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Merge pull request #165 from kammerjaeger/master

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Support for WS281b

Former-commit-id: 2f51f5fe6ac27a99896d15e7dabb9efc92916204
This commit is contained in:
tvdzwan 2014-09-19 16:14:46 +02:00
commit f33fcfffc0
4 changed files with 1139 additions and 0 deletions
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9
libsrc/leddevice/CMakeLists.txt
View File

@ -68,6 +68,15 @@ if(ENABLE_SPIDEV)
) )
endif(ENABLE_SPIDEV) endif(ENABLE_SPIDEV)
SET(Leddevice_HEADERS
${Leddevice_HEADERS}
${CURRENT_SOURCE_DIR}/LedDeviceWS2812b.h
)
SET(Leddevice_SOURCES
${Leddevice_SOURCES}
${CURRENT_SOURCE_DIR}/LedDeviceWS2812b.cpp
)
if(ENABLE_TINKERFORGE) if(ENABLE_TINKERFORGE)
SET(Leddevice_HEADERS SET(Leddevice_HEADERS
${Leddevice_HEADERS} ${Leddevice_HEADERS}

6
libsrc/leddevice/LedDeviceFactory.cpp
View File

@ -31,6 +31,8 @@
#include "LedDevicePhilipsHue.h" #include "LedDevicePhilipsHue.h"
#include "LedDeviceTpm2.h" #include "LedDeviceTpm2.h"
#include "LedDeviceWS2812b.h"
LedDevice * LedDeviceFactory::construct(const Json::Value & deviceConfig) LedDevice * LedDeviceFactory::construct(const Json::Value & deviceConfig)
{ {
std::cout << "Device configuration: " << deviceConfig << std::endl; std::cout << "Device configuration: " << deviceConfig << std::endl;
@ -181,6 +183,10 @@ LedDevice * LedDeviceFactory::construct(const Json::Value & deviceConfig)
LedDeviceTpm2* deviceTpm2 = new LedDeviceTpm2(output, rate); LedDeviceTpm2* deviceTpm2 = new LedDeviceTpm2(output, rate);
deviceTpm2->open(); deviceTpm2->open();
device = deviceTpm2; device = deviceTpm2;
}else if (type == "ws2812b")
{
LedDeviceWS2812b * ledDeviceWS2812b = new LedDeviceWS2812b();
device = ledDeviceWS2812b;
} }
else else
{ {

907
libsrc/leddevice/LedDeviceWS2812b.cpp Normal file
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@ -0,0 +1,907 @@
// For license and other informations see LedDeviceWS2812b.h
// To activate: use led device "ws2812s" in the hyperion configuration
// STL includes
#include <cstring>
#include <cstdio>
#include <iostream>
#include <vector>
// Linux includes
#include <fcntl.h>
#include <stdarg.h>
#include <sys/mman.h>
//#include <sys/types.h>
//#include <sys/ioctl.h>
#ifdef BENCHMARK
#include <time.h>
#endif
// hyperion local includes
#include "LedDeviceWS2812b.h"
// ==== Defines and Vars ====
// Base addresses for GPIO, PWM, PWM clock, and DMA controllers (physical, not bus!)
// These will be "memory mapped" into virtual RAM so that they can be written and read directly.
// -------------------------------------------------------------------------------------------------
#define DMA_BASE 0x20007000
#define DMA_LEN 0x24
#define PWM_BASE 0x2020C000
#define PWM_LEN 0x28
#define CLK_BASE 0x20101000
#define CLK_LEN 0xA8
#define GPIO_BASE 0x20200000
#define GPIO_LEN 0xB4
// GPIO
// -------------------------------------------------------------------------------------------------
#define GPFSEL0 0x20200000 // GPIO function select, pins 0-9 (bits 30-31 reserved)
#define GPFSEL1 0x20200004 // Pins 10-19
#define GPFSEL2 0x20200008 // Pins 20-29
#define GPFSEL3 0x2020000C // Pins 30-39
#define GPFSEL4 0x20200010 // Pins 40-49
#define GPFSEL5 0x20200014 // Pins 50-53
#define GPSET0 0x2020001C // Set (turn on) pin
#define GPCLR0 0x20200028 // Clear (turn off) pin
#define GPPUD 0x20200094 // Internal pullup/pulldown resistor control
#define GPPUDCLK0 0x20200098 // PUD clock for pins 0-31
#define GPPUDCLK1 0x2020009C // PUD clock for pins 32-53
// Memory offsets for the PWM clock register, which is undocumented! Please fix that, Broadcom!
// -------------------------------------------------------------------------------------------------
#define PWM_CLK_CNTL 40 // Control (on/off)
#define PWM_CLK_DIV 41 // Divisor (bits 11:0 are *quantized* floating part, 31:12 integer part)
// PWM Register Addresses (page 141)
// These are divided by 4 because the register offsets in the guide are in bytes (8 bits) but
// the pointers we use in this program are in words (32 bits). Buss' original defines are in
// word offsets, e.g. PWM_RNG1 was 4 and PWM_DAT1 was 5. This is functionally the same, but it
// matches the numbers supplied in the guide.
// -------------------------------------------------------------------------------------------------
#define PWM_CTL 0x00 // Control Register
#define PWM_STA (0x04 / 4) // Status Register
#define PWM_DMAC (0x08 / 4) // DMA Control Register
#define PWM_RNG1 (0x10 / 4) // Channel 1 Range
#define PWM_DAT1 (0x14 / 4) // Channel 1 Data
#define PWM_FIF1 (0x18 / 4) // FIFO (for both channels - bytes are interleaved if both active)
#define PWM_RNG2 (0x20 / 4) // Channel 2 Range
#define PWM_DAT2 (0x24 / 4) // Channel 2 Data
// PWM_CTL register bit offsets
// Note: Don't use MSEN1/2 for this purpose. It will screw things up.
// -------------------------------------------------------------------------------------------------
#define PWM_CTL_MSEN2 15 // Channel 2 - 0: Use PWM algorithm. 1: Use M/S (serial) algorithm.
#define PWM_CTL_USEF2 13 // Channel 2 - 0: Use PWM_DAT2. 1: Use FIFO.
