diff --git a/Cargo.lock b/Cargo.lock
index 50c4090..deb7eae 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -437,6 +437,7 @@ dependencies = [
"embedded-hal 1.0.0",
"heapless",
"micromath",
+ "portable-atomic",
"qingke",
"qingke-rt",
]
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diff --git a/Cargo.toml b/Cargo.toml
index 0075a12..95e021b 100644
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@@ -26,6 +26,7 @@ embassy-futures = "0.1.1"
heapless = "0.8.0"
critical-section = "1.2.0"
micromath = "2.1.0"
+portable-atomic = { version = "1.10.0", features = ["critical-section"] }
[profile.release]
strip = false
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lto = false
debug = true
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+opt-level = 1
\ No newline at end of file
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@@ -0,0 +1,8 @@
+[package]
+name = "client"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+image = "0.25.5"
+serialport = "4.7.0"
diff --git a/client/src/main.rs b/client/src/main.rs
new file mode 100644
index 0000000..50aa166
--- /dev/null
+++ b/client/src/main.rs
@@ -0,0 +1,88 @@
+use image::ImageReader;
+use std::env;
+use std::fs::{self, DirEntry};
+use std::path::{Path, PathBuf};
+use std::thread::sleep;
+use std::time::Duration;
+
+#[repr(u8)]
+#[derive(Eq, PartialEq, Debug)]
+enum Command {
+ Info = 0,
+ Frame = 1,
+ Brightness = 2,
+ Invalid = 255,
+}
+
+fn find_images(path: PathBuf) -> Vec<DirEntry> {
+ let mut res = Vec::new();
+ for f in path.read_dir().unwrap() {
+ if let Ok(entry) = f {
+ if entry.file_name().as_encoded_bytes().ends_with(b".png") {
+ res.push(entry);
+ }
+ }
+ }
+ res
+}
+
+fn main() {
+ let mut args = env::args();
+
+ let mut port = serialport::new(args.nth(1).unwrap(), 1_000_000)
+ .open()
+ .unwrap();
+ let frames = find_images("frames/".into());
+ let src_fps = 50;
+
+ port.write(&[Command::Info as u8, 0, 0]).unwrap();
+ port.set_timeout(Duration::from_secs(1)).unwrap();
+
+ let (width, height, tgt_fps, mut cur_frame) = {
+ let mut info = [0u8; 14];
+ port.read_exact(&mut info).unwrap();
+ let width = u16::from_be_bytes(info[0..2].try_into().unwrap());
+ let height = u16::from_be_bytes(info[2..4].try_into().unwrap());
+ let tgt_fps = u16::from_be_bytes(info[4..6].try_into().unwrap());
+ let cur_frame = u64::from_be_bytes(info[6..14].try_into().unwrap());
+ (width, height, tgt_fps, cur_frame)
+ };
+
+ let src_frametime = 1. / src_fps as f64;
+ let dst_frametime = 1. / tgt_fps as f64;
+ let frames_per_frame = (tgt_fps / src_fps) as u64;
+
+ let frame_pkt_size = width * height + 8;
+
+ let bright = 0;
+ port.write(&[Command::Brightness as u8]).unwrap();
+ port.write(&1u16.to_be_bytes()).unwrap();
+ port.write(&[bright]).unwrap();
+ {
+ let mut buf = [0u8; 1];
+ port.read_exact(&mut buf).unwrap();
+ }
+
+ loop {
+ for frame in &frames {
+ let next_frame = cur_frame + frames_per_frame;
+ let img = ImageReader::open(frame.path()).unwrap().decode().unwrap();
+ let gs = img.as_luma8().unwrap();
+ println!(
