570 lines
21 KiB
C++
570 lines
21 KiB
C++
/*
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* Integration into FastLED ClocklessController
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* Copyright (c) 2018 Samuel Z. Guyer
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* Copyright (c) 2017 Thomas Basler
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* Copyright (c) 2017 Martin F. Falatic
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*
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* ESP32 support is provided using the RMT peripheral device -- a unit
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* on the chip designed specifically for generating (and receiving)
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* precisely-timed digital signals. Nominally for use in infrared
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* remote controls, we use it to generate the signals for clockless
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* LED strips. The main advantage of using the RMT device is that,
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* once programmed, it generates the signal asynchronously, allowing
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* the CPU to continue executing other code. It is also not vulnerable
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* to interrupts or other timing problems that could disrupt the signal.
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*
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* The implementation strategy is borrowed from previous work and from
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* the RMT support built into the ESP32 IDF. The RMT device has 8
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* channels, which can be programmed independently to send sequences
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* of high/low bits. Memory for each channel is limited, however, so
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* in order to send a long sequence of bits, we need to continuously
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* refill the buffer until all the data is sent. To do this, we fill
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* half the buffer and then set an interrupt to go off when that half
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* is sent. Then we refill that half while the second half is being
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* sent. This strategy effectively overlaps computation (by the CPU)
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* and communication (by the RMT).
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*
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* Since the RMT device only has 8 channels, we need a strategy to
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* allow more than 8 LED controllers. Our driver assigns controllers
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* to channels on the fly, queuing up controllers as necessary until a
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* channel is free. The main showPixels routine just fires off the
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* first 8 controllers; the interrupt handler starts new controllers
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* asynchronously as previous ones finish. So, for example, it can
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* send the data for 8 controllers simultaneously, but 16 controllers
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* would take approximately twice as much time.
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*
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* There is a #define that allows a program to control the total
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* number of channels that the driver is allowed to use. It defaults
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* to 8 -- use all the channels. Setting it to 1, for example, results
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* in fully serial output:
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*
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* #define FASTLED_RMT_MAX_CHANNELS 1
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*
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* OTHER RMT APPLICATIONS
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*
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* The default FastLED driver takes over control of the RMT interrupt
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* handler, making it hard to use the RMT device for other
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* (non-FastLED) purposes. You can change it's behavior to use the ESP
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* core driver instead, allowing other RMT applications to
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* co-exist. To switch to this mode, add the following directive
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* before you include FastLED.h:
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*
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* #define FASTLED_RMT_BUILTIN_DRIVER 1
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*
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* There may be a performance penalty for using this mode. We need to
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* compute the RMT signal for the entire LED strip ahead of time,
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* rather than overlapping it with communication. We also need a large
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* buffer to hold the signal specification. Each bit of pixel data is
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* represented by a 32-bit pulse specification, so it is a 32X blow-up
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* in memory use.
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*
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*
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* Based on public domain code created 19 Nov 2016 by Chris Osborn <fozztexx@fozztexx.com>
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* http://insentricity.com *
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*
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*/
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/*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#pragma once
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FASTLED_NAMESPACE_BEGIN
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "esp32-hal.h"
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#include "esp_intr.h"
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#include "driver/gpio.h"
