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Arcron ArchLinux 2024-10-26 14:58:28 +05:30
parent 8e5462f8db
commit 05d271bcaa
102 changed files with 13692 additions and 0 deletions
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140
Arduino/Radar_pde.pde Normal file
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import processing.serial.*;
import java.awt.event.KeyEvent;
import java.io.IOException;
Serial myPort;// defubes variables
String distance="";
String data="";
String noObject;
String angle="";
float pixsDistance;
int iAngle, iDistance;
int index1=0;
int index2=0;
PFont orcFont;
void setup() {
size (1280 ,720);
smooth();
myPort = new Serial(this,"/dev/ttyACM1", 9600); // change this accordingly
myPort.bufferUntil('.'); // reads the data from the serial port up to the character ‘.’. So actually it reads this: angle,distance.
}
void draw() {
fill(98,245,31);
// simulating motion blur and slow fade of the moving line
noStroke();
fill(0,4);
rect(0, 0, width, height-height*0.065);
fill(98,245,31); // green color
// calls the functions for drawing the radar
drawRadar();
drawLine();
drawObject();
drawText();
}
void serialEvent (Serial myPort) { // starts reading data from the Serial Port
// reads the data from the Serial Port up to the character ‘.’ and puts it into the String variable “data”.
data = myPort.readStringUntil('.');
data = data.substring(0,data.length()-1);
index1 = data.indexOf(','); // find the character ‘,’ and puts it into the variable “index1”
angle= data.substring(0, index1); // read the data from position “0” to position of the variable index1 or thats the value of the angle the Arduino Board sent into the Serial Port
distance= data.substring(index1+1, data.length()); // read the data from position “index1” to the end of the data pr thats the value of the distance
// converts the String variables into Integer
iAngle = int(angle);
iDistance = int(distance);
}
void drawRadar() {
pushMatrix();
translate(width/2,height-height*0.074); // moves the starting coordinats to new location
noFill();
strokeWeight(2);
stroke(98,245,31);
// draws the arc lines
arc(0,0,(width-width*0.0625),(width-width*0.0625),PI,TWO_PI);
arc(0,0,(width-width*0.27),(width-width*0.27),PI,TWO_PI);
arc(0,0,(width-width*0.479),(width-width*0.479),PI,TWO_PI);
arc(0,0,(width-width*0.687),(width-width*0.687),PI,TWO_PI);
// draws the angle lines
line(-width/2,0,width/2,0);
line(0,0,(-width/2)*cos(radians(30)),(-width/2)*sin(radians(30)));
line(0,0,(-width/2)*cos(radians(60)),(-width/2)*sin(radians(60)));
line(0,0,(-width/2)*cos(radians(90)),(-width/2)*sin(radians(90)));
line(0,0,(-width/2)*cos(radians(120)),(-width/2)*sin(radians(120)));
line(0,0,(-width/2)*cos(radians(150)),(-width/2)*sin(radians(150)));
line((-width/2)*cos(radians(30)),0,width/2,0);
popMatrix();
}
void drawObject() {
pushMatrix();
translate(width/2,height-height*0.074); // moves the starting coordinats to new location
strokeWeight(9);
stroke(255,10,10); // red color
pixsDistance = iDistance*((height-height*0.1666)*0.025); // covers the distance from the sensor from cm to pixels
// limiting the range to 40 cms
if(iDistance<40){
// draws the object according to the angle and the distance
line(pixsDistance*cos(radians(iAngle)),-pixsDistance*sin(radians(iAngle)),(width-width*0.505)*cos(radians(iAngle)),-(width-width*0.505)*sin(radians(iAngle)));
}
popMatrix();
}
void drawLine() {
pushMatrix();
strokeWeight(9);
stroke(30,250,60);
translate(width/2,height-height*0.074); // moves the starting coordinats to new location
line(0,0,(height-height*0.12)*cos(radians(iAngle)),-(height-height*0.12)*sin(radians(iAngle))); // draws the line according to the angle
popMatrix();
}
void drawText() { // draws the texts on the screen
pushMatrix();
if(iDistance>40) {
noObject = "Out of Range";
}
else {
noObject = "In Range";
}
fill(0,0,0);
noStroke();
rect(0, height-height*0.0648, width, height);
fill(98,245,31);
textSize(25);
text("10cm",width-width*0.3854,height-height*0.0833);
text("20cm",width-width*0.281,height-height*0.0833);
text("30cm",width-width*0.177,height-height*0.0833);
text("40cm",width-width*0.0729,height-height*0.0833);
textSize(40);
text("Muhammad Rameen", width-width*0.875, height-height*0.0277);
text("Angle: " + iAngle +" °", width-width*0.48, height-height*0.0277);
text("", width-width*0.26, height-height*0.0277);
if(iDistance<40) {
text(" " + iDistance +" cm", width-width*0.225, height-height*0.0277);
}
textSize(25);
fill(98,245,60);
translate((width-width*0.4994)+width/2*cos(radians(30)),(height-height*0.0907)-width/2*sin(radians(30)));
rotate(-radians(-60));
text("30°",0,0);
resetMatrix();
translate((width-width*0.503)+width/2*cos(radians(60)),(height-height*0.0888)-width/2*sin(radians(60)));
rotate(-radians(-30));
text("60°",0,0);
resetMatrix();
translate((width-width*0.507)+width/2*cos(radians(90)),(height-height*0.0833)-width/2*sin(radians(90)));
rotate(radians(0));
text("90°",0,0);
resetMatrix();
translate(width-width*0.513+width/2*cos(radians(120)),(height-height*0.07129)-width/2*sin(radians(120)));
rotate(radians(-30));
text("120°",0,0);
resetMatrix();
translate((width-width*0.5104)+width/2*cos(radians(150)),(height-height*0.0574)-width/2*sin(radians(150)));
rotate(radians(-60));
text("150°",0,0);
popMatrix();
}

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Turn an LED on and off.

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#include <TFT.h>
void setup() {
// initialize digital pin LED_BUILTIN as an output.
pinMode(8, OUTPUT);
pinMode(12, OUTPUT);
pinMode(7, OUTPUT);
Serial.begin(9600);
}
// the loop function runs over and over again forever
void loop() {
// turn the LED on (HIGH is the voltage level)
digitalWrite(12, HIGH); // turn the LED on (HIGH is the voltage level)
delay(5000); // wait for a second
// turn the LED off by making the voltage LOW
digitalWrite(12, LOW);
delay(5000); // wait for a second
digitalWrite(8, HIGH); // turn the LED on (HIGH is the voltage level)
delay(5000); // wait for a second
// turn the LED off by making the voltage LOW
digitalWrite(8, LOW);
delay(10000); // wait for a second
digitalWrite(7, HIGH); // turn the LED on (HIGH is the voltage level)
delay(5000); // wait for a second
// turn the LED off by making the voltage LOW
digitalWrite(7, LOW);
delay(15000); // wai for a second
// turns on all the LED in the circuit
digitalWrite(12, HIGH);
digitalWrite(8, HIGH);
digitalWrite(7, HIGH);
delay(5000);
digitalWrite(12, LOW);
digitalWrite(8, LOW);
digitalWrite(7, LOW);
delay(20000);tt
}

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Demonstrates the use of analogWrite() to fade an LED.

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Arduino/fade/fade.ino Executable file
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/*
Fade
This example shows how to fade an LED on pin 9 using the analogWrite()
function.
The analogWrite() function uses PWM, so if you want to change the pin you're
using, be sure to use another PWM capable pin. On most Arduino, the PWM pins
are identified with a "~" sign, like ~3, ~5, ~6, ~9, ~10 and ~11.
This example code is in the public domain.
https://www.arduino.cc/en/Tutorial/BuiltInExamples/Fade
*/
int led1 = 11; // the PWM pin the LED is attached to
int led2 = 10;
int led3 = 9;
int brightness = 0; // how bright the LED is
int fadeAmount = 5; // how many points to fade the LED by
// the setup routine runs once when you press reset:
void setup() {
// declare pin 9 to be an output:
pinMode(led1, OUTPUT);
pinMode(led2, OUTPUT);
pinMode(led3, OUTPUT);
}
// the loop routine runs over and over again forever:
void loop() {
// set the brightness of pin 9:
analogWrite(led1, brightness);
analogWrite(led2, brightness);
analogWrite(led3, brightness);
// change the brightness for next time through the loop:
brightness = brightness + fadeAmount;
// reverse the direction of the fading at the ends of the fade:
if (brightness <= 0 || brightness >= 255) {
fadeAmount = -fadeAmount;
}
// wait for 30 milliseconds to see the dimming effect
delay(40);
}

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Arduino/libraries/Adafruit_NeoPixel/Adafruit_NeoPixel.cpp Normal file
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/*!
* @file Adafruit_NeoPixel.h
*
* This is part of Adafruit's NeoPixel library for the Arduino platform,
* allowing a broad range of microcontroller boards (most AVR boards,
* many ARM devices, ESP8266 and ESP32, among others) to control Adafruit
* NeoPixels, FLORA RGB Smart Pixels and compatible devices -- WS2811,
* WS2812, WS2812B, SK6812, etc.
*
* Adafruit invests time and resources providing this open source code,
* please support Adafruit and open-source hardware by purchasing products
* from Adafruit!
*
* Written by Phil "Paint Your Dragon" Burgess for Adafruit Industries,
* with contributions by PJRC, Michael Miller and other members of the
* open source community.
*
* This file is part of the Adafruit_NeoPixel library.
*
* Adafruit_NeoPixel is free software: you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation, either version 3 of the
* License, or (at your option) any later version.
*
* Adafruit_NeoPixel is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with NeoPixel. If not, see
* <http://www.gnu.org/licenses/>.
*
*/
#ifndef ADAFRUIT_NEOPIXEL_H
#define ADAFRUIT_NEOPIXEL_H
#ifdef ARDUINO
#if (ARDUINO >= 100)
#include <Arduino.h>
#else
#include <WProgram.h>
#include <pins_arduino.h>
#endif
#ifdef USE_TINYUSB // For Serial when selecting TinyUSB
#include <Adafruit_TinyUSB.h>
#endif
#endif
#ifdef TARGET_LPC1768
#include <Arduino.h>
#endif
#if defined(ARDUINO_ARCH_RP2040)
#include <stdlib.h>
#include "hardware/pio.h"
#include "hardware/clocks.h"
#include "rp2040_pio.h"
#endif
// The order of primary colors in the NeoPixel data stream can vary among
// device types, manufacturers and even different revisions of the same
// item. The third parameter to the Adafruit_NeoPixel constructor encodes
// the per-pixel byte offsets of the red, green and blue primaries (plus
// white, if present) in the data stream -- the following #defines provide
// an easier-to-use named version for each permutation. e.g. NEO_GRB
// indicates a NeoPixel-compatible device expecting three bytes per pixel,
// with the first byte transmitted containing the green value, second
// containing red and third containing blue. The in-memory representation
// of a chain of NeoPixels is the same as the data-stream order; no
// re-ordering of bytes is required when issuing data to the chain.
// Most of these values won't exist in real-world devices, but it's done
// this way so we're ready for it (also, if using the WS2811 driver IC,
// one might have their pixels set up in any weird permutation).
// Bits 5,4 of this value are the offset (0-3) from the first byte of a
// pixel to the location of the red color byte. Bits 3,2 are the green
// offset and 1,0 are the blue offset. If it is an RGBW-type device
// (supporting a white primary in addition to R,G,B), bits 7,6 are the
// offset to the white byte...otherwise, bits 7,6 are set to the same value
// as 5,4 (red) to indicate an RGB (not RGBW) device.
// i.e. binary representation:
// 0bWWRRGGBB for RGBW devices
// 0bRRRRGGBB for RGB
// RGB NeoPixel permutations; white and red offsets are always same
// Offset: W R G B
#define NEO_RGB ((0 << 6) | (0 << 4) | (1 << 2) | (2)) ///< Transmit as R,G,B
#define NEO_RBG ((0 << 6) | (0 << 4) | (2 << 2) | (1)) ///< Transmit as R,B,G
#define NEO_GRB ((1 << 6) | (1 << 4) | (0 << 2) | (2)) ///< Transmit as G,R,B
#define NEO_GBR ((2 << 6) | (2 << 4) | (0 << 2) | (1)) ///< Transmit as G,B,R
#define NEO_BRG ((1 << 6) | (1 << 4) | (2 << 2) | (0)) ///< Transmit as B,R,G
#define NEO_BGR ((2 << 6) | (2 << 4) | (1 << 2) | (0)) ///< Transmit as B,G,R
// RGBW NeoPixel permutations; all 4 offsets are distinct
// Offset: W R G B
#define NEO_WRGB ((0 << 6) | (1 << 4) | (2 << 2) | (3)) ///< Transmit as W,R,G,B
#define NEO_WRBG ((0 << 6) | (1 << 4) | (3 << 2) | (2)) ///< Transmit as W,R,B,G
#define NEO_WGRB ((0 << 6) | (2 << 4) | (1 << 2) | (3)) ///< Transmit as W,G,R,B
#define NEO_WGBR ((0 << 6) | (3 << 4) | (1 << 2) | (2)) ///< Transmit as W,G,B,R
#define NEO_WBRG ((0 << 6) | (2 << 4) | (3 << 2) | (1)) ///< Transmit as W,B,R,G
#define NEO_WBGR ((0 << 6) | (3 << 4) | (2 << 2) | (1)) ///< Transmit as W,B,G,R
#define NEO_RWGB ((1 << 6) | (0 << 4) | (2 << 2) | (3)) ///< Transmit as R,W,G,B
#define NEO_RWBG ((1 << 6) | (0 << 4) | (3 << 2) | (2)) ///< Transmit as R,W,B,G
#define NEO_RGWB ((2 << 6) | (0 << 4) | (1 << 2) | (3)) ///< Transmit as R,G,W,B
#define NEO_RGBW ((3 << 6) | (0 << 4) | (1 << 2) | (2)) ///< Transmit as R,G,B,W
#define NEO_RBWG ((2 << 6) | (0 << 4) | (3 << 2) | (1)) ///< Transmit as R,B,W,G
#define NEO_RBGW ((3 << 6) | (0 << 4) | (2 << 2) | (1)) ///< Transmit as R,B,G,W
#define NEO_GWRB ((1 << 6) | (2 << 4) | (0 << 2) | (3)) ///< Transmit as G,W,R,B
#define NEO_GWBR ((1 << 6) | (3 << 4) | (0 << 2) | (2)) ///< Transmit as G,W,B,R
#define NEO_GRWB ((2 << 6) | (1 << 4) | (0 << 2) | (3)) ///< Transmit as G,R,W,B
#define NEO_GRBW ((3 << 6) | (1 << 4) | (0 << 2) | (2)) ///< Transmit as G,R,B,W
#define NEO_GBWR ((2 << 6) | (3 << 4) | (0 << 2) | (1)) ///< Transmit as G,B,W,R
#define NEO_GBRW ((3 << 6) | (2 << 4) | (0 << 2) | (1)) ///< Transmit as G,B,R,W
#define NEO_BWRG ((1 << 6) | (2 << 4) | (3 << 2) | (0)) ///< Transmit as B,W,R,G
#define NEO_BWGR ((1 << 6) | (3 << 4) | (2 << 2) | (0)) ///< Transmit as B,W,G,R
#define NEO_BRWG ((2 << 6) | (1 << 4) | (3 << 2) | (0)) ///< Transmit as B,R,W,G
#define NEO_BRGW ((3 << 6) | (1 << 4) | (2 << 2) | (0)) ///< Transmit as B,R,G,W
#define NEO_BGWR ((2 << 6) | (3 << 4) | (1 << 2) | (0)) ///< Transmit as B,G,W,R
#define NEO_BGRW ((3 << 6) | (2 << 4) | (1 << 2) | (0)) ///< Transmit as B,G,R,W
// Add NEO_KHZ400 to the color order value to indicate a 400 KHz device.
// All but the earliest v1 NeoPixels expect an 800 KHz data stream, this is
// the default if unspecified. Because flash space is very limited on ATtiny
// devices (e.g. Trinket, Gemma), v1 NeoPixels aren't handled by default on
// those chips, though it can be enabled by removing the ifndef/endif below,
// but code will be bigger. Conversely, can disable the NEO_KHZ400 line on
// other MCUs to remove v1 support and save a little space.
#define NEO_KHZ800 0x0000 ///< 800 KHz data transmission
#ifndef __AVR_ATtiny85__
#define NEO_KHZ400 0x0100 ///< 400 KHz data transmission
#endif
// If 400 KHz support is enabled, the third parameter to the constructor
// requires a 16-bit value (in order to select 400 vs 800 KHz speed).
// If only 800 KHz is enabled (as is default on ATtiny), an 8-bit value
// is sufficient to encode pixel color order, saving some space.
#ifdef NEO_KHZ400
typedef uint16_t neoPixelType; ///< 3rd arg to Adafruit_NeoPixel constructor
#else
typedef uint8_t neoPixelType; ///< 3rd arg to Adafruit_NeoPixel constructor
#endif
// These two tables are declared outside the Adafruit_NeoPixel class
// because some boards may require oldschool compilers that don't
// handle the C++11 constexpr keyword.
/* A PROGMEM (flash mem) table containing 8-bit unsigned sine wave (0-255).
Copy & paste this snippet into a Python REPL to regenerate:
import math
for x in range(256):
print("{:3},".format(int((math.sin(x/128.0*math.pi)+1.0)*127.5+0.5))),
if x&15 == 15: print
*/
static const uint8_t PROGMEM _NeoPixelSineTable[256] = {
128, 131, 134, 137, 140, 143, 146, 149, 152, 155, 158, 162, 165, 167, 170,
173, 176, 179, 182, 185, 188, 190, 193, 196, 198, 201, 203, 206, 208, 211,
213, 215, 218, 220, 222, 224, 226, 228, 230, 232, 234, 235, 237, 238, 240,
241, 243, 244, 245, 246, 248, 249, 250, 250, 251, 252, 253, 253, 254, 254,
254, 255, 255, 255, 255, 255, 255, 255, 254, 254, 254, 253, 253, 252, 251,
250, 250, 249, 248, 246, 245, 244, 243, 241, 240, 238, 237, 235, 234, 232,
230, 228, 226, 224, 222, 220, 218, 215, 213, 211, 208, 206, 203, 201, 198,
196, 193, 190, 188, 185, 182, 179, 176, 173, 170, 167, 165, 162, 158, 155,
152, 149, 146, 143, 140, 137, 134, 131, 128, 124, 121, 118, 115, 112, 109,
106, 103, 100, 97, 93, 90, 88, 85, 82, 79, 76, 73, 70, 67, 65,
62, 59, 57, 54, 52, 49, 47, 44, 42, 40, 37, 35, 33, 31, 29,
27, 25, 23, 21, 20, 18, 17, 15, 14, 12, 11, 10, 9, 7, 6,
5, 5, 4, 3, 2, 2, 1, 1, 1, 0, 0, 0, 0, 0, 0,
0, 1, 1, 1, 2, 2, 3, 4, 5, 5, 6, 7, 9, 10, 11,
12, 14, 15, 17, 18, 20, 21, 23, 25, 27, 29, 31, 33, 35, 37,
40, 42, 44, 47, 49, 52, 54, 57, 59, 62, 65, 67, 70, 73, 76,
79, 82, 85, 88, 90, 93, 97, 100, 103, 106, 109, 112, 115, 118, 121,
124};
/* Similar to above, but for an 8-bit gamma-correction table.
Copy & paste this snippet into a Python REPL to regenerate:
import math
gamma=2.6
for x in range(256):
print("{:3},".format(int(math.pow((x)/255.0,gamma)*255.0+0.5))),
if x&15 == 15: print
*/
static const uint8_t PROGMEM _NeoPixelGammaTable[256] = {
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, 2, 3,
3, 3, 3, 3, 3, 4, 4, 4, 4, 5, 5, 5, 5, 5, 6,
6, 6, 6, 7, 7, 7, 8, 8, 8, 9, 9, 9, 10, 10, 10,
11, 11, 11, 12, 12, 13, 13, 13, 14, 14, 15, 15, 16, 16, 17,
17, 18, 18, 19, 19, 20, 20, 21, 21, 22, 22, 23, 24, 24, 25,
25, 26, 27, 27, 28, 29, 29, 30, 31, 31, 32, 33, 34, 34, 35,
36, 37, 38, 38, 39, 40, 41, 42, 42, 43, 44, 45, 46, 47, 48,
49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63,
64, 65, 66, 68, 69, 70, 71, 72, 73, 75, 76, 77, 78, 80, 81,
82, 84, 85, 86, 88, 89, 90, 92, 93, 94, 96, 97, 99, 100, 102,
103, 105, 106, 108, 109, 111, 112, 114, 115, 117, 119, 120, 122, 124, 125,
127, 129, 130, 132, 134, 136, 137, 139, 141, 143, 145, 146, 148, 150, 152,
154, 156, 158, 160, 162, 164, 166, 168, 170, 172, 174, 176, 178, 180, 182,
184, 186, 188, 191, 193, 195, 197, 199, 202, 204, 206, 209, 211, 213, 215,
218, 220, 223, 225, 227, 230, 232, 235, 237, 240, 242, 245, 247, 250, 252,
255};
/*!
@brief Class that stores state and functions for interacting with
Adafruit NeoPixels and compatible devices.
*/
class Adafruit_NeoPixel {
public:
// Constructor: number of LEDs, pin number, LED type
Adafruit_NeoPixel(uint16_t n, int16_t pin = 6,
neoPixelType type = NEO_GRB + NEO_KHZ800);
Adafruit_NeoPixel(void);
~Adafruit_NeoPixel();
void begin(void);
void show(void);
void setPin(int16_t p);
void setPixelColor(uint16_t n, uint8_t r, uint8_t g, uint8_t b);
void setPixelColor(uint16_t n, uint8_t r, uint8_t g, uint8_t b, uint8_t w);
void setPixelColor(uint16_t n, uint32_t c);
void fill(uint32_t c = 0, uint16_t first = 0, uint16_t count = 0);
void setBrightness(uint8_t);
void clear(void);
void updateLength(uint16_t n);
void updateType(neoPixelType t);
/*!
@brief Check whether a call to show() will start sending data
immediately or will 'block' for a required interval. NeoPixels
require a short quiet time (about 300 microseconds) after the
last bit is received before the data 'latches' and new data can
start being received. Usually one's sketch is implicitly using
this time to generate a new frame of animation...but if it
finishes very quickly, this function could be used to see if
there's some idle time available for some low-priority
concurrent task.
@return 1 or true if show() will start sending immediately, 0 or false
if show() would block (meaning some idle time is available).
*/
bool canShow(void) {
// It's normal and possible for endTime to exceed micros() if the
// 32-bit clock counter has rolled over (about every 70 minutes).
// Since both are uint32_t, a negative delta correctly maps back to
// positive space, and it would seem like the subtraction below would
// suffice. But a problem arises if code invokes show() very
// infrequently...the micros() counter may roll over MULTIPLE times in
// that interval, the delta calculation is no longer correct and the
// next update may stall for a very long time. The check below resets
// the latch counter if a rollover has occurred. This can cause an
// extra delay of up to 300 microseconds in the rare case where a
// show() call happens precisely around the rollover, but that's
// neither likely nor especially harmful, vs. other code that might
// stall for 30+ minutes, or having to document and frequently remind
// and/or provide tech support explaining an unintuitive need for
// show() calls at least once an hour.
uint32_t now = micros();
if (endTime > now) {
endTime = now;
}
return (now - endTime) >= 300L;
}
/*!
@brief Get a pointer directly to the NeoPixel data buffer in RAM.
Pixel data is stored in a device-native format (a la the NEO_*
constants) and is not translated here. Applications that access
this buffer will need to be aware of the specific data format
and handle colors appropriately.
@return Pointer to NeoPixel buffer (uint8_t* array).
@note This is for high-performance applications where calling
setPixelColor() on every single pixel would be too slow (e.g.
POV or light-painting projects). There is no bounds checking
on the array, creating tremendous potential for mayhem if one
writes past the ends of the buffer. Great power, great
responsibility and all that.
*/
uint8_t *getPixels(void) const { return pixels; };
uint8_t getBrightness(void) const;
/*!
@brief Retrieve the pin number used for NeoPixel data output.
@return Arduino pin number (-1 if not set).
*/
int16_t getPin(void) const { return pin; };
/*!
@brief Return the number of pixels in an Adafruit_NeoPixel strip object.
@return Pixel count (0 if not set).
*/
uint16_t numPixels(void) const { return numLEDs; }
uint32_t getPixelColor(uint16_t n) const;
/*!
@brief An 8-bit integer sine wave function, not directly compatible
with standard trigonometric units like radians or degrees.
@param x Input angle, 0-255; 256 would loop back to zero, completing
the circle (equivalent to 360 degrees or 2 pi radians).
One can therefore use an unsigned 8-bit variable and simply
add or subtract, allowing it to overflow/underflow and it
still does the expected contiguous thing.
@return Sine result, 0 to 255, or -128 to +127 if type-converted to
a signed int8_t, but you'll most likely want unsigned as this
output is often used for pixel brightness in animation effects.
*/
static uint8_t sine8(uint8_t x) {
return pgm_read_byte(&_NeoPixelSineTable[x]); // 0-255 in, 0-255 out
}
/*!
@brief An 8-bit gamma-correction function for basic pixel brightness
adjustment. Makes color transitions appear more perceptially
correct.
@param x Input brightness, 0 (minimum or off/black) to 255 (maximum).
@return Gamma-adjusted brightness, can then be passed to one of the
setPixelColor() functions. This uses a fixed gamma correction
exponent of 2.6, which seems reasonably okay for average
NeoPixels in average tasks. If you need finer control you'll
need to provide your own gamma-correction function instead.
*/
static uint8_t gamma8(uint8_t x) {
return pgm_read_byte(&_NeoPixelGammaTable[x]); // 0-255 in, 0-255 out
}
/*!
@brief Convert separate red, green and blue values into a single
"packed" 32-bit RGB color.
@param r Red brightness, 0 to 255.
@param g Green brightness, 0 to 255.
@param b Blue brightness, 0 to 255.
@return 32-bit packed RGB value, which can then be assigned to a
variable for later use or passed to the setPixelColor()
function. Packed RGB format is predictable, regardless of
LED strand color order.
*/
static uint32_t Color(uint8_t r, uint8_t g, uint8_t b) {
return ((uint32_t)r << 16) | ((uint32_t)g << 8) | b;
}
/*!
@brief Convert separate red, green, blue and white values into a
single "packed" 32-bit WRGB color.
@param r Red brightness, 0 to 255.
@param g Green brightness, 0 to 255.
@param b Blue brightness, 0 to 255.
@param w White brightness, 0 to 255.
@return 32-bit packed WRGB value, which can then be assigned to a
variable for later use or passed to the setPixelColor()
function. Packed WRGB format is predictable, regardless of
LED strand color order.
*/
static uint32_t Color(uint8_t r, uint8_t g, uint8_t b, uint8_t w) {
return ((uint32_t)w << 24) | ((uint32_t)r << 16) | ((uint32_t)g << 8) | b;
}
static uint32_t ColorHSV(uint16_t hue, uint8_t sat = 255, uint8_t val = 255);
/*!
@brief A gamma-correction function for 32-bit packed RGB or WRGB
colors. Makes color transitions appear more perceptially
correct.
@param x 32-bit packed RGB or WRGB color.
@return Gamma-adjusted packed color, can then be passed in one of the
setPixelColor() functions. Like gamma8(), this uses a fixed
gamma correction exponent of 2.6, which seems reasonably okay
for average NeoPixels in average tasks. If you need finer
control you'll need to provide your own gamma-correction
function instead.
*/
static uint32_t gamma32(uint32_t x);
void rainbow(uint16_t first_hue = 0, int8_t reps = 1,
uint8_t saturation = 255, uint8_t brightness = 255,
bool gammify = true);
static neoPixelType str2order(const char *v);
private:
#if defined(ARDUINO_ARCH_RP2040)
void rp2040Init(uint8_t pin, bool is800KHz);
void rp2040Show(uint8_t pin, uint8_t *pixels, uint32_t numBytes, bool is800KHz);
#endif
protected:
#ifdef NEO_KHZ400 // If 400 KHz NeoPixel support enabled...
bool is800KHz; ///< true if 800 KHz pixels
#endif
bool begun; ///< true if begin() previously called
uint16_t numLEDs; ///< Number of RGB LEDs in strip
uint16_t numBytes; ///< Size of 'pixels' buffer below
int16_t pin; ///< Output pin number (-1 if not yet set)
uint8_t brightness; ///< Strip brightness 0-255 (stored as +1)
uint8_t *pixels; ///< Holds LED color values (3 or 4 bytes each)
uint8_t rOffset; ///< Red index within each 3- or 4-byte pixel
uint8_t gOffset; ///< Index of green byte
uint8_t bOffset; ///< Index of blue byte
uint8_t wOffset; ///< Index of white (==rOffset if no white)
uint32_t endTime; ///< Latch timing reference
#ifdef __AVR__
volatile uint8_t *port; ///< Output PORT register
uint8_t pinMask; ///< Output PORT bitmask
#endif
#if defined(ARDUINO_ARCH_STM32) || defined(ARDUINO_ARCH_ARDUINO_CORE_STM32) || defined(ARDUINO_ARCH_CH32)
GPIO_TypeDef *gpioPort; ///< Output GPIO PORT
uint32_t gpioPin; ///< Output GPIO PIN
#endif
#if defined(ARDUINO_ARCH_RP2040)
PIO pio = pio0;
int sm = 0;
bool init = true;
#endif
};
#endif // ADAFRUIT_NEOPIXEL_H

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# Contribution Guidelines
This library is the culmination of the expertise of many members of the open source community who have dedicated their time and hard work. The best way to ask for help or propose a new idea is to [create a new issue](https://github.com/adafruit/Adafruit_NeoPixel/issues/new) while creating a Pull Request with your code changes allows you to share your own innovations with the rest of the community.
The following are some guidelines to observe when creating issues or PRs:
- Be friendly; it is important that we can all enjoy a safe space as we are all working on the same project and it is okay for people to have different ideas
- [Use code blocks](https://github.com/adam-p/markdown-here/wiki/Markdown-Cheatsheet#code); it helps us help you when we can read your code! On that note also refrain from pasting more than 30 lines of code in a post, instead [create a gist](https://gist.github.com/) if you need to share large snippets
- Use reasonable titles; refrain from using overly long or capitalized titles as they are usually annoying and do little to encourage others to help :smile:
- Be detailed; refrain from mentioning code problems without sharing your source code and always give information regarding your board and version of the library

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GNU LESSER GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
This version of the GNU Lesser General Public License incorporates
the terms and conditions of version 3 of the GNU General Public
License, supplemented by the additional permissions listed below.
0. Additional Definitions.
As used herein, "this License" refers to version 3 of the GNU Lesser
General Public License, and the "GNU GPL" refers to version 3 of the GNU
General Public License.
"The Library" refers to a covered work governed by this License,
other than an Application or a Combined Work as defined below.
An "Application" is any work that makes use of an interface provided
by the Library, but which is not otherwise based on the Library.
Defining a subclass of a class defined by the Library is deemed a mode
of using an interface provided by the Library.
A "Combined Work" is a work produced by combining or linking an
Application with the Library. The particular version of the Library
with which the Combined Work was made is also called the "Linked
Version".
The "Minimal Corresponding Source" for a Combined Work means the
Corresponding Source for the Combined Work, excluding any source code
for portions of the Combined Work that, considered in isolation, are
based on the Application, and not on the Linked Version.
The "Corresponding Application Code" for a Combined Work means the
object code and/or source code for the Application, including any data
and utility programs needed for reproducing the Combined Work from the
Application, but excluding the System Libraries of the Combined Work.
1. Exception to Section 3 of the GNU GPL.
You may convey a covered work under sections 3 and 4 of this License
without being bound by section 3 of the GNU GPL.
2. Conveying Modified Versions.
If you modify a copy of the Library, and, in your modifications, a
facility refers to a function or data to be supplied by an Application
that uses the facility (other than as an argument passed when the
facility is invoked), then you may convey a copy of the modified
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a) under this License, provided that you make a good faith effort to
ensure that, in the event an Application does not supply the
function or data, the facility still operates, and performs
whatever part of its purpose remains meaningful, or
b) under the GNU GPL, with none of the additional permissions of
this License applicable to that copy.
3. Object Code Incorporating Material from Library Header Files.
The object code form of an Application may incorporate material from
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a) Give prominent notice with each copy of the object code that the
Library is used in it and that the Library and its use are
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document.
4. Combined Works.
You may convey a Combined Work under terms of your choice that,
taken together, effectively do not restrict modification of the
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engineering for debugging such modifications, if you also do each of
the following:
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these notices, as well as a reference directing the user to the
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d) Do one of the following:
0) Convey the Minimal Corresponding Source under the terms of this
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Corresponding Source.
1) Use a suitable shared library mechanism for linking with the
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5. Combined Libraries.
You may place library facilities that are a work based on the
Library side by side in a single library together with other library
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choice, if you do both of the following:
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conveyed under the terms of this License.
b) Give prominent notice with the combined library that part of it
is a work based on the Library, and explaining where to find the
accompanying uncombined form of the same work.
6. Revised Versions of the GNU Lesser General Public License.
The Free Software Foundation may publish revised and/or new versions
of the GNU Lesser General Public License from time to time. Such new
versions will be similar in spirit to the present version, but may
differ in detail to address new problems or concerns.
Each version is given a distinguishing version number. If the
Library as you received it specifies that a certain numbered version
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Library.

