FreeRTOS900

Author: victorpv

STM32F1/libraries/FreeRTOS900/MapleFreeRTOS900.cpp

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+/******************************************************************************
+ * The MIT License
+ *
+ * Copyright (c) 2011 LeafLabs, LLC.
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use, copy,
+ * modify, merge, publish, distribute, sublicense, and/or sell copies
+ * of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
+ * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+ * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *****************************************************************************/
+
+#include "MapleFreeRTOS900.h"
+
+extern "C" {
+
+void vApplicationStackOverflowHook(xTaskHandle *pxTask,
+                                   signed char *pcTaskName) {
+    /* This function will get called if a task overflows its stack.
+     * If the parameters are corrupt then inspect pxCurrentTCB to find
+     * which was the offending task. */
+
+    (void) pxTask;
+    (void) pcTaskName;
+
+    while (1)
+        ;
+}
+
+}

STM32F1/libraries/FreeRTOS900/MapleFreeRTOS900.h

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+/******************************************************************************
+ * The MIT License
+ *
+ * Copyright (c) 2011 LeafLabs, LLC.
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use, copy,
+ * modify, merge, publish, distribute, sublicense, and/or sell copies
+ * of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
+ * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+ * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *****************************************************************************/
+
+#ifndef __MAPLE_FREERTOS_H__
+#define __MAPLE_FREERTOS_H__
+
+#include <wirish.h>
+
+extern "C" {
+#define GCC_ARMCM3
+#include "utility/FreeRTOS.h"
+#include "utility/task.h"
+#include "utility/queue.h"
+#include "utility/semphr.h"
+}
+
+#endif

STM32F1/libraries/FreeRTOS900/examples/rtos_blink/rtos_blink.ino

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+//#include <wirish/wirish.h>
+//#include "libraries/FreeRTOS/MapleFreeRTOS.h"
+#include <MapleFreeRTOS821.h>
+
+static void vLEDFlashTask(void *pvParameters) {
+    for (;;) {
+        vTaskDelay(1000);
+        digitalWrite(BOARD_LED_PIN, HIGH);
+        vTaskDelay(50);
+        digitalWrite(BOARD_LED_PIN, LOW);
+    }
+}
+
+void setup() {
+    // initialize the digital pin as an output:
+    pinMode(BOARD_LED_PIN, OUTPUT);
+
+    xTaskCreate(vLEDFlashTask,
+                "Task1",
+                configMINIMAL_STACK_SIZE,
+                NULL,
+                tskIDLE_PRIORITY + 2,
+                NULL);
+    vTaskStartScheduler();
+}
+
+void loop() {
+    // Insert background code here
+}
+
+

