forked from mwingerson/PICxel
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PICxel.cpp
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/
PICxel.cpp
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/************************************************************************/
/* PICxel.cpp - PIC32 Neopixel Library */
/* */
/* A simple to use library for addressable LEDs like the WS2812 for */
/* the PIC32 line of microcontrollers. */
/* */
/* tested supported boards: */
/* - Digilent UNO32 (80MHz) */
/* - Digilent UC32 (80MHz) */
/* - chipKIT Lenny (40MHz) */
/* */
/* This library is protected under the GNU GPL v3.0 license */
/* http://www.gnu.org/licenses/ */
/* */
/* 06/05/2017 Brian Schmalz Added support for all chipKIT boards, as */
/* well as simplifying the main */
/* GRBrefreshLEDs() function. */
/* Tested on 40, 48, 80 and 200 MHz boards */
/* 07/28/2018 Brian Schmalz Reformatted to ease readability */
/* Added more comments, function header blocks */
/* Added support for per-pixel brightness */
/* values by adding per-pixel brightness */
/* array, new functions to support setting */
/* it, and new array for storing original */
/* color values */
/* 10/14/2018 Matt Jenkins Added support for changing number of LEDs */
/* on the fly and reallocating and freeing */
/* memory when needed. */
/* Tested on 40MHz Lenny */
/* */
/* TODO: Update HSV delays for F_CPU other than 80MHz */
/************************************************************************/
#include "PICxel.h"
/************************************************************************/
/* Constructor for the PICxel class */
/* Note the optional parameters in the PICxel.h file for this function */
/* If you only include the minimum (pixelCount and pin) then you'll */
/* get a colorMode of GRB, a memoryMode of alloc and a brightnessMode */
/* of globalOnly. You can override any of those parameters if you want */
/************************************************************************/
PICxel::PICxel(
uint16_t pixelCount,
uint8_t pixelPin,
color_mode_t newColorMode,
memory_mode_t newMemoryMode,
brightness_mode_t newBrightnessMode,
uint8_t* colorArrayPtr,
uint8_t* originalColorArrayPtr,
uint8_t* pixelBrightnessArrayPtr
) :
brightnessMode(newBrightnessMode),
colorMode(newColorMode),
memoryMode(newMemoryMode),
colorArraySizeBytes(0),
globalBrightness(0xFF),
colorArray(NULL),
originalColorArray(NULL),
pixelBrightnessArray(NULL),
pin(pixelPin),
portSet(portOutputRegister(digitalPinToPort(pixelPin)) + 2),
portClr(portOutputRegister(digitalPinToPort(pixelPin)) + 1),
pinMask(digitalPinToBitMask(pixelPin))
{
setNumberOfLEDs(pixelCount, colorArrayPtr, originalColorArrayPtr, pixelBrightnessArrayPtr);
}
/************************************************************************/
/* Change the number of pixels and reallocate the new memory size */
/* Return true if everything went OK, false if not. */
/************************************************************************/
bool PICxel::setNumberOfLEDs(
uint16_t pixelCount,
uint8_t* colorArrayPtr,
uint8_t* originalColorArrayPtr,
uint8_t* pixelBrightnessArrayPtr
)
{
// Always attempt to deallocate old pointers
if (colorArray != NULL)
{
free(colorArray);
}
if (originalColorArray != NULL)
{
free(originalColorArray);
}
if (pixelBrightnessArray != NULL)
{
free(pixelBrightnessArray);
}
if (memoryMode == alloc)
{
// User is asking us to allocate the pixel color arrays using calloc
if (colorMode == GRB)
{
colorArraySizeBytes = 3 * pixelCount;
colorArray = (uint8_t *)calloc(colorArraySizeBytes, sizeof(uint8_t));
// Only allocate extra two arrays if user wants per-pixel brightness
if (brightnessMode == perPixel)
{
originalColorArray = (uint8_t *)calloc(colorArraySizeBytes, sizeof(uint8_t));
pixelBrightnessArray = (uint8_t *)calloc(pixelCount, sizeof(uint8_t));
}
}
else // colorMode == HSV
{
colorArraySizeBytes = 4 * pixelCount;
colorArray = (uint8_t *)calloc(colorArraySizeBytes, sizeof(uint8_t));
// Only allocate extra two arrays if user wants per-pixel brightness
if (brightnessMode == perPixel)
{
// TODO: Handle the HSV version of allocating originalColorArray
// and pixelBrightnessArray
}
}
}
else // memoryMode == noalloc
{
// User is passing in pre-allocated arrays for pixel color arrays,
// If non-NULL, copy over into our member array pointers.