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# Adafruit NeoPixel Library [![Build Status](https://github.com/adafruit/Adafruit_NeoPixel/workflows/Arduino%20Library%20CI/badge.svg)](https://github.com/adafruit/Adafruit_NeoPixel/actions)[![Documentation](https://github.com/adafruit/ci-arduino/blob/master/assets/doxygen_badge.svg)](http://adafruit.github.io/Adafruit_NeoPixel/html/index.html)
Arduino library for controlling single-wire-based LED pixels and strip such as the [Adafruit 60 LED/meter Digital LED strip][strip], the [Adafruit FLORA RGB Smart Pixel][flora], the [Adafruit Breadboard-friendly RGB Smart Pixel][pixel], the [Adafruit NeoPixel Stick][stick], and the [Adafruit NeoPixel Shield][shield].
After downloading, rename folder to 'Adafruit_NeoPixel' and install in Arduino Libraries folder. Restart Arduino IDE, then open File->Sketchbook->Library->Adafruit_NeoPixel->strandtest sketch.
Compatibility notes: Port A is not supported on any AVR processors at this time
[flora]: http://adafruit.com/products/1060
[strip]: http://adafruit.com/products/1138
[pixel]: http://adafruit.com/products/1312
[stick]: http://adafruit.com/products/1426
[shield]: http://adafruit.com/products/1430
---
## Installation
### First Method
![image](https://user-images.githubusercontent.com/36513474/68967967-3e37f480-0803-11ea-91d9-601848c306ee.png)
1. In the Arduino IDE, navigate to Sketch > Include Library > Manage Libraries
1. Then the Library Manager will open and you will find a list of libraries that are already installed or ready for installation.
1. Then search for Neopixel strip using the search bar.
1. Click on the text area and then select the specific version and install it.
### Second Method
1. Navigate to the [Releases page](https://github.com/adafruit/Adafruit_NeoPixel/releases).
1. Download the latest release.
1. Extract the zip file
1. In the Arduino IDE, navigate to Sketch > Include Library > Add .ZIP Library
## Features
- ### Simple to use
Controlling NeoPixels “from scratch” is quite a challenge, so we provide a library letting you focus on the fun and interesting bits.
- ### Give back
The library is free; you don’t have to pay for anything. Adafruit invests time and resources providing this open source code, please support Adafruit and open-source hardware by purchasing products from Adafruit!
- ### Supported Chipsets
We have included code for the following chips - sometimes these break for exciting reasons that we can't control in which case please open an issue!
- AVR ATmega and ATtiny (any 8-bit) - 8 MHz, 12 MHz and 16 MHz
- Teensy 3.x and LC
- Arduino Due
- Arduino 101
- ATSAMD21 (Arduino Zero/M0 and other SAMD21 boards) @ 48 MHz
- ATSAMD51 @ 120 MHz
- Adafruit STM32 Feather @ 120 MHz
- ESP8266 any speed
- ESP32 any speed
- Nordic nRF52 (Adafruit Feather nRF52), nRF51 (micro:bit)
- Infineon XMC1100 BootKit @ 32 MHz
- Infineon XMC1100 2Go @ 32 MHz
- Infineon XMC1300 BootKit @ 32 MHz
- Infineon XMC4700 RelaxKit, XMC4800 RelaxKit, XMC4800 IoT Amazon FreeRTOS Kit @ 144 MHz
Check forks for other architectures not listed here!
- ### GNU Lesser General Public License
Adafruit_NeoPixel is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
## Functions
- begin()
- updateLength()
- updateType()
- show()
- delay_ns()
- setPin()
- setPixelColor()
- fill()
- ColorHSV()
- getPixelColor()
- setBrightness()
- getBrightness()
- clear()
- gamma32()
## Examples
There are many examples implemented in this library. One of the examples is below. You can find other examples [here](https://github.com/adafruit/Adafruit_NeoPixel/tree/master/examples)
### Simple
```Cpp
#include <Adafruit_NeoPixel.h>
#ifdef __AVR__
#include <avr/power.h>
#endif
#define PIN 6
#define NUMPIXELS 16
Adafruit_NeoPixel pixels(NUMPIXELS, PIN, NEO_GRB + NEO_KHZ800);
#define DELAYVAL 500
void setup() {
#if defined(__AVR_ATtiny85__) && (F_CPU == 16000000)
clock_prescale_set(clock_div_1);
#endif
pixels.begin();
}
void loop() {
pixels.clear();
for(int i=0; i<NUMPIXELS; i++) {
pixels.setPixelColor(i, pixels.Color(0, 150, 0));
pixels.show();
delay(DELAYVAL);
}
}
```
## Contributing
If you want to contribute to this project:
- Report bugs and errors
- Ask for enhancements
- Create issues and pull requests
- Tell others about this library
- Contribute new protocols
Please read [CONTRIBUTING.md](https://github.com/adafruit/Adafruit_NeoPixel/blob/master/CONTRIBUTING.md) for details on our code of conduct, and the process for submitting pull requests to us.
### Roadmap
The PRIME DIRECTIVE is to maintain backward compatibility with existing Arduino sketches -- many are hosted elsewhere and don't track changes here, some are in print and can never be changed!
Please don't reformat code for the sake of reformatting code. The resulting large "visual diff" makes it impossible to untangle actual bug fixes from merely rearranged lines. Also, don't bother with PRs for timing adjustments "to better match the datasheet," because the datasheet isn't really true to begin with.
Things I'd Like To Do But There's No Official Timeline So Please Don't Count On Any Of This Ever Being Canonical:
- 400 KHz support can be removed, turns out it was never actually necessary; even the earliest NeoPixels can ingest 800 KHz data. Of course the #defines should remain so old sketches still compile, but both can be set to 0 and would have no effect on anything.
- For the show() function (with all the delicate pixel timing stuff), break out each architecture into separate source files rather than the current unmaintainable tangle of #ifdef statements!
- Please don't use updateLength() or updateType() in new code. They should not have been implemented this way (use the C++ 'new' operator with the regular constructor instead) and are only sticking around because of the Prime Directive. setPin() is OK for now though, it's a trick we can use to 'recycle' pixel memory across multiple strips.
- In the M0 and M4 code, use the hardware systick counter for bit timing rather than hand-tweaked NOPs (a temporary kludge at the time because I wasn't reading systick correctly). (As of 1.4.2, systick is used on M4 devices and it appears to be overclock-compatible. Not for M0 yet, which is why this item is still here.)
- As currently written, brightness scaling is still a "destructive" operation -- pixel values are altered in RAM and the original value as set can't be accurately read back, only approximated, which has been confusing and frustrating to users. It was done this way at the time because NeoPixel timing is strict, AVR microcontrollers (all we had at the time) are limited, and assembly language is hard. All the 32-bit architectures should have no problem handling nondestructive brightness scaling -- calculating each byte immediately before it's sent out the wire, maintaining the original set value in RAM -- the work just hasn't been done. There's a fair chance even the AVR code could manage it with some intense focus. (The DotStar library achieves nondestructive brightness scaling because it doesn't have to manage data timing so carefully...every architecture, even ATtiny, just takes whatever cycles it needs for the multiply/shift operations.)
## Credits
This library is written by Phil "Paint Your Dragon" Burgess for Adafruit Industries, with contributions by PJRC, Michael Miller and other members of the open source community.
## License
Adafruit_NeoPixel is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
Adafruit_NeoPixel is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the [GNU Lesser General Public License](https://www.gnu.org/licenses/lgpl-3.0.en.html) for more details.
You should have received a copy of the GNU Lesser General Public License along with NeoPixel. If not, see [this](https://www.gnu.org/licenses/)

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// Implements the RMT peripheral on Espressif SoCs
// Copyright (c) 2020 Lucian Copeland for Adafruit Industries
/* Uses code from Espressif RGB LED Strip demo and drivers
* Copyright 2015-2020 Espressif Systems (Shanghai) PTE LTD
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#if defined(ESP32)
#include <Arduino.h>
#if defined(ESP_IDF_VERSION)
#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(4, 0, 0)
#define HAS_ESP_IDF_4
#endif
#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 0, 0)
#define HAS_ESP_IDF_5
#endif
#endif
#ifdef HAS_ESP_IDF_5
void espShow(uint8_t pin, uint8_t *pixels, uint32_t numBytes, boolean is800KHz) {
rmt_data_t led_data[numBytes * 8];
if (!rmtInit(pin, RMT_TX_MODE, RMT_MEM_NUM_BLOCKS_1, 10000000)) {
log_e("Failed to init RMT TX mode on pin %d", pin);
return;
}
int i=0;
for (int b=0; b < numBytes; b++) {
for (int bit=0; bit<8; bit++){
if ( pixels[b] & (1<<(7-bit)) ) {
led_data[i].level0 = 1;
led_data[i].duration0 = 8;
led_data[i].level1 = 0;
led_data[i].duration1 = 4;
} else {
led_data[i].level0 = 1;
led_data[i].duration0 = 4;
led_data[i].level1 = 0;
led_data[i].duration1 = 8;
}
i++;
}
}
//pinMode(pin, OUTPUT); // don't do this, will cause the rmt to disable!
rmtWrite(pin, led_data, numBytes * 8, RMT_WAIT_FOR_EVER);
}
#else
#include "driver/rmt.h"
// This code is adapted from the ESP-IDF v3.4 RMT "led_strip" example, altered
// to work with the Arduino version of the ESP-IDF (3.2)
#define WS2812_T0H_NS (400)
#define WS2812_T0L_NS (850)
#define WS2812_T1H_NS (800)
#define WS2812_T1L_NS (450)
#define WS2811_T0H_NS (500)
#define WS2811_T0L_NS (2000)
#define WS2811_T1H_NS (1200)
#define WS2811_T1L_NS (1300)
static uint32_t t0h_ticks = 0;
static uint32_t t1h_ticks = 0;
static uint32_t t0l_ticks = 0;
static uint32_t t1l_ticks = 0;
// Limit the number of RMT channels available for the Neopixels. Defaults to all
// channels (8 on ESP32, 4 on ESP32-S2 and S3). Redefining this value will free
// any channels with a higher number for other uses, such as IR send-and-recieve
// libraries. Redefine as 1 to restrict Neopixels to only a single channel.
#define ADAFRUIT_RMT_CHANNEL_MAX RMT_CHANNEL_MAX
#define RMT_LL_HW_BASE (&RMT)
bool rmt_reserved_channels[ADAFRUIT_RMT_CHANNEL_MAX];
static void IRAM_ATTR ws2812_rmt_adapter(const void *src, rmt_item32_t *dest, size_t src_size,
size_t wanted_num, size_t *translated_size, size_t *item_num)
{
if (src == NULL || dest == NULL) {
*translated_size = 0;
*item_num = 0;
return;
}
const rmt_item32_t bit0 = {{{ t0h_ticks, 1, t0l_ticks, 0 }}}; //Logical 0
const rmt_item32_t bit1 = {{{ t1h_ticks, 1, t1l_ticks, 0 }}}; //Logical 1
size_t size = 0;
size_t num = 0;
uint8_t *psrc = (uint8_t *)src;
rmt_item32_t *pdest = dest;
while (size < src_size && num < wanted_num) {
for (int i = 0; i < 8; i++) {
// MSB first
if (*psrc & (1 << (7 - i))) {
pdest->val = bit1.val;
} else {
pdest->val = bit0.val;
}
num++;
pdest++;
}
size++;
psrc++;
}
*translated_size = size;
*item_num = num;
}
void espShow(uint8_t pin, uint8_t *pixels, uint32_t numBytes, boolean is800KHz) {
// Reserve channel
rmt_channel_t channel = ADAFRUIT_RMT_CHANNEL_MAX;
for (size_t i = 0; i < ADAFRUIT_RMT_CHANNEL_MAX; i++) {
if (!rmt_reserved_channels[i]) {
rmt_reserved_channels[i] = true;
channel = i;
break;
}
}
if (channel == ADAFRUIT_RMT_CHANNEL_MAX) {
// Ran out of channels!
return;
}
#if defined(HAS_ESP_IDF_4)
rmt_config_t config = RMT_DEFAULT_CONFIG_TX(pin, channel);
config.clk_div = 2;
#else
// Match default TX config from ESP-IDF version 3.4
rmt_config_t config = {
.rmt_mode = RMT_MODE_TX,
.channel = channel,
.gpio_num = pin,
.clk_div = 2,
.mem_block_num = 1,
.tx_config = {
.carrier_freq_hz = 38000,
.carrier_level = RMT_CARRIER_LEVEL_HIGH,
.idle_level = RMT_IDLE_LEVEL_LOW,
.carrier_duty_percent = 33,
.carrier_en = false,
.loop_en = false,
.idle_output_en = true,
}
};
#endif
rmt_config(&config);
rmt_driver_install(config.channel, 0, 0);
// Convert NS timings to ticks
uint32_t counter_clk_hz = 0;
#if defined(HAS_ESP_IDF_4)
rmt_get_counter_clock(channel, &counter_clk_hz);
#else
// this emulates the rmt_get_counter_clock() function from ESP-IDF 3.4
if (RMT_LL_HW_BASE->conf_ch[config.channel].conf1.ref_always_on == RMT_BASECLK_REF) {
uint32_t div_cnt = RMT_LL_HW_BASE->conf_ch[config.channel].conf0.div_cnt;
uint32_t div = div_cnt == 0 ? 256 : div_cnt;
counter_clk_hz = REF_CLK_FREQ / (div);
} else {
uint32_t div_cnt = RMT_LL_HW_BASE->conf_ch[config.channel].conf0.div_cnt;
uint32_t div = div_cnt == 0 ? 256 : div_cnt;
counter_clk_hz = APB_CLK_FREQ / (div);
}
#endif
// NS to tick converter
float ratio = (float)counter_clk_hz / 1e9;
if (is800KHz) {
t0h_ticks = (uint32_t)(ratio * WS2812_T0H_NS);
t0l_ticks = (uint32_t)(ratio * WS2812_T0L_NS);
t1h_ticks = (uint32_t)(ratio * WS2812_T1H_NS);
t1l_ticks = (uint32_t)(ratio * WS2812_T1L_NS);
} else {
t0h_ticks = (uint32_t)(ratio * WS2811_T0H_NS);
t0l_ticks = (uint32_t)(ratio * WS2811_T0L_NS);
t1h_ticks = (uint32_t)(ratio * WS2811_T1H_NS);
t1l_ticks = (uint32_t)(ratio * WS2811_T1L_NS);
}
// Initialize automatic timing translator
rmt_translator_init(config.channel, ws2812_rmt_adapter);
// Write and wait to finish
rmt_write_sample(config.channel, pixels, (size_t)numBytes, true);
rmt_wait_tx_done(config.channel, pdMS_TO_TICKS(100));
// Free channel again
rmt_driver_uninstall(config.channel);
rmt_reserved_channels[channel] = false;
gpio_set_direction(pin, GPIO_MODE_OUTPUT);
}
#endif // ifndef IDF5
#endif // ifdef(ESP32)

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// This is a mash-up of the Due show() code + insights from Michael Miller's
// ESP8266 work for the NeoPixelBus library: github.com/Makuna/NeoPixelBus
// Needs to be a separate .c file to enforce ICACHE_RAM_ATTR execution.
#if defined(ESP8266)
#include <Arduino.h>
#ifdef ESP8266
#include <eagle_soc.h>
#endif
static uint32_t _getCycleCount(void) __attribute__((always_inline));
static inline uint32_t _getCycleCount(void) {
uint32_t ccount;
__asm__ __volatile__("rsr %0,ccount":"=a" (ccount));
return ccount;
}
#ifdef ESP8266
IRAM_ATTR void espShow(
uint8_t pin, uint8_t *pixels, uint32_t numBytes, __attribute__((unused)) boolean is800KHz) {
#else
void espShow(
uint8_t pin, uint8_t *pixels, uint32_t numBytes, boolean is800KHz) {
#endif
#define CYCLES_800_T0H (F_CPU / 2500001) // 0.4us
#define CYCLES_800_T1H (F_CPU / 1250001) // 0.8us
#define CYCLES_800 (F_CPU / 800001) // 1.25us per bit
#define CYCLES_400_T0H (F_CPU / 2000000) // 0.5uS
#define CYCLES_400_T1H (F_CPU / 833333) // 1.2us
#define CYCLES_400 (F_CPU / 400000) // 2.5us per bit
uint8_t *p, *end, pix, mask;
uint32_t t, time0, time1, period, c, startTime;
#ifdef ESP8266
uint32_t pinMask;
pinMask = _BV(pin);
#endif
p = pixels;
end = p + numBytes;
pix = *p++;
mask = 0x80;
startTime = 0;
#ifdef NEO_KHZ400
if(is800KHz) {
#endif
time0 = CYCLES_800_T0H;
time1 = CYCLES_800_T1H;
period = CYCLES_800;
#ifdef NEO_KHZ400
} else { // 400 KHz bitstream
time0 = CYCLES_400_T0H;
time1 = CYCLES_400_T1H;
period = CYCLES_400;
}
#endif
for(t = time0;; t = time0) {
if(pix & mask) t = time1; // Bit high duration
while(((c = _getCycleCount()) - startTime) < period); // Wait for bit start
#ifdef ESP8266
GPIO_REG_WRITE(GPIO_OUT_W1TS_ADDRESS, pinMask); // Set high
#else
gpio_set_level(pin, HIGH);
#endif
startTime = c; // Save start time
while(((c = _getCycleCount()) - startTime) < t); // Wait high duration
#ifdef ESP8266
GPIO_REG_WRITE(GPIO_OUT_W1TC_ADDRESS, pinMask); // Set low
#else
gpio_set_level(pin, LOW);
#endif
if(!(mask >>= 1)) { // Next bit/byte
if(p >= end) break;
pix = *p++;
mask = 0x80;
}
}
while((_getCycleCount() - startTime) < period); // Wait for last bit
}
#endif // ESP8266

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// NeoPixel test program showing use of the WHITE channel for RGBW
// pixels only (won't look correct on regular RGB NeoPixel strips).
#include <Adafruit_NeoPixel.h>
#ifdef __AVR__
#include <avr/power.h> // Required for 16 MHz Adafruit Trinket
#endif
// Which pin on the Arduino is connected to the NeoPixels?
// On a Trinket or Gemma we suggest changing this to 1:
#define LED_PIN 6
// How many NeoPixels are attached to the Arduino?
#define LED_COUNT 60
// NeoPixel brightness, 0 (min) to 255 (max)
#define BRIGHTNESS 50 // Set BRIGHTNESS to about 1/5 (max = 255)
// Declare our NeoPixel strip object:
Adafruit_NeoPixel strip(LED_COUNT, LED_PIN, NEO_GRBW + NEO_KHZ800);
// Argument 1 = Number of pixels in NeoPixel strip
// Argument 2 = Arduino pin number (most are valid)
// Argument 3 = Pixel type flags, add together as needed:
// NEO_KHZ800 800 KHz bitstream (most NeoPixel products w/WS2812 LEDs)
// NEO_KHZ400 400 KHz (classic 'v1' (not v2) FLORA pixels, WS2811 drivers)
// NEO_GRB Pixels are wired for GRB bitstream (most NeoPixel products)
// NEO_RGB Pixels are wired for RGB bitstream (v1 FLORA pixels, not v2)
// NEO_RGBW Pixels are wired for RGBW bitstream (NeoPixel RGBW products)
void setup() {
// These lines are specifically to support the Adafruit Trinket 5V 16 MHz.
// Any other board, you can remove this part (but no harm leaving it):
#if defined(__AVR_ATtiny85__) && (F_CPU == 16000000)
clock_prescale_set(clock_div_1);
#endif
// END of Trinket-specific code.
strip.begin(); // INITIALIZE NeoPixel strip object (REQUIRED)
strip.show(); // Turn OFF all pixels ASAP
strip.setBrightness(BRIGHTNESS);
}
void loop() {
// Fill along the length of the strip in various colors...
colorWipe(strip.Color(255, 0, 0) , 50); // Red
colorWipe(strip.Color( 0, 255, 0) , 50); // Green
colorWipe(strip.Color( 0, 0, 255) , 50); // Blue
colorWipe(strip.Color( 0, 0, 0, 255), 50); // True white (not RGB white)
whiteOverRainbow(75, 5);
pulseWhite(5);
rainbowFade2White(3, 3, 1);
}
// Fill strip pixels one after another with a color. Strip is NOT cleared
// first; anything there will be covered pixel by pixel. Pass in color
// (as a single 'packed' 32-bit value, which you can get by calling
// strip.Color(red, green, blue) as shown in the loop() function above),
// and a delay time (in milliseconds) between pixels.
void colorWipe(uint32_t color, int wait) {
for(int i=0; i<strip.numPixels(); i++) { // For each pixel in strip...
strip.setPixelColor(i, color); // Set pixel's color (in RAM)
strip.show(); // Update strip to match
delay(wait); // Pause for a moment
}
}
void whiteOverRainbow(int whiteSpeed, int whiteLength) {
if(whiteLength >= strip.numPixels()) whiteLength = strip.numPixels() - 1;
int head = whiteLength - 1;
int tail = 0;
int loops = 3;
int loopNum = 0;
uint32_t lastTime = millis();
uint32_t firstPixelHue = 0;
for(;;) { // Repeat forever (or until a 'break' or 'return')
for(int i=0; i<strip.numPixels(); i++) { // For each pixel in strip...
if(((i >= tail) && (i <= head)) || // If between head & tail...
((tail > head) && ((i >= tail) || (i <= head)))) {
strip.setPixelColor(i, strip.Color(0, 0, 0, 255)); // Set white
} else { // else set rainbow
int pixelHue = firstPixelHue + (i * 65536L / strip.numPixels());
strip.setPixelColor(i, strip.gamma32(strip.ColorHSV(pixelHue)));
}
}
strip.show(); // Update strip with new contents
// There's no delay here, it just runs full-tilt until the timer and
// counter combination below runs out.
firstPixelHue += 40; // Advance just a little along the color wheel
if((millis() - lastTime) > whiteSpeed) { // Time to update head/tail?
if(++head >= strip.numPixels()) { // Advance head, wrap around
head = 0;
if(++loopNum >= loops) return;
}
if(++tail >= strip.numPixels()) { // Advance tail, wrap around
tail = 0;
}
lastTime = millis(); // Save time of last movement
}
}
}
void pulseWhite(uint8_t wait) {
for(int j=0; j<256; j++) { // Ramp up from 0 to 255
// Fill entire strip with white at gamma-corrected brightness level 'j':
strip.fill(strip.Color(0, 0, 0, strip.gamma8(j)));
strip.show();
delay(wait);
}
for(int j=255; j>=0; j--) { // Ramp down from 255 to 0
strip.fill(strip.Color(0, 0, 0, strip.gamma8(j)));
strip.show();
delay(wait);
}
}
void rainbowFade2White(int wait, int rainbowLoops, int whiteLoops) {
int fadeVal=0, fadeMax=100;
// Hue of first pixel runs 'rainbowLoops' complete loops through the color
// wheel. Color wheel has a range of 65536 but it's OK if we roll over, so
// just count from 0 to rainbowLoops*65536, using steps of 256 so we
// advance around the wheel at a decent clip.
for(uint32_t firstPixelHue = 0; firstPixelHue < rainbowLoops*65536;
firstPixelHue += 256) {
for(int i=0; i<strip.numPixels(); i++) { // For each pixel in strip...
// Offset pixel hue by an amount to make one full revolution of the
// color wheel (range of 65536) along the length of the strip
// (strip.numPixels() steps):
uint32_t pixelHue = firstPixelHue + (i * 65536L / strip.numPixels());
// strip.ColorHSV() can take 1 or 3 arguments: a hue (0 to 65535) or
// optionally add saturation and value (brightness) (each 0 to 255).
// Here we're using just the three-argument variant, though the
// second value (saturation) is a constant 255.
strip.setPixelColor(i, strip.gamma32(strip.ColorHSV(pixelHue, 255,
255 * fadeVal / fadeMax)));
}
strip.show();
delay(wait);
if(firstPixelHue < 65536) { // First loop,
if(fadeVal < fadeMax) fadeVal++; // fade in
} else if(firstPixelHue >= ((rainbowLoops-1) * 65536)) { // Last loop,
if(fadeVal > 0) fadeVal--; // fade out
} else {
fadeVal = fadeMax; // Interim loop, make sure fade is at max
}
}
for(int k=0; k<whiteLoops; k++) {
for(int j=0; j<256; j++) { // Ramp up 0 to 255
// Fill entire strip with white at gamma-corrected brightness level 'j':
strip.fill(strip.Color(0, 0, 0, strip.gamma8(j)));
strip.show();
}
delay(1000); // Pause 1 second
for(int j=255; j>=0; j--) { // Ramp down 255 to 0
strip.fill(strip.Color(0, 0, 0, strip.gamma8(j)));
strip.show();
}
}
delay(500); // Pause 1/2 second
}

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/****************************************************************************
* This example is based on StrandtestBLE example and adapts it to use
* the new ArduinoBLE library.
*
* https://github.com/arduino-libraries/ArduinoBLE
*
* Supported boards:
* Arduino MKR WiFi 1010, Arduino Uno WiFi Rev2 board, Arduino Nano 33 IoT,
Arduino Nano 33 BLE, or Arduino Nano 33 BLE Sense board.
*
* You can use a generic BLE central app, like LightBlue (iOS and Android) or
* nRF Connect (Android), to interact with the services and characteristics
* created in this sketch.
*
* This example code is in the public domain.
*
*/
#include <Adafruit_NeoPixel.h>
#define PIN 15 // Pin where NeoPixels are connected
// Declare our NeoPixel strip object:
Adafruit_NeoPixel strip(64, PIN, NEO_GRB + NEO_KHZ800);
// Argument 1 = Number of pixels in NeoPixel strip
// Argument 2 = Arduino pin number (most are valid)
// Argument 3 = Pixel type flags, add together as needed:
// NEO_KHZ800 800 KHz bitstream (most NeoPixel products w/WS2812 LEDs)
// NEO_KHZ400 400 KHz (classic 'v1' (not v2) FLORA pixels, WS2811 drivers)
// NEO_GRB Pixels are wired for GRB bitstream (most NeoPixel products)
// NEO_RGB Pixels are wired for RGB bitstream (v1 FLORA pixels, not v2)
// NEO_RGBW Pixels are wired for RGBW bitstream (NeoPixel RGBW products)
// NEOPIXEL BEST PRACTICES for most reliable operation:
// - Add 1000 uF CAPACITOR between NeoPixel strip's + and - connections.
// - MINIMIZE WIRING LENGTH between microcontroller board and first pixel.
// - NeoPixel strip's DATA-IN should pass through a 300-500 OHM RESISTOR.
// - AVOID connecting NeoPixels on a LIVE CIRCUIT. If you must, ALWAYS
// connect GROUND (-) first, then +, then data.
// - When using a 3.3V microcontroller with a 5V-powered NeoPixel strip,
// a LOGIC-LEVEL CONVERTER on the data line is STRONGLY RECOMMENDED.
// (Skipping these may work OK on your workbench but can fail in the field)
uint8_t rgb_values[3];
#include <ArduinoBLE.h>
BLEService ledService("19B10000-E8F2-537E-4F6C-D104768A1214"); // BLE LED Service
// BLE LED Switch Characteristic - custom 128-bit UUID, read and writable by central
BLEByteCharacteristic switchCharacteristic("19B10001-E8F2-537E-4F6C-D104768A1214", BLERead | BLEWrite);
void setup()
{
Serial.begin(115200);
Serial.println("Hello World!");
// custom services and characteristics can be added as well
// begin initialization
if (!BLE.begin())
{
Serial.println("starting BLE failed!");
while (1)
;
}
Serial.print("Peripheral address: ");
Serial.println(BLE.address());
// set advertised local name and service UUID:
BLE.setLocalName("LED");
BLE.setAdvertisedService(ledService);
// add the characteristic to the service
ledService.addCharacteristic(switchCharacteristic);
// add service
BLE.addService(ledService);
// set the initial value for the characeristic:
switchCharacteristic.writeValue(0);
// start advertising
BLE.advertise();
strip.begin(); // INITIALIZE NeoPixel strip object (REQUIRED)
strip.show(); // Turn OFF all pixels ASAP
pinMode(PIN, OUTPUT);
digitalWrite(PIN, LOW);
}
void loop()
{
BLEDevice central = BLE.central();
// if a central is connected to peripheral:
if (central)
{
Serial.print("Connected to central: ");
// print the central's MAC address:
Serial.println(central.address());
// while the central is still connected to peripheral:
while (central.connected())
{
// if the remote device wrote to the characteristic,
// use the value to control the LED:
if (switchCharacteristic.written())
{
switch (switchCharacteristic.value())
{
case 'a':
colorWipe(strip.Color(255, 0, 0), 20); // Red
break;
case 'b':
colorWipe(strip.Color(0, 255, 0), 20); // Green
break;
case 'c':
colorWipe(strip.Color(0, 0, 255), 20); // Blue
break;
case 'd':
theaterChase(strip.Color(255, 0, 0), 20); // Red
break;
case 'e':
theaterChase(strip.Color(0, 255, 0), 20); // Green
break;
case 'f':
theaterChase(strip.Color(255, 0, 255), 20); // Cyan
break;
case 'g':
rainbow(10);
break;
case 'h':
theaterChaseRainbow(20);
break;
}
}
}
}
}
// Fill strip pixels one after another with a color. Strip is NOT cleared
// first; anything there will be covered pixel by pixel. Pass in color
// (as a single 'packed' 32-bit value, which you can get by calling
// strip.Color(red, green, blue) as shown in the loop() function above),
// and a delay time (in milliseconds) between pixels.
void colorWipe(uint32_t color, int wait)
{
for (int i = 0; i < strip.numPixels(); i++)
{ // For each pixel in strip...
strip.setPixelColor(i, color); // Set pixel's color (in RAM)
strip.show(); // Update strip to match
delay(wait); // Pause for a moment
}
}
// Theater-marquee-style chasing lights. Pass in a color (32-bit value,
// a la strip.Color(r,g,b) as mentioned above), and a delay time (in ms)
// between frames.
void theaterChase(uint32_t color, int wait)
{
for (int a = 0; a < 10; a++)
{ // Repeat 10 times...
for (int b = 0; b < 3; b++)
{ // 'b' counts from 0 to 2...
strip.clear(); // Set all pixels in RAM to 0 (off)
// 'c' counts up from 'b' to end of strip in steps of 3...
for (int c = b; c < strip.numPixels(); c += 3)
{
strip.setPixelColor(c, color); // Set pixel 'c' to value 'color'
}
strip.show(); // Update strip with new contents
delay(wait); // Pause for a moment
}
}
}
// Rainbow cycle along whole strip. Pass delay time (in ms) between frames.
void rainbow(int wait)
{
// Hue of first pixel runs 5 complete loops through the color wheel.
// Color wheel has a range of 65536 but it's OK if we roll over, so
// just count from 0 to 5*65536. Adding 256 to firstPixelHue each time
// means we'll make 5*65536/256 = 1280 passes through this outer loop:
for (long firstPixelHue = 0; firstPixelHue < 5 * 65536; firstPixelHue += 256)
{
for (int i = 0; i < strip.numPixels(); i++)
{ // For each pixel in strip...
// Offset pixel hue by an amount to make one full revolution of the
// color wheel (range of 65536) along the length of the strip
// (strip.numPixels() steps):
int pixelHue = firstPixelHue + (i * 65536L / strip.numPixels());
// strip.ColorHSV() can take 1 or 3 arguments: a hue (0 to 65535) or
// optionally add saturation and value (brightness) (each 0 to 255).
// Here we're using just the single-argument hue variant. The result
// is passed through strip.gamma32() to provide 'truer' colors
// before assigning to each pixel:
strip.setPixelColor(i, strip.gamma32(strip.ColorHSV(pixelHue)));
}
strip.show(); // Update strip with new contents
delay(wait); // Pause for a moment
}
}
// Rainbow-enhanced theater marquee. Pass delay time (in ms) between frames.
void theaterChaseRainbow(int wait)
{
int firstPixelHue = 0; // First pixel starts at red (hue 0)
for (int a = 0; a < 30; a++)
{ // Repeat 30 times...
for (int b = 0; b < 3; b++)
{ // 'b' counts from 0 to 2...
strip.clear(); // Set all pixels in RAM to 0 (off)
// 'c' counts up from 'b' to end of strip in increments of 3...
for (int c = b; c < strip.numPixels(); c += 3)
{
// hue of pixel 'c' is offset by an amount to make one full
// revolution of the color wheel (range 65536) along the length
// of the strip (strip.numPixels() steps):
int hue = firstPixelHue + c * 65536L / strip.numPixels();
uint32_t color = strip.gamma32(strip.ColorHSV(hue)); // hue -> RGB
strip.setPixelColor(c, color); // Set pixel 'c' to value 'color'
}
strip.show(); // Update strip with new contents
delay(wait); // Pause for a moment
firstPixelHue += 65536 / 90; // One cycle of color wheel over 90 frames
}
}
}

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/****************************************************************************
* This example is based on StrandtestArduinoBLE example to make use of
* callbacks features of the ArduinoBLE library.
*
* https://github.com/arduino-libraries/ArduinoBLE
*
* Supported boards:
* Arduino MKR WiFi 1010, Arduino Uno WiFi Rev2 board, Arduino Nano 33 IoT,
Arduino Nano 33 BLE, or Arduino Nano 33 BLE Sense board.
*
* You can use a generic BLE central app, like LightBlue (iOS and Android) or
* nRF Connect (Android), to interact with the services and characteristics
* created in this sketch.
*
* This example code is in the public domain.
*
*/
#include <Adafruit_NeoPixel.h>
#define PIN 15 // Pin where NeoPixels are connected
// Declare our NeoPixel strip object:
Adafruit_NeoPixel strip(64, PIN, NEO_GRB + NEO_KHZ800);
// Argument 1 = Number of pixels in NeoPixel strip
// Argument 2 = Arduino pin number (most are valid)
// Argument 3 = Pixel type flags, add together as needed:
// NEO_KHZ800 800 KHz bitstream (most NeoPixel products w/WS2812 LEDs)
// NEO_KHZ400 400 KHz (classic 'v1' (not v2) FLORA pixels, WS2811 drivers)
// NEO_GRB Pixels are wired for GRB bitstream (most NeoPixel products)
// NEO_RGB Pixels are wired for RGB bitstream (v1 FLORA pixels, not v2)
// NEO_RGBW Pixels are wired for RGBW bitstream (NeoPixel RGBW products)
// NEOPIXEL BEST PRACTICES for most reliable operation:
// - Add 1000 uF CAPACITOR between NeoPixel strip's + and - connections.
// - MINIMIZE WIRING LENGTH between microcontroller board and first pixel.
// - NeoPixel strip's DATA-IN should pass through a 300-500 OHM RESISTOR.
// - AVOID connecting NeoPixels on a LIVE CIRCUIT. If you must, ALWAYS
// connect GROUND (-) first, then +, then data.
// - When using a 3.3V microcontroller with a 5V-powered NeoPixel strip,
// a LOGIC-LEVEL CONVERTER on the data line is STRONGLY RECOMMENDED.
// (Skipping these may work OK on your workbench but can fail in the field)
uint8_t rgb_values[3];
#include <ArduinoBLE.h>
BLEService ledService("19B10000-E8F2-537E-4F6C-D104768A1214"); // BLE LED Service
// BLE LED Switch Characteristic - custom 128-bit UUID, read and writable by central
BLEByteCharacteristic switchCharacteristic("19B10001-E8F2-537E-4F6C-D104768A1214", BLERead | BLEWrite);
void setup()
{
Serial.begin(115200);
Serial.println("Hello World!");
// custom services and characteristics can be added as well
// begin initialization
if (!BLE.begin())
{
Serial.println("starting BLE failed!");
while (1)
;
}
Serial.print("Peripheral address: ");
Serial.println(BLE.address());
// set advertised local name and service UUID:
BLE.setLocalName("LEDCallback");
BLE.setAdvertisedService(ledService);
// add the characteristic to the service
ledService.addCharacteristic(switchCharacteristic);
// add service
BLE.addService(ledService);
// assign event handlers for connected, disconnected to peripheral
BLE.setEventHandler(BLEConnected, blePeripheralConnectHandler);
BLE.setEventHandler(BLEDisconnected, blePeripheralDisconnectHandler);
// assign event handlers for characteristic
switchCharacteristic.setEventHandler(BLEWritten, switchCharacteristicWritten);
// set the initial value for the characeristic:
switchCharacteristic.writeValue(0);
// start advertising
BLE.advertise();
strip.begin(); // INITIALIZE NeoPixel strip object (REQUIRED)
strip.show(); // Turn OFF all pixels ASAP
pinMode(PIN, OUTPUT);
digitalWrite(PIN, LOW);
}
void loop()
{
// poll for BLE events
BLE.poll();
}
void blePeripheralConnectHandler(BLEDevice central)
{
// central connected event handler
Serial.print("Connected event, central: ");
Serial.println(central.address());
}
void blePeripheralDisconnectHandler(BLEDevice central)
{
// central disconnected event handler
Serial.print("Disconnected event, central: ");
Serial.println(central.address());
}
void switchCharacteristicWritten(BLEDevice central, BLECharacteristic characteristic)
{
// central wrote new value to characteristic, update LED
Serial.print("Characteristic event, written: ");
switch (switchCharacteristic.value())
{
case 'a':
colorWipe(strip.Color(255, 0, 0), 20); // Red
break;
case 'b':
colorWipe(strip.Color(0, 255, 0), 20); // Green
break;
case 'c':
colorWipe(strip.Color(0, 0, 255), 20); // Blue
break;
case 'd':
theaterChase(strip.Color(255, 0, 0), 20); // Red
break;
case 'e':
theaterChase(strip.Color(0, 255, 0), 20); // Green
break;
case 'f':
theaterChase(strip.Color(255, 0, 255), 20); // Cyan
break;
case 'g':
rainbow(10);
break;
case 'h':
theaterChaseRainbow(20);
break;
}
}
// Fill strip pixels one after another with a color. Strip is NOT cleared
// first; anything there will be covered pixel by pixel. Pass in color
// (as a single 'packed' 32-bit value, which you can get by calling
// strip.Color(red, green, blue) as shown in the loop() function above),
// and a delay time (in milliseconds) between pixels.
void colorWipe(uint32_t color, int wait)
{
for (int i = 0; i < strip.numPixels(); i++)
{ // For each pixel in strip...
strip.setPixelColor(i, color); // Set pixel's color (in RAM)
strip.show(); // Update strip to match
delay(wait); // Pause for a moment
}
}
// Theater-marquee-style chasing lights. Pass in a color (32-bit value,
// a la strip.Color(r,g,b) as mentioned above), and a delay time (in ms)
// between frames.
void theaterChase(uint32_t color, int wait)
{
for (int a = 0; a < 10; a++)
{ // Repeat 10 times...
for (int b = 0; b < 3; b++)
{ // 'b' counts from 0 to 2...
strip.clear(); // Set all pixels in RAM to 0 (off)
// 'c' counts up from 'b' to end of strip in steps of 3...
for (int c = b; c < strip.numPixels(); c += 3)
{
strip.setPixelColor(c, color); // Set pixel 'c' to value 'color'
}
strip.show(); // Update strip with new contents
delay(wait); // Pause for a moment
}
}
}
// Rainbow cycle along whole strip. Pass delay time (in ms) between frames.
void rainbow(int wait)
{
// Hue of first pixel runs 5 complete loops through the color wheel.
// Color wheel has a range of 65536 but it's OK if we roll over, so
// just count from 0 to 5*65536. Adding 256 to firstPixelHue each time
// means we'll make 5*65536/256 = 1280 passes through this outer loop:
for (long firstPixelHue = 0; firstPixelHue < 5 * 65536; firstPixelHue += 256)
{
for (int i = 0; i < strip.numPixels(); i++)
{ // For each pixel in strip...
// Offset pixel hue by an amount to make one full revolution of the
// color wheel (range of 65536) along the length of the strip
// (strip.numPixels() steps):
int pixelHue = firstPixelHue + (i * 65536L / strip.numPixels());
// strip.ColorHSV() can take 1 or 3 arguments: a hue (0 to 65535) or
// optionally add saturation and value (brightness) (each 0 to 255).
// Here we're using just the single-argument hue variant. The result
// is passed through strip.gamma32() to provide 'truer' colors
// before assigning to each pixel:
strip.setPixelColor(i, strip.gamma32(strip.ColorHSV(pixelHue)));
}
strip.show(); // Update strip with new contents
delay(wait); // Pause for a moment
}
}
// Rainbow-enhanced theater marquee. Pass delay time (in ms) between frames.
void theaterChaseRainbow(int wait)
{
int firstPixelHue = 0; // First pixel starts at red (hue 0)
for (int a = 0; a < 30; a++)
{ // Repeat 30 times...
for (int b = 0; b < 3; b++)
{ // 'b' counts from 0 to 2...
strip.clear(); // Set all pixels in RAM to 0 (off)
// 'c' counts up from 'b' to end of strip in increments of 3...
for (int c = b; c < strip.numPixels(); c += 3)
{
// hue of pixel 'c' is offset by an amount to make one full
// revolution of the color wheel (range 65536) along the length
// of the strip (strip.numPixels() steps):
int hue = firstPixelHue + c * 65536L / strip.numPixels();
uint32_t color = strip.gamma32(strip.ColorHSV(hue)); // hue -> RGB
strip.setPixelColor(c, color); // Set pixel 'c' to value 'color'
}
strip.show(); // Update strip with new contents
delay(wait); // Pause for a moment
firstPixelHue += 65536 / 90; // One cycle of color wheel over 90 frames
}
}
}

