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// Copyright 2022 The Pigweed Authors
//
// Licensed under the Apache License, Version 2.0 (the "License"); you may not
// use this file except in compliance with the License. You may obtain a copy of
// the License at
//
// https://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
// WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
// License for the specific language governing permissions and limitations under
// the License.
#include <cstdint>
#include "app_common/common.h"
#define LIB_CMSIS_CORE 0
#define LIB_PICO_STDIO_SEMIHOSTING 0
#include "FreeRTOS.h"
#include "ft6236/device.h"
#include "hardware/gpio.h"
#include "hardware/pwm.h"
#include "hardware/vreg.h"
#include "icm42670p/device.h"
#include "kudzu_imu_icm42670p/imu.h"
#include "max17948/device.h"
#include "pico/stdlib.h"
#include "pw_digital_io_rp2040/digital_io.h"
#include "pw_i2c_rp2040/initiator.h"
#include "pw_log/log.h"
#include "pw_pixel_pusher_rp2040_pio/pixel_pusher.h"
#include "pw_spi_rp2040/chip_selector.h"
#include "pw_spi_rp2040/initiator.h"
#include "pw_status/status.h"
#include "pw_sync/borrow.h"
#include "pw_sync/mutex.h"
#include "pw_thread/detached_thread.h"
#include "pw_thread/thread.h"
#include "pw_thread_freertos/context.h"
#include "pw_thread_freertos/options.h"
#include "pw_touchscreen_ft6236/touchscreen.h"
#include "tca9535/device.h"
#if defined(DISPLAY_TYPE_ILI9341)
#include "pw_display_driver_ili9341/display_driver.h"
using DisplayDriver = pw::display_driver::DisplayDriverILI9341;
#elif defined(DISPLAY_TYPE_ST7735)
#include "pw_display_driver_st7735/display_driver.h"
using DisplayDriver = pw::display_driver::DisplayDriverST7735;
#elif defined(DISPLAY_TYPE_ST7789)
#include "pw_display_driver_st7789/display_driver.h"
using DisplayDriver = pw::display_driver::DisplayDriverST7789;
#elif defined(DISPLAY_TYPE_ST7789_PIO)
#include "pw_display_driver_st7789/display_driver.h"
using DisplayDriver = pw::display_driver::DisplayDriverST7789;
#else
#error "Undefined display type"
#endif
using Touchscreen = pw::touchscreen::TouchscreenFT6236;
using pw::Status;
using pw::digital_io::Rp2040DigitalIn;
using pw::digital_io::Rp2040DigitalInOut;
using pw::display::Display;
using pw::framebuffer::Framebuffer;
using pw::framebuffer::PixelFormat;
using pw::framebuffer_pool::FramebufferPool;
using pw::pixel_pusher::PixelPusherRp2040Pio;
using pw::spi::Device;
using pw::spi::Initiator;
using pw::spi::PicoChipSelector;
using pw::spi::PicoInitiator;
using pw::sync::Borrowable;
using pw::sync::VirtualMutex;
namespace {
// Pico spi0 Pins
#define SPI_PORT spi0
struct SpiValues {
SpiValues(pw::spi::Config config,
pw::spi::ChipSelector& selector,
pw::sync::VirtualMutex& initiator_mutex);
pw::spi::PicoInitiator initiator;
pw::sync::Borrowable<pw::spi::Initiator> borrowable_initiator;
pw::spi::Device device;
};
static_assert(DISPLAY_WIDTH > 0);
static_assert(DISPLAY_HEIGHT > 0);
constexpr uint16_t kDisplayScaleFactor = 2;
constexpr uint16_t kFramebufferWidth =
FRAMEBUFFER_WIDTH >= 0 ? FRAMEBUFFER_WIDTH / kDisplayScaleFactor
: DISPLAY_WIDTH / kDisplayScaleFactor;
constexpr uint16_t kFramebufferHeight = DISPLAY_HEIGHT / kDisplayScaleFactor;
constexpr pw::math::Size<uint16_t> kDisplaySize{DISPLAY_WIDTH, DISPLAY_HEIGHT};
constexpr size_t kNumPixels = kFramebufferWidth * kFramebufferHeight;
constexpr uint16_t kFramebufferRowBytes = sizeof(uint16_t) * kFramebufferWidth;
constexpr uint32_t kBaudRate = 31'250'000;
constexpr pw::spi::Config kSpiConfig8Bit{
.polarity = pw::spi::ClockPolarity::kActiveHigh,
.phase = pw::spi::ClockPhase::kFallingEdge,
.bits_per_word = pw::spi::BitsPerWord(8),
