Tomo Yamanaka / Mbed 2 deprecated ImageRotaion_Sample

Image rotation Sample. This program uses GraphicsFramework library and L3GD20 sensor.

Dependencies:   GR-PEACH_video GraphicsFramework L3GD20 R_BSP mbed-rtos mbed

Fork of RGA_HelloWorld by Renesas

About L3GD20

L3GD20 is a 3-axis gyroscope sensor and can be controlled by using theI2C.

About wiring

SensorGR-PEACH
VDD3.3V
SCLD15
SDAD14
SA03.3V
CS3.3V
GNDGND

main.cpp@4:138b18a6ac7b, 2016-05-23 (annotated)

Committer:
1050186
Date:
Mon May 23 10:03:17 2016 +0000
Revision:
4:138b18a6ac7b
Parent:
2:c7faef0ef374 
First commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
1050186 0:84e4649e7707 1 #include "mbed.h"
1050186 4:138b18a6ac7b 2 #include "math.h"
1050186 0:84e4649e7707 3 #include "rga_func.h"
1050186 0:84e4649e7707 4 #include "DisplayBace.h"
1050186 0:84e4649e7707 5 #include "rtos.h"
1050186 4:138b18a6ac7b 6 #include "L3GD20.h"
1050186 0:84e4649e7707 7
1050186 4:138b18a6ac7b 8 /**** LCD Parameter **********/
1050186 4:138b18a6ac7b 9 #define LCD_DE_MODE (0)
1050186 4:138b18a6ac7b 10 #define LCD_SYNC_MODE (1)
1050186 4:138b18a6ac7b 11
1050186 4:138b18a6ac7b 12 #define LCD_DOT_CLOCK (13.40f) // 13.4MHz
1050186 0:84e4649e7707 13
1050186 4:138b18a6ac7b 14 #define LCD_H_WIDTH (480u)
1050186 4:138b18a6ac7b 15 #define LCD_H_BACK_PORCH (43u)
1050186 4:138b18a6ac7b 16 #define LCD_H_FRONT_PORCH (52u)
1050186 4:138b18a6ac7b 17 #define LCD_H_SYNC_WIDTH (41u)
1050186 4:138b18a6ac7b 18
1050186 4:138b18a6ac7b 19 #define LCD_V_WIDTH (272u)
1050186 4:138b18a6ac7b 20 #define LCD_V_BACK_PORCH (12u)
1050186 4:138b18a6ac7b 21 #define LCD_V_FRONT_PORCH (2u)
1050186 4:138b18a6ac7b 22 #define LCD_V_SYNC_WIDTH (10u)
1050186 4:138b18a6ac7b 23
1050186 4:138b18a6ac7b 24 #define LCD_MODE (LCD_SYNC_MODE)
1050186 4:138b18a6ac7b 25
1050186 4:138b18a6ac7b 26 /*****************************/
1050186 0:84e4649e7707 27
1050186 0:84e4649e7707 28 /* FRAME BUFFER Parameter */
dkato 2:c7faef0ef374 29 #define FRAME_BUFFER_BYTE_PER_PIXEL (2)
1050186 4:138b18a6ac7b 30 #define FRAME_BUFFER_STRIDE (((LCD_H_WIDTH * FRAME_BUFFER_BYTE_PER_PIXEL) + 31u) & ~31u)
1050186 0:84e4649e7707 31
1050186 0:84e4649e7707 32 DigitalOut lcd_pwon(P7_15);
1050186 0:84e4649e7707 33 DigitalOut lcd_blon(P8_1);
1050186 0:84e4649e7707 34 PwmOut lcd_cntrst(P8_15);
1050186 0:84e4649e7707 35 DisplayBase Display;
1050186 4:138b18a6ac7b 36 L3GD20 gyro(I2C_SDA, I2C_SCL);
1050186 0:84e4649e7707 37
1050186 4:138b18a6ac7b 38 static uint8_t user_frame_buffer[FRAME_BUFFER_STRIDE * LCD_V_WIDTH]__attribute((aligned(32))); /* 32 bytes aligned */
1050186 4:138b18a6ac7b 39 static uint8_t user_frame_buffer2[FRAME_BUFFER_STRIDE * LCD_V_WIDTH]__attribute((aligned(32))); /* 32 bytes aligned */
1050186 0:84e4649e7707 40 static frame_buffer_t frame_buffer_info;
1050186 0:84e4649e7707 41 static volatile int32_t vsync_count = 0;
1050186 0:84e4649e7707 42
1050186 0:84e4649e7707 43 static void IntCallbackFunc_Vsync(DisplayBase::int_type_t int_type) {
1050186 0:84e4649e7707 44 /* Interrupt callback function for Vsync interruption */