+ "writing frame bytes {} for display at {}, cur_frame: {}",
+ gs.len(),
+ next_frame, cur_frame
+ );
+ port.write(&[Command::Frame as u8]).unwrap();
+ port.write(&frame_pkt_size.to_be_bytes()).unwrap();
+ port.write(&next_frame.to_be_bytes()).unwrap();
+ port.write(&gs).unwrap();
+ cur_frame = {
+ let mut buf = [0; 8];
+ port.read_exact(&mut buf).unwrap();
+ u64::from_be_bytes(buf)
+ };
+ sleep(Duration::from_secs_f64(src_frametime));
+ }
+ }
+}
diff --git a/src/main.rs b/src/main.rs
index fb08fbf..9520fe5 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -23,14 +23,19 @@ use hal::timer::simple_pwm::{PwmPin, SimplePwm};
use hal::{peripherals, usbd};
use heapless::{binary_heap::Min, BinaryHeap};
use micromath::F32Ext;
+use portable_atomic::AtomicU64;
bind_interrupts!(struct Irqs {
USB_LP_CAN1_RX0 => usbd::InterruptHandler<peripherals::USBD>;
});
const FPS: usize = 120;
+const WIDTH: usize = 16;
+const HEIGHT: usize = 16;
const EMPTY_FRAME: Frame = Frame::empty();
-static FRAME_QUEUE: Mutex<RefCell<BinaryHeap<Frame, Min, 30>>> =
+
+static CUR_FRAME: AtomicU64 = AtomicU64::new(0);
+static MBI_QUEUE: Mutex<RefCell<BinaryHeap<MbiCommand, Min, 30>>> =
Mutex::new(RefCell::new(BinaryHeap::new()));
/// Unfortunately embedded_hal doesn't support atomic writes to multiple bytes, which is required for this implementation, so we must take a platform register :(
@@ -41,7 +46,8 @@ struct MBI5043<SDI, DCLK, LE> {
port: Gpio,
}
-#[repr(u32)]
+// Should be an enum containing the data itself, for auto generic
+#[repr(u8)]
enum DataType {
Data = 1,
Global = 3,
@@ -132,14 +138,181 @@ impl<'a, SDI: Pin, DCLK: Pin, LE: Pin> MBI5043<SDI, DCLK, LE> {
pub trait MBI {
fn send_pixels<T: Fn(u8) -> u16>(&self, pixels: &[u8], transform: T);
+ fn set_gain(&self, gain: u8);
}
impl<SDI: Pin, DCLK: Pin, LE: Pin> MBI for MBI5043<SDI, DCLK, LE> {
fn send_pixels<T: Fn(u8) -> u16>(&self, pixels: &[u8], transform: T) {
for pixel in pixels {
- self.send_word::<1>(&transform(*pixel));
+ self.send_word::<{ DataType::Data as u8 }>(&transform(*pixel));
+ }
+ // dummy word to latch the output registers
+ self.send_word::<{ DataType::Global as u8 }>(&0x0000);
+ }
+ // TODO: Need to store rest of the config and restore it here
+ fn set_gain(&self, gain: u8) {
+ let config = (gain as u16) << 4;
+ self.send_word::<15>(&config);
+ self.send_word::<11>(&config);
+ }
+}
+
+#[derive(Debug)]
+enum ProtocolState {
+ WaitCmd,
+ WaitLengthLsb,
+ WaitLengthMsb,
+ WaitData,
+}
+
+#[repr(u8)]
+#[derive(Eq, PartialEq, Debug)]
+enum Command {
+ Info = 0,
+ Frame = 1,
+ Brightness = 2,
+ Invalid = 255,
+}
+
+impl From<u8> for Command {
+ fn from(value: u8) -> Self {
+ match value {
+ 0 => Command::Info,
+ 1 => Command::Frame,
+ 2 => Command::Brightness,
+ _ => Command::Invalid,
+ }
+ }
+}
+
+struct Protocol<'d, T: usbd::Instance + 'd> {
+ class: &'d mut CdcAcmClass<'d, usbd::Driver<'d, T>>,
+ state: ProtocolState,
+ cmd: Command,
+ to_read: u16,
+ cur_pos: usize,
+ buf: [u8; 1024],
+}
+
+impl<'d, T: usbd::Instance + 'd> Protocol<'d, T> {
