Added neopixel code logic. does not work :(

stanford-ssi · Jan 11, 2025 · 924d330 · 924d330
1 parent 4ebd53e
commit 924d330
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Showing 5 changed files with 157 additions and 43 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -39,8 +39,9 @@ file(GLOB top CONFIGURE_DEPENDS "src/*.c")
 file(GLOB scheduler CONFIGURE_DEPENDS "src/scheduler/*.c")
 file(GLOB state_machine_tasks CONFIGURE_DEPENDS "src/state_machine/tasks/*.c")
 file(GLOB state_machine_states CONFIGURE_DEPENDS "src/state_machine/states/*.c")
+file(GLOB drivers CONFIGURE_DEPENDS "src/drivers/*.c")
 add_executable(samwise ${top} ${scheduler} ${state_machine_tasks}
-  ${state_machine_states})
+  ${state_machine_states} ${drivers})
 
 pico_set_program_name(samwise "samwise")
 pico_set_program_version(samwise "0.1")
@@ -51,7 +52,7 @@ pico_enable_stdio_usb(samwise 1)
 
 # Add the standard library to the build
 target_link_libraries(samwise
-        pico_stdlib)
+	pico_stdlib hardware_pio)
 
 # Add the standard include files to the build
 target_include_directories(samwise PRIVATE

diff --git a/src/drivers/neopixel.c b/src/drivers/neopixel.c
@@ -4,12 +4,11 @@
 #include "pico/stdlib.h"
 #include "hardware/pio.h"
 #include "hardware/clocks.h"
-#include "ws2812.pio.h"
+#include "drivers/pio/ws2812.pio.h"
+#include "drivers/neopixel.h"
 
-const int PIN_TX = 0;
-
-static inline void put_pixel(uint32_t pixel_grb) {
-  pio_sm_put_blocking(pio0, 0, pixel_grb << 8u);
+static inline void put_pixel(uint32_t pixel_grb, int pin) {
+  pio_sm_put_blocking(pio0, pin, pixel_grb << 8u);
 }
 
 static inline uint32_t urgb_u32(uint8_t r, uint8_t g, uint8_t b) {
@@ -18,41 +17,15 @@ static inline uint32_t urgb_u32(uint8_t r, uint8_t g, uint8_t b) {
          (uint32_t)(b);
 }
 
-int main() {
-  stdio_init_all();
-
-  PIO pio = pio0;
-  int sm = 0;
-  uint offset = pio_add_program(pio, &ws2812_program);
-  char str[12];
-
-  ws2812_program_init(pio, sm, offset, PIN_TX, 800000, true);
+void neopixel_init(int ledPin){
+    PIO pio = pio0;
+    int sm = 0;
+    uint offset = pio_add_program(pio, &ws2812_program);
+    char str[12];
 
-  while (true) {
-    puts("Hello RGB and other colors!");
-
-    // OPTION A: uncomment sleep_ms(500) and view the individual colors
-    // OPTION B: comment sleep_ms(500) and view the pixels cascading colors
-    put_pixel(urgb_u32(0xff, 0, 0));  // Red
-    sleep_ms(500);
-    put_pixel(urgb_u32(0, 0xff, 0));  // Green
-    sleep_ms(500);
-    put_pixel(urgb_u32(0, 0, 0xff));  // Blue
-    sleep_ms(500);
-    put_pixel(urgb_u32(0xff, 0xff, 0));  // Purple
-    sleep_ms(500);
-    put_pixel(urgb_u32(0, 0xff, 0xff));  // Cyan
-    sleep_ms(500);
-    put_pixel(urgb_u32(0xff, 0xff, 0xff));  // White
-    sleep_ms(500);
-    put_pixel(urgb_u32(0, 0, 0));  // Black or off
-    sleep_ms(500);
+    ws2812_program_init(pio, sm, offset, ledPin, 800000, true);
+}
 
