void ws2811LedStripInit(void)
{
memset(&ledStripDMABuffer, 0, WS2811_DMA_BUFFER_SIZE);
dmaSetHandler(WS2811_DMA_HANDLER_IDENTIFER, ws2811DMAHandler);
ws2811LedStripHardwareInit();
ws2811UpdateStrip();
}
void updateLedStrip(void)
{
if (!(ledStripInitialised && isWS2811LedStripReady())) {
return;
}
uint32_t now = micros();
bool animationUpdateNow = (int32_t)(now - nextAnimationUpdateAt) >= 0L;
bool indicatorFlashNow = (int32_t)(now - nextIndicatorFlashAt) >= 0L;
bool warningFlashNow = (int32_t)(now - nextWarningFlashAt) >= 0L;
if (!(warningFlashNow || indicatorFlashNow || animationUpdateNow)) {
return;
}
static uint8_t indicatorFlashState = 0;
// LAYER 1
applyLedModeLayer();
applyLedThrottleLayer();
// LAYER 2
if (warningFlashNow) {
nextWarningFlashAt = now + LED_STRIP_10HZ;
}
applyLedWarningLayer(warningFlashNow);
// LAYER 3
if (indicatorFlashNow) {
uint8_t rollScale = abs(rcCommand[ROLL]) / 50;
uint8_t pitchScale = abs(rcCommand[PITCH]) / 50;
uint8_t scale = max(rollScale, pitchScale);
nextIndicatorFlashAt = now + (LED_STRIP_5HZ / max(1, scale));
if (indicatorFlashState == 0) {
indicatorFlashState = 1;
} else {
indicatorFlashState = 0;
}
}
applyLedIndicatorLayer(indicatorFlashState);
if (animationUpdateNow) {
nextAnimationUpdateAt = now + LED_STRIP_20HZ;
updateLedAnimationState();
}
#ifdef USE_LED_ANIMATION
applyLedAnimationLayer();
#endif
ws2811UpdateStrip();
}
void ws2811LedStripInit(ioTag_t ioTag)
{
memset(&ledStripDMABuffer, 0, WS2811_DMA_BUFFER_SIZE);
ws2811LedStripHardwareInit(ioTag);
const hsvColor_t hsv_white = { 0, 255, 255};
setStripColor(&hsv_white);
ws2811UpdateStrip();
}
void ws2811LedStripInit(ioTag_t ioTag)
{
memset(ledStripDMABuffer, 0, sizeof(ledStripDMABuffer));
ws2811LedStripHardwareInit(ioTag);
const hsvColor_t hsv_white = { 0, 255, 255 };
setStripColor(&hsv_white);
ws2811UpdateStrip();
}
void ledStripUpdate(timeUs_t currentTimeUs)
{
if (!(ledStripInitialised && isWS2811LedStripReady())) {
return;
}
if (IS_RC_MODE_ACTIVE(BOXLEDLOW) && !(ledStripConfig()->ledstrip_visual_beeper && isBeeperOn())) {
if (ledStripEnabled) {
ledStripDisable();
ledStripEnabled = false;
}
return;
}
ledStripEnabled = true;
const uint32_t now = currentTimeUs;
// test all led timers, setting corresponding bits
uint32_t timActive = 0;
for (timId_e timId = 0; timId < timTimerCount; timId++) {
if (!(disabledTimerMask & (1 << timId))) {
// sanitize timer value, so that it can be safely incremented. Handles inital timerVal value.
