Add doxyfile for doxygen

.gitignore

@@ -1,3 +1,4 @@
 build
 sdkconfig
 sdkconfig.old
+docs

main/CMakeLists.txt

@@ -1,3 +1,3 @@
-idf_component_register(SRCS "spincoat-plater-firmware.c" "dshot_esc_encoder.c"
-                    PRIV_REQUIRES esp_driver_rmt esp_driver_gpio esp_driver_uart esp_driver_spi esp_lcd
+idf_component_register(SRCS "spincoat-plater-firmware.c" "dshot_esc_encoder.c" "display.c"
+                    PRIV_REQUIRES esp_driver_rmt esp_driver_gpio esp_driver_uart esp_driver_spi esp_lcd unity
                     INCLUDE_DIRS ".")

main/Kconfig

@@ -49,5 +49,11 @@ menu "Pin Mapping Configuration"
         default 240
         help
             This is the vertical resolution for the front-panel SPI LCD
+    config TFT_BPP
+        int "The bits per pixel of the TFT display"
+        default 16
+        help
+            This is the bits per pixel for the TFT display and influences
+            how much memory the display buffer takes up
 
 endmenu

main/display.c

@@ -0,0 +1,127 @@
+#include "display.h"
+
+#include <inttypes.h>
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+
+#include "unity.h"
+#include "unity_test_runner.h"
+
+#include "esp_log.h"
+#include "driver/gpio.h"
+
+#include "hal/spi_types.h"
+#include "esp_lcd_panel_ops.h"
+#include "driver/spi_common.h"
+#include "esp_lcd_panel_io.h"
+#include "esp_lcd_panel_commands.h"
+#include "esp_lcd_ili9341.h"
+
+SemaphoreHandle_t refresh_finish = NULL;
+
+static const char * TAG = "spincoat-plater-firmware/display";
+
+/**
+ * Callback for the TFT LCD, notifying when the screen is ready for another chunk of data and
+ * releasing the drawing semaphore.
+ */
+IRAM_ATTR static bool notify_refresh_ready(esp_lcd_panel_io_handle_t panel_io, esp_lcd_panel_io_event_data_t *edata, void *user_ctx)
+{
+    BaseType_t need_yield = pdFALSE;
+
+    xSemaphoreGiveFromISR(refresh_finish, &need_yield);
+    return (need_yield == pdTRUE);
+}
+
+/**
+ * Draws a test bitmap of stripes of colors to the LCD.
+ */
+void test_draw_bitmap(esp_lcd_panel_handle_t panel_handle)
+{
+    refresh_finish = xSemaphoreCreateBinary();
+    TEST_ASSERT_NOT_NULL(refresh_finish);
+
+    uint16_t row_line = TFT_VRES / TFT_BPP;
+    uint8_t byte_per_pixel = TFT_BPP / 8;
+    uint8_t *color = (uint8_t *)heap_caps_calloc(1, row_line * TFT_VRES * byte_per_pixel, MALLOC_CAP_DMA);
+    TEST_ASSERT_NOT_NULL(color);
+
+    for (int j = 0; j < TFT_BPP; j++) {
+        for (int i = 0; i < row_line * TFT_HRES ; i++) {
+            for (int k = 0; k < byte_per_pixel; k++) {
+                color[i * byte_per_pixel + k] = (SPI_SWAP_DATA_TX(BIT(j), TFT_BPP) >> (k * 8)) & 0xff;
+            }
+        }
+        TEST_ESP_OK(esp_lcd_panel_draw_bitmap(panel_handle, 0, j * row_line, TFT_HRES , (j + 1) * row_line, color));
+        xSemaphoreTake(refresh_finish, portMAX_DELAY);
+    }
+    free(color);
+    vSemaphoreDelete(refresh_finish);
+}
+
+/**
+ * Initializes the SPI LCD in preparation for writing graphics to it.
+ */
+void init_spi_lcd(void) {
+    ESP_LOGI(TAG, "Turn on backlight");
+
+    gpio_config_t io_conf = {
+        .pin_bit_mask = (1ULL << GPIO_TFT_BL),
+        .mode = GPIO_MODE_OUTPUT,
+        .pull_up_en = GPIO_PULLUP_ENABLE,
+        .pull_down_en = GPIO_PULLDOWN_DISABLE,
+        .intr_type = GPIO_INTR_DISABLE
+    };
+
+    gpio_config(&io_conf);
+    gpio_set_level(GPIO_TFT_BL, 1);
+
+    ESP_LOGI(TAG, "Initialize SPI bus");
+    const spi_bus_config_t bus_config = ILI9341_PANEL_BUS_SPI_CONFIG(GPIO_TFT_SCKL,
+                                        GPIO_TFT_MOSI, TFT_HRES * 80 * TFT_BPP / 8);
+    TEST_ESP_OK(spi_bus_initialize(LCD_SPI_HOST, &bus_config, SPI_DMA_CH_AUTO));
+
+    ESP_LOGI(TAG, "Install panel IO");
+    esp_lcd_panel_io_handle_t io_handle = NULL;
+    const esp_lcd_panel_io_spi_config_t io_config = ILI9341_PANEL_IO_SPI_CONFIG(GPIO_TFT_CS, GPIO_TFT_DC,
+        notify_refresh_ready, NULL);
+
+    TEST_ESP_OK(esp_lcd_new_panel_io_spi((esp_lcd_spi_bus_handle_t)LCD_SPI_HOST, &io_config, &io_handle));
+
+    ESP_LOGI(TAG, "Install ili9341 panel driver");
+    esp_lcd_panel_handle_t panel_handle = NULL;
+    const esp_lcd_panel_dev_config_t panel_config = {
+        .reset_gpio_num = -1, // Shared with Touch reset
+#if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(5, 0, 0)
+        .color_space = ESP_LCD_COLOR_SPACE_BGR,
+#elif ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(6, 0, 0)
+        .rgb_endian = LCD_RGB_ENDIAN_BGR,
+#else
+        .rgb_ele_order = LCD_RGB_ELEMENT_ORDER_BGR,
+#endif
+        .bits_per_pixel = TFT_BPP,
+    };
+    TEST_ESP_OK(esp_lcd_new_panel_ili9341(io_handle, &panel_config, &panel_handle));
+    TEST_ESP_OK(esp_lcd_panel_reset(panel_handle));
+    TEST_ESP_OK(esp_lcd_panel_init(panel_handle));
+    TEST_ESP_OK(esp_lcd_panel_mirror(panel_handle, true, true));
+#if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(5, 0, 0)
+    TEST_ESP_OK(esp_lcd_panel_disp_off(panel_handle, false));
+#else
+    TEST_ESP_OK(esp_lcd_panel_disp_on_off(panel_handle, true));
+#endif
+
+    ESP_LOGI(TAG, "Finished init of spi LCD.");
+    ESP_LOGI(TAG, "Drawing bitmap.");;
+    test_draw_bitmap(panel_handle);
+    vTaskDelay(pdMS_TO_TICKS(3000));
+
+    // Tear it back down, move this into a function to clean up after ourselves if it's ever needed.
+    ESP_LOGI(TAG, "Destroying and cleaning up LCD/SPI handles.");
+    gpio_reset_pin(GPIO_TFT_BL);
+    TEST_ESP_OK(esp_lcd_panel_del(panel_handle));
+    TEST_ESP_OK(esp_lcd_panel_io_del(io_handle));
+    TEST_ESP_OK(spi_bus_free(LCD_SPI_HOST));
+}

