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354 lines
12 KiB
C
354 lines
12 KiB
C
/**
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******************************************************************************
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*
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* @file pios_ws2811.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
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* @brief A driver for ws2811 rgb led controller.
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* this is a plain PiOS port of the very clever solution
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* implemented by Omri Iluz in the chibios driver here:
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* https://github.com/omriiluz/WS2812B-LED-Driver-ChibiOS
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include <pios.h>
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#ifdef PIOS_INCLUDE_WS2811
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#include "pios_ws2811_cfg.h"
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#include <stm32f4xx_rcc.h>
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#include <pios_stm32.h>
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#include "FreeRTOS.h"
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#include "task.h"
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// framebuffer
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static ledbuf_t *fb = 0;
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// bitmask with pin to be set/reset using dma
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static ledbuf_t dmaSource[4];
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static const struct pios_ws2811_cfg *pios_ws2811_cfg;
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static const struct pios_ws2811_pin_cfg *pios_ws2811_pin_cfg;
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static void setupTimer();
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static void setupDMA();
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// generic wrapper around corresponding SPL functions
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static void genericTIM_OCxInit(TIM_TypeDef *TIMx, const TIM_OCInitTypeDef *TIM_OCInitStruct, uint8_t ch);
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static void genericTIM_OCxPreloadConfig(TIM_TypeDef *TIMx, uint16_t TIM_OCPreload, uint8_t ch);
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// timer creates a 1.25 uS signal, with duty cycle controlled by frame buffer values
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/* Example configuration fragment for REVOLUTION
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#ifdef PIOS_INCLUDE_WS2811
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#include <pios_ws2811.h>
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#include <hwsettings.h>
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#define PIOS_WS2811_TIM_DIVIDER (PIOS_PERIPHERAL_APB2_CLOCK / (800000 * PIOS_WS2811_TIM_PERIOD))
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// interrupt vector for DMA streamCh1
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void DMA2_Stream1_IRQHandler(void) __attribute__((alias("PIOS_WS2811_irq_handler")));
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const struct pios_ws2811_pin_cfg pios_ws2811_pin_cfg[] = {
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[HWSETTINGS_WS2811LED_OUT_SERVOOUT1] = {
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.gpio = GPIOB,
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.gpioInit = {
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.GPIO_Pin = GPIO_Pin_0,
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.GPIO_Speed = GPIO_Speed_25MHz,
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.GPIO_Mode = GPIO_Mode_OUT,
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.GPIO_OType = GPIO_OType_PP,
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},
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},
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....
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[HWSETTINGS_WS2811LED_OUT_FLEXIIOPIN4] = {
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.gpio = GPIOB,
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.gpioInit = {
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.GPIO_Pin = GPIO_Pin_13,
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.GPIO_Speed = GPIO_Speed_25MHz,
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.GPIO_Mode = GPIO_Mode_OUT,
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.GPIO_OType = GPIO_OType_PP,
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},
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},
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};
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const struct pios_ws2811_cfg pios_ws2811_cfg = {
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.timer = TIM1,
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.timerInit = {
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.TIM_Prescaler = PIOS_WS2811_TIM_DIVIDER - 1,
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.TIM_ClockDivision = TIM_CKD_DIV1,
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.TIM_CounterMode = TIM_CounterMode_Up,
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// period (1.25 uS per period
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.TIM_Period = PIOS_WS2811_TIM_PERIOD,
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.TIM_RepetitionCounter = 0x0000,
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},
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.timerCh1 = 1,
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.streamCh1 = DMA2_Stream1,
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.timerCh2 = 3,
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.streamCh2 = DMA2_Stream6,
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.streamUpdate = DMA2_Stream5,
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// DMA streamCh1, triggered by timerCh1 pwm signal.