.bit_order = pw::spi::BitOrder::kMsbFirst,
};
constexpr pw::spi::Config kSpiConfig16Bit{
.polarity = pw::spi::ClockPolarity::kActiveHigh,
.phase = pw::spi::ClockPhase::kFallingEdge,
.bits_per_word = pw::spi::BitsPerWord(16),
.bit_order = pw::spi::BitOrder::kMsbFirst,
};
Rp2040DigitalInOut s_display_dc_pin(DISPLAY_DC_GPIO);
#if DISPLAY_RESET_GPIO != -1
Rp2040DigitalInOut s_display_reset_pin(DISPLAY_RESET_GPIO);
#endif
#if DISPLAY_TE_GPIO != -1
Rp2040DigitalIn s_display_tear_effect_pin(DISPLAY_TE_GPIO);
#endif
Rp2040DigitalInOut s_display_cs_pin(DISPLAY_CS_GPIO);
PicoChipSelector s_spi_chip_selector(s_display_cs_pin);
PicoInitiator s_spi_initiator(SPI_PORT);
VirtualMutex s_spi_initiator_mutex;
Borrowable<Initiator> s_borrowable_spi_initiator(s_spi_initiator,
s_spi_initiator_mutex);
SpiValues s_spi_8_bit(kSpiConfig8Bit,
s_spi_chip_selector,
s_spi_initiator_mutex);
SpiValues s_spi_16_bit(kSpiConfig16Bit,
s_spi_chip_selector,
s_spi_initiator_mutex);
#if USE_PIO
PixelPusherRp2040Pio s_pixel_pusher(DISPLAY_DC_GPIO,
DISPLAY_CS_GPIO,
SPI_MOSI_GPIO,
SPI_CLOCK_GPIO,
DISPLAY_TE_GPIO,
pio0);
#endif
uint16_t s_pixel_data1[kNumPixels];
uint16_t s_pixel_data2[kNumPixels];
const pw::Vector<void*, 2> s_pixel_buffers{s_pixel_data1, s_pixel_data2};
pw::framebuffer_pool::FramebufferPool s_fb_pool({
.fb_addr = s_pixel_buffers,
.dimensions = {kFramebufferWidth, kFramebufferHeight},
.row_bytes = kFramebufferRowBytes,
.pixel_format = PixelFormat::RGB565,
});
DisplayDriver s_display_driver({
.data_cmd_gpio = s_display_dc_pin.as<pw::digital_io::DigitalOut>(),
.spi_cs_gpio = s_display_cs_pin.as<pw::digital_io::DigitalOut>(),
#if DISPLAY_RESET_GPIO != -1
.reset_gpio = &s_display_reset_pin.as<pw::digital_io::DigitalOut>(),
#else
.reset_gpio = nullptr,
#endif
#if DISPLAY_TE_GPIO != -1
.tear_effect_gpio = &s_display_tear_effect_pin,
#else
.tear_effect_gpio = nullptr,
#endif
.spi_device_8_bit = s_spi_8_bit.device,
.spi_device_16_bit = s_spi_16_bit.device,
#if USE_PIO
.pixel_pusher = &s_pixel_pusher,
#endif
});
#if BACKLIGHT_GPIO != -1
void SetBacklight(uint16_t brightness) {
pwm_config cfg = pwm_get_default_config();
pwm_set_wrap(pwm_gpio_to_slice_num(BACKLIGHT_GPIO), 65535);
pwm_init(pwm_gpio_to_slice_num(BACKLIGHT_GPIO), &cfg, true);
gpio_set_function(BACKLIGHT_GPIO, GPIO_FUNC_PWM);
pwm_set_gpio_level(BACKLIGHT_GPIO, brightness);
}
#endif
const uint8_t kStatusPinRed = 23;
const uint8_t kStatusPinGreen = 24;
const uint8_t kStatusPinBlue = 25;
void ConfigStatusRgb() {
std::array<uint8_t, 3> pwm_pins = {
kStatusPinRed, kStatusPinGreen, kStatusPinBlue};
for (auto& pin : pwm_pins) {
gpio_set_function(pin, GPIO_FUNC_PWM);
auto slice_num = pwm_gpio_to_slice_num(pin);
pwm_config cfg = pwm_get_default_config();
pwm_set_wrap(slice_num, 65535);
pwm_init(slice_num, &cfg, true);
pwm_set_gpio_level(pin, 65535);
}
}
void SetStatusRgb(uint8_t r, uint8_t g, uint8_t b) {
pwm_set_gpio_level(kStatusPinRed, 65535 - r * r);
pwm_set_gpio_level(kStatusPinGreen, 65535 - g * g);
pwm_set_gpio_level(kStatusPinBlue, 65535 - b * b);
}
SpiValues::SpiValues(pw::spi::Config config,
pw::spi::ChipSelector& selector,
pw::sync::VirtualMutex& initiator_mutex)
: initiator(SPI_PORT),
borrowable_initiator(initiator, initiator_mutex),
device(borrowable_initiator, config, selector) {}
constexpr pw::i2c::PicoInitiator::Config ki2c0Config{
.i2c_block = 0,
.baud_rate_bps = 400'000,
.sda_pin = I2C_BUS0_SDA,
.scl_pin = I2C_BUS0_SCL,
};
constexpr pw::i2c::PicoInitiator::Config ki2c1Config{
.i2c_block = 1,
.baud_rate_bps = 400'000,
.sda_pin = I2C_BUS1_SDA,
.scl_pin = I2C_BUS1_SCL,
};
pw::i2c::PicoInitiator i2c0_bus(ki2c0Config);
pw::i2c::PicoInitiator i2c1_bus(ki2c1Config);
