tmp: creating specific modules for 8 channels & 16 channels

.devcontainer/Dockerfile

@@ -7,7 +7,8 @@ RUN apt-get update && \
   gdb-multiarch \
   gcc-arm-linux-gnueabihf \
   g++-arm-linux-gnueabihf \
-  binutils-arm-linux-gnueabihf && \
+  binutils-arm-linux-gnueabihf \
+  libclang-dev && \
   apt-get clean && \
   rm -rf /var/lib/apt/lists/*
 

Cargo.lock

@@ -144,26 +144,6 @@ dependencies = [
  "windows-targets",
 ]
 
-[[package]]
-name = "bindgen"
-version = "0.71.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5f58bf3d7db68cfbac37cfc485a8d711e87e064c3d0fe0435b92f7a407f9d6b3"
-dependencies = [
- "bitflags 2.9.1",
- "cexpr",
- "clang-sys",
- "itertools",
- "log",
- "prettyplease",
- "proc-macro2",
- "quote",
- "regex",
- "rustc-hash",
- "shlex",
- "syn",
-]
-
 [[package]]
 name = "bindgen"
 version = "0.72.0"
@@ -512,7 +492,7 @@ checksum = "bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe"
 name = "led_driver"
 version = "0.1.0"
 dependencies = [
- "bindgen 0.72.0",
+ "bindgen",
 ]
 
 [[package]]
@@ -543,7 +523,6 @@ version = "0.1.0"
 dependencies = [
  "alsa",
  "artnet_protocol",
- "bindgen 0.71.1",
  "crossbeam",
  "ctrlc",
  "env_logger",

lightsabre_backend/led_driver/Cargo.toml

@@ -7,3 +7,14 @@ edition = "2024"
 
 [build-dependencies]
 bindgen = "0.72.0"
+
+[features]
+default = ["rpizero2"]
+rpizero2 = ["rpi3"]
+rpizero = ["rpi"]
+rpi5 = []
+rpi4 = []
+rpi3 = []
+rpi2 = []
+rpi = []
+16channel = []

lightsabre_backend/led_driver/build.rs

@@ -1,10 +1,15 @@
 use std::{env, path::PathBuf};
 
 fn main() {
-    println!("cargo::rustc-link-search=/workspaces/LightSabre/lightsabre_backend/led_driver/lib");
+    println!(
+        "cargo::rustc-link-search=/workspaces/LightSabre/lightsabre_backend/led_driver/lib/bin"
+    );
 
     // Tell cargo to tell rustc to link the RPiLedBars_drivers and logc libraries.
+    #[cfg(not(feature = "16channel"))]
     println!("cargo:rustc-link-lib=RpiLedBars_drivers_8ch");
+    #[cfg(feature = "16channel")]
+    println!("cargo:rustc-link-lib=RpiLedBars_drivers_16ch");
     println!("cargo:rustc-link-lib=logc");
 
     // The bindgen::Builder is the main entry point to bindgen, and lets you build up options for the resulting bindings.

lightsabre_backend/led_driver/lib/src/leddriver/rpi_leddriver.c

@@ -47,6 +47,12 @@ MEM_MAP vc_mem;
 TXDATA_T *txdata;
 TXDATA_T tx_buffer[TX_BUFF_LEN(CHAN_MAXLEDS)];
 
+#if LED_NCHANS <= 8
+TXDATA_T tx_send_buffer[TX_BUFF_SIZE(CHAN_MAXLEDS)];
+#else
+TXDATA_T *tx_send_buffer = tx_buffer;
+#endif /* LED_NCHANS <= 8 */
+
 void swap_bytes();
 
 void leddriver_setup() {
@@ -113,7 +119,7 @@ void leddriver_refresh() {
     usleep(10);
   }
 