if (colorArrayPtr != NULL)
{
colorArray = colorArrayPtr;
}
if (originalColorArrayPtr != NULL)
{
originalColorArray = originalColorArrayPtr;
}
if (pixelBrightnessArrayPtr != NULL)
{
pixelBrightnessArray = pixelBrightnessArrayPtr;
}
if (colorMode == GRB)
{
colorArraySizeBytes = 3 * pixelCount;
}
else // colorMode == HSV
{
colorArraySizeBytes = 4 * pixelCount;
}
}
// Handle the case where we've run out of memory
if (
colorArray == NULL
||
(
brightnessMode == perPixel
&&
(
originalColorArray == NULL
||
pixelBrightnessArray == NULL
)
)
)
{
// By setting the number of LEDs to zero, we prevent any of the rest of the code from
// really doing much, and thus alerting the user to something wrong
numberOfLEDs = 0;
colorArraySizeBytes = 0;
// Deallocate any memory that did get allocated (only by us - lave user allocation alone)
if (memoryMode == alloc)
{
if (colorArray != NULL)
{
free(colorArray);
}
if (originalColorArray != NULL)
{
free(originalColorArray);
}
if (pixelBrightnessArray != NULL)
{
free(pixelBrightnessArray);
}
}
return false;
}
else
{
// Indicate successful memory allocation by setting the global number of LEDs properly
numberOfLEDs = pixelCount;
// No need to init colorArray or originalColorArray as calloc sets them to zero
// Init individual pixel brightnesses to maximum
if (brightnessMode == perPixel)
{
memset((void *)pixelBrightnessArray, 0xFF, pixelCount);
}
}
return true;
}
/************************************************************************/
/* Change the static array, freeing an old calloc array if existing */
/* and change memory mode for future operations if applicable */
/************************************************************************/
void PICxel::setArrayPointer(
uint8_t* colorArrayPtr,
uint8_t* originalColorArrayPtr,
uint8_t* pixelBrightnessArrayPtr
)
{
if (memoryMode == alloc)
{
if (colorArray != NULL)
{
free(colorArray);
}
if (originalColorArray != NULL)
{
free(originalColorArray);
}
if (pixelBrightnessArray != NULL)
{
free(pixelBrightnessArray);
}
memoryMode = noalloc;
}
if (colorArrayPtr != NULL)
{
colorArray = colorArrayPtr;
}
if (originalColorArrayPtr != NULL)
{
originalColorArrayPtr = originalColorArrayPtr;
}
if (pixelBrightnessArrayPtr != NULL)
{
pixelBrightnessArray = colorArrayPtr;
}
}
/************************************************************************/
/* Destructor for the PICxel class */
/************************************************************************/
PICxel::~PICxel()
{
if (memoryMode == alloc)
{
// Deallocate any memory that did got allocated
if (colorArray != NULL)
{
free(colorArray);
}
if (originalColorArray != NULL)
{
free(originalColorArray);
}
if (pixelBrightnessArray != NULL)
{
free(pixelBrightnessArray);
}
}
}
/************************************************************************/
/* Sets the pinMode for selected pin */
/************************************************************************/
void PICxel::begin()
{
if (colorArraySizeBytes)
{
// let chipKIT library handle the tri-state buffer and
// assign analog inputs as needed
pinMode(pin, OUTPUT);
// clear the pin
*portClr = pinMask;
}
}
/************************************************************************/