pw::tca9535::Device io_expander(i2c1_bus);
kudzu::icm42670p::Device imu(i2c0_bus);
pw::max17948::Device fuel_guage(i2c0_bus);
pw::ft6236::Device touch_screen_controller(i2c0_bus);
static constexpr size_t kDisplayDrawThreadStackWords = 512;
static pw::thread::freertos::StaticContextWithStack<
kDisplayDrawThreadStackWords>
display_draw_thread_context;
static constexpr size_t kTouchscreenThreadStackWords = 512;
static pw::thread::freertos::StaticContextWithStack<
kTouchscreenThreadStackWords>
touchscreen_thread_context;
Rp2040DigitalInOut s_io_reset_n(10);
Rp2040DigitalInOut s_imu_fsync(13);
} // namespace
Status Common::EndOfFrameCallback() {
// touch_screen_controller.LogControllerInfo();
if (io_expander.Probe() == pw::OkStatus()) {
io_expander.LogControllerInfo();
}
if (fuel_guage.Probe() == pw::OkStatus()) {
fuel_guage.LogControllerInfo();
}
if (imu.Probe() == pw::OkStatus()) {
imu.LogControllerInfo();
}
return pw::OkStatus();
}
// static
Status Common::Init() {
#if OVERCLOCK_250
// Overvolt for a stable 250MHz on some RP2040s
vreg_set_voltage(VREG_VOLTAGE_1_20);
sleep_ms(10);
set_sys_clock_khz(250000, false);
#endif
ConfigStatusRgb();
// Set to a dim pink.
SetStatusRgb(32, 12, 32);
s_display_cs_pin.Enable();
s_display_dc_pin.Enable();
#if DISPLAY_RESET_GPIO != -1
s_display_reset_pin.Enable();
#endif
#if DISPLAY_TE_GPIO != -1
s_display_tear_effect_pin.Enable();
#endif
i2c0_bus.Enable();
i2c1_bus.Enable();
s_io_reset_n.Enable();
s_io_reset_n.SetStateActive();
s_imu_fsync.Enable();
s_imu_fsync.SetStateInactive();
touch_screen_controller.Enable();
if (touch_screen_controller.Probe() == pw::OkStatus()) {
touch_screen_controller.LogControllerInfo();
}
io_expander.Enable();
if (io_expander.Probe() == pw::OkStatus()) {
io_expander.LogControllerInfo();
}
fuel_guage.Enable();
if (fuel_guage.Probe() == pw::OkStatus()) {
fuel_guage.LogControllerInfo();
}
imu.Enable();
if (imu.Probe() == pw::OkStatus()) {
imu.LogControllerInfo();
}
#if BACKLIGHT_GPIO != -1
SetBacklight(0xffff); // Full brightness.
#endif
unsigned actual_baudrate = spi_init(SPI_PORT, kBaudRate);
PW_LOG_DEBUG("Actual Baudrate: %u", actual_baudrate);
#if SPI_MISO_GPIO != -1
gpio_set_function(SPI_MISO_GPIO, GPIO_FUNC_SPI);
#endif
gpio_set_function(SPI_CLOCK_GPIO, GPIO_FUNC_SPI);
gpio_set_function(SPI_MOSI_GPIO, GPIO_FUNC_SPI);
#if USE_PIO
// Init the display before the pixel pusher.
s_display_driver.Init();
auto result = s_pixel_pusher.Init(s_fb_pool);
s_pixel_pusher.SetPixelDouble(true);
return result;
#else
return s_display_driver.Init();
#endif
}
// static
pw::display::Display& Common::GetDisplay() {
static Display s_display(s_display_driver, kDisplaySize, s_fb_pool);
return s_display;
}
pw::touchscreen::Touchscreen& Common::GetTouchscreen() {
static Touchscreen s_touchscreen = Touchscreen(&touch_screen_controller);
return s_touchscreen;
}
kudzu::imu::PollingImu& Common::GetImu() {
static kudzu::imu::PollingImuICM42670P s_imu(&imu);
return s_imu;
}
const pw::thread::Options& Common::DisplayDrawThreadOptions() {
static constexpr auto options =
pw::thread::freertos::Options()
.set_name("DisplayDrawThread")
.set_static_context(display_draw_thread_context)
// TODO: amontanez - Find a way to better manage priorities.
.set_priority(static_cast<UBaseType_t>(tskIDLE_PRIORITY + 1));
return options;
}
const pw::thread::Options& Common::TouchscreenThreadOptions() {
static constexpr auto options =
pw::thread::freertos::Options()
.set_name("TouchscreenThread")
.set_static_context(touchscreen_thread_context)
// TODO: amontanez - Find a way to better manage priorities.
.set_priority(static_cast<UBaseType_t>(tskIDLE_PRIORITY + 1));
return options;
}