Drive the panel through drm and page flip between four scanout buffers

fb.go

@@ -1,53 +1,149 @@
 package main
 
 import (
+	"encoding/binary"
 	"fmt"
-	"os"
+	"path/filepath"
 	"unsafe"
 
 	"golang.org/x/sys/unix"
 )
 
+// Drawing lands in a plain memory buffer and is blitted to a scanout buffer the
+// display is not reading, which is then swapped in whole at a vertical blank.
+// Writing into the live scanout buffer instead, as the fbdev interface invites,
+// races the beam: the blit takes a few hundred microseconds, and whatever the
+// display reads during it is part of one frame and part of the next.
 const (
-	fbioGetVScreenInfo = 0x4600
+	drmIoctlBase = 0x64
-	fbioBlank          = 0x4611
-	fbBlankUnblank     = 0
 
-	kdSetMode   = 0x4b3a
+	drmModeConnected     = 1
-	kdText      = 0x00
+	drmModeTypePreferred = 1 << 3
-	kdGraphics  = 0x01
+	drmModePageFlipEvent = 0x01
-	consolePath = "/dev/tty0"
+	drmEventFlipComplete = 0x02
-	fbPath      = "/dev/fb0"
+
+	// What ADDFB means by 32 bits per pixel and 24 bits of colour.
+	xrgbRedShift   = 16
+	xrgbGreenShift = 8
+	xrgbBlueShift  = 0
+
+	// Two would be enough to stop the panel tearing, since one buffer being
+	// displayed while the other is drawn into is all double buffering means.
+	// More than two is for anything reading a frame back out: they are cycled
+	// in order, so a buffer is left alone for the three frames between going on
+	// screen and coming round again, and reading one out of uncached scanout
+	// memory takes a good fraction of a frame.
+	scanoutBuffers = 4
 )
 
-// The variable screen info is a flat run of 40 u32s, so it is read as an array
+func drmIO(nr uintptr) uintptr         { return drmIoctlBase<<8 | nr }
-// rather than a struct to sidestep any question of padding.
+func drmIOWR(nr, size uintptr) uintptr { return 3<<30 | size<<16 | drmIoctlBase<<8 | nr }
-const (
+
-	viXres          = 0
+type drmModeInfo struct {
-	viYres          = 1
+	clock                                         uint32
-	viBitsPerPixel  = 6
+	hdisplay, hsyncStart, hsyncEnd, htotal, hskew uint16
-	viRedOffset     = 8
+	vdisplay, vsyncStart, vsyncEnd, vtotal, vscan uint16
-	viGreenOffset   = 11
+	vrefresh, flags, typ                          uint32
-	viBlueOffset    = 14
+	name                                          [32]byte
-	viScreenInfoLen = 40
+}
+
+type drmModeCardRes struct {
+	fbIDPtr, crtcIDPtr, connIDPtr, encIDPtr     uint64
+	countFBs, countCRTCs, countConns, countEncs uint32
+	minWidth, maxWidth, minHeight, maxHeight    uint32
+}
+
+type drmModeGetConnector struct {
+	encodersPtr, modesPtr, propsPtr, propValuesPtr uint64
+	countModes, countProps, countEncoders          uint32
+	encoderID, connectorID, connectorType          uint32
+	connectorTypeID, connection                    uint32
+	mmWidth, mmHeight, subpixel, pad               uint32
+}
+
+type drmModeGetEncoder struct {
+	encoderID, encoderType        uint32
+	crtcID                        uint32
+	possibleCRTCs, possibleClones uint32
+}
+
+type drmModeCrtc struct {
+	setConnectorsPtr uint64
+	countConnectors  uint32
+	crtcID           uint32
+	fbID             uint32
+	x, y             uint32
+	gammaSize        uint32
+	modeValid        uint32
+	mode             drmModeInfo
+}
+
+type drmModeFBCmd struct {
+	fbID, width, height, pitch, bpp, depth uint32
+	handle                                 uint32
+}
+
+type drmModeCreateDumb struct {
+	height, width, bpp, flags uint32
+	handle, pitch             uint32
+	size                      uint64
+}
+
+type drmModeMapDumb struct {
+	handle, pad uint32
+	offset      uint64
+}
+
+type drmModeCrtcPageFlip struct {
+	crtcID, fbID, flags, reserved uint32
+	userData                      uint64
+}
+
+var (
+	drmSetMaster    = drmIO(0x1e)
+	drmDropMaster   = drmIO(0x1f)
+	drmGetResources = drmIOWR(0xa0, unsafe.Sizeof(drmModeCardRes{}))
+	drmSetCrtc      = drmIOWR(0xa2, unsafe.Sizeof(drmModeCrtc{}))
+	drmGetEncoder   = drmIOWR(0xa6, unsafe.Sizeof(drmModeGetEncoder{}))
+	drmGetConnector = drmIOWR(0xa7, unsafe.Sizeof(drmModeGetConnector{}))
+	drmAddFB        = drmIOWR(0xae, unsafe.Sizeof(drmModeFBCmd{}))
+	drmPageFlip     = drmIOWR(0xb0, unsafe.Sizeof(drmModeCrtcPageFlip{}))
+	drmCreateDumb   = drmIOWR(0xb2, unsafe.Sizeof(drmModeCreateDumb{}))
+	drmMapDumb      = drmIOWR(0xb3, unsafe.Sizeof(drmModeMapDumb{}))
 )
 
