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Merge pull request #15 from 107-systems/neopixel
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added neopixel functions
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@generationmake
generationmake authored Nov 28, 2023
2 parents b1b9998 + e17011c commit 08953df
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Showing 3 changed files with 154 additions and 15 deletions.
63 changes: 48 additions & 15 deletions CyphalRobotController07-CAN-firmware.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,8 @@
//#define DBG_ENABLE_VERBOSE
#include <107-Arduino-Debug.hpp>

#include "src/NeoPixelControl.h"

/**************************************************************************************
* NAMESPACE
**************************************************************************************/
Expand All @@ -59,12 +61,15 @@ static int const MOTOR1_2 = 6;
static int const MOTOR1_EN = 10;
static int const MOTOR0_EN = 11;
static int const EM_STOP_PIN = 12;
static int const NEOPIXEL_PIN = 13;
static int const OUTPUT_0_PIN = 21; /* GP21 */
static int const OUTPUT_1_PIN = 22; /* GP22 */
static int const ANALOG_INPUT_0_PIN = 26;
static int const ANALOG_INPUT_1_PIN = 27;
static int const ANALOG_INPUT_2_PIN = 28;

static int const NEOPIXEL_NUM_PIXELS = 12; /* Popular NeoPixel ring size */

static SPISettings const MCP2515x_SPI_SETTING{10*1000*1000UL, MSBFIRST, SPI_MODE0};

static uint16_t const UPDATE_PERIOD_HEARTBEAT_ms = 1000;
Expand All @@ -87,8 +92,8 @@ bool TimerHandler0(struct repeating_timer *t);

Ifx007t mot0;
Ifx007t mot1;
PioEncoder encoder0(ENCODER0_A);
PioEncoder encoder1(ENCODER1_A);
PioEncoder encoder0(ENCODER0_A, pio1);
PioEncoder encoder1(ENCODER1_A, pio1);
INA226_WE ina226 = INA226_WE();
ADS1115_WE ads1115 = ADS1115_WE();
RPI_PICO_Timer ITimer0(0);
Expand Down Expand Up @@ -135,9 +140,12 @@ cyphal::Publisher<uavcan::primitive::scalar::Integer32_1_0> encoder1_pub;
cyphal::Subscription output_0_subscription, output_1_subscription;
cyphal::Subscription motor_0_subscription, motor_1_subscription;
cyphal::Subscription motor_0_rpm_subscription, motor_1_rpm_subscription;
cyphal::Subscription light_mode_subscription;

cyphal::ServiceServer execute_command_srv = node_hdl.create_service_server<ExecuteCommand::Request_1_1, ExecuteCommand::Response_1_1>(2*1000*1000UL, onExecuteCommand_1_1_Request_Received);

NeoPixelControl neo_pixel_ctrl(NEOPIXEL_PIN, NEOPIXEL_NUM_PIXELS);

/* LITTLEFS/EEPROM ********************************************************************/

static EEPROM_24LCxx eeprom(EEPROM_24LCxx_Type::LC64,
Expand Down Expand Up @@ -210,6 +218,7 @@ static CanardPortID port_id_motor0_bemf = std::numeric_limits<CanardPor
static CanardPortID port_id_motor1_bemf = std::numeric_limits<CanardPortID>::max();
static CanardPortID port_id_encoder0 = std::numeric_limits<CanardPortID>::max();
static CanardPortID port_id_encoder1 = std::numeric_limits<CanardPortID>::max();
static CanardPortID port_id_light_mode = std::numeric_limits<CanardPortID>::max();