main/display.h

@@ -0,0 +1,27 @@
+#pragma once
+
+#include "stdbool.h"
+
+#include "esp_lcd_panel_io.h"
+
+#define LCD_SPI_HOST  SPI2_HOST
+
+#define GPIO_TFT_MISO CONFIG_TFT_MISO_PIN
+#define GPIO_TFT_MOSI CONFIG_TFT_MOSI_PIN
+#define GPIO_TFT_SCKL CONFIG_TFT_SCKL_PIN
+#define GPIO_TFT_CS   CONFIG_TFT_CS_PIN
+#define GPIO_TFT_DC   CONFIG_TFT_DC_PIN
+#define GPIO_TFT_BL   CONFIG_TFT_BL_PIN // Backlight
+#define TFT_HRES      CONFIG_TFT_HRES
+#define TFT_VRES      CONFIG_TFT_VRES
+#define TFT_BPP       CONFIG_TFT_BPP
+
+/**
+ * Draws a test bitmap of stripes of colors to the LCD.
+ */
+void test_draw_bitmap(esp_lcd_panel_handle_t panel_handle);
+
+/**
+ * Initializes the SPI LCD in preparation for writing graphics to it.
+ */
+void init_spi_lcd(void);

main/spincoat-plater-firmware.c

@@ -8,6 +8,10 @@
 
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
+#include "freertos/semphr.h"
+
+#include "unity.h"
+#include "unity_test_runner.h"
 
 #include "esp_log.h"
 #include "driver/rmt_tx.h"
@@ -18,9 +22,11 @@
 #include "esp_lcd_panel_ops.h"
 #include "driver/spi_common.h"
 #include "esp_lcd_panel_io.h"
+#include "esp_lcd_panel_commands.h"
 #include "esp_lcd_ili9341.h"
 
 #include "dshot_esc_encoder.h"
+#include "display.h"
 