#define PWM_CTL_POLA2 12 // Channel 2 - Invert output polarity (if set, 0=high and 1=low)
#define PWM_CTL_SBIT2 11 // Channel 2 - Silence bit (default line state when not transmitting)
#define PWM_CTL_RPTL2 10 // Channel 2 - Repeat last data in FIFO
#define PWM_CTL_MODE2 9 // Channel 2 - Mode. 0=PWM, 1=Serializer
#define PWM_CTL_PWEN2 8 // Channel 2 - Enable PWM
#define PWM_CTL_CLRF1 6 // Clear FIFO
#define PWM_CTL_MSEN1 7 // Channel 1 - 0: Use PWM algorithm. 1: Use M/S (serial) algorithm.
#define PWM_CTL_USEF1 5 // Channel 1 - 0: Use PWM_DAT1. 1: Use FIFO.
#define PWM_CTL_POLA1 4 // Channel 1 - Invert output polarity (if set, 0=high and 1=low)
#define PWM_CTL_SBIT1 3 // Channel 1 - Silence bit (default line state when not transmitting)
#define PWM_CTL_RPTL1 2 // Channel 1 - Repeat last data in FIFO
#define PWM_CTL_MODE1 1 // Channel 1 - Mode. 0=PWM, 1=Serializer
#define PWM_CTL_PWEN1 0 // Channel 1 - Enable PWM
// PWM_STA register bit offsets
// -------------------------------------------------------------------------------------------------
#define PWM_STA_STA4 12 // Channel 4 State
#define PWM_STA_STA3 11 // Channel 3 State
#define PWM_STA_STA2 10 // Channel 2 State
#define PWM_STA_STA1 9 // Channel 1 State
#define PWM_STA_BERR 8 // Bus Error
#define PWM_STA_GAPO4 7 // Gap Occurred on Channel 4
#define PWM_STA_GAPO3 6 // Gap Occurred on Channel 3
#define PWM_STA_GAPO2 5 // Gap Occurred on Channel 2
#define PWM_STA_GAPO1 4 // Gap Occurred on Channel 1
#define PWM_STA_RERR1 3 // FIFO Read Error
#define PWM_STA_WERR1 2 // FIFO Write Error
#define PWM_STA_EMPT1 1 // FIFO Empty
#define PWM_STA_FULL1 0 // FIFO Full
// PWM_DMAC bit offsets
// -------------------------------------------------------------------------------------------------
#define PWM_DMAC_ENAB 31 // 0: DMA Disabled. 1: DMA Enabled.
#define PWM_DMAC_PANIC 8 // Bits 15:8. Threshold for PANIC signal. Default 7.
#define PWM_DMAC_DREQ 0 // Bits 7:0. Threshold for DREQ signal. Default 7.
// PWM_RNG1, PWM_RNG2
// --------------------------------------------------------------------------------------------------
// Defines the transmission range. In PWM mode, evenly spaced pulses are sent within a period
// of length defined in these registers. In serial mode, serialized data is sent within the
// same period. The value is normally 32. If less, data will be truncated. If more, data will
// be padded with zeros.
// DAT1, DAT2
// --------------------------------------------------------------------------------------------------
// NOTE: These registers are not useful for our purposes - we will use the FIFO instead!
// Stores 32 bits of data to be sent when USEF1/USEF2 is 0. In PWM mode, defines how many
// pulses will be sent within the period specified in PWM_RNG1/PWM_RNG2. In serializer mode,
// defines a 32-bit word to be transmitted.
// FIF1
// --------------------------------------------------------------------------------------------------
// 32-bit-wide register used to "stuff" the FIFO, which has 16 32-bit words. (So, if you write
// it 16 times, it will fill the FIFO.)
// See also: PWM_STA_EMPT1 (FIFO empty)
// PWM_STA_FULL1 (FIFO full)
// PWM_CTL_CLRF1 (Clear FIFO)
// DMA
// --------------------------------------------------------------------------------------------------
// DMA registers (divided by four to convert form word to byte offsets, as with the PWM registers)
#define DMA_CS (0x00 / 4) // Control & Status register
#define DMA_CONBLK_AD (0x04 / 4) // Address of Control Block (must be 256-BYTE ALIGNED!!!)
#define DMA_TI (0x08 / 4) // Transfer Information (populated from CB)
#define DMA_SOURCE_AD (0x0C / 4) // Source address, populated from CB. Physical address.
#define DMA_DEST_AD (0x10 / 4) // Destination address, populated from CB. Bus address.
#define DMA_TXFR_LEN (0x14 / 4) // Transfer length, populated from CB
#define DMA_STRIDE (0x18 / 4) // Stride, populated from CB
#define DMA_NEXTCONBK (0x1C / 4) // Next control block address, populated from CB
#define DMA_DEBUG (0x20 / 4) // Debug settings
// DMA Control & Status register bit offsets
#define DMA_CS_RESET 31 // Reset the controller for this channel
#define DMA_CS_ABORT 30 // Set to abort transfer
#define DMA_CS_DISDEBUG 29 // Disable debug pause signal
#define DMA_CS_WAIT_FOR 28 // Wait for outstanding writes
#define DMA_CS_PANIC_PRI 20 // Panic priority (bits 23:20), default 7
#define DMA_CS_PRIORITY 16 // AXI priority level (bits 19:16), default 7
#define DMA_CS_ERROR 8 // Set when there's been an error
#define DMA_CS_WAITING_FOR 6 // Set when the channel's waiting for a write to be accepted
#define DMA_CS_DREQ_STOPS_DMA 5 // Set when the DMA is paused because DREQ is inactive
#define DMA_CS_PAUSED 4 // Set when the DMA is paused (active bit cleared, etc.)
#define DMA_CS_DREQ 3 // Set when DREQ line is high
#define DMA_CS_INT 2 // If INTEN is set, this will be set on CB transfer end
#define DMA_CS_END 1 // Set when the current control block is finished
#define DMA_CS_ACTIVE 0 // Enable DMA (CB_ADDR must not be 0)
// Default CS word
#define DMA_CS_CONFIGWORD (8 << DMA_CS_PANIC_PRI) | \
(8 << DMA_CS_PRIORITY) | \
(1 << DMA_CS_WAIT_FOR)
// DREQ lines (page 61, most DREQs omitted)
#define DMA_DREQ_ALWAYS 0
#define DMA_DREQ_PCM_TX 2
#define DMA_DREQ_PCM_RX 3
#define DMA_DREQ_PWM 5
#define DMA_DREQ_SPI_TX 6
#define DMA_DREQ_SPI_RX 7
#define DMA_DREQ_BSC_TX 8
#define DMA_DREQ_BSC_RX 9
// DMA Transfer Information register bit offsets
// We don't write DMA_TI directly. It's populated from the TI field in a control block.