+ fn new(class: &'d mut CdcAcmClass<'d, usbd::Driver<'d, T>>) -> Self {
+ Self {
+ class,
+ state: ProtocolState::WaitCmd,
+ cmd: Command::Info,
+ to_read: 0,
+ cur_pos: 0,
+ buf: [0; 1024],
+ }
+ }
+ fn transition(&mut self, new_state: ProtocolState) {
+ // println!("transition {:?} -> {:?}", self.state, new_state);
+ self.state = new_state
+ }
+ async fn receive(&mut self) -> Result<(), Disconnected> {
+ let mut buf = [0; 64];
+ loop {
+ let n = self.class.read_packet(&mut buf).await?;
+ let mut data = &buf[..n];
+ while !data.is_empty() {
+ match self.state {
+ ProtocolState::WaitCmd => {
+ let cmd: Command = data[0].into();
+ if cmd != Command::Invalid {
+ self.cmd = cmd;
+ self.transition(ProtocolState::WaitLengthMsb);
+ }
+ }
+ ProtocolState::WaitLengthMsb => {
+ self.to_read = (data[0] as u16) << 8;
+ self.transition(ProtocolState::WaitLengthLsb);
+ }
+ ProtocolState::WaitLengthLsb => {
+ self.cur_pos = 0;
+ self.to_read |= data[0] as u16;
+ // println!("expecting {} bytes", self.to_read);
+ if self.to_read != 0 {
+ self.transition(ProtocolState::WaitData);
+ } else {
+ self.handle().await;
+ self.transition(ProtocolState::WaitCmd);
+ }
+ }
+ ProtocolState::WaitData => {
+ if self.to_read != 0 {
+ self.buf[self.cur_pos] = data[0];
+ self.cur_pos += 1;
+ self.to_read -= 1;
+ }
+ if self.to_read == 0 {
+ self.handle().await;
+ self.transition(ProtocolState::WaitCmd);
+ }
+ }
+ }
+ data = &data[1..];
+ }
+ }
+ }
+ async fn send_frame_no(&mut self) {
+ let frame_be = CUR_FRAME
+ .load(core::sync::atomic::Ordering::Relaxed)
+ .to_be_bytes();
+ self.class.write_packet(&frame_be).await.unwrap();
+ }
+
+ async fn handle(&mut self) {
+ // println!("handling cmd: {:?}", self.cmd);
+ match self.cmd {
+ Command::Info => self.handle_info().await,
+ Command::Frame => self.handle_frame().await,
+ Command::Brightness => self.handle_brightness().await,
+ Command::Invalid => unimplemented!(),
+ }
+ }
+
+ // response:
+ // u16 width
+ // u16 height
+ // u16 fps
+ // u64 cur_frame
+ async fn handle_info(&mut self) {
+ let width_be = (WIDTH as u16).to_be_bytes();
+ let height_be = (HEIGHT as u16).to_be_bytes();
+ let fps_be = (FPS as u16).to_be_bytes();
+ self.class.write_packet(&width_be).await.unwrap();
+ self.class.write_packet(&height_be).await.unwrap();
+ self.class.write_packet(&fps_be).await.unwrap();
+ self.send_frame_no().await;
+ }
+
+ // data:
+ // u64 when
+ // u8[WIDTH * HEIGHT] pixels
+ // response:
+ // u64 cur_frame
+ async fn handle_frame(&mut self) {
+ let cmd = MbiCommand::frame_from_packet(self.buf.as_slice());
+ critical_section::with(|cs| MBI_QUEUE.borrow_ref_mut(cs).push(cmd));
+ self.send_frame_no().await;
+ }
+
+ // data:
+ // u8 gain - 6 bits, 12.5 - 200%
+ // response:
+ // u8 - 255 if ok, 0 if not
+ async fn handle_brightness(&mut self) {
+ let gain = self.buf[0];
+ if gain & 0b11000000 != 0 {
+ self.class.write_packet(&[0u8]).await.unwrap();
+ } else {
+ critical_section::with(|cs| {
+ MBI_QUEUE
+ .borrow_ref_mut(cs)
+ .push(MbiCommand::from_brightness(gain))
+ }).unwrap();