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// if FrameBuffer indicates, reset output value early to indicate "0" bit to ws2812
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.dmaInitCh1 = PIOS_WS2811_DMA_UPDATE_CONFIG(DMA_Channel_6),
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.dmaItCh1 = DMA_IT_TEIF1 | DMA_IT_TCIF1,
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// DMA streamCh2, triggered by timerCh2 pwm signal.
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// Reset output value late to indicate "1" bit to ws2812.
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.dmaInitCh2 = PIOS_WS2811_DMA_CH1_CONFIG(DMA_Channel_6),
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.dmaItCh2 = DMA_IT_TEIF6 | DMA_IT_TCIF6,
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// DMA streamUpdate Triggered by timer update event
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// Outputs a high logic level at beginning of a cycle
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.dmaInitUpdate = PIOS_WS2811_DMA_CH2_CONFIG(DMA_Channel_6),
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.dmaItUpdate = DMA_IT_TEIF5 | DMA_IT_TCIF5,
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.dmaSource = TIM_DMA_CC1 | TIM_DMA_CC3 | TIM_DMA_Update,
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// DMA streamCh1 interrupt vector, used to block timer at end of framebuffer transfer
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.irq = {
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.flags = (DMA_IT_TCIF1),
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.init = {
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.NVIC_IRQChannel = DMA2_Stream1_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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};
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void PIOS_WS2811_irq_handler(void)
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{
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PIOS_WS2811_DMA_irq_handler();
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}
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#endif // PIOS_INCLUDE_WS2811
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*/
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/*
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* How it works:
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* a timer and two channels will produce the timings events:
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* timer period will be 1.25us
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* Ch1 CC event will be raised at 0.40uS from the beginning of the cycle
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* Ch2 CC event will be raised at 0.80uS from the beginning of the cycle
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* At cycle init an Update event will be raised.
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*
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* Three dma streams will handle the output pin as following:
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* - streamUpdate dma stream, triggered by update event will produce a logic 1 on the output pin
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* - streamCh1 will bring the pin to 0 if framebuffer location is set to dmaSource value to send a "0" bit to WS281x
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* - streamCh2 will bring pin to 0 once .8us are passed to send a "1" bit to ws281x
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* Once StreamCh1 has finished to send the buffer the IRQ handler will stop the timer.
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*
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*/
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/**
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* @brief Initialize WS2811 Led Driver
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* @details Initialize the Led Driver based on passed configuration
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*
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* @param[in] ws2811_cfg ws2811 driver configuration
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* @param[in] ws2811_pin_cfg pin to be used as output
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*
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*/
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void PIOS_WS2811_Init(const struct pios_ws2811_cfg *ws2811_cfg, const struct pios_ws2811_pin_cfg *ws2811_pin_cfg)
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{
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assert_param(ws2811_cfg);
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assert_param(ws2811_pin_cfg);
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pios_ws2811_pin_cfg = ws2811_pin_cfg;
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pios_ws2811_cfg = ws2811_cfg;
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GPIO_Init(pios_ws2811_pin_cfg->gpio, &pios_ws2811_pin_cfg->gpioInit);
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for (uint8_t i = 0; i < 4; i++) {
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dmaSource[i] = (ledbuf_t)pios_ws2811_pin_cfg->gpioInit.GPIO_Pin;
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}
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fb = (ledbuf_t *)pios_malloc(PIOS_WS2811_BUFFER_SIZE * sizeof(ledbuf_t));
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memset(fb, 0, PIOS_WS2811_BUFFER_SIZE * sizeof(ledbuf_t));
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const Color_t ledoff = Color_Off;
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for (uint8_t i = 0; i < PIOS_WS2811_NUMLEDS; i++) {
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PIOS_WS2811_setColorRGB(ledoff, i, false);
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}
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// Setup timers
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setupTimer();
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setupDMA();