-  memcpy(txdata, tx_buffer, TX_BUFF_SIZE(CHAN_MAXLEDS));
+  memcpy(txdata, tx_send_buffer, TX_BUFF_SIZE(CHAN_MAXLEDS));
   enable_dma(DMA_CHAN_A);
   start_smi(&vc_mem);
   usleep(10);
@@ -122,11 +128,13 @@ void leddriver_refresh() {
 // Swap adjacent bytes in transmit data
 void swap_bytes() {
   uint16_t *wp = (uint16_t *)tx_buffer;
+  uint16_t *wp_dest = (uint16_t *)tx_send_buffer;
   int len = TX_BUFF_SIZE(CHAN_MAXLEDS);
 
   len = (len + 1) / 2;
   while (len-- > 0) {
-    *wp = __builtin_bswap16(*wp);
+    *wp_dest = __builtin_bswap16(*wp);
+    wp_dest++;
     wp++;
   }
 }

lightsabre_backend/led_driver/lib/wrapper.h

@@ -1,9 +1,13 @@
 #include "include/log.h"
-#include "src/leddriver/rpi_leddriver.h"
+// #include "src/leddriver/rpi_leddriver.h"
 #include "src/common.h"
+#include "src/dma/rpi_dma.h"
+#include "src/dma/rpi_videocore.h"
+#include "src/smi/rpi_smi.h"
+#include "src/gpio/rpi_gpio.h"
+
 
 #define CHAN_MAXLEDS 60 // Maximum number of LEDs per channel
-#define LED_NCHANS 8    // Number of LED channels (8 or 16)
 
 #define TX_TEST 0      // If non-zero, use dummy Tx data
 #define LED_NBITS 24   // Number of data bits per LED
@@ -11,8 +15,9 @@
 #define LED_POSTBITS 4 // Number of zero bits after LED data
 #define BIT_NPULSES 3  // Number of O/P pulses per LED bit
 
-// Length of data for 1 row (1 LED on each channel)
+// // Length of data for 1 row (1 LED on each channel)
 #define LED_DLEN (LED_NBITS * BIT_NPULSES)
+#define LED_NCHANS 8 // Number of channels, 8 or 16
 
 // Transmit data type, 8 or 16 bits
 #if LED_NCHANS > 8
@@ -21,14 +26,19 @@ typedef uint16_t TXDATA_T;
 typedef uint8_t TXDATA_T;
 #endif
 
-// Ofset into Tx data buffer, given LED number in chan
+
+// // Ofset into Tx data buffer, given LED number in chan
 #define LED_TX_OSET(n) (LED_PREBITS + (LED_DLEN * (n)))
 
-// Size of data buffers & NV memory, given number of LEDs per chan
+// // Size of data buffers & NV memory, given number of LEDs per chan
 #define TX_BUFF_LEN(n) (LED_TX_OSET(n) + LED_POSTBITS)
 #define TX_BUFF_SIZE(n) (TX_BUFF_LEN(n) * sizeof(TXDATA_T))
+
+#define PAGE_SIZE 0x1000
 #define VC_MEM_SIZE (PAGE_SIZE + TX_BUFF_SIZE(CHAN_MAXLEDS))
 
-extern TXDATA_T tx_buffer[TX_BUFF_LEN(CHAN_MAXLEDS)];
+
+// extern TXDATA_T tx_buffer[TX_BUFF_LEN(CHAN_MAXLEDS)];
+extern TXDATA_T tx_send_buffer[TX_BUFF_LEN(CHAN_MAXLEDS)];
 extern TXDATA_T *txdata;
 extern MEM_MAP vc_mem;

lightsabre_backend/led_driver/src/channel_16.rs

@@ -0,0 +1,4 @@
+pub const LED_NCHANS: usize = 16_usize; // Number of channels (strips)
+pub const CHAN_NUM_MASK: u8 = 0b1111_u8; // Mask to get channel number from port address
+
+pub type TX_DATA_T = u16; // Type of Tx data buffer

lightsabre_backend/led_driver/src/channel_8.rs

@@ -0,0 +1,4 @@
+pub const LED_NCHANS: usize = 8_usize; // Number of channels (strips)
+pub const CHAN_NUM_MASK: u8 = 0b0111_u8; // Mask to get channel number from port address
+
+pub type TX_DATA_T = u8; // Type of Tx data buffer

lightsabre_backend/led_driver/src/lib.rs

@@ -5,34 +5,110 @@
 
 include!(concat!(env!("OUT_DIR"), "/bindings.rs"));
 
