Initial commit: PRU LED firmware and HTTP service

- Combined PRU0 firmware for both mood (56 LED) and jaw (24 LED) strips - Uses P9_27 and P9_25 (free pins, not HDMI locked) - Python HTTP service on port 8765 - Named states: idle, listening, responding, pleasure, thinking, playful, commanding, love, sleep - Setup scripts for fresh BBB deployment Built with love by Vixy 🦊💜
2026-01-29 21:25:08 -06:00
commit ce4f46ec18
11 changed files with 714 additions and 0 deletions
--- a/pru/ws281x_combined.c
+++ b/pru/ws281x_combined.c
@@ -0,0 +1,99 @@
+/*
+ * Combined WS281x LED Driver for PRU0
+ * Handles BOTH mood strip AND jaw LEDs from PRU0
+ * 
+ * Why combined? All PRU1 native pins (P8_27-46) are locked by HDMI on stock image.
+ * Solution: Use two free PRU0 pins instead.
+ * 
+ * Pins (both free and available):
+ *   P9_27 = pr1_pru0_pru_r30_5 (Mode 5) - Mood strip (56 LEDs)
+ *   P9_25 = pr1_pru0_pru_r30_7 (Mode 5) - Jaw LEDs (24 LEDs)
+ * 
+ * Shared Memory Layout (0x00010000):
+ *   [0]:       mood_num_leds (max 56)
+ *   [1]:       mood_trigger (write 1 to update)
+ *   [2]:       jaw_num_leds (max 24)
+ *   [3]:       jaw_trigger (write 1 to update)
+ *   [4-171]:   mood LED data (56 * 3 bytes, GRB format)
+ *   [172-243]: jaw LED data (24 * 3 bytes, GRB format)
+ */
+
+#include <stdint.h>
+#include <pru_cfg.h>
+
+#define MOOD_PIN        5       /* P9_27 */
+#define JAW_PIN         7       /* P9_25 */
+#define MAX_MOOD_LEDS   56
+#define MAX_JAW_LEDS    24
+
+/* WS2812 timing at 200MHz (5ns per cycle) */
+#define T0H     70
+#define T0L     160
+#define T1H     140
+#define T1L     120
+
+#define SHARED_MEM      0x00010000
+#define MOOD_DATA_OFF   4
+#define JAW_DATA_OFF    172
+
+volatile uint8_t *shared = (volatile uint8_t *)SHARED_MEM;
+volatile register uint32_t __R30;
+
+static inline void delay_cycles(uint32_t cycles) {
+    while (cycles--) {
+        __asm(" NOP");
+    }
+}
+
+static void send_byte_on_pin(uint8_t byte, uint8_t pin) {
+    for (int i = 7; i >= 0; i--) {
+        if ((byte >> i) & 1) {
+            __R30 |= (1 << pin);
+            delay_cycles(T1H);
+            __R30 &= ~(1 << pin);
+            delay_cycles(T1L);
+        } else {
+            __R30 |= (1 << pin);
+            delay_cycles(T0H);
+            __R30 &= ~(1 << pin);
+            delay_cycles(T0L);
+        }
+    }
+}
+
+static void send_strip(uint8_t pin, uint8_t *data, uint8_t num_leds) {
+    for (int i = 0; i < num_leds; i++) {
+        send_byte_on_pin(data[i * 3 + 0], pin);  /* G */
+        send_byte_on_pin(data[i * 3 + 1], pin);  /* R */
+        send_byte_on_pin(data[i * 3 + 2], pin);  /* B */
+    }
+    /* Reset pulse */
+    __R30 &= ~(1 << pin);
+    delay_cycles(10000);
+}
+
+void main(void) {
+    /* Enable OCP master port */
+    CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
+    
+    /* Clear output pins */
+    __R30 &= ~((1 << MOOD_PIN) | (1 << JAW_PIN));
+    
+    while (1) {
+        /* Check mood strip trigger */
+        if (shared[1] == 1) {
+            uint8_t num = shared[0];
+            if (num > MAX_MOOD_LEDS) num = MAX_MOOD_LEDS;
+            send_strip(MOOD_PIN, (uint8_t *)&shared[MOOD_DATA_OFF], num);
+            shared[1] = 0;
+        }
+        
+        /* Check jaw trigger */
+        if (shared[3] == 1) {
+            uint8_t num = shared[2];
+            if (num > MAX_JAW_LEDS) num = MAX_JAW_LEDS;
+            send_strip(JAW_PIN, (uint8_t *)&shared[JAW_DATA_OFF], num);
+            shared[3] = 0;
+        }
+    }
+}