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}
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void setupTimer()
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{
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// Stop timer
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TIM_Cmd(pios_ws2811_cfg->timer, DISABLE);
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// Configure timebase and internal clock
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TIM_TimeBaseInit(pios_ws2811_cfg->timer, &pios_ws2811_cfg->timerInit);
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TIM_InternalClockConfig(pios_ws2811_cfg->timer);
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genericTIM_OCxPreloadConfig(pios_ws2811_cfg->timer, TIM_OCPreload_Enable, pios_ws2811_cfg->timerCh1);
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genericTIM_OCxPreloadConfig(pios_ws2811_cfg->timer, TIM_OCPreload_Enable, pios_ws2811_cfg->timerCh2);
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TIM_ARRPreloadConfig(pios_ws2811_cfg->timer, ENABLE);
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// enable outputs
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// TIM_CtrlPWMOutputs(pios_ws2811_cfg->timer, ENABLE);
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TIM_DMACmd(pios_ws2811_cfg->timer, pios_ws2811_cfg->dmaSource, ENABLE);
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TIM_OCInitTypeDef oc = {
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.TIM_OCMode = TIM_OCMode_PWM1,
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.TIM_OutputState = TIM_OutputState_Enable,
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.TIM_OutputNState = TIM_OutputNState_Disable,
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.TIM_Pulse = 0,
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.TIM_OCPolarity = TIM_OCPolarity_High,
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.TIM_OCNPolarity = TIM_OCNPolarity_High,
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.TIM_OCIdleState = TIM_OCIdleState_Reset,
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.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
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};
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// (duty in ticks) / (period in ticks) * 1.25uS (period in S) = 0.40 uS
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oc.TIM_Pulse = PIOS_WS2811_T0_HIGH_PERIOD * PIOS_WS2811_TIM_PERIOD / 125;
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genericTIM_OCxInit(pios_ws2811_cfg->timer, &oc, pios_ws2811_cfg->timerCh1);
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// (duty in ticks) / (period in ticks) * 1.25uS (period in S) = 0.80 uS
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oc.TIM_Pulse = PIOS_WS2811_T1_HIGH_PERIOD * PIOS_WS2811_TIM_PERIOD / 125;
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genericTIM_OCxInit(pios_ws2811_cfg->timer, &oc, pios_ws2811_cfg->timerCh2);
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}
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void genericTIM_OCxInit(TIM_TypeDef *TIMx, const TIM_OCInitTypeDef *TIM_OCInitStruct, uint8_t ch)
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{
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switch (ch) {
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case 1:
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TIM_OC1Init(TIMx, TIM_OCInitStruct);
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break;
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case 2:
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TIM_OC2Init(TIMx, TIM_OCInitStruct);
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break;
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case 3:
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TIM_OC3Init(TIMx, TIM_OCInitStruct);
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break;
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case 4:
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TIM_OC4Init(TIMx, TIM_OCInitStruct);
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break;
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}
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}
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void genericTIM_OCxPreloadConfig(TIM_TypeDef *TIMx, uint16_t TIM_OCPreload, uint8_t ch)
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{
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switch (ch) {
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case 1:
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TIM_OC1PreloadConfig(TIMx, TIM_OCPreload);
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break;
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case 2:
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TIM_OC2PreloadConfig(TIMx, TIM_OCPreload);
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break;
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case 3:
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TIM_OC3PreloadConfig(TIMx, TIM_OCPreload);
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break;
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case 4:
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TIM_OC4PreloadConfig(TIMx, TIM_OCPreload);
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break;
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}
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}
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void setupDMA()
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{
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// Configure Ch1
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DMA_Init(pios_ws2811_cfg->streamCh1, (DMA_InitTypeDef *)&pios_ws2811_cfg->dmaInitCh1);
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pios_ws2811_cfg->streamCh1->PAR = (uint32_t)&pios_ws2811_pin_cfg->gpio->BSRRH;
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pios_ws2811_cfg->streamCh1->M0AR = (uint32_t)fb;
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NVIC_Init((NVIC_InitTypeDef *)&(pios_ws2811_cfg->irq.init));