static uint16_t update_period_ms_internaltemperature = 10*1000;
static uint16_t update_period_ms_input_voltage = 1*1000;
Expand Down Expand Up @@ -288,6 +297,8 @@ const auto reg_rw_cyphal_sub_motor0_rpm_id = node_registry->exp
const auto reg_ro_cyphal_sub_motor0_rpm_type = node_registry->route ("cyphal.sub.motor0rpm.type", {true}, []() { return "uavcan.primitive.scalar.Real32.1.0"; });
const auto reg_rw_cyphal_sub_motor1_rpm_id = node_registry->expose("cyphal.sub.motor1rpm.id", {true}, port_id_motor1_rpm);
const auto reg_ro_cyphal_sub_motor1_rpm_type = node_registry->route ("cyphal.sub.motor1rpm.type", {true}, []() { return "uavcan.primitive.scalar.Real32.1.0"; });
const auto reg_rw_cyphal_sub_lightmode_id = node_registry->expose("cyphal.sub.lightmode.id", {true}, port_id_light_mode);
const auto reg_ro_cyphal_sub_lightmode_type = node_registry->route ("cyphal.sub.lightmode.type", {true}, []() { return "uavcan.primitive.scalar.Integer8.1.0"; });
const auto reg_rw_crc07_update_period_ms_internaltemperature = node_registry->expose("crc07.update_period_ms.internaltemperature", {true}, update_period_ms_internaltemperature);
const auto reg_rw_crc07_update_period_ms_input_voltage = node_registry->expose("crc07.update_period_ms.inputvoltage", {true}, update_period_ms_input_voltage);
const auto reg_rw_crc07_update_period_ms_input_current = node_registry->expose("crc07.update_period_ms.inputcurrent", {true}, update_period_ms_input_current);
Expand Down Expand Up @@ -362,19 +373,7 @@ void setup()
node_id = 0;
node_hdl.setNodeId(static_cast<CanardNodeID>(node_id));

if (port_id_internal_temperature != std::numeric_limits<CanardPortID>::max())
internal_temperature_pub = node_hdl.create_publisher<uavcan::primitive::scalar::Real32_1_0>(port_id_internal_temperature, 1*1000*1000UL /* = 1 sec in usecs. */);
if (port_id_input_voltage != std::numeric_limits<CanardPortID>::max())
input_voltage_pub = node_hdl.create_publisher<uavcan::primitive::scalar::Real32_1_0>(port_id_input_voltage, 1*1000*1000UL /* = 1 sec in usecs. */);
if (port_id_input_current != std::numeric_limits<CanardPortID>::max())
input_current_pub = node_hdl.create_publisher<uavcan::primitive::scalar::Real32_1_0>(port_id_input_current, 1*1000*1000UL /* = 1 sec in usecs. */);
if (port_id_input_power != std::numeric_limits<CanardPortID>::max())
input_power_pub = node_hdl.create_publisher<uavcan::primitive::scalar::Real32_1_0>(port_id_input_power, 1*1000*1000UL /* = 1 sec in usecs. */);
if (port_id_input_current_total != std::numeric_limits<CanardPortID>::max())
input_current_total_pub = node_hdl.create_publisher<uavcan::primitive::scalar::Real32_1_0>(port_id_input_current_total, 5*1000*1000UL /* = 5 sec in usecs. */);
if (port_id_input_power_total != std::numeric_limits<CanardPortID>::max())
input_power_total_pub = node_hdl.create_publisher<uavcan::primitive::scalar::Real32_1_0>(port_id_input_power_total, 5*1000*1000UL /* = 5 sec in usecs. */);

/* all Cyphal subscription functions */
if (port_id_output0 != std::numeric_limits<CanardPortID>::max())
output_0_subscription = node_hdl.create_subscription<uavcan::primitive::scalar::Bit_1_0>(
port_id_output0,
Expand Down Expand Up @@ -463,6 +462,32 @@ void setup()
motor0_enabled_flag = 1;
});

if (port_id_light_mode != std::numeric_limits<CanardPortID>::max())
light_mode_subscription = node_hdl.create_subscription<uavcan::primitive::scalar::Integer8_1_0>(
port_id_light_mode,
[](uavcan::primitive::scalar::Integer8_1_0 const & msg)
{
if(msg.value == 1) neo_pixel_ctrl.light_red();
else if(msg.value == 2) neo_pixel_ctrl.light_green();
else if(msg.value == 3) neo_pixel_ctrl.light_blue();
else if(msg.value == 4) neo_pixel_ctrl.light_white();
else if(msg.value == 5) neo_pixel_ctrl.light_amber();
else neo_pixel_ctrl.light_off();
});

