AI-on-the-edge-device/code/components/jomjol_controlGPIO/SmartLeds.h

/********************************************************************************
 * https://github.com/RoboticsBrno/SmartLeds
 *
 * MIT License
 * 
 * Copyright (c) 2017 RoboticsBrno (RobotikaBrno)
 * 
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 * 
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 * 
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 *******************************************************************************/

#pragma once

/*
 * A C++ driver for the WS2812 LEDs using the RMT peripheral on the ESP32.
 *
 * Jan "yaqwsx" Mrázek <email@honzamrazek.cz>
 *
 * Based on the work by Martin F. Falatic - https://github.com/FozzTexx/ws2812-demo
 */

/*
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */

#include <cassert>
#include <cstring>
#include <memory>

#include <driver/gpio.h>
#include <driver/spi_master.h>
#include <esp_intr_alloc.h>
#include <esp_ipc.h>
#include <freertos/FreeRTOS.h>
#include <freertos/semphr.h>

#include "Color.h"

#include "RmtDriver.h"

using LedType = detail::TimingParams;

// Times are in nanoseconds,
// The RMT driver runs at 20MHz, so minimal representable time is 50 nanoseconds
static const LedType LED_WS2812 = { 350, 700, 800, 600, 50000 };
// longer reset time because https://blog.adafruit.com/2017/05/03/psa-the-ws2812b-rgb-led-has-been-revised-will-require-code-tweak/
static const LedType LED_WS2812B = { 400, 800, 850, 450, 300000 }; // universal
static const LedType LED_WS2812B_NEWVARIANT = { 200, 750, 750, 200, 300000 };
static const LedType LED_WS2812B_OLDVARIANT = { 400, 800, 850, 450, 50000 };
// This is timing from datasheet, but does not seem to actually work - try LED_WS2812B
static const LedType LED_WS2812C = { 250, 550, 550, 250, 280000 };
static const LedType LED_SK6812 = { 300, 600, 900, 600, 80000 };
static const LedType LED_WS2813 = { 350, 800, 350, 350, 300000 };

// Single buffer == can't touch the Rgbs between show() and wait()
enum BufferType { SingleBuffer = 0, DoubleBuffer };

enum IsrCore { CoreFirst = 0, CoreSecond = 1, CoreCurrent = 2 };

class SmartLed {
public:
    friend class detail::RmtDriver;

    // The RMT interrupt must not run on the same core as WiFi interrupts, otherwise SmartLeds
    // can't fill the RMT buffer fast enough, resulting in rendering artifacts.
    // Usually, that means you have to set isrCore == CoreSecond.
    //
    // If you use anything other than CoreCurrent, the FreeRTOS scheduler MUST be already running,
    // so you can't use it if you define SmartLed as global variable.
    //
    // Does nothing on chips that only have one core.
    SmartLed(const LedType& type, int count, int pin, int channel = 0, BufferType doubleBuffer = DoubleBuffer,
        IsrCore isrCore = CoreCurrent)
        : _finishedFlag(xSemaphoreCreateBinary())
        , _driver(type, count, pin, channel, _finishedFlag)
        , _channel(channel)
        , _count(count)
        , _firstBuffer(new Rgb[count])
        , _secondBuffer(doubleBuffer ? new Rgb[count] : nullptr) {
        assert(channel >= 0 && channel < detail::CHANNEL_COUNT);
        assert(ledForChannel(channel) == nullptr);

        xSemaphoreGive(_finishedFlag);

        _driver.init();

#if !defined(SOC_CPU_CORES_NUM) || SOC_CPU_CORES_NUM > 1
        if (!anyAlive() && isrCore != CoreCurrent) {
            _interruptCore = isrCore;
            ESP_ERROR_CHECK(esp_ipc_call_blocking(isrCore, registerInterrupt, (void*)this));
        } else
#endif
        {
            registerInterrupt((void*)this);
        }

        ledForChannel(channel) = this;
    }

    ~SmartLed() {
        ledForChannel(_channel) = nullptr;
#if !defined(SOC_CPU_CORES_NUM) || SOC_CPU_CORES_NUM > 1
        if (!anyAlive() && _interruptCore != CoreCurrent) {
            ESP_ERROR_CHECK(esp_ipc_call_blocking(_interruptCore, unregisterInterrupt, (void*)this));
        } else
#endif
        {
            unregisterInterrupt((void*)this);
        }
        vSemaphoreDelete(_finishedFlag);
    }

