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EyesAPA102.c
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// EyesAPA102.c
#include "BotConfig.h"
#if (CONFIGURED_EYES == EYES_APA102)
// this code assumes two eyes using the 8x8 lumini displays (64 leds per) for now
// emoji stuff uses a lot of memory right now, if you enable it, you will likely have odd issues because of running out of memory
// particularly with standard_bot which uses a lot of memory too (because of using abdrive360.h).
//#define ENABLE_EMOJI
#include "simpletools.h"
#include "fdserial.h"
#include "apa102.h"
#ifdef ENABLE_EMOJI
#include "emoji.h"
#endif
volatile int update_eyes_apa102 = 0;
volatile int eye_command_apa102 = 0;
volatile uint8_t current_mask_apa102 = 1;
volatile uint8_t update_mask_apa102 = 0;
volatile uint8_t brightness_apa102 = 1;
volatile uint32_t mask_color_apa102 = COLOR_GRAY;
volatile uint32_t mask_bg_color_apa102 = COLOR_BLACK;
volatile uint8_t pixel_apa102 = 0;
volatile uint32_t pixel_color_apa102 = 0xFFFFFF;
volatile uint32_t eye_color_apa102 = 0xFFFFFF;
#ifdef ENABLE_EMOJI
volatile uint8_t eyes_emoji = 0;
#endif
#define EYES_BLINK 1
#define EYES_INCREASE_BRIGHTNESS 2
#define EYES_DECREASE_BRIGHTNESS 3
#define EYES_SET_COLOR_SINGLE_PIXEL 4
#define EYES_SET_COLOR_ALL_PIXELS 5
#define EYES_SET_MASK 6
#define EYES_DO_COP 7
#ifdef ENABLE_EMOJI
#define EYES_EMOJI 8
#endif
/* Helper macros */
#define HEX__(n) 0x##n
#define B8__(x) ((x&0x0000000F)?1:0) \
+((x&0x000000F0)?2:0) \
+((x&0x00000F00)?4:0) \
+((x&0x0000F000)?8:0) \
+((x&0x000F0000)?16:0) \
+((x&0x00F00000)?32:0) \
+((x&0x0F000000)?64:0) \
+((x&0xF0000000)?128:0)
/* User macros */
#define B8(d) ((unsigned char)B8__(HEX__(d)))
// masks
typedef struct
{
uint8_t index;
uint8_t rotation; // 0 = none, 1 = flip x, 2 = flip y, 3 = flip both x and y
uint8_t index2;
uint8_t rotation2;
} maskInfo;
maskInfo maskData[11] =
{
{ 0, 0, 0, 0 }, // all on
{ 1, 0, 1, 0 }, // o.o
{ 2, 0, 2, 0 }, // -.-
{ 3, 0, 3, 0 }, // v.v
{ 3, 2, 3, 2 }, // ^.^
{ 4, 0, 4, 0 }, // x.x
{ 5, 0, 5, 2 }, // \./
{ 6, 0, 6, 0 }, // T.T
{ 7, 0, 7, 0 }, // u.u
{ 7, 2, 7, 2 }, // n.n
{ 8, 0, 8, 0 } // smiley's
};
uint8_t masks[9][8] =
{
{
B8(11111111),
B8(11111111),
B8(11111111),
B8(11111111),
B8(11111111),
B8(11111111),
B8(11111111),
B8(11111111)
},
{
B8(00000000),
B8(00111100),
B8(01111110),
B8(01100110),
B8(01100110),
B8(01111110),
B8(00111100),
B8(00000000)
},
{
B8(00000000),
B8(00000000),
B8(00000000),
B8(01111110),
B8(01111110),
B8(00000000),
B8(00000000),
B8(00000000)
},
{
B8(00000000),
B8(00000000),
B8(01000010),
B8(01100110),
B8(01111110),
B8(00111100),
B8(00011000),
B8(00000000)
},
{
B8(10000001),
B8(11000011),
B8(01100110),
B8(00111100),
B8(00111100),
B8(01100110),
B8(11000011),
B8(10000001)
},
{
B8(01000000),
B8(01100000),
B8(01110000),
B8(00111000),
B8(00011100),
B8(00001110),
B8(00000110),
B8(00000010)
},
{
B8(00000000),
B8(01111110),
B8(01111110),
B8(00011000),
B8(00011000),
B8(00011000),
B8(00011000),
