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url = [email protected]:PonomarevDA/tools.git | ||
[submodule "Libs/stm32-cube-project"] | ||
path = Libs/stm32-cube-project | ||
url = https://github.com/RaccoonLabHardware/mini-v2-software.git | ||
url = https://github.com/RaccoonLabHardware/lights-v0-software.git |
Submodule stm32-cube-project
updated
from dd64a6 to 6f196b
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/// This software is distributed under the terms of the MIT License. | ||
/// Copyright (c) 2023 Dmitry Ponomarev. | ||
/// Author: Dmitry Ponomarev <[email protected]> | ||
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#include "lights.hpp" | ||
#include <algorithm> | ||
#include "cyphal.hpp" | ||
#include "params.hpp" | ||
#include "main.h" | ||
#include "periphery/ws2812/ws2812.h" | ||
#include "periphery/adc/adc.hpp" | ||
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extern TIM_HandleTypeDef htim2; | ||
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static constexpr uint8_t RED_SCALE = 256 / (reg_udral_physics_optics_HighColor_0_1_MAX_RED + 1); | ||
static constexpr uint8_t GREEN_SCALE = 256 / (reg_udral_physics_optics_HighColor_0_1_MAX_GREEN + 1); | ||
static constexpr uint8_t BLUE_SCALE = 256 / (reg_udral_physics_optics_HighColor_0_1_MAX_BLUE + 1); | ||
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int8_t RgbLights::init() { | ||
int8_t res; | ||
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res = ws2812bInit(32, &htim2, TIM_CHANNEL_3); | ||
if (res < 0) { | ||
return res; | ||
} | ||
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res = _rgbled_sub.init(); | ||
if (res < 0) { | ||
return res; | ||
} | ||
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res = AdcPeriphery::init(); | ||
if (res < 0) { | ||
return res; | ||
} | ||
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return 0; | ||
}; | ||
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void RgbLights::update() { | ||
static uint32_t next_time_ms = 0; | ||
if (HAL_GetTick() < next_time_ms) { | ||
return; | ||
} | ||
next_time_ms = HAL_GetTick() + 10; | ||
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auto color = _rgbled_sub.get(); | ||
static Leds_Color_t leds; | ||
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// static uint8_t counter = 0; | ||
// leds.colors[counter].shades.red = color.red * RED_SCALE; | ||
// leds.colors[counter].shades.green = color.green * GREEN_SCALE; | ||
// leds.colors[counter].shades.blue = color.blue * BLUE_SCALE; | ||
// counter = (counter + 1) % 32; | ||
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for (uint_fast8_t led_idx = 0; led_idx < 32; led_idx++) { | ||
leds.colors[led_idx].shades.red = color.red * RED_SCALE; | ||
leds.colors[led_idx].shades.green = color.green * GREEN_SCALE; | ||
leds.colors[led_idx].shades.blue = color.blue * BLUE_SCALE; | ||
} | ||
ws2812bSetColors(&leds); | ||
ws2812bStartOnce(); | ||
} |
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/// This software is distributed under the terms of the MIT License. | ||
/// Copyright (c) 2023 Dmitry Ponomarev. | ||
/// Author: Dmitry Ponomarev <[email protected]> | ||
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#ifndef SRC_CYPHAL_APPLICATION_LIGHTS_LIGHTS_HPP_ | ||
#define SRC_CYPHAL_APPLICATION_LIGHTS_LIGHTS_HPP_ | ||
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#include "cyphal_subscribers.hpp" | ||
#include "Udral/rgbled.hpp" | ||
#include "Udral/circuit_status.hpp" | ||
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class RgbLights { | ||
public: | ||
RgbLights(cyphal::Cyphal* driver) : _rgbled_sub(driver), _temp_pub(driver, 0) {}; | ||
int8_t init(); | ||
void update(); | ||
private: | ||
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cyphal::HighColorSubscriber _rgbled_sub; | ||
RaccoonLab::CircuitStatusTemperaturePublisher _temp_pub; | ||
}; | ||
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#endif // SRC_CYPHAL_APPLICATION_LIGHTS_LIGHTS_HPP_ |
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