PixelBone_Pixel::PixelBone_Pixel(uint16_t pixel_count)
: pru0(pru_init(0)), num_pixels(pixel_count),
buffer_size(pixel_count * sizeof(pixel_t)) {
if (2 * buffer_size > pru0->ddr_size)
die("Pixel data needs at least 2 * %zu, only %zu in DDR\n", buffer_size,
pru0->ddr_size);
ws281x = (ws281x_command_t *)pru0->data_ram;
*(ws281x) = ws281x_command_t((unsigned)pixel_count);
// Configure all of our output pins.
pru_gpio(0, gpios0, 1, 0);
// Initiate the PRU0 program
pru_exec(pru0, "./ws281x.bin");
// Watch for a done response that indicates a proper startup
// TODO: timeout if it fails
std::cout << "waiting for response from pru0... ";
while (!ws281x->response)
;
std::cout << "OK" << std::endl;
};
int rtapi_app_main(void)
{
hal_pru_generic_t *hpg;
int retval;
comp_id = hal_init("hal_pru_generic");
if (comp_id < 0) {
HPG_ERR("ERROR: hal_init() failed\n");
return -1;
}
// Allocate HAL shared memory for state data
hpg = hal_malloc(sizeof(hal_pru_generic_t));
if (hpg == 0) {
HPG_ERR("ERROR: hal_malloc() failed\n");
hal_exit(comp_id);
return -1;
}
// Clear memory
memset(hpg, 0, sizeof(hal_pru_generic_t));
// Initialize PRU and map PRU data memory
if ((retval = pru_init(pru, prucode, disabled, hpg))) {
HPG_ERR("ERROR: failed to initialize PRU\n");
hal_exit(comp_id);
return -1;
}
// Setup global state
hpg->config.num_pwmgens = num_pwmgens;
hpg->config.num_stepgens = num_stepgens;
hpg->config.num_encoders = num_encoders;
hpg->config.comp_id = comp_id;
hpg->config.pru_period = pru_period;
hpg->config.name = modname;
hpg->config.halname = halname;
rtapi_print("num_pwmgens : %d\n",num_pwmgens);
rtapi_print("num_stepgens: %d\n",num_stepgens);
rtapi_print("num_encoders: %d\n",num_encoders);
rtapi_print("Init pwm\n");
// Initialize various functions and generate PRU data ram contents
if ((retval = hpg_pwmgen_init(hpg))) {
HPG_ERR("ERROR: pwmgen init failed: %d\n", retval);
hal_exit(comp_id);
return -1;
}
rtapi_print("Init stepgen\n");
if ((retval = hpg_stepgen_init(hpg))) {
HPG_ERR("ERROR: stepgen init failed: %d\n", retval);
hal_exit(comp_id);
return -1;
}
rtapi_print("Init encoder\n");
if ((retval = hpg_encoder_init(hpg))) {
HPG_ERR("ERROR: encoder init failed: %d\n", retval);
hal_exit(comp_id);
return -1;
}
if ((retval = hpg_wait_init(hpg))) {
HPG_ERR("ERROR: global task init failed: %d\n", retval);
hal_exit(comp_id);
return -1;
}
if ((retval = export_pru(hpg))) {
HPG_ERR("ERROR: var export failed: %d\n", retval);
hal_exit(comp_id);
return -1;
}
hpg_stepgen_force_write(hpg);
hpg_pwmgen_force_write(hpg);
hpg_encoder_force_write(hpg);
hpg_wait_force_write(hpg);
if ((retval = setup_pru(pru, prucode, disabled, hpg))) {
HPG_ERR("ERROR: failed to initialize PRU\n");
hal_exit(comp_id);
return -1;
}
HPG_INFO("installed\n");
hal_ready(comp_id);
return 0;
}
ledscape_t *
ledscape_init_with_modes(
unsigned num_pixels,
ledscape_output_mode_t pru0_mode,
ledscape_output_mode_t pru1_mode
)
{
pru_t * const pru0 = pru_init(0);
pru_t * const pru1 = pru_init(1);
const size_t frame_size = num_pixels * LEDSCAPE_NUM_STRIPS * 4;
if (2 *frame_size > pru0->ddr_size)
die("Pixel data needs at least 2 * %zu, only %zu in DDR\n",
frame_size,
pru0->ddr_size
);
ledscape_t * const leds = calloc(1, sizeof(*leds));
*leds = (ledscape_t) {
.pru0 = pru0,
.pru1 = pru1,
.num_pixels = num_pixels,
.frame_size = frame_size,
.pru0_mode = pru0_mode,
.pru1_mode = pru1_mode,
.ws281x_0 = pru0->data_ram,
.ws281x_1 = pru1->data_ram
};
*(leds->ws281x_0) = *(leds->ws281x_1) = (ws281x_command_t) {
.pixels_dma = 0, // will be set in draw routine
.command = 0,
.response = 0,
.num_pixels = leds->num_pixels,
};
// Configure all of our output pins.
