initial checkin

firmware/src/display_task.cpp

@@ -0,0 +1,127 @@
+#include "display_task.h"
+#include "semaphore_guard.h"
+
+DisplayTask::DisplayTask(const uint8_t task_core) : Task{"Display", 8192, 1, task_core} {
+    semaphore_ = xSemaphoreCreateMutex();
+    assert(semaphore_ != NULL);
+    xSemaphoreGive(semaphore_);
+}
+
+DisplayTask::~DisplayTask() {
+    if (semaphore_ != NULL) {
+        vSemaphoreDelete(semaphore_);
+    }
+}
+
+static void HSV_to_RGB(float h, float s, float v, uint8_t *r, uint8_t *g, uint8_t *b)
+{
+  int i;
+  float f,p,q,t;
+  
+  h = fmax(0.0, fmin(360.0, h));
+  s = fmax(0.0, fmin(100.0, s));
+  v = fmax(0.0, fmin(100.0, v));
+  
+  s /= 100;
+  v /= 100;
+  
+  if(s == 0) {
+    // Achromatic (grey)
+    *r = *g = *b = round(v*255);
+    return;
+  }
+
+  h /= 60; // sector 0 to 5
+  i = floor(h);
+  f = h - i; // factorial part of h
+  p = v * (1 - s);
+  q = v * (1 - s * f);
+  t = v * (1 - s * (1 - f));
+  switch(i) {
+    case 0:
+      *r = round(255*v);
+      *g = round(255*t);
+      *b = round(255*p);
+      break;
+    case 1:
+      *r = round(255*q);
+      *g = round(255*v);
+      *b = round(255*p);
+      break;
+    case 2:
+      *r = round(255*p);
+      *g = round(255*v);
+      *b = round(255*t);
+      break;
+    case 3:
+      *r = round(255*p);
+      *g = round(255*q);
+      *b = round(255*v);
+      break;
+    case 4:
+      *r = round(255*t);
+      *g = round(255*p);
+      *b = round(255*v);
+      break;
+    default: // case 5:
+      *r = round(255*v);
+      *g = round(255*p);
+      *b = round(255*q);
+    }
+}
+
+void DisplayTask::run() {
+    tft_.begin();
+    tft_.invertDisplay(1);
+    tft_.setRotation(0);
+
+    spr_.setColorDepth(16);
+    spr_.createSprite(TFT_WIDTH, TFT_HEIGHT);
+    spr_.setFreeFont(&Roboto_Thin_24);
+    spr_.setTextColor(0xFFFF, TFT_BLACK);
+    
+    float angle;
+
+    int32_t pointer_center_x = TFT_WIDTH / 2;
+    int32_t pointer_center_y = TFT_HEIGHT * 2 / 3;
+    int32_t pointer_length_short = 10;
+    int32_t pointer_length_long = TFT_WIDTH / 2;
+    while(1) {
+
+        {
+            SemaphoreGuard lock(semaphore_);
+            angle = angle_;// < 0 ? angle_ + 2 * PI : angle_;
+        }
+        float degrees = angle * 360 / 2 / PI;
+
+        uint8_t r, g, b;
+        HSV_to_RGB(degrees, 80, 80, &r, &g, &b);
+
+        spr_.fillSprite(tft_.color565(r, g, b));
+        spr_.setCursor(40, 40);
+
+        spr_.printf("%.1f", degrees);
+
+        float pointer_angle = - angle;
+        spr_.fillTriangle(
+            pointer_center_x + pointer_length_short * cos(pointer_angle - PI * 3 /4),
+            pointer_center_y + pointer_length_short * sin(pointer_angle - PI * 3 /4),
+            pointer_center_x + pointer_length_short * cos(pointer_angle + PI * 3 /4),
+            pointer_center_y + pointer_length_short * sin(pointer_angle + PI * 3 /4),
+            pointer_center_x + pointer_length_long * cos(pointer_angle),
+            pointer_center_y + pointer_length_long * sin(pointer_angle),
+            TFT_WHITE
+        );
+
+        spr_.fillCircle(pointer_center_x, pointer_center_y, 3, TFT_RED);
+
+
+        spr_.pushSprite(0, 0);
+        delay(10);
+    }
+}
+
+void DisplayTask::set_angle(float angle) {
+    SemaphoreGuard lock(semaphore_);
+    angle_ = angle;
+}