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#include "BLESerial.h"
// #define BLE_SERIAL_DEBUG
BLESerial* BLESerial::_instance = NULL;
BLESerial::BLESerial(unsigned char req, unsigned char rdy, unsigned char rst) :
BLEPeripheral(req, rdy, rst)
{
this->_txCount = 0;
this->_rxHead = this->_rxTail = 0;
this->_flushed = 0;
BLESerial::_instance = this;
addAttribute(this->_uartService);
addAttribute(this->_uartNameDescriptor);
setAdvertisedServiceUuid(this->_uartService.uuid());
addAttribute(this->_rxCharacteristic);
addAttribute(this->_rxNameDescriptor);
this->_rxCharacteristic.setEventHandler(BLEWritten, BLESerial::_received);
addAttribute(this->_txCharacteristic);
addAttribute(this->_txNameDescriptor);
}
void BLESerial::begin(...) {
BLEPeripheral::begin();
#ifdef BLE_SERIAL_DEBUG
Serial.println(F("BLESerial::begin()"));
#endif
}
void BLESerial::poll() {
if (millis() < this->_flushed + 100) {
BLEPeripheral::poll();
} else {
flush();
}
}
void BLESerial::end() {
this->_rxCharacteristic.setEventHandler(BLEWritten, NULL);
this->_rxHead = this->_rxTail = 0;
flush();
BLEPeripheral::disconnect();
}
int BLESerial::available(void) {
BLEPeripheral::poll();
int retval = (this->_rxHead - this->_rxTail + sizeof(this->_rxBuffer)) % sizeof(this->_rxBuffer);
#ifdef BLE_SERIAL_DEBUG
Serial.print(F("BLESerial::available() = "));
Serial.println(retval);
#endif
return retval;
}
int BLESerial::peek(void) {
BLEPeripheral::poll();
if (this->_rxTail == this->_rxHead) return -1;
uint8_t byte = this->_rxBuffer[this->_rxTail];
#ifdef BLE_SERIAL_DEBUG
Serial.print(F("BLESerial::peek() = "));
Serial.print((char) byte);
Serial.print(F(" 0x"));
Serial.println(byte, HEX);
#endif
return byte;
}
int BLESerial::read(void) {
BLEPeripheral::poll();
if (this->_rxTail == this->_rxHead) return -1;
this->_rxTail = (this->_rxTail + 1) % sizeof(this->_rxBuffer);
uint8_t byte = this->_rxBuffer[this->_rxTail];
#ifdef BLE_SERIAL_DEBUG
Serial.print(F("BLESerial::read() = "));
Serial.print((char) byte);
Serial.print(F(" 0x"));
Serial.println(byte, HEX);
#endif
return byte;
}
void BLESerial::flush(void) {
if (this->_txCount == 0) return;
this->_txCharacteristic.setValue(this->_txBuffer, this->_txCount);
this->_flushed = millis();
this->_txCount = 0;
BLEPeripheral::poll();
#ifdef BLE_SERIAL_DEBUG
Serial.println(F("BLESerial::flush()"));
#endif
}
size_t BLESerial::write(uint8_t byte) {
BLEPeripheral::poll();
if (this->_txCharacteristic.subscribed() == false) return 0;
this->_txBuffer[this->_txCount++] = byte;
if (this->_txCount == sizeof(this->_txBuffer)) flush();
#ifdef BLE_SERIAL_DEBUG
Serial.print(F("BLESerial::write("));
Serial.print((char) byte);
Serial.print(F(" 0x"));
Serial.print(byte, HEX);
Serial.println(F(") = 1"));
#endif
return 1;
}
BLESerial::operator bool() {
bool retval = BLEPeripheral::connected();
#ifdef BLE_SERIAL_DEBUG
Serial.print(F("BLESerial::operator bool() = "));
Serial.println(retval);
#endif
return retval;
}
void BLESerial::_received(const uint8_t* data, size_t size) {
for (int i = 0; i < size; i++) {
this->_rxHead = (this->_rxHead + 1) % sizeof(this->_rxBuffer);
this->_rxBuffer[this->_rxHead] = data[i];
}
#ifdef BLE_SERIAL_DEBUG
Serial.print(F("BLESerial::received("));
for (int i = 0; i < size; i++) Serial.print((char) data[i]);
Serial.println(F(")"));
#endif
}
void BLESerial::_received(BLECentral& /*central*/, BLECharacteristic& rxCharacteristic) {
BLESerial::_instance->_received(rxCharacteristic.value(), rxCharacteristic.valueLength());
}

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#ifndef _BLE_SERIAL_H_
#define _BLE_SERIAL_H_
#include <Arduino.h>
#include <BLEPeripheral.h>
class BLESerial : public BLEPeripheral, public Stream
{
public:
BLESerial(unsigned char req, unsigned char rdy, unsigned char rst);
void begin(...);
void poll();
void end();
virtual int available(void);
virtual int peek(void);
virtual int read(void);
virtual void flush(void);
virtual size_t write(uint8_t byte);
using Print::write;
virtual operator bool();
private:
unsigned long _flushed;
static BLESerial* _instance;
size_t _rxHead;
size_t _rxTail;
size_t _rxCount() const;
uint8_t _rxBuffer[BLE_ATTRIBUTE_MAX_VALUE_LENGTH];
size_t _txCount;
uint8_t _txBuffer[BLE_ATTRIBUTE_MAX_VALUE_LENGTH];
BLEService _uartService = BLEService("6E400001-B5A3-F393-E0A9-E50E24DCCA9E");
BLEDescriptor _uartNameDescriptor = BLEDescriptor("2901", "UART");
BLECharacteristic _rxCharacteristic = BLECharacteristic("6E400002-B5A3-F393-E0A9-E50E24DCCA9E", BLEWriteWithoutResponse, BLE_ATTRIBUTE_MAX_VALUE_LENGTH);
BLEDescriptor _rxNameDescriptor = BLEDescriptor("2901", "RX - Receive Data (Write)");
BLECharacteristic _txCharacteristic = BLECharacteristic("6E400003-B5A3-F393-E0A9-E50E24DCCA9E", BLENotify, BLE_ATTRIBUTE_MAX_VALUE_LENGTH);
BLEDescriptor _txNameDescriptor = BLEDescriptor("2901", "TX - Transfer Data (Notify)");
void _received(const uint8_t* data, size_t size);
static void _received(BLECentral& /*central*/, BLECharacteristic& rxCharacteristic);
};
#endif

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/****************************************************************************
* This example was developed by the Hackerspace San Salvador to demonstrate
* the simultaneous use of the NeoPixel library and the Bluetooth SoftDevice.
* To compile this example you'll need to add support for the NRF52 based
* following the instructions at:
* https://github.com/sandeepmistry/arduino-nRF5
* Or adding the following URL to the board manager URLs on Arduino preferences:
* https://sandeepmistry.github.io/arduino-nRF5/package_nRF5_boards_index.json
* Then you can install the BLEPeripheral library avaiable at:
* https://github.com/sandeepmistry/arduino-BLEPeripheral
* To test it, compile this example and use the UART module from the nRF
* Toolbox App for Android. Edit the interface and send the characters
* 'a' to 'i' to switch the animation.
* There is a delay because this example blocks the thread of execution but
* the change will be shown after the current animation ends. (This might
* take a couple of seconds)
* For more info write us at: info _at- teubi.co
*/
#include <SPI.h>
#include <BLEPeripheral.h>
#include "BLESerial.h"
#include <Adafruit_NeoPixel.h>
#define PIN 15 // Pin where NeoPixels are connected
// Declare our NeoPixel strip object:
Adafruit_NeoPixel strip(64, PIN, NEO_GRB + NEO_KHZ800);
// Argument 1 = Number of pixels in NeoPixel strip
// Argument 2 = Arduino pin number (most are valid)
// Argument 3 = Pixel type flags, add together as needed:
// NEO_KHZ800 800 KHz bitstream (most NeoPixel products w/WS2812 LEDs)
// NEO_KHZ400 400 KHz (classic 'v1' (not v2) FLORA pixels, WS2811 drivers)
// NEO_GRB Pixels are wired for GRB bitstream (most NeoPixel products)
// NEO_RGB Pixels are wired for RGB bitstream (v1 FLORA pixels, not v2)
// NEO_RGBW Pixels are wired for RGBW bitstream (NeoPixel RGBW products)
// NEOPIXEL BEST PRACTICES for most reliable operation:
// - Add 1000 uF CAPACITOR between NeoPixel strip's + and - connections.
// - MINIMIZE WIRING LENGTH between microcontroller board and first pixel.
// - NeoPixel strip's DATA-IN should pass through a 300-500 OHM RESISTOR.
// - AVOID connecting NeoPixels on a LIVE CIRCUIT. If you must, ALWAYS
// connect GROUND (-) first, then +, then data.
// - When using a 3.3V microcontroller with a 5V-powered NeoPixel strip,
// a LOGIC-LEVEL CONVERTER on the data line is STRONGLY RECOMMENDED.
// (Skipping these may work OK on your workbench but can fail in the field)
// define pins (varies per shield/board)
#define BLE_REQ 10
#define BLE_RDY 2
#define BLE_RST 9
// create ble serial instance, see pinouts above
BLESerial BLESerial(BLE_REQ, BLE_RDY, BLE_RST);
uint8_t current_state = 0;
uint8_t rgb_values[3];
void setup() {
Serial.begin(115200);
Serial.println("Hello World!");
// custom services and characteristics can be added as well
BLESerial.setLocalName("UART_HS");
BLESerial.begin();
strip.begin(); // INITIALIZE NeoPixel strip object (REQUIRED)
strip.show(); // Turn OFF all pixels ASAP
//pinMode(PIN, OUTPUT);
//digitalWrite(PIN, LOW);
current_state = 'a';
}
void loop() {
while(BLESerial.available()) {
uint8_t character = BLESerial.read();
switch(character) {
case 'a':
case 'b':
case 'c':
case 'd':
case 'e':
case 'f':
case 'g':
case 'h':
current_state = character;
break;
};
}
switch(current_state) {
case 'a':
colorWipe(strip.Color(255, 0, 0), 20); // Red
break;
case 'b':
colorWipe(strip.Color( 0, 255, 0), 20); // Green
break;
case 'c':
colorWipe(strip.Color( 0, 0, 255), 20); // Blue
break;
case 'd':
theaterChase(strip.Color(255, 0, 0), 20); // Red
break;
case 'e':
theaterChase(strip.Color( 0, 255, 0), 20); // Green
break;
case 'f':
theaterChase(strip.Color(255, 0, 255), 20); // Cyan
break;
case 'g':
rainbow(10);
break;
case 'h':
theaterChaseRainbow(20);
break;
}
}
// Fill strip pixels one after another with a color. Strip is NOT cleared
// first; anything there will be covered pixel by pixel. Pass in color
// (as a single 'packed' 32-bit value, which you can get by calling
// strip.Color(red, green, blue) as shown in the loop() function above),
// and a delay time (in milliseconds) between pixels.
void colorWipe(uint32_t color, int wait) {
for(int i=0; i<strip.numPixels(); i++) { // For each pixel in strip...
strip.setPixelColor(i, color); // Set pixel's color (in RAM)
strip.show(); // Update strip to match
delay(wait); // Pause for a moment
}
}
// Theater-marquee-style chasing lights. Pass in a color (32-bit value,
// a la strip.Color(r,g,b) as mentioned above), and a delay time (in ms)
// between frames.
void theaterChase(uint32_t color, int wait) {
for(int a=0; a<10; a++) { // Repeat 10 times...
for(int b=0; b<3; b++) { // 'b' counts from 0 to 2...
strip.clear(); // Set all pixels in RAM to 0 (off)
// 'c' counts up from 'b' to end of strip in steps of 3...
for(int c=b; c<strip.numPixels(); c += 3) {
strip.setPixelColor(c, color); // Set pixel 'c' to value 'color'
}
strip.show(); // Update strip with new contents
delay(wait); // Pause for a moment
}
}
}
// Rainbow cycle along whole strip. Pass delay time (in ms) between frames.
void rainbow(int wait) {
// Hue of first pixel runs 5 complete loops through the color wheel.
// Color wheel has a range of 65536 but it's OK if we roll over, so
// just count from 0 to 5*65536. Adding 256 to firstPixelHue each time
// means we'll make 5*65536/256 = 1280 passes through this outer loop:
for(long firstPixelHue = 0; firstPixelHue < 5*65536; firstPixelHue += 256) {
for(int i=0; i<strip.numPixels(); i++) { // For each pixel in strip...
// Offset pixel hue by an amount to make one full revolution of the
// color wheel (range of 65536) along the length of the strip
// (strip.numPixels() steps):
int pixelHue = firstPixelHue + (i * 65536L / strip.numPixels());
// strip.ColorHSV() can take 1 or 3 arguments: a hue (0 to 65535) or
// optionally add saturation and value (brightness) (each 0 to 255).
// Here we're using just the single-argument hue variant. The result
// is passed through strip.gamma32() to provide 'truer' colors
// before assigning to each pixel:
strip.setPixelColor(i, strip.gamma32(strip.ColorHSV(pixelHue)));
}
strip.show(); // Update strip with new contents
delay(wait); // Pause for a moment
}
}
// Rainbow-enhanced theater marquee. Pass delay time (in ms) between frames.
void theaterChaseRainbow(int wait) {
int firstPixelHue = 0; // First pixel starts at red (hue 0)
for(int a=0; a<30; a++) { // Repeat 30 times...
for(int b=0; b<3; b++) { // 'b' counts from 0 to 2...
strip.clear(); // Set all pixels in RAM to 0 (off)
// 'c' counts up from 'b' to end of strip in increments of 3...
for(int c=b; c<strip.numPixels(); c += 3) {
// hue of pixel 'c' is offset by an amount to make one full
// revolution of the color wheel (range 65536) along the length
// of the strip (strip.numPixels() steps):
int hue = firstPixelHue + c * 65536L / strip.numPixels();
uint32_t color = strip.gamma32(strip.ColorHSV(hue)); // hue -> RGB
strip.setPixelColor(c, color); // Set pixel 'c' to value 'color'
}
strip.show(); // Update strip with new contents
delay(wait); // Pause for a moment
firstPixelHue += 65536 / 90; // One cycle of color wheel over 90 frames
}
}
}

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#include "BLESerial.h"
// #define BLE_SERIAL_DEBUG
BLESerial* BLESerial::_instance = NULL;
BLESerial::BLESerial(unsigned char req, unsigned char rdy, unsigned char rst) :
BLEPeripheral(req, rdy, rst)
{
this->_txCount = 0;
this->_rxHead = this->_rxTail = 0;
this->_flushed = 0;
BLESerial::_instance = this;
addAttribute(this->_uartService);
addAttribute(this->_uartNameDescriptor);
setAdvertisedServiceUuid(this->_uartService.uuid());
addAttribute(this->_rxCharacteristic);
addAttribute(this->_rxNameDescriptor);
this->_rxCharacteristic.setEventHandler(BLEWritten, BLESerial::_received);
addAttribute(this->_txCharacteristic);
addAttribute(this->_txNameDescriptor);
}
void BLESerial::begin(...) {
BLEPeripheral::begin();
#ifdef BLE_SERIAL_DEBUG
Serial.println(F("BLESerial::begin()"));
#endif
}
void BLESerial::poll() {
if (millis() < this->_flushed + 100) {
BLEPeripheral::poll();
} else {
flush();
}
}
void BLESerial::end() {
this->_rxCharacteristic.setEventHandler(BLEWritten, NULL);
this->_rxHead = this->_rxTail = 0;
flush();
BLEPeripheral::disconnect();
}
int BLESerial::available(void) {
BLEPeripheral::poll();
int retval = (this->_rxHead - this->_rxTail + sizeof(this->_rxBuffer)) % sizeof(this->_rxBuffer);
#ifdef BLE_SERIAL_DEBUG
Serial.print(F("BLESerial::available() = "));
Serial.println(retval);
#endif
return retval;
}
int BLESerial::peek(void) {
BLEPeripheral::poll();
if (this->_rxTail == this->_rxHead) return -1;
uint8_t byte = this->_rxBuffer[this->_rxTail];
#ifdef BLE_SERIAL_DEBUG
Serial.print(F("BLESerial::peek() = "));
Serial.print((char) byte);
Serial.print(F(" 0x"));
Serial.println(byte, HEX);
#endif
return byte;
}
int BLESerial::read(void) {
BLEPeripheral::poll();
if (this->_rxTail == this->_rxHead) return -1;
this->_rxTail = (this->_rxTail + 1) % sizeof(this->_rxBuffer);
uint8_t byte = this->_rxBuffer[this->_rxTail];
#ifdef BLE_SERIAL_DEBUG
Serial.print(F("BLESerial::read() = "));
Serial.print((char) byte);
Serial.print(F(" 0x"));
Serial.println(byte, HEX);
#endif
return byte;
}
void BLESerial::flush(void) {
if (this->_txCount == 0) return;
this->_txCharacteristic.setValue(this->_txBuffer, this->_txCount);
this->_flushed = millis();
this->_txCount = 0;
BLEPeripheral::poll();
#ifdef BLE_SERIAL_DEBUG
Serial.println(F("BLESerial::flush()"));
#endif
}
size_t BLESerial::write(uint8_t byte) {
BLEPeripheral::poll();
if (this->_txCharacteristic.subscribed() == false) return 0;
this->_txBuffer[this->_txCount++] = byte;
if (this->_txCount == sizeof(this->_txBuffer)) flush();
#ifdef BLE_SERIAL_DEBUG
Serial.print(F("BLESerial::write("));
Serial.print((char) byte);
Serial.print(F(" 0x"));
Serial.print(byte, HEX);
Serial.println(F(") = 1"));
#endif
return 1;
}
BLESerial::operator bool() {
bool retval = BLEPeripheral::connected();
#ifdef BLE_SERIAL_DEBUG
Serial.print(F("BLESerial::operator bool() = "));
Serial.println(retval);
#endif
return retval;
}
void BLESerial::_received(const uint8_t* data, size_t size) {
for (int i = 0; i < size; i++) {
this->_rxHead = (this->_rxHead + 1) % sizeof(this->_rxBuffer);
this->_rxBuffer[this->_rxHead] = data[i];
}
#ifdef BLE_SERIAL_DEBUG
Serial.print(F("BLESerial::received("));
for (int i = 0; i < size; i++) Serial.print((char) data[i]);
Serial.println(F(")"));
#endif
}
void BLESerial::_received(BLECentral& /*central*/, BLECharacteristic& rxCharacteristic) {
BLESerial::_instance->_received(rxCharacteristic.value(), rxCharacteristic.valueLength());
}

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#ifndef _BLE_SERIAL_H_
#define _BLE_SERIAL_H_
#include <Arduino.h>
#include <BLEPeripheral.h>
class BLESerial : public BLEPeripheral, public Stream
{
public:
BLESerial(unsigned char req, unsigned char rdy, unsigned char rst);
void begin(...);
void poll();
void end();
virtual int available(void);
virtual int peek(void);
virtual int read(void);
virtual void flush(void);
virtual size_t write(uint8_t byte);
using Print::write;
virtual operator bool();
private:
unsigned long _flushed;
static BLESerial* _instance;
size_t _rxHead;
size_t _rxTail;
size_t _rxCount() const;
uint8_t _rxBuffer[BLE_ATTRIBUTE_MAX_VALUE_LENGTH];
size_t _txCount;
uint8_t _txBuffer[BLE_ATTRIBUTE_MAX_VALUE_LENGTH];
BLEService _uartService = BLEService("6E400001-B5A3-F393-E0A9-E50E24DCCA9E");
BLEDescriptor _uartNameDescriptor = BLEDescriptor("2901", "UART");
BLECharacteristic _rxCharacteristic = BLECharacteristic("6E400002-B5A3-F393-E0A9-E50E24DCCA9E", BLEWriteWithoutResponse, BLE_ATTRIBUTE_MAX_VALUE_LENGTH);
BLEDescriptor _rxNameDescriptor = BLEDescriptor("2901", "RX - Receive Data (Write)");
BLECharacteristic _txCharacteristic = BLECharacteristic("6E400003-B5A3-F393-E0A9-E50E24DCCA9E", BLENotify, BLE_ATTRIBUTE_MAX_VALUE_LENGTH);
BLEDescriptor _txNameDescriptor = BLEDescriptor("2901", "TX - Transfer Data (Notify)");
void _received(const uint8_t* data, size_t size);
static void _received(BLECentral& /*central*/, BLECharacteristic& rxCharacteristic);
};
#endif

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/****************************************************************************
* This example was developed by the Hackerspace San Salvador to demonstrate
* the simultaneous use of the NeoPixel library and the Bluetooth SoftDevice.
* To compile this example you'll need to add support for the NRF52 based
* following the instructions at:
* https://github.com/sandeepmistry/arduino-nRF5
* Or adding the following URL to the board manager URLs on Arduino preferences:
* https://sandeepmistry.github.io/arduino-nRF5/package_nRF5_boards_index.json
* Then you can install the BLEPeripheral library avaiable at:
* https://github.com/sandeepmistry/arduino-BLEPeripheral
* To test it, compile this example and use the UART module from the nRF
* Toolbox App for Android. Edit the interface and send the characters
* 'a' to 'i' to switch the animation.
* There is a no delay because this example does not block the threads execution
* so the change will be shown immediately and will not need to wait for the current
* animation to end.
* For more info write us at: info _at- teubi.co
*/
#include <SPI.h>
#include <BLEPeripheral.h>
#include "BLESerial.h"
#include <Adafruit_NeoPixel.h>
#define PIN 15 // Pin where NeoPixels are connected
// Declare our NeoPixel strip object:
Adafruit_NeoPixel strip(64, PIN, NEO_GRB + NEO_KHZ800);
// Argument 1 = Number of pixels in NeoPixel strip
// Argument 2 = Arduino pin number (most are valid)
// Argument 3 = Pixel type flags, add together as needed:
// NEO_KHZ800 800 KHz bitstream (most NeoPixel products w/WS2812 LEDs)
// NEO_KHZ400 400 KHz (classic 'v1' (not v2) FLORA pixels, WS2811 drivers)
// NEO_GRB Pixels are wired for GRB bitstream (most NeoPixel products)
// NEO_RGB Pixels are wired for RGB bitstream (v1 FLORA pixels, not v2)
// NEO_RGBW Pixels are wired for RGBW bitstream (NeoPixel RGBW products)
// NEOPIXEL BEST PRACTICES for most reliable operation:
// - Add 1000 uF CAPACITOR between NeoPixel strip's + and - connections.
// - MINIMIZE WIRING LENGTH between microcontroller board and first pixel.
// - NeoPixel strip's DATA-IN should pass through a 300-500 OHM RESISTOR.
// - AVOID connecting NeoPixels on a LIVE CIRCUIT. If you must, ALWAYS
// connect GROUND (-) first, then +, then data.
// - When using a 3.3V microcontroller with a 5V-powered NeoPixel strip,
// a LOGIC-LEVEL CONVERTER on the data line is STRONGLY RECOMMENDED.
// (Skipping these may work OK on your workbench but can fail in the field)
// define pins (varies per shield/board)
#define BLE_REQ 10
#define BLE_RDY 2
#define BLE_RST 9
// create ble serial instance, see pinouts above
BLESerial BLESerial(BLE_REQ, BLE_RDY, BLE_RST);
uint8_t current_state = 0;
uint8_t rgb_values[3];
void setup() {
Serial.begin(115200);
Serial.println("Hello World!");
// custom services and characteristics can be added as well
BLESerial.setLocalName("UART_HS");
BLESerial.begin();
strip.begin(); // INITIALIZE NeoPixel strip object (REQUIRED)
strip.show(); // Turn OFF all pixels ASAP
//pinMode(PIN, OUTPUT);
//digitalWrite(PIN, LOW);
current_state = 'a';
}
void loop() {
while(BLESerial.available()) {
uint8_t character = BLESerial.read();
switch(character) {
case 'a':
case 'b':
case 'c':
case 'd':
case 'e':
case 'f':
case 'g':
case 'h':
current_state = character;
break;
};
}
switch(current_state) {
case 'a':
colorWipe(strip.Color(255, 0, 0), 20); // Red
break;
case 'b':
colorWipe(strip.Color( 0, 255, 0), 20); // Green
break;
case 'c':
colorWipe(strip.Color( 0, 0, 255), 20); // Blue
break;
case 'd':
theaterChase(strip.Color(255, 0, 0), 20); // Red
break;
case 'e':
theaterChase(strip.Color( 0, 255, 0), 20); // Green
break;
case 'f':
theaterChase(strip.Color(255, 0, 255), 20); // Cyan
break;
case 'g':
rainbow(10);
break;
case 'h':
theaterChaseRainbow(20);
break;
}
}
// Some functions of our own for creating animated effects -----------------
// Fill strip pixels one after another with a color. Strip is NOT cleared
// first; anything there will be covered pixel by pixel. Pass in color
// (as a single 'packed' 32-bit value, which you can get by calling
// strip.Color(red, green, blue) as shown in the loop() function above),
// and a delay time (in milliseconds) between pixels.
void colorWipe(uint32_t color, int wait) {
if(pixelInterval != wait)
pixelInterval = wait; // Update delay time
strip.setPixelColor(pixelCurrent, color); // Set pixel's color (in RAM)
strip.show(); // Update strip to match
pixelCurrent++; // Advance current pixel
if(pixelCurrent >= pixelNumber) // Loop the pattern from the first LED
pixelCurrent = 0;
}
// Theater-marquee-style chasing lights. Pass in a color (32-bit value,
// a la strip.Color(r,g,b) as mentioned above), and a delay time (in ms)
// between frames.
void theaterChase(uint32_t color, int wait) {
if(pixelInterval != wait)
pixelInterval = wait; // Update delay time
for(int i = 0; i < pixelNumber; i++) {
strip.setPixelColor(i + pixelQueue, color); // Set pixel's color (in RAM)
}
strip.show(); // Update strip to match
for(int i=0; i < pixelNumber; i+3) {
strip.setPixelColor(i + pixelQueue, strip.Color(0, 0, 0)); // Set pixel's color (in RAM)
}
pixelQueue++; // Advance current pixel
if(pixelQueue >= 3)
pixelQueue = 0; // Loop the pattern from the first LED
}
// Rainbow cycle along whole strip. Pass delay time (in ms) between frames.
void rainbow(uint8_t wait) {
if(pixelInterval != wait)
pixelInterval = wait;
for(uint16_t i=0; i < pixelNumber; i++) {
strip.setPixelColor(i, Wheel((i + pixelCycle) & 255)); // Update delay time
}
strip.show(); // Update strip to match
pixelCycle++; // Advance current cycle
if(pixelCycle >= 256)
pixelCycle = 0; // Loop the cycle back to the begining
}
//Theatre-style crawling lights with rainbow effect
void theaterChaseRainbow(uint8_t wait) {
if(pixelInterval != wait)
pixelInterval = wait; // Update delay time
for(int i=0; i < pixelNumber; i+3) {
strip.setPixelColor(i + pixelQueue, Wheel((i + pixelCycle) % 255)); // Update delay time
}
strip.show();
for(int i=0; i < pixelNumber; i+3) {
strip.setPixelColor(i + pixelQueue, strip.Color(0, 0, 0)); // Update delay time
}
pixelQueue++; // Advance current queue
pixelCycle++; // Advance current cycle
if(pixelQueue >= 3)
pixelQueue = 0; // Loop
if(pixelCycle >= 256)
pixelCycle = 0; // Loop
}
// Input a value 0 to 255 to get a color value.
// The colours are a transition r - g - b - back to r.
uint32_t Wheel(byte WheelPos) {
WheelPos = 255 - WheelPos;
if(WheelPos < 85) {
return strip.Color(255 - WheelPos * 3, 0, WheelPos * 3);
}
if(WheelPos < 170) {
WheelPos -= 85;
return strip.Color(0, WheelPos * 3, 255 - WheelPos * 3);
}
WheelPos -= 170;
return strip.Color(WheelPos * 3, 255 - WheelPos * 3, 0);
}

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// Simple demonstration on using an input device to trigger changes on your
// NeoPixels. Wire a momentary push button to connect from ground to a
// digital IO pin. When the button is pressed it will change to a new pixel
// animation. Initial state has all pixels off -- press the button once to
// start the first animation. As written, the button does not interrupt an
// animation in-progress, it works only when idle.
#include <Adafruit_NeoPixel.h>
#ifdef __AVR__
#include <avr/power.h> // Required for 16 MHz Adafruit Trinket
#endif
// Digital IO pin connected to the button. This will be driven with a
// pull-up resistor so the switch pulls the pin to ground momentarily.
// On a high -> low transition the button press logic will execute.
#define BUTTON_PIN 2
#define PIXEL_PIN 6 // Digital IO pin connected to the NeoPixels.
#define PIXEL_COUNT 16 // Number of NeoPixels
// Declare our NeoPixel strip object:
Adafruit_NeoPixel strip(PIXEL_COUNT, PIXEL_PIN, NEO_GRB + NEO_KHZ800);
// Argument 1 = Number of pixels in NeoPixel strip
// Argument 2 = Arduino pin number (most are valid)
// Argument 3 = Pixel type flags, add together as needed:
// NEO_KHZ800 800 KHz bitstream (most NeoPixel products w/WS2812 LEDs)
// NEO_KHZ400 400 KHz (classic 'v1' (not v2) FLORA pixels, WS2811 drivers)
// NEO_GRB Pixels are wired for GRB bitstream (most NeoPixel products)
// NEO_RGB Pixels are wired for RGB bitstream (v1 FLORA pixels, not v2)
// NEO_RGBW Pixels are wired for RGBW bitstream (NeoPixel RGBW products)
boolean oldState = HIGH;
int mode = 0; // Currently-active animation mode, 0-9
void setup() {
pinMode(BUTTON_PIN, INPUT_PULLUP);
strip.begin(); // Initialize NeoPixel strip object (REQUIRED)
strip.show(); // Initialize all pixels to 'off'
}
void loop() {
// Get current button state.
boolean newState = digitalRead(BUTTON_PIN);
// Check if state changed from high to low (button press).
if((newState == LOW) && (oldState == HIGH)) {
// Short delay to debounce button.
delay(20);
// Check if button is still low after debounce.
newState = digitalRead(BUTTON_PIN);
if(newState == LOW) { // Yes, still low
if(++mode > 8) mode = 0; // Advance to next mode, wrap around after #8
switch(mode) { // Start the new animation...
case 0:
colorWipe(strip.Color( 0, 0, 0), 50); // Black/off
break;
case 1:
colorWipe(strip.Color(255, 0, 0), 50); // Red
break;
case 2:
colorWipe(strip.Color( 0, 255, 0), 50); // Green
break;
case 3:
colorWipe(strip.Color( 0, 0, 255), 50); // Blue
break;
case 4:
theaterChase(strip.Color(127, 127, 127), 50); // White
break;
case 5:
theaterChase(strip.Color(127, 0, 0), 50); // Red
break;
case 6:
theaterChase(strip.Color( 0, 0, 127), 50); // Blue
break;
case 7:
rainbow(10);
break;
case 8:
theaterChaseRainbow(50);
break;
}
}
}
// Set the last-read button state to the old state.
oldState = newState;
}
// Fill strip pixels one after another with a color. Strip is NOT cleared
// first; anything there will be covered pixel by pixel. Pass in color
// (as a single 'packed' 32-bit value, which you can get by calling
// strip.Color(red, green, blue) as shown in the loop() function above),
// and a delay time (in milliseconds) between pixels.
void colorWipe(uint32_t color, int wait) {
for(int i=0; i<strip.numPixels(); i++) { // For each pixel in strip...
strip.setPixelColor(i, color); // Set pixel's color (in RAM)
strip.show(); // Update strip to match
delay(wait); // Pause for a moment
}
}
// Theater-marquee-style chasing lights. Pass in a color (32-bit value,
// a la strip.Color(r,g,b) as mentioned above), and a delay time (in ms)
// between frames.
void theaterChase(uint32_t color, int wait) {
for(int a=0; a<10; a++) { // Repeat 10 times...
for(int b=0; b<3; b++) { // 'b' counts from 0 to 2...
strip.clear(); // Set all pixels in RAM to 0 (off)
// 'c' counts up from 'b' to end of strip in steps of 3...
for(int c=b; c<strip.numPixels(); c += 3) {
strip.setPixelColor(c, color); // Set pixel 'c' to value 'color'
}
strip.show(); // Update strip with new contents
delay(wait); // Pause for a moment
}
}
}
// Rainbow cycle along whole strip. Pass delay time (in ms) between frames.
void rainbow(int wait) {
// Hue of first pixel runs 3 complete loops through the color wheel.
// Color wheel has a range of 65536 but it's OK if we roll over, so
// just count from 0 to 3*65536. Adding 256 to firstPixelHue each time
// means we'll make 3*65536/256 = 768 passes through this outer loop:
for(long firstPixelHue = 0; firstPixelHue < 3*65536; firstPixelHue += 256) {
for(int i=0; i<strip.numPixels(); i++) { // For each pixel in strip...
// Offset pixel hue by an amount to make one full revolution of the
// color wheel (range of 65536) along the length of the strip
// (strip.numPixels() steps):
int pixelHue = firstPixelHue + (i * 65536L / strip.numPixels());
// strip.ColorHSV() can take 1 or 3 arguments: a hue (0 to 65535) or
// optionally add saturation and value (brightness) (each 0 to 255).
// Here we're using just the single-argument hue variant. The result
// is passed through strip.gamma32() to provide 'truer' colors
// before assigning to each pixel:
strip.setPixelColor(i, strip.gamma32(strip.ColorHSV(pixelHue)));
}
strip.show(); // Update strip with new contents
delay(wait); // Pause for a moment
}
}
// Rainbow-enhanced theater marquee. Pass delay time (in ms) between frames.
void theaterChaseRainbow(int wait) {
int firstPixelHue = 0; // First pixel starts at red (hue 0)
for(int a=0; a<30; a++) { // Repeat 30 times...
for(int b=0; b<3; b++) { // 'b' counts from 0 to 2...
strip.clear(); // Set all pixels in RAM to 0 (off)
// 'c' counts up from 'b' to end of strip in increments of 3...
for(int c=b; c<strip.numPixels(); c += 3) {
// hue of pixel 'c' is offset by an amount to make one full
// revolution of the color wheel (range 65536) along the length
// of the strip (strip.numPixels() steps):
int hue = firstPixelHue + c * 65536L / strip.numPixels();
uint32_t color = strip.gamma32(strip.ColorHSV(hue)); // hue -> RGB
strip.setPixelColor(c, color); // Set pixel 'c' to value 'color'
}
strip.show(); // Update strip with new contents
delay(wait); // Pause for a moment
firstPixelHue += 65536 / 90; // One cycle of color wheel over 90 frames
}
}
}