/* Clears the entire color array in either GRB or HSV mode */
/************************************************************************/
void PICxel::clear()
{
if (colorArraySizeBytes)
{
if (colorMode == GRB)
{
if (colorArray != NULL)
{
memset((void *)colorArray, 0x00, colorArraySizeBytes);
}
if (originalColorArray != NULL)
{
memset((void *)originalColorArray, 0x00, colorArraySizeBytes);
}
if (pixelBrightnessArray != NULL)
{
memset((void *)pixelBrightnessArray, 0xFF, numberOfLEDs);
}
}
else // colorMode == HSV
{
/// TODO: Handle the HSV case like we do the RGB case
if (colorArray != NULL)
{
memset((void *)colorArray, 0x00, colorArraySizeBytes);
}
}
}
}
/************************************************************************/
/* Clears just one LED */
/************************************************************************/
void PICxel::clear(uint8_t pixelNumber)
{
if (colorArraySizeBytes)
{
if (colorMode == GRB)
{
if (colorArray != NULL)
{
colorArray[(pixelNumber * 3) + 0] = 0;
colorArray[(pixelNumber * 3) + 1] = 0;
colorArray[(pixelNumber * 3) + 2] = 0;
}
if (originalColorArray != NULL)
{
originalColorArray[(pixelNumber * 3) + 0] = 0;
originalColorArray[(pixelNumber * 3) + 1] = 0;
originalColorArray[(pixelNumber * 3) + 2] = 0;
}
if (pixelBrightnessArray != NULL)
{
pixelBrightnessArray[pixelNumber] = 0xFF;
}
}
else
{
/// TODO: Handle HSV originalColorArray and pixelBrightnessArray
if (colorArray != NULL)
{
colorArray[(pixelNumber * 4) + 0] = 0;
colorArray[(pixelNumber * 4) + 1] = 0;
colorArray[(pixelNumber * 4) + 2] = 0;
colorArray[(pixelNumber * 4) + 3] = 0;
}
}
}
}
/************************************************************************/
/* sets the class global brightness */
/************************************************************************/
void PICxel::setBrightness(uint8_t newBrightness)
{
globalBrightness = newBrightness;
}
/************************************************************************/
/* Take the original color values for a given pixel, and create the */
/* actual color values that get sent out to LEDs by adjusting the */
/* originals for global brightness and per-pixel brightness. */
/* Note: This routine only needs to be called if per-pixel brightness */
/* is being used, and normally is only called from within this library */
/************************************************************************/
void PICxel::updatePixelColorValues(uint16_t number)
{
if (colorArraySizeBytes && brightnessMode == perPixel)
{
uint8_t *originalArrayPtr = &originalColorArray[number * 3];
uint8_t *arrayPtr = &colorArray[number * 3];
// green
arrayPtr[0] = ((originalArrayPtr[0] * pixelBrightnessArray[number] * globalBrightness) >> 16);
// red
arrayPtr[1] = ((originalArrayPtr[1] * pixelBrightnessArray[number] * globalBrightness) >> 16);
// blue
arrayPtr[2] = ((originalArrayPtr[2] * pixelBrightnessArray[number] * globalBrightness) >> 16);
}
}
/************************************************************************/
/* Modifies the color matrix with the colors presented in 8-bit values */
/* for green, red and blue. The values are then scaled by the */
/* globalBrightness value and placed into the location of number */
/* This function leaves the global and per-pixel brightness values */
