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Better demo UI, show config name, tune for re-mounted motor

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This commit is contained in:
Scott Bezek
2022-01-15 16:57:37 -08:00
parent 381df91b92
commit b380a756c3
7 changed files with 127 additions and 79 deletions
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70
firmware/src/display_task.cpp
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@@ -3,7 +3,7 @@
#include "font/roboto_light_60.h"
DisplayTask::DisplayTask(const uint8_t task_core) : Task{"Display", 8192, 1, task_core} {
DisplayTask::DisplayTask(const uint8_t task_core) : Task{"Display", 2048, 1, task_core} {
semaphore_ = xSemaphoreCreateMutex();
assert(semaphore_ != NULL);
xSemaphoreGive(semaphore_);
@@ -78,13 +78,16 @@ void DisplayTask::run() {
tft_.setRotation(0);
spr_.setColorDepth(16);
spr_.createSprite(TFT_WIDTH, TFT_HEIGHT);
spr_.setFreeFont(&Roboto_Light_60);
if (spr_.createSprite(TFT_WIDTH, TFT_HEIGHT) == nullptr) {
Serial.println("ERROR: sprite allocation failed!");
}
spr_.setTextColor(0xFFFF, TFT_BLACK);
KnobState state;
const int RADIUS = TFT_WIDTH / 2;
const uint16_t FILL_COLOR = spr_.color565(90, 18, 151);
const uint16_t DOT_COLOR = spr_.color565(80, 100, 200);
int32_t pointer_center_x = TFT_WIDTH / 2;
int32_t pointer_center_y = TFT_HEIGHT / 2;
@@ -94,42 +97,75 @@ void DisplayTask::run() {
spr_.setTextDatum(CC_DATUM);
spr_.setTextColor(TFT_WHITE);
while(1) {
{
SemaphoreGuard lock(semaphore_);
state = state_;
}
spr_.fillSprite(TFT_BLACK);
if (state.num_positions > 1) {
int32_t height = state.current_position * TFT_HEIGHT / (state.num_positions - 1);
spr_.fillRect(0, TFT_HEIGHT - height, TFT_WIDTH, height, spr_.color565(109, 20, 176));
if (state.config.num_positions > 1) {
int32_t height = state.current_position * TFT_HEIGHT / (state.config.num_positions - 1);
spr_.fillRect(0, TFT_HEIGHT - height, TFT_WIDTH, height, FILL_COLOR);
}
spr_.drawString(String() + state.current_position, TFT_WIDTH / 2, TFT_HEIGHT / 2, 1);
spr_.setFreeFont(&Roboto_Light_60);
spr_.drawString(String() + state.current_position, TFT_WIDTH / 2, TFT_HEIGHT / 2 - 30, 1);
spr_.setFreeFont(&Roboto_Thin_24);
int32_t line_y = TFT_HEIGHT / 2 + 20;
char* start = state.config.descriptor;
char* end = start + strlen(state.config.descriptor);
while (start < end) {
char* newline = strchr(start, '\n');
if (newline == nullptr) {
newline = end;
}
char buf[sizeof(state.config.descriptor)] = {};
strncat(buf, start, min(sizeof(buf) - 1, (size_t)(newline - start)));
spr_.drawString(String(buf), TFT_WIDTH / 2, line_y, 1);
start = newline + 1;
line_y += spr_.fontHeight(1);
}
float left_bound = PI / 2;
if (state.num_positions > 0) {
float range_radians = (state.num_positions - 1) * state.position_width_radians;
if (state.config.num_positions > 0) {
float range_radians = (state.config.num_positions - 1) * state.config.position_width_radians;
left_bound = PI / 2 + range_radians / 2;
float right_bound = PI / 2 - range_radians / 2;
spr_.drawLine(TFT_WIDTH/2 + RADIUS * cosf(left_bound), TFT_HEIGHT/2 - RADIUS * sinf(left_bound), TFT_WIDTH/2 + (RADIUS - 10) * cosf(left_bound), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(left_bound), TFT_WHITE);
spr_.drawLine(TFT_WIDTH/2 + RADIUS * cosf(right_bound), TFT_HEIGHT/2 - RADIUS * sinf(right_bound), TFT_WIDTH/2 + (RADIUS - 10) * cosf(right_bound), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(right_bound), TFT_WHITE);
}
float adjusted_sub_position = state.sub_position_unit;
if (state.num_positions > 0) {
float adjusted_sub_position = state.sub_position_unit * state.config.position_width_radians;
if (state.config.num_positions > 0) {
if (state.current_position == 0 && state.sub_position_unit < 0) {
adjusted_sub_position = -logf(1 - state.sub_position_unit);
} else if (state.current_position == state.num_positions - 1 && state.sub_position_unit > 0) {
adjusted_sub_position = logf(1 + state.sub_position_unit);
adjusted_sub_position = -logf(1 - state.sub_position_unit * state.config.position_width_radians / 5 / PI * 180) * 5 * PI / 180;
} else if (state.current_position == state.config.num_positions - 1 && state.sub_position_unit > 0) {
adjusted_sub_position = logf(1 + state.sub_position_unit * state.config.position_width_radians / 5 / PI * 180) * 5 * PI / 180;
}
}
float angle = left_bound - (state.current_position + adjusted_sub_position) * state.position_width_radians;
spr_.fillCircle(TFT_WIDTH/2 + (RADIUS - 10) * cosf(angle), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(angle), 5, TFT_BLUE);
float raw_angle = left_bound - state.current_position * state.config.position_width_radians;
float adjusted_angle = raw_angle - adjusted_sub_position;
if (state.config.num_positions > 0 && ((state.current_position == 0 && state.sub_position_unit < 0) || (state.current_position == state.config.num_positions - 1 && state.sub_position_unit > 0))) {
spr_.fillCircle(TFT_WIDTH/2 + (RADIUS - 10) * cosf(raw_angle), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(raw_angle), 5, DOT_COLOR);
if (raw_angle < adjusted_angle) {
for (float r = raw_angle; r <= adjusted_angle; r += 2 * PI / 180) {
spr_.fillCircle(TFT_WIDTH/2 + (RADIUS - 10) * cosf(r), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(r), 2, DOT_COLOR);
}
spr_.fillCircle(TFT_WIDTH/2 + (RADIUS - 10) * cosf(adjusted_angle), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(adjusted_angle), 2, DOT_COLOR);
} else {
for (float r = raw_angle; r >= adjusted_angle; r -= 2 * PI / 180) {
spr_.fillCircle(TFT_WIDTH/2 + (RADIUS - 10) * cosf(r), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(r), 2, DOT_COLOR);
}
spr_.fillCircle(TFT_WIDTH/2 + (RADIUS - 10) * cosf(adjusted_angle), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(adjusted_angle), 2, DOT_COLOR);
}
} else {
spr_.fillCircle(TFT_WIDTH/2 + (RADIUS - 10) * cosf(adjusted_angle), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(adjusted_angle), 5, DOT_COLOR);
}
spr_.pushSprite(0, 0);
delay(2);