143 lines
4.7 KiB
C++
143 lines
4.7 KiB
C++
#include "blk_box_drivers/leds.hpp"
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#include "pins.h"
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#include "esp_log.h"
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#include "esp_err.h"
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#include "led_strip.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/semphr.h"
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const LEDColor LEDColor::OFF = LEDColor::from_rgb(0x00, 0x00, 0x00);
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const LEDColor LEDColor::RED = LEDColor::from_rgb(0x17, 0x00, 0x00);
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const LEDColor LEDColor::RED_STRONG = LEDColor::from_rgb(0xFF, 0x00, 0x00);
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const LEDColor LEDColor::ORANGE = LEDColor::from_rgb(0x17, 0x02, 0x00);
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const LEDColor LEDColor::ORANGE_STRONG = LEDColor::from_rgb(0xFF, 0x20, 0x00);
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const LEDColor LEDColor::YELLOW = LEDColor::from_rgb(0x07, 0x07, 0x00);
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const LEDColor LEDColor::YELLOW_STRONG = LEDColor::from_rgb(0xFF, 0xFF, 0x00);
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const LEDColor LEDColor::GREEN = LEDColor::from_rgb(0x00, 0x07, 0x00);
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const LEDColor LEDColor::GREEN_STRONG = LEDColor::from_rgb(0x00, 0xFF, 0x00);
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const LEDColor LEDColor::BLUE = LEDColor::from_rgb(0x00, 0x00, 0x17);
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const LEDColor LEDColor::BLUE_STRONG = LEDColor::from_rgb(0x00, 0x00, 0xFF);
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const LEDColor LEDColor::PINK = LEDColor::from_rgb(0x10, 0x00, 0x04);
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const LEDColor LEDColor::PINK_STRONG = LEDColor::from_rgb(0xFF, 0x00, 0x80);
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const LEDColor LEDColor::WHITE = LEDColor::from_rgb(0x04, 0x04, 0x04);
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const LEDColor LEDColor::WHITE_STRONG = LEDColor::from_rgb(0xFF, 0xFF, 0xFF);
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static constexpr const char* TAG = "leds";
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static led_strip_handle_t led_strip = nullptr;
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static SemaphoreHandle_t led_mutex = nullptr;
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static bool leds_ready() {
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if (led_strip != nullptr && led_mutex != nullptr) {
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return true;
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}
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ESP_LOGE(TAG, "LEDs used before successful initialization");
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return false;
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}
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void init_leds() {
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if (led_strip != nullptr || led_mutex != nullptr) {
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ESP_ERROR_CHECK(led_strip != nullptr && led_mutex != nullptr
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? ESP_OK
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: ESP_ERR_INVALID_STATE);
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return;
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}
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led_mutex = xSemaphoreCreateMutex();
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ESP_ERROR_CHECK(led_mutex != nullptr ? ESP_OK : ESP_ERR_NO_MEM);
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/// LED strip common configuration
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led_strip_config_t strip_config = {
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.strip_gpio_num = PIN_NEOPIXEL,
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.max_leds = LED_COUNT,
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// TODO: switch this over when we switch to the different LEDs
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.led_model = LED_MODEL_WS2812,
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.color_component_format = LED_STRIP_COLOR_COMPONENT_FMT_GRB,
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.flags = {
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.invert_out = false,
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}
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};
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/// RMT backend specific configuration
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led_strip_rmt_config_t rmt_config = {
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.clk_src = RMT_CLK_SRC_DEFAULT,
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.resolution_hz = LED_STRIP_RMT_RES_HZ,
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.mem_block_symbols = RMT_LED_SYMBOLS * RMT_SYMBOLS_PER_LED,
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.flags = {
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.with_dma = false,
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}
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};
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/// Create the LED strip object
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ESP_ERROR_CHECK(led_strip_new_rmt_device(&strip_config, &rmt_config, &led_strip));
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// Clear the strip once during initialization. Runtime clear() is lazy.
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ESP_ERROR_CHECK(led_strip_clear(led_strip));
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}
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void LEDController::set_led(uint32_t led, uint32_t color) {
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if (!leds_ready() || xSemaphoreTake(led_mutex, portMAX_DELAY) != pdTRUE) {
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return;
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}
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const esp_err_t err = led_strip_set_pixel(
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led_strip, led, (color >> 16) & 0xFF, (color >> 8) & 0xFF, color & 0xFF);
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if (err != ESP_OK) {
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ESP_LOGE(TAG, "Failed to set LED %u: %s", led, esp_err_to_name(err));
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}
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xSemaphoreGive(led_mutex);
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}
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void LEDController::flush() {
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if (!leds_ready() || xSemaphoreTake(led_mutex, portMAX_DELAY) != pdTRUE) {
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return;
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}
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const esp_err_t err = led_strip_refresh(led_strip);
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if (err != ESP_OK) {
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ESP_LOGE(TAG, "Failed to refresh LEDs: %s", esp_err_to_name(err));
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}
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xSemaphoreGive(led_mutex);
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}
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void LEDController::clear() {
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clear(LEDColor::OFF);
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}
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void LEDController::clear(LEDColor color) {
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clear_range(0, LED_COUNT, color);
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}
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void LEDController::clear_indicators() {
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clear_indicators(LEDColor::OFF);
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}
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void LEDController::clear_indicators(LEDColor color) {
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clear_range(LED_SHAPE_COUNT, LED_INDICATOR_COUNT, color);
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}
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void LEDController::clear_shape_display() {
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clear_shape_display(LEDColor::OFF);
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}
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void LEDController::clear_shape_display(LEDColor color) {
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clear_range(0, LED_SHAPE_COUNT, color);
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}
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void LEDController::clear_range(uint32_t first_led, uint32_t led_count, LEDColor color) {
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if (!leds_ready() || xSemaphoreTake(led_mutex, portMAX_DELAY) != pdTRUE) {
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return;
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}
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const uint32_t value = color.value();
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for (uint32_t led = first_led; led < first_led + led_count; ++led) {
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const esp_err_t err = led_strip_set_pixel(
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led_strip, led, (value >> 16) & 0xFF, (value >> 8) & 0xFF, value & 0xFF);
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if (err != ESP_OK) {
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ESP_LOGE(TAG, "Failed to clear LED %u: %s", led, esp_err_to_name(err));
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}
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}
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xSemaphoreGive(led_mutex);
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}
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