    Rgb& operator[](int idx) { return _firstBuffer[idx]; }

    const Rgb& operator[](int idx) const { return _firstBuffer[idx]; }

    esp_err_t show() {
        esp_err_t err = startTransmission();
        swapBuffers();
        return err;
    }

    bool wait(TickType_t timeout = portMAX_DELAY) {
        if (xSemaphoreTake(_finishedFlag, timeout) == pdTRUE) {
            xSemaphoreGive(_finishedFlag);
            return true;
        }
        return false;
    }

    int size() const { return _count; }
    int channel() const { return _channel; }

    Rgb* begin() { return _firstBuffer.get(); }
    const Rgb* begin() const { return _firstBuffer.get(); }
    const Rgb* cbegin() const { return _firstBuffer.get(); }

    Rgb* end() { return _firstBuffer.get() + _count; }
    const Rgb* end() const { return _firstBuffer.get() + _count; }
    const Rgb* cend() const { return _firstBuffer.get() + _count; }

private:
    static IsrCore _interruptCore;

    static void registerInterrupt(void* selfVoid) {
        auto* self = (SmartLed*)selfVoid;
        ESP_ERROR_CHECK(self->_driver.registerIsr(!anyAlive()));
    }

    static void unregisterInterrupt(void* selfVoid) {
        auto* self = (SmartLed*)selfVoid;
        ESP_ERROR_CHECK(self->_driver.unregisterIsr());
    }

    static SmartLed*& IRAM_ATTR ledForChannel(int channel);

    static bool anyAlive() {
        for (int i = 0; i != detail::CHANNEL_COUNT; i++)
            if (ledForChannel(i) != nullptr)
                return true;
        return false;
    }

    void swapBuffers() {
        if (_secondBuffer)
            _firstBuffer.swap(_secondBuffer);
    }

    esp_err_t startTransmission() {
        // Invalid use of the library, you must wait() fir previous frame to get processed first
        if (xSemaphoreTake(_finishedFlag, 0) != pdTRUE)
            abort();

        auto err = _driver.transmit(_firstBuffer.get());
        if (err != ESP_OK) {
            return err;
        }

        return ESP_OK;
    }

    SemaphoreHandle_t _finishedFlag;
    detail::RmtDriver _driver;
    int _channel;
    int _count;
    std::unique_ptr<Rgb[]> _firstBuffer;
    std::unique_ptr<Rgb[]> _secondBuffer;
};

#if defined(CONFIG_IDF_TARGET_ESP32S3) || defined(CONFIG_IDF_TARGET_ESP32C3)
#define _SMARTLEDS_SPI_HOST SPI2_HOST
#define _SMARTLEDS_SPI_DMA_CHAN SPI_DMA_CH_AUTO
#else
#define _SMARTLEDS_SPI_HOST HSPI_HOST
#define _SMARTLEDS_SPI_DMA_CHAN 1
#endif

class Apa102 {
public:
    struct ApaRgb {
        ApaRgb(uint8_t r = 0, uint8_t g = 0, uint32_t b = 0, uint32_t v = 0xFF)
            : v(0xE0 | v)
            , b(b)
            , g(g)
            , r(r) {}

        ApaRgb& operator=(const Rgb& o) {
            r = o.r;
            g = o.g;
            b = o.b;
            return *this;
        }

        ApaRgb& operator=(const Hsv& o) {
            *this = Rgb { o };
            return *this;
        }

        uint8_t v, b, g, r;
    };

    static const int FINAL_FRAME_SIZE = 4;
    static const int TRANS_COUNT = 2 + 8;

