ESP32S3_vt/reference/armor/main/hit.cpp

#include "hit.hpp"

#include <cstring>

#include "armor_time.hpp"
#include "driver/gpio.h"
#include "driver/rmt_tx.h"
#include "esp_adc/adc_continuous.h"
#include "esp_log.h"
#include "hal/adc_types.h"
#include "led_strip_encoder.h"
#include "soc/soc_caps.h"
#include "storage.hpp"

namespace {

constexpr const char *TAG = "hit";

// 这是总轮询采样率，每个通道的采样率只有 1/4
constexpr uint32_t SAMPLE_FREQ_HZ = 40000;
// 10ms 的采样数据（字节数，每个采样点 4 字节）
constexpr uint32_t SAMPLE_LEN = static_cast<uint32_t>(10e-3 * SAMPLE_FREQ_HZ * 4);

// 压电片 ADC 输入：front, back, left, right -> GPIO0 / GPIO4 / GPIO3 / GPIO1
constexpr int ADC_CHANNEL_COUNT = 4;
constexpr adc_channel_t ADC_CHANNELS[ADC_CHANNEL_COUNT] = {ADC_CHANNEL_0, ADC_CHANNEL_4, ADC_CHANNEL_3,
                                                           ADC_CHANNEL_1};

// WS2812 数据脚：front, back, left, right
constexpr int STRIP_COUNT = 4;
constexpr int STRIP_LEDS = 3;
constexpr gpio_num_t STRIP_GPIOS[STRIP_COUNT] = {GPIO_NUM_10, GPIO_NUM_5, GPIO_NUM_6, GPIO_NUM_7};

// WS2812 bit timing needs a fine resolution: 10MHz -> 1 tick = 0.1us
constexpr uint32_t RMT_RESOLUTION_HZ = 10000000;
// The ESP32-C3 RMT block owns 96 symbols of channel memory in total, shared by
// its two TX channels (each channel's memory is allocated in multiples of
// SOC_RMT_MEM_WORDS_PER_CHANNEL = 48 symbols). A 64-symbol block size would
// round up to 96 and therefore consume the whole block for a single channel,
// making the second `rmt_new_tx_channel()` fail with
// "rmt_tx_register_to_group: no free tx channels".
//
// All four strips always display the same colour, so a single channel that owns
// the full 96-symbol memory is enough: it holds a complete 3-LED frame
// (3 * 24 bits + reset = 73 symbols) in one shot and is parked on a different
// GPIO for each strip.
constexpr int RMT_CHANNEL_COUNT = 1;
constexpr uint32_t RMT_MEM_BLOCK_SYMBOLS = 96;

adc_continuous_handle_t s_adc = nullptr;

rmt_channel_handle_t s_rmt_channels[RMT_CHANNEL_COUNT] = {};
rmt_encoder_handle_t s_rmt_encoders[RMT_CHANNEL_COUNT] = {};

// Raw ADC DMA frame (10 ms worth of samples). 4-byte aligned so the result
// records can be read through `adc_digi_output_data_t`.
alignas(4) uint8_t s_adc_buf[SAMPLE_LEN];

// GRB pixel buffer; all four strips always display the same colour, so a single
// buffer is reused for each of them.
uint8_t s_pixels[STRIP_LEDS * 3];

void continuous_adc_init() {
    // ADC 配置
    adc_continuous_handle_cfg_t adc_dma_config = {};
    adc_dma_config.max_store_buf_size = SAMPLE_LEN * 2; // 两倍缓冲区
    adc_dma_config.conv_frame_size = SAMPLE_LEN;
    ESP_ERROR_CHECK(adc_continuous_new_handle(&adc_dma_config, &s_adc));

    // 通道配置
    adc_digi_pattern_config_t adc_pattern[ADC_CHANNEL_COUNT] = {};
    for (int i = 0; i < ADC_CHANNEL_COUNT; i++) {
        adc_pattern[i].atten = ADC_ATTEN_DB_0;
        adc_pattern[i].channel = ADC_CHANNELS[i] & 0x7;
        adc_pattern[i].unit = 0;
        adc_pattern[i].bit_width = SOC_ADC_DIGI_MAX_BITWIDTH;
    }

    adc_continuous_config_t dig_cfg = {};
    dig_cfg.pattern_num = ADC_CHANNEL_COUNT;
    dig_cfg.adc_pattern = adc_pattern;
    dig_cfg.sample_freq_hz = SAMPLE_FREQ_HZ;
    dig_cfg.conv_mode = ADC_CONV_SINGLE_UNIT_1;
    ESP_ERROR_CHECK(adc_continuous_config(s_adc, &dig_cfg));
}