+func drmIoctl(fd int, req uintptr, arg unsafe.Pointer) error {
+	if _, _, errno := unix.Syscall(unix.SYS_IOCTL, uintptr(fd), req, uintptr(arg)); errno != 0 {
+		return errno
+	}
+	return nil
+}
+
+type scanout struct {
+	fbID uint32
+	mem  []byte
+}
+
 // w and h are the logical canvas, which is portrait; pw and ph are the panel,
 // which is landscape. Every draw is turned a quarter turn on its way to memory,
 // so logical top lands on the panel's right edge.
 type framebuffer struct {
-	file   *os.File
+	fd     int
-	tty    *os.File
-	mem    []byte
 	back   []byte
 	w      int
 	h      int
 	pw     int
 	ph     int
 	stride int
-	rShift uint
+
-	gShift uint
+	bufs   [scanoutBuffers]scanout
-	bShift uint
+	front  int
+	crtcID uint32
+	connID uint32
+
+	// One token per completed flip. The render loop waits on this rather than on
+	// a timer, so drawing is paced by the panel instead of by a guess at its rate.
+	flips chan struct{}
 }
 
 func (fb *framebuffer) offset(x, y int) int {
@@ -58,88 +154,261 @@ func (fb *framebuffer) fromPanel(x, y int) (int, int) {
 	return y, fb.pw - 1 - x
 }
 
-// The kernel console draws into the same framebuffer, including a blinking
+func cardResources(fd int) (crtcs, conns []uint32, err error) {
-// cursor and any keyboard echo, which fights every frame we write. Putting the
+	var res drmModeCardRes
-// active console into graphics mode stops it touching the framebuffer at all.
+	if err := drmIoctl(fd, drmGetResources, unsafe.Pointer(&res)); err != nil {
-func takeConsole() (*os.File, error) {
+		return nil, nil, fmt.Errorf("get resources: %w", err)
-	tty, err := os.OpenFile(consolePath, os.O_RDWR, 0)
-	if err != nil {
-		return nil, err
 	}
-	if _, _, errno := unix.Syscall(unix.SYS_IOCTL, tty.Fd(),
+	if res.countCRTCs == 0 || res.countConns == 0 {
-		kdSetMode, kdGraphics); errno != 0 {
+		return nil, nil, fmt.Errorf("card has no crtcs or connectors")
-		tty.Close()
-		return nil, fmt.Errorf("console to graphics mode: %w", errno)
 	}
-	return tty, nil
+	crtcs = make([]uint32, res.countCRTCs)
+	conns = make([]uint32, res.countConns)
+	res.countFBs, res.countEncs = 0, 0
+	res.fbIDPtr, res.encIDPtr = 0, 0
+	res.crtcIDPtr = uint64(uintptr(unsafe.Pointer(&crtcs[0])))
+	res.connIDPtr = uint64(uintptr(unsafe.Pointer(&conns[0])))
+	if err := drmIoctl(fd, drmGetResources, unsafe.Pointer(&res)); err != nil {
+		return nil, nil, fmt.Errorf("get resources: %w", err)
+	}
+	return crtcs, conns, nil
 }
 
