Jpo2023-Chimera-WS2812 (#3188)

paparazzi · Nov 28, 2023 · 8751466 · 8751466
1 parent 9c1e21d
commit 8751466
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Showing 4 changed files with 41 additions and 2 deletions.
diff --git a/conf/airframes/ENAC/rover_ostrich.xml b/conf/airframes/ENAC/rover_ostrich.xml
@@ -40,6 +40,14 @@
 
     <module name="nav" type="rover_base"/>
     <module name="guidance" type="rover_holonomic"/>
+
+    <!--Info: Tawaki(Auxa1):STM32_PWM_USE_TIM5, Apogee: PPMin, Chimera(Aux7/PC6) : TIM8 ch1 -->
+    <module name="light_scheduler">
+       <configure name="WS2812_TIM" value="TIM8"/>
+       <define name="WS2812_NB_LEDS" value="32"/>
+       <define name="WS2812_SEQUENCE" value="1"/>
+     </module>
+
   </firmware>
 
   <servos driver="OSTRICH">

diff --git a/sw/airborne/boards/chimera/chibios/v1.0/chimera.h b/sw/airborne/boards/chimera/chibios/v1.0/chimera.h
@@ -575,5 +575,19 @@
 #define ActuatorsDefaultInit() ActuatorsPwmInit()
 #define ActuatorsDefaultCommit() ActuatorsPwmCommit()
 
+/**
+ * For WS2812
+ */
+#define WS2812D1_GPIO GPIOC
+#define WS2812D1_PIN  GPIO6
+#define WS2812D1_AF 3
+#define WS2812D1_CFG_DEF { \
+  .dma_stream = STM32_PWM8_UP_DMA_STREAM, \
+  .dma_channel = STM32_PWM8_UP_DMA_CHANNEL, \
+  .dma_priority = STM32_PWM8_UP_DMA_PRIORITY, \
+  .pwm_channel = 0, \
+  .pwmp = &PWMD8 \
+}
+
 #endif /* CONFIG_CHIMERA_1_00_H */
 
diff --git a/sw/airborne/boards/chimera/chibios/v1.0/mcuconf.h b/sw/airborne/boards/chimera/chibios/v1.0/mcuconf.h
@@ -317,7 +317,9 @@
 #define STM32_PWM_USE_TIM4                  TRUE
 #endif
 #define STM32_PWM_USE_TIM5                  FALSE
+#ifndef STM32_PWM_USE_TIM8
 #define STM32_PWM_USE_TIM8                  FALSE
+#endif
 #define STM32_PWM_USE_TIM9                  FALSE
 #define STM32_PWM_USE_TIM10                 FALSE
 #define STM32_PWM_USE_TIM11                 FALSE
@@ -328,6 +330,11 @@
 #define STM32_PWM_USE_TIM16                 FALSE
 #define STM32_PWM_USE_TIM17                 FALSE
 
+#define STM32_PWM8_UP_DMA_STREAM STM32_DMA_STREAM_ID(2, 1)
+#define STM32_PWM8_UP_DMA_CHANNEL           7
+#define STM32_PWM8_UP_DMA_IRQ_PRIORITY      6
+#define STM32_PWM8_UP_DMA_PRIORITY          2
+
 /*
  * RTC driver system settings.
  */

diff --git a/sw/airborne/modules/light/light_scheduler.c b/sw/airborne/modules/light/light_scheduler.c
@@ -41,8 +41,18 @@ void light_scheduler_periodic(void)
 {
   uint32_t n, s0;
   for (n = 0; n < WS2812_NB_LEDS; n++) {
-    s0 = s + 10 * n;
-    light_ws2812_arch_set(n, s0 % 255, (s0 + 85) % 255, (s0 + 170) % 255);
+    if (WS2812_NB_LEDS == 32) {
+      if (n<=7) light_ws2812_arch_set(n, 0,255,0);  // LEFT = GREEN
+      else if (n<=15)
+        light_ws2812_arch_set(n, 0,0,255);           // BACK = BLUE
+      else if (n<=23)
+        light_ws2812_arch_set(n, 255,0,0);           // RIGHT = RED
+      else
+        light_ws2812_arch_set(n, 255,255,255);       // FRONT = WHITE
+    } else {
+      s0 = s + 10 * n;
+      light_ws2812_arch_set(n, s0 % 255, (s0 + 85) % 255, (s0 + 170) % 255);
+    }
   }
   s += 10;
 }