const timeDelta_t delta = cmpTimeUs(now, timerVal[timId]);
// max delay is limited to 5s
if (delta < 0 && delta > -MAX_TIMER_DELAY)
continue; // not ready yet
timActive |= 1 << timId;
if (delta >= 100 * 1000 || delta < 0) {
timerVal[timId] = now;
}
}
}
if (!timActive)
return; // no change this update, keep old state
// apply all layers; triggered timed functions has to update timers
scaledThrottle = ARMING_FLAG(ARMED) ? scaleRange(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX, 0, 100) : 0;
auxInput = rcData[ledStripConfig()->ledstrip_aux_channel];
applyLedFixedLayers();
for (timId_e timId = 0; timId < ARRAYLEN(layerTable); timId++) {
uint32_t *timer = &timerVal[timId];
bool updateNow = timActive & (1 << timId);
(*layerTable[timId])(updateNow, timer);
}
ws2811UpdateStrip((ledStripFormatRGB_e)ledStripConfig()->ledstrip_grb_rgb);
}
void ledStripUpdate(uint32_t currentTime)
{
if (!(ledStripInitialised && isWS2811LedStripReady())) {
return;
}
if (IS_RC_MODE_ACTIVE(BOXLEDLOW) && !(currentLedStripConfig->ledstrip_visual_beeper && isBeeperOn())) {
if (ledStripEnabled) {
ledStripDisable();
ledStripEnabled = false;
}
return;
}
ledStripEnabled = true;
const uint32_t now = currentTime;
// test all led timers, setting corresponding bits
uint32_t timActive = 0;
for (timId_e timId = 0; timId < timTimerCount; timId++) {
// sanitize timer value, so that it can be safely incremented. Handles inital timerVal value.
// max delay is limited to 5s
int32_t delta = cmp32(now, timerVal[timId]);
if (delta < 0 && delta > -LED_STRIP_MS(5000))
continue; // not ready yet
timActive |= 1 << timId;
if (delta >= LED_STRIP_MS(100) || delta < 0) {
timerVal[timId] = now;
}
}
if (!timActive)
return; // no change this update, keep old state
// apply all layers; triggered timed functions has to update timers
scaledThrottle = ARMING_FLAG(ARMED) ? scaleRange(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX, 10, 100) : 10;
scaledAux = scaleRange(rcData[currentLedStripConfig->ledstrip_aux_channel], PWM_RANGE_MIN, PWM_RANGE_MAX, 0, HSV_HUE_MAX + 1);
applyLedFixedLayers();
for (timId_e timId = 0; timId < ARRAYLEN(layerTable); timId++) {
uint32_t *timer = &timerVal[timId];
bool updateNow = timActive & (1 << timId);
(*layerTable[timId])(updateNow, timer);
}
ws2811UpdateStrip();
}
void updateLedStrip(void)
{
if (!(ledStripInitialised && isWS2811LedStripReady())) {
return;
}
uint32_t now = micros();
bool animationUpdateNow = (int32_t)(now - nextAnimationUpdateAt) >= 0L;
bool indicatorFlashNow = (int32_t)(now - nextIndicatorFlashAt) >= 0L;
bool warningFlashNow = (int32_t)(now - nextWarningFlashAt) >= 0L;
if (!(warningFlashNow || indicatorFlashNow || animationUpdateNow)) {
return;
}
static uint8_t indicatorFlashState = 0;
static uint8_t warningState = 0;
static uint8_t warningFlags;
// LAYER 1
applyLedModeLayer();
applyLedThrottleLayer();
// LAYER 2
if (warningFlashNow) {
nextWarningFlashAt = now + LED_STRIP_10HZ;
if (warningState == 0) {
warningState = 1;
warningFlags = WARNING_FLAG_NONE;
if (feature(FEATURE_VBAT) && shouldSoundBatteryAlarm()) {
warningFlags |= WARNING_FLAG_LOW_BATTERY;
}
if (failsafe->vTable->hasTimerElapsed()) {
warningFlags |= WARNING_FLAG_FAILSAFE;
}
} else {
warningState = 0;
}
}
if (warningFlags) {
applyLedWarningLayer(warningState, warningFlags);
}
// LAYER 3
if (indicatorFlashNow) {
uint8_t rollScale = abs(rcCommand[ROLL]) / 50;
uint8_t pitchScale = abs(rcCommand[PITCH]) / 50;
uint8_t scale = max(rollScale, pitchScale);
nextIndicatorFlashAt = now + (LED_STRIP_5HZ / max(1, scale));
if (indicatorFlashState == 0) {
indicatorFlashState = 1;
} else {
indicatorFlashState = 0;
}
}
applyLedIndicatorLayer(indicatorFlashState);
if (animationUpdateNow) {
nextAnimationUpdateAt = now + LED_STRIP_20HZ;
updateLedAnimationState();
}
#ifdef USE_LED_ANIMATION
applyLedAnimationLayer();
