Merge pull request #45 from openppg/develop/free-rtos

Rewrite threading to use FreeRTOS

Author: zjwhitehead

.github/workflows/config.yml

@@ -9,20 +9,20 @@ jobs:
     name: CPP Lint
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - name: Setup Python
-        uses: actions/setup-python@v2
+        uses: actions/setup-python@v3
         with:
           python-version: 3.x
       - run: pip install cpplint
-      - run: cpplint --linelength 140 --filter=-runtime/int,-build/include_subdir --recursive ./inc/ ./lib/ ./src/
+      - run: cpplint --linelength 140 --filter=-legal/copyright,-runtime/int,-build/include_subdir --recursive ./inc/ ./lib/ ./src/
   pio-build:
     name: PlatformIO Build
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - name: Setup Python
-        uses: actions/setup-python@v2
+        uses: actions/setup-python@v3
         with:
           python-version: 3.x
       - name: Install Platform IO
@@ -41,28 +41,29 @@ jobs:
         with:
           name: OpenPPG-CRP2040-SP140.uf2
           path: .pio/build/OpenPPG-CRP2040-SP140/firmware.uf2
-  generate-uf2:
-    name: Save uf2 for ${{ matrix.device }}
-    needs: pio-build
-    runs-on: ubuntu-latest
-    strategy:
-      matrix:
-        device: [OpenPPG-CM0-SP140]
-      fail-fast: false
-    steps:
-      - name: Setup Python
-        uses: actions/setup-python@v2
-      - name: Checkout Microsoft uf2 repo
-        uses: actions/checkout@v2
-        with:
-          repository: microsoft/uf2
-      - name: Download built binary
-        uses: actions/download-artifact@v2
-        with:
-          name: bins
-      - name: Run uf2 conversion
-        run: python3 utils/uf2conv.py ${{ matrix.device }}/firmware.bin -c -o ${{ matrix.device }}.uf2
-      - uses: actions/upload-artifact@v3
-        with:
-          name: ${{ matrix.device }}.uf2
-          path: ${{ matrix.device }}.uf2
+  # Skip until M0 builds running by default
+  # generate-uf2: 
+  #   name: Save uf2 for ${{ matrix.device }}
+  #   needs: pio-build
+  #   runs-on: ubuntu-latest
+  #   strategy:
+  #     matrix:
+  #       device: [OpenPPG-CM0-SP140]
+  #     fail-fast: false
+  #   steps:
+  #     - name: Setup Python
+  #       uses: actions/setup-python@v2
+  #     - name: Checkout Microsoft uf2 repo
+  #       uses: actions/checkout@v3
+  #       with:
+  #         repository: microsoft/uf2
+  #     - name: Download built binary
+  #       uses: actions/download-artifact@v2
+  #       with:
+  #         name: bins
+  #     - name: Run uf2 conversion
+  #       run: python3 utils/uf2conv.py ${{ matrix.device }}/firmware.bin -c -o ${{ matrix.device }}.uf2
+  #     - uses: actions/upload-artifact@v3
+  #       with:
+  #         name: ${{ matrix.device }}.uf2
+  #         path: ${{ matrix.device }}.uf2

README.md

@@ -11,6 +11,8 @@ X4 code has been migrated to a separate repo - https://github.com/openppg/x4-con
 It may not be stable and is not recommended for flying.
 See stable releases [here](https://github.com/openppg/eppg-controller/releases)
 
+> Version 6.0 introduced [FreeRTOS](https://www.freertos.org/index.html) and is currently only working with RP2040 processors. For M0/SAMD21 processors please use [version/5 branch](https://github.com/openppg/eppg-controller/tree/version/5).
+
 > For batch 3 (non-telemetry) controllers please see the [batch-3 branch](https://github.com/openppg/eppg-controller/tree/batch-3).
 
 > For batch 2 (Arduino nano based) controllers please see the [batch-2 branch](https://github.com/openppg/eppg-controller/tree/batch-2).

inc/sp140/altimeter.h

@@ -0,0 +1,17 @@
+#ifndef INC_SP140_ALTIMETER_H_
+#define INC_SP140_ALTIMETER_H_
+
+#include <Arduino.h>
+
+#include "sp140/structs.h"
+
+// Set up the barometer
+void setupAltimeter();
+
+// Get the altitude (in meters)
+float getAltitude(const STR_DEVICE_DATA_140_V1& deviceData);
+
+// Set the ground altitude to the current altitude to compute AGL
+void setGroundAltitude(const STR_DEVICE_DATA_140_V1& deviceData);
+
+#endif  // INC_SP140_ALTIMETER_H_