-func openFramebuffer(path string) (*framebuffer, error) {
+// The preferred mode is the panel's native one; anything else would be the
-	f, err := os.OpenFile(path, os.O_RDWR, 0)
+// driver scaling a wrong-sized image onto it.
+func preferredMode(fd int, connID uint32) (drmModeInfo, error) {
+	c := drmModeGetConnector{connectorID: connID}
+	if err := drmIoctl(fd, drmGetConnector, unsafe.Pointer(&c)); err != nil {
+		return drmModeInfo{}, err
+	}
+	if c.countModes == 0 {
+		return drmModeInfo{}, fmt.Errorf("connector %d reported no modes", connID)
+	}
+	modes := make([]drmModeInfo, c.countModes)
+	q := drmModeGetConnector{
+		connectorID: connID,
+		countModes:  c.countModes,
+		modesPtr:    uint64(uintptr(unsafe.Pointer(&modes[0]))),
+	}
+	if err := drmIoctl(fd, drmGetConnector, unsafe.Pointer(&q)); err != nil {
+		return drmModeInfo{}, err
+	}
+	if q.countModes == 0 {
+		return drmModeInfo{}, fmt.Errorf("connector %d reported no modes", connID)
+	}
+	for _, m := range modes[:q.countModes] {
+		if m.typ&drmModeTypePreferred != 0 {
+			return m, nil
+		}
+	}
+	return modes[0], nil
+}
+
+func crtcFor(fd int, c drmModeGetConnector, crtcs []uint32) (uint32, error) {
+	encoders := []uint32{c.encoderID}
+	if c.countEncoders > 0 {
+		list := make([]uint32, c.countEncoders)
+		q := drmModeGetConnector{
+			connectorID:   c.connectorID,
+			countEncoders: c.countEncoders,
+			encodersPtr:   uint64(uintptr(unsafe.Pointer(&list[0]))),
+		}
+		if err := drmIoctl(fd, drmGetConnector, unsafe.Pointer(&q)); err == nil {
+			encoders = append(encoders, list[:q.countEncoders]...)
+		}
+	}
+	for _, id := range encoders {
+		if id == 0 {
+			continue
+		}
+		e := drmModeGetEncoder{encoderID: id}
+		if err := drmIoctl(fd, drmGetEncoder, unsafe.Pointer(&e)); err != nil {
+			continue
+		}
+		// Already driving this connector, otherwise anything it can be wired to.
+		if e.crtcID != 0 {
+			return e.crtcID, nil
+		}
+		for i, crtc := range crtcs {
+			if e.possibleCRTCs&(1<<uint(i)) != 0 {
+				return crtc, nil
+			}
+		}
+	}
+	return 0, fmt.Errorf("connector %d has no usable crtc", c.connectorID)
+}
+
+// The connector to drive and a crtc that can drive it.
+func findDisplay(fd int) (connID, crtcID uint32, err error) {
+	crtcs, conns, err := cardResources(fd)
+	if err != nil {
+		return 0, 0, err
+	}
+	for _, id := range conns {
+		c := drmModeGetConnector{connectorID: id}
+		if err := drmIoctl(fd, drmGetConnector, unsafe.Pointer(&c)); err != nil {
+			continue
+		}
+		if c.connection != drmModeConnected || c.countModes == 0 {
+			continue
+		}
+		crtc, err := crtcFor(fd, c, crtcs)
+		if err != nil {
+			continue
+		}
+		return id, crtc, nil
+	}
+	return 0, 0, fmt.Errorf("no connected connector with a mode")
+}
+
+// The card number is not stable across machines, so the card driving a
+// connected display is the one we want.
+func openCard() (int, error) {
+	paths, err := filepath.Glob("/dev/dri/card*")
+	if err != nil {
+		return -1, err
+	}
+	for _, p := range paths {
+		fd, err := unix.Open(p, unix.O_RDWR|unix.O_CLOEXEC, 0)
+		if err != nil {
+			continue
+		}
+		if _, _, err := findDisplay(fd); err == nil {
+			return fd, nil
+		}
+		unix.Close(fd)
+	}
+	return -1, fmt.Errorf("no drm device with a connected display")
+}
+
+func (fb *framebuffer) addScanout(i int) error {
+	create := drmModeCreateDumb{width: uint32(fb.pw), height: uint32(fb.ph), bpp: 32}
+	if err := drmIoctl(fb.fd, drmCreateDumb, unsafe.Pointer(&create)); err != nil {
+		return fmt.Errorf("create dumb buffer: %w", err)
+	}
+	fb.stride = int(create.pitch)
+
+	add := drmModeFBCmd{
+		width:  uint32(fb.pw),
+		height: uint32(fb.ph),
+		pitch:  create.pitch,
+		bpp:    32,
+		depth:  24,
+		handle: create.handle,
+	}
+	if err := drmIoctl(fb.fd, drmAddFB, unsafe.Pointer(&add)); err != nil {
+		return fmt.Errorf("add fb: %w", err)
+	}
+	fb.bufs[i].fbID = add.fbID
+
+	m := drmModeMapDumb{handle: create.handle}
+	if err := drmIoctl(fb.fd, drmMapDumb, unsafe.Pointer(&m)); err != nil {
+		return fmt.Errorf("map dumb buffer: %w", err)
+	}
+	mem, err := unix.Mmap(fb.fd, int64(m.offset), int(create.size),
+		unix.PROT_READ|unix.PROT_WRITE, unix.MAP_SHARED)
+	if err != nil {
+		return fmt.Errorf("mmap scanout: %w", err)
+	}
+	fb.bufs[i].mem = mem
+	return nil
+}
+
+func openFramebuffer() (*framebuffer, error) {
+	fd, err := openCard()
 	if err != nil {
 		return nil, err
 	}
+	fb := &framebuffer{fd: fd, flips: make(chan struct{}, 1)}
 