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// NeoPixel Ring simple sketch (c) 2013 Shae Erisson
// Released under the GPLv3 license to match the rest of the
// Adafruit NeoPixel library
#include <Adafruit_NeoPixel.h>
#ifdef __AVR__
#include <avr/power.h> // Required for 16 MHz Adafruit Trinket
#endif
// Which pin on the Arduino is connected to the NeoPixels?
#define PIN 6 // On Trinket or Gemma, suggest changing this to 1
// How many NeoPixels are attached to the Arduino?
#define NUMPIXELS 16 // Popular NeoPixel ring size
// When setting up the NeoPixel library, we tell it how many pixels,
// and which pin to use to send signals. Note that for older NeoPixel
// strips you might need to change the third parameter -- see the
// strandtest example for more information on possible values.
Adafruit_NeoPixel pixels(NUMPIXELS, PIN, NEO_GRB + NEO_KHZ800);
#define DELAYVAL 500 // Time (in milliseconds) to pause between pixels
void setup() {
// These lines are specifically to support the Adafruit Trinket 5V 16 MHz.
// Any other board, you can remove this part (but no harm leaving it):
#if defined(__AVR_ATtiny85__) && (F_CPU == 16000000)
clock_prescale_set(clock_div_1);
#endif
// END of Trinket-specific code.
pixels.begin(); // INITIALIZE NeoPixel strip object (REQUIRED)
}
void loop() {
pixels.clear(); // Set all pixel colors to 'off'
// The first NeoPixel in a strand is #0, second is 1, all the way up
// to the count of pixels minus one.
for(int i=0; i<NUMPIXELS; i++) { // For each pixel...
// pixels.Color() takes RGB values, from 0,0,0 up to 255,255,255
// Here we're using a moderately bright green color:
pixels.setPixelColor(i, pixels.Color(0, 150, 0));
pixels.show(); // Send the updated pixel colors to the hardware.
delay(DELAYVAL); // Pause before next pass through loop
}
}

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// NeoPixel Ring simple sketch (c) 2013 Shae Erisson
// Released under the GPLv3 license to match the rest of the
// Adafruit NeoPixel library
// This sketch shows use of the "new" operator with Adafruit_NeoPixel.
// It's helpful if you don't know NeoPixel settings at compile time or
// just want to store this settings in EEPROM or a file on an SD card.
#include <Adafruit_NeoPixel.h>
#ifdef __AVR__
#include <avr/power.h> // Required for 16 MHz Adafruit Trinket
#endif
// Which pin on the Arduino is connected to the NeoPixels?
int pin = 6; // On Trinket or Gemma, suggest changing this to 1
// How many NeoPixels are attached to the Arduino?
int numPixels = 16; // Popular NeoPixel ring size
// NeoPixel color format & data rate. See the strandtest example for
// information on possible values.
int pixelFormat = NEO_GRB + NEO_KHZ800;
// Rather than declaring the whole NeoPixel object here, we just create
// a pointer for one, which we'll then allocate later...
Adafruit_NeoPixel *pixels;
#define DELAYVAL 500 // Time (in milliseconds) to pause between pixels
void setup() {
// These lines are specifically to support the Adafruit Trinket 5V 16 MHz.
// Any other board, you can remove this part (but no harm leaving it):
#if defined(__AVR_ATtiny85__) && (F_CPU == 16000000)
clock_prescale_set(clock_div_1);
#endif
// END of Trinket-specific code.
// Right about here is where we could read 'pin', 'numPixels' and/or
// 'pixelFormat' from EEPROM or a file on SD or whatever. This is a simple
// example and doesn't do that -- those variables are just set to fixed
// values at the top of this code -- but this is where it would happen.
// Then create a new NeoPixel object dynamically with these values:
pixels = new Adafruit_NeoPixel(numPixels, pin, pixelFormat);
// Going forward from here, code works almost identically to any other
// NeoPixel example, but instead of the dot operator on function calls
// (e.g. pixels.begin()), we instead use pointer indirection (->) like so:
pixels->begin(); // INITIALIZE NeoPixel strip object (REQUIRED)
// You'll see more of this in the loop() function below.
}
void loop() {
pixels->clear(); // Set all pixel colors to 'off'
// The first NeoPixel in a strand is #0, second is 1, all the way up
// to the count of pixels minus one.
for(int i=0; i<numPixels; i++) { // For each pixel...
// pixels->Color() takes RGB values, from 0,0,0 up to 255,255,255
// Here we're using a moderately bright green color:
pixels->setPixelColor(i, pixels->Color(0, 150, 0));
pixels->show(); // Send the updated pixel colors to the hardware.
delay(DELAYVAL); // Pause before next pass through loop
}
}

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// A basic everyday NeoPixel strip test program.
// NEOPIXEL BEST PRACTICES for most reliable operation:
// - Add 1000 uF CAPACITOR between NeoPixel strip's + and - connections.
// - MINIMIZE WIRING LENGTH between microcontroller board and first pixel.
// - NeoPixel strip's DATA-IN should pass through a 300-500 OHM RESISTOR.
// - AVOID connecting NeoPixels on a LIVE CIRCUIT. If you must, ALWAYS
// connect GROUND (-) first, then +, then data.
// - When using a 3.3V microcontroller with a 5V-powered NeoPixel strip,
// a LOGIC-LEVEL CONVERTER on the data line is STRONGLY RECOMMENDED.
// (Skipping these may work OK on your workbench but can fail in the field)
#include <Adafruit_NeoPixel.h>
#ifdef __AVR__
#include <avr/power.h> // Required for 16 MHz Adafruit Trinket
#endif
// Which pin on the Arduino is connected to the NeoPixels?
// On a Trinket or Gemma we suggest changing this to 1:
#define LED_PIN 6
// How many NeoPixels are attached to the Arduino?
#define LED_COUNT 60
// Declare our NeoPixel strip object:
Adafruit_NeoPixel strip(LED_COUNT, LED_PIN, NEO_GRB + NEO_KHZ800);
// Argument 1 = Number of pixels in NeoPixel strip
// Argument 2 = Arduino pin number (most are valid)
// Argument 3 = Pixel type flags, add together as needed:
// NEO_KHZ800 800 KHz bitstream (most NeoPixel products w/WS2812 LEDs)
// NEO_KHZ400 400 KHz (classic 'v1' (not v2) FLORA pixels, WS2811 drivers)
// NEO_GRB Pixels are wired for GRB bitstream (most NeoPixel products)
// NEO_RGB Pixels are wired for RGB bitstream (v1 FLORA pixels, not v2)
// NEO_RGBW Pixels are wired for RGBW bitstream (NeoPixel RGBW products)
// setup() function -- runs once at startup --------------------------------
void setup() {
// These lines are specifically to support the Adafruit Trinket 5V 16 MHz.
// Any other board, you can remove this part (but no harm leaving it):
#if defined(__AVR_ATtiny85__) && (F_CPU == 16000000)
clock_prescale_set(clock_div_1);
#endif
// END of Trinket-specific code.
strip.begin(); // INITIALIZE NeoPixel strip object (REQUIRED)
strip.show(); // Turn OFF all pixels ASAP
strip.setBrightness(50); // Set BRIGHTNESS to about 1/5 (max = 255)
}
// loop() function -- runs repeatedly as long as board is on ---------------
void loop() {
// Fill along the length of the strip in various colors...
colorWipe(strip.Color(255, 0, 0), 50); // Red
colorWipe(strip.Color( 0, 255, 0), 50); // Green
colorWipe(strip.Color( 0, 0, 255), 50); // Blue
// Do a theater marquee effect in various colors...
theaterChase(strip.Color(127, 127, 127), 50); // White, half brightness
theaterChase(strip.Color(127, 0, 0), 50); // Red, half brightness
theaterChase(strip.Color( 0, 0, 127), 50); // Blue, half brightness
rainbow(10); // Flowing rainbow cycle along the whole strip
theaterChaseRainbow(50); // Rainbow-enhanced theaterChase variant
}
// Some functions of our own for creating animated effects -----------------
// Fill strip pixels one after another with a color. Strip is NOT cleared
// first; anything there will be covered pixel by pixel. Pass in color
// (as a single 'packed' 32-bit value, which you can get by calling
// strip.Color(red, green, blue) as shown in the loop() function above),
// and a delay time (in milliseconds) between pixels.
void colorWipe(uint32_t color, int wait) {
for(int i=0; i<strip.numPixels(); i++) { // For each pixel in strip...
strip.setPixelColor(i, color); // Set pixel's color (in RAM)
strip.show(); // Update strip to match
delay(wait); // Pause for a moment
}
}
// Theater-marquee-style chasing lights. Pass in a color (32-bit value,
// a la strip.Color(r,g,b) as mentioned above), and a delay time (in ms)
// between frames.
void theaterChase(uint32_t color, int wait) {
for(int a=0; a<10; a++) { // Repeat 10 times...
for(int b=0; b<3; b++) { // 'b' counts from 0 to 2...
strip.clear(); // Set all pixels in RAM to 0 (off)
// 'c' counts up from 'b' to end of strip in steps of 3...
for(int c=b; c<strip.numPixels(); c += 3) {
strip.setPixelColor(c, color); // Set pixel 'c' to value 'color'
}
strip.show(); // Update strip with new contents
delay(wait); // Pause for a moment
}
}
}
// Rainbow cycle along whole strip. Pass delay time (in ms) between frames.
void rainbow(int wait) {
// Hue of first pixel runs 5 complete loops through the color wheel.
// Color wheel has a range of 65536 but it's OK if we roll over, so
// just count from 0 to 5*65536. Adding 256 to firstPixelHue each time
// means we'll make 5*65536/256 = 1280 passes through this loop:
for(long firstPixelHue = 0; firstPixelHue < 5*65536; firstPixelHue += 256) {
// strip.rainbow() can take a single argument (first pixel hue) or
// optionally a few extras: number of rainbow repetitions (default 1),
// saturation and value (brightness) (both 0-255, similar to the
// ColorHSV() function, default 255), and a true/false flag for whether
// to apply gamma correction to provide 'truer' colors (default true).
strip.rainbow(firstPixelHue);
// Above line is equivalent to:
// strip.rainbow(firstPixelHue, 1, 255, 255, true);
strip.show(); // Update strip with new contents
delay(wait); // Pause for a moment
}
}
// Rainbow-enhanced theater marquee. Pass delay time (in ms) between frames.
void theaterChaseRainbow(int wait) {
int firstPixelHue = 0; // First pixel starts at red (hue 0)
for(int a=0; a<30; a++) { // Repeat 30 times...
for(int b=0; b<3; b++) { // 'b' counts from 0 to 2...
strip.clear(); // Set all pixels in RAM to 0 (off)
// 'c' counts up from 'b' to end of strip in increments of 3...
for(int c=b; c<strip.numPixels(); c += 3) {
// hue of pixel 'c' is offset by an amount to make one full
// revolution of the color wheel (range 65536) along the length
// of the strip (strip.numPixels() steps):
int hue = firstPixelHue + c * 65536L / strip.numPixels();
uint32_t color = strip.gamma32(strip.ColorHSV(hue)); // hue -> RGB
strip.setPixelColor(c, color); // Set pixel 'c' to value 'color'
}
strip.show(); // Update strip with new contents
delay(wait); // Pause for a moment
firstPixelHue += 65536 / 90; // One cycle of color wheel over 90 frames
}
}
}

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// A non-blocking everyday NeoPixel strip test program.
// NEOPIXEL BEST PRACTICES for most reliable operation:
// - Add 1000 uF CAPACITOR between NeoPixel strip's + and - connections.
// - MINIMIZE WIRING LENGTH between microcontroller board and first pixel.
// - NeoPixel strip's DATA-IN should pass through a 300-500 OHM RESISTOR.
// - AVOID connecting NeoPixels on a LIVE CIRCUIT. If you must, ALWAYS
// connect GROUND (-) first, then +, then data.
// - When using a 3.3V microcontroller with a 5V-powered NeoPixel strip,
// a LOGIC-LEVEL CONVERTER on the data line is STRONGLY RECOMMENDED.
// (Skipping these may work OK on your workbench but can fail in the field)
#include <Adafruit_NeoPixel.h>
#ifdef __AVR__
#include <avr/power.h> // Required for 16 MHz Adafruit Trinket
#endif
// Which pin on the Arduino is connected to the NeoPixels?
// On a Trinket or Gemma we suggest changing this to 1:
#ifdef ESP32
// Cannot use 6 as output for ESP. Pins 6-11 are connected to SPI flash. Use 16 instead.
#define LED_PIN 16
#else
#define LED_PIN 6
#endif
// How many NeoPixels are attached to the Arduino?
#define LED_COUNT 60
// Declare our NeoPixel strip object:
Adafruit_NeoPixel strip(LED_COUNT, LED_PIN, NEO_GRB + NEO_KHZ800);
// Argument 1 = Number of pixels in NeoPixel strip
// Argument 2 = Arduino pin number (most are valid)
// Argument 3 = Pixel type flags, add together as needed:
// NEO_KHZ800 800 KHz bitstream (most NeoPixel products w/WS2812 LEDs)
// NEO_KHZ400 400 KHz (classic 'v1' (not v2) FLORA pixels, WS2811 drivers)
// NEO_GRB Pixels are wired for GRB bitstream (most NeoPixel products)
// NEO_RGB Pixels are wired for RGB bitstream (v1 FLORA pixels, not v2)
// NEO_RGBW Pixels are wired for RGBW bitstream (NeoPixel RGBW products)
unsigned long pixelPrevious = 0; // Previous Pixel Millis
unsigned long patternPrevious = 0; // Previous Pattern Millis
int patternCurrent = 0; // Current Pattern Number
int patternInterval = 5000; // Pattern Interval (ms)
bool patternComplete = false;
int pixelInterval = 50; // Pixel Interval (ms)
int pixelQueue = 0; // Pattern Pixel Queue
int pixelCycle = 0; // Pattern Pixel Cycle
uint16_t pixelNumber = LED_COUNT; // Total Number of Pixels
// setup() function -- runs once at startup --------------------------------
void setup() {
// These lines are specifically to support the Adafruit Trinket 5V 16 MHz.
// Any other board, you can remove this part (but no harm leaving it):
#if defined(__AVR_ATtiny85__) && (F_CPU == 16000000)
clock_prescale_set(clock_div_1);
#endif
// END of Trinket-specific code.
strip.begin(); // INITIALIZE NeoPixel strip object (REQUIRED)
strip.show(); // Turn OFF all pixels ASAP
strip.setBrightness(50); // Set BRIGHTNESS to about 1/5 (max = 255)
}
// loop() function -- runs repeatedly as long as board is on ---------------
void loop() {
unsigned long currentMillis = millis(); // Update current time
if( patternComplete || (currentMillis - patternPrevious) >= patternInterval) { // Check for expired time
patternComplete = false;
patternPrevious = currentMillis;
patternCurrent++; // Advance to next pattern
if(patternCurrent >= 7)
patternCurrent = 0;
}
if(currentMillis - pixelPrevious >= pixelInterval) { // Check for expired time
pixelPrevious = currentMillis; // Run current frame
switch (patternCurrent) {
case 7:
theaterChaseRainbow(50); // Rainbow-enhanced theaterChase variant
break;
case 6:
rainbow(10); // Flowing rainbow cycle along the whole strip
break;
case 5:
theaterChase(strip.Color(0, 0, 127), 50); // Blue
break;
case 4:
theaterChase(strip.Color(127, 0, 0), 50); // Red
break;
case 3:
theaterChase(strip.Color(127, 127, 127), 50); // White
break;
case 2:
colorWipe(strip.Color(0, 0, 255), 50); // Blue
break;
case 1:
colorWipe(strip.Color(0, 255, 0), 50); // Green
break;
default:
colorWipe(strip.Color(255, 0, 0), 50); // Red
break;
}
}
}
// Some functions of our own for creating animated effects -----------------
// Fill strip pixels one after another with a color. Strip is NOT cleared
// first; anything there will be covered pixel by pixel. Pass in color
// (as a single 'packed' 32-bit value, which you can get by calling
// strip.Color(red, green, blue) as shown in the loop() function above),
// and a delay time (in milliseconds) between pixels.
void colorWipe(uint32_t color, int wait) {
static uint16_t current_pixel = 0;
pixelInterval = wait; // Update delay time
strip.setPixelColor(current_pixel++, color); // Set pixel's color (in RAM)
strip.show(); // Update strip to match
if(current_pixel >= pixelNumber) { // Loop the pattern from the first LED
current_pixel = 0;
patternComplete = true;
}
}
// Theater-marquee-style chasing lights. Pass in a color (32-bit value,
// a la strip.Color(r,g,b) as mentioned above), and a delay time (in ms)
// between frames.
void theaterChase(uint32_t color, int wait) {
static uint32_t loop_count = 0;
static uint16_t current_pixel = 0;
pixelInterval = wait; // Update delay time
strip.clear();
for(int c=current_pixel; c < pixelNumber; c += 3) {
strip.setPixelColor(c, color);
}
strip.show();
current_pixel++;
if (current_pixel >= 3) {
current_pixel = 0;
loop_count++;
}
if (loop_count >= 10) {
current_pixel = 0;
loop_count = 0;
patternComplete = true;
}
}
// Rainbow cycle along whole strip. Pass delay time (in ms) between frames.
void rainbow(uint8_t wait) {
if(pixelInterval != wait)
pixelInterval = wait;
for(uint16_t i=0; i < pixelNumber; i++) {
strip.setPixelColor(i, Wheel((i + pixelCycle) & 255)); // Update delay time
}
strip.show(); // Update strip to match
pixelCycle++; // Advance current cycle
if(pixelCycle >= 256)
pixelCycle = 0; // Loop the cycle back to the begining
}
//Theatre-style crawling lights with rainbow effect
void theaterChaseRainbow(uint8_t wait) {
if(pixelInterval != wait)
pixelInterval = wait; // Update delay time
for(int i=0; i < pixelNumber; i+=3) {
strip.setPixelColor(i + pixelQueue, Wheel((i + pixelCycle) % 255)); // Update delay time
}
strip.show();
for(int i=0; i < pixelNumber; i+=3) {
strip.setPixelColor(i + pixelQueue, strip.Color(0, 0, 0)); // Update delay time
}
pixelQueue++; // Advance current queue
pixelCycle++; // Advance current cycle
if(pixelQueue >= 3)
pixelQueue = 0; // Loop
if(pixelCycle >= 256)
pixelCycle = 0; // Loop
}
// Input a value 0 to 255 to get a color value.
// The colours are a transition r - g - b - back to r.
uint32_t Wheel(byte WheelPos) {
WheelPos = 255 - WheelPos;
if(WheelPos < 85) {
return strip.Color(255 - WheelPos * 3, 0, WheelPos * 3);
}
if(WheelPos < 170) {
WheelPos -= 85;
return strip.Color(0, WheelPos * 3, 255 - WheelPos * 3);
}
WheelPos -= 170;
return strip.Color(WheelPos * 3, 255 - WheelPos * 3, 0);
}

134
Arduino/libraries/Adafruit_NeoPixel/examples/strandtest_wheel/strandtest_wheel.ino Normal file
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#include <Adafruit_NeoPixel.h>
#ifdef __AVR__
#include <avr/power.h>
#endif
#define PIN 6
// Parameter 1 = number of pixels in strip
// Parameter 2 = Arduino pin number (most are valid)
// Parameter 3 = pixel type flags, add together as needed:
// NEO_KHZ800 800 KHz bitstream (most NeoPixel products w/WS2812 LEDs)
// NEO_KHZ400 400 KHz (classic 'v1' (not v2) FLORA pixels, WS2811 drivers)
// NEO_GRB Pixels are wired for GRB bitstream (most NeoPixel products)
// NEO_RGB Pixels are wired for RGB bitstream (v1 FLORA pixels, not v2)
// NEO_RGBW Pixels are wired for RGBW bitstream (NeoPixel RGBW products)
Adafruit_NeoPixel strip = Adafruit_NeoPixel(60, PIN, NEO_GRB + NEO_KHZ800);
// IMPORTANT: To reduce NeoPixel burnout risk, add 1000 uF capacitor across
// pixel power leads, add 300 - 500 Ohm resistor on first pixel's data input
// and minimize distance between Arduino and first pixel. Avoid connecting
// on a live circuit...if you must, connect GND first.
void setup() {
// This is for Trinket 5V 16MHz, you can remove these three lines if you are not using a Trinket
#if defined (__AVR_ATtiny85__)
if (F_CPU == 16000000) clock_prescale_set(clock_div_1);
#endif
// End of trinket special code
strip.begin();
strip.setBrightness(50);
strip.show(); // Initialize all pixels to 'off'
}
void loop() {
// Some example procedures showing how to display to the pixels:
colorWipe(strip.Color(255, 0, 0), 50); // Red
colorWipe(strip.Color(0, 255, 0), 50); // Green
colorWipe(strip.Color(0, 0, 255), 50); // Blue
//colorWipe(strip.Color(0, 0, 0, 255), 50); // White RGBW
// Send a theater pixel chase in...
theaterChase(strip.Color(127, 127, 127), 50); // White
theaterChase(strip.Color(127, 0, 0), 50); // Red
theaterChase(strip.Color(0, 0, 127), 50); // Blue
rainbow(20);
rainbowCycle(20);
theaterChaseRainbow(50);
}
// Fill the dots one after the other with a color
void colorWipe(uint32_t c, uint8_t wait) {
for(uint16_t i=0; i<strip.numPixels(); i++) {
strip.setPixelColor(i, c);
strip.show();
delay(wait);
}
}
void rainbow(uint8_t wait) {
uint16_t i, j;
for(j=0; j<256; j++) {
for(i=0; i<strip.numPixels(); i++) {
strip.setPixelColor(i, Wheel((i+j) & 255));
}
strip.show();
delay(wait);
}
}
// Slightly different, this makes the rainbow equally distributed throughout
void rainbowCycle(uint8_t wait) {
uint16_t i, j;
for(j=0; j<256*5; j++) { // 5 cycles of all colors on wheel
for(i=0; i< strip.numPixels(); i++) {
strip.setPixelColor(i, Wheel(((i * 256 / strip.numPixels()) + j) & 255));
}
strip.show();
delay(wait);
}
}
//Theatre-style crawling lights.
void theaterChase(uint32_t c, uint8_t wait) {
for (int j=0; j<10; j++) { //do 10 cycles of chasing
for (int q=0; q < 3; q++) {
for (uint16_t i=0; i < strip.numPixels(); i=i+3) {
strip.setPixelColor(i+q, c); //turn every third pixel on
}
strip.show();
delay(wait);
for (uint16_t i=0; i < strip.numPixels(); i=i+3) {
strip.setPixelColor(i+q, 0); //turn every third pixel off
}
}
}
}
//Theatre-style crawling lights with rainbow effect
void theaterChaseRainbow(uint8_t wait) {
for (int j=0; j < 256; j++) { // cycle all 256 colors in the wheel
for (int q=0; q < 3; q++) {
for (uint16_t i=0; i < strip.numPixels(); i=i+3) {
strip.setPixelColor(i+q, Wheel( (i+j) % 255)); //turn every third pixel on
}
strip.show();
delay(wait);
for (uint16_t i=0; i < strip.numPixels(); i=i+3) {
strip.setPixelColor(i+q, 0); //turn every third pixel off
}
}
}
}
// Input a value 0 to 255 to get a color value.
// The colours are a transition r - g - b - back to r.
uint32_t Wheel(byte WheelPos) {
WheelPos = 255 - WheelPos;
if(WheelPos < 85) {
return strip.Color(255 - WheelPos * 3, 0, WheelPos * 3);
}
if(WheelPos < 170) {
WheelPos -= 85;
return strip.Color(0, WheelPos * 3, 255 - WheelPos * 3);
}
WheelPos -= 170;
return strip.Color(WheelPos * 3, 255 - WheelPos * 3, 0);
}

74
Arduino/libraries/Adafruit_NeoPixel/kendyte_k210.c Normal file
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// This is a mash-up of the Due show() code + insights from Michael Miller's
// ESP8266 work for the NeoPixelBus library: github.com/Makuna/NeoPixelBus
// Needs to be a separate .c file to enforce ICACHE_RAM_ATTR execution.
#if defined(K210)
#define KENDRYTE_K210 1
#endif
#if defined(KENDRYTE_K210)
#include <Arduino.h>
#include "sysctl.h"
void k210Show(
uint8_t pin, uint8_t *pixels, uint32_t numBytes, boolean is800KHz)
{
#define CYCLES_800_T0H (sysctl_clock_get_freq(SYSCTL_CLOCK_CPU) / 2500000) // 0.4us
#define CYCLES_800_T1H (sysctl_clock_get_freq(SYSCTL_CLOCK_CPU) / 1250000) // 0.8us
#define CYCLES_800 (sysctl_clock_get_freq(SYSCTL_CLOCK_CPU) / 800000) // 1.25us per bit
#define CYCLES_400_T0H (sysctl_clock_get_freq(SYSCTL_CLOCK_CPU) / 2000000) // 0.5uS
#define CYCLES_400_T1H (sysctl_clock_get_freq(SYSCTL_CLOCK_CPU) / 833333) // 1.2us
#define CYCLES_400 (sysctl_clock_get_freq(SYSCTL_CLOCK_CPU) / 400000) // 2.5us per bit
uint8_t *p, *end, pix, mask;
uint32_t t, time0, time1, period, c, startTime;
p = pixels;
end = p + numBytes;
pix = *p++;
mask = 0x80;
startTime = 0;
#ifdef NEO_KHZ400
if (is800KHz)
{
#endif
time0 = CYCLES_800_T0H;
time1 = CYCLES_800_T1H;
period = CYCLES_800;
#ifdef NEO_KHZ400
}
else
{ // 400 KHz bitstream
time0 = CYCLES_400_T0H;
time1 = CYCLES_400_T1H;
period = CYCLES_400;
}
#endif
for (t = time0;; t = time0)
{
if (pix & mask)
t = time1; // Bit high duration
while (((c = read_cycle()) - startTime) < period)
; // Wait for bit start
digitalWrite(pin, HIGH);
startTime = c; // Save start time
while (((c = read_cycle()) - startTime) < t)
; // Wait high duration
digitalWrite(pin, LOW);
if (!(mask >>= 1))
{ // Next bit/byte
if (p >= end)
break;
pix = *p++;
mask = 0x80;
}
}
while ((read_cycle() - startTime) < period)
; // Wait for last bit
}
#endif // KENDRYTE_K210

72
Arduino/libraries/Adafruit_NeoPixel/keywords.txt Normal file
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#######################################
# Syntax Coloring Map For Adafruit_NeoPixel
#######################################
# Class
#######################################
Adafruit_NeoPixel KEYWORD1
#######################################
# Methods and Functions
#######################################
begin KEYWORD2
show KEYWORD2
setPin KEYWORD2
setPixelColor KEYWORD2
fill KEYWORD2
setBrightness KEYWORD2
clear KEYWORD2
updateLength KEYWORD2
updateType KEYWORD2
canShow KEYWORD2
getPixels KEYWORD2
getBrightness KEYWORD2
getPin KEYWORD2
numPixels KEYWORD2
getPixelColor KEYWORD2
sine8 KEYWORD2
gamma8 KEYWORD2
Color KEYWORD2
ColorHSV KEYWORD2
gamma32 KEYWORD2
#######################################
# Constants
#######################################
NEO_COLMASK LITERAL1
NEO_SPDMASK LITERAL1
NEO_KHZ800 LITERAL1
NEO_KHZ400 LITERAL1
NEO_RGB LITERAL1
NEO_RBG LITERAL1
NEO_GRB LITERAL1
NEO_GBR LITERAL1
NEO_BRG LITERAL1
NEO_BGR LITERAL1
NEO_WRGB LITERAL1
NEO_WRBG LITERAL1
NEO_WGRB LITERAL1
NEO_WGBR LITERAL1
NEO_WBRG LITERAL1
NEO_WBGR LITERAL1
NEO_RWGB LITERAL1
NEO_RWBG LITERAL1
NEO_RGWB LITERAL1
NEO_RGBW LITERAL1
NEO_RBWG LITERAL1
NEO_RBGW LITERAL1
NEO_GWRB LITERAL1
NEO_GWBR LITERAL1
NEO_GRWB LITERAL1
NEO_GRBW LITERAL1
NEO_GBWR LITERAL1
NEO_GBRW LITERAL1
NEO_BWRG LITERAL1
NEO_BWGR LITERAL1
NEO_BRWG LITERAL1
NEO_BRGW LITERAL1
NEO_BGWR LITERAL1
NEO_BGRW LITERAL1

10
Arduino/libraries/Adafruit_NeoPixel/library.properties Normal file
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name=Adafruit NeoPixel
version=1.12.3
author=Adafruit
maintainer=Adafruit <info@adafruit.com>
sentence=Arduino library for controlling single-wire-based LED pixels and strip.
paragraph=Arduino library for controlling single-wire-based LED pixels and strip.
category=Display
url=https://github.com/adafruit/Adafruit_NeoPixel
architectures=*
includes=Adafruit_NeoPixel.h

63
Arduino/libraries/Adafruit_NeoPixel/rp2040_pio.h Normal file
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// -------------------------------------------------- //
// This file is autogenerated by pioasm; do not edit! //
// -------------------------------------------------- //
// Unless you know what you are doing...
// Lines 47 and 52 have been edited to set transmit bit count
#if !PICO_NO_HARDWARE
#include "hardware/pio.h"
#endif
// ------ //
// ws2812 //
// ------ //
#define ws2812_wrap_target 0
#define ws2812_wrap 3
#define ws2812_T1 2
#define ws2812_T2 5
#define ws2812_T3 3
static const uint16_t ws2812_program_instructions[] = {
// .wrap_target
0x6221, // 0: out x, 1 side 0 [2]
0x1123, // 1: jmp !x, 3 side 1 [1]
0x1400, // 2: jmp 0 side 1 [4]
0xa442, // 3: nop side 0 [4]
// .wrap
};
#if !PICO_NO_HARDWARE
static const struct pio_program ws2812_program = {
.instructions = ws2812_program_instructions,
.length = 4,
.origin = -1,
};
static inline pio_sm_config ws2812_program_get_default_config(uint offset) {
pio_sm_config c = pio_get_default_sm_config();
sm_config_set_wrap(&c, offset + ws2812_wrap_target, offset + ws2812_wrap);
sm_config_set_sideset(&c, 1, false, false);
return c;
}
#include "hardware/clocks.h"
static inline void ws2812_program_init(PIO pio, uint sm, uint offset, uint pin,
float freq, uint bits) {
pio_gpio_init(pio, pin);
pio_sm_set_consecutive_pindirs(pio, sm, pin, 1, true);
pio_sm_config c = ws2812_program_get_default_config(offset);
sm_config_set_sideset_pins(&c, pin);
sm_config_set_out_shift(&c, false, true,
bits); // <----<<< Length changed to "bits"
sm_config_set_fifo_join(&c, PIO_FIFO_JOIN_TX);
int cycles_per_bit = ws2812_T1 + ws2812_T2 + ws2812_T3;
float div = clock_get_hz(clk_sys) / (freq * cycles_per_bit);
sm_config_set_clkdiv(&c, div);
pio_sm_init(pio, sm, offset, &c);
pio_sm_set_enabled(pio, sm, true);
}
#endif

674
Arduino/libraries/AdvancedSerial/LICENSE Normal file
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GNU GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
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GNU General Public License for most of our software; it applies also to
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When we speak of free software, we are referring to freedom, not
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Developers that use the GNU GPL protect your rights with two steps:
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# AdvancedSerial
AdvancedSerial provides enhanced serial communication capabilities for Arduino, enabling more flexible and detailed serial outputs. It extends the basic functionality of the Arduino Serial library, allowing automatic detection and handling of various data types, and the capability to print values in both their native format and as hexadecimal byte values.
# Features
- **Flexible Data Printing**: Print any standard Arduino data type (int, float, char, etc.) easily.
- **Hexadecimal Output**: Direct support for printing data in hexadecimal format, useful for debugging and data visualization.
- **Advanced Formatting**: Includes methods to print labels followed by values, simplifying the process of logging and data output.
- **Template Functions**: Utilize template functions for easy adaptation to different data types without overloaded functions cluttering your codebase.
# Installation
1. Download the library as a `.zip` file.
2. Open your Arduino IDE, go to `Sketch > Include Library > Add .ZIP Library...` and select the downloaded file.
3. Restart the Arduino IDE to see the library in the `Sketch > Include Library` menu.
# Public functions
## _void_ begin(_unsigned long_ baudRate)
Initialize serial communication with specified baud rate.
## _void_ print(_const char*_ str)
Print a string.
## _void_ println(_const char*_ str)
Print a string followed by a new line.
## _template<typename T>_ print(_const char*_ label, _const T&_ value, _bool_ hex = false)
Print a label followed by a value, optionally in hex format.
## _void_ println(_const char*_ label, _const char*_ encryptedData, _byte_ dataLength)
Print hexadecimal byte values with labels, followed by a new line.
# Example
Here is a simple example on how to use the AdvancedSerial library in your Arduino projects:
```cpp
#include <Arduino.h>
#include "AdvancedSerial.h"
AdvancedSerial mySerial;
void setup() {
mySerial.begin(115200);
// Print different types of variables
mySerial.println("Testing AdvancedSerial with different variable types");
int intValue = -123;
mySerial.println("Integer:", intValue);
mySerial.println("Integer (hex):", intValue, true);
}
void loop() {
// Continuously perform tasks
}
```
# Contribution
Contributions to the library are welcome. Please feel free to fork the repository, make changes, and submit pull requests.
# License
This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with this program. If not, see <https://www.gnu.org/licenses/>.