/* alone. */
/************************************************************************/
void PICxel::GRBsetLEDColor(
uint16_t pixelNumber,
uint8_t green,
uint8_t red,
uint8_t blue,
uint8_t pixelBrightness)
{
if ((colorArraySizeBytes) && (pixelNumber < numberOfLEDs))
{
if (brightnessMode == perPixel)
{
// When we are in perPixel brightness mode, we store the original RGB
// values in the Original array, and then update the colorArray values
// from that based on per pixel brightness
uint8_t *originalArrayPtr = &originalColorArray[pixelNumber * 3];
originalArrayPtr[0] = green;
originalArrayPtr[1] = red;
originalArrayPtr[2] = blue;
// Update the pixel's brightness value
pixelBrightnessArray[pixelNumber] = pixelBrightness;
/* Now compute new actual color values */
updatePixelColorValues(pixelNumber);
}
else // brightnessMode == globalOnly
{
// If normal global-only brightness is used, then dump the RGB values
// directly into the colorArray after modifying by global brightness
uint8_t *arrayPtr = &colorArray[pixelNumber * 3];
arrayPtr[0] = (green * globalBrightness) >> 8;
arrayPtr[1] = (red * globalBrightness) >> 8;
arrayPtr[2] = (blue * globalBrightness) >> 8;
}
}
}
/************************************************************************/
/* Modifies the color matrix with the colors presented one 32-bit */
/* value. color is a 32-bit unsigned int that is organized into four */
/* bytes: */
/* bits[31 - 24][23 - 16][15 - 8][7 - 0] */
/* ( blank )( red )(green )(blue ) */
/* */
/* Each color is scaled by the globalBrightness value and stored in the */
/* color array. */
/************************************************************************/
void PICxel::GRBsetLEDColor(uint16_t pixelNumber, uint32_t color, uint8_t pixelBrightness)
{
if ((colorArraySizeBytes) && (pixelNumber < numberOfLEDs))
{
if (brightnessMode == perPixel)
{
// When we are in perPixel brightness mode, we store the original RGB
// values in the Original array, and then update the colorArray values
// from that based on per pixel brightness
uint8_t *originalArrayPtr = &originalColorArray[pixelNumber * 3];
originalArrayPtr[0] = ((uint8_t)(color >>16));
originalArrayPtr[1] = ((uint8_t)(color >> 8));
originalArrayPtr[2] = ((uint8_t)(color));
// Update the pixel's brightness value
pixelBrightnessArray[pixelNumber] = pixelBrightness;
/* Now compute new actual color values */
updatePixelColorValues(pixelNumber);
}
else // brightnessMode == globalOnly
{
// If normal global-only brightness is used, then dump the RGB values
// directly into the colorArray
uint8_t *arrayPtr = &colorArray[pixelNumber * 3];
arrayPtr[0] = ((uint8_t)(color >>16) * globalBrightness) >> 8;
arrayPtr[1] = ((uint8_t)(color >> 8) * globalBrightness) >> 8;
arrayPtr[2] = ((uint8_t)(color) * globalBrightness) >> 8;
}
}
}
/************************************************************************/
/* Modifies the color matrix with the passed values hue, sat and val. */
/* */
/* Hue is a 16-bit value that ranges from 0-1535 representing the */
/* color wheel. 255 values per 60 degrees of the color wheel. sat */
/* val are 8-bit values that control saturation and value. If */
/* saturation is 0 then the LED will be off. */
