Add LED animatinos

AZURE_RTOS/App/app_azure_rtos.c

@@ -21,6 +21,7 @@
 /* Includes ------------------------------------------------------------------*/
 
 #include "app_azure_rtos.h"
+#include "leds.h"
 #include "stm32h7xx.h"
 
 /* Private includes ----------------------------------------------------------*/
@@ -68,6 +69,7 @@ static TX_BYTE_POOL tx_app_byte_pool;
 TX_THREAD app_thread;
 TX_THREAD ui_thread;
 TX_THREAD vehicle_thread;
+TX_THREAD led_thread;
 TX_QUEUE gui_button_queue;
 TX_EVENT_FLAGS_GROUP gui_update_events;
 /* USER CODE END PV */
@@ -198,6 +200,17 @@ VOID tx_application_define(VOID *first_unused_memory) {
     Error_Handler();
   }
 
+  void *led_thread_stack = mem;
+  mem += THREAD_STACK_SIZE;
+  void *led_child_thread_stack = mem;
+  mem += THREAD_STACK_SIZE;
+  if (tx_thread_create(&led_thread, "LED Thread", led_thread_entry,
+                       (ULONG)led_child_thread_stack, led_thread_stack,
+                       THREAD_STACK_SIZE, THREAD_PRIO_LED, THREAD_PRIO_LED, 0,
+                       TX_AUTO_START) != TX_SUCCESS) {
+    Error_Handler();
+  }
+
   if (MX_TouchGFX_Init(mem) != TX_SUCCESS) {
     Error_Handler();
   }

AZURE_RTOS/App/app_azure_rtos.h

@@ -46,6 +46,8 @@ extern "C" {
 #define THREAD_PRIO_APP 10
 #define THREAD_PRIO_UI 6
 #define THREAD_PRIO_VEHICLE 7
+#define THREAD_PRIO_LED 11
+#define THREAD_PRIO_LED_CHILD 12
 #define UI_QUEUE_SIZE 10
 #define VEHICLE_UPDATE_QUEUE_SIZE 100
 /* USER CODE END EC */

Core/Inc/leds.h

@@ -6,6 +6,7 @@ extern "C" {
 #endif
 
 #include "stm32h7xx_hal.h"
+#include "tx_port.h"
 
 #define N_LEDS 9
 
@@ -16,6 +17,23 @@ extern "C" {
 void led_init(SPI_HandleTypeDef *spi, TIM_HandleTypeDef *pwmtim);
 
 void led_set(size_t idx, uint8_t r, uint8_t g, uint8_t b);
+void led_all_off();
+
+void led_thread_entry(ULONG child_thread_stack_addr);
+
+typedef enum {
+  ANIM_TE_STARTUP,
+  ANIM_FT_STARTUP,
+  ANIM_KNIGHT_RIDER,
+} LEDAnimation;
+
+void led_start_animation(LEDAnimation anim);
+void led_anim_te_startup(ULONG _);
+void led_anim_ft_startup(ULONG _);
+void led_anim_knight_rider(ULONG _);
+void led_anim_blinker(uint8_t r, uint8_t g, uint8_t b,
+                      uint32_t brightness_steps, uint32_t next_led_steps,
+                      uint32_t delay);
 
 #ifdef __cplusplus
 }

Core/Src/leds.c

@@ -1,17 +1,21 @@
 #include "leds.h"
 
+#include "app_azure_rtos.h"
 #include "main.h"
 
 #include "stm32h7xx_hal_dma.h"
 #include "stm32h7xx_hal_gpio.h"
 #include "stm32h7xx_hal_spi.h"
 #include "stm32h7xx_hal_tim.h"
+#include "tx_api.h"
 
 SPI_HandleTypeDef *hspi;
 TIM_HandleTypeDef *htim;
 
 extern uint16_t led_buf[256][3];
 static size_t led_buf_idx = 0;
+static TX_THREAD child_thread;
+static void *child_thread_stack;
 
 void led_init(SPI_HandleTypeDef *spi, TIM_HandleTypeDef *pwmtim) {
   hspi = spi;
@@ -55,6 +59,143 @@ void led_set(size_t idx, uint8_t r, uint8_t g, uint8_t b) {
   }
 }
 
