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| #pragma once | |
| #include <Arduino.h> | |
| #if defined(__AVR__) | |
| #include <avr/io.h> | |
| #include <avr/interrupt.h> | |
| #include <util/delay.h> | |
| #define __enable_irq sei | |
| #define __disable_irq cli | |
| #if !(F_CPU == 8000000 || F_CPU == 16000000 || F_CPU == 20000000) | |
| #error "On an AVR, this version of the PololuLedStrip library only supports 8, 16 and 20 MHz." | |
| #endif | |
| #elif defined(__arm__) | |
| #if !(F_CPU == 84000000) | |
| #error "On an ARM, this version of the PololuLedStrip library only supports 84 MHz." | |
| #endif | |
| #endif | |
| namespace Pololu | |
| { | |
| #ifndef _POLOLU_RGB_COLOR | |
| #define _POLOLU_RGB_COLOR | |
| typedef struct rgb_color | |
| { | |
| unsigned char red, green, blue; | |
| rgb_color() {}; | |
| rgb_color(uint8_t r, uint8_t g, uint8_t b) : red(r), green(g), blue(b) {}; | |
| } rgb_color; | |
| #endif | |
| class PololuLedStripBase | |
| { | |
| public: | |
| static bool interruptFriendly; | |
| void virtual write(rgb_color *, unsigned int count) = 0; | |
| }; | |
| template<unsigned char pin> class PololuLedStrip : public PololuLedStripBase | |
| { | |
| public: | |
| void virtual write(rgb_color *, unsigned int count); | |
| }; | |
| #if defined(__AVR_ATmega32U4__) | |
| // ATmega32U4-based boards such as the Arduino Leonardo | |
| const unsigned char pinBit[] = | |
| { | |
| 2, 3, 1, 0, 4, 6, 7, 6, // Pins 0-7 | |
| 4, 5, 6, 7, 6, 7, // Pins 8-13 | |
| 3, 1, 2, 0, // Pins 14-17 | |
| 7, 6, 5, 4, 1, 0, // Pins 18-23 | |
| 4, 7, 4, 5, 6, 6, // Pins 24-29 | |
| }; | |
| const unsigned char pinAddr[] = | |
| { | |
| _SFR_IO_ADDR(PORTD), | |
| _SFR_IO_ADDR(PORTD), | |
| _SFR_IO_ADDR(PORTD), | |
| _SFR_IO_ADDR(PORTD), | |
| _SFR_IO_ADDR(PORTD), | |
| _SFR_IO_ADDR(PORTC), | |
| _SFR_IO_ADDR(PORTD), | |
| _SFR_IO_ADDR(PORTE), | |
| _SFR_IO_ADDR(PORTB), | |
| _SFR_IO_ADDR(PORTB), | |
| _SFR_IO_ADDR(PORTB), | |
| _SFR_IO_ADDR(PORTB), | |
| _SFR_IO_ADDR(PORTD), | |
| _SFR_IO_ADDR(PORTC), | |
| _SFR_IO_ADDR(PORTB), | |
| _SFR_IO_ADDR(PORTB), | |
| _SFR_IO_ADDR(PORTB), | |
| _SFR_IO_ADDR(PORTB), | |
| _SFR_IO_ADDR(PORTF), | |
| _SFR_IO_ADDR(PORTF), | |
| _SFR_IO_ADDR(PORTF), | |
| _SFR_IO_ADDR(PORTF), | |
| _SFR_IO_ADDR(PORTF), | |
| _SFR_IO_ADDR(PORTF), | |
| _SFR_IO_ADDR(PORTD), | |
| _SFR_IO_ADDR(PORTD), | |
| _SFR_IO_ADDR(PORTB), | |
| _SFR_IO_ADDR(PORTB), | |
| _SFR_IO_ADDR(PORTB), | |
| _SFR_IO_ADDR(PORTD), | |
| }; | |
| #elif defined(__AVR__) && !defined(NUM_DIGITAL_PINS) || NUM_DIGITAL_PINS == 20 | |
| // ATmega168/328-based boards such as the Arduino Uno or Baby Orangutan B-328 | |
| const unsigned char pinBit[] = | |
| { | |
| 0, 1, 2, 3, 4, 5, 6, 7, // PORTD | |
| 0, 1, 2, 3, 4, 5, // PORTB | |
| 0, 1, 2, 3, 4, 5, 6, // PORTC | |
| }; | |
| const unsigned char pinAddr[] = | |
| { | |
| _SFR_IO_ADDR(PORTD), | |