B8(00000000)
},
{
B8(00000000),
B8(01100110),
B8(01100110),
B8(01100110),
B8(01100110),
B8(01111110),
B8(00111100),
B8(00000000)
},
{
B8(00111100),
B8(01000010),
B8(10100101),
B8(10000001),
B8(10100101),
B8(10011001),
B8(01000010),
B8(00111100)
}
};
#define NUM_LEDS 128
uint32_t LEDs[NUM_LEDS];
uint32_t wheel(int pos)
{
uint32_t color;
// Creates color from 0 to 255 position input
// -- colors transition r-g-b back to r
// red range
if (pos < 85)
{
color = COLOR(255-pos*3, pos*3, 0);
}
// green range
else if (pos < 170)
{
pos -= 85;
color = COLOR(0, 255-pos*3, pos*3);
}
// blue range
else
{
pos -= 170;
color = COLOR(pos*3, 0, 255-pos*3);
}
return color;
}
#ifdef ENABLE_EMOJI
// emoji image is 80x80 pixels, 100 emoji in a 10x10 grid
// whichEye = 0 for first, 1 for second, 2 for both
void emojiDraw(int whichEmoji, int whichEye)
{
int offsetX = (whichEmoji % 10) * 8;
int offsetY = (whichEmoji / 10) * 8;
uint32_t upper8bits = (0xE0 + brightness_apa102) << 24;
for (int y = 0; y < 8; y++ )
{
for (int x = 0; x < 8; x++ )
{
int index = ((offsetY + y) * 80) + offsetX + x;
int pixel = emoji_bitmap[index];
uint32_t color = upper8bits | COLORX(emoji_palette[pixel].r, emoji_palette[pixel].g, emoji_palette[pixel].b, 20 );
int ledIndex = ( ( 7 - y ) * 8 ) + x;
if ( whichEye == 0 || whichEye == 2 )
{
LEDs[ledIndex] = color;
}
if ( whichEye == 1 || whichEye == 2 )
{
LEDs[64 + ledIndex] = color;
}
}
}
SendLeds( LEDs, NUM_LEDS );
}
#endif
void maskDraw(maskInfo maskData, uint32_t color, uint32_t bgColor)
{
uint32_t upper8bits = (0xE0 + brightness_apa102) << 24;
uint8_t* mask = masks[maskData.index];
uint8_t* mask2 = masks[maskData.index2];
for ( int i = 0; i < 8; i++ )
{
for ( int j = 0; j < 8; j++ )
{
int x = ( ( 7 - i ) * 8 ) + j;
// first eye
int ii = ( maskData.rotation == 0 || maskData.rotation == 1 ) ? i : 7 - i;
int jj = ( maskData.rotation == 0 || maskData.rotation == 2 ) ? j : 7 - j;
if ( ( mask[ii] >> ( 7 - jj ) ) & 1 )
{
LEDs[ x ] = upper8bits | color;
}
else
{
LEDs[ x ] = upper8bits | bgColor;
}
// second eye
ii = ( maskData.rotation2 == 0 || maskData.rotation2 == 1 ) ? i : 7 - i;
jj = ( maskData.rotation2 == 0 || maskData.rotation2 == 2 ) ? j : 7 - j;
if ( ( mask2[ii] >> ( 7 - jj ) ) & 1 )
{
LEDs[ 64 + x ] = upper8bits | color;
}
else
{
LEDs[ 64 + x ] = upper8bits | bgColor;
}
}
}
SendLeds( LEDs, NUM_LEDS );
}
void setAll( uint32_t color )
{
uint32_t upper8bits = (0xE0 + brightness_apa102) << 24;
for ( int i = 0; i < NUM_LEDS; i++ )
{
LEDs[i] = upper8bits | color;
}
SendLeds( LEDs, NUM_LEDS );
}
void setSingle( uint8_t led, uint32_t color )
{
uint32_t upper8bits = (0xE0 + brightness_apa102) << 24;
LEDs[led] = upper8bits | color;
SendLeds( LEDs, NUM_LEDS );
}
void eyes_blink_apa102()
{
maskDraw(maskData[current_mask_apa102], mask_color_apa102, mask_bg_color_apa102);
pause(500);
maskDraw(maskData[2], mask_color_apa102, mask_bg_color_apa102);
pause(500);
maskDraw(maskData[current_mask_apa102], mask_color_apa102, mask_bg_color_apa102);
pause(1);
}
