511 lines
14 KiB
C++
511 lines
14 KiB
C++
#include <Button.h>
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#include <Adafruit_NeoPixel.h>
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constexpr bool KEEPALIVE_ENABLE = false;
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constexpr int KEEPALIVE_TIMEOUT = 5000; // ms
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constexpr int LEDS_TAIL_PIN = PA6;
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constexpr int LEDS_TAIL_LENGTH = 10;
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constexpr int LEDS_TAIL_BRIGHTNESS = 255;
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constexpr int LEDS_TAIL_SIDE_LENGTH = 2;
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constexpr int LEDS_TAIL_SIDE_MARGIN = 2;
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constexpr int LEDS_TAIL_RIGHT_RANGE[] = {0, LEDS_TAIL_SIDE_LENGTH};
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constexpr int LEDS_TAIL_LEFT_RANGE[] = {LEDS_TAIL_LENGTH - LEDS_TAIL_SIDE_LENGTH, LEDS_TAIL_SIDE_LENGTH};
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constexpr int LEDS_LEFT_PIN = PA5;
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constexpr int LEDS_RIGHT_PIN = PA7;
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/* default configuration right lamp (left from the front)
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RING EDGE
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29 30 31 32 33 34 35 37 0 1 2 3 4 5 6 7 8 9 10
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28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11
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*/
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constexpr int LEDS_TOP_LENGTH = 12;
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constexpr int LEDS_BOTTOM_LENGTH = 11;
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constexpr int LEDS_RING_LENGTH = 16;
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constexpr int LEDS_EDGE_LENGTH = LEDS_TOP_LENGTH + LEDS_BOTTOM_LENGTH;
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constexpr int LEDS_HEAD_LENGTH = LEDS_TOP_LENGTH + LEDS_BOTTOM_LENGTH + LEDS_RING_LENGTH;
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constexpr int LEDS_HEAD_BRIGHTNESS = 200;
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constexpr int LEDS_DASH_PIN = PB0;
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constexpr int LEDS_DASH_LENGTH = 10;
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constexpr int LEDS_DASH_BRIGHTNESS = 255;
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constexpr int PIN_ALIVE = PA2;
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constexpr int PIN_BUCK = PA1;
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constexpr int PIN_PEDAL = PA0;
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constexpr int PIN_PEDAL_FORWARD = PA3;
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constexpr int PIN_PEDAL_REVERSE = PA4;
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constexpr int PIN_BUTTON_MODE = PA9;
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constexpr int PIN_BUTTON_LEFT = PA8;
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constexpr int PIN_BUTTON_RIGHT = PA10;
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constexpr int LED_ON = LOW;
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constexpr int LED_OFF = HIGH;
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constexpr int PEDAL_ON = HIGH;
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constexpr int PEDAL_OFF = LOW;
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constexpr int BUCK_ON = HIGH;
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constexpr int BUCK_OFF = LOW;
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constexpr int ANIMATION_FPS = 30;
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constexpr int ANIMATION_INTERVAL = lround(1000 / ANIMATION_FPS);
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Button pedal(PIN_PEDAL);
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Button pedalForward(PIN_PEDAL_FORWARD);
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Button pedalReverse(PIN_PEDAL_REVERSE);
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Button buttonMode(PIN_BUTTON_MODE);
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Button buttonLeft(PIN_BUTTON_LEFT);
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Button buttonRight(PIN_BUTTON_RIGHT);
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Adafruit_NeoPixel ledsTail(LEDS_TAIL_LENGTH, LEDS_TAIL_PIN, NEO_GRBW + NEO_KHZ800);
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Adafruit_NeoPixel ledsHeadLeft(LEDS_HEAD_LENGTH, LEDS_LEFT_PIN, NEO_GRBW + NEO_KHZ800);
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Adafruit_NeoPixel ledsHeadRight(LEDS_HEAD_LENGTH, LEDS_RIGHT_PIN, NEO_GRBW + NEO_KHZ800);
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Adafruit_NeoPixel ledsDash(LEDS_DASH_LENGTH, LEDS_DASH_PIN, NEO_GRBW + NEO_KHZ800);
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enum Direction { LEFT, RIGHT };
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enum Mode {
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MODE_HEAD,
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MODE_HAZARD,
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MODE_POLICE,
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MODE_RAINBOW,
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MODE_COUNT,
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};
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// Mode activeMode = MODE_HEAD;
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Mode activeMode = MODE_RAINBOW;
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uint32_t colorHSV(float hue, float sat = 1.0, float val = 1.0) {
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return Adafruit_NeoPixel::ColorHSV(
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(uint16_t)(hue / 360.0 * 65535),
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(uint8_t)(sat * 255),
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(uint8_t)(val * 255)
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);
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}
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const uint32_t COLOR_OFF = ledsTail.Color(0, 0, 0, 0);
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const uint32_t COLOR_WHITE = ledsTail.Color(0, 0, 0, 255);
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const uint32_t COLOR_WHITE_FULL = ledsTail.Color(255, 255, 255, 255);
