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Initial import from ws2801d repository

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This commit is contained in:
Thomas Kolb 2018-06-13 21:51:30 +02:00
commit f033119aa8
14 changed files with 778 additions and 0 deletions
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1
.gitignore vendored Normal file
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build/

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CMakeLists.txt Normal file
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cmake_minimum_required (VERSION 3.2)
project (sk6812d VERSION 0.1 LANGUAGES C)
set(CMAKE_C_STANDARD 99)
set(CMAKE_CXX_FLAGS "-Wall -pedantic")
find_package(Threads REQUIRED)
# put all .cpp and .h files into the sources variable
set(sources
src/fader.c
src/logger.c
src/main.c
src/udpproto.c
src/utils.c
src/ws2801.c
src/fader.h
src/logger.h
src/udpproto.h
src/utils.h
src/ws2801.h
)
include_directories(
${CMAKE_PROJECT_NAME}
)
add_executable(
${CMAKE_PROJECT_NAME}
${sources}
)
target_link_libraries(
${CMAKE_PROJECT_NAME}
${CMAKE_THREAD_LIBS_INIT}
)
#configure_file("lua/demobot.lua" "lua/demobot.lua" COPYONLY)

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make.sh Executable file
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#!/bin/sh
mkdir -p build
cd build
cmake ..
make $@

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#include <malloc.h>
#include "logger.h"
#include "utils.h"
#include "ws2801.h"
#include "fader.h"
uint32_t numModules;
float fadestep = 1;
double nextFrame;
int somethingChanged = 0; // indicates when a ws2801 update is required
static const double interval = 0.01f;
struct Colour {
float red, green, blue; // value range is 0.0 to 255.0
};
struct Colour *curColour;
struct Colour *targetColour;
int fader_init(uint32_t nMod)
{
numModules = nMod;
curColour = malloc(nMod * sizeof(struct Colour));
if(!curColour) {
LOG(LVL_ERR, "fader: could not allocate the array of current colours!");
return -1;
}
targetColour = malloc(nMod * sizeof(struct Colour));
if(!targetColour) {
LOG(LVL_ERR, "fader: could not allocate the array of target colours!");
return -1;
}
for(uint32_t i = 0; i < numModules; i++) {
curColour[i].red = targetColour[i].red = 0;
curColour[i].green = targetColour[i].green = 0;
curColour[i].blue = targetColour[i].blue = 0;
}
// timestamp for the first frame
nextFrame = get_hires_time() + interval;
return 0;
}
void fader_shutdown(void)
{
free(curColour);
free(targetColour);
}
void fader_set_colour(uint32_t module, uint8_t r, uint8_t g, uint8_t b)
{
curColour[module].red = targetColour[module].red = r;
curColour[module].green = targetColour[module].green = g;
curColour[module].blue = targetColour[module].blue = b;
somethingChanged = 1;
}
void fader_fade_colour(uint32_t module, uint8_t r, uint8_t g, uint8_t b)
{
targetColour[module].red = r;
targetColour[module].green = g;
targetColour[module].blue = b;
}
void fader_add_colour(uint32_t module, uint8_t r, uint8_t g, uint8_t b)
{
curColour[module].red += r;
curColour[module].green += g;
curColour[module].blue += b;
if(curColour[module].red > 255) { curColour[module].red = 255; }
if(curColour[module].green > 255) { curColour[module].green = 255; }
if(curColour[module].blue > 255) { curColour[module].blue = 255; }
targetColour[module].red += r;
targetColour[module].green += g;
targetColour[module].blue += b;
if(targetColour[module].red > 255) { targetColour[module].red = 255; }
if(targetColour[module].green > 255) { targetColour[module].green = 255; }
if(targetColour[module].blue > 255) { targetColour[module].blue = 255; }
somethingChanged = 1;
}
void fader_set_fadestep(uint8_t newFadestep)
{
// The original avr implementition had a frame rate of 25fps (interval 0,04 sec.).
// This scales the fadestep to the current frame rate.
fadestep = (float)newFadestep * interval / 0.04f;
}
/*!
* Fade the colour value in cur towards target.
*
* \param cur The colour value to update.
* \param target The target value that should be reached.
* \param changed Output value which is set to 1 if cur was changed.
*/
void fade_colour(float *cur, const float *target, int *changed)
{
float diff;
if(*cur > *target) {
diff = *cur - *target;
if(diff < fadestep) {
*cur = *target;
} else {
*cur -= fadestep;
}
*changed = 1;
} else if(*cur < *target) {
diff = *target - *cur;
if(diff < fadestep) {
*cur = *target;
} else {
*cur += fadestep;
}
*changed = 1;
}
}
void fader_update(void)
{
for(uint32_t i = 0; i < numModules; i++) {
fade_colour(&(curColour[i].red), &(targetColour[i].red), &somethingChanged);
fade_colour(&(curColour[i].green), &(targetColour[i].green), &somethingChanged);
fade_colour(&(curColour[i].blue), &(targetColour[i].blue), &somethingChanged);
ws2801_set_colour(i,
(uint8_t)curColour[i].red,
(uint8_t)curColour[i].green,
(uint8_t)curColour[i].blue);
}
if(somethingChanged) {
ws2801_send_update();
somethingChanged = 0;
}
}
void fader_wait_frame(void)
{
sleep_until(nextFrame);
nextFrame += interval;
}