+void led_all_off() { memset(led_buf, 0, sizeof(led_buf)); }
+
+void led_thread_entry(ULONG child_thread_stack_addr) {
+  child_thread_stack = (void *)child_thread_stack_addr;
+  led_start_animation(ANIM_KNIGHT_RIDER);
+  while (1) {
+    tx_thread_sleep(10);
+    if (child_thread.tx_thread_state == TX_COMPLETED) {
+      tx_thread_sleep(20);
+      led_start_animation(ANIM_FT_STARTUP);
+    }
+  }
+}
+
+void led_start_animation(LEDAnimation anim) {
+  if (child_thread.tx_thread_stack_start && // Check if any thread was started
+                                            // previously
+      child_thread.tx_thread_state != TX_COMPLETED &&
+      child_thread.tx_thread_state != TX_TERMINATED) {
+    if (tx_thread_terminate(&child_thread) != TX_SUCCESS) {
+      Error_Handler();
+    }
+  }
+  if (child_thread.tx_thread_stack_start && // Check if any thread was started
+                                            // previously
+      tx_thread_delete(&child_thread) != TX_SUCCESS) {
+    Error_Handler();
+  }
+
+  void (*animation_entry)(ULONG);
+  switch (anim) {
+  case ANIM_TE_STARTUP:
+    animation_entry = led_anim_te_startup;
+    break;
+  case ANIM_FT_STARTUP:
+    animation_entry = led_anim_ft_startup;
+    break;
+  case ANIM_KNIGHT_RIDER:
+    animation_entry = led_anim_knight_rider;
+    break;
+  default:
+    return;
+  }
+
+  led_all_off();
+  if (tx_thread_create(&child_thread, "LED Animation Thread", animation_entry,
+                       0, child_thread_stack, THREAD_STACK_SIZE,
+                       THREAD_PRIO_LED_CHILD, THREAD_PRIO_LED_CHILD, 0,
+                       TX_AUTO_START) != TX_SUCCESS) {
+    Error_Handler();
+  }
+}
+
+void led_anim_te_startup(ULONG _) {
+  led_anim_blinker(0xF2, 0x8B, 0x00, 20, 7, 2);
+}
+
+void led_anim_ft_startup(ULONG _) { led_anim_blinker(0xC5, 0, 0, 20, 7, 2); }
+
+void led_anim_knight_rider(ULONG _) {
+  const size_t num_leds = 5;
+  int tail_right = 1;
+  size_t tail = 0;
+  while (1) {
+    size_t x = tail;
+    int x_right = tail_right;
+    uint8_t red = 0;
+    for (size_t i = 0; i < num_leds + 1; i++) {
+      led_set(x, red, 0, 0);
+      if (x == 8) {
+        x_right = 0;
+      } else if (x == 0) {
+        x_right = 1;
+      }
+      if (x_right) {
+        x++;
+      } else {
+        x--;
+      }
+      red += 0xFF / num_leds;
+    }
+    if (tail == 8) {
+      tail_right = 0;
+    } else if (tail == 0) {
+      tail_right = 1;
+    }
+    if (tail_right) {
+      tail++;
+    } else {
+      tail--;
+    }
+    tx_thread_sleep(5);
+  }
+}
+
+void led_anim_blinker(uint8_t r, uint8_t g, uint8_t b,
+                      uint32_t brightness_steps, uint32_t next_led_steps,
+                      uint32_t delay) {
+  uint8_t colors[brightness_steps][3];
+  for (int i = brightness_steps - 1; i >= 0; i--) {
+    colors[i][0] = r * i / (brightness_steps - 1);
+    colors[i][1] = g * i / (brightness_steps - 1);
+    colors[i][2] = b * i / (brightness_steps - 1);
+  }
+  size_t simultaneous_leds = brightness_steps / next_led_steps;
+  if (simultaneous_leds * next_led_steps != brightness_steps) {
+    simultaneous_leds++;
+  }
+  int inc = 1;
+  for (int i = 0; i < 2; i++) {
+    int32_t furthest = 0;
+    size_t color_idx = 0;
+    while (furthest < 5 + simultaneous_leds) {
+      for (size_t offset = 0; offset < simultaneous_leds; offset++) {
+        int32_t diff = furthest - offset;
+        size_t led_color_idx = color_idx + offset * next_led_steps;
+        if (diff < 0 || diff > 4 || led_color_idx >= brightness_steps) {
+          continue;
+        }
+        if (!inc) {
+          led_color_idx = brightness_steps - led_color_idx - 1;
+        }
+        uint8_t *color = colors[led_color_idx];
+        led_set(4 + diff, color[0], color[1], color[2]);
+        led_set(4 - diff, color[0], color[1], color[2]);
+      }
+      color_idx++;
+      if (color_idx == next_led_steps) {
+        color_idx = 0;
+        furthest++;
+      }
+      tx_thread_sleep(delay);
+    }
+    inc = !inc;
+  }
+}
+
 void HAL_SPI_TxCpltCallback(SPI_HandleTypeDef *handle) {
   if (handle != hspi) {
     return;