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-rw-r--r--platforms/chibios/drivers/vendor/RP/RP2040/ws2812_vendor.c236
1 files changed, 165 insertions, 71 deletions
diff --git a/platforms/chibios/drivers/vendor/RP/RP2040/ws2812_vendor.c b/platforms/chibios/drivers/vendor/RP/RP2040/ws2812_vendor.c
index 4470e2c826..ca130e39f5 100644
--- a/platforms/chibios/drivers/vendor/RP/RP2040/ws2812_vendor.c
+++ b/platforms/chibios/drivers/vendor/RP/RP2040/ws2812_vendor.c
@@ -1,4 +1,4 @@
-// Copyright 2022 Stefan Kerkmann
+// Copyright 2022 Stefan Kerkmann (@KarlK90)
// SPDX-License-Identifier: GPL-2.0-or-later
#include "quantum.h"
@@ -17,53 +17,156 @@ static const PIO pio = pio0;
#endif
#if !defined(RP_DMA_PRIORITY_WS2812)
-# define RP_DMA_PRIORITY_WS2812 12
+# define RP_DMA_PRIORITY_WS2812 3
#endif
-static int state_machine = -1;
+#if defined(WS2812_EXTERNAL_PULLUP)
+# pragma message "The GPIOs of the RP2040 are NOT 5V tolerant! Make sure to NOT apply any voltage over 3.3V to the RGB data pin."
+#endif
-#define WS2812_WRAP_TARGET 0
-#define WS2812_WRAP 3
+/*================== WS2812 PIO TIMINGS =================*/
-#define WS2812_T1 2
-#define WS2812_T2 5
-#define WS2812_T3 3
+// WS2812_T1L rounded to 50ns intervals and split into two wait timings
+#define PIO_T1L (WS2812_T1L / 50)
+#define PIO_T1L_A (MAX(CEILING(PIO_T1L, 2) - 1, 0))
+#define PIO_T1L_B (MAX(PIO_T1L / 2 - 1, 0))
-#if defined(WS2812_EXTERNAL_PULLUP)
+// WS2812_T0L rounded to 50ns intervals
+#define PIO_T0L (MAX(WS2812_T0L / 50 - PIO_T1L, 0))
+#define PIO_T0L_A (MAX(PIO_T0L - 1, 0))
-# pragma message "The GPIOs of the RP2040 are NOT 5V tolerant! Make sure to NOT apply any voltage over 3.3V to the RGB data pin."
+// WS2812_T0H rounded to 50ns intervals
+#define PIO_T0H (WS2812_T0H / 50)
+#define PIO_T0H_A MAX(PIO_T0H - 1, 0)
-// clang-format off
-static const uint16_t ws2812_program_instructions[] = {
- // .wrap_target
- 0x7221, // 0: out x, 1 side 1 [2]
- 0x0123, // 1: jmp !x, 3 side 0 [1]
- 0x0400, // 2: jmp 0 side 0 [4]
- 0xb442, // 3: nop side 1 [4]
- // .wrap
-};
+// WS2812_T1H rounded to 50ns intervals and split into two wait timings
+#define PIO_T1H (MAX(WS2812_T1H / 50 - PIO_T0H, 0))
+#define PIO_T1H_A (MAX((CEILING(PIO_T1H, 2) - 1), 0))
+#define PIO_T1H_B (MAX((PIO_T1H / 2) - 1, 0))
-#else
+#if (WS2812_T0L % 50) != 0
+# pragma message "WS2812_T0L is not given in an 50ns interval, it will be rounded to the next 50ns"
+#endif
+
+#if (WS2812_T0H % 50) != 0
+# pragma message "WS2812_T0H is not given in an 50ns interval, it will be rounded to the next 50ns"
+#endif
+
+#if (WS2812_T1L % 50) != 0
+# pragma message "WS2812_T0L is not given in an 50ns interval, it will be rounded to the next 50ns"
+#endif
+
+#if (WS2812_T1H % 50) != 0
+# pragma message "WS2812_T0H is not given in an 50ns interval, it will be rounded to the next 50ns"
+#endif
+
+#if WS2812_T0L < WS2812_T1L
+# error WS2812_T0L is shorter than WS2812_T1L, this is impossible to express in the RP2040 PIO driver. Please correct your timings.
+#endif
+
+#if WS2812_T1H < WS2812_T0H
+# error WS2812_T1H is shorter than WS2812_T0H, this is impossible to express in the RP2040 PIO driver. Please correct your timings.