inc/sp140/display.h

@@ -0,0 +1,73 @@
+#ifndef INC_SP140_DISPLAY_H_
+#define INC_SP140_DISPLAY_H_
+
+#include <Arduino.h>
+
+#include "sp140/structs.h"
+#include <Adafruit_ST7735.h>
+#include "utilities.h"
+
+// Library config
+#define NO_ADAFRUIT_SSD1306_COLOR_COMPATIBILITY
+
+#define BLACK                 ST77XX_BLACK
+#define WHITE                 ST77XX_WHITE
+#define GREEN                 ST77XX_GREEN
+#define YELLOW                ST77XX_YELLOW
+#define RED                   ST77XX_RED
+#define BLUE                  ST77XX_BLUE
+#define ORANGE                ST77XX_ORANGE
+#define CYAN                  ST77XX_CYAN
+#define PURPLE                0x780F
+#define GRAY                  0xDEFB
+
+// Light mode (default)
+// #define DEFAULT_TEXT_COLOR    BLACK
+// #define ERROR_TEXT_COLOR      RED
+// #define CHILL_TEXT_COLOR      CYAN
+
+// #define DEFAULT_BG_COLOR      WHITE
+// #define ARMED_BG_COLOR        CYAN
+// #define CRUISE_BG_COLOR       YELLOW
+// #define UI_ACCENT_COLOR       BLACK
+
+// Dark mode
+// #define DEFAULT_TEXT_COLOR    WHITE
+// #define ERROR_TEXT_COLOR      RED
+// #define CHILL_TEXT_COLOR      CYAN
+
+// #define DEFAULT_BG_COLOR      BLACK
+// #define ARMED_BG_COLOR        BLUE
+// #define CRUISE_BG_COLOR       ORANGE
+// #define UI_ACCENT_COLOR       GRAY
+
+struct UIColors {
+  uint16_t default_text;
+  uint16_t error_text;
+  uint16_t chill_text;
+  uint16_t default_bg;
+  uint16_t armed_bg;
+  uint16_t cruise_bg;
+  uint16_t ui_accent;
+};
+
+extern float watts;
+extern float wattHoursUsed;
+
+// Set up the display and show splash screen
+void setupDisplay(const STR_DEVICE_DATA_140_V1& deviceData);
+
+void displayMeta(const STR_DEVICE_DATA_140_V1& deviceData, int duration = 2000);
+
+// Clear screen and reset properties
+void resetRotation(unsigned int orientation);
+
+// Show data on screen
+void updateDisplay(const STR_DEVICE_DATA_140_V1& deviceData,
+                   const STR_ESC_TELEMETRY_140& escTelemetry,
+                   float altitude, bool armed, bool cruising,
+                   unsigned int armedStartMillis);
+
+void setTheme(int theme);  // 0,1
+
+#endif  // INC_SP140_DISPLAY_H_

inc/sp140/globals.h

@@ -4,7 +4,7 @@
 
 byte escData[ESC_DATA_SIZE];
 byte escDataV2[ESC_DATA_V2_SIZE];
-unsigned long cruisedAtMilis = 0;
+unsigned long cruisedAtMillis = 0;
 unsigned long transmitted = 0;
 unsigned long failed = 0;
 bool cruising = false;
@@ -17,42 +17,17 @@ bool batteryFlag = true;
 bool throttledFlag = true;
 bool throttled = false;
 unsigned long throttledAtMillis = 0;
-unsigned int throttleSecs = 0;
-float minutes = 0;
-float prevMinutes = 0;
-float seconds = 0;
-float prevSeconds = 0;
-float hours = 0;  // logged flight hours
-float wattsHoursUsed = 0;
+
+float watts = 0;
+float wattHoursUsed = 0;
 
 // sensor states
-bool bmpPresent = false;
 bool vibePresent = false;
 
-uint16_t _volts = 0;
-uint16_t _temperatureC = 0;
 int16_t _amps = 0;
-uint32_t _eRPM = 0;
-uint16_t _inPWM = 0;
-uint16_t _outPWM = 0;
-
-// ESC Telemetry
-float prevVolts = 0;
-float prevAmps = 0;
-float watts = 0;
-float prevKilowatts = 0;
-float prevKwh = 0;
-
-// ALTIMETER
-float ambientTempC = 0;
-float altitudeM = 0;
-float lastAltM = 0;
 
-Adafruit_BMP3XX bmp;
 Servo esc;  // Creating a servo class with name of esc
 
 static STR_DEVICE_DATA_140_V1 deviceData;
 
-uint16_t bottom_bg_color = DEFAULT_BG_COLOR;
-
 #endif  // INC_SP140_GLOBALS_H_

inc/sp140/shared-config.h

@@ -9,8 +9,8 @@
 #define MAMP_OFFSET 200
 #define VOLT_OFFSET 1.5
 
-#define VERSION_MAJOR 5
-#define VERSION_MINOR 9
+#define VERSION_MAJOR 6
+#define VERSION_MINOR 0
 
 #define CRUISE_GRACE 1.5  // 1.5 sec period to get off throttle
 #define POT_SAFE_LEVEL 0.05 * 4096  // 5% or less
@@ -24,26 +24,14 @@
 #define ESC_MIN_PWM           1030  // ESC min is 1050
 #define ESC_MAX_PWM           1990  // ESC max 1950
 