#endif
ws2811UpdateStrip();
}
void ws2811LedStripInit(void)
{
memset(&ledStripDMABuffer, 0, WS2811_DMA_BUFFER_SIZE);
ws2811LedStripHardwareInit();
ws2811UpdateStrip();
}
void ws2811LedStripHardwareInit(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
DMA_InitTypeDef DMA_InitStructure;
uint16_t prescalerValue;
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_1);
/* GPIOA Configuration: TIM16 Channel 1 as alternate function push-pull */
GPIO_InitStructure.GPIO_Pin = WS2811_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(WS2811_GPIO, &GPIO_InitStructure);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM16, ENABLE);
/* Compute the prescaler value */
prescalerValue = (uint16_t) (SystemCoreClock / 24000000) - 1;
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = 29; // 800kHz
TIM_TimeBaseStructure.TIM_Prescaler = prescalerValue;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM16, &TIM_TimeBaseStructure);
/* PWM1 Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM16, &TIM_OCInitStructure);
TIM_CtrlPWMOutputs(TIM16, ENABLE);
/* configure DMA */
/* DMA clock enable */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
/* DMA1 Channel Config */
DMA_DeInit(DMA1_Channel3);
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&TIM16->CCR1;
DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)ledStripDMABuffer;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralDST;
DMA_InitStructure.DMA_BufferSize = WS2811_DMA_BUFFER_SIZE;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
DMA_Init(DMA1_Channel3, &DMA_InitStructure);
/* TIM16 CC1 DMA Request enable */
TIM_DMACmd(TIM16, TIM_DMA_CC1, ENABLE);
DMA_ITConfig(DMA1_Channel3, DMA_IT_TC, ENABLE);
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = DMA1_Channel3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
setStripColor(&white);
ws2811UpdateStrip();
}
void ws2811LedStripHardwareInit(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
DMA_InitTypeDef DMA_InitStructure;
uint16_t prescalerValue;
dmaSetHandler(WS2811_DMA_HANDLER_IDENTIFER, WS2811_DMA_IRQHandler, NVIC_PRIO_WS2811_DMA, 0);
ws2811IO = IOGetByTag(IO_TAG(WS2811_PIN));
/* GPIOA Configuration: TIM5 Channel 1 as alternate function push-pull */
IOInit(ws2811IO, OWNER_LED_STRIP, RESOURCE_OUTPUT, 0);
IOConfigGPIO(ws2811IO, IO_CONFIG(GPIO_Speed_50MHz, GPIO_Mode_AF_PP));
RCC_ClockCmd(timerRCC(WS2811_TIMER), ENABLE);
/* Compute the prescaler value */
prescalerValue = (uint16_t) (SystemCoreClock / 24000000) - 1;
/* Time base configuration */
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = 29; // 800kHz
TIM_TimeBaseStructure.TIM_Prescaler = prescalerValue;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
/* PWM1 Mode configuration: Channel1 */
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM3, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_CtrlPWMOutputs(TIM3, ENABLE);
/* configure DMA */
/* DMA clock enable */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
/* DMA1 Channel6 Config */
DMA_DeInit(DMA1_Channel6);
DMA_StructInit(&DMA_InitStructure);
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&TIM3->CCR1;
DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)ledStripDMABuffer;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralDST;
DMA_InitStructure.DMA_BufferSize = WS2811_DMA_BUFFER_SIZE;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
DMA_Init(DMA1_Channel6, &DMA_InitStructure);
/* TIM3 CC1 DMA Request enable */
TIM_DMACmd(TIM3, TIM_DMA_CC1, ENABLE);
DMA_ITConfig(DMA1_Channel6, DMA_IT_TC, ENABLE);
const hsvColor_t hsv_white = { 0, 255, 255};
ws2811Initialised = true;
setStripColor(&hsv_white);
ws2811UpdateStrip();
}
void updateLedStrip(void)
{
if (!(ledStripInitialised && isWS2811LedStripReady())) {
return;
}
if (IS_RC_MODE_ACTIVE(BOXLEDLOW)) {
if (ledStripEnabled) {
ledStripDisable();