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#include "driver/rmt.h"
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#include "driver/periph_ctrl.h"
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#include "freertos/semphr.h"
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#include "soc/rmt_struct.h"
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#include "esp_log.h"
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#ifdef __cplusplus
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}
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#endif
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__attribute__ ((always_inline)) inline static uint32_t __clock_cycles() {
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uint32_t cyc;
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__asm__ __volatile__ ("rsr %0,ccount":"=a" (cyc));
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return cyc;
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}
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#define FASTLED_HAS_CLOCKLESS 1
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// -- Configuration constants
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#define DIVIDER 2 /* 4, 8 still seem to work, but timings become marginal */
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#define MAX_PULSES 32 /* A channel has a 64 "pulse" buffer - we use half per pass */
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// -- Convert ESP32 cycles back into nanoseconds
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#define ESPCLKS_TO_NS(_CLKS) (((long)(_CLKS) * 1000L) / F_CPU_MHZ)
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// -- Convert nanoseconds into RMT cycles
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#define F_CPU_RMT ( 80000000L)
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#define NS_PER_SEC (1000000000L)
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#define CYCLES_PER_SEC (F_CPU_RMT/DIVIDER)
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#define NS_PER_CYCLE ( NS_PER_SEC / CYCLES_PER_SEC )
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#define NS_TO_CYCLES(n) ( (n) / NS_PER_CYCLE )
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// -- Convert ESP32 cycles to RMT cycles
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#define TO_RMT_CYCLES(_CLKS) NS_TO_CYCLES(ESPCLKS_TO_NS(_CLKS))
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// -- Number of cycles to signal the strip to latch
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#define RMT_RESET_DURATION NS_TO_CYCLES(50000)
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// -- Core or custom driver
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#ifndef FASTLED_RMT_BUILTIN_DRIVER
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#define FASTLED_RMT_BUILTIN_DRIVER false
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#endif
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// -- Max number of controllers we can support
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#ifndef FASTLED_RMT_MAX_CONTROLLERS
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#define FASTLED_RMT_MAX_CONTROLLERS 32
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#endif
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// -- Number of RMT channels to use (up to 8)
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// Redefine this value to 1 to force serial output
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#ifndef FASTLED_RMT_MAX_CHANNELS
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#define FASTLED_RMT_MAX_CHANNELS 8
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#endif
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// -- Array of all controllers
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static CLEDController * gControllers[FASTLED_RMT_MAX_CONTROLLERS];
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// -- Current set of active controllers, indexed by the RMT
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// channel assigned to them.
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static CLEDController * gOnChannel[FASTLED_RMT_MAX_CHANNELS];
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static int gNumControllers = 0;
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static int gNumStarted = 0;
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static int gNumDone = 0;
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static int gNext = 0;
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static intr_handle_t gRMT_intr_handle = NULL;
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// -- Global semaphore for the whole show process
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// Semaphore is not given until all data has been sent
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static xSemaphoreHandle gTX_sem = NULL;
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static bool gInitialized = false;
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template <int DATA_PIN, int T1, int T2, int T3, EOrder RGB_ORDER = RGB, int XTRA0 = 0, bool FLIP = false, int WAIT_TIME = 5>
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class ClocklessController : public CPixelLEDController<RGB_ORDER>
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{
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// -- RMT has 8 channels, numbered 0 to 7
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rmt_channel_t mRMT_channel;
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// -- Store the GPIO pin
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gpio_num_t mPin;
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// -- This instantiation forces a check on the pin choice
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FastPin<DATA_PIN> mFastPin;
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// -- Timing values for zero and one bits, derived from T1, T2, and T3
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rmt_item32_t mZero;
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rmt_item32_t mOne;
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// -- State information for keeping track of where we are in the pixel data
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uint8_t * mPixelData = NULL;
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int mSize = 0;
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int mCurByte;
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uint16_t mCurPulse;
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// -- Buffer to hold all of the pulses. For the version that uses
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// the RMT driver built into the ESP core.