| _SFR_IO_ADDR(PORTD), | |
| _SFR_IO_ADDR(PORTD), | |
| _SFR_IO_ADDR(PORTD), | |
| _SFR_IO_ADDR(PORTD), | |
| _SFR_IO_ADDR(PORTD), | |
| _SFR_IO_ADDR(PORTD), | |
| _SFR_IO_ADDR(PORTD), | |
| _SFR_IO_ADDR(PORTB), | |
| _SFR_IO_ADDR(PORTB), | |
| _SFR_IO_ADDR(PORTB), | |
| _SFR_IO_ADDR(PORTB), | |
| _SFR_IO_ADDR(PORTB), | |
| _SFR_IO_ADDR(PORTB), | |
| _SFR_IO_ADDR(PORTC), | |
| _SFR_IO_ADDR(PORTC), | |
| _SFR_IO_ADDR(PORTC), | |
| _SFR_IO_ADDR(PORTC), | |
| _SFR_IO_ADDR(PORTC), | |
| _SFR_IO_ADDR(PORTC), | |
| _SFR_IO_ADDR(PORTC), | |
| }; | |
| #elif defined(__AVR__) && NUM_DIGITAL_PINS == 70 | |
| // ATmega2560-based boards such as the Arduino Mega 2560 | |
| const unsigned char pinBit[] = | |
| { | |
| 0, 1, 4, 5, 5, 3, 3, 4, 5, 6, | |
| 4, 5, 6, 7, 1, 0, 1, 0, 3, 2, | |
| 1, 0, 0, 1, 2, 3, 4, 5, 6, 7, | |
| 7, 6, 5, 4, 3, 2, 1, 0, 7, 2, | |
| 1, 0, 7, 6, 5, 4, 3, 2, 1, 0, | |
| 3, 2, 1, 0, 0, 1, 2, 3, 4, 5, | |
| 6, 7, 0, 1, 2, 3, 4, 5, 6, 7, | |
| }; | |
| const unsigned char pinAddr[] = | |
| { | |
| _SFR_IO_ADDR(PORTE), | |
| _SFR_IO_ADDR(PORTE), | |
| _SFR_IO_ADDR(PORTE), | |
| _SFR_IO_ADDR(PORTE), | |
| _SFR_IO_ADDR(PORTG), | |
| _SFR_IO_ADDR(PORTE), | |
| _SFR_IO_ADDR(PORTH), | |
| _SFR_IO_ADDR(PORTH), | |
| _SFR_IO_ADDR(PORTH), | |
| _SFR_IO_ADDR(PORTH), | |
| _SFR_IO_ADDR(PORTB), | |
| _SFR_IO_ADDR(PORTB), | |
| _SFR_IO_ADDR(PORTB), | |
| _SFR_IO_ADDR(PORTB), | |
| _SFR_IO_ADDR(PORTJ), | |
| _SFR_IO_ADDR(PORTJ), | |
| _SFR_IO_ADDR(PORTH), | |
| _SFR_IO_ADDR(PORTH), | |
| _SFR_IO_ADDR(PORTD), | |
| _SFR_IO_ADDR(PORTD), | |
| _SFR_IO_ADDR(PORTD), | |
| _SFR_IO_ADDR(PORTD), | |
| _SFR_IO_ADDR(PORTA), | |
| _SFR_IO_ADDR(PORTA), | |
| _SFR_IO_ADDR(PORTA), | |
| _SFR_IO_ADDR(PORTA), | |
| _SFR_IO_ADDR(PORTA), | |
| _SFR_IO_ADDR(PORTA), | |
| _SFR_IO_ADDR(PORTA), | |
| _SFR_IO_ADDR(PORTA), | |
| _SFR_IO_ADDR(PORTC), | |
| _SFR_IO_ADDR(PORTC), | |
| _SFR_IO_ADDR(PORTC), | |
| _SFR_IO_ADDR(PORTC), | |
| _SFR_IO_ADDR(PORTC), | |
| _SFR_IO_ADDR(PORTC), | |
| _SFR_IO_ADDR(PORTC), | |
| _SFR_IO_ADDR(PORTC), | |
| _SFR_IO_ADDR(PORTD), | |
| _SFR_IO_ADDR(PORTG), | |
| _SFR_IO_ADDR(PORTG), | |
| _SFR_IO_ADDR(PORTG), | |
| _SFR_IO_ADDR(PORTL), | |
| _SFR_IO_ADDR(PORTL), | |
| _SFR_IO_ADDR(PORTL), | |
| _SFR_IO_ADDR(PORTL), | |
| _SFR_IO_ADDR(PORTL), | |
| _SFR_IO_ADDR(PORTL), | |
| _SFR_IO_ADDR(PORTL), | |
| _SFR_IO_ADDR(PORTL), | |
| _SFR_IO_ADDR(PORTB), | |
| _SFR_IO_ADDR(PORTB), | |
| _SFR_IO_ADDR(PORTB), | |
| _SFR_IO_ADDR(PORTB), | |
| _SFR_IO_ADDR(PORTF), | |
| _SFR_IO_ADDR(PORTF), | |
| _SFR_IO_ADDR(PORTF), | |
| _SFR_IO_ADDR(PORTF), | |
| _SFR_IO_ADDR(PORTF), | |
| _SFR_IO_ADDR(PORTF), | |
| _SFR_IO_ADDR(PORTF), | |
| _SFR_IO_ADDR(PORTF), | |
| _SFR_IO_ADDR(PORTK), | |
| _SFR_IO_ADDR(PORTK), | |
| _SFR_IO_ADDR(PORTK), | |
| _SFR_IO_ADDR(PORTK), | |
| _SFR_IO_ADDR(PORTK), | |
| _SFR_IO_ADDR(PORTK), | |
| _SFR_IO_ADDR(PORTK), | |