    Apa102(int count, int clkpin, int datapin, BufferType doubleBuffer = SingleBuffer, int clock_speed_hz = 1000000)
        : _count(count)
        , _firstBuffer(new ApaRgb[count])
        , _secondBuffer(doubleBuffer ? new ApaRgb[count] : nullptr)
        , _transCount(0)
        , _initFrame(0) {
        spi_bus_config_t buscfg;
        memset(&buscfg, 0, sizeof(buscfg));
        buscfg.mosi_io_num = datapin;
        buscfg.miso_io_num = -1;
        buscfg.sclk_io_num = clkpin;
        buscfg.quadwp_io_num = -1;
        buscfg.quadhd_io_num = -1;
        buscfg.max_transfer_sz = 65535;

        spi_device_interface_config_t devcfg;
        memset(&devcfg, 0, sizeof(devcfg));
        devcfg.clock_speed_hz = clock_speed_hz;
        devcfg.mode = 0;
        devcfg.spics_io_num = -1;
        devcfg.queue_size = TRANS_COUNT;
        devcfg.pre_cb = nullptr;

        auto ret = spi_bus_initialize(_SMARTLEDS_SPI_HOST, &buscfg, _SMARTLEDS_SPI_DMA_CHAN);
        assert(ret == ESP_OK);

        ret = spi_bus_add_device(_SMARTLEDS_SPI_HOST, &devcfg, &_spi);
        assert(ret == ESP_OK);

        std::fill_n(_finalFrame, FINAL_FRAME_SIZE, 0xFFFFFFFF);
    }

    ~Apa102() {
        // ToDo
    }

    ApaRgb& operator[](int idx) { return _firstBuffer[idx]; }

    const ApaRgb& operator[](int idx) const { return _firstBuffer[idx]; }

    void show() {
        _buffer = _firstBuffer.get();
        startTransmission();
        swapBuffers();
    }

    void wait() {
        for (int i = 0; i != _transCount; i++) {
            spi_transaction_t* t;
            spi_device_get_trans_result(_spi, &t, portMAX_DELAY);
        }
    }

private:
    void swapBuffers() {
        if (_secondBuffer)
            _firstBuffer.swap(_secondBuffer);
    }

    void startTransmission() {
        for (int i = 0; i != TRANS_COUNT; i++) {
            _transactions[i].cmd = 0;
            _transactions[i].addr = 0;
            _transactions[i].flags = 0;
            _transactions[i].rxlength = 0;
            _transactions[i].rx_buffer = nullptr;
        }
        // Init frame
        _transactions[0].length = 32;
        _transactions[0].tx_buffer = &_initFrame;
        spi_device_queue_trans(_spi, _transactions + 0, portMAX_DELAY);
        // Data
        _transactions[1].length = 32 * _count;
        _transactions[1].tx_buffer = _buffer;
        spi_device_queue_trans(_spi, _transactions + 1, portMAX_DELAY);
        _transCount = 2;
        // End frame
        for (int i = 0; i != 1 + _count / 32 / FINAL_FRAME_SIZE; i++) {
            _transactions[2 + i].length = 32 * FINAL_FRAME_SIZE;
            _transactions[2 + i].tx_buffer = _finalFrame;
            spi_device_queue_trans(_spi, _transactions + 2 + i, portMAX_DELAY);
            _transCount++;
        }
    }

    spi_device_handle_t _spi;
    int _count;
    std::unique_ptr<ApaRgb[]> _firstBuffer, _secondBuffer;
    ApaRgb* _buffer;

    spi_transaction_t _transactions[TRANS_COUNT];
    int _transCount;

    uint32_t _initFrame;
    uint32_t _finalFrame[FINAL_FRAME_SIZE];
};

class LDP8806 {
public:
    struct LDP8806_GRB {

        LDP8806_GRB(uint8_t g_7bit = 0, uint8_t r_7bit = 0, uint32_t b_7bit = 0)
            : g(g_7bit)
            , r(r_7bit)
            , b(b_7bit) {}

        LDP8806_GRB& operator=(const Rgb& o) {
            //Convert 8->7bit colour
            r = (o.r * 127 / 256) | 0x80;
            g = (o.g * 127 / 256) | 0x80;
            b = (o.b * 127 / 256) | 0x80;
            return *this;
        }