STM32F1/libraries/FreeRTOS900/examples/rtos_display_blink/rtos_display_blink.ino

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+#define USE_SEMAPHORE_DMA1
+#include <MapleFreeRTOS821.h>
+#include <SPI.h>
+#include <Adafruit_GFX.h>
+#include <TFT_ILI9163C.h>
+
+#define __CS 8
+#define __RST 9
+#define __DC 10
+
+TFT_ILI9163C tft = TFT_ILI9163C(__CS, __DC, __RST);
+
+xSemaphoreHandle xDisplayFree;
+
+
+const float sin_d[] = {
+  0, 0.17, 0.34, 0.5, 0.64, 0.77, 0.87, 0.94, 0.98, 1, 0.98, 0.94,
+  0.87, 0.77, 0.64, 0.5, 0.34, 0.17, 0, -0.17, -0.34, -0.5, -0.64,
+  -0.77, -0.87, -0.94, -0.98, -1, -0.98, -0.94, -0.87, -0.77,
+  -0.64, -0.5, -0.34, -0.17
+};
+const float cos_d[] = {
+  1, 0.98, 0.94, 0.87, 0.77, 0.64, 0.5, 0.34, 0.17, 0, -0.17, -0.34,
+  -0.5, -0.64, -0.77, -0.87, -0.94, -0.98, -1, -0.98, -0.94, -0.87,
+  -0.77, -0.64, -0.5, -0.34, -0.17, 0, 0.17, 0.34, 0.5, 0.64, 0.77,
+  0.87, 0.94, 0.98
+};
+const float d = 5;
+float cube1_px[] = {
+  -d,  d,  d, -d, -d,  d,  d, -d
+};
+float cube1_py[] = {
+  -d, -d,  d,  d, -d, -d,  d,  d
+};
+float cube1_pz[] = {
+  -d, -d, -d, -d,  d,  d,  d,  d
+};
+
+float cube1_p2x[] = {
+  0, 0, 0, 0, 0, 0, 0, 0
+};
+float cube1_p2y[] = {
+  0, 0, 0, 0, 0, 0, 0, 0
+};
+
+int cube1_r[] = {
+  0, 0, 0
+};
+const float d2 = 10;
+float cube2_px[] = {
+  -d2,  d2,  d2, -d2, -d2,  d2,  d2, -d2
+};
+float cube2_py[] = {
+  -d2, -d2,  d2,  d2, -d2, -d2,  d2,  d2
+};
+float cube2_pz[] = {
+  -d2, -d2, -d2, -d2,  d2,  d2,  d2,  d2
+};
+
+float cube2_p2x[] = {
+  0, 0, 0, 0, 0, 0, 0, 0
+};
+float cube2_p2y[] = {
+  0, 0, 0, 0, 0, 0, 0, 0
+};
+
+int cube2_r[] = {
+  0, 0, 0
+};
+
+uint16 cube1_x, cube1_y, cube2_x, cube2_y, cube1_color, cube2_color;
+
+static void vLEDFlashTask(void *pvParameters) {
+  for (;;) {
+    vTaskDelay(1000);
+    digitalWrite(BOARD_LED_PIN, HIGH);
+    vTaskDelay(50);
+    digitalWrite(BOARD_LED_PIN, LOW);
+  }
+}
+
+static void vCube1LoopTask(void *pvParameters) {
+  while (1) {
+    if ( xSemaphoreTake( xDisplayFree, ( portTickType ) 10 ) == pdTRUE )
+    {
+      cube(cube1_px, cube1_py, cube1_pz, cube1_p2x, cube1_p2y, cube1_r, &cube1_x, &cube1_y, &cube1_color);
+      xSemaphoreGive( xDisplayFree );
+        vTaskDelay(15);
+    }
+  }
+}
+
+static void vCube2LoopTask(void *pvParameters) {
+  while (1) {
+    if ( xSemaphoreTake( xDisplayFree, ( portTickType ) 10 ) == pdTRUE )
+    {
+      cube(cube2_px, cube2_py, cube2_pz, cube2_p2x, cube2_p2y, cube2_r, &cube2_x, &cube2_y, &cube2_color);
+      xSemaphoreGive( xDisplayFree );
+        vTaskDelay(40);
+    }
+  }
+}
+
+
+void cube(float *px, float *py, float *pz, float *p2x, float *p2y, int *r, uint16 *x, uint16 *y, uint16 *color) {
+
+  for (int i = 0; i < 3; i++) {
+    tft.drawLine(p2x[i], p2y[i], p2x[i + 1], p2y[i + 1], WHITE);
+    tft.drawLine(p2x[i + 4], p2y[i + 4], p2x[i + 5], p2y[i + 5], WHITE);
+    tft.drawLine(p2x[i], p2y[i], p2x[i + 4], p2y[i + 4], WHITE);
