/* * File: Fixed point testing * Author: Bruce Land * For use with Sean Carroll's Big Board * Adapted from: * main.c by * Author: Syed Tahmid Mahbub * Target PIC: PIC32MX250F128B */ //////////////////////////////////// // clock AND protoThreads configure! // You MUST check this file! #include "config.h" // threading library #include "pt_cornell_1_2_1.h" //////////////////////////////////// // graphics libraries // SPI channel 1 connections to TFT #include "tft_master.h" #include "tft_gfx.h" // need for rand function #include //////////////////////////////////// /* Demo code for interfacing TFT (ILI9340 controller) to PIC32 * The library has been modified from a similar Adafruit library */ // Adafruit data: /*************************************************** This is an example sketch for the Adafruit 2.2" SPI display. This library works with the Adafruit 2.2" TFT Breakout w/SD card ----> http://www.adafruit.com/products/1480 Check out the links above for our tutorials and wiring diagrams These displays use SPI to communicate, 4 or 5 pins are required to interface (RST is optional) Adafruit invests time and resources providing this open source code, please support Adafruit and open-source hardware by purchasing products from Adafruit! Written by Limor Fried/Ladyada for Adafruit Industries. MIT license, all text above must be included in any redistribution ****************************************************/ // string buffer char buffer[60]; // === thread structures ============================================ // thread control structs // note that UART input and output are threads static struct pt pt_fixed14, pt_fixed16, pt_float ; // system 1 second interval tick static int sys_time_seconds ; // elapsed time cycle counters static int t, zero_t, dt ; // === fixed14 Thread ================================================= // typedef signed short fix14 ; #define multfix14(a,b) ((fix14)((((int)(a))*((int)(b)))>>14)) //multiply two fixed 2.14 #define float2fix14(a) ((fix14)((a)*16384.0)) // 2^14 #define fix2float14(a) ((float)(a)/16384.0) #define fix2int14(a) ((int)((a)>>14)) #define int2fix14(a) ((fix14)((a)<<14)) #define absfix14(a) abs(a) static fix14 in14_1, in14_2, out14 ; static PT_THREAD (protothread_fixed14(struct pt *pt)) { PT_BEGIN(pt); tft_setCursor(0, 0); tft_setTextColor(ILI9340_WHITE); tft_setTextSize(1); tft_writeString("Operation timing\n"); while(1) { // yield time 1 second PT_YIELD_TIME_msec(1000) ; sys_time_seconds++ ; // 14 bit fix /////////////////// // all numbers less than 2! in14_1 = float2fix14((float)sys_time_seconds/10.) ; //(float)sys_time_seconds/100 in14_2 = float2fix14(0.1) ; // read the time t = TMR2; // do the test out14 = multfix14(in14_1,in14_2) ; // compute elapsed time - 5 cycles of overhead dt = TMR2 - t - zero_t; // print it to TFT LCD tft_fillRoundRect(0,10, 230, 14, 1, ILI9340_BLACK);// x,y,w,h,radius,color tft_setCursor(0, 10); tft_setTextColor(ILI9340_WHITE); tft_setTextSize(1); sprintf(buffer, "Multfix14 dt value %d %5.3f", dt, fix2float14(out14)); tft_writeString(buffer); // MAC in14_1 = float2fix14((float)sys_time_seconds/20.) ; //(float)sys_time_seconds/100 in14_2 = float2fix14(0.2) ; out14 = float2fix14(-0.5); t = TMR2; // do the test out14 = multfix14(in14_1,in14_2) + out14 ; // compute elapsed time - 5 cycles of overhead dt = TMR2 - t - zero_t; // print it to TFT LCD tft_fillRoundRect(0,20, 230, 14, 1, ILI9340_BLACK);// x,y,w,h,radius,color tft_setCursor(0, 20); tft_setTextColor(ILI9340_WHITE); tft_setTextSize(1); sprintf(buffer, "Mult+add dt value %d %5.3f", dt, fix2float14(out14)); tft_writeString(buffer); // NEVER exit while } // END WHILE(1) PT_END(pt); } // timer thread // === fixed16 Thread ================================================= // typedef signed int fix16 ; #define multfix16(a,b) ((fix16)(((( signed long long)(a))*(( signed long long)(b)))>>16)) //multiply two fixed 16:16 #define float2fix16(a) ((fix16)((a)*65536.0)) // 