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rmt_item32_t * mBuffer;
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uint16_t mBufferSize;
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public:
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void init()
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{
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// -- Precompute rmt items corresponding to a zero bit and a one bit
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// according to the timing values given in the template instantiation
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// T1H
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mOne.level0 = 1;
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mOne.duration0 = TO_RMT_CYCLES(T1+T2);
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// T1L
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mOne.level1 = 0;
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mOne.duration1 = TO_RMT_CYCLES(T3);
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// T0H
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mZero.level0 = 1;
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mZero.duration0 = TO_RMT_CYCLES(T1);
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// T0L
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mZero.level1 = 0;
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mZero.duration1 = TO_RMT_CYCLES(T2 + T3);
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gControllers[gNumControllers] = this;
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gNumControllers++;
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mPin = gpio_num_t(DATA_PIN);
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}
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virtual uint16_t getMaxRefreshRate() const { return 400; }
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protected:
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void initRMT()
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{
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// -- Only need to do this once
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if (gInitialized) return;
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for (int i = 0; i < FASTLED_RMT_MAX_CHANNELS; i++) {
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gOnChannel[i] = NULL;
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// -- RMT configuration for transmission
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rmt_config_t rmt_tx;
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rmt_tx.channel = rmt_channel_t(i);
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rmt_tx.rmt_mode = RMT_MODE_TX;
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rmt_tx.gpio_num = mPin; // The particular pin will be assigned later
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rmt_tx.mem_block_num = 1;
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rmt_tx.clk_div = DIVIDER;
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rmt_tx.tx_config.loop_en = false;
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rmt_tx.tx_config.carrier_level = RMT_CARRIER_LEVEL_LOW;
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rmt_tx.tx_config.carrier_en = false;
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rmt_tx.tx_config.idle_level = RMT_IDLE_LEVEL_LOW;
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rmt_tx.tx_config.idle_output_en = true;
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// -- Apply the configuration
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rmt_config(&rmt_tx);
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if (FASTLED_RMT_BUILTIN_DRIVER) {
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rmt_driver_install(rmt_channel_t(i), 0, 0);
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} else {
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// -- Set up the RMT to send 1/2 of the pulse buffer and then
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// generate an interrupt. When we get this interrupt we
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// fill the other half in preparation (kind of like double-buffering)
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rmt_set_tx_thr_intr_en(rmt_channel_t(i), true, MAX_PULSES);
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}
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}
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// -- Create a semaphore to block execution until all the controllers are done
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if (gTX_sem == NULL) {
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gTX_sem = xSemaphoreCreateBinary();
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xSemaphoreGive(gTX_sem);
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}
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if ( ! FASTLED_RMT_BUILTIN_DRIVER) {
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// -- Allocate the interrupt if we have not done so yet. This
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// interrupt handler must work for all different kinds of
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// strips, so it delegates to the refill function for each
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// specific instantiation of ClocklessController.
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if (gRMT_intr_handle == NULL)
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esp_intr_alloc(ETS_RMT_INTR_SOURCE, 0, interruptHandler, 0, &gRMT_intr_handle);
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}
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gInitialized = true;
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}
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// -- Show pixels
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// This is the main entry point for the controller.
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virtual void showPixels(PixelController<RGB_ORDER> & pixels)
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{
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if (gNumStarted == 0) {
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// -- First controller: make sure everything is set up
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initRMT();
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xSemaphoreTake(gTX_sem, portMAX_DELAY);
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}
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// -- Initialize the local state, save a pointer to the pixel
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// data. We need to make a copy because pixels is a local
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// variable in the calling function, and this data structure
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// needs to outlive this call to showPixels.
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//if (mPixels != NULL) delete mPixels;
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//mPixels = new PixelController<RGB_ORDER>(pixels);
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if (FASTLED_RMT_BUILTIN_DRIVER)
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convertAllPixelData(pixels);
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else
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copyPixelData(pixels);
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// -- Keep track of the number of strips we've seen
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gNumStarted++;
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// -- The last call to showPixels is the one responsible for doing
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// all of the actual worl
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if (gNumStarted == gNumControllers) {
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gNext = 0;
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// -- First, fill all the available channels
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int channel = 0;
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while (channel < FASTLED_RMT_MAX_CHANNELS && gNext < gNumControllers) {
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startNext(channel);
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channel++;
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}
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// -- Wait here while the rest of the data is sent. The interrupt handler
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// will keep refilling the RMT buffers until it is all sent; then it
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// gives the semaphore back.
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xSemaphoreTake(gTX_sem, portMAX_DELAY);
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xSemaphoreGive(gTX_sem);
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// -- Reset the counters
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gNumStarted = 0;
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gNumDone = 0;
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gNext = 0;
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}
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}
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// -- Copy pixel data
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// Make a safe copy of the pixel data, so that the FastLED show
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// function can continue to the next controller while the RMT
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// device starts sending this data asynchronously.
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virtual void copyPixelData(PixelController<RGB_ORDER> & pixels)
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{
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// -- Make sure we have a buffer of the right size
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// (3 bytes per pixel)
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int size_needed = pixels.size() * 3;
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if (size_needed > mSize) {
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if (mPixelData != NULL) free(mPixelData);
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mSize = size_needed;
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mPixelData = (uint8_t *) malloc( mSize);
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}
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// -- Cycle through the R,G, and B values in the right order,
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// storing the resulting raw pixel data in the buffer.
