feat(examples): add ESP32 Doom raycaster (ILI9341) gallery example
A full-screen Wolfenstein/Doom-style raycaster for ESP32 + ILI9341 over hardware SPI (Adafruit_ILI9341, block writes), with auto-demo and 4 control buttons. Doubles as an emulation-speed benchmark. Category: games. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
This commit is contained in:
David Montero
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10d88a44b7
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18f2e4598a
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@ -9109,6 +9109,289 @@ void loop() {
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],
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},
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{
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id: 'esp32-doom',
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title: 'ESP32 Doom — Raycaster (ILI9341)',
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description:
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'A Wolfenstein / early-Doom style first-person raycaster on an ESP32 + ILI9341 320x240 colour TFT. The whole screen is redrawn every frame over hardware SPI (VSPI) with Adafruit_ILI9341 block writes (one startWrite/endWrite burst per frame), plus distance fog and darker E/W faces for depth. Four buttons move and turn the player; an auto-demo walks the 16x16 map when idle. Built as an emulation-speed benchmark — it overlays the on-device FPS and prints frame/FPS stats over Serial.',
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libraries: ['Adafruit GFX Library', 'Adafruit ILI9341'],
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category: 'games',
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difficulty: 'advanced',
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boardType: 'esp32',
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tags: ['esp32', 'doom', 'raycaster', 'ili9341', 'tft', '3d', 'game', 'benchmark'],
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code: `/*
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* VELXIO DOOM - ESP32 raycaster on an ILI9341 320x240 color TFT.
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*
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* Purpose: stress-test Velxio's QEMU ESP32 emulation by redrawing the whole
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* 320x240 screen every frame with a Wolfenstein/early-Doom style raycaster.
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* Rendering uses Adafruit_ILI9341 over HARDWARE SPI (VSPI) with the fast
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* block-transfer transaction API: a single startWrite()/endWrite() per frame
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* and writeFastVLine() column fills, so each frame is one big SPI burst
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* (the path QEMU forwards to the display sim as batched bytes).
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*
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* Every 10 frames it prints "STAT frame=.. t_ms=.. devfps=.." over Serial so
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* the host can compute BOTH on-device FPS (frames per emulated second) and
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* emulation speed (frames per real wall-clock second).
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*
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* Wiring (VSPI): SCK=18 MOSI=23 MISO=19 CS=5 DC=2 RST=4 LED/VCC=3V3
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* Buttons (active-LOW, INPUT_PULLUP, other leg to GND):
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* FWD=32 BACK=33 LEFT=25 RIGHT=26 (auto-demo runs with no input)
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*/
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#include <SPI.h>
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#include <Adafruit_GFX.h>
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#include <Adafruit_ILI9341.h>
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#include <math.h>
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#define TFT_SCK 18
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#define TFT_MOSI 23
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#define TFT_MISO 19
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#define TFT_DC 2
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#define TFT_CS 5
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#define TFT_RST 4
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#define BTN_FWD 32
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#define BTN_BACK 33
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#define BTN_LEFT 25
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#define BTN_RIGHT 26
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#define RGB565(r, g, b) ((uint16_t)((((r) & 0xF8) << 8) | (((g) & 0xFC) << 3) | ((b) >> 3)))
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SPIClass tftSPI(VSPI);
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Adafruit_ILI9341 tft = Adafruit_ILI9341(&tftSPI, TFT_DC, TFT_CS, TFT_RST);
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static const int SCREEN_W = 320;
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static const int SCREEN_H = 240;
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#define MAP_W 16
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#define MAP_H 16
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const uint8_t worldMap[MAP_H][MAP_W] = {
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{1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1},
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{1,0,0,0,0,0,0,2,2,2,0,0,0,0,0,1},
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{1,0,1,1,0,0,0,0,0,0,0,0,3,3,0,1},
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{1,0,1,0,0,0,4,4,0,0,0,0,0,0,0,1},
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{1,0,1,0,0,0,0,0,0,0,5,5,5,0,0,1},
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{1,0,1,1,1,0,0,2,2,0,0,0,0,0,0,1},
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{1,0,0,0,0,0,0,0,0,0,0,3,0,0,0,1},
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{1,0,4,4,4,4,0,0,0,2,2,0,0,0,0,1},
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{1,0,0,0,0,0,0,0,0,0,0,0,0,5,5,1},
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{1,0,0,0,0,3,3,0,0,4,0,0,0,0,0,1},
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{1,0,2,2,0,0,0,0,0,0,0,1,1,0,0,1},
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{1,0,0,0,0,0,5,5,0,0,0,0,0,0,0,1},
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{1,0,3,0,0,0,0,0,0,2,2,2,0,0,0,1},
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{1,0,0,0,4,4,0,0,0,0,0,0,0,3,0,1},
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{1,0,0,0,0,0,0,0,5,0,0,0,0,0,0,1},
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{1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1},
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};
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static uint16_t wallColor(uint8_t t) {
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switch (t) {
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case 1: return RGB565(150, 150, 165); // slate
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case 2: return RGB565(190, 35, 35); // blood
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case 3: return RGB565(165, 100, 45); // brown
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case 4: return RGB565( 45, 180, 70); // toxic green
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case 5: return RGB565(180, 140, 50); // bronze door
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}
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return RGB565(100, 100, 100);
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}
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// Darken an RGB565 colour by a 0..256 factor (256 = unchanged).