-#define BLACK                 ST77XX_BLACK
-#define WHITE                 ST77XX_WHITE
-#define GREEN                 ST77XX_GREEN
-#define YELLOW                ST77XX_YELLOW
-#define RED                   ST77XX_RED
-#define BLUE                  ST77XX_BLUE
-#define ORANGE                ST77XX_ORANGE
-#define PURPLE                0x780F
 
-#define DEFAULT_BG_COLOR      WHITE
-#define ARMED_BG_COLOR        ST77XX_CYAN
-#define CRUISE_BG_COLOR       YELLOW
-
-#define DIGIT_ARRAY_SIZE      7
 #define ESC_BAUD_RATE         115200
 #define ESC_DATA_SIZE         20
 #define ESC_DATA_V2_SIZE      22
 #define READ_INTERVAL         0
 #define ESC_TIMEOUT           15
 #define ENABLE_BUZ            true    // enable buzzer
 #define ENABLE_VIB_LOW_BAT    false   // vibrate if armed and battery voltage sags below min volts. Gets pilot's attention.
+#define POT_MAX_VALUE         4095    // 12 bit ADC //TODO use calibration and store in EEPROM
 
 #endif  // INC_SP140_SHARED_CONFIG_H_

inc/sp140/structs.h

@@ -27,7 +27,7 @@ typedef struct {
   bool metric_alt;     // false
   uint8_t performance_mode;  // 0,1,2
   uint16_t batt_size;     // 4000 (4kw) or 2000 (2kw)
-  uint8_t btn_mode;     // for future use
+  uint8_t theme;     // 0,1 for light/dark
   uint8_t unused;     // for future use
   uint16_t crc;        // error check
 }STR_DEVICE_DATA_140_V1;

inc/sp140/utilities.h

@@ -0,0 +1,6 @@
+#ifndef INC_SP140_UTILITIES_H_
+#define INC_SP140_UTILITIES_H_
+
+double mapd(double x, double in_min, double in_max, double out_min, double out_max);
+
+#endif  // INC_SP140_UTILITIES_H_

platformio.ini

@@ -12,7 +12,7 @@
 libr_dir = libraries
 include_dir = inc
 default_envs =
-	OpenPPG-CM0-SP140
+	;OpenPPG-CM0-SP140 ; not currently supported
 	OpenPPG-CRP2040-SP140
 
 [extra]
@@ -46,7 +46,7 @@ lib_ignore =
 	${extra.lib_ignore}
 
 [env:OpenPPG-CRP2040-SP140]
-platform = https://github.com/openppg/platform-raspberrypi.git#190d06ec0ece2f38031389c8b5eccf2bd3d349e9
+platform = https://github.com/openppg/platform-raspberrypi.git#d558b307a404efbfc4282ce9e61d16f338f1c172
 board = sparkfun_promicrorp2040
 framework = arduino
 board_build.core = earlephilhower
@@ -58,17 +58,16 @@ board_build.filesystem_size = 14M ; 14 Mbyte for filesystem and 2 Mbyte for prog
 src_folder = sp140
 extra_scripts = pre:extra_script.py
 lib_deps =
-	[email protected]
-	[email protected]
-	[email protected] ; deprecated
+	[email protected]
+	[email protected]
 	[email protected] ; deprecated
 	[email protected]
 	adafruit/Adafruit [email protected]
 	adafruit/Adafruit BMP3XX [email protected]
 	adafruit/Adafruit DRV2605 [email protected]
-	adafruit/Adafruit ST7735 and ST7789 Library@1.9.3
+	adafruit/Adafruit ST7735 and ST7789 Library@1.10.2
 	https://github.com/rlogiacco/CircularBuffer
-	Adafruit GFX [email protected].5
+	Adafruit GFX [email protected].7
 lib_ignore =
 	Adafruit SleepyDog Library
 	${extra.lib_ignore}

src/sp140/altimeter.cpp

@@ -0,0 +1,32 @@
+#include "sp140/altimeter.h"
+#include "sp140/structs.h"
+
+#include <Adafruit_BMP3XX.h>
+
+Adafruit_BMP3XX bmp;
+bool bmpPresent = false;
+float groundAltitude = 0;
+
+float getAltitude(const STR_DEVICE_DATA_140_V1& deviceData) {
+  if (bmpPresent) {
+    const float altitude = bmp.readAltitude(deviceData.sea_pressure);
+    return altitude - groundAltitude;
+  }
+  return __FLT_MIN__;
+}
+
+// set the ground altitude to the current altitude
+void setGroundAltitude(const STR_DEVICE_DATA_140_V1& deviceData) {
+  groundAltitude = bmp.readAltitude(deviceData.sea_pressure);
+}
+
+// Start the bmp388 sensor
+void setupAltimeter() {
+  if (!bmp.begin_I2C()) return;
+  bmp.setOutputDataRate(BMP3_ODR_25_HZ);
+  bmp.setTemperatureOversampling(BMP3_OVERSAMPLING_2X);
+  bmp.setPressureOversampling(BMP3_OVERSAMPLING_4X);
+  bmp.setIIRFilterCoeff(BMP3_IIR_FILTER_COEFF_15);
+  bmp.readPressure();  // throw away first reading
+  bmpPresent = true;
+}