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int cur = 0;
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while (pixels.has(1)) {
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mPixelData[cur++] = pixels.loadAndScale0();
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mPixelData[cur++] = pixels.loadAndScale1();
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mPixelData[cur++] = pixels.loadAndScale2();
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pixels.advanceData();
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pixels.stepDithering();
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}
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}
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// -- Convert all pixels to RMT pulses
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// This function is only used when the user chooses to use the
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// built-in RMT driver, which needs all of the RMT pulses
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// up-front.
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virtual void convertAllPixelData(PixelController<RGB_ORDER> & pixels)
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{
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// -- Compute the pulse values for the whole strip at once.
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// Requires a large buffer
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mBufferSize = pixels.size() * 3 * 8;
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if (mBuffer == NULL) {
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mBuffer = (rmt_item32_t *) calloc( mBufferSize, sizeof(rmt_item32_t));
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}
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// -- Cycle through the R,G, and B values in the right order,
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// storing the pulses in the big buffer
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mCurPulse = 0;
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int cur = 0;
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uint32_t byteval;
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while (pixels.has(1)) {
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byteval = pixels.loadAndScale0();
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convertByte(byteval);
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byteval = pixels.loadAndScale1();
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convertByte(byteval);
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byteval = pixels.loadAndScale2();
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convertByte(byteval);
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pixels.advanceData();
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pixels.stepDithering();
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}
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mBuffer[mCurPulse-1].duration1 = RMT_RESET_DURATION;
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assert(mCurPulse == mBufferSize);
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}
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void convertByte(uint32_t byteval)
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{
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// -- Write one byte's worth of RMT pulses to the big buffer
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byteval <<= 24;
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for (register uint32_t j = 0; j < 8; j++) {
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mBuffer[mCurPulse] = (byteval & 0x80000000L) ? mOne : mZero;
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byteval <<= 1;
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mCurPulse++;
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}
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}
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// -- Start up the next controller
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// This method is static so that it can dispatch to the
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// appropriate startOnChannel method of the given controller.
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static void startNext(int channel)
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{
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if (gNext < gNumControllers) {
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ClocklessController * pController = static_cast<ClocklessController*>(gControllers[gNext]);
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pController->startOnChannel(channel);
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gNext++;
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}
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}
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// -- Start this controller on the given channel
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// This function just initiates the RMT write; it does not wait
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// for it to finish.
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void startOnChannel(int channel)
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{
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// -- Assign this channel and configure the RMT
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mRMT_channel = rmt_channel_t(channel);
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// -- Store a reference to this controller, so we can get it
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// inside the interrupt handler
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gOnChannel[channel] = this;
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// -- Assign the pin to this channel
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rmt_set_pin(mRMT_channel, RMT_MODE_TX, mPin);
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if (FASTLED_RMT_BUILTIN_DRIVER) {
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// -- Use the built-in RMT driver to send all the data in one shot
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rmt_register_tx_end_callback(doneOnChannel, 0);
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rmt_write_items(mRMT_channel, mBuffer, mBufferSize, false);
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} else {
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// -- Use our custom driver to send the data incrementally
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// -- Turn on the interrupts
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rmt_set_tx_intr_en(mRMT_channel, true);
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// -- Initialize the counters that keep track of where we are in
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// the pixel data.
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mCurPulse = 0;
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mCurByte = 0;
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// -- Fill both halves of the buffer
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fillHalfRMTBuffer();
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fillHalfRMTBuffer();
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// -- Turn on the interrupts
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rmt_set_tx_intr_en(mRMT_channel, true);
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// -- Start the RMT TX operation
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rmt_tx_start(mRMT_channel, true);
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}
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}
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// -- A controller is done
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// This function is called when a controller finishes writing
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// its data. It is called either by the custom interrupt
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// handler (below), or as a callback from the built-in
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// interrupt handler. It is static because we don't know which
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// controller is done until we look it up.