/************************************************************************/
void PICxel::HSVsetLEDColor(
uint16_t pixelNumber,
uint16_t hue,
uint8_t sat,
uint8_t val)
{
if (pixelNumber < numberOfLEDs)
{
uint8_t *arrayPtr = &colorArray[pixelNumber * 4];
arrayPtr[0] = hue;
arrayPtr[1] = hue >> 8;
arrayPtr[2] = sat;
arrayPtr[3] = val;
}
}
/************************************************************************/
/* Modifies the color matrix with the colors presented one 32-bit */
/* value. color is a 32-bit unsigned int that is organized into four */
/* bytes: */
/* bits[ 31 - 24 ][ 23 - 16 ][15 - 8][7 - 0] */
/* (upper hue)(lower hue)( sat )( val ) */
/* */
/* Hue is a 16-bit value that ranges from 0-1535 representing the */
/* color wheel. 255 values per 60 degrees of the color wheel. sat */
/* val are 8-bit values that control saturation and value. If */
/* saturation is 0 then the LED will be off. */
/************************************************************************/
void PICxel::HSVsetLEDColor(uint16_t pixelNumber, uint32_t color)
{
if (pixelNumber < numberOfLEDs)
{
uint8_t *arrayPtr = &colorArray[pixelNumber * 4];
arrayPtr[0] = color;
arrayPtr[1] = color >> 8;
arrayPtr[2] = color >> 16;
arrayPtr[3] = color >> 24;
}
}
/************************************************************************/
/* When in per-pixel brightness mode, this function will update a */
/* single pixel's brightness, and then re-compute it's RGB values so */
/* that the new brightness immediately takes effect at the next refresh*/
/************************************************************************/
void PICxel::setPixelBrightness(uint16_t pixelNumber, uint8_t pixelBrightness)
{
if ((colorArraySizeBytes) && (pixelNumber < numberOfLEDs) && (brightnessMode == perPixel))
{
// Update the pixel's brightness value
pixelBrightnessArray[pixelNumber] = pixelBrightness;
/* Now compute new actual color values */
updatePixelColorValues(pixelNumber);
}
}
/************************************************************************/
/* When in per-pixel brightness mode, this function will return the */
/* brightness of a single pixel. This brightness value will be the */
/* per-pixel brightness set with the setPixelBrightness() function. */
/************************************************************************/
uint8_t PICxel::getPixelBrightness(uint16_t pixelNumber)
{
if ((colorArraySizeBytes) && (pixelNumber < numberOfLEDs) && (brightnessMode == perPixel))
{
// Get this pixel's brightness
return(pixelBrightnessArray[pixelNumber]);
}
return 0;
}
/************************************************************************/
/* Refreshed the LED strip with either GRBrefreshLEDs() or */
/* HSVrefreshLEDs() dependent on which color mode to use */
/************************************************************************/
void PICxel::refreshLEDs(void)
{
if (colorMode == GRB)
{
GRBrefreshLEDs();
}
else // colorMode == HSV
{
HSVrefreshLEDs();
}
}
/************************************************************************/
/* Generate the datastream to refresh the LEDs using the RGB color */
/* mode. This function utilizes MIPS assembly no-op commands to */
/* ensure that the specific timing is met. */
/* */