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const uint32_t COLOR_WHITE_DIM = ledsTail.Color(0, 0, 0, 100);
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const uint32_t COLOR_RED_DIM = ledsTail.Color(150, 0, 0, 0);
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const uint32_t COLOR_RED = ledsTail.Color(255, 0, 0, 0);
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const uint32_t COLOR_AMBER = colorHSV(10); // easier value fade
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const uint32_t COLOR_POLICE_BLUE = ledsTail.Color(0, 0, 255, 0);
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const uint32_t COLOR_POLICE_RED = ledsTail.Color(255, 0, 0, 0);
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unsigned long animationFrame = 0;
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unsigned long lastFrame = 0;
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unsigned long lastPedalPress = millis();
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unsigned long lastPedalRelease = 0;
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bool isReversing = false;
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unsigned long indicatorLeftStart = 0;
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unsigned long indicatorRightStart = 0;
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bool indicatorLeftActive = false;
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bool indicatorRightActive = false;
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bool policeActive = false;
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void setup() {
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// initialize digital pin LED_BUILTIN as an output.
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pinMode(LED_BUILTIN, OUTPUT);
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pinMode(PIN_ALIVE, OUTPUT);
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pinMode(PIN_BUCK, OUTPUT);
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pinMode(PIN_PEDAL, INPUT_PULLUP);
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pinMode(PIN_PEDAL_FORWARD, INPUT_PULLUP);
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pinMode(PIN_PEDAL_REVERSE, INPUT_PULLUP);
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pinMode(PIN_BUTTON_MODE, INPUT_PULLUP);
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pinMode(PIN_BUTTON_LEFT, INPUT_PULLUP);
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pinMode(PIN_BUTTON_RIGHT, INPUT_PULLUP);
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// digitalWrite(LED_BUILTIN, LED_ON);
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digitalWrite(PIN_ALIVE, HIGH);
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digitalWrite(PIN_BUCK, BUCK_ON);
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digitalWrite(LED_BUILTIN, LED_OFF);
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ledsTail.setBrightness(LEDS_TAIL_BRIGHTNESS);
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ledsHeadLeft.setBrightness(LEDS_HEAD_BRIGHTNESS);
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ledsHeadRight.setBrightness(LEDS_HEAD_BRIGHTNESS);
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ledsDash.setBrightness(LEDS_DASH_BRIGHTNESS);
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ledsTail.begin();
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ledsHeadLeft.begin();
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ledsHeadRight.begin();
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ledsDash.begin();
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pedal.begin();
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pedalForward.begin();
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pedalReverse.begin();
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buttonMode.begin();
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buttonLeft.begin();
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buttonRight.begin();
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Serial.begin(9600);
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ledsTail.clear();
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ledsHeadLeft.clear();
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ledsHeadRight.clear();
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ledsDash.clear();
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}
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void animateHeadlights() {
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ledsHeadLeft.fill(COLOR_WHITE);
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ledsHeadRight.fill(COLOR_WHITE);
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}
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void animateTailLight() {
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ledsTail.fill(COLOR_OFF, 0, LEDS_TAIL_LENGTH);
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ledsTail.fill(COLOR_RED, LEDS_TAIL_SIDE_LENGTH, LEDS_TAIL_LENGTH - LEDS_TAIL_SIDE_LENGTH * 2);
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}
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void animateRightTailSide(uint32_t color, bool withMargin = true) {
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ledsTail.fill(color, 0, LEDS_TAIL_SIDE_LENGTH);
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if (withMargin) {
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ledsTail.fill(COLOR_OFF, LEDS_TAIL_SIDE_LENGTH, LEDS_TAIL_SIDE_MARGIN);
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}
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}
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void animateLeftTailSide(uint32_t color, bool withMargin = true) {
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ledsTail.fill(color, LEDS_TAIL_LENGTH - LEDS_TAIL_SIDE_LENGTH, LEDS_TAIL_SIDE_LENGTH);
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if (withMargin) {
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ledsTail.fill(COLOR_OFF, LEDS_TAIL_LENGTH - LEDS_TAIL_SIDE_LENGTH - LEDS_TAIL_SIDE_MARGIN, LEDS_TAIL_SIDE_MARGIN);
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}
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}
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void animateDash() {
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ledsDash.clear();
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}
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void animateReverse() {
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ledsTail.fill(COLOR_WHITE);
