kopia lustrzana https://github.com/pimoroni/pimoroni-pico
119 wiersze
3.4 KiB
C++
119 wiersze
3.4 KiB
C++
#include <math.h>
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#include <string.h>
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#include "hardware/gpio.h"
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#include "hardware/pwm.h"
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#include "hardware/adc.h"
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#include "pico_explorer.hpp"
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const uint8_t MOTOR1N = 8;
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const uint8_t MOTOR1P = 9;
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const uint8_t MOTOR2N = 10;
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const uint8_t MOTOR2P = 11;
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namespace pimoroni {
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PicoExplorer::PicoExplorer(uint16_t *buf)
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: PicoGraphics(WIDTH, HEIGHT, buf), screen(WIDTH, HEIGHT, buf) {
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__fb = buf;
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}
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void PicoExplorer::init() {
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// setup button inputs
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gpio_set_function(A, GPIO_FUNC_SIO); gpio_set_dir(A, GPIO_IN); gpio_pull_up(A);
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gpio_set_function(B, GPIO_FUNC_SIO); gpio_set_dir(B, GPIO_IN); gpio_pull_up(B);
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gpio_set_function(X, GPIO_FUNC_SIO); gpio_set_dir(X, GPIO_IN); gpio_pull_up(X);
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gpio_set_function(Y, GPIO_FUNC_SIO); gpio_set_dir(Y, GPIO_IN); gpio_pull_up(Y);
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// setup ADC channels
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adc_init();
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const uint8_t ADC_BASE_PIN = 26;
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adc_gpio_init(ADC0 + ADC_BASE_PIN);
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adc_gpio_init(ADC1 + ADC_BASE_PIN);
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adc_gpio_init(ADC2 + ADC_BASE_PIN);
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// setup motor pins
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pwm_config motor_pwm_cfg = pwm_get_default_config();
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pwm_config_set_wrap(&motor_pwm_cfg, 255);
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pwm_init(pwm_gpio_to_slice_num(MOTOR1N), &motor_pwm_cfg, true);
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gpio_set_function(MOTOR1N, GPIO_FUNC_PWM);
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pwm_init(pwm_gpio_to_slice_num(MOTOR1P), &motor_pwm_cfg, true);
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gpio_set_function(MOTOR1P, GPIO_FUNC_PWM);
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pwm_init(pwm_gpio_to_slice_num(MOTOR2N), &motor_pwm_cfg, true);
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gpio_set_function(MOTOR2N, GPIO_FUNC_PWM);
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pwm_init(pwm_gpio_to_slice_num(MOTOR2P), &motor_pwm_cfg, true);
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gpio_set_function(MOTOR2P, GPIO_FUNC_PWM);
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// initialise the screen
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screen.init();
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}
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void PicoExplorer::update() {
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screen.update();
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}
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bool PicoExplorer::is_pressed(uint8_t button) {
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return !gpio_get(button);
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}
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float PicoExplorer::get_adc(uint8_t channel) {
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adc_select_input(channel);
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// scale raw 12-bit adc value to 0 .. 1 float
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float result = float(adc_read()) / (1 << 12);
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// clamp result to 0 .. 1
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result = std::min(1.0f, std::max(0.0f, result));
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return result;
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}
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void PicoExplorer::set_motor(uint8_t channel, uint8_t action, float speed) {
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uint8_t p = channel == MOTOR1 ? MOTOR1P : MOTOR2P;
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uint8_t n = channel == MOTOR1 ? MOTOR1N : MOTOR2N;
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switch(action) {
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case FORWARD: {
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pwm_set_gpio_level(p, speed * 255);
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pwm_set_gpio_level(n, 0);
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break;
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}
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case REVERSE: {
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pwm_set_gpio_level(p, 0);
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pwm_set_gpio_level(n, speed * 255);
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break;
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}
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case STOP: {
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pwm_set_gpio_level(p, 0);
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pwm_set_gpio_level(n, 0);
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break;
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}
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}
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}
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void PicoExplorer::set_audio_pin(uint pin) {
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pwm_config tone_pwm_cfg = pwm_get_default_config();
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// calculate the pwm wrap value for this frequency
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// first we set the clock divider to give us exactly
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// ten thousand cycles per second
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pwm_config_set_clkdiv(&tone_pwm_cfg, 255);
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pwm_init(pwm_gpio_to_slice_num(pin), &tone_pwm_cfg, true);
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gpio_set_function(pin, GPIO_FUNC_PWM);
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audio_pin = pin;
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}
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void PicoExplorer::set_tone(uint16_t frequency, float duty) {
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// output a square wave, so 50% duty cycle
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if(audio_pin != -1) {
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uint16_t pwm_wrap = 490196 / frequency;
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pwm_set_wrap(audio_pin, pwm_wrap);
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pwm_set_gpio_level(audio_pin, pwm_wrap * duty);
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}
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}
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} |