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#ifndef FADER_H
#define FADER_H
#include <stdint.h>
int fader_init(uint32_t nMod);
void fader_shutdown(void);
void fader_set_colour(uint32_t module, uint8_t r, uint8_t g, uint8_t b);
void fader_fade_colour(uint32_t module, uint8_t r, uint8_t g, uint8_t b);
void fader_add_colour(uint32_t module, uint8_t r, uint8_t g, uint8_t b);
void fader_set_fadestep(uint8_t newFadestep);
void fader_update(void);
void fader_wait_frame(void);
#endif // FADER_H

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/*
* vim: sw=2 ts=2 expandtab
*
* "THE PIZZA-WARE LICENSE" (derived from "THE BEER-WARE LICENCE"):
* Thomas Kolb <cfr34k@tkolb.de> wrote this file. As long as you retain this
* notice you can do whatever you want with this stuff. If we meet some day,
* and you think this stuff is worth it, you can buy me a pizza in return.
* - Thomas Kolb
*/
#include <stdio.h>
#include <malloc.h>
#include <time.h>
#include <sys/time.h>
#include "logger.h"
// define constants
const char *LOGGER_STR_FATAL = "FATAL";
const char *LOGGER_STR_ERR = "ERROR";
const char *LOGGER_STR_WARN = "WARN ";
const char *LOGGER_STR_INFO = "INFO ";
const char *LOGGER_STR_DEBUG = "DEBUG";
const char *LOGGER_STR_DUMP = "DUMP ";
const char *LOGGER_COLOR_FATAL = "\033[1;31m";
const char *LOGGER_COLOR_ERR = "\033[1;31m";
const char *LOGGER_COLOR_WARN = "\033[1;33m";
const char *LOGGER_COLOR_INFO = "\033[1;32m";
const char *LOGGER_COLOR_DEBUG = "\033[1m";
const char *LOGGER_COLOR_DUMP = "\033[1;30m";
const char *LOGGER_COLOR_NONE = "\033[0m";
// global variables
sem_t logger_semaphore;
int logger_verbosity;
int logger_use_colors;
void logger_init(void) {
// Initialize the semaphore
sem_init(&logger_semaphore, 0, 1);
logger_verbosity = 2147483647;
logger_use_colors = 1;
}
void logger_shutdown(void) {
sem_destroy(&logger_semaphore);
}
void logger_enable_colors(int enable) {
logger_use_colors = enable;
}
void logger_set_verbosity(int verbosity) {
logger_verbosity = verbosity;
}
void logger_debug_message(const char *prefix, const char *fmt, va_list ap) {
/* Guess we need no more than 100 bytes. */
int n, size = 100;
char *p, *np;
va_list internal_ap;
if ((p = (char*)malloc(size)) == NULL) {
fprintf(stderr, "[%s] FATAL: Cannot allocate string buffer while processing arguments.\n", LOGGER_STR_ERR);
return;
}
while (1) {
/* Try to print in the allocated space. */
va_copy(internal_ap, ap);
n = vsnprintf(p, size, fmt, internal_ap);
va_end(internal_ap);
/* If that worked, return the string. */
if (n > -1 && n < size)
break;
/* Else try again with more space. */
if (n > -1) /* glibc 2.1 */
size = n+1; /* precisely what is needed */
else /* glibc 2.0 */
size *= 2; /* twice the old size */
if ((np = (char*)realloc (p, size)) == NULL) {
free(p);
fprintf(stderr, "[%s] FATAL: Cannot reallocate string buffer while processing arguments.\n", LOGGER_STR_ERR);
return;
} else {
p = np;
}
}
sem_wait(&logger_semaphore);
fprintf(stderr, "%s %s\n", prefix, p);
sem_post(&logger_semaphore);
free(p);
}
void logger_log(int level, const char *format, ...) {
va_list argptr;
char timebuf[32];
char timebuf2[32];
char prefixbuf[64];
const char *prefixcolor = "", *prefixtext = "";
if(level > logger_verbosity)
return;
struct timeval tv;
gettimeofday(&tv, NULL);
strftime(timebuf, 32, "%Y-%M-%d %H:%M:%S.%%03d", localtime(&(tv.tv_sec)));
snprintf(timebuf2, 32, timebuf, tv.tv_usec/1000);
if(level >= LVL_DUMP) {
if(logger_use_colors)
prefixcolor = LOGGER_COLOR_DUMP;
prefixtext = LOGGER_STR_DUMP;
} else if(level >= LVL_DEBUG) {
if(logger_use_colors)
prefixcolor = LOGGER_COLOR_DEBUG;
prefixtext = LOGGER_STR_DEBUG;
} else if(level >= LVL_INFO) {
if(logger_use_colors)
prefixcolor = LOGGER_COLOR_INFO;
prefixtext = LOGGER_STR_INFO;
} else if(level >= LVL_WARN) {
if(logger_use_colors)
prefixcolor = LOGGER_COLOR_WARN;
prefixtext = LOGGER_STR_WARN;
} else if(level >= LVL_ERR) {
if(logger_use_colors)
prefixcolor = LOGGER_COLOR_ERR;
prefixtext = LOGGER_STR_ERR;
} else {
if(logger_use_colors)
prefixcolor = LOGGER_COLOR_FATAL;
prefixtext = LOGGER_STR_FATAL;
}
if(logger_use_colors) {
sprintf(prefixbuf, "%s [%s%s%s]", timebuf2, prefixcolor, prefixtext, LOGGER_COLOR_NONE);
} else {
sprintf(prefixbuf, "%s [%s]", timebuf2, prefixtext);
}
va_start(argptr, format);
logger_debug_message(prefixbuf, format, argptr);
va_end(argptr);
}