+#endif
+
+#if WS2812_T0L > (850 + WS2812_T1L)
+# error WS2812_T0L is longer than 850ns + WS2812_T1L, this is impossible to express in the RP2040 PIO driver. Please correct your timings.
+#endif
+
+#if WS2812_T0H > 850
+# error WS2812_T0H is longer than 850ns, this is impossible to express in the RP2040 PIO driver. Please correct your timings.
+#endif
+
+#if WS2812_T1H > (1700 + WS2812_T0H)
+# error WS2812_T1H is longer than 1700ns + WS2812_T0H, this is impossible to express in the RP2040 PIO driver. Please correct your timings.
+#endif
+
+#if WS2812_T1L > 1700
+# error WS2812_T1L is longer than 1700ns, this is impossible to express in the RP2040 PIO driver. Please correct your timings.
+#endif
+
+#if WS2812_T0L < (50 + WS2812_T1L)
+# error WS2812_T0L is shorter than 50ns + WS2812_T1L, this is impossible to express in the RP2040 PIO driver. Please correct your timings.
+#endif
+
+#if WS2812_T0H < 50
+# error WS2812_T0H is shorter than 50ns, this is impossible to express in the RP2040 PIO driver. Please correct your timings.
+#endif
+
+#if WS2812_T1H < (100 + WS2812_T0H)
+# error WS2812_T1H is longer than 100ns + WS2812_T0H, this is impossible to express in the RP2040 PIO driver. Please correct your timings.
+#endif
+
+#if WS2812_T1L < 100
+# error WS2812_T1L is longer than 1700ns, this is impossible to express in the RP2040 PIO driver. Please correct your timings.
+#endif
+
+/**
+ * @brief Helper macro to binary patch the delay part of an per-compiled PIO
+ * opcode.
+ */
+#define PIO_DELAY(delay, opcode) (((delay & 0xF) << 8U) | opcode)
+
+#define WS2812_WRAP_TARGET 0
+#define WS2812_WRAP 5
static const uint16_t ws2812_program_instructions[] = {
- // .wrap_target
- 0x6221, // 0: out x, 1 side 0 [2]
- 0x1123, // 1: jmp !x, 3 side 1 [1]
- 0x1400, // 2: jmp 0 side 1 [4]
- 0xa442, // 3: nop side 0 [4]
- // .wrap
+ // .wrap_target
+ PIO_DELAY(PIO_T1L_A, 0x6021), // 0: out x, 1 side 0 // T1L (max. 1700ns)
+ PIO_DELAY(PIO_T1L_B, 0xa042), // 1: nop side 0 // T1L
+ PIO_DELAY(PIO_T0H_A, 0x1025), // 2: jmp !x, 5 side 1 // T0H (max. 850ns)
+ PIO_DELAY(PIO_T1H_A, 0xb042), // 3: nop side 1 // T1H (max. 1700ns + T0H)
+ PIO_DELAY(PIO_T1H_B, 0x1000), // 4: jmp 0 side 1 // T1H
+ PIO_DELAY(PIO_T0L_A, 0xa042), // 5: nop side 0 // T0L (max. 850ns + T1L)
+ // .wrap
};
-// clang-format on
-#endif
static const pio_program_t ws2812_program = {
.instructions = ws2812_program_instructions,
- .length = 4,
+ .length = ARRAY_SIZE(ws2812_program_instructions),
.origin = -1,
};
static uint32_t WS2812_BUFFER[WS2812_LED_COUNT];
static const rp_dma_channel_t* WS2812_DMA_CHANNEL;
+static uint32_t RP_DMA_MODE_WS2812;
+static int STATE_MACHINE = -1;
+
+static SEMAPHORE_DECL(TRANSFER_COUNTER, 1);
+static rtcnt_t LAST_TRANSFER;
+
+/**
+ * @brief Convert RGBW value into WS2812 compatible 32-bit data word.
