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FreeRTOS introduced

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This commit is contained in:
Attila Body 2020-12-03 17:19:53 +01:00
parent e7fdc831a4
commit d54d0a8992
49 changed files with 29101 additions and 151 deletions
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94
App/WS28xxStrip.h
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@ -13,6 +13,10 @@
#include <stm32f1xx_ll_gpio.h>
#include <stm32f1xx_ll_spi.h>
#include <FreeRTOS.h>
#include <task.h>
#include <semphr.h>
struct pixel_t {
uint8_t g;
uint8_t r;
@ -30,39 +34,54 @@ public:
friend void HandleSpiDmaIrq();
void Update();
static void RefillTaskEntry(void *param) { reinterpret_cast<WS28xxStrip<pixels, spi_pixels>*>(param)->RefillTask(); }
private:
void SpiDmaIsr();
void Refill();
void RefillTask();
void Convert(uint8_t *src, uint8_t *dst, uint16_t src_size);
template<typename T> T Min(T a, T b) { return a < b ? a : b; }
TaskHandle_t m_task_handle = nullptr;
static constexpr const unsigned int SPI_PIXEL_SIZE = sizeof(pixel_t) * 4;
static constexpr const unsigned int SPI_BUFFER_SIZE = spi_pixels * SPI_PIXEL_SIZE;
pixel_t m_pixels[pixels];
uint8_t m_spi_buffer[2][SPI_BUFFER_SIZE];
volatile uint8_t m_spi_idle = 0;
StaticSemaphore_t m_main_mutex_buffer;
SemaphoreHandle_t m_main_mutex;
//volatile uint8_t m_spi_idle = 0;
volatile uint8_t m_buffer_in_transmit;
volatile uint16_t m_pixels_converted = 0;
volatile bool m_endframe = false;
volatile bool m_endprev = false;
volatile bool m_need_refill = false;
};
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
template <uint16_t pixels, uint8_t spi_pixels> WS28xxStrip<pixels, spi_pixels>::WS28xxStrip(pixel_t defcolor)
: m_main_mutex(xSemaphoreCreateBinaryStatic(&m_main_mutex_buffer))
{
for(uint16_t p=0; p < pixels; ++p)
m_pixels[p] = defcolor;
xSemaphoreGive(m_main_mutex);
}
//////////////////////////////////////////////////////////////////////////////
template <uint16_t pixels, uint8_t spi_pixels> pixel_t& WS28xxStrip<pixels, spi_pixels>::operator[](int16_t index)
{
return m_pixels[index];
}
//////////////////////////////////////////////////////////////////////////////
template <uint16_t pixels, uint8_t spi_pixels> void WS28xxStrip<pixels, spi_pixels>::SpiDmaIsr()
{
BaseType_t woken;
if(LL_DMA_IsActiveFlag_TE3(DMA1)) {
LL_DMA_ClearFlag_TE3(DMA1);
}
@ -82,45 +101,60 @@ template <uint16_t pixels, uint8_t spi_pixels> void WS28xxStrip<pixels, spi_pixe
if(m_endframe && m_endprev) {
LL_DMA_DisableChannel(DMA1, LL_DMA_CHANNEL_3);
LL_DMA_SetMode(DMA1, LL_DMA_CHANNEL_3, LL_DMA_MODE_CIRCULAR);
m_spi_idle = true;
woken = pdFALSE;
xSemaphoreGiveFromISR(m_main_mutex, &woken);
portYIELD_FROM_ISR(woken);
m_endframe = m_endprev = false;
return;
}
}
m_need_refill = true;
woken = pdFALSE;
if(m_task_handle) {
vTaskNotifyGiveFromISR(m_task_handle, &woken);
portYIELD_FROM_ISR(woken);
}
}
}