for (unsigned i = 0 ; i < ARRAY_COUNT(gpios0) ; i++)
pru_gpio(0, gpios0[i], 1, 0);
for (unsigned i = 0 ; i < ARRAY_COUNT(gpios1) ; i++)
pru_gpio(1, gpios1[i], 1, 0);
for (unsigned i = 0 ; i < ARRAY_COUNT(gpios2) ; i++)
pru_gpio(2, gpios2[i], 1, 0);
for (unsigned i = 0 ; i < ARRAY_COUNT(gpios3) ; i++)
pru_gpio(3, gpios3[i], 1, 0);
// Initiate the PRU0 program
const char* pru0_program_filename;
switch (pru0_mode) {
case NOP: pru0_program_filename = "./nop_0.bin"; break;
case WS281x: pru0_program_filename = "./ws281x_0.bin"; break;
case DMX: pru0_program_filename = "./dmx_0.bin"; break;
case WS2801: pru0_program_filename = "./ws2801_0.bin"; break;
case WS2801_NEWPINS: pru0_program_filename = "./ws2801_newpins_0.bin"; break;
default:
warn("Invalid PRU0 Mode.");
pru0_program_filename = "./ws281x_0.bin";
}
pru_exec(pru0, pru0_program_filename);
// Watch for a done response that indicates a proper startup
// \todo timeout if it fails
fprintf(stdout, "String PRU0 with %s... ", pru0_program_filename);
while (!leds->ws281x_0->response);
printf("OK\n");
// Initiate the PRU1 program
const char* pru1_program_filename;
switch (pru1_mode) {
case NOP: pru1_program_filename = "./nop_1.bin"; break;
case WS281x: pru1_program_filename = "./ws281x_1.bin"; break;
case DMX:
warn("PRU1 does not currently support DMX.");
pru1_program_filename = "./ws281x_1.bin";
break;
case WS2801: pru1_program_filename = "./ws2801_1.bin"; break;
case WS2801_NEWPINS: pru1_program_filename = "./ws2801_newpins_1.bin"; break;
default:
pru1_program_filename = "./ws281x_1.bin";
warn("Invalid PRU1 Mode.");
}
pru_exec(pru1, pru1_program_filename);
// Watch for a done response that indicates a proper startup
// \todo timeout if it fails
fprintf(stdout, "String PRU1 with %s... ", pru1_program_filename);
while (!leds->ws281x_1->response);
printf("OK\n");
return leds;
}
void
ledscape_close(
ledscape_t * const leds
)
{
// Signal a halt command
leds->ws281x_0->command = 0xFF;
leds->ws281x_1->command = 0xFF;
pru_close(leds->pru0);
pru_close(leds->pru1);
}
void
ledscape_set_color(
ledscape_frame_t * const frame,
uint8_t strip,
uint16_t pixel,
uint8_t r,
uint8_t g,
uint8_t b
)
{
ledscape_pixel_t * const p = &frame[pixel].strip[strip];
p->r = r;
p->g = g;
p->b = b;
}