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DMA_ITConfig(pios_ws2811_cfg->streamCh1, DMA_IT_TC, ENABLE);
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DMA_Init(pios_ws2811_cfg->streamCh2, (DMA_InitTypeDef *)&pios_ws2811_cfg->dmaInitCh2);
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pios_ws2811_cfg->streamCh2->PAR = (uint32_t)&pios_ws2811_pin_cfg->gpio->BSRRH;
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pios_ws2811_cfg->streamCh2->M0AR = (uint32_t)dmaSource;
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DMA_Init(pios_ws2811_cfg->streamUpdate, (DMA_InitTypeDef *)&pios_ws2811_cfg->dmaInitUpdate);
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pios_ws2811_cfg->streamUpdate->PAR = (uint32_t)&pios_ws2811_pin_cfg->gpio->BSRRL;
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pios_ws2811_cfg->streamUpdate->M0AR = (uint32_t)dmaSource;
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DMA_ClearITPendingBit(pios_ws2811_cfg->streamCh1, pios_ws2811_cfg->dmaItCh1);
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DMA_ClearITPendingBit(pios_ws2811_cfg->streamCh2, pios_ws2811_cfg->dmaItCh2);
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DMA_ClearITPendingBit(pios_ws2811_cfg->streamUpdate, pios_ws2811_cfg->dmaItUpdate);
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DMA_Cmd(pios_ws2811_cfg->streamCh2, ENABLE);
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DMA_Cmd(pios_ws2811_cfg->streamCh1, ENABLE);
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DMA_Cmd(pios_ws2811_cfg->streamUpdate, ENABLE);
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}
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void setColor(uint8_t color, ledbuf_t *buf)
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{
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uint8_t i;
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for (i = 0; i < 8; i++) {
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buf[i] = ((color << i) & 0b10000000 ? 0x0 : dmaSource[0]);
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}
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}
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/**
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* Set a led color
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* @param c color
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* @param led led number
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* @param update Perform an update after changing led color
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*/
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void PIOS_WS2811_setColorRGB(Color_t c, uint8_t led, bool update)
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{
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if (led >= PIOS_WS2811_NUMLEDS) {
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return;
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}
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setColor(c.G, fb + (led * 24));
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setColor(c.R, fb + 8 + (led * 24));
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setColor(c.B, fb + 16 + (led * 24));
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if (update) {
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PIOS_WS2811_Update();
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}
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}
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/**
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* trigger an update cycle if not already running
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*/
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void PIOS_WS2811_Update()
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{
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// does not start if framebuffer is not allocated (init has not been called yet) or a transfer is still on going
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if (!fb || (pios_ws2811_cfg->timer->CR1 & TIM_CR1_CEN)) {
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return;
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}
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// reset counters for synchronization
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pios_ws2811_cfg->timer->CNT = PIOS_WS2811_TIM_PERIOD - 1;
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DMA_Cmd(pios_ws2811_cfg->streamCh2, ENABLE);
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DMA_Cmd(pios_ws2811_cfg->streamCh1, ENABLE);
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DMA_Cmd(pios_ws2811_cfg->streamUpdate, ENABLE);
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// Start a new cycle
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TIM_Cmd(pios_ws2811_cfg->timer, ENABLE);
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}
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/**
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* Stop timer once the complete framebuffer has been sent
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*/
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void PIOS_WS2811_DMA_irq_handler()
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{
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pios_ws2811_pin_cfg->gpio->BSRRH = dmaSource[0];
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pios_ws2811_cfg->timer->CR1 &= (uint16_t) ~TIM_CR1_CEN;
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DMA_ClearFlag(pios_ws2811_cfg->streamCh1, pios_ws2811_cfg->irq.flags);
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DMA_Cmd(pios_ws2811_cfg->streamCh2, DISABLE);
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DMA_Cmd(pios_ws2811_cfg->streamCh1, DISABLE);
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DMA_Cmd(pios_ws2811_cfg->streamUpdate, DISABLE);
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}
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#endif // PIOS_INCLUDE_WS2811
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