void eyes_cop_apa102()
{
uint32_t upper8bits = (0xE0 + brightness_apa102) << 24;
for (int a=0; a <= 5; ++a)
{
for ( int i = 0; i < NUM_LEDS/2; i++ )
{
LEDs[i] = upper8bits | 0xff0000;
}
for ( int i = NUM_LEDS/2; i < NUM_LEDS; i++ )
{
LEDs[i] = upper8bits | 0x0000ff;
}
SendLeds( LEDs, NUM_LEDS );
pause(400);
for ( int i = 0; i < NUM_LEDS/2; i++ )
{
LEDs[i] = upper8bits | 0x0000ff;
}
for ( int i = NUM_LEDS/2; i < NUM_LEDS; i++ )
{
LEDs[i] = upper8bits | 0xff0000;
}
SendLeds( LEDs, NUM_LEDS );
pause(400);
}
maskDraw(maskData[current_mask_apa102], mask_color_apa102, mask_bg_color_apa102);
}
volatile int _apa102ClkPin = 0;
volatile int _apa102DataPin = 0;
void handle_eyes_apa102()
{
InitApa102(_apa102ClkPin, _apa102DataPin);
setAll(0);
while (1)
{
if (update_eyes_apa102 > 0)
{
// I'm doing this local copy of the update_eyes variable so that I can clear update_eyes variable right away
// this makes it so that if you get another eye command while it's still in the middle of doing the last one
// it will do that new one after. This only allows one queued up command, but that should be fine for most cases
eye_command_apa102 = update_eyes_apa102;
update_eyes_apa102 = 0;
switch(eye_command_apa102)
{
case EYES_BLINK:
eyes_blink_apa102();
break;
case EYES_INCREASE_BRIGHTNESS:
brightness_apa102++;
if ( brightness_apa102 > 31 )
{
brightness_apa102 = 31;
}
maskDraw(maskData[current_mask_apa102], mask_color_apa102, mask_bg_color_apa102);
break;
case EYES_DECREASE_BRIGHTNESS:
brightness_apa102--;
if ( brightness_apa102 < 1 )
{
brightness_apa102 = 1;
}
maskDraw(maskData[current_mask_apa102], mask_color_apa102, mask_bg_color_apa102);
break;
case EYES_SET_COLOR_SINGLE_PIXEL:
setSingle(pixel_apa102, pixel_color_apa102);
break;
case EYES_SET_COLOR_ALL_PIXELS:
setAll(pixel_color_apa102);
break;
case EYES_SET_MASK:
current_mask_apa102 = update_mask_apa102;
maskDraw(maskData[current_mask_apa102], mask_color_apa102, mask_bg_color_apa102);
break;
case EYES_DO_COP:
eyes_cop_apa102();
break;
#ifdef ENABLE_EMOJI
case EYES_EMOJI:
emojiDraw(eyes_emoji, 2);
break;
#endif
}
}
}
}
void StartEyesAPA102Handler(int clockPin, int dataPin)
{
_apa102ClkPin = clockPin;
_apa102DataPin = dataPin;
pause(250);
cog_run(handle_eyes_apa102, 128);
pause(250);
update_eyes_apa102 = EYES_BLINK;
}
void HandleEyeAPA102Commands(const char* inputString, fdserial* term)
{
if (strcmp(inputString, "brightness_up") == 0)
{
update_eyes_apa102 = EYES_INCREASE_BRIGHTNESS;
dprint(term,"brightness increased");
}
if (strcmp(inputString, "brightness_down") == 0)
{
update_eyes_apa102 = EYES_DECREASE_BRIGHTNESS;
dprint(term,"brightness decreased");
}
if (strcmp(inputString, "ms0") == 0)
{
dprint(term,"mask 0");
update_mask_apa102 = 0;
update_eyes_apa102 = EYES_SET_MASK;
}
if (strcmp(inputString, "ms1") == 0)
{
dprint(term,"mask 1");
update_mask_apa102 = 1;
update_eyes_apa102 = EYES_SET_MASK;
}
if (strcmp(inputString, "ms2") == 0)
{
dprint(term,"mask 2");
update_mask_apa102 = 2;
update_eyes_apa102 = EYES_SET_MASK;