/* For each bit in each byte, a pair of high and low delays is used. */
/* */
/* There are preprocessor defined macros to control the variable */
/* number of no-ops required to meeting timing as easily as possible. */
/* preprocessor defined macros will allow for easier porting to other */
/* ChipKIT boards. */
/************************************************************************/
void PICxel::GRBrefreshLEDs(void)
{
uint32_t interruptBits;
uint8_t* colorArrayPtr = colorArray;
uint8_t bitSelect;
/* Disable interrupts, but save current bits so we can restore them later */
interruptBits = disableInterrupts();
for (int j = 0; j < colorArraySizeBytes; j++)
{
bitSelect = 0x80;
while(bitSelect)
{
if (*colorArrayPtr & bitSelect)
{
*portSet = pinMask;
GRB_delay_T1H();
*portClr = pinMask;
GRB_delay_T1L();
}
else
{
*portSet = pinMask;
GRB_delay_T0H();
*portClr = pinMask;
GRB_delay_T0L();
}
bitSelect = (bitSelect >> 1);
}
colorArrayPtr++;
}
/* Restore the interrupts now */
restoreInterrupts(interruptBits);
}
/************************************************************************/
/* Generate the data stream to refresh the LEDs using the HSV color */
/* mode. This function utilizes MIPS assembly to perform the */
/* HSV to GRB conversion for the next LED while sending data for the */
/* current LED. */
/* */
/* The overall structure is simple but is difficult to read with the */
/* HSV to GRB conversion inline. In each frame of the bitstream there */
/* are three components that allow for easier manipulation: */
/* - high sector - the first 350ns of the bitframe that is high */
/* regardless of the data bit being a 1 or 0 */
/* - variable sector - the second 350ns of the bitframe that is high */
/* if a 1 and low if a zero */
/* - low sector - third and final 550ns of the bitframe that is low */
/* regardless of the data bit being a 1 or 0 */
/* */
/* There are preprocessor defined macros to control the variable */
/* number of no-ops required to meeting timing as easily as possible. */
/* preprocessor defined macros will allow for easier porting to other */
/* ChipKIT boards. */
/************************************************************************/
void PICxel::HSVrefreshLEDs(void)
{
//do not allow bitstream to be interrupted
noInterrupts();
asm volatile(
"lw $s0, %4 \n\t" //load address of color_ptr
//compute first color
"j computeFirstColor \n\t"
"colorComputed: \n\t"
//loop through all LEDs
"forLoop: \n\t"
"move $t0, $t1 \n\t" //move the next_color to current_color
"move $t1, $zero \n\t" //clear next_color
"addi $s0, $s0, 4 \n\t"
"lw $t2, ($s0) \n\t"
"move $t6, $zero \n\t" //clear t6 for a byte iterator
"color_loop: \n\t"
////////////////////
//Bit 0
////////////////////
"lw $t7, %3 \n\t" //set pin
"sw %0, ($t7) \n\t"
"andi $t3, $t2, 0xFFFF \n\t" //get hue
"srl $t4, $t2, 16 \n\t" //get saturation
"andi $t4, $t4, 0xFF \n\t"
"addi $t4, $t4, 1 \n\t"
"srl $t5, $t2, 24 \n\t" //get value
"andi $t5, $t5, 0xFF \n\t"
"addi $t5, $t5, 1 \n\t"
"multu $t5, $t4 \n\t" //chroma = sat * val
"mflo $t4 \n\t"
"srl $t4, $t4, 8 \n\t"
"subu $t5, $t5, $t4 \n\t" //m_num = value - chroma
//delay for the end of the first section
HSV_bit_0_delay_0 //preprocessor macro
"andi $t7, $t0, 0b10000000 \n\t" //bitmask out the value