-	var vi [viScreenInfoLen]uint32
+	// Without master the modeset below is refused, and taking it is also what
-	if _, _, errno := unix.Syscall(unix.SYS_IOCTL, f.Fd(),
+	// stops the kernel console drawing into the display behind us.
-		fbioGetVScreenInfo, uintptr(unsafe.Pointer(&vi[0]))); errno != 0 {
+	if err := drmIoctl(fd, drmSetMaster, nil); err != nil {
-		f.Close()
+		unix.Close(fd)
-		return nil, fmt.Errorf("get screen info: %w", errno)
+		return nil, fmt.Errorf("take drm master: %w", err)
-	}
-	if vi[viBitsPerPixel] != 32 {
-		f.Close()
-		return nil, fmt.Errorf("only 32bpp supported, got %d", vi[viBitsPerPixel])
 	}
 
-	// Wake the panel; the console blanks it after a timeout.
+	connID, crtcID, err := findDisplay(fd)
-	unix.Syscall(unix.SYS_IOCTL, f.Fd(), fbioBlank, fbBlankUnblank)
-
-	stride, ok := readUint("/sys/class/graphics/fb0/stride")
-	if !ok {
-		f.Close()
-		return nil, fmt.Errorf("cannot read framebuffer stride")
-	}
-
-	fb := &framebuffer{
-		file:   f,
-		pw:     int(vi[viXres]),
-		ph:     int(vi[viYres]),
-		w:      int(vi[viYres]),
-		h:      int(vi[viXres]),
-		stride: int(stride),
-		rShift: uint(vi[viRedOffset]),
-		gShift: uint(vi[viGreenOffset]),
-		bShift: uint(vi[viBlueOffset]),
-	}
-
-	fb.mem, err = unix.Mmap(int(f.Fd()), 0, fb.stride*fb.ph,
-		unix.PROT_READ|unix.PROT_WRITE, unix.MAP_SHARED)
 	if err != nil {
-		f.Close()
+		fb.close()
-		return nil, fmt.Errorf("mmap: %w", err)
+		return nil, err
+	}
+	mode, err := preferredMode(fd, connID)
+	if err != nil {
+		fb.close()
+		return nil, err
+	}
+	fb.connID, fb.crtcID = connID, crtcID
+	fb.pw, fb.ph = int(mode.hdisplay), int(mode.vdisplay)
+	fb.w, fb.h = fb.ph, fb.pw
+
+	for i := range fb.bufs {
+		if err := fb.addScanout(i); err != nil {
+			fb.close()
+			return nil, err
+		}
 	}
 	fb.back = make([]byte, fb.stride*fb.ph)
 
