452 lines
21 KiB
C++
452 lines
21 KiB
C++
#ifndef LEDDEVICEWS2812S_H_
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#define LEDDEVICEWS2812S_H_
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#pragma once
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// Set tabs to 4 spaces.
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// =================================================================================================
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//
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// __ __ _________________ ______ ____________ ____________________.__
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// / \ / \/ _____/\_____ \ / __ \/_ \_____ \ \______ \______ \__|
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// \ \/\/ /\_____ \ / ____/ > < | |/ ____/ | _/| ___/ |
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// \ / / \/ \/ -- \| / \ | | \| | | |
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// \__/\ / /_______ /\_______ \______ /|___\_______ \ |____|_ /|____| |__|
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// \/ \/ \/ \/ \/ \/
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//
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// WS2812 NeoPixel driver
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// Based on code by Richard G. Hirst and others
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// Adapted for the WS2812 by 626Pilot, April/May 2014
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// See: https://github.com/626Pilot/RaspberryPi-NeoPixel-WS2812
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// Version: https://github.com/626Pilot/RaspberryPi-NeoPixel-WS2812/blob/1d43407d9e6eba19bff24330bc09a27963b55751/ws2812-RPi.c
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// Huge ASCII art section labels are from http://patorjk.com/software/taag/
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//
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// LED driver adaptation by Kammerjaeger ()
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// mostly code removed that was not needed
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//
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// License: GPL
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//
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// You are using this at your OWN RISK. I believe this software is reasonably safe to use (aside
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// from the intrinsic risk to those who are photosensitive - see below), although I can't be certain
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// that it won't trash your hardware or cause property damage.
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//
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// Speaking of risk, WS2812 pixels are bright enough to cause eye pain and (for all I know) possibly
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// retina damage when run at full strength. It's a good idea to set the brightness at 0.2 or so for
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// direct viewing (whether you're looking directly at the pixels or not), or to put some diffuse
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// material between you and the LEDs.
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//
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// PHOTOSENSITIVITY WARNING:
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// Patterns of light and darkness (stationary or moving), flashing lights, patterns and backgrounds
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// on screens, and the like, may cause epilleptic seizures in some people. This is a danger EVEN IF
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// THE PERSON (WHICH MAY BE *YOU*) HAS NEVER KNOWINGLY HAD A PHOTOSENSITIVE EPISODE BEFORE. It's up
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// to you to learn the warning signs, but symptoms may include dizziness, nausea, vision changes,
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// convlusions, disorientation, involuntary movements, and eye twitching. (This list is not
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// necessarily exhaustive.)
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//
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// NEOPIXEL BEST PRACTICES: https://learn.adafruit.com/adafruit-neopixel-uberguide/best-practices
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//
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// Connections:
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// Positive to Raspberry Pi's 3.3v, for better separation connect only ground and data directly
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// (5v can be used then without a problem, at least it worked for me, Kammerjaeger)
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// Negative to Raspberry Pi's ground
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// Data to GPIO18 (Pin 12) (through a resistor, which you should know from the Best
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// Practices guide!)
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//
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// Buy WS2812-based stuff from: http://adafruit.com
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//
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// To activate: use led device "ws2812s" in the hyperion configuration
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// (it needs to be root so it can map the peripherals' registers)
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//
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// =================================================================================================
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// This is for the WS2812 LEDs. It won't work with the older WS2811s, although it could be modified
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// for that without too much trouble. Preliminary driver used Frank Buss' servo driver, but I moved
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// to Richard Hirst's memory mapping/access model because his code already works with DMA, and has
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// what I think is a slightly cleaner way of accessing the registers: register[name] rather than
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// *(register + name).
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// At the time of writing, there's a lot of confusing "PWM DMA" code revolving around simulating
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// an FM signal. Usually this is done without properly initializing certain registers, which is
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// OK for their purpose, but I needed to be able to transfer actual coherent data and have it wind
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// up in a proper state once it was transferred. This has proven to be a somewhat painful task.
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// The PWM controller likes to ignore the RPTL1 bit when the data is in a regular, repeating
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// pattern. I'M NOT MAKING IT UP! It really does that. It's bizarre. There are lots of other
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// strange irregularities as well, which had to be figured out through trial and error. It doesn't
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// help that the BCM2835 ARM Peripherals manual contains outright errors and omissions!