2^16 #define fix2float16(a) ((float)(a)/65536.0) #define fix2int16(a) ((int)((a)>>16)) #define int2fix16(a) ((fix16)((a)<<16)) #define divfix16(a,b) ((fix16)((((signed long long)(a)<<16)/(b)))) #define sqrtfix16(a) (float2fix16(sqrt(fix2float16(a)))) #define absfix16(a) abs(a) static fix16 in16_1, in16_2, out16 ; static PT_THREAD (protothread_fixed16(struct pt *pt)) { PT_BEGIN(pt); while(1) { // yield time 1 second PT_YIELD_TIME_msec(1000) ; // 16 bit fix /////////////////// // all numbers less than 2! in16_1 = float2fix16((float)sys_time_seconds) ; //(float)sys_time_seconds/100 in16_2 = float2fix16(0.1) ; // read the time t = TMR2; // do the test out16 = multfix16(in16_1,in16_2) ; // compute elapsed time - 5 cycles of overhead dt = TMR2 - t - zero_t; // print it to TFT LCD tft_fillRoundRect(0,40, 230, 14, 1, ILI9340_BLACK);// x,y,w,h,radius,color tft_setCursor(0, 40); tft_setTextColor(ILI9340_WHITE); tft_setTextSize(1); sprintf(buffer, "Multfix16 dt value %d %5.3f", dt, fix2float16(out16)); tft_writeString(buffer); // read the time out16 = float2fix16(-0.5); t = TMR2; // do the test out16 = multfix16(in16_1,in16_2) + out16 ; // compute elapsed time - 5 cycles of overhead dt = TMR2 - t - zero_t; // print it to TFT LCD tft_fillRoundRect(0,50, 230, 14, 1, ILI9340_BLACK);// x,y,w,h,radius,color tft_setCursor(0, 50); tft_setTextColor(ILI9340_WHITE); tft_setTextSize(1); sprintf(buffer, "Mult+add dt value %d %5.3f", dt, fix2float16(out16)); tft_writeString(buffer); // NEVER exit while } // END WHILE(1) PT_END(pt); } // color thread // === float Thread ============================================= // static float infloat_1, infloat_2, outfloat ; static PT_THREAD (protothread_float(struct pt *pt)) { PT_BEGIN(pt); while(1) { // yield time 1 second PT_YIELD_TIME_msec(1000); // float /////////////////// // all numbers less than 2! infloat_1 = (float)sys_time_seconds ; infloat_2 = 0.1 ; // read the time t = TMR2; // do the test outfloat = infloat_1 * infloat_2 ; // compute elapsed time - 5 cycles of overhead dt = TMR2 - t - zero_t; // print it to TFT LCD tft_fillRoundRect(0,70, 230, 14, 1, ILI9340_BLACK);// x,y,w,h,radius,color tft_setCursor(0, 70); tft_setTextColor(ILI9340_WHITE); tft_setTextSize(1); sprintf(buffer, "float dt value %d %5.3f", dt, outfloat); tft_writeString(buffer); // MAC outfloat = -0.5; t = TMR2; // do the test outfloat = infloat_1 * infloat_2 + outfloat ; // compute elapsed time - 5 cycles of overhead dt = TMR2 - t - zero_t; // print it to TFT LCD tft_fillRoundRect(0,80, 230, 14, 1, ILI9340_BLACK);// x,y,w,h,radius,color tft_setCursor(0, 80); tft_setTextColor(ILI9340_WHITE); tft_setTextSize(1); sprintf(buffer, "Mult+add dt value %d %5.3f", dt, outfloat); tft_writeString(buffer); // NEVER exit while } // END WHILE(1) PT_END(pt); } // animation thread // === Main ====================================================== void main(void) { //SYSTEMConfigPerformance(PBCLK); ANSELA = 0; ANSELB = 0; // set up timer on big board // timer is used to profile math operations OpenTimer2(T2_ON | T2_SOURCE_INT | T2_PS_1_1, 0xffff); // === config threads ========== // turns OFF UART support and debugger pin, unless defines are set PT_setup(); // === setup system wide interrupts ======== INTEnableSystemMultiVectoredInt(); // init the threads PT_INIT(&pt_fixed14); PT_INIT(&pt_fixed16); PT_INIT(&pt_float); // init the display // NOTE that this init assumes SPI channel 1 connections tft_init_hw(); tft_begin(); tft_fillScreen(ILI9340_BLACK); //240x320 vertical display tft_setRotation(0); // Use tft_setRotation(1) for 320x240 // get zero offset reading for timer t = TMR2; // timer reading overhead zero_t = TMR2 - t; // round-robin scheduler for threads while (1){ PT_SCHEDULE(protothread_fixed16(&pt_fixed16)); PT_SCHEDULE(protothread_fixed14(&pt_fixed14)); PT_SCHEDULE(protothread_float(&pt_float)); } } // main // === end ======================================================