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/*
* vim: sw=2 ts=2 expandtab
*
* "THE PIZZA-WARE LICENSE" (derived from "THE BEER-WARE LICENCE"):
* Thomas Kolb <cfr34k@tkolb.de> wrote this file. As long as you retain this
* notice you can do whatever you want with this stuff. If we meet some day,
* and you think this stuff is worth it, you can buy me a pizza in return.
* - Thomas Kolb
*/
#ifndef LOGGER_H
#define LOGGER_H
#include <semaphore.h>
#include <stdarg.h>
static const int LVL_FATAL = 0; /*!< Fatal message level */
static const int LVL_ERR = 5; /*!< Error message level */
static const int LVL_WARN = 50; /*!< Warning message level */
static const int LVL_INFO = 100; /*!< Information message level */
static const int LVL_DEBUG = 200; /*!< Debug message level */
static const int LVL_DUMP = 500; /*!< Dump message level */
extern sem_t logger_semaphore;
extern int logger_verbosity;
extern int logger_use_colors;
void logger_init(void);
void logger_shutdown(void);
void logger_enable_colors(int enable);
void logger_set_verbosity(int verbosity);
void logger_log(int level, const char *format, ...);
#define LOG(level, ...) logger_log(level, __VA_ARGS__)
#endif // LOGGER_H

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#include <math.h>
#include <time.h>
#include <string.h>
#include <errno.h>
#include <stdint.h>
#include "ws2801.h"
#include "logger.h"
#include "fader.h"
#include "udpproto.h"
#define PORT 2703
#define NUM_MODULES 160
int main(void)
{
// initialize logger
logger_init();
// initialise the UDP server
if(udpproto_init(PORT) == -1) {
LOG(LVL_FATAL, "Could not initialize the UDP server.");
return 1;
}
// initialize ws2801 library
if(ws2801_init(NUM_MODULES) == -1) {
LOG(LVL_FATAL, "Could not initialize WS2801 library.");
return 1;
}
// initialise the LED fader
if(fader_init(NUM_MODULES) == -1) {
LOG(LVL_FATAL, "Could not initialize the LED fader.");
return 1;
}
LOG(LVL_INFO, "Initialisation complete.");
while(1) {
udpproto_process();
fader_update();
fader_wait_frame();
}
// shut down all modules
fader_shutdown();
ws2801_shutdown();
udpproto_shutdown();
return 0;
}