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// Many examples of this kind of code have magic numbers in them. If you don't know, a magic number
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// is one that either lacks an obvious structure (e.g. 0x2020C000) or purpose. Please don't use
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// that stuff in any code you release! All magic numbers found in reference code have been changed
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// to DEFINEs. That way, instead of seeing some inscrutable number, you see (e.g.) PWM_CTL.
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// References - BCM2835 ARM Peripherals:
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// http://www.raspberrypi.org/wp-content/uploads/2012/02/BCM2835-ARM-Peripherals.pdf
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//
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// Raspberry Pi low-level peripherals:
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// http://elinux.org/RPi_Low-level_peripherals
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//
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// Richard Hirst's nice, clean code:
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// https://github.com/richardghirst/PiBits/blob/master/PiFmDma/PiFmDma.c
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//
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// PWM clock register:
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// http://www.raspberrypi.org/forums/viewtopic.php?t=8467&p=124620
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//
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// Simple (because it's in assembly) PWM+DMA setup:
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// https://github.com/mikedurso/rpi-projects/blob/master/asm-nyancat/rpi-nyancat.s
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//
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// Adafruit's NeoPixel driver:
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// https://github.com/adafruit/Adafruit_NeoPixel/blob/master/Adafruit_NeoPixel.cpp
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// =================================================================================================
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// .___ .__ .___
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// | | ____ ____ | | __ __ __| _/____ ______
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// | |/ \_/ ___\| | | | \/ __ |/ __ \ / ___/
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// | | | \ \___| |_| | / /_/ \ ___/ \___ \
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// |___|___| /\___ >____/____/\____ |\___ >____ >
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// \/ \/ \/ \/ \/
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// =================================================================================================
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#include <stdio.h>
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#include <string.h>
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#include <stdlib.h>
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#include <stdarg.h>
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#include <stdint.h>
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#include <dirent.h>
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#include <fcntl.h>
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#include <assert.h>
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#include <sys/mman.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <unistd.h>
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#include <string.h>
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#include <errno.h>
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#include <math.h>
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#include <time.h>
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#include <signal.h>
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// Hyperion includes
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#include <leddevice/LedDevice.h>
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// =================================================================================================
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// ________ _____.__ ____ ____ ____
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// \______ \ _____/ ____\__| ____ ____ ______ / _ \ \ \ / /____ _______ ______
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// | | \_/ __ \ __\| |/ \_/ __ \ / ___/ > _ </\ \ Y /\__ \\_ __ \/ ___/
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// | ` \ ___/| | | | | \ ___/ \___ \ / <_\ \/ \ / / __ \| | \/\___ \
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// /_______ /\___ >__| |__|___| /\___ >____ > \_____\ \ \___/ (____ /__| /____ >
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// \/ \/ \/ \/ \/ \/ \/ \/
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// =================================================================================================
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// Base addresses for GPIO, PWM, PWM clock, and DMA controllers (physical, not bus!)
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// These will be "memory mapped" into virtual RAM so that they can be written and read directly.
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// -------------------------------------------------------------------------------------------------
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#define DMA_BASE 0x20007000
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#define DMA_LEN 0x24
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#define PWM_BASE 0x2020C000
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#define PWM_LEN 0x28
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#define CLK_BASE 0x20101000
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#define CLK_LEN 0xA8
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#define GPIO_BASE 0x20200000
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#define GPIO_LEN 0xB4
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// GPIO
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// -------------------------------------------------------------------------------------------------
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#define GPFSEL0 0x20200000 // GPIO function select, pins 0-9 (bits 30-31 reserved)
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#define GPFSEL1 0x20200004 // Pins 10-19
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#define GPFSEL2 0x20200008 // Pins 20-29
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#define GPFSEL3 0x2020000C // Pins 30-39
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#define GPFSEL4 0x20200010 // Pins 40-49
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#define GPFSEL5 0x20200014 // Pins 50-53
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#define GPSET0 0x2020001C // Set (turn on) pin
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#define GPCLR0 0x20200028 // Clear (turn off) pin
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#define GPPUD 0x20200094 // Internal pullup/pulldown resistor control
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#define GPPUDCLK0 0x20200098 // PUD clock for pins 0-31
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#define GPPUDCLK1 0x2020009C // PUD clock for pins 32-53
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// Memory offsets for the PWM clock register, which is undocumented! Please fix that, Broadcom!