}
if (strcmp(inputString, "ms3") == 0)
{
dprint(term,"mask 3");
update_mask_apa102 = 3;
update_eyes_apa102 = EYES_SET_MASK;
}
if (strcmp(inputString, "ms4") == 0)
{
dprint(term,"mask 4");
update_mask_apa102 = 4;
update_eyes_apa102 = EYES_SET_MASK;
}
if (strcmp(inputString, "ms5") == 0)
{
dprint(term,"mask 5");
update_mask_apa102 = 5;
update_eyes_apa102 = EYES_SET_MASK;
}
if (strcmp(inputString, "ms6") == 0)
{
dprint(term,"mask 6");
update_mask_apa102 = 6;
mask_color_apa102 = COLOR_RED;
update_eyes_apa102 = EYES_SET_MASK;
}
if (strcmp(inputString, "ms7") == 0)
{
dprint(term,"mask 7");
update_mask_apa102 = 7;
update_eyes_apa102 = EYES_SET_MASK;
}
if (strcmp(inputString, "ms8") == 0)
{
dprint(term,"mask 8");
update_mask_apa102 = 8;
update_eyes_apa102 = EYES_SET_MASK;
}
if (strcmp(inputString, "ms9") == 0)
{
dprint(term,"mask 9");
update_mask_apa102 = 9;
update_eyes_apa102 = EYES_SET_MASK;
}
if (strcmp(inputString, "ms10") == 0)
{
dprint(term,"mask 10");
update_mask_apa102 = 10;
update_eyes_apa102 = EYES_SET_MASK;
}
if (strcmp(inputString, "blink") == 0)
{
dprint(term,"blink");
update_eyes_apa102 = EYES_BLINK;
}
if (strcmp(inputString, "cop") == 0)
{
dprint(term,"cop");
update_eyes_apa102 = EYES_DO_COP;
}
if (strncmp(inputString, "mfg",3) == 0)
{
const char* pBeg = &inputString[0];
char* pEnd;
mask_color_apa102 = strtol(pBeg+4, &pEnd,16);
mask_color_apa102 = RGBTOBGR(mask_color_apa102);
if (mask_color_apa102 > 0xFFFFFF)
{
mask_color_apa102 = 0xFFFFFF;
}
dprint(term,"%d",mask_color_apa102);
update_mask_apa102 = current_mask_apa102;
update_eyes_apa102 = EYES_SET_MASK;
}
if (strncmp(inputString, "mbg",3) == 0)
{
const char* pBeg = &inputString[0];
char* pEnd;
mask_bg_color_apa102 = strtol(pBeg+4, &pEnd,16);
mask_bg_color_apa102 = RGBTOBGR(mask_bg_color_apa102);
if (mask_bg_color_apa102 > 0xFFFFFF)
{
mask_bg_color_apa102 = 0xFFFFFF;
}
dprint(term,"%d",mask_bg_color_apa102);
update_mask_apa102 = current_mask_apa102;
update_eyes_apa102 = EYES_SET_MASK;
}
if (strncmp(inputString, "led",3) == 0)
{
const char* pBeg = &inputString[0];
char* pEnd;
pixel_apa102 = strtol(pBeg+4, &pEnd,10);
pixel_color_apa102 = strtol(pEnd, &pEnd,16);
pixel_color_apa102 = RGBTOBGR(pixel_color_apa102);
dprint(term,"%d",pixel_color_apa102);
if ((pixel_apa102 < NUM_LEDS)&&(pixel_color_apa102<=0xFFFFFF))
{
update_eyes_apa102 = EYES_SET_COLOR_SINGLE_PIXEL;
}
}
if (strncmp(inputString, "leds",4) == 0)
{
const char* pBeg = &inputString[0];
char* pEnd;
pixel_color_apa102 = strtol(pBeg+5, &pEnd,16);
pixel_color_apa102 = RGBTOBGR(pixel_color_apa102);
dprint(term,"%d",pixel_color_apa102);
if (pixel_color_apa102<=0xFFFFFF)
{
update_eyes_apa102 = EYES_SET_COLOR_ALL_PIXELS;
}
}
#ifdef ENABLE_EMOJI
if (strncmp(inputString, "emoji",5) == 0)
{
const char* pBeg = &inputString[0];
char* pEnd;
eyes_emoji = strtol(pBeg+6, &pEnd,10);
dprint(term,"emoji %d",eyes_emoji);
if ( eyes_emoji < 100 )
{
update_eyes_apa102 = EYES_EMOJI;
}
}
#endif
}
#endif // (CONFIGURED_EYES == EYES_APA102)