信
+	if (TRUE == send)
+	{
+		pf_neopixel_send();
+	}
 }
 
 //! @brief		NeoPixel制御

--- a/Maqueen_Lv2/src/pf/pf_ultra.c
+++ b/Maqueen_Lv2/src/pf/pf_ultra.c
@@ -259,7 +259,7 @@ void pf_ultra_task(void)
 	pf_ultra_info.count++;
 
 	// 測定周期チェック
-	if (((PF_ULTRA_MEASURE_CYCLE_MS) / (PF_SYSTICK_SYNC_MS)) >= pf_ultra_info.count)
+	if (pf_ultra_info.count >= ((PF_ULTRA_MEASURE_CYCLE_MS) / (PF_SYSTICK_SYNC_MS)))
 	{
 		// カウンタリセット
 		pf_ultra_info.count = 0;