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// -------------------------------------------------------------------------------------------------
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#define PWM_CLK_CNTL 40 // Control (on/off)
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#define PWM_CLK_DIV 41 // Divisor (bits 11:0 are *quantized* floating part, 31:12 integer part)
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// PWM Register Addresses (page 141)
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// These are divided by 4 because the register offsets in the guide are in bytes (8 bits) but
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// the pointers we use in this program are in words (32 bits). Buss' original defines are in
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// word offsets, e.g. PWM_RNG1 was 4 and PWM_DAT1 was 5. This is functionally the same, but it
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// matches the numbers supplied in the guide.
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// -------------------------------------------------------------------------------------------------
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#define PWM_CTL 0x00 // Control Register
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#define PWM_STA (0x04 / 4) // Status Register
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#define PWM_DMAC (0x08 / 4) // DMA Control Register
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#define PWM_RNG1 (0x10 / 4) // Channel 1 Range
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#define PWM_DAT1 (0x14 / 4) // Channel 1 Data
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#define PWM_FIF1 (0x18 / 4) // FIFO (for both channels - bytes are interleaved if both active)
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#define PWM_RNG2 (0x20 / 4) // Channel 2 Range
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#define PWM_DAT2 (0x24 / 4) // Channel 2 Data
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// PWM_CTL register bit offsets
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// Note: Don't use MSEN1/2 for this purpose. It will screw things up.
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// -------------------------------------------------------------------------------------------------
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#define PWM_CTL_MSEN2 15 // Channel 2 - 0: Use PWM algorithm. 1: Use M/S (serial) algorithm.
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#define PWM_CTL_USEF2 13 // Channel 2 - 0: Use PWM_DAT2. 1: Use FIFO.
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#define PWM_CTL_POLA2 12 // Channel 2 - Invert output polarity (if set, 0=high and 1=low)
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#define PWM_CTL_SBIT2 11 // Channel 2 - Silence bit (default line state when not transmitting)
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#define PWM_CTL_RPTL2 10 // Channel 2 - Repeat last data in FIFO
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#define PWM_CTL_MODE2 9 // Channel 2 - Mode. 0=PWM, 1=Serializer
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#define PWM_CTL_PWEN2 8 // Channel 2 - Enable PWM
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#define PWM_CTL_CLRF1 6 // Clear FIFO
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#define PWM_CTL_MSEN1 7 // Channel 1 - 0: Use PWM algorithm. 1: Use M/S (serial) algorithm.
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#define PWM_CTL_USEF1 5 // Channel 1 - 0: Use PWM_DAT1. 1: Use FIFO.
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#define PWM_CTL_POLA1 4 // Channel 1 - Invert output polarity (if set, 0=high and 1=low)
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#define PWM_CTL_SBIT1 3 // Channel 1 - Silence bit (default line state when not transmitting)
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#define PWM_CTL_RPTL1 2 // Channel 1 - Repeat last data in FIFO
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#define PWM_CTL_MODE1 1 // Channel 1 - Mode. 0=PWM, 1=Serializer
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#define PWM_CTL_PWEN1 0 // Channel 1 - Enable PWM
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// PWM_STA register bit offsets
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// -------------------------------------------------------------------------------------------------
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#define PWM_STA_STA4 12 // Channel 4 State
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#define PWM_STA_STA3 11 // Channel 3 State
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#define PWM_STA_STA2 10 // Channel 2 State
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#define PWM_STA_STA1 9 // Channel 1 State
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#define PWM_STA_BERR 8 // Bus Error
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#define PWM_STA_GAPO4 7 // Gap Occurred on Channel 4
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#define PWM_STA_GAPO3 6 // Gap Occurred on Channel 3
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#define PWM_STA_GAPO2 5 // Gap Occurred on Channel 2
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#define PWM_STA_GAPO1 4 // Gap Occurred on Channel 1
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#define PWM_STA_RERR1 3 // FIFO Read Error
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#define PWM_STA_WERR1 2 // FIFO Write Error
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#define PWM_STA_EMPT1 1 // FIFO Empty
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#define PWM_STA_FULL1 0 // FIFO Full
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// PWM_DMAC bit offsets
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// -------------------------------------------------------------------------------------------------
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#define PWM_DMAC_ENAB 31 // 0: DMA Disabled. 1: DMA Enabled.