+  }
+  tft.drawLine(p2x[3], p2y[3], p2x[0], p2y[0], WHITE);
+  tft.drawLine(p2x[7], p2y[7], p2x[4], p2y[4], WHITE);
+  tft.drawLine(p2x[3], p2y[3], p2x[7], p2y[7], WHITE);
+
+  r[0] = r[0] + 1;
+  r[1] = r[1] + 1;
+  if (r[0] == 36) r[0] = 0;
+  if (r[1] == 36) r[1] = 0;
+  if (r[2] == 36) r[2] = 0;
+  for (int i = 0; i < 8; i++)
+  {
+    float px2 = px[i];
+    float py2 = cos_d[r[0]] * py[i] - sin_d[r[0]] * pz[i];
+    float pz2 = sin_d[r[0]] * py[i] + cos_d[r[0]] * pz[i];
+
+    float px3 = cos_d[r[1]] * px2 + sin_d[r[1]] * pz2;
+    float py3 = py2;
+    float pz3 = -sin_d[r[1]] * px2 + cos_d[r[1]] * pz2;
+
+    float ax = cos_d[r[2]] * px3 - sin_d[r[2]] * py3;
+    float ay = sin_d[r[2]] * px3 + cos_d[r[2]] * py3;
+    float az = pz3 - 190;
+
+    p2x[i] = *x + ax * 500 / az;
+    p2y[i] = *y + ay * 500 / az;
+  }
+
+  for (int i = 0; i < 3; i++) {
+    tft.drawLine(p2x[i], p2y[i], p2x[i + 1], p2y[i + 1], *color);
+    tft.drawLine(p2x[i + 4], p2y[i + 4], p2x[i + 5], p2y[i + 5], *color);
+    tft.drawLine(p2x[i], p2y[i], p2x[i + 4], p2y[i + 4], *color);
+  }
+  tft.drawLine(p2x[3], p2y[3], p2x[0], p2y[0], *color);
+  tft.drawLine(p2x[7], p2y[7], p2x[4], p2y[4], *color);
+  tft.drawLine(p2x[3], p2y[3], p2x[7], p2y[7], *color);
+}
+
+static void vSqrtTask(void *pvParameters) {
+  while (1){
+  Serial.println ("Starting Sqrt calculations...");
+  uint16 x = 0;
+  uint16 ixx[1001];
+  // Library Sqrt
+  uint32_t t0 = millis();
+  for (uint32_t n = 247583650 ; n > 247400000 ; n--) {
+    x = sqrt (n);
+  }
+  uint32_t t1 = millis() - t0;
+  Serial.print ("Sqrt calculations took (ms): ");
+  Serial.println (t1);
+  delay (5000);
+  }
+}
+
+void setup() {
+  // initialize the digital pin as an output:
+  Serial.begin(9600);
+  delay (5000);
+  Serial.println ("Running...");
+  pinMode(BOARD_LED_PIN, OUTPUT);
+  tft.begin();
+  tft.fillScreen(WHITE);
+  cube1_x = ((tft.width()) / 4);
+  cube1_y = ((tft.height()) / 4);
+  cube2_x = ((tft.width()) / 2);
+  cube2_y = ((tft.height()) / 2);
+  cube1_color = BLACK;
+  cube2_color = RED;
+  vSemaphoreCreateBinary(xDisplayFree);
+  xTaskCreate(vLEDFlashTask,
+              "Task1",
+              configMINIMAL_STACK_SIZE,
+              NULL,
+              tskIDLE_PRIORITY + 2,
+              NULL);
+  xTaskCreate(vCube1LoopTask,
+              "Cube1",
+              configMINIMAL_STACK_SIZE,
+              NULL,
+              tskIDLE_PRIORITY + 2,
+              NULL);
+  xTaskCreate(vCube2LoopTask,
+              "Cube2",
+              configMINIMAL_STACK_SIZE,
+              NULL,
+              tskIDLE_PRIORITY+1,
+              NULL);
+  xTaskCreate(vSqrtTask,
+              "Sqrt",
+              configMINIMAL_STACK_SIZE,
+              NULL,
+              tskIDLE_PRIORITY,
+              NULL);
+  vTaskStartScheduler();
+}
+
+void loop() {
+  // Do not write any code here, it would not execute.
+}
+
+