+ self.class.write_packet(&[255u8]).await.unwrap();
}
- self.send_word::<3>(&0x0000);
}
}
@@ -193,14 +366,16 @@ async fn usb(usb: peripherals::USBD, irq: Irqs, dp: peripherals::PA12, dm: perip
let usb_fut = usb.run();
let echo_fut = async {
+ let mut protocol = Protocol::new(&mut class);
loop {
- class.wait_connection().await;
- receive(&mut class).await;
+ protocol.class.wait_connection().await;
+ protocol.receive().await.unwrap();
}
};
join(usb_fut, echo_fut).await;
}
+#[derive(Debug)]
struct Disconnected {}
impl From<EndpointError> for Disconnected {
@@ -212,41 +387,66 @@ impl From<EndpointError> for Disconnected {
}
}
-async fn receive<'d, T: usbd::Instance + 'd>(
- class: &mut CdcAcmClass<'d, usbd::Driver<'d, T>>,
-) -> Result<(), Disconnected> {
- let mut buf = [0; 64];
- loop {
- let n = class.read_packet(&mut buf).await?;
- let data = &buf[..n];
- class.write_packet(data).await?;
- let mut frame = Frame::empty();
- frame.when = 512;
- let mut i = 0;
- for b in data {
- for j in 0..8 {
- if b & (1 << j) != 0 {
- frame.pixels[i * 8 + j] = 128
- };
- }
- i += 1
+#[derive(Debug)]
+struct MbiCommand {
+ when: u64,
+ inner: MbiCommandInner,
+}
+
+impl MbiCommand {
+ fn frame_from_packet(packet: &[u8]) -> MbiCommand {
+ Self {
+ when: u64::from_be_bytes(packet[0..8].try_into().unwrap()),
+ inner: Frame::from(&packet[8..]).into(),
+ }
+ }
+ fn from_brightness(gain: u8) -> MbiCommand {
+ Self {
+ when: 0,
+ inner: MbiCommandInner::Brightness(gain),
}
- println!("queueing new frame");
- critical_section::with(|cs| FRAME_QUEUE.borrow_ref_mut(cs).push(frame));
}
}
-#[derive(Ord, Eq)]
+impl PartialOrd for MbiCommand {
+ fn partial_cmp(&self, other: &Self) -> Option<core::cmp::Ordering> {
+ self.when.partial_cmp(&other.when)
+ }
+}
+
+impl PartialEq for MbiCommand {
+ fn eq(&self, other: &Self) -> bool {
+ self.when.eq(&other.when)
+ }
+}
+impl Eq for MbiCommand {}
+impl Ord for MbiCommand {
+ fn cmp(&self, other: &Self) -> core::cmp::Ordering {
+ self.when.cmp(&other.when)
+ }
+}
+
+#[derive(Debug)]
+enum MbiCommandInner {
+ Frame(Frame),
+ Brightness(u8),
+}
+
+impl From<Frame> for MbiCommandInner {
+ fn from(value: Frame) -> Self {
+ MbiCommandInner::Frame(value)
+ }
+}
+
+#[derive(Clone, Debug)]
struct Frame {
- when: u64,
- pixels: [u8; 256],
+ pixels: [u8; WIDTH as usize * HEIGHT as usize],
}
impl Frame {
const fn empty() -> Self {
Self {
- when: 0,
- pixels: [0; 256],
+ pixels: [0; WIDTH as usize * HEIGHT as usize],
}
}
}
@@ -257,15 +457,15 @@ impl Default for Frame {
}
}
-impl PartialEq for Frame {
- fn eq(&self, other: &Self) -> bool {
- self.when.eq(&other.when)
- }
-}
-
-impl PartialOrd for Frame {
- fn partial_cmp(&self, other: &Self) -> Option<core::cmp::Ordering> {
- self.when.partial_cmp(&other.when)
+impl From<&[u8]> for Frame {
+ fn from(value: &[u8]) -> Self {
+ let mut pixels = [0; WIDTH as usize * HEIGHT as usize];
+ for i in 0..pixels.len() {
+ let y = i / WIDTH as usize;
+ let x = WIDTH as usize - (i % WIDTH as usize) - 1;
+ pixels[y * WIDTH as usize + x] = value[i];