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}
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void animateBrake() {
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animateLeftTailSide(COLOR_RED, false);
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animateRightTailSide(COLOR_RED, false);
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}
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constexpr int INDICATOR_DURATION = 3200; // total ms
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constexpr int INDICATOR_HOLD_FRAMES = 15;
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constexpr int INDICATOR_OFF_FRAMES = 20;
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constexpr float INDICATOR_SPEED = 2;
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void animateIndicator(Direction direction) {
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Adafruit_NeoPixel& ledsTarget = direction == LEFT
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? ledsHeadLeft
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: ledsHeadRight;
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const long indicatorFrame = lround(animationFrame * INDICATOR_SPEED) % (LEDS_EDGE_LENGTH + INDICATOR_HOLD_FRAMES + INDICATOR_OFF_FRAMES);
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const long sweepEnd = LEDS_TOP_LENGTH;
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const long holdEnd = LEDS_TOP_LENGTH + INDICATOR_HOLD_FRAMES;
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for (int ledIndex = LEDS_TOP_LENGTH - 1; ledIndex >= 0; ledIndex--) {
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if (indicatorFrame < sweepEnd) {
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// SWEEP
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bool isLit = ledIndex >= (LEDS_TOP_LENGTH - 1 - indicatorFrame);
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ledsTarget.setPixelColor(ledIndex, isLit ? COLOR_AMBER : COLOR_OFF);
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if (ledIndex > 0) {
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ledsTarget.setPixelColor(LEDS_EDGE_LENGTH - ledIndex, isLit ? COLOR_AMBER : COLOR_OFF);
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}
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} else if (indicatorFrame < holdEnd) {
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// HOLD
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ledsTarget.setPixelColor(ledIndex, COLOR_AMBER);
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if (ledIndex > 0) {
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ledsTarget.setPixelColor(LEDS_EDGE_LENGTH - ledIndex, COLOR_AMBER);
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}
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} else {
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// OFF
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ledsTarget.fill(COLOR_OFF, 0, LEDS_EDGE_LENGTH);
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}
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}
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const int* tailRange = direction == LEFT
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? LEDS_TAIL_LEFT_RANGE
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: LEDS_TAIL_RIGHT_RANGE;
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void (*animateTailSide)(uint32_t, bool) = direction == LEFT
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? animateLeftTailSide
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: animateRightTailSide;
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const int dashIndex = direction == LEFT
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? 1
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: 0;
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if (indicatorFrame < sweepEnd) {
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const int colorAmberFaded = colorHSV(10, 1, (float)indicatorFrame / sweepEnd);
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animateTailSide(colorAmberFaded, true);
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ledsDash.setPixelColor(dashIndex, colorAmberFaded);
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} else if (indicatorFrame < holdEnd) {
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animateTailSide(COLOR_AMBER, true);
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ledsDash.setPixelColor(dashIndex, COLOR_AMBER);
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} else {
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animateTailSide(COLOR_OFF, true);
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ledsDash.setPixelColor(dashIndex, COLOR_OFF);
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}
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}
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constexpr float POLICE_SPEED = 0.75;
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enum PoliceStates { POLICE_LEFT, POLICE_RIGHT, POLICE_OFF };
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const PoliceStates policeBeaconFrames[12] = {
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POLICE_LEFT,
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POLICE_OFF,
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POLICE_LEFT,
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POLICE_OFF,
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POLICE_OFF,
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POLICE_OFF,
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POLICE_RIGHT,
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POLICE_OFF,
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POLICE_RIGHT,
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POLICE_OFF,
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POLICE_OFF,
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POLICE_OFF,
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};
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void animatePolice() {
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const long policeFrame = lround(animationFrame * POLICE_SPEED) % 12;
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if (policeBeaconFrames[policeFrame] == POLICE_LEFT) {
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ledsHeadLeft.fill(COLOR_POLICE_BLUE, 0, LEDS_EDGE_LENGTH);
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ledsHeadRight.fill(COLOR_OFF, 0, LEDS_EDGE_LENGTH);
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// deliberately inverted from edge lights for a more alternating effect
