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HAL_ChibiOS: allow more than 32 WS2812 LEDs on a pin

This commit is contained in:
Andrew Tridgell 2020-02-09 21:34:46 +11:00
parent 8e380dd330
commit 533420674f
2 changed files with 39 additions and 24 deletions
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53
libraries/AP_HAL_ChibiOS/RCOutput.cpp
View File

@ -1694,37 +1694,46 @@ bool RCOutput::set_neopixel_num_LEDs(const uint16_t chan, uint8_t num_leds)
/*
setup neopixel (WS2812B) output data for a given output channel
and mask of LEDs on the channel
and a LED number. LED -1 is all LEDs
*/
void RCOutput::set_neopixel_rgb_data(const uint16_t chan, uint32_t ledmask, uint8_t red, uint8_t green, uint8_t blue)
void RCOutput::_set_neopixel_rgb_data(pwm_group *grp, uint8_t idx, uint8_t led, uint8_t red, uint8_t green, uint8_t blue)
{
const uint8_t pad_start_bits = 1;
const uint8_t neopixel_bit_length = 24;
const uint8_t stride = 4;
uint32_t *buf = grp->dma_buffer + (led * neopixel_bit_length + pad_start_bits) * stride + idx;
uint32_t bits = (green<<16) | (red<<8) | blue;
const uint32_t BIT_0 = 7 * grp->bit_width_mul;
const uint32_t BIT_1 = 14 * grp->bit_width_mul;
for (uint16_t b=0; b < 24; b++) {
buf[b * stride] = (bits & 0x800000) ? BIT_1 : BIT_0;
bits <<= 1;
}
}
/*
setup neopixel (WS2812B) output data for a given output channel
and a LED number. LED -1 is all LEDs
*/
void RCOutput::set_neopixel_rgb_data(const uint16_t chan, int8_t led, uint8_t red, uint8_t green, uint8_t blue)
{
uint8_t i;
pwm_group *grp = find_chan(chan, i);
if (!grp) {
return;
}
// mask out for enabled LEDs
ledmask &= (1U<<grp->neopixel_nleds)-1;
uint8_t led = 0;
while (ledmask) {
if (ledmask & 1) {
const uint8_t pad_start_bits = 1;
const uint8_t neopixel_bit_length = 24;
const uint8_t stride = 4;
uint32_t *buf = grp->dma_buffer + (led * neopixel_bit_length + pad_start_bits) * stride + i;
uint32_t bits = (green<<16) | (red<<8) | blue;
const uint32_t BIT_0 = 7 * grp->bit_width_mul;
const uint32_t BIT_1 = 14 * grp->bit_width_mul;
for (uint16_t b=0; b < 24; b++) {
buf[b * stride] = (bits & 0x800000) ? BIT_1 : BIT_0;
bits <<= 1;
}
if (led == -1) {
for (uint8_t n=0; n<grp->neopixel_nleds; n++) {
set_neopixel_rgb_data(chan, n, red, green, blue);
}
ledmask >>= 1;
led++;
return;
}
if (led < -1 || led >= grp->neopixel_nleds) {
return;
}
_set_neopixel_rgb_data(grp, i, uint8_t(led), red, green, blue);
}
/*

10
libraries/AP_HAL_ChibiOS/RCOutput.h
View File

@ -164,9 +164,9 @@ public:
/*
setup neopixel (WS2812B) output data for a given output channel
and mask of LEDs on the channel
and LEDs number. LED -1 is all LEDs
*/
void set_neopixel_rgb_data(const uint16_t chan, uint32_t ledmask, uint8_t red, uint8_t green, uint8_t blue) override;
void set_neopixel_rgb_data(const uint16_t chan, int8_t led, uint8_t red, uint8_t green, uint8_t blue) override;
/*
trigger send of neopixel data
@ -355,6 +355,12 @@ private:
bool is_dshot_protocol(const enum output_mode mode) const;
uint32_t protocol_bitrate(const enum output_mode mode) const;
/*
setup neopixel (WS2812B) output data for a given output channel
and LEDs number. LED -1 is all LEDs
*/
void _set_neopixel_rgb_data(pwm_group *grp, uint8_t idx, uint8_t led, uint8_t red, uint8_t green, uint8_t blue);
// serial output support
static const eventmask_t serial_event_mask = EVENT_MASK(1);
bool serial_write_byte(uint8_t b);