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#include <arpa/inet.h>
#include <netinet/in.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <unistd.h>
#include <errno.h>
#include <string.h>
#include <poll.h>
#include "logger.h"
#include "fader.h"
#include "udpproto.h"
#define SET_COLOUR 0
#define FADE_COLOUR 1
#define ADD_COLOUR 2
#define SET_FADESTEP 3
int sock;
int udpproto_init(uint16_t port)
{
struct sockaddr_in listen_addr;
// initialize UDP server socket
sock = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP);
if(sock == -1) {
LOG(LVL_ERR, "udpproto: Could not initialize UDP socket: %s.", strerror(errno));
return -1;
}
memset(&listen_addr, 0, sizeof(listen_addr));
listen_addr.sin_family = AF_INET;
listen_addr.sin_port = htons(port);
listen_addr.sin_addr.s_addr = htonl(INADDR_ANY);
if(bind(sock, (struct sockaddr*)&listen_addr, sizeof(listen_addr)) == -1) {
LOG(LVL_ERR, "udpproto: Could not bind socket to port %i: %s.", port, strerror(errno));
return -1;
}
return 0;
}
int udpproto_process(void)
{
socklen_t remote_addr_len;
struct sockaddr remote_addr;
uint8_t pkgbuf[65536];
ssize_t rcvbytes, offset = 0;
uint8_t r, g, b, action, module;
int fds_ready;
// check if there is data to be read (to prevent blocking)
struct pollfd pfd = {
.fd = sock,
.events = POLLIN,
.revents = 0
};
fds_ready = poll(&pfd, 1, 0);
if(fds_ready == -1) {
LOG(LVL_ERR, "udpproto: poll() failed: %s.", strerror(errno));
return -1;
} else if(fds_ready == 0) {
// there's nothing to be read
return 0;
}
// receive the data
remote_addr_len = sizeof(remote_addr);
rcvbytes = recvfrom(sock, pkgbuf, 65536, 0, (struct sockaddr*)&remote_addr, &remote_addr_len);
if(rcvbytes == -1) {
LOG(LVL_ERR, "udpproto: recvfrom() failed: %s.", strerror(errno));
return -1;
}
pkgbuf[rcvbytes] = 0;
// parse commands from packet
offset = 0;
while(offset <= rcvbytes - 4) {
action = pkgbuf[offset + 0];
module = pkgbuf[offset + 1];
r = pkgbuf[offset + 2];
g = pkgbuf[offset + 3];
b = pkgbuf[offset + 4];
offset += 5;
switch(action) {
case SET_COLOUR:
fader_set_colour(module, r, g, b);
break;
case FADE_COLOUR:
fader_fade_colour(module, r, g, b);
break;
case ADD_COLOUR:
fader_add_colour(module, r, g, b);
break;
case SET_FADESTEP:
fader_set_fadestep(r); // red channel contains the fadestep in this case
break;
default:
LOG(LVL_DEBUG, "udpproto: Action %u not implemented yet.", action);
}
}
return rcvbytes / 5; // number of commands in packet
}
void udpproto_shutdown(void)
{
close(sock);
}

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#ifndef UDPPROTO_H
#define UDPPROTO_H
#include <stdint.h>
int udpproto_init(uint16_t port);
int udpproto_process(void);
void udpproto_shutdown(void);
#endif // UDPPROTO_H

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/*
* vim: sw=2 ts=2 expandtab
*
* "THE PIZZA-WARE LICENSE" (derived from "THE BEER-WARE LICENCE"):
* Thomas Kolb <cfr34k@tkolb.de> wrote this file. As long as you retain this
* notice you can do whatever you want with this stuff. If we meet some day,
* and you think this stuff is worth it, you can buy me a pizza in return.
* - Thomas Kolb
*/
#include <errno.h>
#include <time.h>
#include <stdint.h>
#include "utils.h"
double get_hires_time(void) {
struct timespec clk;
clock_gettime(CLOCK_REALTIME, &clk);
return (double)clk.tv_sec + 1.0e-9f * clk.tv_nsec;
}
void fsleep(double d) {
struct timespec ts;
ts.tv_sec = (time_t)d;
ts.tv_nsec = (long)(1e9 * (d - (long)d));
nanosleep(&ts, NULL);
}
void sleep_until(double hires_time) {
struct timespec tv;
int ret;
tv.tv_sec = hires_time;
tv.tv_nsec = (uint64_t)(1e9 * hires_time) % 1000000000;
do {
ret = clock_nanosleep(CLOCK_REALTIME, TIMER_ABSTIME, &tv, NULL);
} while(ret == EINTR);
}

