You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
94 lines
1.3 KiB
94 lines
1.3 KiB
#include "display.h"
|
|
#include "com/debug.h"
|
|
#include "utils/timebase.h"
|
|
#include "utils/meanbuf.h"
|
|
|
|
#include <math.h>
|
|
|
|
#define PIXEL_COUNT 30
|
|
|
|
static ws2812_rgb_t pixels[PIXEL_COUNT] = {};
|
|
|
|
static MeanBuf *mb;
|
|
|
|
void display_show(void)
|
|
{
|
|
colorled_set_many((uint32_t*) pixels, PIXEL_COUNT);
|
|
}
|
|
|
|
|
|
static void handle_sonar_value(float mm)
|
|
{
|
|
for (int i = PIXEL_COUNT-1; i > 0; i--) {
|
|
pixels[i].num = pixels[i-1].num;
|
|
}
|
|
|
|
float x = mm/5.0f;
|
|
if (x>255) x = 255;
|
|
|
|
pixels[0].r = 255-x;
|
|
pixels[0].b = x;
|
|
|
|
display_show();
|
|
}
|
|
|
|
|
|
static void show(void*arg)
|
|
{
|
|
(void)arg;
|
|
|
|
handle_sonar_value(meanbuf_current(mb));
|
|
}
|
|
|
|
|
|
static void sonar(void* arg)
|
|
{
|
|
(void)arg;
|
|
|
|
info("Sonar");
|
|
|
|
GPIOB->BSRR = GPIO_Pin_13;
|
|
delay_us(10);
|
|
GPIOB->BRR = GPIO_Pin_13;
|
|
|
|
// wait for response
|
|
|
|
bool suc = false;
|
|
until_timeout(50) {
|
|
if((GPIOB->IDR & (1 << 14)) != 0) {
|
|
suc = true;
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (!suc) {
|
|
dbg("Not suc");
|
|
return;
|
|
}
|
|
|
|
uint32_t cnt = 0;
|
|
until_timeout(50) {
|
|
if((GPIOB->IDR & (1 << 14)) == 0) break;
|
|
cnt++;
|
|
}
|
|
|
|
float t = cnt / 11.2f;
|
|
|
|
meanbuf_add(mb, t);
|
|
}
|
|
|
|
|
|
void display_init(void)
|
|
{
|
|
mb = meanbuf_create(10);
|
|
|
|
for (int i = 0; i < PIXEL_COUNT; i++) {
|
|
pixels[i].num = rgb(0, 0, 255);
|
|
}
|
|
|
|
display_show();
|
|
|
|
add_periodic_task(sonar, NULL, 50, true);
|
|
|
|
add_periodic_task(show, NULL, 50, true);
|
|
}
|
|
|