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//Example.ino
#include <Arduino.h>
#include "AdvancedSerial.h"
AdvancedSerial mySerial;
void setup() {
mySerial.begin(115200);
mySerial.println("Testing AdvancedSerial with different variable types");
mySerial.println();
// Integer types
int intValue = -1234;
unsigned int uintValue = 5678;
mySerial.println("int:\t\t", intValue);
mySerial.println("int (hex):\t\t", intValue, true);
mySerial.println("unsigned int:\t", uintValue);
mySerial.println("unsigned int (hex):\t", uintValue, true);
mySerial.println();
// Floating-point types
float floatValue = 3.14159;
double doubleValue = 2.71828;
mySerial.println("float:\t\t", floatValue);
mySerial.println("float (hex):\t\t", floatValue, true);
mySerial.println("double:\t\t", doubleValue);
mySerial.println("double (hex):\t\t", doubleValue), true;
mySerial.println();
// Character types
char charValue = 'A';
mySerial.println("char:\t\t", charValue);
mySerial.println("char (hex):\t\t", charValue, true);
mySerial.println();
// Boolean type
bool boolValue = true;
mySerial.println("bool:\t\t", boolValue);
mySerial.println("bool (hex):\t\t", boolValue);
mySerial.println();
// String type
const char* stringValue = "Hello, AdvancedSerial!";
mySerial.println("string:\t\t", stringValue);
mySerial.println("string (hex):\t\t", stringValue, true);
mySerial.println("string:\t\t", "Hello again");
mySerial.println("string:\t\t", "Hello again", true);
mySerial.println();
// Byte array
byte byteArray[] = {0x12, 0x34, 0x56, 0x78, 0x9A};
mySerial.println("byte array:\t\t", byteArray, sizeof(byteArray));
mySerial.println();
// Hexadecimal representation
int hexValue = 0xABCDEF;
mySerial.println("hexadecimal:\t", hexValue);
mySerial.println("hexadecimal (hex):\t", hexValue, true);
mySerial.println();
}
void loop() {
// Empty loop
}

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AdvancedSerial KEYWORD1
begin KEYWORD2
print KEYWORD2
println KEYWORD2

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Arduino/libraries/AdvancedSerial/library.properties Normal file
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name=AdvancedSerial
version=0.0.1
author=Ernst du Plooy
maintainer=Ernst du Plooy <zeedesigns.co.za@gmail.com>
sentence=A library for enhanced serial communication on Arduino, capable of handling and displaying all variable types in their native or hexadecimal byte value formats.
paragraph=AdvancedSerial library offers versatile serial communication capabilities for Arduino, allowing seamless interaction with all variable types. It automatically detects and appropriately handles different data types, ensuring smooth data processing and output. The library supports printing values in both their native format and hexadecimal byte values, making it ideal for debugging and complex data visualization tasks. AdvancedSerial simplifies the task of serial communication by providing a robust set of functions that enhance the standard Arduino Serial library.
category=Communication
url=https://github.com/ZeeDesigns7/AdvancedSerial
architectures=*
depends=

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//AdancedSerial.cpp
#include "AdvancedSerial.h"
AdvancedSerial::AdvancedSerial() {
// Constructor is now empty or used for other initializations
}
void AdvancedSerial::begin(unsigned long baudRate) {
Serial.begin(baudRate); // Initialize Serial with the user-defined baud rate
}
void AdvancedSerial::print(const char* str) {
Serial.print(str);
}
void AdvancedSerial::print(byte value, bool hex) {
if (hex) {
// Print byte value in hexadecimal format with leading zero
if (value < 16) {
Serial.print("0");
}
Serial.print(value, HEX);
} else {
Serial.print(value);
}
}
void AdvancedSerial::println() {
Serial.println();
}
void AdvancedSerial::println(const char* str) {
Serial.println(str);
}

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//AdvancedSerial.h
#ifndef AdvancedSerial_h
#define AdvancedSerial_h
#include "Arduino.h"
class AdvancedSerial {
public:
AdvancedSerial();
void begin(unsigned long baudRate);
// Generic print method for any type
template<typename T>
inline void print(const T& value) {
Serial.print(value);
}
// Method to print a label and value directly
template<typename T>
void print(const char* label, const T& value, bool hex = false) {
print(label);
if (hex) {
print(value, HEX); // Print in hexadecimal
} else {
print(value); // Regular print
}
}
// Overload for printByte functionality
void print(const char* label, byte* data, byte length) {
print(label);
for (int i = 0; i < length; i++) {
if (data[i] < 0x10) {
print("0");
}
print(data[i], HEX);
if (i < length - 1) {
print(" ");
}
}
}
// Overload for printByte functionality with println
void println(const char* label, byte* data, byte length) {
print(label, data, length);
println();
}
// Overload for printHexChar functionality
void print(const char* label, const char* encryptedData, byte dataLength) {
print(label);
for (int i = 0; i < dataLength; i++) {
byte byteValue = (byte)encryptedData[i]; // Cast to byte to handle unsigned data
if (byteValue < 16) {
print("0"); // Print leading zero for single digit hex numbers
}
print(byteValue, HEX); // Print byte as hex
print(" "); // Print space for readability between hex values
}
}
// Overload for printHexChar functionality with println
void println(const char* label, const char* encryptedData, byte dataLength) {
print(label, encryptedData, dataLength);
println(); // New line after printing all hex values
}
// Overload for printText functionality
void println(const char* label, const char* text) {
char buffer[256]; // Ensure the buffer is sized appropriately for your messages
snprintf(buffer, sizeof(buffer), "%s%s", label, text);
println(buffer);
}
// Overload for printing string as hexadecimal bytes
void println(const char* label, const char* str, bool hex) {
print(label);
if (hex) {
for (size_t i = 0; str[i] != '\0'; i++) {
byte byteValue = (byte)str[i];
if (byteValue < 16) {
print("0");
}
print(byteValue, HEX);
print(" ");
}
println();
} else {
println(str);
}
}
void print(const char* str); // For printing strings directly
void print(byte value, bool hex = false); // Overload for byte type
void println();
void println(const char* str); // Methods with newline
template<typename T>
inline void println(const T& value) {
print(value);
Serial.println();
}
template<typename T>
inline void println(const char* label, const T& value, bool hex = false) {
print(label, value, hex);
Serial.println();
}
};
// Specialization for const char* type
template<>
inline void AdvancedSerial::print(const char* label, const char* const& value, bool hex) {
Serial.print(label);
Serial.print(value);
}
#endif

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//AdvancedSerial.tpp
#include "AdvancedSerial.h"
template<typename T>
void AdvancedSerial::print(const T& value) {
Serial.print(value);
}
// Method to print a label and value
template<typename T>
void AdvancedSerial::print(const char* label, const T& value, bool hex) {
Serial.print(label);
if (hex && (std::is_integral<T>::value || std::is_enum<T>::value)) {
Serial.print(value, HEX); // Print in hexadecimal
} else {
Serial.print(value); // Regular print
}
}
// Define the specialization outside the class scope
template<>
void AdvancedSerial::print(const char* label, const char* const& value, bool hex) {
Serial.print(label);
Serial.print(value);
}
void AdvancedSerial::print(const char* str) {
Serial.print(str);
}
void AdvancedSerial::print(byte value, bool hex) {
if (hex) {
// Print byte value in hexadecimal format with leading zero
if (value < 16) {
Serial.print("0");
}
Serial.print(value, HEX);
} else {
Serial.print(value);
}
}
void AdvancedSerial::println() {
Serial.println();
}
void AdvancedSerial::println(const char* str) {
Serial.println(str);
}
template<typename T>
void AdvancedSerial::println(const T& value) {
print(value);
Serial.println();
}
template<typename T>
void AdvancedSerial::println(const char* label, const T& value, bool hex) {
print(label, value, hex);
Serial.println();
}

30
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/*
EasyNeoPixels.h - Library for making neopixels more approachable.
Created by Evelyn Masso, April 9, 2017.
*/
#pragma once
#include "Arduino.h"
#include <Adafruit_NeoPixel.h>
Adafruit_NeoPixel easyNeoPixels;
void setupEasyNeoPixels(int pin, int num) {
easyNeoPixels = Adafruit_NeoPixel(num, pin, NEO_GRB + NEO_KHZ800);
easyNeoPixels.begin();
}
// set the nth neopixel to a particular brightness of white
// meant to be used with val as HIGH or LOW
void writeEasyNeoPixel(int num, int val) {
easyNeoPixels.setPixelColor(num, easyNeoPixels.Color(val*255,val*255,val*255));
easyNeoPixels.show();
}
// set the nth neopixel to a particular rgb color
void writeEasyNeoPixel(int num, int r, int g, int b) {
easyNeoPixels.setPixelColor(num, easyNeoPixels.Color(r,g,b));
easyNeoPixels.show();
}

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Arduino/libraries/Easy_NeoPixels/README.md Normal file
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# Easy NeoPixels Library
Makes it easy to use Neopixels with just a few simple commands!
No knowledge of functions, objects, or variables required.
It's as easy as:
```c
setupEasyNeoPixels(13, 1); // attached to pin 13, 1 neopixel long
writeEasyNeoPixel(0, HIGH); // turn on the first neopixel
writeEasyNeoPixel(0, 255, 255, 0); // make the first neopixel purple
```
## Examples
see `examples/` for a collection of arduino sketches that use this library
## A Note to Advanced Users
Please be aware this library pollutes the global namespace with a variable and a few functions. 😄

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/*
Blink bright white light from a single Neopixel!
*/
#include <EasyNeoPixels.h>
void setup() {
// setup for one NeoPixel attached to pin 13
setupEasyNeoPixels(13, 1);
}
void loop() {
// turn the NeoPixel ON
writeEasyNeoPixel(0, HIGH);
delay(500);
// turn the NeoPixel OFF
writeEasyNeoPixel(0, LOW);
delay(500);
}

23
Arduino/libraries/Easy_NeoPixels/examples/colorSequence/colorSequence.ino Normal file
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/*
Cycle through colors on a single Neopixel!
*/
#include <EasyNeoPixels.h>
void setup() {
setupEasyNeoPixels(13, 1);
}
void loop() {
// make it red
writeEasyNeoPixel(0, 255, 0, 0);
delay(500);
// make it green
writeEasyNeoPixel(0, 0, 255, 0);
delay(500);
// make it blue
writeEasyNeoPixel(0, 0, 0, 255);
delay(500);
}

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setupEasyNeoPixels KEYWORD2
writeEasyNeoPixel KEYWORD2

10
Arduino/libraries/Easy_NeoPixels/library.properties Normal file
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name=Easy NeoPixels
version=0.2.3
author=Evelyn Masso <evoutofambit@gmail.com>
maintainer=Evelyn Masso <evoutofambit@gmail.com>
sentence=Use Adafruit NeoPixels with less setup and configuration.
paragraph=Ideal for first-time NeoPixel users and people less comfortable with complex external libraries.
category=Display
url=https://github.com/outofambit/easy-neopixels
architectures=*
depends=Adafruit NeoPixel

25
Arduino/libraries/LiquidCrystal/README.adoc Normal file
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= Liquid Crystal Library for Arduino =
This library allows an Arduino board to control LiquidCrystal displays (LCDs) based on the Hitachi HD44780 (or a compatible) chipset, which is found on most text-based LCDs.
For more information about this library please visit us at
http://www.arduino.cc/en/Reference/LiquidCrystal
== License ==
Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights reserved.
Copyright (c) 2010 Arduino LLC. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA

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Arduino/libraries/LiquidCrystal/examples/Autoscroll/Autoscroll.ino Normal file
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/*
LiquidCrystal Library - Autoscroll
Demonstrates the use a 16x2 LCD display. The LiquidCrystal
library works with all LCD displays that are compatible with the
Hitachi HD44780 driver. There are many of them out there, and you
can usually tell them by the 16-pin interface.
This sketch demonstrates the use of the autoscroll()
and noAutoscroll() functions to make new text scroll or not.
The circuit:
* LCD RS pin to digital pin 12
* LCD Enable pin to digital pin 11
* LCD D4 pin to digital pin 5
* LCD D5 pin to digital pin 4
* LCD D6 pin to digital pin 3
* LCD D7 pin to digital pin 2
* LCD R/W pin to ground
* 10K resistor:
* ends to +5V and ground
* wiper to LCD VO pin (pin 3)
Library originally added 18 Apr 2008
by David A. Mellis
library modified 5 Jul 2009
by Limor Fried (http://www.ladyada.net)
example added 9 Jul 2009
by Tom Igoe
modified 22 Nov 2010
by Tom Igoe
modified 7 Nov 2016
by Arturo Guadalupi
This example code is in the public domain.
http://www.arduino.cc/en/Tutorial/LiquidCrystalAutoscroll
*/
// include the library code:
#include <LiquidCrystal.h>
// initialize the library by associating any needed LCD interface pin
// with the arduino pin number it is connected to
const int rs = 12, en = 11, d4 = 5, d5 = 4, d6 = 3, d7 = 2;
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);
void setup() {
// set up the LCD's number of columns and rows:
lcd.begin(16, 2);
}
void loop() {
// set the cursor to (0,0):
lcd.setCursor(0, 0);
// print from 0 to 9:
for (int thisChar = 0; thisChar < 10; thisChar++) {
lcd.print(thisChar);
delay(500);
}
// set the cursor to (16,1):
lcd.setCursor(16, 1);
// set the display to automatically scroll:
lcd.autoscroll();
// print from 0 to 9:
for (int thisChar = 0; thisChar < 10; thisChar++) {
lcd.print(thisChar);
delay(500);
}
// turn off automatic scrolling
lcd.noAutoscroll();
// clear screen for the next loop:
lcd.clear();
}

65
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/*
LiquidCrystal Library - Blink
Demonstrates the use a 16x2 LCD display. The LiquidCrystal
library works with all LCD displays that are compatible with the
Hitachi HD44780 driver. There are many of them out there, and you
can usually tell them by the 16-pin interface.
This sketch prints "Hello World!" to the LCD and makes the
cursor block blink.
The circuit:
* LCD RS pin to digital pin 12
* LCD Enable pin to digital pin 11
* LCD D4 pin to digital pin 5
* LCD D5 pin to digital pin 4
* LCD D6 pin to digital pin 3
* LCD D7 pin to digital pin 2
* LCD R/W pin to ground
* 10K resistor:
* ends to +5V and ground
* wiper to LCD VO pin (pin 3)
Library originally added 18 Apr 2008
by David A. Mellis
library modified 5 Jul 2009
by Limor Fried (http://www.ladyada.net)
example added 9 Jul 2009
by Tom Igoe
modified 22 Nov 2010
by Tom Igoe
modified 7 Nov 2016
by Arturo Guadalupi
This example code is in the public domain.
http://www.arduino.cc/en/Tutorial/LiquidCrystalBlink
*/
// include the library code:
#include <LiquidCrystal.h>
// initialize the library by associating any needed LCD interface pin
// with the arduino pin number it is connected to
const int rs = 12, en = 11, d4 = 5, d5 = 4, d6 = 3, d7 = 2;
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);
void setup() {
// set up the LCD's number of columns and rows:
lcd.begin(16, 2);
// Print a message to the LCD.
lcd.print("hello, world!");
}
void loop() {
// Turn off the blinking cursor:
lcd.noBlink();
delay(3000);
// Turn on the blinking cursor:
lcd.blink();
delay(3000);
}

65
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/*
LiquidCrystal Library - Cursor
Demonstrates the use a 16x2 LCD display. The LiquidCrystal
library works with all LCD displays that are compatible with the
Hitachi HD44780 driver. There are many of them out there, and you
can usually tell them by the 16-pin interface.
This sketch prints "Hello World!" to the LCD and
uses the cursor() and noCursor() methods to turn
on and off the cursor.
The circuit:
* LCD RS pin to digital pin 12
* LCD Enable pin to digital pin 11
* LCD D4 pin to digital pin 5
* LCD D5 pin to digital pin 4
* LCD D6 pin to digital pin 3
* LCD D7 pin to digital pin 2
* LCD R/W pin to ground
* 10K resistor:
* ends to +5V and ground
* wiper to LCD VO pin (pin 3)
Library originally added 18 Apr 2008
by David A. Mellis
library modified 5 Jul 2009
by Limor Fried (http://www.ladyada.net)
example added 9 Jul 2009
by Tom Igoe
modified 22 Nov 2010
by Tom Igoe
modified 7 Nov 2016
by Arturo Guadalupi
This example code is in the public domain.
http://www.arduino.cc/en/Tutorial/LiquidCrystalCursor
*/
// include the library code:
#include <LiquidCrystal.h>
// initialize the library by associating any needed LCD interface pin
// with the arduino pin number it is connected to
const int rs = 12, en = 11, d4 = 5, d5 = 4, d6 = 3, d7 = 2;
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);
void setup() {
// set up the LCD's number of columns and rows:
lcd.begin(16, 2);
// Print a message to the LCD.
lcd.print("hello, world!");
}
void loop() {
// Turn off the cursor:
lcd.noCursor();
delay(500);
// Turn on the cursor:
lcd.cursor();
delay(500);
}

147
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/*
LiquidCrystal Library - Custom Characters
Demonstrates how to add custom characters on an LCD display.
The LiquidCrystal library works with all LCD displays that are
compatible with the Hitachi HD44780 driver. There are many of
them out there, and you can usually tell them by the 16-pin interface.
This sketch prints "I <heart> Arduino!" and a little dancing man
to the LCD.
The circuit:
* LCD RS pin to digital pin 12
* LCD Enable pin to digital pin 11
* LCD D4 pin to digital pin 5
* LCD D5 pin to digital pin 4
* LCD D6 pin to digital pin 3
* LCD D7 pin to digital pin 2
* LCD R/W pin to ground
* 10K potentiometer:
* ends to +5V and ground
* wiper to LCD VO pin (pin 3)
* 10K poterntiometer on pin A0
created 21 Mar 2011
by Tom Igoe
modified 11 Nov 2013
by Scott Fitzgerald
modified 7 Nov 2016
by Arturo Guadalupi
Based on Adafruit's example at
https://github.com/adafruit/SPI_VFD/blob/master/examples/createChar/createChar.pde
This example code is in the public domain.
http://www.arduino.cc/en/Tutorial/LiquidCrystalCustomCharacter
Also useful:
http://icontexto.com/charactercreator/
*/
// include the library code:
#include <LiquidCrystal.h>
// initialize the library by associating any needed LCD interface pin
// with the arduino pin number it is connected to
const int rs = 12, en = 11, d4 = 5, d5 = 4, d6 = 3, d7 = 2;
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);
// make some custom characters:
byte heart[8] = {
0b00000,
0b01010,
0b11111,
0b11111,
0b11111,
0b01110,
0b00100,
0b00000
};
byte smiley[8] = {
0b00000,
0b00000,
0b01010,
0b00000,
0b00000,
0b10001,
0b01110,
0b00000
};
byte frownie[8] = {
0b00000,
0b00000,
0b01010,
0b00000,
0b00000,
0b00000,
0b01110,
0b10001
};
byte armsDown[8] = {
0b00100,
0b01010,
0b00100,
0b00100,
0b01110,
0b10101,
0b00100,
0b01010
};
byte armsUp[8] = {
0b00100,
0b01010,
0b00100,
0b10101,
0b01110,
0b00100,
0b00100,
0b01010
};
void setup() {
// initialize LCD and set up the number of columns and rows:
lcd.begin(16, 2);
// create a new character
lcd.createChar(0, heart);
// create a new character
lcd.createChar(1, smiley);
// create a new character
lcd.createChar(2, frownie);
// create a new character
lcd.createChar(3, armsDown);
// create a new character
lcd.createChar(4, armsUp);
// set the cursor to the top left
lcd.setCursor(0, 0);
// Print a message to the lcd.
lcd.print("I ");
lcd.write(byte(0)); // when calling lcd.write() '0' must be cast as a byte
lcd.print(" Arduino! ");
lcd.write((byte)1);
}
void loop() {
// read the potentiometer on A0:
int sensorReading = analogRead(A0);
// map the result to 200 - 1000:
int delayTime = map(sensorReading, 0, 1023, 200, 1000);
// set the cursor to the bottom row, 5th position:
lcd.setCursor(4, 1);
// draw the little man, arms down:
lcd.write(3);
delay(delayTime);
lcd.setCursor(4, 1);
// draw him arms up:
lcd.write(4);
delay(delayTime);
}

65
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/*
LiquidCrystal Library - display() and noDisplay()
Demonstrates the use a 16x2 LCD display. The LiquidCrystal
library works with all LCD displays that are compatible with the
Hitachi HD44780 driver. There are many of them out there, and you
can usually tell them by the 16-pin interface.
This sketch prints "Hello World!" to the LCD and uses the
display() and noDisplay() functions to turn on and off
the display.
The circuit:
* LCD RS pin to digital pin 12
* LCD Enable pin to digital pin 11
* LCD D4 pin to digital pin 5
* LCD D5 pin to digital pin 4
* LCD D6 pin to digital pin 3
* LCD D7 pin to digital pin 2
* LCD R/W pin to ground
* 10K resistor:
* ends to +5V and ground
* wiper to LCD VO pin (pin 3)
Library originally added 18 Apr 2008
by David A. Mellis
library modified 5 Jul 2009
by Limor Fried (http://www.ladyada.net)
example added 9 Jul 2009
by Tom Igoe
modified 22 Nov 2010
by Tom Igoe
modified 7 Nov 2016
by Arturo Guadalupi
This example code is in the public domain.
http://www.arduino.cc/en/Tutorial/LiquidCrystalDisplay
*/
// include the library code:
#include <LiquidCrystal.h>
// initialize the library by associating any needed LCD interface pin
// with the arduino pin number it is connected to
const int rs = 12, en = 11, d4 = 5, d5 = 4, d6 = 3, d7 = 2;
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);
void setup() {
// set up the LCD's number of columns and rows:
lcd.begin(16, 2);
// Print a message to the LCD.
lcd.print("hello, world!");
}
void loop() {
// Turn off the display:
lcd.noDisplay();
delay(500);
// Turn on the display:
lcd.display();
delay(500);
}

65
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/*
LiquidCrystal Library - Hello World
Demonstrates the use a 16x2 LCD display. The LiquidCrystal
library works with all LCD displays that are compatible with the
Hitachi HD44780 driver. There are many of them out there, and you
can usually tell them by the 16-pin interface.
This sketch prints "Hello World!" to the LCD
and shows the time.
The circuit:
* LCD RS pin to digital pin 12
* LCD Enable pin to digital pin 11
* LCD D4 pin to digital pin 5
* LCD D5 pin to digital pin 4
* LCD D6 pin to digital pin 3
* LCD D7 pin to digital pin 2
* LCD R/W pin to ground
* LCD VSS pin to ground
* LCD VCC pin to 5V
* 10K resistor:
* ends to +5V and ground
* wiper to LCD VO pin (pin 3)
Library originally added 18 Apr 2008
by David A. Mellis
library modified 5 Jul 2009
by Limor Fried (http://www.ladyada.net)
example added 9 Jul 2009
by Tom Igoe
modified 22 Nov 2010
by Tom Igoe
modified 7 Nov 2016
by Arturo Guadalupi
This example code is in the public domain.
http://www.arduino.cc/en/Tutorial/LiquidCrystalHelloWorld
*/
// include the library code:
#include <LiquidCrystal.h>
// initialize the library by associating any needed LCD interface pin
// with the arduino pin number it is connected to
const int rs = 12, en = 11, d4 = 5, d5 = 4, d6 = 3, d7 = 2;
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);
void setup() {
// set up the LCD's number of columns and rows:
lcd.begin(16, 2);
// Print a message to the LCD.
lcd.print("hello, world!");
}
void loop() {
// set the cursor to column 0, line 1
// (note: line 1 is the second row, since counting begins with 0):
lcd.setCursor(0, 1);
// print the number of seconds since reset:
lcd.print(millis() / 1000);
}

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/*
LiquidCrystal Library - scrollDisplayLeft() and scrollDisplayRight()
Demonstrates the use a 16x2 LCD display. The LiquidCrystal
library works with all LCD displays that are compatible with the
Hitachi HD44780 driver. There are many of them out there, and you
can usually tell them by the 16-pin interface.
This sketch prints "Hello World!" to the LCD and uses the
scrollDisplayLeft() and scrollDisplayRight() methods to scroll
the text.
The circuit:
* LCD RS pin to digital pin 12
* LCD Enable pin to digital pin 11
* LCD D4 pin to digital pin 5
* LCD D5 pin to digital pin 4
* LCD D6 pin to digital pin 3
* LCD D7 pin to digital pin 2
* LCD R/W pin to ground
* 10K resistor:
* ends to +5V and ground
* wiper to LCD VO pin (pin 3)
Library originally added 18 Apr 2008
by David A. Mellis
library modified 5 Jul 2009
by Limor Fried (http://www.ladyada.net)
example added 9 Jul 2009
by Tom Igoe
modified 22 Nov 2010
by Tom Igoe
modified 7 Nov 2016
by Arturo Guadalupi
This example code is in the public domain.
http://www.arduino.cc/en/Tutorial/LiquidCrystalScroll
*/
// include the library code:
#include <LiquidCrystal.h>
// initialize the library by associating any needed LCD interface pin
// with the arduino pin number it is connected to
const int rs = 12, en = 11, d4 = 5, d5 = 4, d6 = 3, d7 = 2;
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);
void setup() {
// set up the LCD's number of columns and rows:
lcd.begin(16, 2);
// Print a message to the LCD.
lcd.print("hello, world!");
delay(1000);
}
void loop() {
// scroll 13 positions (string length) to the left
// to move it offscreen left:
for (int positionCounter = 0; positionCounter < 13; positionCounter++) {
// scroll one position left:
lcd.scrollDisplayLeft();
// wait a bit:
delay(150);
}
// scroll 29 positions (string length + display length) to the right
// to move it offscreen right:
for (int positionCounter = 0; positionCounter < 29; positionCounter++) {
// scroll one position right:
lcd.scrollDisplayRight();
// wait a bit:
delay(150);
}
// scroll 16 positions (display length + string length) to the left
// to move it back to center:
for (int positionCounter = 0; positionCounter < 16; positionCounter++) {
// scroll one position left:
lcd.scrollDisplayLeft();
// wait a bit:
delay(150);
}
// delay at the end of the full loop:
delay(1000);
}

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/*
LiquidCrystal Library - Serial Input
Demonstrates the use a 16x2 LCD display. The LiquidCrystal
library works with all LCD displays that are compatible with the
Hitachi HD44780 driver. There are many of them out there, and you
can usually tell them by the 16-pin interface.
This sketch displays text sent over the serial port
(e.g. from the Serial Monitor) on an attached LCD.
The circuit:
* LCD RS pin to digital pin 12
* LCD Enable pin to digital pin 11
* LCD D4 pin to digital pin 5
* LCD D5 pin to digital pin 4
* LCD D6 pin to digital pin 3
* LCD D7 pin to digital pin 2
* LCD R/W pin to ground
* 10K resistor:
* ends to +5V and ground
* wiper to LCD VO pin (pin 3)
Library originally added 18 Apr 2008
by David A. Mellis
library modified 5 Jul 2009
by Limor Fried (http://www.ladyada.net)
example added 9 Jul 2009
by Tom Igoe
modified 22 Nov 2010
by Tom Igoe
modified 7 Nov 2016
by Arturo Guadalupi
This example code is in the public domain.
http://www.arduino.cc/en/Tutorial/LiquidCrystalSerialDisplay
*/
// include the library code:
#include <LiquidCrystal.h>
// initialize the library by associating any needed LCD interface pin
// with the arduino pin number it is connected to
const int rs = 12, en = 11, d4 = 5, d5 = 4, d6 = 3, d7 = 2;
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);
void setup() {
// set up the LCD's number of columns and rows:
lcd.begin(16, 2);
// initialize the serial communications:
Serial.begin(9600);
}
void loop() {
// when characters arrive over the serial port...
if (Serial.available()) {
// wait a bit for the entire message to arrive
delay(100);
// clear the screen
lcd.clear();
// read all the available characters
while (Serial.available() > 0) {
// display each character to the LCD
lcd.write(Serial.read());
}
}
}

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Arduino/libraries/LiquidCrystal/examples/TextDirection/TextDirection.ino Normal file
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/*
LiquidCrystal Library - TextDirection
Demonstrates the use a 16x2 LCD display. The LiquidCrystal
library works with all LCD displays that are compatible with the
Hitachi HD44780 driver. There are many of them out there, and you
can usually tell them by the 16-pin interface.
This sketch demonstrates how to use leftToRight() and rightToLeft()
to move the cursor.
The circuit:
* LCD RS pin to digital pin 12
* LCD Enable pin to digital pin 11
* LCD D4 pin to digital pin 5
* LCD D5 pin to digital pin 4
* LCD D6 pin to digital pin 3
* LCD D7 pin to digital pin 2
* LCD R/W pin to ground
* 10K resistor:
* ends to +5V and ground
* wiper to LCD VO pin (pin 3)
Library originally added 18 Apr 2008
by David A. Mellis
library modified 5 Jul 2009
by Limor Fried (http://www.ladyada.net)
example added 9 Jul 2009
by Tom Igoe
modified 22 Nov 2010
by Tom Igoe
modified 7 Nov 2016
by Arturo Guadalupi
This example code is in the public domain.
http://www.arduino.cc/en/Tutorial/LiquidCrystalTextDirection
*/
// include the library code:
#include <LiquidCrystal.h>
// initialize the library by associating any needed LCD interface pin
// with the arduino pin number it is connected to
const int rs = 12, en = 11, d4 = 5, d5 = 4, d6 = 3, d7 = 2;
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);
int thisChar = 'a';
void setup() {
// set up the LCD's number of columns and rows:
lcd.begin(16, 2);
// turn on the cursor:
lcd.cursor();
}
void loop() {
// reverse directions at 'm':
if (thisChar == 'm') {
// go right for the next letter
lcd.rightToLeft();
}
// reverse again at 's':
if (thisChar == 's') {
// go left for the next letter
lcd.leftToRight();
}
// reset at 'z':
if (thisChar > 'z') {
// go to (0,0):
lcd.home();
// start again at 0
thisChar = 'a';
}
// print the character
lcd.write(thisChar);
// wait a second:
delay(1000);
// increment the letter:
thisChar++;
}

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Arduino/libraries/LiquidCrystal/examples/setCursor/setCursor.ino Normal file
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/*
LiquidCrystal Library - setCursor
Demonstrates the use a 16x2 LCD display. The LiquidCrystal
library works with all LCD displays that are compatible with the
Hitachi HD44780 driver. There are many of them out there, and you
can usually tell them by the 16-pin interface.
This sketch prints to all the positions of the LCD using the
setCursor() method:
The circuit:
* LCD RS pin to digital pin 12
* LCD Enable pin to digital pin 11
* LCD D4 pin to digital pin 5
* LCD D5 pin to digital pin 4
* LCD D6 pin to digital pin 3
* LCD D7 pin to digital pin 2
* LCD R/W pin to ground
* 10K resistor:
* ends to +5V and ground
* wiper to LCD VO pin (pin 3)
Library originally added 18 Apr 2008
by David A. Mellis
library modified 5 Jul 2009
by Limor Fried (http://www.ladyada.net)
example added 9 Jul 2009
by Tom Igoe
modified 22 Nov 2010
by Tom Igoe
modified 7 Nov 2016
by Arturo Guadalupi
This example code is in the public domain.
http://www.arduino.cc/en/Tutorial/LiquidCrystalSetCursor
*/
// include the library code:
#include <LiquidCrystal.h>
// initialize the library by associating any needed LCD interface pin
// with the arduino pin number it is connected to
const int rs = 12, en = 11, d4 = 5, d5 = 4, d6 = 3, d7 = 2;
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);
// these constants won't change. But you can change the size of
// your LCD using them:
const int numRows = 2;
const int numCols = 16;
void setup() {
// set up the LCD's number of columns and rows:
lcd.begin(numCols, numRows);
}
void loop() {
// loop from ASCII 'a' to ASCII 'z':
for (int thisLetter = 'a'; thisLetter <= 'z'; thisLetter++) {
// loop over the columns:
for (int thisRow = 0; thisRow < numRows; thisRow++) {
// loop over the rows:
for (int thisCol = 0; thisCol < numCols; thisCol++) {
// set the cursor position:
lcd.setCursor(thisCol, thisRow);
// print the letter:
lcd.write(thisLetter);
delay(200);
}
}
}
}

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Arduino/libraries/LiquidCrystal/keywords.txt Normal file
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#######################################
# Syntax Coloring Map For LiquidCrystal
#######################################
#######################################
# Datatypes (KEYWORD1)
#######################################
LiquidCrystal KEYWORD1 LiquidCrystal
#######################################
# Methods and Functions (KEYWORD2)
#######################################
begin KEYWORD2
clear KEYWORD2
home KEYWORD2
print KEYWORD2
setCursor KEYWORD2
cursor KEYWORD2
noCursor KEYWORD2
blink KEYWORD2
noBlink KEYWORD2
display KEYWORD2
noDisplay KEYWORD2
autoscroll KEYWORD2
noAutoscroll KEYWORD2
leftToRight KEYWORD2
rightToLeft KEYWORD2
scrollDisplayLeft KEYWORD2
scrollDisplayRight KEYWORD2
createChar KEYWORD2
setRowOffsets KEYWORD2
#######################################
# Constants (LITERAL1)
#######################################

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Arduino/libraries/LiquidCrystal/library.properties Normal file
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name=LiquidCrystal
version=1.0.7
author=Arduino, Adafruit
maintainer=Arduino <info@arduino.cc>
sentence=Allows communication with alphanumerical liquid crystal displays (LCDs).
paragraph=This library allows an Arduino/Genuino board to control LiquidCrystal displays (LCDs) based on the Hitachi HD44780 (or a compatible) chipset, which is found on most text-based LCDs. The library works with in either 4 or 8 bit mode (i.e. using 4 or 8 data lines in addition to the rs, enable, and, optionally, the rw control lines).
category=Display
url=http://www.arduino.cc/en/Reference/LiquidCrystal
architectures=*

