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Firmware updates - sensors, calibration, View support, etc (#9)

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- Modify TLV493d library to expose frame counter in order to check for lockup, and implement auto-reset in tlv_sensor in case of lockup
 - Implement MT6701 SimpleFOC sensor
 - Make display optional
 - Add optional LED, strain, ALS support
 - Connect ALS to LED and display brightness
 - Hardcoded strain gauge thresholds and haptic feedback
This commit is contained in:
Scott Bezek
2022-03-10 19:05:49 -08:00
committed by GitHub
parent 9e2725f850
commit b47fcf7da4
26 changed files with 2101 additions and 110 deletions
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58
firmware/src/display_task.cpp
View File

@@ -1,18 +1,20 @@
#if SK_DISPLAY
#include "display_task.h"
#include "semaphore_guard.h"
#include "font/roboto_light_60.h"
DisplayTask::DisplayTask(const uint8_t task_core) : Task{"Display", 2048, 1, task_core} {
semaphore_ = xSemaphoreCreateMutex();
assert(semaphore_ != NULL);
xSemaphoreGive(semaphore_);
DisplayTask::DisplayTask(const uint8_t task_core) : Task{"Display", 4048, 1, task_core} {
knob_state_queue_ = xQueueCreate(1, sizeof(KnobState));
assert(knob_state_queue_ != NULL);
mutex_ = xSemaphoreCreateMutex();
assert(mutex_ != NULL);
}
DisplayTask::~DisplayTask() {
if (semaphore_ != NULL) {
vSemaphoreDelete(semaphore_);
}
vQueueDelete(knob_state_queue_);
vSemaphoreDelete(mutex_);
}
static void HSV_to_RGB(float h, float s, float v, uint8_t *r, uint8_t *g, uint8_t *b)
@@ -73,16 +75,23 @@ static void HSV_to_RGB(float h, float s, float v, uint8_t *r, uint8_t *g, uint8_
}
void DisplayTask::run() {
delay(100);
tft_.begin();
tft_.invertDisplay(1);
tft_.setRotation(0);
tft_.fillScreen(TFT_PURPLE);
tft_.fillScreen(TFT_DARKGREEN);
ledcSetup(LEDC_CHANNEL_LCD_BACKLIGHT, 5000, 16);
ledcAttachPin(PIN_LCD_BACKLIGHT, LEDC_CHANNEL_LCD_BACKLIGHT);
ledcWrite(LEDC_CHANNEL_LCD_BACKLIGHT, UINT16_MAX);
spr_.setColorDepth(16);
if (spr_.createSprite(TFT_WIDTH, TFT_HEIGHT) == nullptr) {
Serial.println("ERROR: sprite allocation failed!");
tft_.fillScreen(TFT_RED);
} else {
Serial.println("Sprite created!");
tft_.fillScreen(TFT_PURPLE);
}
spr_.setTextColor(0xFFFF, TFT_BLACK);
@@ -100,9 +109,8 @@ void DisplayTask::run() {
spr_.setTextDatum(CC_DATUM);
spr_.setTextColor(TFT_WHITE);
while(1) {
{
SemaphoreGuard lock(semaphore_);
state = state_;
if (xQueueReceive(knob_state_queue_, &state, portMAX_DELAY) == pdFALSE) {
continue;
}
spr_.fillSprite(TFT_BLACK);
@@ -112,9 +120,9 @@ void DisplayTask::run() {
}
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;
spr_.drawString(String() + state.current_position, TFT_WIDTH / 2, TFT_HEIGHT / 2 - VALUE_OFFSET, 1);
spr_.setFreeFont(&DESCRIPTION_FONT);
int32_t line_y = TFT_HEIGHT / 2 + DESCRIPTION_Y_OFFSET;
char* start = state.config.descriptor;
char* end = start + strlen(state.config.descriptor);
while (start < end) {
@@ -139,6 +147,9 @@ void DisplayTask::run() {
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);
}
if (DRAW_ARC) {
spr_.drawCircle(TFT_WIDTH/2, TFT_HEIGHT/2, RADIUS, TFT_DARKGREY);
}
float adjusted_sub_position = state.sub_position_unit * state.config.position_width_radians;
if (state.config.num_positions > 0) {
@@ -171,11 +182,22 @@ void DisplayTask::run() {
}
spr_.pushSprite(0, 0);
{
SemaphoreGuard lock(mutex_);
ledcWrite(LEDC_CHANNEL_LCD_BACKLIGHT, brightness_);
}
delay(2);
}
}
void DisplayTask::setData(KnobState state) {
SemaphoreGuard lock(semaphore_);
state_ = state;
QueueHandle_t DisplayTask::getKnobStateQueue() {
return knob_state_queue_;
}
void DisplayTask::setBrightness(uint16_t brightness) {
SemaphoreGuard lock(mutex_);
brightness_ = brightness;
}
#endif