+ }
+ Frame { pixels }
}
}
@@ -303,14 +503,14 @@ impl Lightbar {
}
}
async fn mbi_send_frame(&self, f: &Frame) {
- for row in 0..16 {
+ for row in 0..HEIGHT as usize {
pac::GPIOB.outdr().write_value(Outdr(0));
- self.mbi
- .send_pixels(&f.pixels[row * 16..(row + 1) * 16], |val| {
- self.gamma_lut.correct(val)
- });
+ self.mbi.send_pixels(
+ &f.pixels[row * WIDTH as usize..(row + 1) * WIDTH as usize],
+ |val| self.gamma_lut.correct(val),
+ );
pac::GPIOB.outdr().write_value(Outdr(1 << row));
- Timer::after_micros(1_000_000 / FPS as u64 / 17).await;
+ Timer::after_micros(1_000_000 / FPS as u64 / (HEIGHT as u64 + 1)).await;
}
}
async fn display_task(&self) {
@@ -322,21 +522,33 @@ impl Lightbar {
.cfghr()
.write_value(gpio::regs::Cfghr(0x33333333));
- let mut frame: u64 = 0;
+ let mut cmd: Option<MbiCommand> = None;
let mut draw_frame: Frame = EMPTY_FRAME;
let mut ticker = Ticker::every(Duration::from_micros(1_000_000 / FPS as u64));
+ // TODO: move to interrupt driven
loop {
+ let frame = CUR_FRAME.fetch_add(1, core::sync::atomic::Ordering::Relaxed);
critical_section::with(|cs| {
- let mut frames = FRAME_QUEUE.borrow_ref_mut(cs);
- if frames.peek().is_some_and(|f| frame >= f.when) {
- draw_frame = frames.pop().unwrap();
- println!("got new frame for {} @ {}", draw_frame.when, frame);
+ let mut commands = MBI_QUEUE.borrow_ref_mut(cs);
+
+ if commands.peek().is_some_and(|v| frame >= v.when) {
+ cmd = commands.pop();
+ } else {
+ cmd = None
}
});
- self.mbi_send_frame(&draw_frame).await;
- frame += 1;
- ticker.next().await
+ if let Some(cmd) = &cmd {
+ match &cmd.inner {
+ MbiCommandInner::Brightness(gain) => self.mbi.set_gain(*gain),
+ MbiCommandInner::Frame(f) => {
+ draw_frame = f.clone();
+ }
+ }
+ } else {
+ self.mbi_send_frame(&draw_frame).await;
+ ticker.next().await
+ }
}
}
}
@@ -373,14 +585,9 @@ async fn main(spawner: Spawner) -> ! {
);
let ch = hal::timer::Channel::Ch1;
- let max_duty = pwm.get_max_duty();
pwm.set_duty(ch, 9);
pwm.enable(ch);
- // println!("exti: {:x}", pac::EXTI.intenr().read().0);
- // pac::EXTI.intenr().modify(|w| w.set_mr(18, true));
- // println!("exti: {:x}", pac::EXTI.intenr().read().0);
-
let app: Lightbar = Lightbar::new(spi_mosi.degrade(), spi_sck.degrade(), le.degrade(), 2.8);
spawner.spawn(usb(p.USBD, Irqs, p.PA12, p.PA11)).unwrap();
@@ -388,23 +595,6 @@ async fn main(spawner: Spawner) -> ! {
.spawn(blink(p.PC14.degrade(), p.PC15.degrade()))
.unwrap();
- // spawner
- // .spawn(mbi_writer(
- // spi_mosi.degrade(),
- // spi_sck.degrade(),
- // le.degrade(),
- // ))
- // .unwrap();
-
- // spawner.spawn(busy()).unwrap();
-
- critical_section::with(|cs| {
- FRAME_QUEUE.borrow_ref_mut(cs).push(Frame {
- when: 60,
- pixels: [128; 256],
- })
- });
-
loop {
app.display_task().await
}
@@ -412,8 +602,9 @@ async fn main(spawner: Spawner) -> ! {
#[inline(never)]
#[panic_handler]
-fn panic(info: &PanicInfo) -> ! {
+fn panic(_info: &PanicInfo) -> ! {
loop {
+ println!("{:?}", _info);
core::sync::atomic::compiler_fence(core::sync::atomic::Ordering::SeqCst);
}
}