#define DMA_TI_NO_WIDE_BURSTS 26 // Don't do wide writes in 2-beat bursts
#define DMA_TI_WAITS 21 // Wait this many cycles after end of each read/write
#define DMA_TI_PERMAP 16 // Peripheral # whose ready signal controls xfer rate (pwm=5)
#define DMA_TI_BURST_LENGTH 12 // Length of burst in words (bits 15:12)
#define DMA_TI_SRC_IGNORE 11 // Don't perform source reads (for fast cache fill)
#define DMA_TI_SRC_DREQ 10 // Peripheral in PERMAP gates source reads
#define DMA_TI_SRC_WIDTH 9 // Source transfer width - 0=32 bits, 1=128 bits
#define DMA_TI_SRC_INC 8 // Source address += SRC_WITH after each read
#define DMA_TI_DEST_IGNORE 7 // Don't perform destination writes
#define DMA_TI_DEST_DREQ 6 // Peripheral in PERMAP gates destination writes
#define DMA_TI_DEST_WIDTH 5 // Destination transfer width - 0=32 bits, 1=128 bits
#define DMA_TI_DEST_INC 4 // Dest address += DEST_WIDTH after each read
#define DMA_TI_WAIT_RESP 3 // Wait for write response
#define DMA_TI_TDMODE 1 // 2D striding mode
#define DMA_TI_INTEN 0 // Interrupt enable
// Default TI word
#define DMA_TI_CONFIGWORD (1 << DMA_TI_NO_WIDE_BURSTS) | \
(1 << DMA_TI_SRC_INC) | \
(1 << DMA_TI_DEST_DREQ) | \
(1 << DMA_TI_WAIT_RESP) | \
(1 << DMA_TI_INTEN) | \
(DMA_DREQ_PWM << DMA_TI_PERMAP)
// DMA Debug register bit offsets
#define DMA_DEBUG_LITE 28 // Whether the controller is "Lite"
#define DMA_DEBUG_VERSION 25 // DMA Version (bits 27:25)
#define DMA_DEBUG_DMA_STATE 16 // DMA State (bits 24:16)
#define DMA_DEBUG_DMA_ID 8 // DMA controller's AXI bus ID (bits 15:8)
#define DMA_DEBUG_OUTSTANDING_WRITES 4 // Outstanding writes (bits 7:4)
#define DMA_DEBUG_READ_ERROR 2 // Slave read response error (clear by setting)
#define DMA_DEBUG_FIFO_ERROR 1 // Operational read FIFO error (clear by setting)
#define DMA_DEBUG_READ_LAST_NOT_SET 0 // AXI bus read last signal not set (clear by setting)
#define PAGE_SIZE 4096 // Size of a RAM page to be allocated
#define PAGE_SHIFT 12 // This is used for address translation
#define NUM_PAGES ((sizeof(struct control_data_s) + PAGE_SIZE - 1) >> PAGE_SHIFT)
#define SETBIT(word, bit) word |= 1<<bit
#define CLRBIT(word, bit) word &= ~(1<<bit)
#define GETBIT(word, bit) word & (1 << bit) ? 1 : 0
#define true 1
#define false 0
// GPIO
#define INP_GPIO(g) *(gpio_reg+((g)/10)) &= ~(7<<(((g)%10)*3))
#define OUT_GPIO(g) *(gpio_reg+((g)/10)) |= (1<<(((g)%10)*3))
#define SET_GPIO_ALT(g,a) *(gpio_reg+(((g)/10))) |= (((a)<=3?(a)+4:(a)==4?3:2)<<(((g)%10)*3))
#define GPIO_SET *(gpio_reg+7) // sets bits which are 1 ignores bits which are 0
#define GPIO_CLR *(gpio_reg+10) // clears bits which are 1 ignores bits which are 0
LedDeviceWS2812b::LedDeviceWS2812b() :
LedDevice(),
mLedCount(0)
#ifdef BENCHMARK
,
runCount(0),
combinedNseconds(0),
shortestNseconds(2147483647)
#endif
{
//shortestNseconds = 2147483647;
// Init PWM generator and clear LED buffer
initHardware();
//clearLEDBuffer();
// init bit pattern, it is always 1X0
unsigned int wireBit = 0;
while ((wireBit + 3) < ((NUM_DATA_WORDS) * 4 * 8)){
setPWMBit(wireBit++, 1);
setPWMBit(wireBit++, 0); // just init it with 0
setPWMBit(wireBit++, 0);
}
printf("WS2812b init finished \n");
}
#ifdef WS2812_ASM_OPTI
// rotate register, used to move the 1 around :-)
static inline __attribute__((always_inline))
uint32_t arm_ror_imm(uint32_t v, uint32_t sh) {
uint32_t d;
asm ("ROR %[Rd], %[Rm], %[Is]" : [Rd] "=r" (d) : [Rm] "r" (v), [Is] "i" (sh));
return d;
}
// rotate register, used to move the 1 around, add 1 to int counter on carry
static inline __attribute__((always_inline))
uint32_t arm_ror_imm_add_on_carry(uint32_t v, uint32_t sh, uint32_t inc) {
uint32_t d;
asm ("RORS %[Rd], %[Rm], %[Is]\n\t"
"ADDCS %[Rd1], %[Rd1], #1"
: [Rd] "=r" (d), [Rd1] "+r" (inc): [Rm] "r" (v), [Is] "i" (sh));
return d;
}
static inline __attribute__((always_inline))
uint32_t arm_ror(uint32_t v, uint32_t sh) {
uint32_t d;
asm ("ROR %[Rd], %[Rm], %[Rs]" : [Rd] "=r" (d) : [Rm] "r" (v), [Rs] "r" (sh));
return d;
}
static inline __attribute__((always_inline))
uint32_t arm_Bit_Clear_imm(uint32_t v, uint32_t v2) {
uint32_t d;
asm ("BIC %[Rd], %[Rm], %[Rs]" : [Rd] "=r" (d) : [Rm] "r" (v), [Rs] "r" (v2));
return d;
}
#endif
int LedDeviceWS2812b::write(const std::vector<ColorRgb> &ledValues)
{
#ifdef BENCHMARK
timespec timeStart;
timespec timeEnd;
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &timeStart);
#endif
mLedCount = ledValues.size();
//printf("Set leds, number: %d\n", mLedCount);
// Clear out the PWM buffer
// Disabled, because we will overwrite the buffer anyway.