+ */
+__always_inline static uint32_t rgbw8888_to_u32(uint8_t red, uint8_t green, uint8_t blue, uint8_t white) {
+#if (WS2812_BYTE_ORDER == WS2812_BYTE_ORDER_GRB)
+ return ((uint32_t)green << 24) | ((uint32_t)red << 16) | ((uint32_t)blue << 8) | ((uint32_t)white);
+#elif (WS2812_BYTE_ORDER == WS2812_BYTE_ORDER_RGB)
+ return ((uint32_t)red << 24) | ((uint32_t)green << 16) | ((uint32_t)blue << 8) | ((uint32_t)white);
+#elif (WS2812_BYTE_ORDER == WS2812_BYTE_ORDER_BGR)
+ return ((uint32_t)blue << 24) | ((uint32_t)green << 16) | ((uint32_t)red << 8) | ((uint32_t)white);
+#endif
+}
+
+static void ws2812_dma_callback(void* p, uint32_t ct) {
+ // We assume that there is at least one frame left in the OSR even if the TX
+ // FIFO is already empty.
+ rtcnt_t time_to_completion = (pio_sm_get_tx_fifo_level(pio, STATE_MACHINE) + 1) * MAX(WS2812_T1H + WS2812_T1L, WS2812_T0H + WS2812_T0L);
+
+#if defined(RGBW)
+ time_to_completion *= 32;
+#else
+ time_to_completion *= 24;
+#endif
+
+ // Convert from ns to us
+ time_to_completion /= 1000;
+
+ LAST_TRANSFER = chSysGetRealtimeCounterX() + time_to_completion + WS2812_TRST_US;
+
+ osalSysLockFromISR();
+ chSemSignalI(&TRANSFER_COUNTER);
+ osalSysUnlockFromISR();
+}
bool ws2812_init(void) {
uint pio_idx = pio_get_index(pio);
@@ -73,20 +176,23 @@ bool ws2812_init(void) {
// clang-format off
iomode_t rgb_pin_mode = PAL_RP_PAD_SLEWFAST |
PAL_RP_GPIO_OE |
+#if defined(WS2812_EXTERNAL_PULLUP)
+ PAL_RP_IOCTRL_OEOVER_DRVINVPERI |
+#endif
(pio_idx == 0 ? PAL_MODE_ALTERNATE_PIO0 : PAL_MODE_ALTERNATE_PIO1);
// clang-format on
palSetLineMode(RGB_DI_PIN, rgb_pin_mode);
- state_machine = pio_claim_unused_sm(pio, true);
- if (state_machine < 0) {
+ STATE_MACHINE = pio_claim_unused_sm(pio, true);
+ if (STATE_MACHINE < 0) {
dprintln("ERROR: Failed to acquire state machine for WS2812 output!");
return false;
}
uint offset = pio_add_program(pio, &ws2812_program);
- pio_sm_set_consecutive_pindirs(pio, state_machine, RGB_DI_PIN, 1, true);
+ pio_sm_set_consecutive_pindirs(pio, STATE_MACHINE, RGB_DI_PIN, 1, true);
pio_sm_config config = pio_get_default_sm_config();
sm_config_set_wrap(&config, offset + WS2812_WRAP_TARGET, offset + WS2812_WRAP);
@@ -113,57 +219,44 @@ bool ws2812_init(void) {
sm_config_set_out_shift(&config, false, true, 24);
#endif
- int cycles_per_bit = WS2812_T1 + WS2812_T2 + WS2812_T3;
- float div = clock_get_hz(clk_sys) / (800.0f * KHZ * cycles_per_bit);
+ // Every instruction takes 50ns to execute with a clock speed of 20 MHz,
+ // giving the WS2812 PIO driver its time resolution
+ float div = clock_get_hz(clk_sys) / (20.0f * MHZ);
sm_config_set_clkdiv(&config, div);
- pio_sm_init(pio, state_machine, offset, &config);
- pio_sm_set_enabled(pio, state_machine, true);
+ pio_sm_init(pio, STATE_MACHINE, offset, &config);
+ pio_sm_set_enabled(pio, STATE_MACHINE, true);
- WS2812_DMA_CHANNEL = dmaChannelAlloc(RP_DMA_CHANNEL_ID_ANY, RP_DMA_PRIORITY_WS2812, NULL, NULL);
+ WS2812_DMA_CHANNEL = dmaChannelAlloc(RP_DMA_CHANNEL_ID_ANY, RP_DMA_PRIORITY_WS2812, (rp_dmaisr_t)ws2812_dma_callback, NULL);
+ dmaChannelEnableInterruptX(WS2812_DMA_CHANNEL);
+ dmaChannelSetDestinationX(WS2812_DMA_CHANNEL, (uint32_t)&pio->txf[STATE_MACHINE]);
// clang-format off
- uint32_t mode = DMA_CTRL_TRIG_INCR_READ |
- DMA_CTRL_TRIG_DATA_SIZE_WORD |
- DMA_CTRL_TRIG_IRQ_QUIET |
- DMA_CTRL_TRIG_TREQ_SEL(pio_idx == 0 ? state_machine : state_machine + 8);
+ RP_DMA_MODE_WS2812 = DMA_CTRL_TRIG_INCR_READ |
+ DMA_CTRL_TRIG_DATA_SIZE_WORD |
+ DMA_CTRL_TRIG_TREQ_SEL(pio == pio0 ? STATE_MACHINE : STATE_MACHINE + 8) |
+ DMA_CTRL_TRIG_PRIORITY(RP_DMA_PRIORITY_WS2812);
// clang-format on
- dmaChannelSetModeX(WS2812_DMA_CHANNEL, mode);
- dmaChannelSetDestinationX(WS2812_DMA_CHANNEL, (uint32_t)&pio->txf[state_machine]);
return true;
}
-/**
- * @brief Convert RGBW value into WS2812 compatible 32-bit data word.