"bne $t7, $zero, bit0IsHigh \n\t" //branch if bit is high, branch over set low
"lw $t7, %2 \n\t" //clear pin
"sw %0, ($t7) \n\t"
"bit0IsHigh: \n\t"
//delay for the end of the second section
HSV_bit_0_delay_1 //preprocessor macro
"lw $t7, %2 \n\t" //clear pin
"sw %0, ($t7) \n\t"
//if(hue < 256)
"li $t7, 256 \n\t" //load hue
"sub $t7, $t3, $t7 \n\t" //store hue - 256
"bgez $t7, didNotMakeHue0 \n\t" //if hue>256 branch
//hue < 256
"multu $t3, $t4 \n\t" //set green
"mflo $t1 \n\t"
"srl $t1, $t1, 8 \n\t"
"add $t1, $t1, $t5 \n\t"
"addu $t7, $t4, $t5 \n\t" //set red
"addi $t7, $t7, -1 \n\t"
"sll $t7, $t7, 8 \n\t"
"andi $t7, $t7, 0xFF00 \n\t"
"or $t1, $t1, $t7 \n\t"
"andi $t7, $t5, 0xFF \n\t"
"sll $t7, $t5, 16 \n\t" //set blue
"or $t1, $t7, $t1 \n\t"
//delay for the end of the third section when the hue has been made
HSV_bit_0_delay_2 //preprocessor macro
"j madeHue0 \n\t"
"didNotMakeHue0: \n\t"
//delay for the end of the third section when the hue has not been made
HSV_bit_0_delay_3 //preprocessor macro
"madeHue0: \n\t"
////////////////////
//Bit 1
////////////////////
"lw $t7, %3 \n\t" //set pin
"sw %0, ($t7) \n\t"
//delay for the end of the first section
HSV_universal_delay_1 //preprocessor macro
"andi $t7, $t0, 0b01000000 \n\t" //bitmask out the value
"bne $t7, $zero, bit1IsHigh \n\t" //branch if bit is high, branch over set low
"lw $t7, %2 \n\t" //clear pin
"sw %0, ($t7) \n\t"
"bit1IsHigh: \n\t"
//delay for the end of the second section
HSV_universal_delay_2 //preprocessor macro
"lw $t7, %2 \n\t" //clear pin
"sw %0, ($t7) \n\t"
//if(next_color == 0) then continue
"bne $t1, $zero, huePrevMade1 \n\t"
//if(hue < 512)
"li $t7, 512 \n\t"
"sub $t7, $t3, $t7 \n\t"
"bgez $t7, didNotMakeHue1 \n\t"
//hue < 512
"addu $t7, $t4, $t5 \n\t" //set green
"addi $t7, $t7, -1 \n\t"
"andi $t1, $t7, 0xFF \n\t"
"li $t7, 511 \n\t" //set red
"subu $t7, $t7, $t3 \n\t"
"multu $t4, $t7 \n\t"
"mflo $t7 \n\t"
"srl $t7, $t7, 8 \n\t"
"addu $t7, $t7, $t5 \n\t"
"and $t7, $t7, 0xFF \n\t"
"sll $t7, $t7, 8 \n\t"
"or $t1, $t7, $t1 \n\t"
"sll $t7, $t5, 16 \n\t" //set blue
"or $t1, $t7, $t1 \n\t"
//delay for the end of the third section when hue is made
HSV_bit_1_delay_0
"j madeHue1 \n\t"
"huePrevMade1: \n\t"
//delay for the end of the third section hue was made earlier
HSV_bit_1_delay_1
"j madeHue1 \n\t"
"didNotMakeHue1: \n\t"
//delay for the end of the third section hue has not been made
HSV_bit_1_delay_2
"madeHue1: \n\t"
////////////////////
//Bit 2
////////////////////
"lw $t7, %3 \n\t" //set pin
"sw %0, ($t7) \n\t"
//delay for the end of the first section
HSV_universal_delay_1 //preprocessor macro
"andi $t7, $t0, 0b00100000 \n\t" //bitmask out the value
"bne $t7, $zero, bit2IsHigh \n\t" //branch if bit is high, branch over set low
"lw $t7, %2 \n\t" //clear pin
"sw %0, ($t7) \n\t"
"bit2IsHigh: \n\t"
//delay for the end of the second section
HSV_universal_delay_2 //preprocessor macro
"nop\n"
"lw $t7, %2 \n\t" //clear pin
"sw %0, ($t7) \n\t"
//if(next_color == 0) then continue
"bne $t1, $zero, huePrevMade2 \n\t"
//if(hue < 768)
"li $t7, 768 \n\t"
"sub $t7, $t3, $t7 \n\t"
"bgez $t7, didNotMakeHue2 \n\t"
//hue < 768
"addu $t7, $t4, $t5 \n\t" //set green
"addi $t7, $t7, -1 \n\t"