// Read data from LEDBuffer[], translate it into wire format, and write to PWMWaveform
unsigned int colorBits = 0; // Holds the GRB color before conversion to wire bit pattern
unsigned int wireBit = 1; // Holds the current bit we will set in PWMWaveform, start with 1 and skip the other two for speed
// Copy PWM waveform to DMA's data buffer
//printf("Copying %d words to DMA data buffer\n", NUM_DATA_WORDS);
struct control_data_s *ctl = (struct control_data_s *)virtbase;
dma_cb_t *cbp = ctl->cb;
// 72 bits per pixel / 32 bits per word = 2.25 words per pixel
// Add 1 to make sure the PWM FIFO gets the message: "we're sending zeroes"
// Times 4 because DMA works in bytes, not words
// cbp->length = (mLedCount * 2.25) * 4;
cbp->length = ((mLedCount * 2.25) + 1) * 4;
if(cbp->length > NUM_DATA_WORDS * 4) {
cbp->length = NUM_DATA_WORDS * 4;
// mLedCount = NUM_DATA_WORDS / 2.25;
mLedCount = (NUM_DATA_WORDS - 1) / 2.25;
}
#ifdef WS2812_ASM_OPTI
unsigned int startbitPattern = 0x40000000; // = 0100 0000 0000 0000 0000 0000 0000 0000 pattern
#endif
for(size_t i=0; i<mLedCount; i++) {
// Create bits necessary to represent one color triplet (in GRB, not RGB, order)
//printf("RGB: %d, %d, %d\n", ledValues[i].red, ledValues[i].green, ledValues[i].blue);
colorBits = ((unsigned int)ledValues[i].red << 8) | ((unsigned int)ledValues[i].green << 16) | ledValues[i].blue;
//printBinary(colorBits, 24);
//printf(" (binary, GRB order)\n");
// Iterate through color bits to get wire bits
for(int j=23; j>=0; j--) {
#ifdef WS2812_ASM_OPTI
// Fetch word the bit is in
unsigned int wordOffset = (int)(wireBit / 32);
wireBit +=3;
// printBinary(startbitPattern, 32);
// printf(" %d\n", j);
if (colorBits & (1 << j)) {
PWMWaveform[wordOffset] |= startbitPattern;
} else {
PWMWaveform[wordOffset] = arm_Bit_Clear_imm(PWMWaveform[wordOffset], startbitPattern);
}
startbitPattern = arm_ror_imm(startbitPattern, 3);
#else
unsigned char colorBit = (colorBits & (1 << j)) ? 1 : 0; // Holds current bit out of colorBits to be processed
setPWMBit(wireBit, colorBit);
wireBit +=3;
#endif
/* old code for better understanding
switch(colorBit) {
case 1:
//wireBits = 0b110; // High, High, Low
setPWMBit(wireBit++, 1);
setPWMBit(wireBit++, 1);
setPWMBit(wireBit++, 0);
break;
case 0:
//wireBits = 0b100; // High, Low, Low
setPWMBit(wireBit++, 1);
setPWMBit(wireBit++, 0);
setPWMBit(wireBit++, 0);
break;
}*/
}
}
#ifdef WS2812_ASM_OPTI
// calculate the bits manually since it is not needed with asm
//wireBit += mLedCount * 24 *3;
//printf(" %d\n", wireBit);
#endif
//remove one to undo optimization
wireBit --;
// printBinary(PWMWaveform[(int)(wireBit / 32)], 32);
// printf(" pre\n");
#ifdef WS2812_ASM_OPTI
int rest = 32 - wireBit % 32; // 64: 32 - used Bits
startbitPattern = (1 << (rest-1)); // set new bitpattern to start at the benigining of one bit (3 bit in wave form)
rest += 32; // add one int extra for pwm
// printBinary(startbitPattern, 32);
// printf(" startbit\n");
unsigned int oldwireBitValue = wireBit;
unsigned int oldbitPattern = startbitPattern;
// zero rest of the 4 bytes / int so that output is 0 (no data is send)
for (int i = 0; i < rest; i += 3){
unsigned int wordOffset = (int)(wireBit / 32);
wireBit += 3;
PWMWaveform[wordOffset] = arm_Bit_Clear_imm(PWMWaveform[wordOffset], startbitPattern);
startbitPattern = arm_ror_imm(startbitPattern, 3);
}
#else
// fill up the bytes
int rest = 32 - wireBit % 32 + 32; // 64: 32 - used Bits + 32 (one int extra for pwm)
unsigned int oldwireBitValue = wireBit;
// zero rest of the 4 bytes / int so that output is 0 (no data is send)
for (int i = 0; i < rest; i += 3){
setPWMBit(wireBit, 0);
wireBit += 3;
}
#endif
// printBinary(PWMWaveform[(int)(oldwireBitValue / 32) -1 ], 32);
// printf(" post\n");
// printBinary(PWMWaveform[(int)(oldwireBitValue / 32)], 32);
// printf(" post\n");
// This block is a major CPU hog when there are lots of pixels to be transmitted.
// It would go quicker with DMA.
// for(unsigned int i = 0; i < (cbp->length / 4); i++) {
// ctl->sample[i] = PWMWaveform[i];
// }
memcpy ( ctl->sample, PWMWaveform, cbp->length ); // memcpy does the same and is potentially faster
// Enable DMA and PWM engines, which should now send the data
startTransfer();
// restore bit pattern
wireBit = oldwireBitValue;
#ifdef WS2812_ASM_OPTI
startbitPattern = oldbitPattern;
for (int i = 0; i < rest; i += 3){
unsigned int wordOffset = (int)(wireBit / 32);
wireBit += 3;
PWMWaveform[wordOffset] |= startbitPattern;
startbitPattern = arm_ror_imm(startbitPattern, 3);
}
#else
for (int i = 0; i < rest; i += 3){
setPWMBit(wireBit, 1);
wireBit += 3;
}
#endif
// printBinary(PWMWaveform[(int)(oldwireBitValue / 32)], 32);
// printf(" restored\n");
// Wait long enough for the DMA transfer to finish
// 3 RAM bits per wire bit, so 72 bits to send one color command.
