877 lines
29 KiB
C++
877 lines
29 KiB
C++
// For license and other informations see LedDeviceWS2812b.h
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// To activate: use led device "ws2812s" in the hyperion configuration
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// STL includes
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#include <cstring>
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#include <cstdio>
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#include <iostream>
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#include <vector>
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// Linux includes
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#include <fcntl.h>
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#include <stdarg.h>
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#include <sys/mman.h>
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#include <unistd.h>
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//#include <sys/types.h>
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//#include <sys/ioctl.h>
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#ifdef BENCHMARK
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#include <time.h>
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#endif
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// hyperion local includes
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#include "LedDeviceWS2812b.h"
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// ==== Defines and Vars ====
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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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#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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LedDeviceWS2812b::LedDeviceWS2812b()
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: LedDevice()
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#ifdef BENCHMARK
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, runCount(0)
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, combinedNseconds(0)
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, shortestNseconds(2147483647)
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#endif
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{
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//shortestNseconds = 2147483647;
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// Init PWM generator and clear LED buffer
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initHardware();
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//clearLEDBuffer();
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// init bit pattern, it is always 1X0
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unsigned int wireBit = 0;
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while ((wireBit + 3) < ((NUM_DATA_WORDS) * 4 * 8))
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{
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setPWMBit(wireBit++, 1);
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setPWMBit(wireBit++, 0); // just init it with 0
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setPWMBit(wireBit++, 0);
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}
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printf("WS2812b init finished \n");
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}
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LedDevice* LedDeviceWS2812b::construct(const Json::Value &)
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{
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return new LedDeviceWS2812b();
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}
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#ifdef WS2812_ASM_OPTI
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// rotate register, used to move the 1 around :-)
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static inline __attribute__((always_inline)) uint32_t arm_ror_imm(uint32_t v, uint32_t sh)
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{
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uint32_t d;
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asm ("ROR %[Rd], %[Rm], %[Is]" : [Rd] "=r" (d) : [Rm] "r" (v), [Is] "r" (sh));
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return d;
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}
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// rotate register, used to move the 1 around, add 1 to int counter on carry
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static inline __attribute__((always_inline)) uint32_t arm_ror_imm_add_on_carry(uint32_t v, uint32_t sh, uint32_t inc)
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{
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uint32_t d;
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asm ("RORS %[Rd], %[Rm], %[Is]\n\t"
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"ADDCS %[Rd1], %[Rd1], #1"
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: [Rd] "=r" (d), [Rd1] "+r" (inc): [Rm] "r" (v), [Is] "r" (sh));
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return d;
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}
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static inline __attribute__((always_inline)) uint32_t arm_ror(uint32_t v, uint32_t sh)
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{
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uint32_t d;
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asm ("ROR %[Rd], %[Rm], %[Rs]" : [Rd] "=r" (d) : [Rm] "r" (v), [Rs] "r" (sh));
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return d;
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}
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static inline __attribute__((always_inline)) uint32_t arm_Bit_Clear_imm(uint32_t v, uint32_t v2)
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{
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uint32_t d;
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asm ("BIC %[Rd], %[Rm], %[Rs]" : [Rd] "=r" (d) : [Rm] "r" (v), [Rs] "r" (v2));
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return d;
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}
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#endif
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int LedDeviceWS2812b::write(const std::vector<ColorRgb> &ledValues)
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{
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#ifdef BENCHMARK
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timespec timeStart;
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timespec timeEnd;
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clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &timeStart);
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#endif
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_ledCount = ledValues.size();
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// Read data from LEDBuffer[], translate it into wire format, and write to PWMWaveform
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unsigned int colorBits = 0; // Holds the GRB color before conversion to wire bit pattern
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unsigned int wireBit = 1; // Holds the current bit we will set in PWMWaveform, start with 1 and skip the other two for speed
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// Copy PWM waveform to DMA's data buffer
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struct control_data_s *ctl = (struct control_data_s *)virtbase;
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dma_cb_t *cbp = ctl->cb;
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// 72 bits per pixel / 32 bits per word = 2.25 words per pixel