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animateLeftTailSide(COLOR_OFF);
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animateRightTailSide(COLOR_POLICE_BLUE);
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ledsDash.setPixelColor(1, COLOR_POLICE_BLUE);
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ledsDash.setPixelColor(0, COLOR_OFF);
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} else if (policeBeaconFrames[policeFrame] == POLICE_RIGHT) {
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ledsHeadLeft.fill(COLOR_OFF, 0, LEDS_EDGE_LENGTH);
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ledsHeadRight.fill(COLOR_POLICE_BLUE, 0, LEDS_EDGE_LENGTH);
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animateLeftTailSide(COLOR_POLICE_BLUE);
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animateRightTailSide(COLOR_OFF);
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ledsDash.setPixelColor(1, COLOR_OFF);
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ledsDash.setPixelColor(0, COLOR_POLICE_BLUE);
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} else {
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ledsHeadLeft.fill(COLOR_OFF, 0, LEDS_EDGE_LENGTH);
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ledsHeadRight.fill(COLOR_OFF, 0, LEDS_EDGE_LENGTH);
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animateLeftTailSide(COLOR_OFF);
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animateRightTailSide(COLOR_OFF);
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ledsDash.setPixelColor(1, COLOR_OFF);
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ledsDash.setPixelColor(0, COLOR_OFF);
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}
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if (policeFrame < 6) {
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ledsHeadLeft.fill(COLOR_WHITE_DIM, LEDS_EDGE_LENGTH, LEDS_EDGE_LENGTH + LEDS_RING_LENGTH);
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ledsHeadRight.fill(COLOR_WHITE, LEDS_EDGE_LENGTH, LEDS_EDGE_LENGTH + LEDS_RING_LENGTH);
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} else {
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ledsHeadLeft.fill(COLOR_WHITE, LEDS_EDGE_LENGTH, LEDS_EDGE_LENGTH + LEDS_RING_LENGTH);
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ledsHeadRight.fill(COLOR_WHITE_DIM, LEDS_EDGE_LENGTH, LEDS_EDGE_LENGTH + LEDS_RING_LENGTH);
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}
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}
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constexpr float RAINBOW_SPEED = 2.0;
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constexpr float RAINBOW_DENSITY = 5.0;
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void animateRainbow() {
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for (int ledIndex = 0; ledIndex < LEDS_HEAD_LENGTH; ledIndex++) {
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const uint32_t pixelColor = colorHSV((animationFrame * RAINBOW_SPEED) + (ledIndex * RAINBOW_DENSITY));
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ledsHeadLeft.setPixelColor(ledIndex, pixelColor);
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ledsHeadRight.setPixelColor(ledIndex, pixelColor);
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}
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/*
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for (int ledIndex = 0; ledIndex < LEDS_TAIL_LENGTH; ledIndex++) {
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const uint32_t pixelColor = ledsHeadLeft.ColorHSV((animationFrame * 1000 * RAINBOW_SPEED) + (ledIndex * 1000 * RAINBOW_DENSITY * 5), 255, 255);
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if (ledIndex <= 5) {
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ledsTail.setPixelColor(ledIndex, pixelColor);
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} else {
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ledsTail.setPixelColor(LEDS_TAIL_LENGTH - ledIndex, pixelColor);
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}
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}
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*/
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ledsTail.fill(colorHSV(animationFrame * RAINBOW_SPEED));
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ledsDash.setPixelColor(1, colorHSV(animationFrame * RAINBOW_SPEED));
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ledsDash.setPixelColor(0, colorHSV(animationFrame * RAINBOW_SPEED + 90));
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}
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void animate(long now) {
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// always animate headlights, let other modes override
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animateHeadlights();
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animateTailLight();
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animateDash();
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if (isReversing) {
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animateReverse();
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}
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if (activeMode == MODE_POLICE) {
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animatePolice();
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}
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if (activeMode == MODE_HAZARD) {
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animateIndicator(LEFT);
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animateIndicator(RIGHT);
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}
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if (now - lastPedalRelease < 1500) {
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animateBrake();
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}
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if (activeMode == MODE_RAINBOW) {
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animateRainbow();
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}
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// we need the boolean to prevent the indicators from turning on right after boot
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if (indicatorLeftActive && now - indicatorLeftStart < INDICATOR_DURATION) {
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animateIndicator(LEFT);
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}