//float bitTimeUSec = (float)(NUM_DATA_WORDS * 32) * 0.4; // Bits sent * time to transmit one bit, which is 0.4μSec
//printf("Delay for %d μSec\n", (int)bitTimeUSec);
//usleep((int)bitTimeUSec);
#ifdef BENCHMARK
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &timeEnd);
timespec result;
result.tv_sec = timeEnd.tv_sec - timeStart.tv_sec;
result.tv_nsec = timeEnd.tv_nsec - timeStart.tv_nsec;
if (result.tv_nsec < 0) {
result.tv_nsec = 1e9 - result.tv_nsec;
result.tv_sec -= 1;
}
runCount ++;
combinedNseconds += result.tv_nsec;
shortestNseconds = result.tv_nsec < shortestNseconds ? result.tv_nsec : shortestNseconds;
#endif
return 0;
}
int LedDeviceWS2812b::switchOff()
{
return write(std::vector<ColorRgb>(mLedCount, ColorRgb{0,0,0}));
}
LedDeviceWS2812b::~LedDeviceWS2812b()
{
// Exit cleanly, freeing memory and stopping the DMA & PWM engines
// We trap all signals (including Ctrl+C), so even if you don't get here, it terminates correctly
terminate(0);
#ifdef BENCHMARK
printf("WS2812b Benchmark results: Runs %d - Avarage %lu (n) - Minimum %ld (n)\n",
runCount, (runCount > 0 ? combinedNseconds / runCount : 0), shortestNseconds);
#endif
}
// =================================================================================================
// ________ .__
// / _____/ ____ ____ ________________ | |
// / \ ____/ __ \ / \_/ __ \_ __ \__ \ | |
// \ \_\ \ ___/| | \ ___/| | \// __ \| |__
// \______ /\___ >___| /\___ >__| (____ /____/
// \/ \/ \/ \/ \/
// =================================================================================================
// Convenience functions
// --------------------------------------------------------------------------------------------------
// Print some bits of a binary number (2nd arg is how many bits)
void LedDeviceWS2812b::printBinary(unsigned int i, unsigned int bits) {
int x;
for(x=bits-1; x>=0; x--) {
printf("%d", (i & (1 << x)) ? 1 : 0);
if(x % 16 == 0 && x > 0) {
printf(" ");
} else if(x % 4 == 0 && x > 0) {
printf(":");
}
}
}
// Reverse the bits in a word
unsigned int reverseWord(unsigned int word) {
unsigned int output = 0;
//unsigned char bit;
int i;
for(i=0; i<32; i++) {
//bit = word & (1 << i) ? 1 : 0;
output |= word & (1 << i) ? 1 : 0;
if(i<31) {
output <<= 1;
}
}
return output;
}
// Not sure how this is better than usleep...?
/*
static void udelay(int us) {
struct timespec ts = { 0, us * 1000 };
nanosleep(&ts, NULL);
}
*/
// Shutdown functions
// --------------------------------------------------------------------------------------------------
void LedDeviceWS2812b::terminate(int dummy) {
// Shut down the DMA controller
if(dma_reg) {
CLRBIT(dma_reg[DMA_CS], DMA_CS_ACTIVE);
usleep(100);
SETBIT(dma_reg[DMA_CS], DMA_CS_RESET);
usleep(100);
}
// Shut down PWM
if(pwm_reg) {
CLRBIT(pwm_reg[PWM_CTL], PWM_CTL_PWEN1);
usleep(100);
pwm_reg[PWM_CTL] = (1 << PWM_CTL_CLRF1);
}
// Free the allocated memory
if(page_map != 0) {
free(page_map);
}
//exit(1);
}
void LedDeviceWS2812b::fatal(const char *fmt, ...) {
va_list ap;
va_start(ap, fmt);
vfprintf(stderr, fmt, ap);
va_end(ap);
terminate(0);
}
// Memory management
// --------------------------------------------------------------------------------------------------
// Translate from virtual address to physical
unsigned int LedDeviceWS2812b::mem_virt_to_phys(void *virt) {
unsigned int offset = (uint8_t *)virt - virtbase;
return page_map[offset >> PAGE_SHIFT].physaddr + (offset % PAGE_SIZE);
}
// Translate from physical address to virtual
unsigned int LedDeviceWS2812b::mem_phys_to_virt(uint32_t phys) {
unsigned int pg_offset = phys & (PAGE_SIZE - 1);
unsigned int pg_addr = phys - pg_offset;
for (unsigned int i = 0; i < NUM_PAGES; i++) {
if (page_map[i].physaddr == pg_addr) {
return (uint32_t)virtbase + i * PAGE_SIZE + pg_offset;
}
}
fatal("Failed to reverse map phys addr %08x\n", phys);
return 0;
}
// Map a peripheral's IO memory into our virtual memory, so we can read/write it directly
void * LedDeviceWS2812b::map_peripheral(uint32_t base, uint32_t len) {
int fd = open("/dev/mem", O_RDWR);
void * vaddr;
if (fd < 0)
fatal("Failed to open /dev/mem: %m\n");
vaddr = mmap(NULL, len, PROT_READ|PROT_WRITE, MAP_SHARED, fd, base);
if (vaddr == MAP_FAILED)
fatal("Failed to map peripheral at 0x%08x: %m\n", base);
close(fd);
return vaddr;
}
// Zero out the PWM waveform buffer
void LedDeviceWS2812b::clearPWMBuffer() {
memset(PWMWaveform, 0, NUM_DATA_WORDS * 4); // Times four because memset deals in bytes.