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/*
* vim: sw=2 ts=2 expandtab
*
* "THE PIZZA-WARE LICENSE" (derived from "THE BEER-WARE LICENCE"):
* Thomas Kolb <cfr34k@tkolb.de> wrote this file. As long as you retain this
* notice you can do whatever you want with this stuff. If we meet some day,
* and you think this stuff is worth it, you can buy me a pizza in return.
* - Thomas Kolb
*/
#ifndef UTILS_H
#define UTILS_H
double get_hires_time(void);
void fsleep(double d);
void sleep_until(double hires_time);
#endif // UTILS_H

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#include <time.h>
#include <string.h>
#include <malloc.h>
#include <errno.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <sys/types.h>
#include <linux/spi/spidev.h>
//#include <wiringPi.h>
#include "logger.h"
#include "ws2801.h"
static const char *spi_dev = "/dev/spidev0.0";
static const uint32_t spi_speed = 1000000; // clock freq in Hz
static const uint16_t spi_delay = 0; // us
static const uint8_t spi_bits = 8; // bits per word
uint32_t numModules;
uint8_t *message;
int spi_fd = 0;
void send_message(void)
{
struct spi_ioc_transfer tr = {
.tx_buf = (unsigned long)message,
.rx_buf = (unsigned long)NULL,
.len = 3 * numModules,
.delay_usecs = spi_delay,
.speed_hz = spi_speed,
.bits_per_word = 8
};
if(ioctl(spi_fd, SPI_IOC_MESSAGE(1), &tr) < 0) {
LOG(LVL_ERR, "ws2801: could not send SPI message: %s", strerror(errno));
}
}
int ws2801_init(uint32_t nMod)
{
// Initialize SPI
// We need to have stable data at falling edge of the spi interface (this
// means rising edge at the led strip, as the signal is inverted.
uint8_t spi_mode = SPI_NO_CS; // | SPI_CPOL;
spi_fd = open(spi_dev, O_RDWR);
if(spi_fd < 0) {
LOG(LVL_ERR, "ws2801: cannot open %s: %s", spi_dev, strerror(errno));
return -1;
}
if(ioctl(spi_fd, SPI_IOC_WR_MODE, &spi_mode) == -1) {
LOG(LVL_ERR, "ws2801: cannot change SPI mode: %s", strerror(errno));
return -1;
}
if(ioctl(spi_fd, SPI_IOC_WR_BITS_PER_WORD, &spi_bits) == -1) {
LOG(LVL_ERR, "ws2801: cannot change SPI bits per word: %s", strerror(errno));
return -1;
}
if(ioctl(spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed) == -1) {
LOG(LVL_ERR, "ws2801: cannot change SPI speed: %s", strerror(errno));
return -1;
}
// create the message array
numModules = nMod;
message = malloc(3 * nMod * sizeof(uint8_t));
if(!message) {
LOG(LVL_ERR, "ws2801: could not allocate the message array!");
return -1;
}
return 0;
}
void ws2801_shutdown(void)
{
close(spi_fd);
if(message != NULL) { free(message); message = NULL; }
}
void ws2801_set_colour(uint32_t module, uint8_t red, uint8_t green, uint8_t blue)
{
//message[3*module + 0] = ~red;
//message[3*module + 1] = ~green;
//message[3*module + 2] = ~blue;
message[3*module + 0] = red;
message[3*module + 1] = blue;
message[3*module + 2] = green;
}
void ws2801_send_update(void)
{
send_message();
static const struct timespec sleepval = {0, 550000};
nanosleep(&sleepval, NULL);
}

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#ifndef WS2801_H
#define WS2801_H
#include <stdint.h>
int ws2801_init(uint32_t num_modules);
void ws2801_shutdown(void);
void ws2801_set_colour(uint32_t module, uint8_t red, uint8_t green, uint8_t blue);
void ws2801_send_update(void);
#endif // WS2801_H