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if (indicatorRightActive && now - indicatorRightStart < INDICATOR_DURATION) {
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animateIndicator(RIGHT);
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}
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}
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void render() {
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ledsTail.show();
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ledsHeadLeft.show();
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ledsHeadRight.show();
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ledsDash.show();
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}
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bool isOff = false;
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void shutdown() {
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// digitalWrite(PIN_BUCK, BUCK_OFF);
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Serial.println("SHUTTING DOWN");
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Serial.println("BUCK OFF");
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digitalWrite(PIN_BUCK, LOW);
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delay(100);
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Serial.println("SELF OFF, GOODBYE");
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digitalWrite(PIN_ALIVE, LOW);
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isOff = true;
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}
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// only used when STLink or USB prevents full power cut
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void restart() {
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lastFrame = millis();
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animationFrame = 0;
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isOff = false;
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digitalWrite(PIN_BUCK, BUCK_ON);
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}
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unsigned long modePressStart = 0;
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bool modePressed = false;
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// the loop function runs over and over again forever
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void loop() {
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const unsigned long now = millis();
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if (buttonMode.pressed()) {
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modePressed = true;
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modePressStart = now;
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activeMode = (Mode)((activeMode + 1) % MODE_COUNT);
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animationFrame = 0; // ensures animations start cleanly instead of halfway
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Serial.print("BUTTON MODE ");
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Serial.println(activeMode);
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}
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if (buttonMode.released()) {
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modePressed = false;
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}
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if (modePressed && now - modePressStart > 5000) {
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shutdown();
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}
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if (buttonLeft.pressed()) {
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animationFrame = 0;
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indicatorLeftActive = true;
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indicatorLeftStart = now;
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indicatorRightActive = false;
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indicatorRightStart = 0;
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Serial.println("BUTTON LEFT");
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}
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if (buttonRight.pressed()) {
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animationFrame = 0;
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indicatorRightActive = true;
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indicatorRightStart = now;
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indicatorLeftActive = false;
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indicatorLeftStart = 0;
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Serial.println("BUTTON RIGHT");
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}
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if (pedalReverse.read() == Button::PRESSED && pedalForward.read() != Button::PRESSED) {
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lastPedalPress = now;
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isReversing = true;
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if (isOff) {
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restart();
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}
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Serial.println("PEDAL REVERSE");
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} else {
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isReversing = false;
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}
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if (pedalForward.read() == Button::PRESSED) {
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lastPedalPress = now;
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if (isOff) {
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restart();
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}
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Serial.println("PEDAL FORWARD");
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}
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if (pedal.released()) {
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lastPedalRelease = now;
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}
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if (!isOff && now - lastFrame >= ANIMATION_INTERVAL) {
|
|
lastFrame += ANIMATION_INTERVAL;
|
|
animationFrame += 1;
|
|
|
|
animate(now);
|
|
render();
|
|
}
|
|
|
|
if (KEEPALIVE_ENABLE && now - lastPedalPress > KEEPALIVE_TIMEOUT) {
|
|
shutdown();
|
|
}
|
|
} |