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#define PWM_DMAC_PANIC 8 // Bits 15:8. Threshold for PANIC signal. Default 7.
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#define PWM_DMAC_DREQ 0 // Bits 7:0. Threshold for DREQ signal. Default 7.
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// PWM_RNG1, PWM_RNG2
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// --------------------------------------------------------------------------------------------------
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// Defines the transmission range. In PWM mode, evenly spaced pulses are sent within a period
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// of length defined in these registers. In serial mode, serialized data is sent within the
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// same period. The value is normally 32. If less, data will be truncated. If more, data will
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// be padded with zeros.
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// DAT1, DAT2
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// --------------------------------------------------------------------------------------------------
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// NOTE: These registers are not useful for our purposes - we will use the FIFO instead!
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// Stores 32 bits of data to be sent when USEF1/USEF2 is 0. In PWM mode, defines how many
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// pulses will be sent within the period specified in PWM_RNG1/PWM_RNG2. In serializer mode,
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// defines a 32-bit word to be transmitted.
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// FIF1
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// --------------------------------------------------------------------------------------------------
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// 32-bit-wide register used to "stuff" the FIFO, which has 16 32-bit words. (So, if you write
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// it 16 times, it will fill the FIFO.)
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// See also: PWM_STA_EMPT1 (FIFO empty)
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// PWM_STA_FULL1 (FIFO full)
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// PWM_CTL_CLRF1 (Clear FIFO)
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// DMA
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// --------------------------------------------------------------------------------------------------
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// DMA registers (divided by four to convert form word to byte offsets, as with the PWM registers)
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#define DMA_CS (0x00 / 4) // Control & Status register
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#define DMA_CONBLK_AD (0x04 / 4) // Address of Control Block (must be 256-BYTE ALIGNED!!!)
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#define DMA_TI (0x08 / 4) // Transfer Information (populated from CB)
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#define DMA_SOURCE_AD (0x0C / 4) // Source address, populated from CB. Physical address.
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#define DMA_DEST_AD (0x10 / 4) // Destination address, populated from CB. Bus address.
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#define DMA_TXFR_LEN (0x14 / 4) // Transfer length, populated from CB
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#define DMA_STRIDE (0x18 / 4) // Stride, populated from CB
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#define DMA_NEXTCONBK (0x1C / 4) // Next control block address, populated from CB
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#define DMA_DEBUG (0x20 / 4) // Debug settings
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// DMA Control & Status register bit offsets
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#define DMA_CS_RESET 31 // Reset the controller for this channel
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#define DMA_CS_ABORT 30 // Set to abort transfer
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#define DMA_CS_DISDEBUG 29 // Disable debug pause signal
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#define DMA_CS_WAIT_FOR 28 // Wait for outstanding writes
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#define DMA_CS_PANIC_PRI 20 // Panic priority (bits 23:20), default 7
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#define DMA_CS_PRIORITY 16 // AXI priority level (bits 19:16), default 7
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#define DMA_CS_ERROR 8 // Set when there's been an error
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#define DMA_CS_WAITING_FOR 6 // Set when the channel's waiting for a write to be accepted
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#define DMA_CS_DREQ_STOPS_DMA 5 // Set when the DMA is paused because DREQ is inactive
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#define DMA_CS_PAUSED 4 // Set when the DMA is paused (active bit cleared, etc.)