| _SFR_IO_ADDR(PORTK), | |
| }; | |
| #endif | |
| template<unsigned char pin> void __attribute__((aligned(16))) PololuLedStrip<pin>::write(rgb_color * colors, unsigned int count) | |
| { | |
| #if defined(__AVR__) | |
| digitalWrite(pin, LOW); | |
| pinMode(pin, OUTPUT); | |
| #elif defined(__arm__) | |
| Pio * port = g_APinDescription[pin].pPort; | |
| uint32_t pinValue = g_APinDescription[pin].ulPin; | |
| PIO_SetOutput(port, pinValue, LOW, 0, 0); | |
| #endif | |
| __disable_irq(); // Disable interrupts temporarily because we don't want our pulse timing to be messed up. | |
| while(count--) | |
| { | |
| // Send a color to the LED strip. | |
| // The assembly below also increments the 'colors' pointer, | |
| // it will be pointing to the next color at the end of this loop. | |
| #if defined(__AVR__) | |
| asm volatile( | |
| "ld __tmp_reg__, %a0+\n" // Advance pointer from red to green. | |
| "ld __tmp_reg__, %a0\n" // Read the green component and leave the pointer pointing to green. | |
| "rcall send_led_strip_byte%=\n" // Send green component. | |
| "ld __tmp_reg__, -%a0\n" // Read the red component and leave the pointer at red. | |
| "rcall send_led_strip_byte%=\n" // Send green component. | |
| "ld __tmp_reg__, %a0+\n" // Advance pointer from red to green. | |
| "ld __tmp_reg__, %a0+\n" // Advance pointer from green to blue. | |
| "ld __tmp_reg__, %a0+\n" // Read the blue component and leave the pointer on the next color's red. | |
| "rcall send_led_strip_byte%=\n" // Send blue component. | |
| "rjmp led_strip_asm_end%=\n" // Jump past the assembly subroutines. | |
| // send_led_strip_byte subroutine: Sends a byte to the LED strip. | |
| "send_led_strip_byte%=:\n" | |
| "rcall send_led_strip_bit%=\n" // Send most-significant bit (bit 7). | |
| "rcall send_led_strip_bit%=\n" | |
| "rcall send_led_strip_bit%=\n" | |
| "rcall send_led_strip_bit%=\n" | |
| "rcall send_led_strip_bit%=\n" | |
| "rcall send_led_strip_bit%=\n" | |
| "rcall send_led_strip_bit%=\n" | |
| "rcall send_led_strip_bit%=\n" // Send least-significant bit (bit 0). | |
| "ret\n" | |
| // send_led_strip_bit subroutine: Sends single bit to the LED strip by driving the data line | |
| // high for some time. The amount of time the line is high depends on whether the bit is 0 or 1, | |
| // but this function always takes the same time (2 us). | |
| "send_led_strip_bit%=:\n" | |
| #if F_CPU == 8000000 | |
| "rol __tmp_reg__\n" // Rotate left through carry. | |
| #endif | |
| "sbi %2, %3\n" // Drive the line high. | |
| #if F_CPU != 8000000 | |
| "rol __tmp_reg__\n" // Rotate left through carry. | |
| #endif | |
| #if F_CPU == 16000000 | |
| "nop\n" "nop\n" | |
| #elif F_CPU == 20000000 | |
| "nop\n" "nop\n" "nop\n" "nop\n" | |
| #endif | |
| "brcs .+2\n" "cbi %2, %3\n" // If the bit to send is 0, drive the line low now. | |
| #if F_CPU == 8000000 | |
| "nop\n" "nop\n" | |