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Arduino/libraries/LiquidCrystal/src/LiquidCrystal.cpp Normal file
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#include "LiquidCrystal.h"
#include <stdio.h>
#include <string.h>
#include <inttypes.h>
#include "Arduino.h"
// When the display powers up, it is configured as follows:
//
// 1. Display clear
// 2. Function set:
// DL = 1; 8-bit interface data
// N = 0; 1-line display
// F = 0; 5x8 dot character font
// 3. Display on/off control:
// D = 0; Display off
// C = 0; Cursor off
// B = 0; Blinking off
// 4. Entry mode set:
// I/D = 1; Increment by 1
// S = 0; No shift
//
// Note, however, that resetting the Arduino doesn't reset the LCD, so we
// can't assume that its in that state when a sketch starts (and the
// LiquidCrystal constructor is called).
LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable,
uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3,
uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7)
{
init(0, rs, rw, enable, d0, d1, d2, d3, d4, d5, d6, d7);
}
LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t enable,
uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3,
uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7)
{
init(0, rs, 255, enable, d0, d1, d2, d3, d4, d5, d6, d7);
}
LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable,
uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3)
{
init(1, rs, rw, enable, d0, d1, d2, d3, 0, 0, 0, 0);
}
LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t enable,
uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3)
{
init(1, rs, 255, enable, d0, d1, d2, d3, 0, 0, 0, 0);
}
void LiquidCrystal::init(uint8_t fourbitmode, uint8_t rs, uint8_t rw, uint8_t enable,
uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3,
uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7)
{
_rs_pin = rs;
_rw_pin = rw;
_enable_pin = enable;
_data_pins[0] = d0;
_data_pins[1] = d1;
_data_pins[2] = d2;
_data_pins[3] = d3;
_data_pins[4] = d4;
_data_pins[5] = d5;
_data_pins[6] = d6;
_data_pins[7] = d7;
if (fourbitmode)
_displayfunction = LCD_4BITMODE | LCD_1LINE | LCD_5x8DOTS;
else
_displayfunction = LCD_8BITMODE | LCD_1LINE | LCD_5x8DOTS;
begin(16, 1);
}
void LiquidCrystal::begin(uint8_t cols, uint8_t lines, uint8_t dotsize) {
if (lines > 1) {
_displayfunction |= LCD_2LINE;
}
_numlines = lines;
setRowOffsets(0x00, 0x40, 0x00 + cols, 0x40 + cols);
// for some 1 line displays you can select a 10 pixel high font
if ((dotsize != LCD_5x8DOTS) && (lines == 1)) {
_displayfunction |= LCD_5x10DOTS;
}
pinMode(_rs_pin, OUTPUT);
// we can save 1 pin by not using RW. Indicate by passing 255 instead of pin#
if (_rw_pin != 255) {
pinMode(_rw_pin, OUTPUT);
}
pinMode(_enable_pin, OUTPUT);
// Do these once, instead of every time a character is drawn for speed reasons.
for (int i=0; i<((_displayfunction & LCD_8BITMODE) ? 8 : 4); ++i)
{
pinMode(_data_pins[i], OUTPUT);
}
// SEE PAGE 45/46 FOR INITIALIZATION SPECIFICATION!
// according to datasheet, we need at least 40ms after power rises above 2.7V
// before sending commands. Arduino can turn on way before 4.5V so we'll wait 50
delayMicroseconds(50000);
// Now we pull both RS and R/W low to begin commands
digitalWrite(_rs_pin, LOW);
digitalWrite(_enable_pin, LOW);
if (_rw_pin != 255) {
digitalWrite(_rw_pin, LOW);
}
//put the LCD into 4 bit or 8 bit mode
if (! (_displayfunction & LCD_8BITMODE)) {
// this is according to the hitachi HD44780 datasheet
// figure 24, pg 46
// we start in 8bit mode, try to set 4 bit mode
write4bits(0x03);
delayMicroseconds(4500); // wait min 4.1ms
// second try
write4bits(0x03);
delayMicroseconds(4500); // wait min 4.1ms
// third go!
write4bits(0x03);
delayMicroseconds(150);
// finally, set to 4-bit interface
write4bits(0x02);
} else {
// this is according to the hitachi HD44780 datasheet
// page 45 figure 23
// Send function set command sequence
command(LCD_FUNCTIONSET | _displayfunction);
delayMicroseconds(4500); // wait more than 4.1ms
// second try
command(LCD_FUNCTIONSET | _displayfunction);
delayMicroseconds(150);
// third go
command(LCD_FUNCTIONSET | _displayfunction);
}
// finally, set # lines, font size, etc.
command(LCD_FUNCTIONSET | _displayfunction);
// turn the display on with no cursor or blinking default
_displaycontrol = LCD_DISPLAYON | LCD_CURSOROFF | LCD_BLINKOFF;
display();
// clear it off
clear();
// Initialize to default text direction (for romance languages)
_displaymode = LCD_ENTRYLEFT | LCD_ENTRYSHIFTDECREMENT;
// set the entry mode
command(LCD_ENTRYMODESET | _displaymode);
}
void LiquidCrystal::setRowOffsets(int row0, int row1, int row2, int row3)
{
_row_offsets[0] = row0;
_row_offsets[1] = row1;
_row_offsets[2] = row2;
_row_offsets[3] = row3;
}
/********** high level commands, for the user! */
void LiquidCrystal::clear()
{
command(LCD_CLEARDISPLAY); // clear display, set cursor position to zero
delayMicroseconds(2000); // this command takes a long time!
}
void LiquidCrystal::home()
{
command(LCD_RETURNHOME); // set cursor position to zero
delayMicroseconds(2000); // this command takes a long time!
}
void LiquidCrystal::setCursor(uint8_t col, uint8_t row)
{
const size_t max_lines = sizeof(_row_offsets) / sizeof(*_row_offsets);
if ( row >= max_lines ) {
row = max_lines - 1; // we count rows starting w/0
}
if ( row >= _numlines ) {
row = _numlines - 1; // we count rows starting w/0
}
command(LCD_SETDDRAMADDR | (col + _row_offsets[row]));
}
// Turn the display on/off (quickly)
void LiquidCrystal::noDisplay() {
_displaycontrol &= ~LCD_DISPLAYON;
command(LCD_DISPLAYCONTROL | _displaycontrol);
}
void LiquidCrystal::display() {
_displaycontrol |= LCD_DISPLAYON;
command(LCD_DISPLAYCONTROL | _displaycontrol);
}
// Turns the underline cursor on/off
void LiquidCrystal::noCursor() {
_displaycontrol &= ~LCD_CURSORON;
command(LCD_DISPLAYCONTROL | _displaycontrol);
}
void LiquidCrystal::cursor() {
_displaycontrol |= LCD_CURSORON;
command(LCD_DISPLAYCONTROL | _displaycontrol);
}
// Turn on and off the blinking cursor
void LiquidCrystal::noBlink() {
_displaycontrol &= ~LCD_BLINKON;
command(LCD_DISPLAYCONTROL | _displaycontrol);
}
void LiquidCrystal::blink() {
_displaycontrol |= LCD_BLINKON;
command(LCD_DISPLAYCONTROL | _displaycontrol);
}
// These commands scroll the display without changing the RAM
void LiquidCrystal::scrollDisplayLeft(void) {
command(LCD_CURSORSHIFT | LCD_DISPLAYMOVE | LCD_MOVELEFT);
}
void LiquidCrystal::scrollDisplayRight(void) {
command(LCD_CURSORSHIFT | LCD_DISPLAYMOVE | LCD_MOVERIGHT);
}
// This is for text that flows Left to Right
void LiquidCrystal::leftToRight(void) {
_displaymode |= LCD_ENTRYLEFT;
command(LCD_ENTRYMODESET | _displaymode);
}
// This is for text that flows Right to Left
void LiquidCrystal::rightToLeft(void) {
_displaymode &= ~LCD_ENTRYLEFT;
command(LCD_ENTRYMODESET | _displaymode);
}
// This will 'right justify' text from the cursor
void LiquidCrystal::autoscroll(void) {
_displaymode |= LCD_ENTRYSHIFTINCREMENT;
command(LCD_ENTRYMODESET | _displaymode);
}
// This will 'left justify' text from the cursor
void LiquidCrystal::noAutoscroll(void) {
_displaymode &= ~LCD_ENTRYSHIFTINCREMENT;
command(LCD_ENTRYMODESET | _displaymode);
}
// Allows us to fill the first 8 CGRAM locations
// with custom characters
void LiquidCrystal::createChar(uint8_t location, uint8_t charmap[]) {
location &= 0x7; // we only have 8 locations 0-7
command(LCD_SETCGRAMADDR | (location << 3));
for (int i=0; i<8; i++) {
write(charmap[i]);
}
}
/*********** mid level commands, for sending data/cmds */
inline void LiquidCrystal::command(uint8_t value) {
send(value, LOW);
}
inline size_t LiquidCrystal::write(uint8_t value) {
send(value, HIGH);
return 1; // assume sucess
}
/************ low level data pushing commands **********/
// write either command or data, with automatic 4/8-bit selection
void LiquidCrystal::send(uint8_t value, uint8_t mode) {
digitalWrite(_rs_pin, mode);
// if there is a RW pin indicated, set it low to Write
if (_rw_pin != 255) {
digitalWrite(_rw_pin, LOW);
}
if (_displayfunction & LCD_8BITMODE) {
write8bits(value);
} else {
write4bits(value>>4);
write4bits(value);
}
}
void LiquidCrystal::pulseEnable(void) {
digitalWrite(_enable_pin, LOW);
delayMicroseconds(1);
digitalWrite(_enable_pin, HIGH);
delayMicroseconds(1); // enable pulse must be >450ns
digitalWrite(_enable_pin, LOW);
delayMicroseconds(100); // commands need > 37us to settle
}
void LiquidCrystal::write4bits(uint8_t value) {
for (int i = 0; i < 4; i++) {
digitalWrite(_data_pins[i], (value >> i) & 0x01);
}
pulseEnable();
}
void LiquidCrystal::write8bits(uint8_t value) {
for (int i = 0; i < 8; i++) {
digitalWrite(_data_pins[i], (value >> i) & 0x01);
}
pulseEnable();
}

108
Arduino/libraries/LiquidCrystal/src/LiquidCrystal.h Normal file
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#ifndef LiquidCrystal_h
#define LiquidCrystal_h
#include <inttypes.h>
#include "Print.h"
// commands
#define LCD_CLEARDISPLAY 0x01
#define LCD_RETURNHOME 0x02
#define LCD_ENTRYMODESET 0x04
#define LCD_DISPLAYCONTROL 0x08
#define LCD_CURSORSHIFT 0x10
#define LCD_FUNCTIONSET 0x20
#define LCD_SETCGRAMADDR 0x40
#define LCD_SETDDRAMADDR 0x80
// flags for display entry mode
#define LCD_ENTRYRIGHT 0x00
#define LCD_ENTRYLEFT 0x02
#define LCD_ENTRYSHIFTINCREMENT 0x01
#define LCD_ENTRYSHIFTDECREMENT 0x00
// flags for display on/off control
#define LCD_DISPLAYON 0x04
#define LCD_DISPLAYOFF 0x00
#define LCD_CURSORON 0x02
#define LCD_CURSOROFF 0x00
#define LCD_BLINKON 0x01
#define LCD_BLINKOFF 0x00
// flags for display/cursor shift
#define LCD_DISPLAYMOVE 0x08
#define LCD_CURSORMOVE 0x00
#define LCD_MOVERIGHT 0x04
#define LCD_MOVELEFT 0x00
// flags for function set
#define LCD_8BITMODE 0x10
#define LCD_4BITMODE 0x00
#define LCD_2LINE 0x08
#define LCD_1LINE 0x00
#define LCD_5x10DOTS 0x04
#define LCD_5x8DOTS 0x00
class LiquidCrystal : public Print {
public:
LiquidCrystal(uint8_t rs, uint8_t enable,
uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3,
uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7);
LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable,
uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3,
uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7);
LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable,
uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3);
LiquidCrystal(uint8_t rs, uint8_t enable,
uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3);
void init(uint8_t fourbitmode, uint8_t rs, uint8_t rw, uint8_t enable,
uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3,
uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7);
void begin(uint8_t cols, uint8_t rows, uint8_t charsize = LCD_5x8DOTS);
void clear();
void home();
void noDisplay();
void display();
void noBlink();
void blink();
void noCursor();
void cursor();
void scrollDisplayLeft();
void scrollDisplayRight();
void leftToRight();
void rightToLeft();
void autoscroll();
void noAutoscroll();
void setRowOffsets(int row1, int row2, int row3, int row4);
void createChar(uint8_t, uint8_t[]);
void setCursor(uint8_t, uint8_t);
virtual size_t write(uint8_t);
void command(uint8_t);
using Print::write;
private:
void send(uint8_t, uint8_t);
void write4bits(uint8_t);
void write8bits(uint8_t);
void pulseEnable();
uint8_t _rs_pin; // LOW: command. HIGH: character.
uint8_t _rw_pin; // LOW: write to LCD. HIGH: read from LCD.
uint8_t _enable_pin; // activated by a HIGH pulse.
uint8_t _data_pins[8];
uint8_t _displayfunction;
uint8_t _displaycontrol;
uint8_t _displaymode;
uint8_t _initialized;
uint8_t _numlines;
uint8_t _row_offsets[4];
};
#endif

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Arduino/libraries/Servo/LICENSE.txt Normal file
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GNU LESSER GENERAL PUBLIC LICENSE
Version 2.1, February 1999
Copyright (C) 1991, 1999 Free Software Foundation, Inc.
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
[This is the first released version of the Lesser GPL. It also counts
as the successor of the GNU Library Public License, version 2, hence
the version number 2.1.]
Preamble
The licenses for most software are designed to take away your
freedom to share and change it. By contrast, the GNU General Public
Licenses are intended to guarantee your freedom to share and change
free software--to make sure the software is free for all its users.
This license, the Lesser General Public License, applies to some
specially designated software packages--typically libraries--of the
Free Software Foundation and other authors who decide to use it. You
can use it too, but we suggest you first think carefully about whether
this license or the ordinary General Public License is the better
strategy to use in any particular case, based on the explanations below.
When we speak of free software, we are referring to freedom of use,
not price. Our General Public Licenses are designed to make sure that
you have the freedom to distribute copies of free software (and charge
for this service if you wish); that you receive source code or can get
it if you want it; that you can change the software and use pieces of
it in new free programs; and that you are informed that you can do
these things.
To protect your rights, we need to make restrictions that forbid
distributors to deny you these rights or to ask you to surrender these
rights. These restrictions translate to certain responsibilities for
you if you distribute copies of the library or if you modify it.
For example, if you distribute copies of the library, whether gratis
or for a fee, you must give the recipients all the rights that we gave
you. You must make sure that they, too, receive or can get the source
code. If you link other code with the library, you must provide
complete object files to the recipients, so that they can relink them
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it. And you must show them these terms so they know their rights.
We protect your rights with a two-step method: (1) we copyright the
library, and (2) we offer you this license, which gives you legal
permission to copy, distribute and/or modify the library.
To protect each distributor, we want to make it very clear that
there is no warranty for the free library. Also, if the library is
modified by someone else and passed on, the recipients should know
that what they have is not the original version, so that the original
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Finally, software patents pose a constant threat to the existence of
any free program. We wish to make sure that a company cannot
effectively restrict the users of a free program by obtaining a
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any patent license obtained for a version of the library must be
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ordinary GNU General Public License. This license, the GNU Lesser
General Public License, applies to certain designated libraries, and
is quite different from the ordinary General Public License. We use
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When a program is linked with a library, whether statically or using
a shared library, the combination of the two is legally speaking a
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General Public License therefore permits such linking only if the
entire combination fits its criteria of freedom. The Lesser General
Public License permits more lax criteria for linking other code with
the library.
We call this license the "Lesser" General Public License because it
does Less to protect the user's freedom than the ordinary General
Public License. It also provides other free software developers Less
of an advantage over competing non-free programs. These disadvantages
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That's all there is to it!

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:repository-owner: arduino-libraries
:repository-name: Servo
= {repository-name} Library for Arduino =
image:https://github.com/{repository-owner}/{repository-name}/actions/workflows/check-arduino.yml/badge.svg["Check Arduino status", link="https://github.com/{repository-owner}/{repository-name}/actions/workflows/check-arduino.yml"]
image:https://github.com/{repository-owner}/{repository-name}/actions/workflows/compile-examples.yml/badge.svg["Compile Examples status", link="https://github.com/{repository-owner}/{repository-name}/actions/workflows/compile-examples.yml"]
image:https://github.com/{repository-owner}/{repository-name}/actions/workflows/spell-check.yml/badge.svg["Spell Check status", link="https://github.com/{repository-owner}/{repository-name}/actions/workflows/spell-check.yml"]
This library allows an Arduino board to control RC (hobby) servo motors.
For more information about this library please visit us at
https://www.arduino.cc/reference/en/libraries/servo/

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# Servo library
## Methods
### `attach()`
Attach the Servo variable to a pin. Note that in Arduino IDE 0016 and earlier, the Servo library supports servos on only two pins: 9 and 10.
#### Syntax
```
servo.attach(pin)
servo.attach(pin, min, max)
```
#### Parameters
* _servo_: a variable of type `Servo`
* _pin_: the number of the pin that the servo is attached to
* _min_ (optional): the pulse width, in microseconds, corresponding to the minimum (0 degree) angle on the servo (defaults to 544)
* _max_ (optional): the pulse width, in microseconds, corresponding to the maximum (180 degree) angle on the servo (defaults to 2400)
#### Example
```
#include <Servo.h>
Servo myservo;
void setup()
{
myservo.attach(9);
}
void loop() {}
```
#### See also
* [attached()](#attached)
* [detach()](#detach)
### `write()`
Writes a value to the servo, controlling the shaft accordingly. On a standard servo, this will set the angle of the shaft (in degrees), moving the shaft to that orientation. On a continuous rotation servo, this will set the speed of the servo (with 0 being full-speed in one direction, 180 being full speed in the other, and a value near 90 being no movement).
#### Syntax
```
servo.write(angle)
```
#### Parameters
* _servo_: a variable of type Servo
* _angle_: the value to write to the servo, from 0 to 180
#### Example
````
#include <Servo.h>
Servo myservo;
void setup()
{
myservo.attach(9);
myservo.write(90); // set servo to mid-point
}
void loop() {}
````
#### See also
* [attach()](#attach)
* [read()](#read)
### `writeMicroseconds()`
Writes a value in microseconds (us) to the servo, controlling the shaft accordingly. On a standard servo, this will set the angle of the shaft. On standard servos a parameter value of 1000 is fully counter-clockwise, 2000 is fully clockwise, and 1500 is in the middle.
Note that some manufactures do not follow this standard very closely so that servos often respond to values between 700 and 2300. Feel free to increase these endpoints until the servo no longer continues to increase its range. Note however that attempting to drive a servo past its endpoints (often indicated by a growling sound) is a high-current state, and should be avoided.
Continuous-rotation servos will respond to the writeMicrosecond function in an manner analogous to the write function.
#### Syntax
````
servo.writeMicroseconds(us)
````
#### Parameters
* _servo_: a variable of type Servo
* _us_: the value of the parameter in microseconds (int)
#### Example
````
#include <Servo.h>
Servo myservo;
void setup()
{
myservo.attach(9);
myservo.writeMicroseconds(1500); // set servo to mid-point
}
void loop() {}
````
#### See also
* [attach()](#attach)
* [read()](#read)
### `read()`
Read the current angle of the servo (the value passed to the last call to [write()](#write)).
#### Syntax
````
servo.read()
````
#### Parameters
* _servo_: a variable of type `Servo`
#### Returns
The angle of the servo, from 0 to 180 degrees.
#### See also
* [write()](#write)
### `attached()`
Check whether the Servo variable is attached to a pin.
#### Syntax
```
servo.attached()
```
#### Parameters
* _servo_: a variable of type `Servo`
#### Returns
`true` if the servo is attached to pin; `false` otherwise.
#### See also
* [attach()](#attach)
* [detach()](#detach)
### `detach()`
Detach the Servo variable from its pin. If all Servo variables are detached, then pins 9 and 10 can be used for PWM output with [analogWrite()](https://www.arduino.cc/reference/en/language/functions/analog-io/analogwrite/).
#### Syntax
```
servo.detach()
```
#### Parameters
* _servo_: a variable of type `Servo`
#### See also
* [attach()](#attach)
* [attached()](#attached)

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# Servo library
This library allows an Arduino board to control RC (hobby) servo motors. Servos have integrated gears and a shaft that can be precisely controlled. Standard servos allow the shaft to be positioned at various angles, usually between 0 and 180 degrees. Continuous rotation servos allow the rotation of the shaft to be set to various speeds.
The Servo library supports up to 12 motors on most Arduino boards and 48 on the Arduino Mega. On boards other than the Mega, use of the library disables `analogWrite()` (PWM) functionality on pins 9 and 10, whether or not there is a Servo on those pins. On the Mega, up to 12 servos can be used without interfering with PWM functionality; use of 12 to 23 motors will disable PWM on pins 11 and 12.
To use this library:
```
#include <Servo.h>
```
## Circuit
Servo motors have three wires: power, ground, and signal. The power wire is typically red, and should be connected to the 5V pin on the Arduino board. The ground wire is typically black or brown and should be connected to a ground pin on the Arduino board. The signal pin is typically yellow, orange or white and should be connected to a digital pin on the Arduino board. Note that servos draw considerable power, so if you need to drive more than one or two, you'll probably need to power them from a separate supply (i.e. not the 5V pin on your Arduino). Be sure to connect the grounds of the Arduino and external power supply together.
## Examples
* [Knob](https://www.arduino.cc/en/Tutorial/Knob): control the shaft of a servo motor by turning a potentiometer
* [Sweep](https://www.arduino.cc/en/Tutorial/LibraryExamples/Sweep): sweeps the shaft of a servo motor back and forth

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/*
Controlling a servo position using a potentiometer (variable resistor)
by Michal Rinott <http://people.interaction-ivrea.it/m.rinott>
modified on 8 Nov 2013
by Scott Fitzgerald
http://www.arduino.cc/en/Tutorial/Knob
*/
#include <Servo.h>
Servo myservo; // create Servo object to control a servo
int potpin = A0; // analog pin used to connect the potentiometer
int val; // variable to read the value from the analog pin
void setup() {
myservo.attach(9); // attaches the servo on pin 9 to the Servo object
}
void loop() {
val = analogRead(potpin); // reads the value of the potentiometer (value between 0 and 1023)
val = map(val, 0, 1023, 0, 180); // scale it for use with the servo (value between 0 and 180)
myservo.write(val); // sets the servo position according to the scaled value
delay(15); // waits for the servo to get there
}

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# Knob
Control the position of an RC (hobby) [servo motor](http://en.wikipedia.org/wiki/Servo_motor#RC_servos) with your Arduino and a potentiometer.
This example makes use of the Arduino `Servo` library.
## Hardware Required
* an Arduino board
* Servo motor
* 10k ohm potentiometer
* hook-up wires
## Circuit
Servo motors have three wires: power, ground, and signal. The power wire is typically red, and should be connected to the 5V pin on the Arduino board. The ground wire is typically black or brown and should be connected to a ground pin on the board. The signal pin is typically yellow or orange and should be connected to pin 9 on the board.
The potentiometer should be wired so that its two outer pins are connected to power (5V) and ground, and its middle pin is connected to analog input 0 on the board.
![](images/knob_BB.png)
(Images developed using Fritzing. For more circuit examples, see the [Fritzing project page](http://fritzing.org/projects/))
## Schematic
![](images/knob_schem.png)
## See also
* [attach()](/docs/api.md#attach)
* [write()](/docs/api.md#write)
* [map()](https://www.arduino.cc/en/Reference/Map)
* [analogRead()](https://www.arduino.cc/en/Reference/AnalogRead)
* [Servo library reference](/docs/readme.md)
* [Sweep](../Sweep) - Sweep the shaft of a servo motor back and forth

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/* Sweep
by BARRAGAN <http://barraganstudio.com>
This example code is in the public domain.
modified 8 Nov 2013
by Scott Fitzgerald
https://www.arduino.cc/en/Tutorial/LibraryExamples/Sweep
*/
#include <Servo.h>
Servo myservo; // create Servo object to control a servo
// twelve Servo objects can be created on most boards
int pos = 0; // variable to store the servo position
void setup() {
myservo.attach(9); // attaches the servo on pin 9 to the Servo object
}
void loop() {
for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180 degrees
// in steps of 1 degree
myservo.write(pos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15 ms for the servo to reach the position
}
for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
myservo.write(pos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15 ms for the servo to reach the position
}
}

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Arduino/libraries/Servo/examples/Sweep/images/sweep_schem.png Normal file
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Arduino/libraries/Servo/examples/Sweep/readme.md Normal file
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# Sweep
Sweeps the shaft of an RC [servo motor](http://en.wikipedia.org/wiki/Servo_motor#RC_servos) back and forth across 180 degrees.
## Hardware Required
* Arduino Board
* Servo Motor
* Hook-up wires
## Circuit
Servo motors have three wires: power, ground, and signal. The power wire is typically red, and should be connected to the 5V pin on the Arduino board. The ground wire is typically black or brown and should be connected to a ground pin on the board. The signal pin is typically yellow, orange or white and should be connected to pin 9 on the board.
![](images/sweep_bb.png)
(Images developed using Fritzing. For more circuit examples, see the [Fritzing project page](http://fritzing.org/projects/))
## Schematic
![](images/sweep_schem.png)
## See also
* [attach()](/docs/api.md#attach)
* [write()](/docs/api.md#write)
* [map()](https://www.arduino.cc/en/Reference/Map)
* [Servo library reference](/docs/readme.md)
* [Knob](../Knob) - Control the position of a servo with a potentiometer

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#######################################
# Syntax Coloring Map Servo
#######################################
#######################################
# Datatypes (KEYWORD1)
#######################################
Servo KEYWORD1 Servo
#######################################
# Methods and Functions (KEYWORD2)
#######################################
attach KEYWORD2
detach KEYWORD2
write KEYWORD2
read KEYWORD2
attached KEYWORD2
writeMicroseconds KEYWORD2
readMicroseconds KEYWORD2
#######################################
# Constants (LITERAL1)
#######################################

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name=Servo
version=1.2.2
author=Michael Margolis, Arduino
maintainer=Arduino <info@arduino.cc>
sentence=Allows Arduino boards to control a variety of servo motors.
paragraph=This library can control a great number of servos.<br />It makes careful use of timers: the library can control 12 servos using only 1 timer.<br />On the Arduino Due you can control up to 60 servos.
category=Device Control
url=https://www.arduino.cc/reference/en/libraries/servo/
architectures=avr,megaavr,sam,samd,nrf52,stm32f4,mbed,mbed_nano,mbed_portenta,mbed_rp2040,renesas,renesas_portenta,renesas_uno

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/*
Servo.h - Interrupt driven Servo library for Arduino using 16 bit timers - Version 2
Copyright (c) 2009 Michael Margolis. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
/*
A servo is activated by creating an instance of the Servo class passing
the desired pin to the attach() method.
The servos are pulsed in the background using the value most recently
written using the write() method.
Note that analogWrite of PWM on pins associated with the timer are
disabled when the first servo is attached.
Timers are seized as needed in groups of 12 servos - 24 servos use two
timers, 48 servos will use four.
The sequence used to seize timers is defined in timers.h
The methods are:
Servo - Class for manipulating servo motors connected to Arduino pins.
attach(pin ) - Attaches a servo motor to an I/O pin.
attach(pin, min, max ) - Attaches to a pin setting min and max values in microseconds
default min is 544, max is 2400
write() - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds)
writeMicroseconds() - Sets the servo pulse width in microseconds
read() - Gets the last written servo pulse width as an angle between 0 and 180.
readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
attached() - Returns true if there is a servo attached.
detach() - Stops an attached servos from pulsing its I/O pin.
*/
#ifndef Servo_h
#define Servo_h
#include <inttypes.h>
/*
* Defines for 16 bit timers used with Servo library
*
* If _useTimerX is defined then TimerX is a 16 bit timer on the current board
* timer16_Sequence_t enumerates the sequence that the timers should be allocated
* _Nbr_16timers indicates how many 16 bit timers are available.
*/
// Architecture specific include
#if defined(ARDUINO_ARCH_AVR)
#include "avr/ServoTimers.h"
#elif defined(ARDUINO_ARCH_SAM)
#include "sam/ServoTimers.h"
#elif defined(ARDUINO_ARCH_SAMD)
#include "samd/ServoTimers.h"
#elif defined(ARDUINO_ARCH_STM32F4)
#include "stm32f4/ServoTimers.h"
#elif defined(ARDUINO_ARCH_NRF52)
#include "nrf52/ServoTimers.h"
#elif defined(ARDUINO_ARCH_MEGAAVR)
#include "megaavr/ServoTimers.h"
#elif defined(ARDUINO_ARCH_MBED)
#include "mbed/ServoTimers.h"
#elif defined(ARDUINO_ARCH_RENESAS)
#include "renesas/ServoTimers.h"
#elif defined(ARDUINO_ARCH_XMC)
#include "xmc/ServoTimers.h"
#else
#error "This library only supports boards with an AVR, SAM, SAMD, NRF52, STM32F4, Renesas or XMC processor."
#endif
#define Servo_VERSION 2 // software version of this library
#define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo
#define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo
#define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached
#define REFRESH_INTERVAL 20000 // minimum time to refresh servos in microseconds
#define SERVOS_PER_TIMER 12 // the maximum number of servos controlled by one timer
#define MAX_SERVOS (_Nbr_16timers * SERVOS_PER_TIMER)
#define INVALID_SERVO 255 // flag indicating an invalid servo index
#if !defined(ARDUINO_ARCH_STM32F4) && !defined(ARDUINO_ARCH_XMC)
typedef struct {
uint8_t nbr :6 ; // a pin number from 0 to 63
uint8_t isActive :1 ; // true if this channel is enabled, pin not pulsed if false
} ServoPin_t ;
typedef struct {
ServoPin_t Pin;
volatile unsigned int ticks;
} servo_t;
class Servo
{
public:
Servo();
uint8_t attach(int pin); // attach the given pin to the next free channel, sets pinMode, returns channel number or INVALID_SERVO if failure
uint8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes.
void detach();
void write(int value); // if value is < 200 it's treated as an angle, otherwise as pulse width in microseconds
void writeMicroseconds(int value); // Write pulse width in microseconds
int read(); // returns current pulse width as an angle between 0 and 180 degrees
int readMicroseconds(); // returns current pulse width in microseconds for this servo (was read_us() in first release)
bool attached(); // return true if this servo is attached, otherwise false
private:
uint8_t servoIndex; // index into the channel data for this servo
int8_t min; // minimum is this value times 4 added to MIN_PULSE_WIDTH
int8_t max; // maximum is this value times 4 added to MAX_PULSE_WIDTH
};
#endif
#endif

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/*
Servo.cpp - Interrupt driven Servo library for Arduino using 16 bit timers - Version 2
Copyright (c) 2009 Michael Margolis. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
#if defined(ARDUINO_ARCH_AVR)
#include <avr/interrupt.h>
#include <Arduino.h>
#include "Servo.h"
#define usToTicks(_us) (( clockCyclesPerMicrosecond()* _us) / 8) // converts microseconds to ticks (assumes prescaler of 8) // 12 Aug 2009
#define ticksToUs(_ticks) (( (unsigned)_ticks * 8)/ clockCyclesPerMicrosecond() ) // converts from ticks back to microseconds
#define TRIM_DURATION 2 // compensation ticks to trim adjust for digitalWrite delays // 12 August 2009
//#define NBR_TIMERS (MAX_SERVOS / SERVOS_PER_TIMER)
static servo_t servos[MAX_SERVOS]; // static array of servo structures
static volatile int8_t Channel[_Nbr_16timers ]; // counter for the servo being pulsed for each timer (or -1 if refresh interval)
uint8_t ServoCount = 0; // the total number of attached servos
// convenience macros
#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / SERVOS_PER_TIMER)) // returns the timer controlling this servo
#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % SERVOS_PER_TIMER) // returns the index of the servo on this timer
#define SERVO_INDEX(_timer,_channel) ((_timer*SERVOS_PER_TIMER) + _channel) // macro to access servo index by timer and channel
#define SERVO(_timer,_channel) (servos[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel
#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in us for this servo
#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in us for this servo
/************ static functions common to all instances ***********************/
static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t *TCNTn, volatile uint16_t* OCRnA)
{
if( Channel[timer] < 0 )
*TCNTn = 0; // channel set to -1 indicated that refresh interval completed so reset the timer
else{
if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && SERVO(timer,Channel[timer]).Pin.isActive == true )
digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,LOW); // pulse this channel low if activated
}
Channel[timer]++; // increment to the next channel
if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
*OCRnA = *TCNTn + SERVO(timer,Channel[timer]).ticks;
if(SERVO(timer,Channel[timer]).Pin.isActive == true) // check if activated
digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,HIGH); // it's an active channel so pulse it high
}
else {
// finished all channels so wait for the refresh period to expire before starting over
if( ((unsigned)*TCNTn) + 4 < usToTicks(REFRESH_INTERVAL) ) // allow a few ticks to ensure the next OCR1A not missed
*OCRnA = (unsigned int)usToTicks(REFRESH_INTERVAL);
else
*OCRnA = *TCNTn + 4; // at least REFRESH_INTERVAL has elapsed
Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
}
}
#ifndef WIRING // Wiring pre-defines signal handlers so don't define any if compiling for the Wiring platform
// Interrupt handlers for Arduino
#if defined(_useTimer1)
SIGNAL (TIMER1_COMPA_vect)
{
handle_interrupts(_timer1, &TCNT1, &OCR1A);
}
#endif
#if defined(_useTimer3)
SIGNAL (TIMER3_COMPA_vect)
{
handle_interrupts(_timer3, &TCNT3, &OCR3A);
}
#endif
#if defined(_useTimer4)
SIGNAL (TIMER4_COMPA_vect)
{
handle_interrupts(_timer4, &TCNT4, &OCR4A);
}
#endif
#if defined(_useTimer5)
SIGNAL (TIMER5_COMPA_vect)
{
handle_interrupts(_timer5, &TCNT5, &OCR5A);
}
#endif
#elif defined WIRING
// Interrupt handlers for Wiring
#if defined(_useTimer1)
void Timer1Service()
{
handle_interrupts(_timer1, &TCNT1, &OCR1A);
}
#endif
#if defined(_useTimer3)
void Timer3Service()
{
handle_interrupts(_timer3, &TCNT3, &OCR3A);
}
#endif
#endif
static void initISR(timer16_Sequence_t timer)
{
#if defined (_useTimer1)
if(timer == _timer1) {
TCCR1A = 0; // normal counting mode
TCCR1B = _BV(CS11); // set prescaler of 8
TCNT1 = 0; // clear the timer count
#if defined(__AVR_ATmega8__)|| defined(__AVR_ATmega128__)
TIFR |= _BV(OCF1A); // clear any pending interrupts
TIMSK |= _BV(OCIE1A) ; // enable the output compare interrupt
#else
// here if not ATmega8 or ATmega128
TIFR1 |= _BV(OCF1A); // clear any pending interrupts
TIMSK1 |= _BV(OCIE1A) ; // enable the output compare interrupt
#endif
#if defined(WIRING)
timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service);
#endif
}
#endif
#if defined (_useTimer3)
if(timer == _timer3) {
TCCR3A = 0; // normal counting mode
TCCR3B = _BV(CS31); // set prescaler of 8
TCNT3 = 0; // clear the timer count
#if defined(__AVR_ATmega128__)
TIFR |= _BV(OCF3A); // clear any pending interrupts
ETIMSK |= _BV(OCIE3A); // enable the output compare interrupt
#else
TIFR3 = _BV(OCF3A); // clear any pending interrupts
TIMSK3 = _BV(OCIE3A) ; // enable the output compare interrupt
#endif
#if defined(WIRING)
timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service); // for Wiring platform only
#endif
}
#endif
#if defined (_useTimer4)
if(timer == _timer4) {
TCCR4A = 0; // normal counting mode
TCCR4B = _BV(CS41); // set prescaler of 8
TCNT4 = 0; // clear the timer count
TIFR4 = _BV(OCF4A); // clear any pending interrupts
TIMSK4 = _BV(OCIE4A) ; // enable the output compare interrupt
}
#endif
#if defined (_useTimer5)
if(timer == _timer5) {
TCCR5A = 0; // normal counting mode
TCCR5B = _BV(CS51); // set prescaler of 8
TCNT5 = 0; // clear the timer count
TIFR5 = _BV(OCF5A); // clear any pending interrupts
TIMSK5 = _BV(OCIE5A) ; // enable the output compare interrupt
}
#endif
}
static void finISR(timer16_Sequence_t timer)
{
//disable use of the given timer
#if defined WIRING // Wiring
if(timer == _timer1) {
#if defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
TIMSK1 &= ~_BV(OCIE1A) ; // disable timer 1 output compare interrupt
#else
TIMSK &= ~_BV(OCIE1A) ; // disable timer 1 output compare interrupt
#endif
timerDetach(TIMER1OUTCOMPAREA_INT);
}
else if(timer == _timer3) {
#if defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
TIMSK3 &= ~_BV(OCIE3A); // disable the timer3 output compare A interrupt
#else
ETIMSK &= ~_BV(OCIE3A); // disable the timer3 output compare A interrupt
#endif
timerDetach(TIMER3OUTCOMPAREA_INT);
}
#else
//For Arduino - in future: call here to a currently undefined function to reset the timer
(void) timer; // squash "unused parameter 'timer' [-Wunused-parameter]" warning
#endif
}
static boolean isTimerActive(timer16_Sequence_t timer)
{
// returns true if any servo is active on this timer
for(uint8_t channel=0; channel < SERVOS_PER_TIMER; channel++) {
if(SERVO(timer,channel).Pin.isActive == true)
return true;
}
return false;
}
/****************** end of static functions ******************************/
Servo::Servo()
{
if( ServoCount < MAX_SERVOS) {
this->servoIndex = ServoCount++; // assign a servo index to this instance
servos[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values - 12 Aug 2009
}
else
this->servoIndex = INVALID_SERVO ; // too many servos
}
uint8_t Servo::attach(int pin)
{
return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
}
uint8_t Servo::attach(int pin, int min, int max)
{
if(this->servoIndex < MAX_SERVOS ) {
pinMode( pin, OUTPUT) ; // set servo pin to output
servos[this->servoIndex].Pin.nbr = pin;
// todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
this->min = (MIN_PULSE_WIDTH - min)/4; //resolution of min/max is 4 us
this->max = (MAX_PULSE_WIDTH - max)/4;
// initialize the timer if it has not already been initialized
timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
if(isTimerActive(timer) == false)
initISR(timer);
servos[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
}
return this->servoIndex ;
}
void Servo::detach()
{
servos[this->servoIndex].Pin.isActive = false;
timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
if(isTimerActive(timer) == false) {
finISR(timer);
}
}
void Servo::write(int value)
{
if(value < MIN_PULSE_WIDTH)
{ // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
if(value < 0) value = 0;
if(value > 180) value = 180;
value = map(value, 0, 180, SERVO_MIN(), SERVO_MAX());
}
this->writeMicroseconds(value);
}
void Servo::writeMicroseconds(int value)
{
// calculate and store the values for the given channel
byte channel = this->servoIndex;
if( (channel < MAX_SERVOS) ) // ensure channel is valid
{
if( value < SERVO_MIN() ) // ensure pulse width is valid
value = SERVO_MIN();
else if( value > SERVO_MAX() )
value = SERVO_MAX();
value = value - TRIM_DURATION;
value = usToTicks(value); // convert to ticks after compensating for interrupt overhead - 12 Aug 2009
uint8_t oldSREG = SREG;
cli();
servos[channel].ticks = value;
SREG = oldSREG;
}
}
int Servo::read() // return the value as degrees
{
return map( this->readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, 180);
}
int Servo::readMicroseconds()
{
unsigned int pulsewidth;
if( this->servoIndex != INVALID_SERVO )
pulsewidth = ticksToUs(servos[this->servoIndex].ticks) + TRIM_DURATION ; // 12 aug 2009
else
pulsewidth = 0;
return pulsewidth;
}
bool Servo::attached()
{
return servos[this->servoIndex].Pin.isActive ;
}
#endif // ARDUINO_ARCH_AVR