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static uint16_t shade(uint16_t c, uint16_t f) {
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uint16_t r = (c >> 11) & 0x1F, g = (c >> 5) & 0x3F, b = c & 0x1F;
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r = (r * f) >> 8; g = (g * f) >> 8; b = (b * f) >> 8;
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return (uint16_t)((r << 11) | (g << 5) | b);
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}
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const uint16_t CEIL_COLOR = RGB565(28, 28, 44);
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const uint16_t FLOOR_COLOR = RGB565(48, 42, 36);
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// Player camera (DDA raycaster state).
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float posX = 8.5f, posY = 8.5f;
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float dirX = -1.0f, dirY = 0.0f;
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float planeX = 0.0f, planeY = 0.66f;
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uint32_t frames = 0;
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uint32_t fpsT0 = 0;
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int fpsWhole = 0, fpsFrac = 0;
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static void rotate(float a) {
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float od = dirX;
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dirX = dirX * cosf(a) - dirY * sinf(a);
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dirY = od * sinf(a) + dirY * cosf(a);
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float op = planeX;
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planeX = planeX * cosf(a) - planeY * sinf(a);
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planeY = op * sinf(a) + planeY * cosf(a);
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}
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static bool isWall(float x, float y) {
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int mx = (int)x, my = (int)y;
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if (mx < 0 || mx >= MAP_W || my < 0 || my >= MAP_H) return true;
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return worldMap[my][mx] != 0;
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}
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static void moveStep(float dist) {
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float nx = posX + dirX * dist;
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float ny = posY + dirY * dist;
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if (!isWall(nx, posY)) posX = nx;
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if (!isWall(posX, ny)) posY = ny;
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}
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static void handleInput() {
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bool any = false;
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if (digitalRead(BTN_FWD) == LOW) { moveStep( 0.10f); any = true; }
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if (digitalRead(BTN_BACK) == LOW) { moveStep(-0.10f); any = true; }
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if (digitalRead(BTN_LEFT) == LOW) { rotate( 0.06f); any = true; }
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if (digitalRead(BTN_RIGHT) == LOW) { rotate(-0.06f); any = true; }
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if (!any) {
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// Auto-demo: walk forward, slowly pan, and turn hard if about to hit a wall.
