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Use LEDs to show speed

This commit is contained in:
Jasper Blanckenburg 2023-05-22 16:28:25 +02:00
parent 6c2943f25e
commit 6543ac4d95
1 changed files with 53 additions and 5 deletions
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58
Core/Src/leds.c
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@ -3,11 +3,19 @@
#include "app_azure_rtos.h"
#include "main.h"
#include "stm32h7xx_hal.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"
#include "vehicle.h"
#include <stdint.h>
#define LED_SPEED_MIN 15 // km/h
#define LED_SPEED_MAX 80 // km/h
#define LED_SPEED_HUE_MIN 180.0f // °
#define LED_SPEED_HUE_MAX 0.0f // °
SPI_HandleTypeDef *hspi;
TIM_HandleTypeDef *htim;
@ -66,9 +74,37 @@ void led_thread_entry(ULONG child_thread_stack_addr) {
led_start_animation(ANIM_RAINBOW);
while (1) {
tx_thread_sleep(10);
if (child_thread.tx_thread_state == TX_COMPLETED) {
tx_thread_sleep(20);
led_start_animation(ANIM_TE_STARTUP);
if (child_thread.tx_thread_stack_start &&
child_thread.tx_thread_state != TX_COMPLETED &&
child_thread.tx_thread_state != TX_TERMINATED) {
continue;
}
float speed =
(vehicle_state.speed - LED_SPEED_MIN) / (LED_SPEED_MAX - LED_SPEED_MIN);
float num_leds_exact = speed * N_LEDS;
num_leds_exact = fmin(N_LEDS, fmax(0, num_leds_exact));
int num_leds = num_leds_exact;
float num_leds_frac = num_leds_exact - num_leds;
float hue =
LED_SPEED_HUE_MIN - speed * (LED_SPEED_HUE_MIN - LED_SPEED_HUE_MAX);
hue = fmin(LED_SPEED_HUE_MIN, fmax(LED_SPEED_HUE_MAX, hue));
uint8_t r, g, b;
led_hsv_to_rgb(hue, 1.0f, 1.0f, &r, &g, &b);
// Fully illuminate first n LEDs
for (int i = 0; i < num_leds; i++) {
led_set(i, r, g, b);
}
// Partially illuminate n+1th LED
if (num_leds < N_LEDS) {
led_hsv_to_rgb(hue, 1.0f, num_leds_frac, &r, &g, &b);
led_set(num_leds, r, g, b);
}
// Turn off all other LEDs
for (int i = num_leds + 1; i < N_LEDS; i++) {
led_set(i, 0, 0, 0);
}
}
}
@ -160,7 +196,9 @@ void led_anim_knight_rider(ULONG _) {
void led_anim_rainbow(ULONG _) {
size_t tail = 0;
float offset = 0.0f;
while (1) {
// Moving rainbow
uint32_t start = HAL_GetTick();
while (offset < 360) {
for (size_t i = 0; i < N_LEDS; i++) {
size_t led = (tail + i) % N_LEDS;
uint8_t r, g, b;
@ -168,7 +206,17 @@ void led_anim_rainbow(ULONG _) {
led_hsv_to_rgb(hue, 1, 1, &r, &g, &b);
led_set(led, r, g, b);
}
offset = fmodf(offset + 2.0f, 360.0f);
offset = (HAL_GetTick() - start) / 5.0f;
tx_thread_sleep(1);
}
// Fade-out
for (float val = 1.0f; val > 0; val -= 0.1f) {
for (size_t i = 0; i < N_LEDS; i++) {
float hue = fmodf(offset + i * 360.0f / N_LEDS, 360.0f);
uint8_t r, g, b;
led_hsv_to_rgb(hue, 1, val, &r, &g, &b);
led_set(i, r, g, b);
}
tx_thread_sleep(1);
}
}