template <uint16_t pixels, uint8_t spi_pixels> void WS28xxStrip<pixels, spi_pixels>::Refill()
//////////////////////////////////////////////////////////////////////////////
template <uint16_t pixels, uint8_t spi_pixels> void WS28xxStrip<pixels, spi_pixels>::RefillTask()
{
m_need_refill = false;
m_endprev = m_endframe;
m_task_handle = xTaskGetCurrentTaskHandle();
uint8_t convert_now = Min((uint8_t)(pixels - m_pixels_converted), spi_pixels);
if(convert_now)
while(true)
{
LL_GPIO_TogglePin(GPIOC, LL_GPIO_PIN_13);
Convert((uint8_t*)&m_pixels[m_pixels_converted],
m_spi_buffer[m_buffer_in_transmit ^ 1],
convert_now * sizeof(pixel_t));
LL_GPIO_TogglePin(GPIOC, LL_GPIO_PIN_13);
m_pixels_converted += convert_now;
}
if( ulTaskNotifyTake(pdFALSE, pdMS_TO_TICKS(1000)) > 0)
{
m_endprev = m_endframe;
if(convert_now < spi_pixels) {
memset(m_spi_buffer[m_buffer_in_transmit ^ 1] + convert_now * SPI_PIXEL_SIZE,
0, SPI_BUFFER_SIZE - convert_now * SPI_PIXEL_SIZE);
m_endframe = true;
}
uint8_t convert_now = Min((uint8_t)(pixels - m_pixels_converted), spi_pixels);
if(convert_now)
{
LL_GPIO_TogglePin(GPIOC, LL_GPIO_PIN_13);
Convert((uint8_t*)&m_pixels[m_pixels_converted],
m_spi_buffer[m_buffer_in_transmit ^ 1],
convert_now * sizeof(pixel_t));
LL_GPIO_TogglePin(GPIOC, LL_GPIO_PIN_13);
m_pixels_converted += convert_now;
}
if(convert_now < spi_pixels) {
memset(m_spi_buffer[m_buffer_in_transmit ^ 1] + convert_now * SPI_PIXEL_SIZE,
0, SPI_BUFFER_SIZE - convert_now * SPI_PIXEL_SIZE);
m_endframe = true;
}
}
}
}
//////////////////////////////////////////////////////////////////////////////
template <uint16_t pixels, uint8_t spi_pixels> void WS28xxStrip<pixels, spi_pixels>::Update()
{
xSemaphoreTake(m_main_mutex, portMAX_DELAY);
m_pixels_converted = 0;
Convert((uint8_t*)m_pixels, m_spi_buffer[0], spi_pixels * sizeof(pixel_t));
@ -129,7 +163,6 @@ template <uint16_t pixels, uint8_t spi_pixels> void WS28xxStrip<pixels, spi_pixe
m_pixels_converted += spi_pixels;
m_buffer_in_transmit = 0;
m_spi_idle = false;
LL_DMA_ConfigAddresses(DMA1, LL_DMA_CHANNEL_3, (uint32_t)m_spi_buffer, LL_SPI_DMA_GetRegAddr(SPI1), LL_DMA_DIRECTION_MEMORY_TO_PERIPH);
LL_DMA_SetDataLength(DMA1, LL_DMA_CHANNEL_3, sizeof(m_spi_buffer));
@ -137,15 +170,9 @@ template <uint16_t pixels, uint8_t spi_pixels> void WS28xxStrip<pixels, spi_pixe
LL_DMA_EnableIT_HT(DMA1, LL_DMA_CHANNEL_3);
LL_DMA_EnableIT_TC(DMA1, LL_DMA_CHANNEL_3);
LL_DMA_EnableIT_TE(DMA1, LL_DMA_CHANNEL_3);
while(!m_spi_idle) {
while(!m_spi_idle && !m_need_refill);
if(m_need_refill)
Refill();
}
}
//////////////////////////////////////////////////////////////////////////////
template <uint16_t pixels, uint8_t spi_pixels> void WS28xxStrip<pixels, spi_pixels>::Convert(uint8_t *src, uint8_t *dst, uint16_t src_size)
{
static uint16_t const bits[16] = { // due to LE-ness the bit order is 1 0 3 2
@ -163,5 +190,4 @@ template <uint16_t pixels, uint8_t spi_pixels> void WS28xxStrip<pixels, spi_pixe
}
}
#endif /* WS28XXSTRIP_H_ */