-	fb.tty, err = takeConsole()
+	set := drmModeCrtc{
-	if err != nil {
+		setConnectorsPtr: uint64(uintptr(unsafe.Pointer(&fb.connID))),
-		unix.Munmap(fb.mem)
+		countConnectors:  1,
-		f.Close()
+		crtcID:           crtcID,
-		return nil, err
+		fbID:             fb.bufs[0].fbID,
+		modeValid:        1,
+		mode:             mode,
 	}
+	if err := drmIoctl(fd, drmSetCrtc, unsafe.Pointer(&set)); err != nil {
+		fb.close()
+		return nil, fmt.Errorf("set crtc: %w", err)
+	}
+
+	go fb.readEvents()
+	// Nothing has been flipped yet, so the first frame is owed its turn.
+	fb.flips <- struct{}{}
 	return fb, nil
 }
 
+// Flip completions arrive on the drm fd as a stream of length-prefixed events.
+func (fb *framebuffer) readEvents() {
+	buf := make([]byte, 4096)
+	for {
+		n, err := unix.Read(fb.fd, buf)
+		if n <= 0 || err != nil {
+			return
+		}
+		for off := 0; off+8 <= n; {
+			typ := binary.LittleEndian.Uint32(buf[off:])
+			length := int(binary.LittleEndian.Uint32(buf[off+4:]))
+			if length < 8 || off+length > n {
+				return
+			}
+			if typ == drmEventFlipComplete {
+				select {
+				case fb.flips <- struct{}{}:
+				default:
+				}
+			}
+			off += length
+		}
+	}
+}
+
 func (fb *framebuffer) close() {
-	fb.fill(rgb{})
+	for i := range fb.bufs {
-	fb.flush()
+		if fb.bufs[i].mem != nil {
-	unix.Syscall(unix.SYS_IOCTL, fb.tty.Fd(), kdSetMode, kdText)
+			unix.Munmap(fb.bufs[i].mem)
-	fb.tty.Close()
+		}
-	unix.Munmap(fb.mem)
+	}
-	fb.file.Close()
+	// Dropping master hands the display back to the kernel console, which
+	// restores its own mode. The framebuffers and dumb buffers are reclaimed
+	// when the last reference to the fd goes.
+	drmIoctl(fb.fd, drmDropMaster, nil)
+	unix.Close(fb.fd)
 }
 
 func (fb *framebuffer) pixel(c rgb) uint32 {
-	return uint32(c.r)<<fb.rShift | uint32(c.g)<<fb.gShift | uint32(c.b)<<fb.bShift
+	return uint32(c.r)<<xrgbRedShift | uint32(c.g)<<xrgbGreenShift | uint32(c.b)<<xrgbBlueShift
 }
 
 type rgb struct {
@@ -197,9 +466,9 @@ func (fb *framebuffer) blend(x, y int, c rgb, cov uint8) {
 	a := uint32(cov)
 	old := uint32(fb.back[o+0]) | uint32(fb.back[o+1])<<8 |
 		uint32(fb.back[o+2])<<16 | uint32(fb.back[o+3])<<24
-	orr := uint8(old >> fb.rShift)
+	orr := uint8(old >> xrgbRedShift)
-	og := uint8(old >> fb.gShift)
+	og := uint8(old >> xrgbGreenShift)
-	ob := uint8(old >> fb.bShift)
+	ob := uint8(old >> xrgbBlueShift)
 	mix := rgb{
 		r: uint8((uint32(c.r)*a + uint32(orr)*(255-a)) / 255),
 		g: uint8((uint32(c.g)*a + uint32(og)*(255-a)) / 255),
@@ -212,6 +481,21 @@ func (fb *framebuffer) blend(x, y int, c rgb, cov uint8) {
 	fb.back[o+3] = byte(v >> 24)
 }
 