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/*
Servo.h - Interrupt driven Servo library for Arduino using 16 bit timers - Version 2
Copyright (c) 2009 Michael Margolis. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
/*
* Defines for 16 bit timers used with Servo library
*
* If _useTimerX is defined then TimerX is a 16 bit timer on the current board
* timer16_Sequence_t enumerates the sequence that the timers should be allocated
* _Nbr_16timers indicates how many 16 bit timers are available.
*/
/**
* AVR Only definitions
* --------------------
*/
// Say which 16 bit timers can be used and in what order
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
#define _useTimer5
#define _useTimer1
#define _useTimer3
#define _useTimer4
typedef enum { _timer5, _timer1, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t;
#elif defined(__AVR_ATmega32U4__)
#define _useTimer1
typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t;
#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
#define _useTimer3
#define _useTimer1
typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t;
#elif defined(__AVR_ATmega128__) || defined(__AVR_ATmega1281__) || defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega2561__)
#define _useTimer3
#define _useTimer1
typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t;
#else // everything else
#define _useTimer1
typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t;
#endif

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#if defined(ARDUINO_ARCH_MBED)
#include <Arduino.h>
#include <Servo.h>
#include <mbed.h>
#if defined __has_include
# if __has_include ("pinDefinitions.h")
# include "pinDefinitions.h"
# endif
#endif
class ServoImpl {
mbed::DigitalOut *pin;
mbed::Timeout timeout; // calls a callback once when a timeout expires
mbed::Ticker ticker; // calls a callback repeatedly with a timeout
public:
ServoImpl(PinName _pin) {
pin = new mbed::DigitalOut(_pin);
}
~ServoImpl() {
ticker.detach();
timeout.detach();
delete pin;
}
void start(uint32_t duration_us) {
duration = duration_us;
ticker.attach(mbed::callback(this, &ServoImpl::call), 0.02f);
}
void call() {
timeout.attach(mbed::callback(this, &ServoImpl::toggle), duration / 1e6);
toggle();
}
void toggle() {
*pin = !*pin;
}
int32_t duration = -1;
};
static ServoImpl* servos[MAX_SERVOS]; // static array of servo structures
uint8_t ServoCount = 0; // the total number of attached servos
#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min) // minimum value in us for this servo
#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max) // maximum value in us for this servo
#define TRIM_DURATION 15 //callback overhead (35 us) -> 15 us if toggle() is called after starting the timeout
Servo::Servo()
{
if (ServoCount < MAX_SERVOS) {
this->servoIndex = ServoCount++;
} else {
this->servoIndex = INVALID_SERVO; // too many servos
}
}
uint8_t Servo::attach(int pin)
{
return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
}
uint8_t Servo::attach(int pin, int min, int max)
{
pinMode(pin, OUTPUT); // set servo pin to output
servos[this->servoIndex] = new ServoImpl(digitalPinToPinName(pin));
this->min = (MIN_PULSE_WIDTH - min);
this->max = (MAX_PULSE_WIDTH - max);
return this->servoIndex;
}
void Servo::detach()
{
delete servos[this->servoIndex];
servos[this->servoIndex] = NULL;
}
void Servo::write(int value)
{
// treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
if (value < MIN_PULSE_WIDTH)
{
if (value < 0)
value = 0;
else if (value > 180)
value = 180;
value = map(value, 0, 180, SERVO_MIN(), SERVO_MAX());
}
writeMicroseconds(value);
}
void Servo::writeMicroseconds(int value)
{
if (!servos[this->servoIndex]) {
return;
}
// calculate and store the values for the given channel
byte channel = this->servoIndex;
if( (channel < MAX_SERVOS) ) // ensure channel is valid
{
if (value < SERVO_MIN()) // ensure pulse width is valid
value = SERVO_MIN();
else if (value > SERVO_MAX())
value = SERVO_MAX();
value = value - TRIM_DURATION;
if (servos[this->servoIndex]->duration == -1) {
servos[this->servoIndex]->start(value);
}
servos[this->servoIndex]->duration = value;
}
}
int Servo::read() // return the value as degrees
{
return map(readMicroseconds(), SERVO_MIN(), SERVO_MAX(), 0, 180);
}
int Servo::readMicroseconds()
{
if (!servos[this->servoIndex]) {
return 0;
}
return servos[this->servoIndex]->duration;
}
bool Servo::attached()
{
return servos[this->servoIndex] != NULL;
}
#endif

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#define _Nbr_16timers 32

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#if defined(ARDUINO_ARCH_MEGAAVR)
#include <Arduino.h>
#include <Servo.h>
#define usToTicks(_us) ((clockCyclesPerMicrosecond() / 16 * _us) / 4) // converts microseconds to ticks
#define ticksToUs(_ticks) (((unsigned) _ticks * 16) / (clockCyclesPerMicrosecond() / 4)) // converts from ticks back to microseconds
#define TRIM_DURATION 5 // compensation ticks to trim adjust for digitalWrite delays
static servo_t servos[MAX_SERVOS]; // static array of servo structures
uint8_t ServoCount = 0; // the total number of attached servos
static volatile int8_t currentServoIndex[_Nbr_16timers]; // index for the servo being pulsed for each timer (or -1 if refresh interval)
// convenience macros
#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / SERVOS_PER_TIMER)) // returns the timer controlling this servo
#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % SERVOS_PER_TIMER) // returns the index of the servo on this timer
#define SERVO_INDEX(_timer,_channel) ((_timer*SERVOS_PER_TIMER) + _channel) // macro to access servo index by timer and channel
#define SERVO(_timer,_channel) (servos[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel
#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in us for this servo
#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in us for this servo
#undef REFRESH_INTERVAL
#define REFRESH_INTERVAL 16000
void ServoHandler(int timer)
{
if (currentServoIndex[timer] < 0) {
// Write compare register
_timer->CCMP = 0;
} else {
if (SERVO_INDEX(timer, currentServoIndex[timer]) < ServoCount && SERVO(timer, currentServoIndex[timer]).Pin.isActive == true) {
digitalWrite(SERVO(timer, currentServoIndex[timer]).Pin.nbr, LOW); // pulse this channel low if activated
}
}
// Select the next servo controlled by this timer
currentServoIndex[timer]++;
if (SERVO_INDEX(timer, currentServoIndex[timer]) < ServoCount && currentServoIndex[timer] < SERVOS_PER_TIMER) {
if (SERVO(timer, currentServoIndex[timer]).Pin.isActive == true) { // check if activated
digitalWrite(SERVO(timer, currentServoIndex[timer]).Pin.nbr, HIGH); // it's an active channel so pulse it high
}
// Get the counter value
uint16_t tcCounterValue = 0; //_timer->CCMP;
_timer->CCMP = (uint16_t) (tcCounterValue + SERVO(timer, currentServoIndex[timer]).ticks);
}
else {
// finished all channels so wait for the refresh period to expire before starting over
// Get the counter value
uint16_t tcCounterValue = _timer->CCMP;
if (tcCounterValue + 4UL < usToTicks(REFRESH_INTERVAL)) { // allow a few ticks to ensure the next OCR1A not missed
_timer->CCMP = (uint16_t) usToTicks(REFRESH_INTERVAL);
}
else {
_timer->CCMP = (uint16_t) (tcCounterValue + 4UL); // at least REFRESH_INTERVAL has elapsed
}
currentServoIndex[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
}
/* Clear flag */
_timer->INTFLAGS = TCB_CAPT_bm;
}
#if defined USE_TIMERB0
ISR(TCB0_INT_vect)
#elif defined USE_TIMERB1
ISR(TCB1_INT_vect)
#elif defined USE_TIMERB2
ISR(TCB2_INT_vect)
#endif
{
ServoHandler(0);
}
static void initISR(timer16_Sequence_t timer)
{
//TCA0.SINGLE.CTRLA = (TCA_SINGLE_CLKSEL_DIV16_gc) | (TCA_SINGLE_ENABLE_bm);
_timer->CTRLA = TCB_CLKSEL_CLKTCA_gc;
// Timer to Periodic interrupt mode
// This write will also disable any active PWM outputs
_timer->CTRLB = TCB_CNTMODE_INT_gc;
// Enable interrupt
_timer->INTCTRL = TCB_CAPTEI_bm;
// Enable timer
_timer->CTRLA |= TCB_ENABLE_bm;
}
static void finISR(timer16_Sequence_t timer)
{
// Disable interrupt
_timer->INTCTRL = 0;
}
static boolean isTimerActive(timer16_Sequence_t timer)
{
// returns true if any servo is active on this timer
for(uint8_t channel=0; channel < SERVOS_PER_TIMER; channel++) {
if(SERVO(timer,channel).Pin.isActive == true)
return true;
}
return false;
}
/****************** end of static functions ******************************/
Servo::Servo()
{
if (ServoCount < MAX_SERVOS) {
this->servoIndex = ServoCount++; // assign a servo index to this instance
servos[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values
} else {
this->servoIndex = INVALID_SERVO; // too many servos
}
}
uint8_t Servo::attach(int pin)
{
return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
}
uint8_t Servo::attach(int pin, int min, int max)
{
timer16_Sequence_t timer;
if (this->servoIndex < MAX_SERVOS) {
pinMode(pin, OUTPUT); // set servo pin to output
servos[this->servoIndex].Pin.nbr = pin;
// todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
this->min = (MIN_PULSE_WIDTH - min)/4; //resolution of min/max is 4 us
this->max = (MAX_PULSE_WIDTH - max)/4;
// initialize the timer if it has not already been initialized
timer = SERVO_INDEX_TO_TIMER(servoIndex);
if (isTimerActive(timer) == false) {
initISR(timer);
}
servos[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
}
return this->servoIndex;
}
void Servo::detach()
{
timer16_Sequence_t timer;
servos[this->servoIndex].Pin.isActive = false;
timer = SERVO_INDEX_TO_TIMER(servoIndex);
if(isTimerActive(timer) == false) {
finISR(timer);
}
}
void Servo::write(int value)
{
// treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
if (value < MIN_PULSE_WIDTH)
{
if (value < 0)
value = 0;
else if (value > 180)
value = 180;
value = map(value, 0, 180, SERVO_MIN(), SERVO_MAX());
}
writeMicroseconds(value);
}
void Servo::writeMicroseconds(int value)
{
// calculate and store the values for the given channel
byte channel = this->servoIndex;
if( (channel < MAX_SERVOS) ) // ensure channel is valid
{
if (value < SERVO_MIN()) // ensure pulse width is valid
value = SERVO_MIN();
else if (value > SERVO_MAX())
value = SERVO_MAX();
value = value - TRIM_DURATION;
value = usToTicks(value); // convert to ticks after compensating for interrupt overhead
servos[channel].ticks = value;
}
}
int Servo::read() // return the value as degrees
{
return map(readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, 180);
}
int Servo::readMicroseconds()
{
unsigned int pulsewidth;
if (this->servoIndex != INVALID_SERVO)
pulsewidth = ticksToUs(servos[this->servoIndex].ticks) + TRIM_DURATION;
else
pulsewidth = 0;
return pulsewidth;
}
bool Servo::attached()
{
return servos[this->servoIndex].Pin.isActive;
}
#endif

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/*
Copyright (c) 2018 Arduino LLC. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
/*
* Defines for 16 bit timers used with Servo library
*
*/
#ifndef __SERVO_TIMERS_H__
#define __SERVO_TIMERS_H__
#include <avr/io.h>
//#define USE_TIMERB1 // interferes with PWM on pin 3
#define USE_TIMERB2 // interferes with PWM on pin 11
//#define USE_TIMERB0 // interferes with PWM on pin 6
#if !defined(USE_TIMERB1) && !defined(USE_TIMERB2) && !defined(USE_TIMERB0)
# error "No timers allowed for Servo"
/* Please uncomment a timer above and rebuild */
#endif
static volatile TCB_t* _timer =
#if defined(USE_TIMERB0)
&TCB0;
#endif
#if defined(USE_TIMERB1)
&TCB1;
#endif
#if defined(USE_TIMERB2)
&TCB2;
#endif
typedef enum {
timer0,
_Nbr_16timers } timer16_Sequence_t;
#endif /* __SERVO_TIMERS_H__ */

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/*
Copyright (c) 2016 Arduino. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
#if defined(ARDUINO_ARCH_NRF52)
#include <Arduino.h>
#include <Servo.h>
static servo_t servos[MAX_SERVOS]; // static array of servo structures
uint8_t ServoCount = 0; // the total number of attached servos
uint32_t group_pins[3][NRF_PWM_CHANNEL_COUNT]={{NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED}, {NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED}, {NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED}};
static uint16_t seq_values[3][NRF_PWM_CHANNEL_COUNT]={{0, 0, 0, 0}, {0, 0, 0, 0}, {0, 0, 0, 0}};
Servo::Servo()
{
if (ServoCount < MAX_SERVOS) {
this->servoIndex = ServoCount++; // assign a servo index to this instance
} else {
this->servoIndex = INVALID_SERVO; // too many servos
}
}
uint8_t Servo::attach(int pin)
{
return this->attach(pin, 0, 2500);
}
uint8_t Servo::attach(int pin, int min, int max)
{
int servo_min, servo_max;
if (this->servoIndex < MAX_SERVOS) {
pinMode(pin, OUTPUT); // set servo pin to output
servos[this->servoIndex].Pin.nbr = pin;
if(min < servo_min) min = servo_min;
if (max > servo_max) max = servo_max;
this->min = min;
this->max = max;
servos[this->servoIndex].Pin.isActive = true;
}
return this->servoIndex;
}
void Servo::detach()
{
servos[this->servoIndex].Pin.isActive = false;
}
void Servo::write(int value)
{
if (value < 0)
value = 0;
else if (value > 180)
value = 180;
value = map(value, 0, 180, MIN_PULSE, MAX_PULSE);
writeMicroseconds(value);
}
void Servo::writeMicroseconds(int value)
{
uint8_t channel, instance;
uint8_t pin = servos[this->servoIndex].Pin.nbr;
//instance of PWM module is MSB - look at VWariant.h
instance=(g_APinDescription[pin].ulPWMChannel & 0xF0)/16;
//index of PWM channel is LSB - look at VWariant.h
channel=g_APinDescription[pin].ulPWMChannel & 0x0F;
group_pins[instance][channel]=g_APinDescription[pin].ulPin;
NRF_PWM_Type * PWMInstance = instance == 0 ? NRF_PWM0 : (instance == 1 ? NRF_PWM1 : NRF_PWM2);
//configure PWM instance and enable it
seq_values[instance][channel]= value | 0x8000;
nrf_pwm_sequence_t const seq={
seq_values[instance],
NRF_PWM_VALUES_LENGTH(seq_values),
0,
0
};
nrf_pwm_pins_set(PWMInstance, group_pins[instance]);
nrf_pwm_enable(PWMInstance);
nrf_pwm_configure(PWMInstance, NRF_PWM_CLK_125kHz, NRF_PWM_MODE_UP, 2500); // 20ms - 50Hz
nrf_pwm_decoder_set(PWMInstance, NRF_PWM_LOAD_INDIVIDUAL, NRF_PWM_STEP_AUTO);
nrf_pwm_sequence_set(PWMInstance, 0, &seq);
nrf_pwm_loop_set(PWMInstance, 0UL);
nrf_pwm_task_trigger(PWMInstance, NRF_PWM_TASK_SEQSTART0);
}
int Servo::read() // return the value as degrees
{
return map(readMicroseconds(), MIN_PULSE, MAX_PULSE, 0, 180);
}
int Servo::readMicroseconds()
{
uint8_t channel, instance;
uint8_t pin=servos[this->servoIndex].Pin.nbr;
instance=(g_APinDescription[pin].ulPWMChannel & 0xF0)/16;
channel=g_APinDescription[pin].ulPWMChannel & 0x0F;
// remove the 16th bit we added before
return seq_values[instance][channel] & 0x7FFF;
}
bool Servo::attached()
{
return servos[this->servoIndex].Pin.isActive;
}
#endif // ARDUINO_ARCH_NRF52

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/*
Copyright (c) 2016 Arduino. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
/*
* nRF52 doesn't use timer, but PWM. This file includes definitions to keep
* compatibility with the Servo library standards.
*/
#ifndef __SERVO_TIMERS_H__
#define __SERVO_TIMERS_H__
/**
* nRF52 only definitions
* ---------------------
*/
#define MIN_PULSE 55
#define MAX_PULSE 284
// define one timer in order to have MAX_SERVOS = 12
typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t;
#endif // __SERVO_TIMERS_H__

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/* The MIT License (MIT)
*
* Copyright (c) 2022 Arduino SA
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#if defined(ARDUINO_ARCH_RENESAS)
#include "Arduino.h"
#include "Servo.h"
#include "ServoTimers.h"
#include "math.h"
#include "FspTimer.h"
#define SERVO_MAX_SERVOS (_Nbr_16timers * SERVOS_PER_TIMER)
#define SERVO_INVALID_INDEX (255)
// Lower the timer ticks for finer resolution.
#define SERVO_US_PER_CYCLE (20000)
#define SERVO_IO_PORT_ADDR(pn) &((R_PORT0 + ((uint32_t) (R_PORT1 - R_PORT0) * (pn)))->PCNTR3)
#define SERVO_MIN_CYCLE_OFF_US 50
// Internal Servo struct to keep track of RA configuration.
typedef struct {
// Servo period in microseconds.
uint32_t period_us;
// Store min/max pulse width here, because min/max in
// Servo class are not wide enough for the pulse width.
uint32_t period_min;
uint32_t period_max;
// Period period_count in timer ticks.
uint32_t period_ticks;
// Internal FSP GPIO port/pin control bits.
volatile uint32_t *io_port;
uint32_t io_mask;
} ra_servo_t;
// Keep track of the total number of servos attached.
static size_t n_servos=0;
static ra_servo_t ra_servos[SERVO_MAX_SERVOS];
static FspTimer servo_timer;
static bool servo_timer_started = false;
void servo_timer_callback(timer_callback_args_t *args);
static uint32_t servo_ticks_per_cycle = 0;
static uint32_t min_servo_cycle_low = 0;
static uint32_t active_servos_mask = 0;
static uint32_t active_servos_mask_refresh = 0;
static uint32_t us_to_ticks(uint32_t time_us) {
return ((float) servo_ticks_per_cycle / (float) SERVO_US_PER_CYCLE) * time_us;
}
static int servo_timer_config(uint32_t period_us)
{
static bool configured = false;
if (configured == false) {
// Configure and enable the servo timer.
uint8_t type = 0;
int8_t channel = FspTimer::get_available_timer(type);
if (channel != -1) {
servo_timer.begin(TIMER_MODE_PERIODIC, type, channel,
1000000.0f/period_us, 50.0f, servo_timer_callback, nullptr);
servo_timer.set_period_buffer(false); // disable period buffering
servo_timer.setup_overflow_irq(10);
servo_timer.open();
servo_timer.stop();
// Read the timer's period count.
servo_ticks_per_cycle = servo_timer.get_period_raw();
min_servo_cycle_low = us_to_ticks(SERVO_MIN_CYCLE_OFF_US);
configured = true;
}
}
return configured ? 0 : -1;
}
static int servo_timer_start()
{
// Start the timer if it's not started
if (servo_timer_started == false &&
servo_timer.start() == false) {
return -1;
}
servo_timer_started = true;
return 0;
}
static int servo_timer_stop()
{
// Start the timer if it's not started
if (servo_timer_started == true &&
servo_timer.stop() == false) {
return -1;
}
servo_timer_started = false;
return 0;
}
inline static void servo_timer_set_period(uint32_t period) {
servo_timer.set_period(period);
}
void servo_timer_callback(timer_callback_args_t *args)
{
(void)args; // remove warning
static uint8_t channel = SERVO_MAX_SERVOS;
static uint8_t channel_pin_set_high = 0xff;
static uint32_t ticks_accum = 0;
// See if we need to set a servo back low
if (channel_pin_set_high != 0xff) {
*ra_servos[channel_pin_set_high].io_port = ra_servos[channel_pin_set_high].io_mask << 16;
}
// Find the next servo to set high
while (active_servos_mask_refresh) {
channel = __builtin_ctz(active_servos_mask_refresh);
if (ra_servos[channel].period_us) {
*ra_servos[channel].io_port = ra_servos[channel].io_mask;
servo_timer_set_period(ra_servos[channel].period_ticks);
channel_pin_set_high = channel;
ticks_accum += ra_servos[channel].period_ticks;
active_servos_mask_refresh &= ~(1 << channel);
return;
}
active_servos_mask_refresh &= ~(1 << channel);
}
// Finished processing all servos, now delay to start of next pass.
ticks_accum += min_servo_cycle_low;
uint32_t time_to_next_cycle;
if (servo_ticks_per_cycle > ticks_accum) {
time_to_next_cycle = servo_ticks_per_cycle - ticks_accum;
} else {
time_to_next_cycle = min_servo_cycle_low;
}
ticks_accum = 0;
servo_timer_set_period(time_to_next_cycle);
channel_pin_set_high = 0xff;
active_servos_mask_refresh = active_servos_mask;
}
Servo::Servo()
{
servoIndex = SERVO_INVALID_INDEX;
}
uint8_t Servo::attach(int pin)
{
return attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
}
bool Servo::attached()
{
return (servoIndex != SERVO_INVALID_INDEX);
}
uint8_t Servo::attach(int pin, int min, int max)
{
//assert(pin < NUM_DIGITAL_PINS); ?
if (n_servos == SERVO_MAX_SERVOS) {
return 0;
}
// Configure the servo timer.
if (servo_timer_config(SERVO_US_PER_CYCLE) != 0) {
return 0;
}
// Try to find a free servo slot.
ra_servo_t *servo = NULL;
bsp_io_port_pin_t io_pin = g_pin_cfg[pin].pin;
for (size_t i=0; i<SERVO_MAX_SERVOS; i++) {
servo = &ra_servos[i];
if (servo->period_us == 0) {
n_servos++;
servoIndex = i;
servo->period_min = min;
servo->period_max = max;
servo->io_mask = (1U << (io_pin & 0xFF));
servo->io_port = SERVO_IO_PORT_ADDR(((io_pin >> 8U) & 0xFF));
active_servos_mask |= (1 << i); // update mask of servos that are active.
writeMicroseconds(DEFAULT_PULSE_WIDTH);
break;
}
}
if (servoIndex == SERVO_INVALID_INDEX) {
return 0;
}
// Configure GPIO pin for the servo.
R_IOPORT_PinCfg(&g_ioport_ctrl, io_pin,
IOPORT_CFG_PORT_DIRECTION_OUTPUT | IOPORT_CFG_PORT_OUTPUT_HIGH);
// Start the timer if it's not started.
if (servo_timer_start() != 0) {
return 0;
}
return 1;
}
void Servo::detach()
{
if (servoIndex != SERVO_INVALID_INDEX) {
ra_servo_t *servo = &ra_servos[servoIndex];
servo_timer_stop();
servo->period_us = 0;
active_servos_mask &= ~(1 << servoIndex); // update mask of servos that are active.
servoIndex = SERVO_INVALID_INDEX;
if (--n_servos) {
servo_timer_start();
}
}
}
void Servo::write(int angle)
{
if (servoIndex != SERVO_INVALID_INDEX) {
ra_servo_t *servo = &ra_servos[servoIndex];
angle = constrain(angle, 0, 180);
writeMicroseconds(map(angle, 0, 180, servo->period_min, servo->period_max));
}
}
int Servo::read()
{
if (servoIndex != SERVO_INVALID_INDEX) {
ra_servo_t *servo = &ra_servos[servoIndex];
return map(servo->period_us, servo->period_min, servo->period_max, 0, 180);
}
return 0;
}
void Servo::writeMicroseconds(int us)
{
if (servoIndex != SERVO_INVALID_INDEX) {
ra_servo_t *servo = &ra_servos[servoIndex];
servo->period_us = constrain(us, servo->period_min, servo->period_max);
servo->period_ticks = us_to_ticks(servo->period_us);
}
}
int Servo::readMicroseconds()
{
if (servoIndex != SERVO_INVALID_INDEX) {
ra_servo_t *servo = &ra_servos[servoIndex];
return servo->period_us;
}
return 0;
}
#endif // defined(ARDUINO_ARCH_RENESAS)

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#define _Nbr_16timers 1

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/*
Copyright (c) 2013 Arduino LLC. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
#if defined(ARDUINO_ARCH_SAM)
#include <Arduino.h>
#include <Servo.h>
#define usToTicks(_us) (( clockCyclesPerMicrosecond() * _us) / 32) // converts microseconds to ticks
#define ticksToUs(_ticks) (( (unsigned)_ticks * 32)/ clockCyclesPerMicrosecond() ) // converts from ticks back to microseconds
#define TRIM_DURATION 2 // compensation ticks to trim adjust for digitalWrite delays
static servo_t servos[MAX_SERVOS]; // static array of servo structures
uint8_t ServoCount = 0; // the total number of attached servos
static volatile int8_t Channel[_Nbr_16timers ]; // counter for the servo being pulsed for each timer (or -1 if refresh interval)
// convenience macros
#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / SERVOS_PER_TIMER)) // returns the timer controlling this servo
#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % SERVOS_PER_TIMER) // returns the index of the servo on this timer
#define SERVO_INDEX(_timer,_channel) ((_timer*SERVOS_PER_TIMER) + _channel) // macro to access servo index by timer and channel
#define SERVO(_timer,_channel) (servos[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel
#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in us for this servo
#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in us for this servo
/************ static functions common to all instances ***********************/
//------------------------------------------------------------------------------
/// Interrupt handler for the TC0 channel 1.
//------------------------------------------------------------------------------
void Servo_Handler(timer16_Sequence_t timer, Tc *pTc, uint8_t channel);
#if defined (_useTimer1)
void HANDLER_FOR_TIMER1(void) {
Servo_Handler(_timer1, TC_FOR_TIMER1, CHANNEL_FOR_TIMER1);
}
#endif
#if defined (_useTimer2)
void HANDLER_FOR_TIMER2(void) {
Servo_Handler(_timer2, TC_FOR_TIMER2, CHANNEL_FOR_TIMER2);
}
#endif
#if defined (_useTimer3)
void HANDLER_FOR_TIMER3(void) {
Servo_Handler(_timer3, TC_FOR_TIMER3, CHANNEL_FOR_TIMER3);
}
#endif
#if defined (_useTimer4)
void HANDLER_FOR_TIMER4(void) {
Servo_Handler(_timer4, TC_FOR_TIMER4, CHANNEL_FOR_TIMER4);
}
#endif
#if defined (_useTimer5)
void HANDLER_FOR_TIMER5(void) {
Servo_Handler(_timer5, TC_FOR_TIMER5, CHANNEL_FOR_TIMER5);
}
#endif
void Servo_Handler(timer16_Sequence_t timer, Tc *tc, uint8_t channel)
{
// clear interrupt
tc->TC_CHANNEL[channel].TC_SR;
if (Channel[timer] < 0) {
tc->TC_CHANNEL[channel].TC_CCR |= TC_CCR_SWTRG; // channel set to -1 indicated that refresh interval completed so reset the timer
} else {
if (SERVO_INDEX(timer,Channel[timer]) < ServoCount && SERVO(timer,Channel[timer]).Pin.isActive == true) {
digitalWrite(SERVO(timer,Channel[timer]).Pin.nbr, LOW); // pulse this channel low if activated
}
}
Channel[timer]++; // increment to the next channel
if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
tc->TC_CHANNEL[channel].TC_RA = tc->TC_CHANNEL[channel].TC_CV + SERVO(timer,Channel[timer]).ticks;
if(SERVO(timer,Channel[timer]).Pin.isActive == true) { // check if activated
digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,HIGH); // it's an active channel so pulse it high
}
}
else {
// finished all channels so wait for the refresh period to expire before starting over
if( (tc->TC_CHANNEL[channel].TC_CV) + 4 < usToTicks(REFRESH_INTERVAL) ) { // allow a few ticks to ensure the next OCR1A not missed
tc->TC_CHANNEL[channel].TC_RA = (unsigned int)usToTicks(REFRESH_INTERVAL);
}
else {
tc->TC_CHANNEL[channel].TC_RA = tc->TC_CHANNEL[channel].TC_CV + 4; // at least REFRESH_INTERVAL has elapsed
}
Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
}
}
static void _initISR(Tc *tc, uint32_t channel, uint32_t id, IRQn_Type irqn)
{
pmc_enable_periph_clk(id);
TC_Configure(tc, channel,
TC_CMR_TCCLKS_TIMER_CLOCK3 | // MCK/32
TC_CMR_WAVE | // Waveform mode
TC_CMR_WAVSEL_UP_RC ); // Counter running up and reset when equals to RC
/* 84 MHz, MCK/32, for 1.5 ms: 3937 */
TC_SetRA(tc, channel, 2625); // 1ms
/* Configure and enable interrupt */
NVIC_EnableIRQ(irqn);
// TC_IER_CPAS: RA Compare
tc->TC_CHANNEL[channel].TC_IER = TC_IER_CPAS;
// Enables the timer clock and performs a software reset to start the counting
TC_Start(tc, channel);
}
static void initISR(timer16_Sequence_t timer)
{
#if defined (_useTimer1)
if (timer == _timer1)
_initISR(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1, ID_TC_FOR_TIMER1, IRQn_FOR_TIMER1);
#endif
#if defined (_useTimer2)
if (timer == _timer2)
_initISR(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2, ID_TC_FOR_TIMER2, IRQn_FOR_TIMER2);
#endif
#if defined (_useTimer3)
if (timer == _timer3)
_initISR(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3, ID_TC_FOR_TIMER3, IRQn_FOR_TIMER3);
#endif
#if defined (_useTimer4)
if (timer == _timer4)
_initISR(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4, ID_TC_FOR_TIMER4, IRQn_FOR_TIMER4);
#endif
#if defined (_useTimer5)
if (timer == _timer5)
_initISR(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5, ID_TC_FOR_TIMER5, IRQn_FOR_TIMER5);
#endif
}
static void finISR(timer16_Sequence_t timer)
{
#if defined (_useTimer1)
TC_Stop(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1);
#endif
#if defined (_useTimer2)
TC_Stop(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2);
#endif
#if defined (_useTimer3)
TC_Stop(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3);
#endif
#if defined (_useTimer4)
TC_Stop(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4);
#endif
#if defined (_useTimer5)
TC_Stop(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5);
#endif
}
static boolean isTimerActive(timer16_Sequence_t timer)
{
// returns true if any servo is active on this timer
for(uint8_t channel=0; channel < SERVOS_PER_TIMER; channel++) {
if(SERVO(timer,channel).Pin.isActive == true)
return true;
}
return false;
}
/****************** end of static functions ******************************/
Servo::Servo()
{
if (ServoCount < MAX_SERVOS) {
this->servoIndex = ServoCount++; // assign a servo index to this instance
servos[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values
} else {
this->servoIndex = INVALID_SERVO; // too many servos
}
}
uint8_t Servo::attach(int pin)
{
return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
}
uint8_t Servo::attach(int pin, int min, int max)
{
timer16_Sequence_t timer;
if (this->servoIndex < MAX_SERVOS) {
pinMode(pin, OUTPUT); // set servo pin to output
servos[this->servoIndex].Pin.nbr = pin;
// todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
this->min = (MIN_PULSE_WIDTH - min)/4; //resolution of min/max is 4 us
this->max = (MAX_PULSE_WIDTH - max)/4;
// initialize the timer if it has not already been initialized
timer = SERVO_INDEX_TO_TIMER(servoIndex);
if (isTimerActive(timer) == false) {
initISR(timer);
}
servos[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
}
return this->servoIndex;
}
void Servo::detach()
{
timer16_Sequence_t timer;
servos[this->servoIndex].Pin.isActive = false;
timer = SERVO_INDEX_TO_TIMER(servoIndex);
if(isTimerActive(timer) == false) {
finISR(timer);
}
}
void Servo::write(int value)
{
// treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
if (value < MIN_PULSE_WIDTH)
{
if (value < 0)
value = 0;
else if (value > 180)
value = 180;
value = map(value, 0, 180, SERVO_MIN(), SERVO_MAX());
}
writeMicroseconds(value);
}
void Servo::writeMicroseconds(int value)
{
// calculate and store the values for the given channel
byte channel = this->servoIndex;
if( (channel < MAX_SERVOS) ) // ensure channel is valid
{
if (value < SERVO_MIN()) // ensure pulse width is valid
value = SERVO_MIN();
else if (value > SERVO_MAX())
value = SERVO_MAX();
value = value - TRIM_DURATION;
value = usToTicks(value); // convert to ticks after compensating for interrupt overhead
servos[channel].ticks = value;
}
}
int Servo::read() // return the value as degrees
{
return map(readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, 180);
}
int Servo::readMicroseconds()
{
unsigned int pulsewidth;
if (this->servoIndex != INVALID_SERVO)
pulsewidth = ticksToUs(servos[this->servoIndex].ticks) + TRIM_DURATION;
else
pulsewidth = 0;
return pulsewidth;
}
bool Servo::attached()
{
return servos[this->servoIndex].Pin.isActive;
}
#endif // ARDUINO_ARCH_SAM

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/*
Copyright (c) 2013 Arduino LLC. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
/*
* Defines for 16 bit timers used with Servo library
*
* If _useTimerX is defined then TimerX is a 16 bit timer on the current board
* timer16_Sequence_t enumerates the sequence that the timers should be allocated
* _Nbr_16timers indicates how many 16 bit timers are available.
*/
/**
* SAM Only definitions
* --------------------
*/
// For SAM3X:
#define _useTimer1
#define _useTimer2
#define _useTimer3
#define _useTimer4
#define _useTimer5
/*
TC0, chan 0 => TC0_Handler
TC0, chan 1 => TC1_Handler
TC0, chan 2 => TC2_Handler
TC1, chan 0 => TC3_Handler
TC1, chan 1 => TC4_Handler
TC1, chan 2 => TC5_Handler
TC2, chan 0 => TC6_Handler
TC2, chan 1 => TC7_Handler
TC2, chan 2 => TC8_Handler
*/
#if defined (_useTimer1)
#define TC_FOR_TIMER1 TC1
#define CHANNEL_FOR_TIMER1 0
#define ID_TC_FOR_TIMER1 ID_TC3
#define IRQn_FOR_TIMER1 TC3_IRQn
#define HANDLER_FOR_TIMER1 TC3_Handler
#endif
#if defined (_useTimer2)
#define TC_FOR_TIMER2 TC1
#define CHANNEL_FOR_TIMER2 1
#define ID_TC_FOR_TIMER2 ID_TC4
#define IRQn_FOR_TIMER2 TC4_IRQn
#define HANDLER_FOR_TIMER2 TC4_Handler
#endif
#if defined (_useTimer3)
#define TC_FOR_TIMER3 TC1
#define CHANNEL_FOR_TIMER3 2
#define ID_TC_FOR_TIMER3 ID_TC5
#define IRQn_FOR_TIMER3 TC5_IRQn
#define HANDLER_FOR_TIMER3 TC5_Handler
#endif
#if defined (_useTimer4)
#define TC_FOR_TIMER4 TC0
#define CHANNEL_FOR_TIMER4 2
#define ID_TC_FOR_TIMER4 ID_TC2
#define IRQn_FOR_TIMER4 TC2_IRQn
#define HANDLER_FOR_TIMER4 TC2_Handler
#endif
#if defined (_useTimer5)
#define TC_FOR_TIMER5 TC0
#define CHANNEL_FOR_TIMER5 0
#define ID_TC_FOR_TIMER5 ID_TC0
#define IRQn_FOR_TIMER5 TC0_IRQn
#define HANDLER_FOR_TIMER5 TC0_Handler
#endif
typedef enum { _timer1, _timer2, _timer3, _timer4, _timer5, _Nbr_16timers } timer16_Sequence_t ;