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#define DMA_CS_DREQ 3 // Set when DREQ line is high
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#define DMA_CS_INT 2 // If INTEN is set, this will be set on CB transfer end
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#define DMA_CS_END 1 // Set when the current control block is finished
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#define DMA_CS_ACTIVE 0 // Enable DMA (CB_ADDR must not be 0)
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// Default CS word
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#define DMA_CS_CONFIGWORD (8 << DMA_CS_PANIC_PRI) | \
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(8 << DMA_CS_PRIORITY) | \
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(1 << DMA_CS_WAIT_FOR)
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// DREQ lines (page 61, most DREQs omitted)
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#define DMA_DREQ_ALWAYS 0
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#define DMA_DREQ_PCM_TX 2
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#define DMA_DREQ_PCM_RX 3
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#define DMA_DREQ_PWM 5
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#define DMA_DREQ_SPI_TX 6
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#define DMA_DREQ_SPI_RX 7
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#define DMA_DREQ_BSC_TX 8
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#define DMA_DREQ_BSC_RX 9
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// DMA Transfer Information register bit offsets
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// We don't write DMA_TI directly. It's populated from the TI field in a control block.
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#define DMA_TI_NO_WIDE_BURSTS 26 // Don't do wide writes in 2-beat bursts
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#define DMA_TI_WAITS 21 // Wait this many cycles after end of each read/write
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#define DMA_TI_PERMAP 16 // Peripheral # whose ready signal controls xfer rate (pwm=5)
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#define DMA_TI_BURST_LENGTH 12 // Length of burst in words (bits 15:12)
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#define DMA_TI_SRC_IGNORE 11 // Don't perform source reads (for fast cache fill)
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#define DMA_TI_SRC_DREQ 10 // Peripheral in PERMAP gates source reads
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#define DMA_TI_SRC_WIDTH 9 // Source transfer width - 0=32 bits, 1=128 bits
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#define DMA_TI_SRC_INC 8 // Source address += SRC_WITH after each read
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#define DMA_TI_DEST_IGNORE 7 // Don't perform destination writes
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#define DMA_TI_DEST_DREQ 6 // Peripheral in PERMAP gates destination writes
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#define DMA_TI_DEST_WIDTH 5 // Destination transfer width - 0=32 bits, 1=128 bits
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#define DMA_TI_DEST_INC 4 // Dest address += DEST_WIDTH after each read
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#define DMA_TI_WAIT_RESP 3 // Wait for write response
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#define DMA_TI_TDMODE 1 // 2D striding mode
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#define DMA_TI_INTEN 0 // Interrupt enable
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// Default TI word
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#define DMA_TI_CONFIGWORD (1 << DMA_TI_NO_WIDE_BURSTS) | \
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(1 << DMA_TI_SRC_INC) | \
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(1 << DMA_TI_DEST_DREQ) | \
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(1 << DMA_TI_WAIT_RESP) | \
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(1 << DMA_TI_INTEN) | \
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(DMA_DREQ_PWM << DMA_TI_PERMAP)
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// DMA Debug register bit offsets
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#define DMA_DEBUG_LITE 28 // Whether the controller is "Lite"
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#define DMA_DEBUG_VERSION 25 // DMA Version (bits 27:25)
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#define DMA_DEBUG_DMA_STATE 16 // DMA State (bits 24:16)
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#define DMA_DEBUG_DMA_ID 8 // DMA controller's AXI bus ID (bits 15:8)
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#define DMA_DEBUG_OUTSTANDING_WRITES 4 // Outstanding writes (bits 7:4)
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#define DMA_DEBUG_READ_ERROR 2 // Slave read response error (clear by setting)
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#define DMA_DEBUG_FIFO_ERROR 1 // Operational read FIFO error (clear by setting)
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#define DMA_DEBUG_READ_LAST_NOT_SET 0 // AXI bus read last signal not set (clear by setting)
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// Control Block (CB) - this tells the DMA controller what to do.
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typedef struct {
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unsigned int
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info, // Transfer Information (TI)
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src, // Source address (physical)
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dst, // Destination address (bus)
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length, // Length in bytes (not words!)
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stride, // We don't care about this
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next, // Pointer to next control block
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pad[2]; // These are "reserved" (unused)
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} dma_cb_t;
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// The page map contains pointers to memory that we will allocate below. It uses two pointers
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// per address. This is because the software (this program) deals only in virtual addresses,
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// whereas the DMA controller can only access RAM via physical address. (If that's not confusing
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// enough, it writes to peripherals by their bus addresses.)