- */
-__always_inline static uint32_t rgbw8888_to_u32(uint8_t red, uint8_t green, uint8_t blue, uint8_t white) {
-#if (WS2812_BYTE_ORDER == WS2812_BYTE_ORDER_GRB)
- return ((uint32_t)green << 24) | ((uint32_t)red << 16) | ((uint32_t)blue << 8) | ((uint32_t)white);
-#elif (WS2812_BYTE_ORDER == WS2812_BYTE_ORDER_RGB)
- return ((uint32_t)red << 24) | ((uint32_t)green << 16) | ((uint32_t)blue << 8) | ((uint32_t)white);
-#elif (WS2812_BYTE_ORDER == WS2812_BYTE_ORDER_BGR)
- return ((uint32_t)blue << 24) | ((uint32_t)green << 16) | ((uint32_t)red << 8) | ((uint32_t)white);
-#endif
-}
-
static inline void sync_ws2812_transfer(void) {
- if (unlikely(dmaChannelIsBusyX(WS2812_DMA_CHANNEL) || !pio_sm_is_tx_fifo_empty(pio, state_machine))) {
- fast_timer_t start = timer_read_fast();
- do {
- // Abort the synchronization if we have to wait longer than the total
- // count of LEDs in millisecounds. This is safely much longer than it
- // would take to push all the data out.
- if (unlikely(timer_elapsed_fast(start) > WS2812_LED_COUNT)) {
- dprintln("ERROR: WS2812 DMA transfer has stalled, aborting!");
- dmaChannelDisableX(WS2812_DMA_CHANNEL);
- return;
- }
-
- } while (dmaChannelIsBusyX(WS2812_DMA_CHANNEL) || !pio_sm_is_tx_fifo_empty(pio, state_machine));
- // We wait for the WS2812 chain to reset after all data has been pushed
- // out.
+ if (chSemWaitTimeout(&TRANSFER_COUNTER, TIME_MS2I(RGBLED_NUM)) == MSG_TIMEOUT) {
+ // Abort the synchronization if we have to wait longer than the total
+ // count of LEDs in milliseconds. This is safely much longer than it
+ // would take to push all the data out.
+ dprintln("ERROR: WS2812 DMA transfer has stalled, aborting!");
+ dmaChannelDisableX(WS2812_DMA_CHANNEL);
+ pio_sm_clear_fifos(pio, STATE_MACHINE);
+ pio_sm_restart(pio, STATE_MACHINE);
+ chSemReset(&TRANSFER_COUNTER, 0);
wait_us(WS2812_TRST_US);
+ return;
+ }
+
+ // Busy wait until last transfer has finished
+ while (unlikely(!timer_expired32(chSysGetRealtimeCounterX(), LAST_TRANSFER))) {
}
}
@@ -185,5 +278,6 @@ void ws2812_setleds(LED_TYPE* ledarray, uint16_t leds) {
dmaChannelSetSourceX(WS2812_DMA_CHANNEL, (uint32_t)WS2812_BUFFER);
dmaChannelSetCounterX(WS2812_DMA_CHANNEL, leds);
+ dmaChannelSetModeX(WS2812_DMA_CHANNEL, RP_DMA_MODE_WS2812);
dmaChannelEnableX(WS2812_DMA_CHANNEL);
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-27 05:22:47 +0000