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// Add 1 to make sure the PWM FIFO gets the message: "we're sending zeroes"
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// Times 4 because DMA works in bytes, not words
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cbp->length = ((_ledCount * 2.25) + 1) * 4;
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if(cbp->length > NUM_DATA_WORDS * 4)
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{
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cbp->length = NUM_DATA_WORDS * 4;
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_ledCount = (NUM_DATA_WORDS - 1) / 2.25;
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}
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#ifdef WS2812_ASM_OPTI
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unsigned int startbitPattern = 0x40000000; // = 0100 0000 0000 0000 0000 0000 0000 0000 pattern
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#endif
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for(size_t i=0; i<(size_t)_ledCount; i++)
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{
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// Create bits necessary to represent one color triplet (in GRB, not RGB, order)
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colorBits = ((unsigned int)ledValues[i].red << 8) | ((unsigned int)ledValues[i].green << 16) | ledValues[i].blue;
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// Iterate through color bits to get wire bits
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for(int j=23; j>=0; j--) {
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#ifdef WS2812_ASM_OPTI
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// Fetch word the bit is in
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unsigned int wordOffset = (int)(wireBit / 32);
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wireBit +=3;
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if (colorBits & (1 << j)) {
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PWMWaveform[wordOffset] |= startbitPattern;
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} else {
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PWMWaveform[wordOffset] = arm_Bit_Clear_imm(PWMWaveform[wordOffset], startbitPattern);
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}
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startbitPattern = arm_ror_imm(startbitPattern, 3);
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#else
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unsigned char colorBit = (colorBits & (1 << j)) ? 1 : 0; // Holds current bit out of colorBits to be processed
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setPWMBit(wireBit, colorBit);
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wireBit +=3;
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#endif
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/* old code for better understanding
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switch(colorBit) {
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case 1:
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//wireBits = 0b110; // High, High, Low
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setPWMBit(wireBit++, 1);
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setPWMBit(wireBit++, 1);
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setPWMBit(wireBit++, 0);
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break;
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case 0:
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//wireBits = 0b100; // High, Low, Low
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setPWMBit(wireBit++, 1);
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setPWMBit(wireBit++, 0);
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setPWMBit(wireBit++, 0);
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break;
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}*/
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}
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}
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#ifdef WS2812_ASM_OPTI
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// calculate the bits manually since it is not needed with asm
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//wireBit += _ledCount * 24 *3;
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#endif
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//remove one to undo optimization
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wireBit --;
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#ifdef WS2812_ASM_OPTI
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int rest = 32 - wireBit % 32; // 64: 32 - used Bits
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startbitPattern = (1 << (rest-1)); // set new bitpattern to start at the benigining of one bit (3 bit in wave form)
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rest += 32; // add one int extra for pwm
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unsigned int oldwireBitValue = wireBit;
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unsigned int oldbitPattern = startbitPattern;
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// zero rest of the 4 bytes / int so that output is 0 (no data is send)
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for (int i = 0; i < rest; i += 3)
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{
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unsigned int wordOffset = (int)(wireBit / 32);
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wireBit += 3;
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PWMWaveform[wordOffset] = arm_Bit_Clear_imm(PWMWaveform[wordOffset], startbitPattern);
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startbitPattern = arm_ror_imm(startbitPattern, 3);
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}
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#else
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// fill up the bytes
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int rest = 32 - wireBit % 32 + 32; // 64: 32 - used Bits + 32 (one int extra for pwm)
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|
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
|
|
|
|
memcpy ( ctl->sample, PWMWaveform, cbp->length );
|
|
|
|
// 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
|
|
|
|
#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>(_ledCount, ColorRgb{0,0,0}));
|
|
}
|
|
|
|
LedDeviceWS2812b::~LedDeviceWS2812b()
|
|
{
|
|
// Exit cleanly, freeing memory and stopping the DMA & PWM engines
|
|
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++)
|
|
{
|
|
output |= word & (1 << i) ? 1 : 0;
|
|
if(i<31)
|
|
{
|
|
output <<= 1;
|
|
}
|
|
}
|
|
return output;
|
|
}
|
|
|
|
// 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);
|
|
}
|
|
}
|
|
|
|
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);
|
|
|
|
switch(bit)
|
|
{
|
|
case 1:
|
|
PWMWaveform[wordOffset] |= (1 << (31 - bitIdx));
|
|
break;
|
|
case 0:
|
|
PWMWaveform[wordOffset] &= ~(1 << (31 - 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");
|
|
return;
|
|
}
|
|
|
|
if ((unsigned long)virtbase & (PAGE_SIZE-1))
|
|
{
|
|
fatal("Virtual address is not page aligned\n");
|
|
return;
|
|
}
|
|
|
|
// 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");
|
|
return;
|
|
}
|
|
|
|
// 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: %i pages\n", (int)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 = ((_ledCount * 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;
|
|
|
|
// 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);
|
|
}
|