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rotate(0.013f);
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moveStep(0.05f);
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if (isWall(posX + dirX * 0.25f, posY + dirY * 0.25f)) rotate(0.25f);
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}
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}
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static void renderFrame() {
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tft.startWrite();
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for (int x = 0; x < SCREEN_W; x++) {
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float cameraX = 2.0f * x / (float)SCREEN_W - 1.0f;
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float rayDirX = dirX + planeX * cameraX;
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float rayDirY = dirY + planeY * cameraX;
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int mapX = (int)posX, mapY = (int)posY;
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float deltaX = (rayDirX == 0.0f) ? 1e30f : fabsf(1.0f / rayDirX);
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float deltaY = (rayDirY == 0.0f) ? 1e30f : fabsf(1.0f / rayDirY);
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int stepX, stepY;
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float sideX, sideY;
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if (rayDirX < 0) { stepX = -1; sideX = (posX - mapX) * deltaX; }
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else { stepX = 1; sideX = (mapX + 1.0f - posX) * deltaX; }
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if (rayDirY < 0) { stepY = -1; sideY = (posY - mapY) * deltaY; }
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else { stepY = 1; sideY = (mapY + 1.0f - posY) * deltaY; }
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int side = 0;
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uint8_t tile = 1;
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for (int guard = 0; guard < 64; guard++) {
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if (sideX < sideY) { sideX += deltaX; mapX += stepX; side = 0; }
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else { sideY += deltaY; mapY += stepY; side = 1; }
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if (mapX < 0 || mapX >= MAP_W || mapY < 0 || mapY >= MAP_H) { tile = 1; break; }
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tile = worldMap[mapY][mapX];
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if (tile != 0) break;
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}
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float perp = (side == 0) ? (sideX - deltaX) : (sideY - deltaY);
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if (perp < 0.05f) perp = 0.05f;
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int lineH = (int)(SCREEN_H / perp);
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int drawStart = SCREEN_H / 2 - lineH / 2;
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int drawEnd = SCREEN_H / 2 + lineH / 2;
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if (drawStart < 0) drawStart = 0;
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if (drawEnd > SCREEN_H - 1) drawEnd = SCREEN_H - 1;
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// Distance fog + darker E/W faces for a sense of depth.
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float fog = 1.0f - perp / 16.0f;
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if (fog < 0.18f) fog = 0.18f;
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uint16_t f = (uint16_t)(fog * 256.0f);
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if (side == 1) f = (f * 180) >> 8;
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uint16_t col = shade(wallColor(tile), f);
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if (drawStart > 0)
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tft.writeFastVLine(x, 0, drawStart, CEIL_COLOR);
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tft.writeFastVLine(x, drawStart, drawEnd - drawStart + 1, col);
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if (drawEnd < SCREEN_H - 1)
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tft.writeFastVLine(x, drawEnd + 1, SCREEN_H - 1 - drawEnd, FLOOR_COLOR);
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}
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tft.endWrite();
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}
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static void drawHud() {
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tft.fillRect(0, 0, 168, 16, RGB565(0, 0, 0));
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tft.setTextSize(1);
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tft.setTextColor(RGB565(0, 255, 80));
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tft.setCursor(4, 4);
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tft.print("VELXIO DOOM FPS ");
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tft.print(fpsWhole);
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tft.print('.');
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tft.print(fpsFrac);
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}
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void setup() {
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Serial.begin(115200);
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delay(200);
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Serial.println("VELXIO DOOM raycaster -- ESP32 + ILI9341 (Adafruit, HW SPI)");
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pinMode(BTN_FWD, INPUT_PULLUP);
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pinMode(BTN_BACK, INPUT_PULLUP);
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pinMode(BTN_LEFT, INPUT_PULLUP);
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pinMode(BTN_RIGHT, INPUT_PULLUP);
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tftSPI.begin(TFT_SCK, TFT_MISO, TFT_MOSI, TFT_CS);
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tft.begin(40000000); // 40 MHz nominal SPI
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tft.setRotation(1); // landscape 320x240
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tft.fillScreen(RGB565(0, 0, 0));
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tft.setTextSize(3);
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tft.setTextColor(RGB565(0, 255, 80));
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tft.setCursor(36, 96);
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tft.print("VELXIO DOOM");
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tft.setTextSize(1);
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tft.setTextColor(RGB565(180, 180, 180));
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tft.setCursor(60, 140);
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tft.print("raycaster emulation benchmark");
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delay(600);
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fpsT0 = millis();
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}
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void loop() {
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handleInput();
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renderFrame();
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drawHud();
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frames++;
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if (frames % 10 == 0) {
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uint32_t now = millis();
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uint32_t dms = now - fpsT0;
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if (dms == 0) dms = 1;
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// FPS x10 (tenths), integer math to avoid %f (nano newlib has no float printf).