}
// Set an individual bit in the PWM output array, accounting for word boundaries
// The (31 - bitIdx) is so that we write the data backwards, correcting its endianness
// This means getPWMBit will return something other than what was written, so it would be nice
// if the logic that calls this function would figure it out instead. (However, that's trickier)
void LedDeviceWS2812b::setPWMBit(unsigned int bitPos, unsigned char bit) {
// Fetch word the bit is in
unsigned int wordOffset = (int)(bitPos / 32);
unsigned int bitIdx = bitPos - (wordOffset * 32);
//printf("bitPos=%d wordOffset=%d bitIdx=%d value=%d\n", bitPos, wordOffset, bitIdx, bit);
switch(bit) {
case 1:
PWMWaveform[wordOffset] |= (1 << (31 - bitIdx));
// PWMWaveform[wordOffset] |= (1 << bitIdx);
break;
case 0:
PWMWaveform[wordOffset] &= ~(1 << (31 - bitIdx));
// PWMWaveform[wordOffset] &= ~(1 << bitIdx);
break;
}
}
// ==== Init Hardware ====
void LedDeviceWS2812b::initHardware() {
int pid;
int fd;
char pagemap_fn[64];
// Clear the PWM buffer
// ---------------------------------------------------------------
clearPWMBuffer();
// Set up peripheral access
// ---------------------------------------------------------------
dma_reg = (unsigned int *) map_peripheral(DMA_BASE, DMA_LEN);
dma_reg += 0x000;
pwm_reg = (unsigned int *) map_peripheral(PWM_BASE, PWM_LEN);
clk_reg = (unsigned int *) map_peripheral(CLK_BASE, CLK_LEN);
gpio_reg = (unsigned int *) map_peripheral(GPIO_BASE, GPIO_LEN);
// Set PWM alternate function for GPIO18
// ---------------------------------------------------------------
//gpio_reg[1] &= ~(7 << 24);
//usleep(100);
//gpio_reg[1] |= (2 << 24);
//usleep(100);
SET_GPIO_ALT(18, 5);
// Allocate memory for the DMA control block & data to be sent
// ---------------------------------------------------------------
virtbase = (uint8_t *) mmap(
NULL, // Address
NUM_PAGES * PAGE_SIZE, // Length
PROT_READ | PROT_WRITE, // Protection
MAP_SHARED | // Shared
MAP_ANONYMOUS | // Not file-based, init contents to 0
MAP_NORESERVE | // Don't reserve swap space
MAP_LOCKED, // Lock in RAM (don't swap)
-1, // File descriptor
0); // Offset
if (virtbase == MAP_FAILED) {
fatal("Failed to mmap physical pages: %m\n");
}
if ((unsigned long)virtbase & (PAGE_SIZE-1)) {
fatal("Virtual address is not page aligned\n");
}
//printf("virtbase mapped 0x%x bytes at 0x%x\n", NUM_PAGES * PAGE_SIZE, virtbase);
// Allocate page map (pointers to the control block(s) and data for each CB
page_map = (page_map_t *) malloc(NUM_PAGES * sizeof(*page_map));
if (page_map == 0) {
fatal("Failed to malloc page_map: %m\n");
} else {
//printf("Allocated 0x%x bytes for page_map at 0x%x\n", NUM_PAGES * sizeof(*page_map), page_map);
}
// Use /proc/self/pagemap to figure out the mapping between virtual and physical addresses
pid = getpid();
sprintf(pagemap_fn, "/proc/%d/pagemap", pid);
fd = open(pagemap_fn, O_RDONLY);
if (fd < 0) {
fatal("Failed to open %s: %m\n", pagemap_fn);
}
off_t newOffset = (unsigned long)virtbase >> 9;
if (lseek(fd, newOffset, SEEK_SET) != newOffset) {
fatal("Failed to seek on %s: %m\n", pagemap_fn);
}
printf("Page map: %d pages\n", NUM_PAGES);
for (unsigned int i = 0; i < NUM_PAGES; i++) {
uint64_t pfn;
page_map[i].virtaddr = virtbase + i * PAGE_SIZE;
// Following line forces page to be allocated
// (Note: Copied directly from Hirst's code... page_map[i].virtaddr[0] was just set...?)
page_map[i].virtaddr[0] = 0;
if (read(fd, &pfn, sizeof(pfn)) != sizeof(pfn)) {
fatal("Failed to read %s: %m\n", pagemap_fn);
}
if (((pfn >> 55) & 0xfbf) != 0x10c) { // pagemap bits: https://www.kernel.org/doc/Documentation/vm/pagemap.txt
fatal("Page %d not present (pfn 0x%016llx)\n", i, pfn);
}
page_map[i].physaddr = (unsigned int)pfn << PAGE_SHIFT | 0x40000000;
//printf("Page map #%2d: virtual %8p ==> physical 0x%08x [0x%016llx]\n", i, page_map[i].virtaddr, page_map[i].physaddr, pfn);
}
// Set up control block
// ---------------------------------------------------------------
struct control_data_s *ctl = (struct control_data_s *)virtbase;
dma_cb_t *cbp = ctl->cb;
// FIXME: Change this to use DEFINEs
unsigned int phys_pwm_fifo_addr = 0x7e20c000 + 0x18;
// No wide bursts, source increment, dest DREQ on line 5, wait for response, enable interrupt
cbp->info = DMA_TI_CONFIGWORD;
// Source is our allocated memory
cbp->src = mem_virt_to_phys(ctl->sample);
// Destination is the PWM controller
cbp->dst = phys_pwm_fifo_addr;
// 72 bits per pixel / 32 bits per word = 2.25 words per pixel
// Add 1 to make sure the PWM FIFO gets the message: "we're sending zeroes"
// Times 4 because DMA works in bytes, not words
cbp->length = ((mLedCount * 2.25) + 1) * 4;
if(cbp->length > NUM_DATA_WORDS * 4) {
cbp->length = NUM_DATA_WORDS * 4;
}
// We don't use striding
cbp->stride = 0;
// These are reserved
cbp->pad[0] = 0;
cbp->pad[1] = 0;
// Pointer to next block - 0 shuts down the DMA channel when transfer is complete
cbp->next = 0;
// Testing
/*
ctl = (struct control_data_s *)virtbase;
ctl->sample[0] = 0x00000000;
ctl->sample[1] = 0x000000FA;
ctl->sample[2] = 0x0000FFFF;
ctl->sample[3] = 0xAAAAAAAA;
ctl->sample[4] = 0xF0F0F0F0;
ctl->sample[5] = 0x0A0A0A0A;
ctl->sample[6] = 0xF00F0000;
*/
// Stop any existing DMA transfers
// ---------------------------------------------------------------
dma_reg[DMA_CS] |= (1 << DMA_CS_ABORT);
usleep(100);
dma_reg[DMA_CS] = (1 << DMA_CS_RESET);
usleep(100);
// PWM Clock
// ---------------------------------------------------------------
// Kill the clock
// FIXME: Change this to use a DEFINE
clk_reg[PWM_CLK_CNTL] = 0x5A000000 | (1 << 5);
usleep(100);
// Disable DMA requests
CLRBIT(pwm_reg[PWM_DMAC], PWM_DMAC_ENAB);
usleep(100);
// The fractional part is quantized to a range of 0-1024, so multiply the decimal part by 1024.