"andi $t1, $t7, 0xFF \n\t"
"sll $t7, $t5, 8 \n\t" //set red
"or $t1, $t7, $t1 \n\t"
"li $t7, 512 \n\t" //set blue
"subu $t7, $t3, $t7 \n\t"
"multu $t4, $t7 \n\t"
"mflo $t7 \n\t"
"srl $t7, $t7, 8 \n\t"
"addu $t7, $t7, $t5 \n\t"
"andi $t7, $t7, 0xFF \n\t"
"sll $t7, $t7, 16 \n\t"
"or $t1, $t7, $t1 \n\t"
//delay for the end of the third section when hue is made
HSV_bit_2_delay_0 //preprocessor macro
"j madeHue2 \n\t"
"huePrevMade2: \n\t"
//delay for the end of the third section hue was made earlier
HSV_bit_2_delay_1 //preprocessor macro
"j madeHue2 \n\t"
"didNotMakeHue2: \n\t"
//delay for the end of the third section when hue is not made
HSV_bit_2_delay_2 //preprocessor macro
"madeHue2: \n\t"
////////////////////
//Bit 3
////////////////////
"lw $t7, %3 \n\t" //set pin
"sw %0, ($t7) \n\t"
//delay for the end of the first section
HSV_universal_delay_1 //preprocessor macro
"andi $t7, $t0, 0b00010000 \n\t" //
"bne $t7, $zero, bit3IsHigh \n\t" //branch if bit is high, branch over set low
"lw $t7, %2 \n\t" //clear pin
"sw %0, ($t7) \n\t"
"bit3IsHigh: \n\t"
//delay for the end of the second section
HSV_universal_delay_2 //preprocessor macro
"lw $t7, %2 \n\t" //clear pin
"sw %0, ($t7) \n\t"
//if(next_color == 0) then continue
"bne $t1, $zero, huePrevMade3 \n\t"
//if(hue < 1024)
"li $t7, 1024 \n\t"
"sub $t7, $t3, $t7 \n\t"
"bgez $t7, didNotMakeHue3 \n\t"
//hue < 1024
"li $t7, 1023 \n\t" //set green
"subu $t7, $t7, $t3 \n\t"
"multu $t4, $t7 \n\t"
"mflo $t7 \n\t"
"srl $t7, $t7, 8 \n\t"
"addu $t1, $t7, $t5 \n\t"
//"and $t7, $t7, 0xFF \n\t"
"sll $t7, $t5, 8 \n\t" //set red
"or $t1, $t7, $t1 \n\t"
"addu $t7, $t4, $t5 \n\t" //set blue
"addi $t7, $t7, -1 \n\t"
"andi $t7, $t7, 0xFF \n\t"
"sll $t7, $t7, 16 \n\t"
"or $t1, $t7, $t1 \n\t"
//delay for the end of the third section when hue is made
HSV_bit_3_delay_0
"j madeHue3 \n\t"
"huePrevMade3: \n\t"
//delay for the end of the third section hue was made earlier
HSV_bit_3_delay_1
"j madeHue3 \n\t"
"didNotMakeHue3: \n\t"
//delay for the end of the third section when hue is not made
HSV_bit_3_delay_2
"madeHue3: \n\t"
////////////////////
//Bit 4
////////////////////
"lw $t7, %3 \n\t" //set pin
"sw %0, ($t7) \n\t"
//delay for the end of the first section
HSV_universal_delay_1 //preprocessor macro
"andi $t7, $t0, 0b00001000 \n\t" //
"bne $t7, $zero, bit4IsHigh \n\t" //branch if bit is high, branch over set low
"lw $t7, %2 \n\t" //clear pin
"sw %0, ($t7) \n\t"
"bit4IsHigh: \n\t"
//delay for the end of the second section
HSV_universal_delay_2 //preprocessor macro
"lw $t7, %2 \n\t" //clear pin
"sw %0, ($t7) \n\t"
//if next_color is not zero then branch
"bne $t1, $zero, huePrevMade4 \n\t"
//if(hue < 1280)
"li $t7, 1280 \n\t"
"sub $t7, $t3, $t7 \n\t"
"bgez $t7, didNotMakeHue4 \n\t"
//hue < 1280
"andi $t1, $t5, 0xFF \n\t" //set green
"li $t7, 1024 \n\t" //set red
"subu $t7, $t3, $t7 \n\t"
"multu $t7, $t4 \n\t"
"mflo $t7 \n\t"
"srl $t7, $t7, 8 \n\t"
"addu $t7, $t7, $t5 \n\t"
"sll $t7, $t7, 8 \n\t"
"or $t1, $t1, $t7 \n\t"
"addu $t7, $t4, $t5 \n\t" //set blue
"addi $t7, $t7, -1 \n\t"
"sll $t7, $t7, 16 \n\t"
"or $t1, $t7, $t1 \n\t"
//delay for the end of the third section when hue is made
HSV_bit_4_delay_0 //preprocessor macro
"j madeHue4 \n\t"
"huePrevMade4: \n\t"