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static void doneOnChannel(rmt_channel_t channel, void * arg)
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{
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if (channel >= FASTLED_RMT_MAX_CHANNELS) return;
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ClocklessController * controller = static_cast<ClocklessController*>(gOnChannel[channel]);
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portBASE_TYPE HPTaskAwoken = 0;
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// -- Turn off output on the pin
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gpio_matrix_out(controller->mPin, 0x100, 0, 0);
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gOnChannel[channel] = NULL;
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gNumDone++;
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if (gNumDone == gNumControllers) {
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// -- If this is the last controller, signal that we are all done
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xSemaphoreGiveFromISR(gTX_sem, &HPTaskAwoken);
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if(HPTaskAwoken == pdTRUE) portYIELD_FROM_ISR();
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} else {
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// -- Otherwise, if there are still controllers waiting, then
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// start the next one on this channel
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if (gNext < gNumControllers)
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startNext(channel);
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}
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}
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// -- Custom interrupt handler
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// This interrupt handler handles two cases: a controller is
|
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// done writing its data, or a controller needs to fill the
|
|
// next half of the RMT buffer with data.
|
|
static IRAM_ATTR void interruptHandler(void *arg)
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|
{
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|
// -- The basic structure of this code is borrowed from the
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|
// interrupt handler in esp-idf/components/driver/rmt.c
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uint32_t intr_st = RMT.int_st.val;
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|
uint8_t channel;
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|
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for (channel = 0; channel < FASTLED_RMT_MAX_CHANNELS; channel++) {
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|
int tx_done_bit = channel * 3;
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|
int tx_next_bit = channel + 24;
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|
|
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if (gOnChannel[channel] != NULL) {
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|
|
|
// -- More to send on this channel
|
|
if (intr_st & BIT(tx_next_bit)) {
|
|
RMT.int_clr.val |= BIT(tx_next_bit);
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|
|
|
// -- Refill the half of the buffer that we just finished,
|
|
// allowing the other half to proceed.
|
|
ClocklessController * controller = static_cast<ClocklessController*>(gOnChannel[channel]);
|
|
controller->fillHalfRMTBuffer();
|
|
} else {
|
|
// -- Transmission is complete on this channel
|
|
if (intr_st & BIT(tx_done_bit)) {
|
|
RMT.int_clr.val |= BIT(tx_done_bit);
|
|
doneOnChannel(rmt_channel_t(channel), 0);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// -- Fill the RMT buffer
|
|
// This function fills the next 32 slots in the RMT write
|
|
// buffer with pixel data. It also handles the case where the
|
|
// pixel data is exhausted, so we need to fill the RMT buffer
|
|
// with zeros to signal that it's done.
|
|
void fillHalfRMTBuffer()
|
|
{
|
|
uint32_t one_val = mOne.val;
|
|
uint32_t zero_val = mZero.val;
|
|
|
|
// -- Convert (up to) 32 bits of the raw pixel data into
|
|
// into RMT pulses that encode the zeros and ones.
|
|
int pulses = 0;
|
|
uint32_t byteval;
|
|
while (pulses < 32 && mCurByte < mSize) {
|
|
// -- Get one byte
|
|
byteval = mPixelData[mCurByte++];
|
|
byteval <<= 24;
|
|
// Shift bits out, MSB first, setting RMTMEM.chan[n].data32[x] to the
|
|
// rmt_item32_t value corresponding to the buffered bit value
|
|
for (register uint32_t j = 0; j < 8; j++) {
|
|
uint32_t val = (byteval & 0x80000000L) ? one_val : zero_val;
|
|
RMTMEM.chan[mRMT_channel].data32[mCurPulse].val = val;
|
|
byteval <<= 1;
|
|
mCurPulse++;
|
|
}
|
|
pulses += 8;
|
|
}
|
|
|
|
// -- When we reach the end of the pixel data, fill the rest of the
|
|
// RMT buffer with 0's, which signals to the device that we're done.
|
|
if (mCurByte == mSize) {
|
|
while (pulses < 32) {
|
|
RMTMEM.chan[mRMT_channel].data32[mCurPulse].val = 0;
|
|
mCurPulse++;
|
|
pulses++;
|
|
}
|
|
}
|
|
|
|
// -- When we have filled the back half the buffer, reset the position to the first half
|
|
if (mCurPulse >= MAX_PULSES*2)
|
|
mCurPulse = 0;
|
|
}
|
|
};
|
|
|
|
FASTLED_NAMESPACE_END
|