        LDP8806_GRB& operator=(const Hsv& o) {
            *this = Rgb { o };
            return *this;
        }

        uint8_t g, r, b;
    };

    static const int LED_FRAME_SIZE_BYTES = sizeof(LDP8806_GRB);
    static const int LATCH_FRAME_SIZE_BYTES = 3;
    static const int TRANS_COUNT_MAX = 20; //Arbitrary, supports up to 600 LED

    LDP8806(
        int count, int clkpin, int datapin, BufferType doubleBuffer = SingleBuffer, uint32_t clock_speed_hz = 2000000)
        : _count(count)
        , _firstBuffer(new LDP8806_GRB[count])
        , _secondBuffer(doubleBuffer ? new LDP8806_GRB[count] : nullptr)
        ,
        // one 'latch'/start-of-data mark frame for every 32 leds
        _latchFrames((count + 31) / 32) {
        spi_bus_config_t buscfg;
        memset(&buscfg, 0, sizeof(buscfg));
        buscfg.mosi_io_num = datapin;
        buscfg.miso_io_num = -1;
        buscfg.sclk_io_num = clkpin;
        buscfg.quadwp_io_num = -1;
        buscfg.quadhd_io_num = -1;
        buscfg.max_transfer_sz = 65535;

        spi_device_interface_config_t devcfg;
        memset(&devcfg, 0, sizeof(devcfg));
        devcfg.clock_speed_hz = clock_speed_hz;
        devcfg.mode = 0;
        devcfg.spics_io_num = -1;
        devcfg.queue_size = TRANS_COUNT_MAX;
        devcfg.pre_cb = nullptr;

        auto ret = spi_bus_initialize(_SMARTLEDS_SPI_HOST, &buscfg, _SMARTLEDS_SPI_DMA_CHAN);
        assert(ret == ESP_OK);

        ret = spi_bus_add_device(_SMARTLEDS_SPI_HOST, &devcfg, &_spi);
        assert(ret == ESP_OK);

        std::fill_n(_latchBuffer, LATCH_FRAME_SIZE_BYTES, 0x0);
    }

    ~LDP8806() {
        // noop
    }

    LDP8806_GRB& operator[](int idx) { return _firstBuffer[idx]; }

    const LDP8806_GRB& operator[](int idx) const { return _firstBuffer[idx]; }

    void show() {
        _buffer = _firstBuffer.get();
        startTransmission();
        swapBuffers();
    }

    void wait() {
        while (_transCount--) {
            spi_transaction_t* t;
            spi_device_get_trans_result(_spi, &t, portMAX_DELAY);
        }
    }

private:
    void swapBuffers() {
        if (_secondBuffer)
            _firstBuffer.swap(_secondBuffer);
    }

    void startTransmission() {
        _transCount = 0;
        for (int i = 0; i != TRANS_COUNT_MAX; i++) {
            _transactions[i].cmd = 0;
            _transactions[i].addr = 0;
            _transactions[i].flags = 0;
            _transactions[i].rxlength = 0;
            _transactions[i].rx_buffer = nullptr;
        }
        // LED Data
        _transactions[0].length = (LED_FRAME_SIZE_BYTES * 8) * _count;
        _transactions[0].tx_buffer = _buffer;
        spi_device_queue_trans(_spi, _transactions + _transCount, portMAX_DELAY);
        _transCount++;

        // 'latch'/start-of-data marker frames
        for (int i = 0; i < _latchFrames; i++) {
            _transactions[_transCount].length = (LATCH_FRAME_SIZE_BYTES * 8);
            _transactions[_transCount].tx_buffer = _latchBuffer;
            spi_device_queue_trans(_spi, _transactions + _transCount, portMAX_DELAY);
            _transCount++;
        }
    }

    spi_device_handle_t _spi;
    int _count;
    std::unique_ptr<LDP8806_GRB[]> _firstBuffer, _secondBuffer;
    LDP8806_GRB* _buffer;

    spi_transaction_t _transactions[TRANS_COUNT_MAX];
    int _transCount;

    int _latchFrames;
    uint8_t _latchBuffer[LATCH_FRAME_SIZE_BYTES];
};