/* all Cyphal publish functions */
if (port_id_internal_temperature != std::numeric_limits<CanardPortID>::max())
internal_temperature_pub = node_hdl.create_publisher<uavcan::primitive::scalar::Real32_1_0>(port_id_internal_temperature, 1*1000*1000UL /* = 1 sec in usecs. */);
if (port_id_input_voltage != std::numeric_limits<CanardPortID>::max())
input_voltage_pub = node_hdl.create_publisher<uavcan::primitive::scalar::Real32_1_0>(port_id_input_voltage, 1*1000*1000UL /* = 1 sec in usecs. */);
if (port_id_input_current != std::numeric_limits<CanardPortID>::max())
input_current_pub = node_hdl.create_publisher<uavcan::primitive::scalar::Real32_1_0>(port_id_input_current, 1*1000*1000UL /* = 1 sec in usecs. */);
if (port_id_input_power != std::numeric_limits<CanardPortID>::max())
input_power_pub = node_hdl.create_publisher<uavcan::primitive::scalar::Real32_1_0>(port_id_input_power, 1*1000*1000UL /* = 1 sec in usecs. */);
if (port_id_input_current_total != std::numeric_limits<CanardPortID>::max())
input_current_total_pub = node_hdl.create_publisher<uavcan::primitive::scalar::Real32_1_0>(port_id_input_current_total, 5*1000*1000UL /* = 5 sec in usecs. */);
if (port_id_input_power_total != std::numeric_limits<CanardPortID>::max())
input_power_total_pub = node_hdl.create_publisher<uavcan::primitive::scalar::Real32_1_0>(port_id_input_power_total, 5*1000*1000UL /* = 5 sec in usecs. */);
if (port_id_em_stop != std::numeric_limits<CanardPortID>::max())
em_stop_pub = node_hdl.create_publisher<uavcan::primitive::scalar::Bit_1_0>(port_id_em_stop, 1*1000*1000UL /* = 1 sec in usecs. */);
if (port_id_analog_input0 != std::numeric_limits<CanardPortID>::max())
Expand Down Expand Up @@ -564,6 +589,14 @@ void setup()
else
DBG_ERROR("Can't set ITimer0. Select another Timer, freq. or timer");

/* enable neopixels */
neo_pixel_ctrl.begin();

neo_pixel_ctrl.light_red();
delay(100);
neo_pixel_ctrl.light_amber();
delay(100);
neo_pixel_ctrl.light_green();

/* configure INA226, current sensor, set conversion time and average to get a value every two seconds */
ina226.init();
Expand Down
64 changes: 64 additions & 0 deletions src/NeoPixelControl.cpp
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Original file line number Diff line number Diff line change
@@ -0,0 +1,64 @@
/*
* Software for the auxiliary controller for the L3X-Z Hexapod
*/

/**************************************************************************************
* INCLUDE
**************************************************************************************/

#include "NeoPixelControl.h"

/**************************************************************************************
* CTOR/DTOR
**************************************************************************************/

NeoPixelControl::NeoPixelControl(int const pin, int const num_pixels)
: _pixels(num_pixels, pin, NEO_GRB)
{

}

/**************************************************************************************
* PUBLIC MEMBER FUNCTIONS
**************************************************************************************/

void NeoPixelControl::begin()
{
_pixels.begin();
}

void NeoPixelControl::light_off()
{
_pixels.clear();
_pixels.show();
}

void NeoPixelControl::light_green()
{
_pixels.fill(_pixels.Color(0, 55, 0));
_pixels.show();
}

void NeoPixelControl::light_red()
{
_pixels.fill(_pixels.Color(55, 0, 0));
_pixels.show();
}

void NeoPixelControl::light_blue()
{
_pixels.fill(_pixels.Color(0, 0, 55));
_pixels.show();
}

void NeoPixelControl::light_white()
{
_pixels.fill(_pixels.Color(55, 55, 55));
_pixels.show();
}

void NeoPixelControl::light_amber()
{
_pixels.fill(_pixels.Color(55, 40, 0));
_pixels.show();
}
42 changes: 42 additions & 0 deletions src/NeoPixelControl.h
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Original file line number Diff line number Diff line change
@@ -0,0 +1,42 @@
/*
* Software for the auxiliary controller for the L3X-Z Hexapod
*/

#ifndef AUX_CTRL_NEO_PIXEL_CONTROL_H_
#define AUX_CTRL_NEO_PIXEL_CONTROL_H_

/**************************************************************************************
* INCLUDE
**************************************************************************************/

#include <Adafruit_NeoPixel.h>

/**************************************************************************************
* CLASS DEFINITION
**************************************************************************************/

class NeoPixelControl
{
public:

NeoPixelControl(int const pin, int const num_pixels);


void begin();


void light_off();
void light_green();
void light_red();
void light_blue();
void light_white();
void light_amber();

inline Adafruit_NeoPixel & pixels() { return _pixels; }


private:
Adafruit_NeoPixel _pixels;
};

#endif /* AUX_CTRL_NEO_PIXEL_CONTROL_H_ */

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