void rmt_led_init() {
    for (int i = 0; i < RMT_CHANNEL_COUNT; i++) {
        rmt_tx_channel_config_t tx_chan_config = {};
        tx_chan_config.gpio_num = STRIP_GPIOS[i];
        tx_chan_config.clk_src = RMT_CLK_SRC_DEFAULT;
        tx_chan_config.resolution_hz = RMT_RESOLUTION_HZ;
        tx_chan_config.mem_block_symbols = RMT_MEM_BLOCK_SYMBOLS;
        tx_chan_config.trans_queue_depth = 4;
        ESP_ERROR_CHECK(rmt_new_tx_channel(&tx_chan_config, &s_rmt_channels[i]));

        led_strip_encoder_config_t encoder_config = {};
        encoder_config.resolution = RMT_RESOLUTION_HZ;
        ESP_ERROR_CHECK(rmt_new_led_strip_encoder(&encoder_config, &s_rmt_encoders[i]));

        ESP_ERROR_CHECK(rmt_enable(s_rmt_channels[i]));
    }
}

// Push the shared pixel buffer to one strip. A single RMT TX channel can only
// drive one pin at a time, and rmt_tx_switch_gpio() only works on a disabled
// channel, so the channel is briefly parked on the target GPIO before each frame.
void strip_show(int strip) {
    const int index = strip % RMT_CHANNEL_COUNT;
    rmt_channel_handle_t chan = s_rmt_channels[index];

    esp_err_t err = rmt_disable(chan);
    if (err == ESP_OK) {
        err = rmt_tx_switch_gpio(chan, STRIP_GPIOS[strip], false);
    }
    if (err == ESP_OK) {
        err = rmt_enable(chan);
    }

    rmt_transmit_config_t tx_config = {};
    tx_config.loop_count = 0; // no transfer loop
    if (err == ESP_OK) {
        err = rmt_transmit(chan, s_rmt_encoders[index], s_pixels, sizeof(s_pixels), &tx_config);
    }
    if (err == ESP_OK) {
        err = rmt_tx_wait_all_done(chan, 1000);
    }
    if (err != ESP_OK) {
        ESP_LOGW(TAG, "strip %d refresh failed: %s", strip, esp_err_to_name(err));
    }
}

void refresh_strips() {
    const bool blink = Hit::detect_hit && (millis() - Hit::last_hit_ms < Hit::HIT_BLINK_MS);
    if (blink) {
        memset(s_pixels, 0, sizeof(s_pixels));
    } else {
        // WS2812 wants GRB byte order, MSB first, matching Adafruit_NeoPixel's
        // NEO_GRB setting.
        const uint32_t rgb = Hit::color;
        for (int i = 0; i < STRIP_LEDS; i++) {
            s_pixels[i * 3 + 0] = static_cast<uint8_t>((rgb >> 8) & 0xFF);  // G
            s_pixels[i * 3 + 1] = static_cast<uint8_t>((rgb >> 16) & 0xFF); // R
            s_pixels[i * 3 + 2] = static_cast<uint8_t>((rgb >> 0) & 0xFF);  // B
        }
    }

    for (int i = 0; i < STRIP_COUNT; i++) {
        strip_show(i);
    }
}

} // namespace

// public
volatile uint32_t Hit::color = 0;
volatile bool Hit::detect_hit = true;
volatile uint32_t Hit::hit_cnt = 0;
volatile uint32_t Hit::last_hit_ms = 0;

void Hit::begin() {
    // 从 flash 读取颜色
    color = Storage::getUInt("color", RED);

    rmt_led_init();
    continuous_adc_init();
    ESP_ERROR_CHECK(adc_continuous_start(s_adc));
}

void Hit::onLoop() {
    // 击打检测
    uint32_t out_length = 0;
    esp_err_t err = adc_continuous_read(s_adc, s_adc_buf, SAMPLE_LEN, &out_length, 1000);
    if (err == ESP_OK) {
        for (uint32_t i = 0; i + SOC_ADC_DIGI_RESULT_BYTES <= out_length; i += SOC_ADC_DIGI_RESULT_BYTES) {
            const auto *p = reinterpret_cast<const adc_digi_output_data_t *>(&s_adc_buf[i]);
            const uint32_t data = p->type2.data;
            if (data > HIT_THRESHOLD) {                                     // 检测到击打
                if (detect_hit && (millis() - last_hit_ms) > HIT_BLINK_MS) { // 不在上一次击打冷却期内，新的击打
                    // Note: '++' on a volatile is deprecated since C++20 (and IDF
                    // builds with -Werror), so use an explicit read-modify-write.
                    hit_cnt = hit_cnt + 1;
                    last_hit_ms = millis();
                }
            }
        }
    } else if (err != ESP_ERR_TIMEOUT) {
        ESP_LOGW(TAG, "adc_continuous_read failed: %s", esp_err_to_name(err));
    }

    refresh_strips();
}