1050186 0:84e4649e7707 45 if (vsync_count > 0) {
1050186 0:84e4649e7707 46 vsync_count--;
1050186 0:84e4649e7707 47 }
1050186 0:84e4649e7707 48 }
1050186 0:84e4649e7707 49
1050186 0:84e4649e7707 50 static void Wait_Vsync(const int32_t wait_count) {
1050186 0:84e4649e7707 51 /* Wait for the specified number of times Vsync occurs */
1050186 0:84e4649e7707 52 vsync_count = wait_count;
1050186 0:84e4649e7707 53 while (vsync_count > 0) {
1050186 0:84e4649e7707 54 /* Do nothing */
1050186 0:84e4649e7707 55 }
1050186 0:84e4649e7707 56 }
1050186 0:84e4649e7707 57
1050186 4:138b18a6ac7b 58 static void Swap_FrameBuffer(frame_buffer_t * frmbuf_info) {
1050186 4:138b18a6ac7b 59 if (frmbuf_info->draw_buffer_index == 1) {
1050186 4:138b18a6ac7b 60 frmbuf_info->draw_buffer_index = 0;
1050186 4:138b18a6ac7b 61 } else {
1050186 4:138b18a6ac7b 62 frmbuf_info->draw_buffer_index = 1;
1050186 4:138b18a6ac7b 63 }
1050186 4:138b18a6ac7b 64 }
1050186 4:138b18a6ac7b 65
1050186 4:138b18a6ac7b 66 static void Update_LCD_Display(frame_buffer_t * frmbuf_info) {
1050186 4:138b18a6ac7b 67 Display.Graphics_Read_Change(DisplayBase::GRAPHICS_LAYER_0,
1050186 4:138b18a6ac7b 68 (void *)frmbuf_info->buffer_address[frmbuf_info->draw_buffer_index]);
1050186 4:138b18a6ac7b 69 Wait_Vsync(1);
1050186 4:138b18a6ac7b 70 }
1050186 4:138b18a6ac7b 71
1050186 4:138b18a6ac7b 72 int main(void) {
1050186 0:84e4649e7707 73 /* Create DisplayBase object */
1050186 0:84e4649e7707 74 DisplayBase::graphics_error_t error;
1050186 4:138b18a6ac7b 75 float gx;
1050186 4:138b18a6ac7b 76 float gy;
1050186 4:138b18a6ac7b 77 float gz;
1050186 4:138b18a6ac7b 78
1050186 4:138b18a6ac7b 79 memset(user_frame_buffer, 0, sizeof(user_frame_buffer));
1050186 4:138b18a6ac7b 80 memset(user_frame_buffer2, 0, sizeof(user_frame_buffer2));
1050186 4:138b18a6ac7b 81 frame_buffer_info.buffer_address[0] = user_frame_buffer;
1050186 4:138b18a6ac7b 82 frame_buffer_info.buffer_address[1] = user_frame_buffer2;
1050186 4:138b18a6ac7b 83 frame_buffer_info.buffer_count = 2;
1050186 4:138b18a6ac7b 84 frame_buffer_info.show_buffer_index = 0;
1050186 4:138b18a6ac7b 85 frame_buffer_info.draw_buffer_index = 0;
1050186 4:138b18a6ac7b 86 frame_buffer_info.width = LCD_H_WIDTH;
1050186 4:138b18a6ac7b 87 frame_buffer_info.byte_per_pixel = FRAME_BUFFER_BYTE_PER_PIXEL;
1050186 4:138b18a6ac7b 88 frame_buffer_info.stride = LCD_H_WIDTH * FRAME_BUFFER_BYTE_PER_PIXEL;
1050186 4:138b18a6ac7b 89 frame_buffer_info.height = LCD_V_WIDTH;
1050186 4:138b18a6ac7b 90 frame_buffer_info.pixel_format = PIXEL_FORMAT_RGB565;
1050186 4:138b18a6ac7b 91
1050186 4:138b18a6ac7b 92 lcd_pwon = 0;
1050186 4:138b18a6ac7b 93 lcd_blon = 0;
1050186 4:138b18a6ac7b 94 Thread::wait(100);
1050186 4:138b18a6ac7b 95
1050186 4:138b18a6ac7b 96 lcd_pwon = 1;
1050186 4:138b18a6ac7b 97 lcd_blon = 1;
1050186 4:138b18a6ac7b 98 Thread::wait(100);
1050186 4:138b18a6ac7b 99
1050186 0:84e4649e7707 100 DisplayBase::lcd_config_t lcd_config;
1050186 0:84e4649e7707 101 PinName lvds_pin[8] = {
1050186 0:84e4649e7707 102 /* data pin */
1050186 0:84e4649e7707 103 P5_7, P5_6, P5_5, P5_4, P5_3, P5_2, P5_1, P5_0