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/*
Copyright (c) 2015 Arduino LLC. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
#if defined(ARDUINO_ARCH_SAMD)
#include <Arduino.h>
#include <Servo.h>
#define usToTicks(_us) ((clockCyclesPerMicrosecond() * _us) / 16) // converts microseconds to ticks
#define ticksToUs(_ticks) (((unsigned) _ticks * 16) / clockCyclesPerMicrosecond()) // converts from ticks back to microseconds
#define TRIM_DURATION 5 // compensation ticks to trim adjust for digitalWrite delays
static servo_t servos[MAX_SERVOS]; // static array of servo structures
uint8_t ServoCount = 0; // the total number of attached servos
static volatile int8_t currentServoIndex[_Nbr_16timers]; // index for the servo being pulsed for each timer (or -1 if refresh interval)
// convenience macros
#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / SERVOS_PER_TIMER)) // returns the timer controlling this servo
#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % SERVOS_PER_TIMER) // returns the index of the servo on this timer
#define SERVO_INDEX(_timer,_channel) ((_timer*SERVOS_PER_TIMER) + _channel) // macro to access servo index by timer and channel
#define SERVO(_timer,_channel) (servos[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel
#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in us for this servo
#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in us for this servo
#define WAIT_TC16_REGS_SYNC(x) while(x->COUNT16.STATUS.bit.SYNCBUSY);
/************ static functions common to all instances ***********************/
void Servo_Handler(timer16_Sequence_t timer, Tc *pTc, uint8_t channel, uint8_t intFlag);
#if defined (_useTimer1)
void HANDLER_FOR_TIMER1(void) {
Servo_Handler(_timer1, TC_FOR_TIMER1, CHANNEL_FOR_TIMER1, INTFLAG_BIT_FOR_TIMER_1);
}
#endif
#if defined (_useTimer2)
void HANDLER_FOR_TIMER2(void) {
Servo_Handler(_timer2, TC_FOR_TIMER2, CHANNEL_FOR_TIMER2, INTFLAG_BIT_FOR_TIMER_2);
}
#endif
void Servo_Handler(timer16_Sequence_t timer, Tc *tc, uint8_t channel, uint8_t intFlag)
{
if (currentServoIndex[timer] < 0) {
tc->COUNT16.COUNT.reg = (uint16_t) 0;
WAIT_TC16_REGS_SYNC(tc)
} else {
if (SERVO_INDEX(timer, currentServoIndex[timer]) < ServoCount && SERVO(timer, currentServoIndex[timer]).Pin.isActive == true) {
digitalWrite(SERVO(timer, currentServoIndex[timer]).Pin.nbr, LOW); // pulse this channel low if activated
}
}
// Select the next servo controlled by this timer
currentServoIndex[timer]++;
if (SERVO_INDEX(timer, currentServoIndex[timer]) < ServoCount && currentServoIndex[timer] < SERVOS_PER_TIMER) {
if (SERVO(timer, currentServoIndex[timer]).Pin.isActive == true) { // check if activated
digitalWrite(SERVO(timer, currentServoIndex[timer]).Pin.nbr, HIGH); // it's an active channel so pulse it high
}
// Get the counter value
uint16_t tcCounterValue = tc->COUNT16.COUNT.reg;
WAIT_TC16_REGS_SYNC(tc)
tc->COUNT16.CC[channel].reg = (uint16_t) (tcCounterValue + SERVO(timer, currentServoIndex[timer]).ticks);
WAIT_TC16_REGS_SYNC(tc)
}
else {
// finished all channels so wait for the refresh period to expire before starting over
// Get the counter value
uint16_t tcCounterValue = tc->COUNT16.COUNT.reg;
WAIT_TC16_REGS_SYNC(tc)
if (tcCounterValue + 4UL < usToTicks(REFRESH_INTERVAL)) { // allow a few ticks to ensure the next OCR1A not missed
tc->COUNT16.CC[channel].reg = (uint16_t) usToTicks(REFRESH_INTERVAL);
}
else {
tc->COUNT16.CC[channel].reg = (uint16_t) (tcCounterValue + 4UL); // at least REFRESH_INTERVAL has elapsed
}
WAIT_TC16_REGS_SYNC(tc)
currentServoIndex[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
}
// Clear the interrupt
tc->COUNT16.INTFLAG.reg = intFlag;
}
static inline void resetTC (Tc* TCx)
{
// Disable TCx
TCx->COUNT16.CTRLA.reg &= ~TC_CTRLA_ENABLE;
WAIT_TC16_REGS_SYNC(TCx)
// Reset TCx
TCx->COUNT16.CTRLA.reg = TC_CTRLA_SWRST;
WAIT_TC16_REGS_SYNC(TCx)
while (TCx->COUNT16.CTRLA.bit.SWRST);
}
static void _initISR(Tc *tc, uint8_t channel, uint32_t id, IRQn_Type irqn, uint8_t gcmForTimer, uint8_t intEnableBit)
{
// Enable GCLK for timer 1 (timer counter input clock)
GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID(gcmForTimer));
while (GCLK->STATUS.bit.SYNCBUSY);
// Reset the timer
// TODO this is not the right thing to do if more than one channel per timer is used by the Servo library
resetTC(tc);
// Set timer counter mode to 16 bits
tc->COUNT16.CTRLA.reg |= TC_CTRLA_MODE_COUNT16;
// Set timer counter mode as normal PWM
tc->COUNT16.CTRLA.reg |= TC_CTRLA_WAVEGEN_NPWM;
// Set the prescaler factor to GCLK_TC/16. At nominal 48 MHz GCLK_TC this is 3000 ticks per millisecond
tc->COUNT16.CTRLA.reg |= TC_CTRLA_PRESCALER_DIV16;
// Count up
tc->COUNT16.CTRLBCLR.bit.DIR = 1;
WAIT_TC16_REGS_SYNC(tc)
// First interrupt request after 1 ms
tc->COUNT16.CC[channel].reg = (uint16_t) usToTicks(1000UL);
WAIT_TC16_REGS_SYNC(tc)
// Configure interrupt request
// TODO this should be changed if more than one channel per timer is used by the Servo library
NVIC_DisableIRQ(irqn);
NVIC_ClearPendingIRQ(irqn);
NVIC_SetPriority(irqn, 0);
NVIC_EnableIRQ(irqn);
// Enable the match channel interrupt request
tc->COUNT16.INTENSET.reg = intEnableBit;
// Enable the timer and start it
tc->COUNT16.CTRLA.reg |= TC_CTRLA_ENABLE;
WAIT_TC16_REGS_SYNC(tc)
}
static void initISR(timer16_Sequence_t timer)
{
#if defined (_useTimer1)
if (timer == _timer1)
_initISR(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1, ID_TC_FOR_TIMER1, IRQn_FOR_TIMER1, GCM_FOR_TIMER_1, INTENSET_BIT_FOR_TIMER_1);
#endif
#if defined (_useTimer2)
if (timer == _timer2)
_initISR(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2, ID_TC_FOR_TIMER2, IRQn_FOR_TIMER2, GCM_FOR_TIMER_2, INTENSET_BIT_FOR_TIMER_2);
#endif
}
static void finISR(timer16_Sequence_t timer)
{
#if defined (_useTimer1)
// Disable the match channel interrupt request
TC_FOR_TIMER1->COUNT16.INTENCLR.reg = INTENCLR_BIT_FOR_TIMER_1;
#endif
#if defined (_useTimer2)
// Disable the match channel interrupt request
TC_FOR_TIMER2->COUNT16.INTENCLR.reg = INTENCLR_BIT_FOR_TIMER_2;
#endif
}
static boolean isTimerActive(timer16_Sequence_t timer)
{
// returns true if any servo is active on this timer
for(uint8_t channel=0; channel < SERVOS_PER_TIMER; channel++) {
if(SERVO(timer,channel).Pin.isActive == true)
return true;
}
return false;
}
/****************** end of static functions ******************************/
Servo::Servo()
{
if (ServoCount < MAX_SERVOS) {
this->servoIndex = ServoCount++; // assign a servo index to this instance
servos[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values
} else {
this->servoIndex = INVALID_SERVO; // too many servos
}
}
uint8_t Servo::attach(int pin)
{
return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
}
uint8_t Servo::attach(int pin, int min, int max)
{
timer16_Sequence_t timer;
if (this->servoIndex < MAX_SERVOS) {
pinMode(pin, OUTPUT); // set servo pin to output
servos[this->servoIndex].Pin.nbr = pin;
// todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
this->min = (MIN_PULSE_WIDTH - min)/4; //resolution of min/max is 4 us
this->max = (MAX_PULSE_WIDTH - max)/4;
// initialize the timer if it has not already been initialized
timer = SERVO_INDEX_TO_TIMER(servoIndex);
if (isTimerActive(timer) == false) {
initISR(timer);
}
servos[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
}
return this->servoIndex;
}
void Servo::detach()
{
timer16_Sequence_t timer;
servos[this->servoIndex].Pin.isActive = false;
timer = SERVO_INDEX_TO_TIMER(servoIndex);
if(isTimerActive(timer) == false) {
finISR(timer);
}
}
void Servo::write(int value)
{
// treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
if (value < MIN_PULSE_WIDTH)
{
if (value < 0)
value = 0;
else if (value > 180)
value = 180;
value = map(value, 0, 180, SERVO_MIN(), SERVO_MAX());
}
writeMicroseconds(value);
}
void Servo::writeMicroseconds(int value)
{
// calculate and store the values for the given channel
byte channel = this->servoIndex;
if( (channel < MAX_SERVOS) ) // ensure channel is valid
{
if (value < SERVO_MIN()) // ensure pulse width is valid
value = SERVO_MIN();
else if (value > SERVO_MAX())
value = SERVO_MAX();
value = value - TRIM_DURATION;
value = usToTicks(value); // convert to ticks after compensating for interrupt overhead
servos[channel].ticks = value;
}
}
int Servo::read() // return the value as degrees
{
return map(readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, 180);
}
int Servo::readMicroseconds()
{
unsigned int pulsewidth;
if (this->servoIndex != INVALID_SERVO)
pulsewidth = ticksToUs(servos[this->servoIndex].ticks) + TRIM_DURATION;
else
pulsewidth = 0;
return pulsewidth;
}
bool Servo::attached()
{
return servos[this->servoIndex].Pin.isActive;
}
#endif // ARDUINO_ARCH_SAMD

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/*
Copyright (c) 2015 Arduino LLC. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
/*
* Defines for 16 bit timers used with Servo library
*
* If _useTimerX is defined then TimerX is a 16 bit timer on the current board
* timer16_Sequence_t enumerates the sequence that the timers should be allocated
* _Nbr_16timers indicates how many 16 bit timers are available.
*/
#ifndef __SERVO_TIMERS_H__
#define __SERVO_TIMERS_H__
/**
* SAMD Only definitions
* ---------------------
*/
// For SAMD:
#define _useTimer1
//#define _useTimer2 // <- TODO do not activate until the code in Servo.cpp has been changed in order
// to manage more than one channel per timer on the SAMD architecture
#if defined (_useTimer1)
#define TC_FOR_TIMER1 TC4
#define CHANNEL_FOR_TIMER1 0
#define INTENSET_BIT_FOR_TIMER_1 TC_INTENSET_MC0
#define INTENCLR_BIT_FOR_TIMER_1 TC_INTENCLR_MC0
#define INTFLAG_BIT_FOR_TIMER_1 TC_INTFLAG_MC0
#define ID_TC_FOR_TIMER1 ID_TC4
#define IRQn_FOR_TIMER1 TC4_IRQn
#define HANDLER_FOR_TIMER1 TC4_Handler
#define GCM_FOR_TIMER_1 GCM_TC4_TC5
#endif
#if defined (_useTimer2)
#define TC_FOR_TIMER2 TC4
#define CHANNEL_FOR_TIMER2 1
#define INTENSET_BIT_FOR_TIMER_2 TC_INTENSET_MC1
#define INTENCLR_BIT_FOR_TIMER_2 TC_INTENCLR_MC1
#define ID_TC_FOR_TIMER2 ID_TC4
#define IRQn_FOR_TIMER2 TC4_IRQn
#define HANDLER_FOR_TIMER2 TC4_Handler
#define GCM_FOR_TIMER_2 GCM_TC4_TC5
#endif
typedef enum {
#if defined (_useTimer1)
_timer1,
#endif
#if defined (_useTimer2)
_timer2,
#endif
_Nbr_16timers } timer16_Sequence_t;
#endif // __SERVO_TIMERS_H__

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/******************************************************************************
* The MIT License
*
* Copyright (c) 2010, LeafLabs, LLC.
*
* Permission is hereby granted, free of charge, to any person
* obtaining a copy of this software and associated documentation
* files (the "Software"), to deal in the Software without
* restriction, including without limitation the rights to use, copy,
* modify, merge, publish, distribute, sublicense, and/or sell copies
* of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
* BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
* ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*****************************************************************************/
#if defined(ARDUINO_ARCH_STM32F4)
#include "ServoTimers.h"
#include "boards.h"
#include "io.h"
#include "pwm.h"
#include "math.h"
// 20 millisecond period config. For a 1-based prescaler,
//
// (prescaler * overflow / CYC_MSEC) msec = 1 timer cycle = 20 msec
// => prescaler * overflow = 20 * CYC_MSEC
//
// This picks the smallest prescaler that allows an overflow < 2^16.
#define MAX_OVERFLOW ((1 << 16) - 1)
#define CYC_MSEC (1000 * CYCLES_PER_MICROSECOND)
#define TAU_MSEC 20
#define TAU_USEC (TAU_MSEC * 1000)
#define TAU_CYC (TAU_MSEC * CYC_MSEC)
#define SERVO_PRESCALER (TAU_CYC / MAX_OVERFLOW + 1)
#define SERVO_OVERFLOW ((uint16)round((double)TAU_CYC / SERVO_PRESCALER))
// Unit conversions
#define US_TO_COMPARE(us) ((uint16)map((us), 0, TAU_USEC, 0, SERVO_OVERFLOW))
#define COMPARE_TO_US(c) ((uint32)map((c), 0, SERVO_OVERFLOW, 0, TAU_USEC))
#define ANGLE_TO_US(a) ((uint16)(map((a), this->minAngle, this->maxAngle, \
this->minPW, this->maxPW)))
#define US_TO_ANGLE(us) ((int16)(map((us), this->minPW, this->maxPW, \
this->minAngle, this->maxAngle)))
Servo::Servo() {
this->resetFields();
}
bool Servo::attach(uint8 pin, uint16 minPW, uint16 maxPW, int16 minAngle, int16 maxAngle)
{
// SerialUSB.begin(115200);
// SerialUSB.println(MAX_OVERFLOW);
timer_dev *tdev = PIN_MAP[pin].timer_device;
analogWriteResolution(16);
int prescaler = 6;
int overflow = 65400;
int minPW_correction = 300;
int maxPW_correction = 300;
pinMode(pin, OUTPUT);
if (tdev == NULL) {
// don't reset any fields or ASSERT(0), to keep driving any
// previously attach()ed servo.
return false;
}
if ( (tdev == TIMER1) || (tdev == TIMER8) || (tdev == TIMER10) || (tdev == TIMER11))
{
prescaler = 54;
overflow = 65400;
minPW_correction = 40;
maxPW_correction = 50;
}
if ( (tdev == TIMER2) || (tdev == TIMER3) || (tdev == TIMER4) || (tdev == TIMER5) )
{
prescaler = 6;
overflow = 64285;
minPW_correction = 370;
maxPW_correction = 350;
}
if ( (tdev == TIMER6) || (tdev == TIMER7) )
{
prescaler = 6;
overflow = 65400;
minPW_correction = 0;
maxPW_correction = 0;
}
if ( (tdev == TIMER9) || (tdev == TIMER12) || (tdev == TIMER13) || (tdev == TIMER14) )
{
prescaler = 6;
overflow = 65400;
minPW_correction = 30;
maxPW_correction = 0;
}
if (this->attached()) {
this->detach();
}
this->pin = pin;
this->minPW = (minPW + minPW_correction);
this->maxPW = (maxPW + maxPW_correction);
this->minAngle = minAngle;
this->maxAngle = maxAngle;
timer_pause(tdev);
timer_set_prescaler(tdev, prescaler); // prescaler is 1-based
timer_set_reload(tdev, overflow);
timer_generate_update(tdev);
timer_resume(tdev);
return true;
}
bool Servo::detach() {
if (!this->attached()) {
return false;
}
timer_dev *tdev = PIN_MAP[this->pin].timer_device;
uint8 tchan = PIN_MAP[this->pin].timer_channel;
timer_set_mode(tdev, tchan, TIMER_DISABLED);
this->resetFields();
return true;
}
void Servo::write(int degrees) {
degrees = constrain(degrees, this->minAngle, this->maxAngle);
this->writeMicroseconds(ANGLE_TO_US(degrees));
}
int Servo::read() const {
int a = US_TO_ANGLE(this->readMicroseconds());
// map() round-trips in a weird way we mostly correct for here;
// the round-trip is still sometimes off-by-one for write(1) and
// write(179).
return a == this->minAngle || a == this->maxAngle ? a : a + 1;
}
void Servo::writeMicroseconds(uint16 pulseWidth) {
if (!this->attached()) {
ASSERT(0);
return;
}
pulseWidth = constrain(pulseWidth, this->minPW, this->maxPW);
analogWrite(this->pin, US_TO_COMPARE(pulseWidth));
}
uint16 Servo::readMicroseconds() const {
if (!this->attached()) {
ASSERT(0);
return 0;
}
stm32_pin_info pin_info = PIN_MAP[this->pin];
uint16 compare = timer_get_compare(pin_info.timer_device,
pin_info.timer_channel);
return COMPARE_TO_US(compare);
}
void Servo::resetFields(void) {
this->pin = NOT_ATTACHED;
this->minAngle = MIN_ANGLE;
this->maxAngle = MAX_ANGLE;
this->minPW = MIN_PULSE_WIDTH;
this->maxPW = MAX_PULSE_WIDTH;
}
#endif

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/******************************************************************************
* The MIT License
*
* Copyright (c) 2010, LeafLabs, LLC.
*
* Permission is hereby granted, free of charge, to any person
* obtaining a copy of this software and associated documentation
* files (the "Software"), to deal in the Software without
* restriction, including without limitation the rights to use, copy,
* modify, merge, publish, distribute, sublicense, and/or sell copies
* of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
* BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
* ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*****************************************************************************/
/*
* Arduino srl - www.arduino.org
* 2017 Feb 23: Edited by Francesco Alessi (alfran) - francesco@arduino.org
*/
#ifndef _SERVO_H_
#define _SERVO_H_
#include "types.h"
#include "timer.h"
#include "wiring.h" /* hack for IDE compile */
/*
* Note on Arduino compatibility:
*
* In the Arduino implementation, PWM is done "by hand" in the sense
* that timer channels are hijacked in groups and an ISR is set which
* toggles Servo::attach()ed pins using digitalWrite().
*
* While this scheme allows any pin to drive a servo, it chews up
* cycles and complicates the programmer's notion of when a particular
* timer channel will be in use.
*
* This implementation only allows Servo instances to attach() to pins
* that already have a timer channel associated with them, and just
* uses analogWrite() to drive the wave.
*
* This introduces an incompatibility: while the Arduino
* implementation of attach() returns the affected channel on success
* and 0 on failure, this one returns true on success and false on
* failure.
*
* RC Servos expect a pulse every 20 ms. Since periods are set for
* entire timers, rather than individual channels, attach()ing a Servo
* to a pin can interfere with other pins associated with the same
* timer. As always, your board's pin map is your friend.
*/
// Pin number of unattached pins
#define NOT_ATTACHED (-1)
#define _Nbr_16timers 14 // Number of STM32F469 Timers
#define SERVOS_PER_TIMER 4 // Number of timer channels
// Default min/max pulse widths (in microseconds) and angles (in
// degrees). Values chosen for Arduino compatibility. These values
// are part of the public API; DO NOT CHANGE THEM.
#define MIN_ANGLE 0
#define MAX_ANGLE 180
#define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo
#define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo
/** Class for interfacing with RC servomotors. */
class Servo {
public:
/**
* @brief Construct a new Servo instance.
*
* The new instance will not be attached to any pin.
*/
Servo();
/**
* @brief Associate this instance with a servomotor whose input is
* connected to pin.
*
* If this instance is already attached to a pin, it will be
* detached before being attached to the new pin. This function
* doesn't detach any interrupt attached with the pin's timer
* channel.
*
* @param pin Pin connected to the servo pulse wave input. This
* pin must be capable of PWM output.
*
* @param minPulseWidth Minimum pulse width to write to pin, in
* microseconds. This will be associated
* with a minAngle degree angle. Defaults to
* SERVO_DEFAULT_MIN_PW = 544.
*
* @param maxPulseWidth Maximum pulse width to write to pin, in
* microseconds. This will be associated
* with a maxAngle degree angle. Defaults to
* SERVO_DEFAULT_MAX_PW = 2400.
*
* @param minAngle Target angle (in degrees) associated with
* minPulseWidth. Defaults to
* SERVO_DEFAULT_MIN_ANGLE = 0.
*
* @param maxAngle Target angle (in degrees) associated with
* maxPulseWidth. Defaults to
* SERVO_DEFAULT_MAX_ANGLE = 180.
*
* @sideeffect May set pinMode(pin, PWM).
*
* @return true if successful, false when pin doesn't support PWM.
*/
bool attach(uint8 pin,
uint16 minPulseWidth=MIN_PULSE_WIDTH,
uint16 maxPulseWidth=MAX_PULSE_WIDTH,
int16 minAngle=MIN_ANGLE,
int16 maxAngle=MAX_ANGLE);
/**
* @brief Stop driving the servo pulse train.
*
* If not currently attached to a motor, this function has no effect.
*
* @return true if this call did anything, false otherwise.
*/
bool detach();
/**
* @brief Set the servomotor target angle.
*
* @param angle Target angle, in degrees. If the target angle is
* outside the range specified at attach() time, it
* will be clamped to lie in that range.
*
* @see Servo::attach()
*/
void write(int angle);
/**
* @brief Set the pulse width, in microseconds.
*
* @param pulseWidth Pulse width to send to the servomotor, in
* microseconds. If outside of the range
* specified at attach() time, it is clamped to
* lie in that range.
*
* @see Servo::attach()
*/
void writeMicroseconds(uint16 pulseWidth);
/**
* Get the servomotor's target angle, in degrees. This will
* lie inside the range specified at attach() time.
*
* @see Servo::attach()
*/
int read() const;
/**
* Get the current pulse width, in microseconds. This will
* lie within the range specified at attach() time.
*
* @see Servo::attach()
*/
uint16 readMicroseconds() const;
/**
* @brief Check if this instance is attached to a servo.
* @return true if this instance is attached to a servo, false otherwise.
* @see Servo::attachedPin()
*/
bool attached() const { return this->pin != NOT_ATTACHED; }
/**
* @brief Get the pin this instance is attached to.
* @return Pin number if currently attached to a pin, NOT_ATTACHED
* otherwise.
* @see Servo::attach()
*/
int attachedPin() const { return this->pin; }
private:
int16 pin;
uint16 minPW;
uint16 maxPW;
int16 minAngle;
int16 maxAngle;
void resetFields(void);
};
#endif /* _SERVO_H_ */

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/******************************************************************************
* The MIT License
*
* Copyright (c) 2010, LeafLabs, LLC.
*
* Permission is hereby granted, free of charge, to any person
* obtaining a copy of this software and associated documentation
* files (the "Software"), to deal in the Software without
* restriction, including without limitation the rights to use, copy,
* modify, merge, publish, distribute, sublicense, and/or sell copies
* of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
* BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
* ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*****************************************************************************/
#if defined(ARDUINO_ARCH_XMC)
#include "ServoTimers.h"
uint8_t _ServoCount = 1; // internal counter to check if max numbers of servos is reached
static uint8_t _allowed[MAX_PWM_SERVOS] = ALLOWED_PINS; // internal array to check allowed pwm pins
static uint8_t _servos[MAX_PWM_SERVOS]; // static array of used servo pins for checking
/**
* @brief None blocking wait loop.
*
* @param uS microseconds to wait
*/
static void _delayUs(unsigned long uS)
{
unsigned long time_now = micros();
while (micros() < time_now + uS)
;
}
Servo::Servo()
{
if (_ServoCount <= MAX_PWM_SERVOS )
{
this->servoIndex = _ServoCount++;
this->_minAngle = MIN_ANGLE;
this->_maxAngle = MAX_ANGLE;
this->_minPW = MIN_PULSE_WIDTH;
this->_maxPW = MAX_PULSE_WIDTH;
this->_pin = 0;
this->_isActive = false;
this->_pwm = 0;
this->_deg = 0.0;
}else{
this->servoIndex = INVALID_SERVO;
}
}
uint8_t Servo::attach(uint8_t pin, uint16_t min, uint16_t max)
{
if (this->servoIndex <= MAX_PWM_SERVOS )
{
// validate selected pin
bool pin_allowed = false;
for( int i = 0; i < MAX_PWM_SERVOS; i++)
{
// check if pin already in use
if ( _servos[i] == pin)
return INVALID_SERVO;
// check if selected pin has a pwm unit on the used XMC board
if ( _allowed[i] == pin)
pin_allowed = true;
}
// return if pin is not found in allowed pin list
if ( !pin_allowed )
return INVALID_SERVO;
// Set min/max values according the input and check for absolute limits
if (min < MIN_PULSE_CHECK)
{
this->_minAngle = constrain(min,MIN_ANGLE,MAX_ANGLE);
this->_minPW = MIN_PULSE_WIDTH;
} else {
this->_minAngle = MIN_ANGLE; //TODO has to calculated
this->_minPW = constrain(min,MIN_PULSE_WIDTH,MAX_PULSE_WIDTH);
}
if (max < MIN_PULSE_CHECK)
{
this->_maxAngle = constrain(max,MIN_ANGLE,MAX_ANGLE);
this->_maxPW = 2 * MAX_PULSE_WIDTH;
} else {
this->_maxAngle = MAX_ANGLE; //TODO has to calculated
this->_maxPW = constrain(max,MIN_PULSE_WIDTH,MAX_PULSE_WIDTH);
}
this->_pin = pin;
this->_isActive = true;
setAnalogWriteFrequency(this->_pin, REFRESH_FREQUENCY);
analogWriteResolution(ADC_RESOLUTION);
}
return this->servoIndex;
}
void Servo::detach()
{
this->servoIndex = _ServoCount--;
this->_minAngle = MIN_ANGLE;
this->_maxAngle = MAX_ANGLE;
this->_minPW = MIN_PULSE_WIDTH;
this->_maxPW = MAX_PULSE_WIDTH;
this->_pin = 0;
this->_isActive = false;
this->_pwm = 0;
this->_deg = 0.0;
}
void Servo::write(int value)
{
if (value < MIN_PULSE_CHECK)
{
// angle must be inside the boundaries
double angle = constrain(value, this->_minAngle, this->_maxAngle);
double dutyCycle = ( 0.5 + ( angle / MAX_ANGLE ) * 2.0 ) * DUTYCYCLE_STEPS;
this->_deg = angle;
this->_pwm = uint16_t(dutyCycle);
analogWrite(this->_pin, uint16_t(dutyCycle));
_delayUs(50);
} else {
writeMicroseconds(value);
}
}
void Servo::writeMicroseconds(int value)
{
// value must be inside the boundaries
double pw = constrain(value,this->_minPW, this->_maxPW);
double dutyCycle = map(pw, MIN_PULSE_WIDTH,MAX_PULSE_WIDTH, 0.5 * DUTYCYCLE_STEPS, 2.5 * DUTYCYCLE_STEPS);
this->_deg = ( dutyCycle - DUTYCYCLE_STEPS * 0.5 ) * MAX_ANGLE / ( 2 * DUTYCYCLE_STEPS );
this->_pwm = uint16_t(dutyCycle);
analogWrite(this->_pin, uint16_t(dutyCycle));
_delayUs(50);
}
#endif

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/******************************************************************************
* The MIT License
*
* Copyright (c) 2010, LeafLabs, LLC.
*
* Permission is hereby granted, free of charge, to any person
* obtaining a copy of this software and associated documentation
* files (the "Software"), to deal in the Software without
* restriction, including without limitation the rights to use, copy,
* modify, merge, publish, distribute, sublicense, and/or sell copies
* of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
* BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
* ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*****************************************************************************/
/*
* @copyright Copyright (c) 2019-2020 Infineon Technologies AG
*/
#ifndef _SERVO_H_
#define _SERVO_H_
#include <Arduino.h>
#include "wiring_analog.h"
/*
* Note on Arduino compatibility:
*
* In the Arduino implementation, PWM is done "by hand" in the sense
* that timer channels are hijacked in groups and an ISR is set which
* toggles Servo::attach()ed pins using digitalWrite().
*
* While this scheme allows any pin to drive a servo, it chews up
* cycles and complicates the programmer's notion of when a particular
* timer channel will be in use.
*
* This implementation only allows Servo instances to attach() to pins
* that already have PWM unit associated with them, which drives the wave.
*
* While the Arduino implementation of attach() returns the affected channel,
* this one returns the index number of the servo or an INVALID_SERVO = 255 in
* case of an error.
* The attach will check if a pin is already in use and if a pin has a PWM unit on
* the selected XMC board, otherwise it returns an INVALID_SERVO.
* This error handling is different than the original one from Arduino.
*
* Depending on the XMC type the number of possible PWM channels vary from 4 to 23
* and may change with future version of the XMC series.
*/
// Define the MAX_PWM_SERVOS number per XMC type and the allowed PWM pins on the selected XMC board
#if defined(XMC1100_XMC2GO)
#define MAX_PWM_SERVOS 4
#define ALLOWED_PINS {1, 2, 3, 8,}
#elif defined(XMC1100_Boot_Kit)
#define MAX_PWM_SERVOS 6
#define ALLOWED_PINS { 3,4,6,9,10,11 }
#elif defined(XMC1300_Boot_Kit)
#define MAX_PWM_SERVOS 4
#define ALLOWED_PINS { 26,31,32,33 }
#elif defined(XMC1400_Arduino_Kit)
#define MAX_PWM_SERVOS 6
#define ALLOWED_PINS { 3,4,6,9,10,11 }
#elif defined(XMC4200_Platform2GO)
#define MAX_PWM_SERVOS 7
#define ALLOWED_PINS { 3,5,6,9,22,23,24 }
#elif defined(XMC4400_Platform2GO)
#define MAX_PWM_SERVOS 15
#define ALLOWED_PINS { 3,5,6,9,10,14,25,26,27,28,29,30,45,48,67 }
#elif defined(XMC4700_Relax_Kit)
#define MAX_PWM_SERVOS 23
#define ALLOWED_PINS { 3,5,6,9,10,11,34,36,37,51,61,62,66,70,76,77,79,80,81,88,89,93,94 }
#else
#error "Not a supported XMC Board"
#endif
#define MIN_ANGLE 0 // the minimal angle in degree
#define MAX_ANGLE 180 // the maximal angle in degree
#define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo in microseconds
#define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo in microseconds
#define MIN_PULSE_CHECK 500 // border with below = angle and above = pulse width
#define REFRESH_FREQUENCY 50u // the refresh frequency on analog pins
#define REFRESH_TIME 20.0 // the PWM refresh frequency for the servo motor
#define DUTYCYCLE_STEPS 65536.0 / REFRESH_TIME // the number of duty cycle steps during one refresh period
#define ADC_RESOLUTION 16 // the resolution of the adc during analog write
#define INVALID_SERVO 255 // flag indicating an invalid servo index
/** Class for interfacing with RC servomotors. */
class Servo
{
public:
/**
* @brief Construct a new Servo instance.
*
* The new instance will not be attached to any pin, but only PWM capable pins will run.
* see pin list above.
*/
Servo();
/**
* @brief Associate this instance with a servomotor whose input is
* connected to pin.
*
* If this instance is already attached to a pin, it will be
* detached before being attached to the new pin.
* If the pin is not allowed for running PWM or the max number of
* PWM channels on the XMC board is reached it will return
* with an INVALID_SERVO, otherwise with the servoIndex number.
*
* @param pin Pin connected to the servo pulse wave input. This
* pin must be capable of PWM output.
*
* @param min If this value is below MIN_PULSE_CHECK it will be associated
* with an angle in degree. Otherwise it will be the minimum
* pulse width.
* min as an angle must be between MIN_ANGLE < angle < MAX_ANGLE
* with default as MIN_ANGLE
* min as a pulse width must be between MIN_PULSE_WIDTH < pwm < MAX_PULSE_WIDTH
* with a default as MIN_PULSE_WIDTH
*
* @param max If this value is below MIN_PULSE_CHECK it will be associated
* with an angle in degree. Otherwise it will be the maximum
* pulse width.
* max as an angle must be between MIN_ANGLE < angle < MAX_ANGLE
* with default as MAX_ANGLE
* max as a pulse width must be between MIN_PULSE_WIDTH < pwm < MAX_PULSE_WIDTH
* with a default as MAX_PULSE_WIDTH
*
* @return servoIndex number or INVALID_SERVO = 255 in case of an error
*/
uint8_t attach(uint8_t pin, uint16_t min = MIN_ANGLE, uint16_t max = MAX_ANGLE);
/**
* @brief Stop driving the servo pulse train.
*
* If not currently attached to a motor, this function has no effect.
*
* @return true if this call did anything, false otherwise.
*/
void detach();
/**
* @brief Set the servomotor target angle by recalculating the duty cycle
* for XMC PWM settings.
*
* @param value Target angle, in degrees. If the target angle is
* outside the range specified at attach(), it
* will be clamped to lie in that range.
*
* @see Servo::attach()
*/
void write(int value);
/**
* @brief Set the pulse width, in microseconds by recalculating it for the
* XMC PWM settings. It also calculates the angle from the pwm value.
*
* @param value Pulse width to send to the servomotor, in
* microseconds. If outside of the range
* specified at attach() time, it is clamped to
* lie in that range.
*
* @see Servo::attach()
*/
void writeMicroseconds(int value);
/**
* returns the current value in degree as an angle between 0 and 189 degrees
*
* @see Servo::attach()
*/
int read() const { return uint16_t(this->_deg); }
/**
* returns the current pwm value in microseconds.
*
* @see Servo::attach()
*/
int readMicroseconds() const { return uint16_t(this->_pwm); }
/**
* @brief Check if this instance is attached to a servo.
* @return true if this instance is attached to a servo, false otherwise.
* @see Servo::attachedPin()
*/
bool attached() const { return this->_isActive; }
private:
uint16_t _minPW; // the initial minPulseWidth, if not set than MIN_PULSE_WIDTH
uint16_t _maxPW; // the initial maxPulseWidth, if not set than MAX_PULSE_WIDTH
int16_t _minAngle; // the initial minAngle, if not set than MIN_ANGLE
int16_t _maxAngle; // the initial maxAngle, if not set than MAX_ANGLE
int16_t _pin; // attached arduino pin number
double _deg; // actual angle in degree
double _pwm; // actual pwm signal in microseconds
uint8_t _isActive; // true if this pin is active, otherwise false
uint8_t servoIndex; // the actual number of Servos attached to this library
};
#endif /* _SERVO_H_ */

1
Arduino/multiple_blinking_LED/Blink.txt Executable file
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Turn an LED on and off.

41
Arduino/multiple_blinking_LED/multiple_blinking_LED.ino Executable file
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#include <TFT.h>
void setup() {
// initialize digital pin LED_BUILTIN as an output.
pinMode(8, OUTPUT);
pinMode(12, OUTPUT);
pinMode(7, OUTPUT);
Serial.begin(9600);
}
// the loop function runs over and over again forever
void loop() {
// turn the LED on (HIGH is the voltage level)
digitalWrite(12, HIGH); // turn the LED on (HIGH is the voltage level)
delay(5000); // wait for a second
// turn the LED off by making the voltage LOW
digitalWrite(12, LOW);
delay(5000); // wait for a second
digitalWrite(8, HIGH); // turn the LED on (HIGH is the voltage level)
delay(5000); // wait for a second
// turn the LED off by making the voltage LOW
digitalWrite(8, LOW);
delay(10000); // wait for a second
digitalWrite(7, HIGH); // turn the LED on (HIGH is the voltage level)
delay(5000); // wait for a second
// turn the LED off by making the voltage LOW
digitalWrite(7, LOW);
delay(15000); // wai for a second
// turns on all the LED in the circuit
digitalWrite(12, HIGH);
digitalWrite(8, HIGH);
digitalWrite(7, HIGH);
delay(5000);
digitalWrite(12, LOW);
digitalWrite(8, LOW);
digitalWrite(7, LOW);
delay(20000);tt
}

1
Arduino/sketch.properties Normal file
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main=Radar_pde.pde

9
Arduino/subsandwich/subsandwich.ino Normal file
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void setup() {
// put your setup code here, to run once:
}
void loop() {
// put your main code here, to run repeatedly:
}

9
Arduino/subsandwichcould/ketch.json Normal file
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{
"cpu": {
"fqbn": "",
"name": "",
"type": ""
},
"secrets": [],
"included_libs": []
}

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