ledStripEnabled = false;
}
} else {
ledStripEnabled = true;
}
if (!ledStripEnabled){
return;
}
uint32_t now = micros();
bool indicatorFlashNow = (int32_t)(now - nextIndicatorFlashAt) >= 0L;
bool warningFlashNow = (int32_t)(now - nextWarningFlashAt) >= 0L;
bool rotationUpdateNow = (int32_t)(now - nextRotationUpdateAt) >= 0L;
#ifdef USE_LED_ANIMATION
bool animationUpdateNow = (int32_t)(now - nextAnimationUpdateAt) >= 0L;
#endif
if (!(
indicatorFlashNow ||
rotationUpdateNow ||
warningFlashNow
#ifdef USE_LED_ANIMATION
|| animationUpdateNow
#endif
)) {
return;
}
static uint8_t indicatorFlashState = 0;
// LAYER 1
applyLedModeLayer();
applyLedThrottleLayer();
// LAYER 2
if (warningFlashNow) {
nextWarningFlashAt = now + LED_STRIP_10HZ;
}
applyLedWarningLayer(warningFlashNow);
// LAYER 3
if (indicatorFlashNow) {
uint8_t rollScale = ABS(rcCommand[ROLL]) / 50;
uint8_t pitchScale = ABS(rcCommand[PITCH]) / 50;
uint8_t scale = MAX(rollScale, pitchScale);
nextIndicatorFlashAt = now + (LED_STRIP_5HZ / MAX(1, scale));
if (indicatorFlashState == 0) {
indicatorFlashState = 1;
} else {
indicatorFlashState = 0;
}
}
applyLedIndicatorLayer(indicatorFlashState);
#ifdef USE_LED_ANIMATION
if (animationUpdateNow) {
nextAnimationUpdateAt = now + LED_STRIP_20HZ;
updateLedAnimationState();
}
applyLedAnimationLayer();
#endif
if (rotationUpdateNow) {
applyLedThrustRingLayer();
uint8_t animationSpeedScale = 1;
if (ARMING_FLAG(ARMED)) {
animationSpeedScale = scaleRange(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX, 1, 10);
}
nextRotationUpdateAt = now + LED_STRIP_5HZ/animationSpeedScale;
}
ws2811UpdateStrip();
}
static void ledStripDisable(void)
{
setStripColor(&hsv_black);
ws2811UpdateStrip();
}
void ws2811LedStripHardwareInit(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
DMA_InitTypeDef DMA_InitStructure;
uint16_t prescalerValue;
#ifdef CC3D
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
#else
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
/* GPIOA Configuration: TIM3 Channel 1 as alternate function push-pull */
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
#endif
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
/* Compute the prescaler value */
prescalerValue = (uint16_t) (SystemCoreClock / 24000000) - 1;
/* Time base configuration */
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = 29; // 800kHz
TIM_TimeBaseStructure.TIM_Prescaler = prescalerValue;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
/* PWM1 Mode configuration: Channel1 */
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM3, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_CtrlPWMOutputs(TIM3, ENABLE);
/* configure DMA */
/* DMA clock enable */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
/* DMA1 Channel6 Config */
DMA_DeInit(DMA1_Channel6);
DMA_StructInit(&DMA_InitStructure);
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&TIM3->CCR1;
DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)ledStripDMABuffer;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralDST;
DMA_InitStructure.DMA_BufferSize = WS2811_DMA_BUFFER_SIZE;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
DMA_Init(DMA1_Channel6, &DMA_InitStructure);
/* TIM3 CC1 DMA Request enable */
TIM_DMACmd(TIM3, TIM_DMA_CC1, ENABLE);
DMA_ITConfig(DMA1_Channel6, DMA_IT_TC, ENABLE);
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = DMA1_Channel6_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_WS2811_DMA);
NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_SUB(NVIC_PRIO_WS2811_DMA);
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
const hsvColor_t hsv_white = { 0, 255, 255};
setStripColor(&hsv_white);
ws2811UpdateStrip();
}
void ws2811LedStripInit(void)
{
memset(&ledStripDMABuffer, 0, sizeof(ledStripDMABuffer));
ws2811LedStripHardwareInit();
ws2811UpdateStrip();
}