1050186 0:84e4649e7707 104 };
1050186 4:138b18a6ac7b 105 DisplayBase::rect_t rect;
1050186 0:84e4649e7707 106
1050186 0:84e4649e7707 107 lcd_config.lcd_type = DisplayBase::LCD_TYPE_LVDS;
1050186 4:138b18a6ac7b 108 lcd_config.intputClock = 66.67f;
1050186 4:138b18a6ac7b 109 lcd_config.outputClock = LCD_DOT_CLOCK;
1050186 0:84e4649e7707 110 lcd_config.lcd_outformat = DisplayBase::LCD_OUTFORMAT_RGB888;
1050186 0:84e4649e7707 111 lcd_config.lcd_edge = DisplayBase::EDGE_RISING;
1050186 4:138b18a6ac7b 112 #if(LCD_MODE) //SYNC Mode
1050186 4:138b18a6ac7b 113 lcd_config.h_toatal_period = (LCD_H_BACK_PORCH + LCD_H_WIDTH + LCD_H_FRONT_PORCH);
1050186 4:138b18a6ac7b 114 lcd_config.v_toatal_period = (LCD_V_BACK_PORCH + LCD_V_WIDTH + LCD_V_FRONT_PORCH);
1050186 4:138b18a6ac7b 115
1050186 4:138b18a6ac7b 116 lcd_config.h_disp_widht = (LCD_H_WIDTH);
1050186 4:138b18a6ac7b 117 lcd_config.v_disp_widht = (LCD_V_WIDTH);
1050186 4:138b18a6ac7b 118 lcd_config.h_back_porch = (LCD_H_BACK_PORCH);
1050186 4:138b18a6ac7b 119 lcd_config.v_back_porch = (LCD_V_BACK_PORCH);
1050186 4:138b18a6ac7b 120
1050186 4:138b18a6ac7b 121 lcd_config.h_sync_port = DisplayBase::LCD_TCON_PIN_2;
1050186 4:138b18a6ac7b 122 lcd_config.h_sync_port_polarity = DisplayBase::SIG_POL_INVERTED;
1050186 4:138b18a6ac7b 123 lcd_config.h_sync_width = LCD_H_SYNC_WIDTH;
1050186 4:138b18a6ac7b 124
1050186 4:138b18a6ac7b 125 lcd_config.v_sync_port = DisplayBase::LCD_TCON_PIN_0;
1050186 4:138b18a6ac7b 126 lcd_config.v_sync_port_polarity = DisplayBase::SIG_POL_INVERTED;
1050186 4:138b18a6ac7b 127 lcd_config.v_sync_width = LCD_V_SYNC_WIDTH;
1050186 4:138b18a6ac7b 128
1050186 4:138b18a6ac7b 129 lcd_config.de_port = DisplayBase::LCD_TCON_PIN_3;
1050186 4:138b18a6ac7b 130 lcd_config.de_port_polarity = DisplayBase::SIG_POL_NOT_INVERTED;
1050186 4:138b18a6ac7b 131 #else //DE Mode
1050186 4:138b18a6ac7b 132 lcd_config.h_toatal_period = (LCD_H_WIDTH + 80u);
1050186 4:138b18a6ac7b 133 lcd_config.v_toatal_period = (LCD_V_WIDTH);
1050186 0:84e4649e7707 134
1050186 4:138b18a6ac7b 135 lcd_config.h_disp_widht = (LCD_H_WIDTH);
1050186 4:138b18a6ac7b 136 lcd_config.v_disp_widht = (LCD_V_WIDTH);
1050186 4:138b18a6ac7b 137 lcd_config.h_back_porch = (68u);
1050186 4:138b18a6ac7b 138 lcd_config.v_back_porch = (18u);
1050186 0:84e4649e7707 139
1050186 0:84e4649e7707 140 lcd_config.h_sync_port = DisplayBase::LCD_TCON_PIN_NON;
1050186 0:84e4649e7707 141 lcd_config.h_sync_port_polarity = DisplayBase::SIG_POL_NOT_INVERTED;
1050186 0:84e4649e7707 142 lcd_config.h_sync_width = 0;
1050186 0:84e4649e7707 143
1050186 0:84e4649e7707 144 lcd_config.v_sync_port = DisplayBase::LCD_TCON_PIN_NON;
1050186 0:84e4649e7707 145 lcd_config.v_sync_port_polarity = DisplayBase::SIG_POL_NOT_INVERTED;
1050186 0:84e4649e7707 146 lcd_config.v_sync_width = 0;
1050186 0:84e4649e7707 147
1050186 0:84e4649e7707 148 lcd_config.de_port = DisplayBase::LCD_TCON_PIN_3;
1050186 4:138b18a6ac7b 149 lcd_config.de_port_polarity = DisplayBase::SIG_POL_INVERTED;
1050186 4:138b18a6ac7b 150 #endif
1050186 0:84e4649e7707 151