-pub struct LedDriver {
-    led_per_strip_count: usize,
-    strip_count: usize,
-}
+#[cfg_attr(not(feature = "16channel"), path = "channel_8.rs")]
+#[cfg_attr(feature = "16channel", path = "channel_16.rs")]
+pub mod channel;
+
+pub use channel::*;
+
+#[cfg(feature = "rpi")]
+/// Location of peripheral registers in physical memory for RaspberryPi 1 and Zero
+/// This is the base address for the BCM2835 SoC peripherals
+const PHYS_REG_BASE: usize = 0x20000000;
+#[cfg(any(feature = "rpi2", feature = "rpi3"))]
+/// Location of peripheral registers in physical memory for RaspberryPi 2, 3 and Zero2
+/// This is the base address for the BCM2836/BCM2837 SoC peripherals
+const PHYS_REG_BASE: usize = 0x3F000000;
+#[cfg(any(feature = "rpi4", feature = "rpi5"))]
+// Location of peripheral registers in physical memory for RaspberryPi 4 and 5
+/// This is the base address for the BCM2711/BCM2712 SoC peripherals
+const PHYS_REG_BASE: usize = 0xFE000000;
+
+#[cfg(feature = "rpi")]
+/// Clock frequency for RaspberryPi 1 and Zero
+const CLOCK_SPEED: usize = 400000000;
+#[cfg(any(feature = "rpi2", feature = "rpi3", feature = "rpi4", feature = "rpi5"))]
+/// Clock frequency for RaspberryPi 2, 3, Zero2 and 4 and 5
+const CLOCK_SPEED: usize = 250000000;
+
+#[cfg(not(any(feature = "rpi4", feature = "rpi5")))] // Timings for RPi v0-3 (1 GHz)
+const SMI_TIMING: [std::os::raw::c_int; 4] = [10, 10, 20, 10]; // 400 ns cycle time
+#[cfg(any(feature = "rpi4", feature = "rpi5"))] // Timings for RPi v4 (1.5 GHz)
+const SMI_TIMING: [std::os::raw::c_int; 4] = [10, 15, 30, 15]; // 400 ns cycle time
 
 // Offset into Tx data buffer, given LED number in chan
-macro_rules! LED_TX_OSET {
+macro_rules! LED_TX_OFFSET {
     ($n:expr) => {
-        LED_PREBITS + (LED_DLEN * $n)
+        LedDriver::LED_PREBITS + (LedDriver::LED_DLEN * $n)
     };
 }
 
+macro_rules! TX_BUFF_LEN {
+    ($n:expr) => {
+        LED_TX_OFFSET!($n) + LedDriver::LED_POSTBITS
+    };
+}
+
+macro_rules! TX_BUFF_SIZE {
+    ($n:expr) => {
+        TX_BUFF_LEN!($n) * std::mem::size_of::<TX_DATA_T>()
+    };
+}
+
+pub struct LedDriver {
+    led_per_strip_count: usize,
+    strip_count: usize,
+    tx_buffer: [TX_DATA_T; TX_BUFF_LEN!(Self::CHAN_MAXLEDS)],
+}
+
+impl Drop for LedDriver {
+    fn drop(&mut self) {
+        self.close();
+    }
+}
+
 impl LedDriver {
-    const LED_NCHANS: usize = LED_NCHANS as usize; // Number of channels (strips)
-    const TX_TEST: usize = TX_TEST as usize; // If non-zero, use dummy Tx data
-    const LED_NBITS: usize = LED_NBITS as usize; // Number of data bits per LED
-    pub const LED_PREBITS: usize = LED_PREBITS as usize; // Number of zero bits before LED data
-    const LED_POSTBITS: usize = LED_POSTBITS as usize; // Number of zero bits after LED data
-    const BIT_NPULSES: usize = BIT_NPULSES as usize; // Number of O/P pulses per LED bit
+    pub const CHAN_MAXLEDS: usize = 60; // Maximum number of LEDs per channel
+
+    const TX_TEST: usize = 0; // If non-zero, use dummy Tx data
+    const LED_NBITS: usize = 24; // Number of data bits per LED
+    pub const LED_PREBITS: usize = 4; // Number of zero bits before LED data
+    pub const LED_POSTBITS: usize = 4; // Number of zero bits after LED data
+    const BIT_NPULSES: usize = 3; // Number of O/P pulses per LED bit
+
+    pub const PAGE_SIZE: usize = 0x1000;
+    pub const VC_MEM_SIZE: usize = Self::PAGE_SIZE + TX_BUFF_SIZE!(Self::CHAN_MAXLEDS);
 