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uint32_t fps_x10 = (10u * 1000u * 10u) / dms;
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fpsWhole = fps_x10 / 10;
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fpsFrac = fps_x10 % 10;
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fpsT0 = now;
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Serial.print("STAT frame=");
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Serial.print(frames);
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Serial.print(" t_ms=");
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Serial.print(now);
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Serial.print(" devfps=");
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Serial.print(fpsWhole);
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Serial.print('.');
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Serial.println(fpsFrac);
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}
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}
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`,
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components: [
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{ type: 'wokwi-ili9341', id: 'tft1', x: 380, y: 40, properties: {} },
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{ type: 'wokwi-pushbutton', id: 'btn_fwd', x: 360, y: 330, properties: { color: 'green' } },
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{ type: 'wokwi-pushbutton', id: 'btn_back', x: 470, y: 330, properties: { color: 'red' } },
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{ type: 'wokwi-pushbutton', id: 'btn_left', x: 580, y: 330, properties: { color: 'blue' } },
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{ type: 'wokwi-pushbutton', id: 'btn_right', x: 690, y: 330, properties: { color: 'yellow' } },
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],
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wires: [
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{ id: 'd-sck', start: { componentId: 'esp32', pinName: '18' }, end: { componentId: 'tft1', pinName: 'SCK' }, color: '#27ae60' },
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{ id: 'd-mosi', start: { componentId: 'esp32', pinName: '23' }, end: { componentId: 'tft1', pinName: 'MOSI' }, color: '#3498db' },
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{ id: 'd-miso', start: { componentId: 'esp32', pinName: '19' }, end: { componentId: 'tft1', pinName: 'MISO' }, color: '#9b59b6' },
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{ id: 'd-cs', start: { componentId: 'esp32', pinName: '5' }, end: { componentId: 'tft1', pinName: 'CS' }, color: '#e67e22' },
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{ id: 'd-dc', start: { componentId: 'esp32', pinName: '2' }, end: { componentId: 'tft1', pinName: 'D/C' }, color: '#f1c40f' },
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{ id: 'd-rst', start: { componentId: 'esp32', pinName: '4' }, end: { componentId: 'tft1', pinName: 'RST' }, color: '#ecf0f1' },
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{ id: 'd-vcc', start: { componentId: 'esp32', pinName: '3V3' }, end: { componentId: 'tft1', pinName: 'VCC' }, color: '#e74c3c' },
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{ id: 'd-led', start: { componentId: 'esp32', pinName: '3V3' }, end: { componentId: 'tft1', pinName: 'LED' }, color: '#e74c3c' },
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{ id: 'd-gnd', start: { componentId: 'esp32', pinName: 'GND' }, end: { componentId: 'tft1', pinName: 'GND' }, color: '#2c3e50' },
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{ id: 'd-bf-s', start: { componentId: 'esp32', pinName: '32' }, end: { componentId: 'btn_fwd', pinName: '1.l' }, color: '#16a085' },
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{ id: 'd-bf-g', start: { componentId: 'esp32', pinName: 'GND' }, end: { componentId: 'btn_fwd', pinName: '2.l' }, color: '#000000' },
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{ id: 'd-bb-s', start: { componentId: 'esp32', pinName: '33' }, end: { componentId: 'btn_back', pinName: '1.l' }, color: '#c0392b' },
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{ id: 'd-bb-g', start: { componentId: 'esp32', pinName: 'GND2' }, end: { componentId: 'btn_back', pinName: '2.l' }, color: '#000000' },
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{ id: 'd-bl-s', start: { componentId: 'esp32', pinName: '25' }, end: { componentId: 'btn_left', pinName: '1.l' }, color: '#2980b9' },
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{ id: 'd-bl-g', start: { componentId: 'esp32', pinName: 'GND' }, end: { componentId: 'btn_left', pinName: '2.l' }, color: '#000000' },
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{ id: 'd-br-s', start: { componentId: 'esp32', pinName: '26' }, end: { componentId: 'btn_right', pinName: '1.l' }, color: '#f39c12' },
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{ id: 'd-br-g', start: { componentId: 'esp32', pinName: 'GND2' }, end: { componentId: 'btn_right', pinName: '2.l' }, color: '#000000' },
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],
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},
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// ── Raspberry Pi 3 / 4 / 5 — single-board GPIO examples ──────────────────
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// These run a Python (gpiozero) script on the QEMU Linux board. gpiozero is
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// board-agnostic (works on Pi 3/4/5). Only DIGITAL GPIO is wired — output
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