-    sleep_ms(1000);
-    // Clear all pixels
-    for (int i = 0; i <= 60; i++) {
-      put_pixel(urgb_u32(0, 0, 0));  // Black or off
-    }
-    sleep_ms(1000);
-  }
+void neopixel_set_color_rgb(uint8_t r, uint8_t g, uint8_t b, int ledPin){
+    put_pixel(urgb_u32(r,g,b), ledPin);
 }
diff --git a/src/drivers/neopixel.h b/src/drivers/neopixel.h
@@ -0,0 +1,8 @@
+/*
+Header file created 01/11/2025
+Sets neopixel states on Picube
+*/
+#pragma once
+
+void neopixel_init(int ledPin);
+void neopixel_set_color_rgb(uint8_t r, uint8_t g, uint8_t b, int ledPin);
diff --git a/src/drivers/pio/ws2812.pio.h b/src/drivers/pio/ws2812.pio.h
@@ -0,0 +1,123 @@
+// -------------------------------------------------- //
+// This file is autogenerated by pioasm; do not edit! //
+// -------------------------------------------------- //
+
+#pragma once
+
+#if !PICO_NO_HARDWARE
+#include "hardware/pio.h"
+#endif
+
+// ------ //
+// ws2812 //
+// ------ //
+
+#define ws2812_wrap_target 0
+#define ws2812_wrap 3
+#define ws2812_pio_version 0
+
+#define ws2812_T1 3
+#define ws2812_T2 3
+#define ws2812_T3 4
+
+static const uint16_t ws2812_program_instructions[] = {
+            //     .wrap_target
+    0x6321, //  0: out    x, 1            side 0 [3] 
+    0x1223, //  1: jmp    !x, 3           side 1 [2] 
+    0x1200, //  2: jmp    0               side 1 [2] 
+    0xa242, //  3: nop                    side 0 [2] 
+            //     .wrap
+};
+
+#if !PICO_NO_HARDWARE
+static const struct pio_program ws2812_program = {
+    .instructions = ws2812_program_instructions,
+    .length = 4,
+    .origin = -1,
+    .pio_version = ws2812_pio_version,
+#if PICO_PIO_VERSION > 0
+    .used_gpio_ranges = 0x0
+#endif
+};
+
+static inline pio_sm_config ws2812_program_get_default_config(uint offset) {
+    pio_sm_config c = pio_get_default_sm_config();
+    sm_config_set_wrap(&c, offset + ws2812_wrap_target, offset + ws2812_wrap);
+    sm_config_set_sideset(&c, 1, false, false);
+    return c;
+}
+
+#include "hardware/clocks.h"
+static inline void ws2812_program_init(PIO pio, uint sm, uint offset, uint pin, float freq, bool rgbw) {
+    pio_gpio_init(pio, pin);
+    pio_sm_set_consecutive_pindirs(pio, sm, pin, 1, true);
+    pio_sm_config c = ws2812_program_get_default_config(offset);
+    sm_config_set_sideset_pins(&c, pin);
+    sm_config_set_out_shift(&c, false, true, rgbw ? 32 : 24);
+    sm_config_set_fifo_join(&c, PIO_FIFO_JOIN_TX);
+    int cycles_per_bit = ws2812_T1 + ws2812_T2 + ws2812_T3;
+    float div = clock_get_hz(clk_sys) / (freq * cycles_per_bit);
+    sm_config_set_clkdiv(&c, div);
+    pio_sm_init(pio, sm, offset, &c);
+    pio_sm_set_enabled(pio, sm, true);
+}
+
+#endif
+
+// --------------- //
+// ws2812_parallel //
+// --------------- //
+
+#define ws2812_parallel_wrap_target 0
+#define ws2812_parallel_wrap 3
+#define ws2812_parallel_pio_version 0
+
+#define ws2812_parallel_T1 3
+#define ws2812_parallel_T2 3
+#define ws2812_parallel_T3 4
+
+static const uint16_t ws2812_parallel_program_instructions[] = {
+            //     .wrap_target
+    0x6020, //  0: out    x, 32                      
+    0xa20b, //  1: mov    pins, !null            [2] 
+    0xa201, //  2: mov    pins, x                [2] 
+    0xa203, //  3: mov    pins, null             [2] 
+            //     .wrap
+};
+
+#if !PICO_NO_HARDWARE
+static const struct pio_program ws2812_parallel_program = {
+    .instructions = ws2812_parallel_program_instructions,
+    .length = 4,
+    .origin = -1,
+    .pio_version = ws2812_parallel_pio_version,
+#if PICO_PIO_VERSION > 0
+    .used_gpio_ranges = 0x0
+#endif
+};
+
+static inline pio_sm_config ws2812_parallel_program_get_default_config(uint offset) {
+    pio_sm_config c = pio_get_default_sm_config();
+    sm_config_set_wrap(&c, offset + ws2812_parallel_wrap_target, offset + ws2812_parallel_wrap);
+    return c;
+}
+
+#include "hardware/clocks.h"
+static inline void ws2812_parallel_program_init(PIO pio, uint sm, uint offset, uint pin_base, uint pin_count, float freq) {
+    for(uint i=pin_base; i<pin_base+pin_count; i++) {
+        pio_gpio_init(pio, i);
+    }
+    pio_sm_set_consecutive_pindirs(pio, sm, pin_base, pin_count, true);
+    pio_sm_config c = ws2812_parallel_program_get_default_config(offset);
+    sm_config_set_out_shift(&c, true, true, 32);
+    sm_config_set_out_pins(&c, pin_base, pin_count);
+    sm_config_set_fifo_join(&c, PIO_FIFO_JOIN_TX);
+    int cycles_per_bit = ws2812_parallel_T1 + ws2812_parallel_T2 + ws2812_parallel_T3;
+    float div = clock_get_hz(clk_sys) / (freq * cycles_per_bit);
+    sm_config_set_clkdiv(&c, div);
+    pio_sm_init(pio, sm, offset, &c);
+    pio_sm_set_enabled(pio, sm, true);
+}
+
+#endif
+
diff --git a/src/state_machine/tasks/blink_task.c b/src/state_machine/tasks/blink_task.c
@@ -9,16 +9,25 @@
 #include "macros.h"
 #include "pico/stdlib.h"
 #include "slate.h"
+#include "drivers/neopixel.h"
+
+const int NEOPIXEL_PIN = 0; 
 
 void blink_task_init(slate_t *slate)
 {
     slate->led_state = false;
+    neopixel_init(NEOPIXEL_PIN);
 }
 
 void blink_task_dispatch(slate_t *slate)
 {
     slate->led_state = !slate->led_state;
-    gpio_put(PICO_DEFAULT_LED_PIN, slate->led_state);
+    if (slate->led_state){
+        neopixel_set_color_rgb(0xff, 0xff, 0, NEOPIXEL_PIN); //yellow
+    }
+    else{
+        neopixel_set_color_rgb(0xff, 0, 0xff, NEOPIXEL_PIN); //purple
+    }
 }
 
 sched_task_t blink_task = {.name = "blink",