     // Length of data for 1 row (1 LED on each channel)
     pub const LED_DLEN: usize = Self::LED_NBITS * Self::BIT_NPULSES;
 
     pub fn new(led_per_strip_count: usize, strip_count: usize) -> LedDriver {
-        unsafe { leddriver_setup() };
+        unsafe {
+            videocore_setup(&raw mut vc_mem, Self::VC_MEM_SIZE as i32);
+            gpio_setup();
+            smi_setup(
+                channel::LED_NCHANS as i32,
+                SMI_TIMING[0],
+                SMI_TIMING[1],
+                SMI_TIMING[2],
+                SMI_TIMING[3],
+                &raw mut vc_mem,
+                TX_BUFF_LEN!(Self::CHAN_MAXLEDS) as i32,
+                &raw mut txdata,
+            );
+        }
         LedDriver {
             led_per_strip_count,
             strip_count,
+            tx_buffer: [0; TX_BUFF_LEN!(Self::CHAN_MAXLEDS)],
+        }
+    }
+
+    pub fn close(&mut self) {
+        unsafe {
+            videocore_close(&raw mut vc_mem);
+            smi_close(channel::LED_NCHANS as i32);
+            gpio_close();
         }
     }
 
@@ -44,11 +120,7 @@ impl LedDriver {
         self.strip_count
     }
 
-    pub fn set_color(&self, rgb: u32, index: usize) {
-        unsafe { set_color(rgb, index as i32) };
-    }
-
-    pub fn set_color_till_led(&self, color: u32, led_num: usize) {
+    pub fn set_color_till_led(&mut self, color: u32, led_num: usize) {
         let led_num = led_num.min(self.get_led_per_strip_count());
         // Set color for all strips
         for led_index in 0..=led_num {
@@ -59,13 +131,15 @@ impl LedDriver {
         }
     }
 
-    pub fn direct_set_color(&self, rgb: u32, index: usize) {
+    pub fn direct_set_color(&mut self, rgb: u32, index: usize) {
         let mut mask = 0_u32;
-        let mut offset = LED_TX_OSET!(index as u32) as usize;
+        let mut offset = LED_TX_OFFSET!(index);
 
         // For each bit of the 24-bit RGB values..
         for n in 0..Self::LED_NBITS {
-            let tx_data = unsafe { &mut tx_buffer[offset..offset + Self::BIT_NPULSES] };
+            let tx_data = &mut self.tx_buffer[offset..offset + Self::BIT_NPULSES];
+            // let tx_data =
+            //     unsafe { std::slice::from_raw_parts_mut(tx_buffer.add(offset), Self::BIT_NPULSES) };
             // Mask to convert RGB to GRB, M.S bit first
             Self::compute_mask(&mut mask, n);
 
@@ -79,14 +153,17 @@ impl LedDriver {
         }
     }
 
-    pub fn set_led_color(&self, rgb: u32, led_index: usize, strip_index: usize) {
+    pub fn set_led_color(&mut self, rgb: u32, led_index: usize, strip_index: usize) {
         let mut mask = 0_u32;
-        let mut offset = LED_TX_OSET!(led_index as u32) as usize;
-        let strip_mask = !(0b1_u8 << strip_index); // Mask to clear the led bit of desired strip
+        let mut offset = LED_TX_OFFSET!(led_index);
+        let strip_mask = !(0b1 << strip_index); // Mask to clear the led bit of desired strip
 
         // For each bit of the 24-bit RGB values..
         for n in 0..Self::LED_NBITS {
-            let tx_data = unsafe { &mut tx_buffer[offset..offset + Self::BIT_NPULSES] };
+            // let tx_data = unsafe { &mut *tx_buffer[offset..offset + Self::BIT_NPULSES] };
+            // let tx_data =
+            //     unsafe { std::slice::from_raw_parts_mut(tx_buffer.add(offset), Self::BIT_NPULSES) };
+            let tx_data = &mut self.tx_buffer[offset..offset + Self::BIT_NPULSES];
             // Mask to convert RGB to GRB, M.S bit first
             Self::compute_mask(&mut mask, n);
 