| #elif F_CPU == 16000000 | |
| "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" | |
| #elif F_CPU == 20000000 | |
| "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" | |
| "nop\n" "nop\n" | |
| #endif | |
| "brcc .+2\n" "cbi %2, %3\n" // If the bit to send is 1, drive the line low now. | |
| "ret\n" | |
| "led_strip_asm_end%=: " | |
| : "=b" (colors) | |
| : "0" (colors), // %a0 points to the next color to display | |
| "I" (pinAddr[pin]), // %2 is the port register (e.g. PORTC) | |
| "I" (pinBit[pin]) // %3 is the pin number (0-8) | |
| ); | |
| #elif defined(__arm__) | |
| asm volatile( | |
| "ldrb r12, [%0, #1]\n" // Load green. | |
| "lsls r12, r12, #24\n" // Put green in MSB of color register. | |
| "ldrb r3, [%0, #0]\n" // Load red. | |
| "lsls r3, r3, #16\n" | |
| "orrs r12, r12, r3\n" // Put red in color register. | |
| "ldrb r3, [%0, #2]\n" // Load blue. | |
| "lsls r3, r3, #8\n" | |
| "orrs r12, r12, r3\n" // Put blue in LSB of color register. | |
| "rbit r12, r12\n" // Reverse the bits so we can use right rotations. | |
| "adds %0, %0, #3\n" // Advance pointer to next color. | |
| "mov r3, #24\n" // Initialize the loop counter register. | |
| "send_led_strip_bit%=:\n" | |
| "str %[val], %[set]\n" // Drive the line high. | |
| "rrxs r12, r12\n" // Rotate right through carry. | |
| "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" | |
| "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" | |
| "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" | |
| "it cc\n" "strcc %[val], %[clear]\n" // If the bit to send is 0, set the line low now. | |
| "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" | |
| "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" | |
| "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" | |
| "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" | |
| "it cs\n" "strcs %[val], %[clear]\n" // If the bit to send is 1, set the line low now. | |
| "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" | |
| "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" "nop\n" | |
| "sub r3, r3, #1\n" // Decrement the loop counter. | |
| "cbz r3, led_strip_asm_end%=\n" // If we have sent 24 bits, go to the end. | |
| "b send_led_strip_bit%=\n" | |
| "led_strip_asm_end%=:\n" | |
| : "=r" (colors) | |
| : "0" (colors), | |
| [set] "m" (port->PIO_SODR), | |
| [clear] "m" (port->PIO_CODR), | |
| [val] "r" (pinValue) | |
| : "r3", "r12", "cc" | |
| ); | |
| #endif | |
| if (PololuLedStripBase::interruptFriendly) | |
| { | |
| // Experimentally on an AVR we found that one NOP is required after the SEI to actually let the | |
| // interrupts fire. | |
| __enable_irq(); | |
| asm volatile("nop\n"); | |
| __disable_irq(); | |
| } | |
| } | |
| __enable_irq(); // Re-enable interrupts now that we are done. | |
| delayMicroseconds(80); // Send the reset signal. | |
| } | |
| } | |
| using namespace Pololu; |