// E.g., 0.25 * 1024 = 256.
// So, if you want a divisor of 400.5, set idiv to 400 and fdiv to 512.
unsigned int idiv = 400;
unsigned short fdiv = 0; // Should be 16 bits, but the value must be <= 1024
clk_reg[PWM_CLK_DIV] = 0x5A000000 | (idiv << 12) | fdiv; // Set clock multiplier
usleep(100);
// Enable the clock. Next-to-last digit means "enable clock". Last digit is 1 (oscillator),
// 4 (PLLA), 5 (PLLC), or 6 (PLLD) (according to the docs) although PLLA doesn't seem to work.
// FIXME: Change this to use a DEFINE
clk_reg[PWM_CLK_CNTL] = 0x5A000015;
usleep(100);
// PWM
// ---------------------------------------------------------------
// Clear any preexisting crap from the control & status register
pwm_reg[PWM_CTL] = 0;
// Set transmission range (32 bytes, or 1 word)
// <32: Truncate. >32: Pad with SBIT1. As it happens, 32 is perfect.
pwm_reg[PWM_RNG1] = 32;
usleep(100);
// Send DMA requests to fill the FIFO
pwm_reg[PWM_DMAC] =
(1 << PWM_DMAC_ENAB) |
(8 << PWM_DMAC_PANIC) |
(8 << PWM_DMAC_DREQ);
usleep(1000);
// Clear the FIFO
SETBIT(pwm_reg[PWM_CTL], PWM_CTL_CLRF1);
usleep(100);
// Don't repeat last FIFO contents if it runs dry
CLRBIT(pwm_reg[PWM_CTL], PWM_CTL_RPTL1);
usleep(100);
// Silence (default) bit is 0
CLRBIT(pwm_reg[PWM_CTL], PWM_CTL_SBIT1);
usleep(100);
// Polarity = default (low = 0, high = 1)
CLRBIT(pwm_reg[PWM_CTL], PWM_CTL_POLA1);
usleep(100);
// Enable serializer mode
SETBIT(pwm_reg[PWM_CTL], PWM_CTL_MODE1);
usleep(100);
// Use FIFO rather than DAT1
SETBIT(pwm_reg[PWM_CTL], PWM_CTL_USEF1);
usleep(100);
// Disable MSEN1
CLRBIT(pwm_reg[PWM_CTL], PWM_CTL_MSEN1);
usleep(100);
// DMA
// ---------------------------------------------------------------
// Raise an interrupt when transfer is complete, which will set the INT flag in the CS register
SETBIT(dma_reg[DMA_CS], DMA_CS_INT);
usleep(100);
// Clear the END flag (by setting it - this is a "write 1 to clear", or W1C, bit)
SETBIT(dma_reg[DMA_CS], DMA_CS_END);
usleep(100);
// Send the physical address of the control block into the DMA controller
dma_reg[DMA_CONBLK_AD] = mem_virt_to_phys(ctl->cb);
usleep(100);
// Clear error flags, if any (these are also W1C bits)
// FIXME: Use a define instead of this
dma_reg[DMA_DEBUG] = 7;
usleep(100);
}
// Begin the transfer
void LedDeviceWS2812b::startTransfer() {
// Enable DMA
dma_reg[DMA_CONBLK_AD] = mem_virt_to_phys(((struct control_data_s *) virtbase)->cb);
dma_reg[DMA_CS] = DMA_CS_CONFIGWORD | (1 << DMA_CS_ACTIVE);
usleep(100);
// Enable PWM
SETBIT(pwm_reg[PWM_CTL], PWM_CTL_PWEN1);
// dumpPWM();
// dumpDMA();
}

217
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@ -0,0 +1,217 @@
#ifndef LEDDEVICEWS2812B_H_
#define LEDDEVICEWS2812B_H_
#pragma once
// Set tabs to 4 spaces.
// =================================================================================================
//
// __ __ _________________ ______ ____________ ____________________.__
// / \ / \/ _____/\_____ \ / __ \/_ \_____ \ \______ \______ \__|
// \ \/\/ /\_____ \ / ____/ > < | |/ ____/ | _/| ___/ |
// \ / / \/ \/ -- \| / \ | | \| | | |
// \__/\ / /_______ /\_______ \______ /|___\_______ \ |____|_ /|____| |__|
// \/ \/ \/ \/ \/ \/
//
// WS2812 NeoPixel driver
// Based on code by Richard G. Hirst and others
// Adapted for the WS2812 by 626Pilot, April/May 2014
// See: https://github.com/626Pilot/RaspberryPi-NeoPixel-WS2812
// Version: https://github.com/626Pilot/RaspberryPi-NeoPixel-WS2812/blob/1d43407d9e6eba19bff24330bc09a27963b55751/ws2812-RPi.c
// Huge ASCII art section labels are from http://patorjk.com/software/taag/
//
// LED driver adaptation by Kammerjaeger ()
// mostly code removed that was not needed
//
// License: GPL
//
// You are using this at your OWN RISK. I believe this software is reasonably safe to use (aside
// from the intrinsic risk to those who are photosensitive - see below), although I can't be certain
// that it won't trash your hardware or cause property damage.
//
// Speaking of risk, WS2812 pixels are bright enough to cause eye pain and (for all I know) possibly
// retina damage when run at full strength. It's a good idea to set the brightness at 0.2 or so for
// direct viewing (whether you're looking directly at the pixels or not), or to put some diffuse
// material between you and the LEDs.
//
// PHOTOSENSITIVITY WARNING:
// Patterns of light and darkness (stationary or moving), flashing lights, patterns and backgrounds
// on screens, and the like, may cause epilleptic seizures in some people. This is a danger EVEN IF
// THE PERSON (WHICH MAY BE *YOU*) HAS NEVER KNOWINGLY HAD A PHOTOSENSITIVE EPISODE BEFORE. It's up
// to you to learn the warning signs, but symptoms may include dizziness, nausea, vision changes,
// convlusions, disorientation, involuntary movements, and eye twitching. (This list is not
// necessarily exhaustive.)