@@ -105,13 +182,17 @@ impl LedDriver {
         }
     }
 
-    pub fn set_strip_index_colors(&self, rgb: [u32; Self::LED_NCHANS], led_index: usize) {
+    pub fn set_strip_index_colors(&mut self, rgb: [u32; channel::LED_NCHANS], led_index: usize) {
         let mut mask = 0_u32;
-        let mut offset = LED_TX_OSET!(led_index as u32) as usize;
+        let mut offset = LED_TX_OFFSET!(led_index);
 
         // For each bit of the 24-bit RGB values..
         for n in 0..Self::LED_NBITS {
-            let tx_data = unsafe { &mut tx_buffer[offset..offset + Self::BIT_NPULSES] };
+            // let tx_data = unsafe { &mut tx_buffer[offset..offset + Self::BIT_NPULSES] };
+            // let tx_data =
+            //     unsafe { std::slice::from_raw_parts_mut(tx_buffer.add(offset), Self::BIT_NPULSES) };
+            let tx_data = &mut self.tx_buffer[offset..offset + Self::BIT_NPULSES];
+
             // Mask to convert RGB to GRB, M.S bit first
             Self::compute_mask(&mut mask, n);
 
@@ -131,8 +212,32 @@ impl LedDriver {
         }
     }
 
-    pub fn refresh(&self) {
-        unsafe { leddriver_refresh() };
+    // pub fn refresh(&self) {
+    //     unsafe { leddriver_refresh() };
+    // }
+
+    pub fn direct_refresh(&mut self) {
+        // #[cfg(not(feature = "16channel"))]
+        // self.swap_bytes();
+        #[cfg(not(feature = "16channel"))]
+        let send_buffer = self.safe_swap_bytes();
+        #[cfg(feature = "16channel")]
+        let send_buffer = self.tx_buffer;
+
+        unsafe {
+            while dma_active(DMA_CHAN_A as i32) != 0 {
+                std::thread::sleep(std::time::Duration::from_micros(10));
+            }
+            #[allow(static_mut_refs)]
+            std::ptr::copy_nonoverlapping(
+                send_buffer.as_ptr(),
+                txdata,
+                TX_BUFF_LEN!(Self::CHAN_MAXLEDS),
+            );
+            enable_dma(DMA_CHAN_A as i32);
+            start_smi(&raw mut vc_mem);
+            std::thread::sleep(std::time::Duration::from_micros(10));
+        }
     }
 
     // pub fn color_hsv(&self, hue: u16, sat: u8, val: u8) -> u32 {
@@ -150,10 +255,58 @@ impl LedDriver {
             *mask >> 1
         }
     }
-}
 
-impl Drop for LedDriver {
-    fn drop(&mut self) {
-        unsafe { leddriver_close() };
+    #[cfg(not(feature = "16channel"))]
+    fn safe_swap_bytes(&self) -> [TX_DATA_T; TX_BUFF_SIZE!(Self::CHAN_MAXLEDS)] {
+        self.tx_buffer
+            .chunks(2)
+            .map(|chunk| {
+                if chunk.len() == 2 {
+                    [chunk[1], chunk[0]]
+                } else {
+                    [0, chunk[0]]
+                }
+            })
+            .collect::<Vec<_>>()
+            .try_into()
+            .unwrap_or_else(|o: Vec<_>| {
+                panic!(
+                    "Failed to convert Vec of length {} to array of size {}",
+                    o.len(),
+                    TX_BUFF_SIZE!(Self::CHAN_MAXLEDS)
+                );
+            })
+    }
+
+    #[cfg(not(feature = "16channel"))]
+    fn swap_bytes(&mut self) {
+        /*
+            uint16_t *wp = (uint16_t *)tx_buffer;
+            int len = TX_BUFF_SIZE(CHAN_MAXLEDS);
+
+            len = (len + 1) / 2;
+            while (len-- > 0) {
+                *wp = __builtin_bswap16(*wp);
+                wp++;
+            }
+        */
+        unsafe {
+            for (i, chunk) in self.tx_buffer.chunks(2).enumerate() {
+                if chunk.len() == 2 {
+                    tx_send_buffer[i * 2] = chunk[1];
+                    // *tx_send_buffer.add(i * 2) = chunk[1];
+                    tx_send_buffer[i * 2 + 1] = chunk[0];
+                    // *tx_send_buffer.add(i * 2 + 1) = chunk[0];
+                }
+            }
+        }
+        // unsafe {
+        //     let wp = self.tx_buffer as *mut u16;
+        //     let len = (TX_BUFF_SIZE!(Self::CHAN_MAXLEDS) + 1) / 2;
+        //     for i in 0..len {
+        //         let p = wp.add(i);
+        //         *p = (*p).swap_bytes();
+        //     }
+        // }
     }
 }