-func (fb *framebuffer) flush() {
+// Copies into the scanout buffer furthest from being displayed and asks for it
-	copy(fb.mem, fb.back)
+// at the next blank. The copy cannot tear because nothing is displaying that
+// buffer, and the swap cannot tear because the hardware does it between frames.
+func (fb *framebuffer) flush() error {
+	next := (fb.front + 1) % scanoutBuffers
+	copy(fb.bufs[next].mem, fb.back)
+
+	flip := drmModeCrtcPageFlip{
+		crtcID: fb.crtcID,
+		fbID:   fb.bufs[next].fbID,
+		flags:  drmModePageFlipEvent,
+	}
+	if err := drmIoctl(fb.fd, drmPageFlip, unsafe.Pointer(&flip)); err != nil {
+		return fmt.Errorf("page flip: %w", err)
+	}
+	fb.front = next
+	return nil
 }

main.go

@@ -602,14 +602,12 @@ func main() {
 
 const (
 	reportInterval = time.Second
-	// Redraw fast so the panel feels live, but measure rates over a much longer
+	// What a bucket covers. Nothing to do with how often the panel is redrawn:
-	// window than a frame, since a frame's worth of a bursty sender is noise.
+	// how often the counters are read is a property of the measurement, and
-	displayInterval = 16 * time.Millisecond
+	// letting the refresh set it would let a slow or blocked draw stretch the
-	// What a bucket covers. Deliberately not displayInterval: how often the
+	// window it reports. Short enough that a step lands promptly, long enough
-	// counters are read is a property of the measurement, and tying it to the
+	// that a bucket holds tens of thousands of frames at line rate and is not
-	// refresh would let a slow or blocked draw stretch the window it reports.
+	// itself noise.
-	// Short enough that a step lands promptly, long enough that a bucket holds
-	// tens of thousands of frames at line rate and is not itself noise.
 	sampleInterval = 16 * time.Millisecond
 	// Both how far back the shown errors reach and how many buckets the median
 	// runs over, so a step in the rate lands half this late.
@@ -778,8 +776,6 @@ func run(aName, bName, sizesArg string,
 	close(startTx)
 	tick := time.NewTicker(reportInterval)
 	defer tick.Stop()
-	frame := time.NewTicker(displayInterval)
-	defer frame.Stop()
 
 	views := make([]view, len(dirs))
 	rows := make([]view, len(dirs))
@@ -793,7 +789,8 @@ func run(aName, bName, sizesArg string,
 			return nil
 		case <-space:
 			start = resetAll(dirs, stats)
-		case now := <-frame.C:
+		case <-disp.fb.flips:
+			now := time.Now()
 			px, py, down := touch.get()
 			x, y := disp.fb.fromPanel(px, py)
 			if disp.holdReset(x, y, down, now) {
@@ -806,8 +803,10 @@ func run(aName, bName, sizesArg string,
 			if m, ok := cfg.cableMetres(views); ok {
 				cable = fmt.Sprintf("%.1f m", m)
 			}
-			disp.render(totalView(views), now.Sub(start),
+			if err := disp.render(totalView(views), now.Sub(start),
-				target*float64(len(dirs)), cable)
+				target*float64(len(dirs)), cable); err != nil {
+				return err
+			}
 		case now := <-tick.C:
 			elapsed := now.Sub(start)
 			// Length needs both directions, so every row is sampled before any of

ui.go

@@ -58,7 +58,7 @@ type display struct {
 }
 
 func newDisplay() (*display, error) {
-	fb, err := openFramebuffer(fbPath)
+	fb, err := openFramebuffer()
 	if err != nil {
 		return nil, err
 	}
@@ -250,7 +250,7 @@ func rateColor(gb, target float64) rgb {
 	}
 }
 
-func (d *display) render(v view, elapsed time.Duration, target float64, cable string) {
+func (d *display) render(v view, elapsed time.Duration, target float64, cable string) error {
 	fb := d.fb
 	fb.fill(uiBg)
 
@@ -267,5 +267,5 @@ func (d *display) render(v view, elapsed time.Duration, target float64, cable st
 	d.errBlock(x, w, y+blockGap, v.since)
 
 	d.drawResetButton()
-	fb.flush()
+	return fb.flush()
 }