//
// NEOPIXEL BEST PRACTICES: https://learn.adafruit.com/adafruit-neopixel-uberguide/best-practices
//
// Connections:
// Positive to Raspberry Pi's 3.3v, for better separation connect only ground and data directly
// (5v can be used then without a problem, at least it worked for me, Kammerjaeger)
// Negative to Raspberry Pi's ground
// Data to GPIO18 (Pin 12) (through a resistor, which you should know from the Best
// Practices guide!)
//
// Buy WS2812-based stuff from: http://adafruit.com
//
// To activate: use led device "ws2812s" in the hyperion configuration
// (it needs to be root so it can map the peripherals' registers)
//
// =================================================================================================
// This is for the WS2812 LEDs. It won't work with the older WS2811s, although it could be modified
// for that without too much trouble. Preliminary driver used Frank Buss' servo driver, but I moved
// to Richard Hirst's memory mapping/access model because his code already works with DMA, and has
// what I think is a slightly cleaner way of accessing the registers: register[name] rather than
// *(register + name).
// At the time of writing, there's a lot of confusing "PWM DMA" code revolving around simulating
// an FM signal. Usually this is done without properly initializing certain registers, which is
// OK for their purpose, but I needed to be able to transfer actual coherent data and have it wind
// up in a proper state once it was transferred. This has proven to be a somewhat painful task.
// The PWM controller likes to ignore the RPTL1 bit when the data is in a regular, repeating
// pattern. I'M NOT MAKING IT UP! It really does that. It's bizarre. There are lots of other
// strange irregularities as well, which had to be figured out through trial and error. It doesn't
// help that the BCM2835 ARM Peripherals manual contains outright errors and omissions!
// Many examples of this kind of code have magic numbers in them. If you don't know, a magic number
// is one that either lacks an obvious structure (e.g. 0x2020C000) or purpose. Please don't use
// that stuff in any code you release! All magic numbers found in reference code have been changed
// to DEFINEs. That way, instead of seeing some inscrutable number, you see (e.g.) PWM_CTL.
// References - BCM2835 ARM Peripherals:
// http://www.raspberrypi.org/wp-content/uploads/2012/02/BCM2835-ARM-Peripherals.pdf
//
// Raspberry Pi low-level peripherals:
// http://elinux.org/RPi_Low-level_peripherals
//
// Richard Hirst's nice, clean code:
// https://github.com/richardghirst/PiBits/blob/master/PiFmDma/PiFmDma.c
//
// PWM clock register:
// http://www.raspberrypi.org/forums/viewtopic.php?t=8467&p=124620
//
// Simple (because it's in assembly) PWM+DMA setup:
// https://github.com/mikedurso/rpi-projects/blob/master/asm-nyancat/rpi-nyancat.s
//
// Adafruit's NeoPixel driver:
// https://github.com/adafruit/Adafruit_NeoPixel/blob/master/Adafruit_NeoPixel.cpp
// Hyperion includes
#include <leddevice/LedDevice.h>
//#define BENCHMARK
#define WS2812_ASM_OPTI
// The page map contains pointers to memory that we will allocate below. It uses two pointers
// per address. This is because the software (this program) deals only in virtual addresses,
// whereas the DMA controller can only access RAM via physical address. (If that's not confusing
// enough, it writes to peripherals by their bus addresses.)
typedef struct {
uint8_t *virtaddr;
uint32_t physaddr;
} page_map_t;
// Control Block (CB) - this tells the DMA controller what to do.
typedef struct {
unsigned int
info, // Transfer Information (TI)
src, // Source address (physical)
dst, // Destination address (bus)
length, // Length in bytes (not words!)
stride, // We don't care about this
next, // Pointer to next control block
pad[2]; // These are "reserved" (unused)
} dma_cb_t;
///
/// Implementation of the LedDevice interface for writing to Ws2801 led device.
///
class LedDeviceWS2812b : public LedDevice
{
public:
///
/// Constructs the LedDevice for a string containing leds of the type WS2812
LedDeviceWS2812b();
~LedDeviceWS2812b();
///
/// Writes the led color values to the led-device
///
/// @param ledValues The color-value per led
/// @return Zero on succes else negative
///
virtual int write(const std::vector<ColorRgb> &ledValues);
/// Switch the leds off
virtual int switchOff();
private:
/// the number of leds (needed when switching off)
size_t mLedCount;
page_map_t *page_map; // This will hold the page map, which we'll allocate
uint8_t *virtbase; // Pointer to some virtual memory that will be allocated
volatile unsigned int *pwm_reg; // PWM controller register set
volatile unsigned int *clk_reg; // PWM clock manager register set
volatile unsigned int *dma_reg; // DMA controller register set
volatile unsigned int *gpio_reg; // GPIO pin controller register set
// Contains arrays of control blocks and their related samples.
// One pixel needs 72 bits (24 bits for the color * 3 to represent them on the wire).
// 768 words = 341.3 pixels
// 1024 words = 455.1 pixels
// The highest I can make this number is 1016. Any higher, and it will start copying garbage to the
// PWM controller. I think it might be because of the virtual->physical memory mapping not being
// contiguous, so *pointer+1016 isn't "next door" to *pointer+1017 for some weird reason.
// However, that's still enough for 451.5 color instructions! If someone has more pixels than that
// to control, they can figure it out. I tried Hirst's message of having one CB per word, which
// seems like it might fix that, but I couldn't figure it out.
#define NUM_DATA_WORDS 1016
struct control_data_s {
dma_cb_t cb[1];
uint32_t sample[NUM_DATA_WORDS];
};
//struct control_data_s *ctl;
// PWM waveform buffer (in words), 16 32-bit words are enough to hold 170 wire bits.
// That's OK if we only transmit from the FIFO, but for DMA, we will use a much larger size.
// 1024 (4096 bytes) should be enough for over 400 elements. It can be bumped up if you need more!
unsigned int PWMWaveform[NUM_DATA_WORDS];
void initHardware();
void startTransfer();
void clearPWMBuffer();
void setPWMBit(unsigned int bitPos, unsigned char bit);
unsigned int mem_phys_to_virt(uint32_t phys);
unsigned int mem_virt_to_phys(void *virt);
void terminate(int dummy);
void fatal(const char *fmt, ...);
void * map_peripheral(uint32_t base, uint32_t len);
void printBinary(unsigned int i, unsigned int bits);
#ifdef BENCHMARK
unsigned int runCount;
long combinedNseconds;
long shortestNseconds;
#endif
};
#endif /* LEDDEVICEWS2812B_H_ */