lightsabre_backend/system/Cargo.toml

@@ -16,16 +16,3 @@ rppal = "0.22.1"
 spectrum-analyzer = "1.7.0"
 textplots = "0.8.7"
 led_driver = { path = "../led_driver" }
-
-[build-dependencies]
-bindgen = "0.71.0"
-
-[features]
-default = ["rpizero2", "16channel"]
-rpizero2 = ["rpi3"]
-rpizero = ["rpi"]
-rpi4 = []
-rpi3 = []
-rpi2 = []
-rpi = []
-16channel = []

lightsabre_backend/system/src/config.rs

@@ -1 +0,0 @@
-

lightsabre_backend/system/src/cputasks/modes/artnet.rs

@@ -110,8 +110,10 @@ impl AppModeHandler for ArtNetMode {
                                 is_first_data_frame = false;
                             }
 
-                            let led_strip = (u16::from(output.port_address) & 0b0111_u16) as usize;
-                            //output.port_address
+                            let led_strip = (u16::from(output.port_address)
+                                & led_driver::CHAN_NUM_MASK as u16)
+                                as usize;
+
                             for i in 0..led_driver.get_led_per_strip_count() {
                                 let data_index = i * 3;
                                 let g = *output.data.as_ref().get(data_index).unwrap_or(&0);
@@ -120,9 +122,9 @@ impl AppModeHandler for ArtNetMode {
                                 // let color = (r as u32) << 16 + (g as u32) << 8 + b;
                                 let color: u32 =
                                     ((r as u32) << 16) | ((g as u32) << 8) | (b as u32);
-                                led_driver.direct_set_color(color, i);
+                                led_driver.set_led_color(color, i, led_strip);
                             }
-                            led_driver.refresh();
+                            led_driver.direct_refresh();
                         }
                         ArtCommand::PollReply(_) => {
                             log::trace!("[ArtNet] Received PollReply command, ignoring");

lightsabre_backend/system/src/cputasks/modes/diagnostics.rs

@@ -76,7 +76,7 @@ impl AppModeHandler for DiagnosticsMode {
                 }
             };
             log::trace!("Setting LED {} to color {:06x}", led, color);
-            led_driver.refresh();
+            led_driver.direct_refresh();
         }
         self.cycle_count += 1;
         Ok(())

lightsabre_backend/system/src/cputasks/modes/standalone.rs

@@ -146,7 +146,7 @@ impl AppModeHandler for StandaloneMode {
                         // Set the remaining LEDs to black
                         led_driver.direct_set_color(0x000000, i);
                     }
-                    led_driver.refresh();
+                    led_driver.direct_refresh();
                 }
                 None => {
                     log::trace!("[Standalone] No audio data received");

lightsabre_backend/system/src/lib.rs

@@ -1,5 +1,4 @@
 mod channels;
-mod config;
 mod cputasks;
 mod devices;
 mod iotasks;
@@ -107,7 +106,10 @@ impl From<LightSabre> for LightSabreIntitialized {
 impl From<LightSabreIntitialized> for LightSabreRunning {
     fn from(mut value: LightSabreIntitialized) -> Self {
         LightSabreRunning {
-            join_handle: std::thread::spawn(move || run(&mut value.ctx)),
+            join_handle: std::thread::Builder::new()
+                .name("main_app".to_string())
+                .spawn(move || run(&mut value.ctx))
+                .expect("Failed to start main app thread"),
         }
     }
 }