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typedef struct {
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uint8_t *virtaddr;
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uint32_t physaddr;
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} page_map_t;
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#define PAGE_SIZE 4096 // Size of a RAM page to be allocated
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#define PAGE_SHIFT 12 // This is used for address translation
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#define NUM_PAGES ((sizeof(struct control_data_s) + PAGE_SIZE - 1) >> PAGE_SHIFT)
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#define SETBIT(word, bit) word |= 1<<bit
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#define CLRBIT(word, bit) word &= ~(1<<bit)
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#define GETBIT(word, bit) word & (1 << bit) ? 1 : 0
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#define true 1
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#define false 0
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// GPIO
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#define INP_GPIO(g) *(gpio_reg+((g)/10)) &= ~(7<<(((g)%10)*3))
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#define OUT_GPIO(g) *(gpio_reg+((g)/10)) |= (1<<(((g)%10)*3))
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#define SET_GPIO_ALT(g,a) *(gpio_reg+(((g)/10))) |= (((a)<=3?(a)+4:(a)==4?3:2)<<(((g)%10)*3))
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#define GPIO_SET *(gpio_reg+7) // sets bits which are 1 ignores bits which are 0
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#define GPIO_CLR *(gpio_reg+10) // clears bits which are 1 ignores bits which are 0
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///
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/// Implementation of the LedDevice interface for writing to Ws2801 led device.
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///
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class LedDeviceWS2812s : public LedDevice
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{
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public:
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///
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/// Constructs the LedDevice for a string containing leds of the type WS2812
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LedDeviceWS2812s();
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~LedDeviceWS2812s();
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///
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/// Writes the led color values to the led-device
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///
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/// @param ledValues The color-value per led
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/// @return Zero on succes else negative
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///
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virtual int write(const std::vector<ColorRgb> &ledValues);
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/// Switch the leds off
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virtual int switchOff();
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private:
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/// the number of leds (needed when switching off)
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size_t mLedCount;
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page_map_t *page_map; // This will hold the page map, which we'll allocate below
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uint8_t *virtbase; // Pointer to some virtual memory that will be allocated
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volatile unsigned int *pwm_reg; // PWM controller register set
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volatile unsigned int *clk_reg; // PWM clock manager register set
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volatile unsigned int *dma_reg; // DMA controller register set
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volatile unsigned int *gpio_reg; // GPIO pin controller register set
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// Contains arrays of control blocks and their related samples.
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// One pixel needs 72 bits (24 bits for the color * 3 to represent them on the wire).
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// 768 words = 341.3 pixels
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// 1024 words = 455.1 pixels
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// The highest I can make this number is 1016. Any higher, and it will start copying garbage to the
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// PWM controller. I think it might be because of the virtual->physical memory mapping not being
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// contiguous, so *pointer+1016 isn't "next door" to *pointer+1017 for some weird reason.
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// However, that's still enough for 451.5 color instructions! If someone has more pixels than that
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// to control, they can figure it out. I tried Hirst's message of having one CB per word, which
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// seems like it might fix that, but I couldn't figure it out.
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#define NUM_DATA_WORDS 1016
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struct control_data_s {
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dma_cb_t cb[1];
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uint32_t sample[NUM_DATA_WORDS];
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};
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struct control_data_s *ctl;
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// PWM waveform buffer (in words), 16 32-bit words are enough to hold 170 wire bits.
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// That's OK if we only transmit from the FIFO, but for DMA, we will use a much larger size.
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// 1024 (4096 bytes) should be enough for over 400 elements. It can be bumped up if you need more!
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unsigned int PWMWaveform[NUM_DATA_WORDS];
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void initHardware();
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void startTransfer();
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void clearPWMBuffer();
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void setPWMBit(unsigned int bitPos, unsigned char bit);
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unsigned int mem_phys_to_virt(uint32_t phys);
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unsigned int mem_virt_to_phys(void *virt);
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void terminate(int dummy);
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void fatal(char *fmt, ...);
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void * map_peripheral(uint32_t base, uint32_t len);
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void printBinary(unsigned int i, unsigned int bits);
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};
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#endif /* LEDDEVICEWS2812S_H_ */
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