 #if CONFIG_IDF_TARGET_ESP32H2
 #define DSHOT_ESC_RESOLUTION_HZ 32000000 // 32MHz resolution, DSHot protocol needs a relative high resolution
@@ -31,17 +37,6 @@
 #define GPIO_ESC_CTRL CONFIG_ESC_CTRL_PIN
 #define GPIO_ESC_RX   CONFIG_TELEMETRY_RX_PIN
 #define UART_NUM      UART_NUM_2
-#define LCD_SPI_HOST  SPI2_HOST
-
-#define GPIO_TFT_MISO CONFIG_TFT_MISO_PIN
-#define GPIO_TFT_MOSI CONFIG_TFT_MOSI_PIN
-#define GPIO_TFT_SCKL CONFIG_TFT_SCKL_PIN
-#define GPIO_TFT_CS   CONFIG_TFT_CS_PIN
-#define GPIO_TFT_DC   CONFIG_TFT_DC_PIN
-#define GPIO_TFT_BL   CONFIG_TFT_BL_PIN // Backlight
-#define TFT_HRES      CONFIG_TFT_HRES
-#define TFT_VRES      CONFIG_TFT_VRES
-
 #define ESP_INTR_FLAG_DEFAULT        0
 
 static const char *TAG = "spincoat-plater-firmware";
@@ -122,6 +117,9 @@ void init_rmt_esc_tx(void) {
     initialize_esc_throttle();
 }
 
+/**
+ * Initialize the UART receive pin so that we can receive telemetry data from the connected ESC.
+ */
 void init_telemetry_uart_rx(void) {
     uart_config_t uart_config = {
         .baud_rate = 115200,
@@ -137,57 +135,6 @@ void init_telemetry_uart_rx(void) {
     ESP_ERROR_CHECK(uart_set_pin(UART_NUM, UART_PIN_NO_CHANGE, GPIO_ESC_RX, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE));
 }
 
-void spi_lcd_transfer_done(void) {
-    return;
-}
-
-void init_spi_lcd(void) {
-    ESP_LOGI(TAG, "Initialize SPI bus");
-    // TODO might need to replace with another config var
-    const spi_bus_config_t bus_config = ILI9341_PANEL_BUS_SPI_CONFIG(GPIO_TFT_SCKL,
-                                                                     GPIO_TFT_MOSI,
-                                                                     TFT_HRES * TFT_VRES * sizeof(uint16_t));
-    ESP_ERROR_CHECK(spi_bus_initialize(LCD_SPI_HOST, &bus_config, SPI_DMA_CH_AUTO));
-    
-    ESP_LOGI(TAG, "Install panel IO");
-    esp_lcd_panel_io_handle_t io_handle = NULL;
-    const esp_lcd_panel_io_spi_config_t io_config = ILI9341_PANEL_IO_SPI_CONFIG(GPIO_TFT_CS, GPIO_TFT_DC,
-                                                                                NULL, NULL);
-    
-    ESP_ERROR_CHECK(esp_lcd_new_panel_io_spi((esp_lcd_spi_bus_handle_t)LCD_SPI_HOST, &io_config, &io_handle));
-    
-    ESP_LOGI(TAG, "Install ILI9341 panel driver");
-    esp_lcd_panel_handle_t panel_handle = NULL;
-    const esp_lcd_panel_dev_config_t panel_config = {
-        .reset_gpio_num = -1,
-        .rgb_ele_order  = LCD_RGB_ELEMENT_ORDER_RGB,
-        .bits_per_pixel = 16,
-    };
-    
-    ESP_ERROR_CHECK(esp_lcd_new_panel_ili9341(io_handle, &panel_config, &panel_handle));
-    ESP_ERROR_CHECK(esp_lcd_panel_reset(panel_handle));
-    ESP_ERROR_CHECK(esp_lcd_panel_init(panel_handle));
-    ESP_ERROR_CHECK(esp_lcd_panel_disp_on_off(panel_handle, true));
-    
-    ESP_LOGI(TAG, "Turning on backlight");
-    printf("Configured pin is reported as %d\n", CONFIG_TFT_BL_PIN);
-    // TODO: This pin isn't going high. Configure it properly.
-    
-    gpio_config_t io_conf = {
-        .pin_bit_mask = (1ULL << GPIO_TFT_BL),
-        .mode = GPIO_MODE_OUTPUT,
-        .pull_up_en = GPIO_PULLUP_ENABLE,
-        .pull_down_en = GPIO_PULLDOWN_DISABLE,
-        .intr_type = GPIO_INTR_DISABLE
-    };
-    
-    gpio_config(&io_conf);
-    
-    //gpio_reset_pin(GPIO_TFT_BL);
-    //gpio_set_direction(GPIO_TFT_BL, GPIO_MODE_OUTPUT);
-    ESP_ERROR_CHECK(gpio_set_level(GPIO_TFT_BL, 1));
-    ESP_LOGI(TAG, "Finished init of spi LCD.");
-}
 
 /**
  * Sends a DSHOT packet via the RMT. Make sure the RMT channel has been initialized