1050186 0:84e4649e7707 152 /* Graphics initialization process */
1050186 0:84e4649e7707 153 error = Display.Graphics_init(&lcd_config);
1050186 0:84e4649e7707 154 if (error != DisplayBase::GRAPHICS_OK) {
1050186 0:84e4649e7707 155 printf("Line %d, error %d\n", __LINE__, error);
1050186 0:84e4649e7707 156 while (1);
1050186 0:84e4649e7707 157 }
1050186 0:84e4649e7707 158
1050186 0:84e4649e7707 159 /* Interrupt callback function setting (Vsync signal output from scaler 0) */
1050186 0:84e4649e7707 160 error = Display.Graphics_Irq_Handler_Set(DisplayBase::INT_TYPE_S0_LO_VSYNC, 0, IntCallbackFunc_Vsync);
1050186 0:84e4649e7707 161 if (error != DisplayBase::GRAPHICS_OK) {
1050186 0:84e4649e7707 162 printf("Line %d, error %d\n", __LINE__, error);
1050186 0:84e4649e7707 163 while (1);
1050186 0:84e4649e7707 164 }
1050186 0:84e4649e7707 165
1050186 0:84e4649e7707 166 Display.Graphics_Lvds_Port_Init(lvds_pin, 8);
1050186 0:84e4649e7707 167 rect.vs = 0;
1050186 4:138b18a6ac7b 168 rect.vw = LCD_V_WIDTH;
1050186 0:84e4649e7707 169 rect.hs = 0;
1050186 4:138b18a6ac7b 170 rect.hw = LCD_H_WIDTH;
1050186 0:84e4649e7707 171
1050186 0:84e4649e7707 172 Display.Graphics_Read_Setting(
1050186 0:84e4649e7707 173 DisplayBase::GRAPHICS_LAYER_0,
1050186 4:138b18a6ac7b 174 (void *)frame_buffer_info.buffer_address[0],
1050186 0:84e4649e7707 175 FRAME_BUFFER_STRIDE,
1050186 0:84e4649e7707 176 DisplayBase::GRAPHICS_FORMAT_RGB565,
1050186 0:84e4649e7707 177 DisplayBase::WR_RD_WRSWA_32_16BIT,
1050186 0:84e4649e7707 178 &rect
1050186 0:84e4649e7707 179 );
1050186 0:84e4649e7707 180
1050186 0:84e4649e7707 181 /* Display Top Screen */
dkato 2:c7faef0ef374 182 Set_RGAObject(&frame_buffer_info);
1050186 4:138b18a6ac7b 183 Display.Graphics_Start(DisplayBase::GRAPHICS_LAYER_0);
1050186 4:138b18a6ac7b 184 lcd_cntrst.write(1.0);
1050186 0:84e4649e7707 185
1050186 4:138b18a6ac7b 186 graphics_matrix_float_t work_angle = 0;
1050186 0:84e4649e7707 187 while (1) {
1050186 4:138b18a6ac7b 188 gyro.read(&gx, &gy, &gz);
1050186 4:138b18a6ac7b 189 gz = gz * 0.146; //gz = [dps]. One loop is about 146ms(process[10ms] + printf[36ms] + wait[100ms])
1050186 4:138b18a6ac7b 190 if ((gz >= 1) || (gz <= -1)) {
1050186 4:138b18a6ac7b 191 /* When the sensor tilts to the right, the value becomes a negative, and the image is roteted to the right. */
1050186 4:138b18a6ac7b 192 /* When the sensor tilts to the left, the value becomes a active, and the image is roteted to the left. */
1050186 4:138b18a6ac7b 193 work_angle -= gz;
1050186 4:138b18a6ac7b 194 work_angle = (graphics_matrix_float_t)fmod(work_angle, ROTATION_MAX_NUM);
1050186 4:138b18a6ac7b 195 printf("acce : %f angle : %5.2f\n", gz, work_angle);
1050186 0:84e4649e7707 196 }
1050186 4:138b18a6ac7b 197 /* Draw screen */
1050186 4:138b18a6ac7b 198 Swap_FrameBuffer(&frame_buffer_info);
1050186 4:138b18a6ac7b 199 RGA_Func_Rotation(&frame_buffer_info, work_angle);
1050186 4:138b18a6ac7b 200 Update_LCD_Display(&frame_buffer_info);
1050186 0:84e4649e7707 201 Thread::wait(100);
1050186 0:84e4649e7707 202 }
1050186 0:84e4649e7707 203 }