Jordan Brack / SmartWheelsPublic

SmartWheels self-driving race car. Designed for NXP Cup. Uses FRDM-KL25Z, area-scan camera, and simple image processing to detect and navigate any NXP spec track.

Dependencies:   TSI USBDevice mbed-dev

Fork of SmartWheels by haofan Zheng

Hardwares/ArduUTFT.cpp@41:7b21c5e3599e, 2017-03-23 (annotated)

Committer:
hazheng
Date:
Thu Mar 23 23:17:51 2017 +0000
Revision:
41:7b21c5e3599e
Parent:
40:be98219930e4
Child:
42:c4e1606087ff
Made the TFT screen working

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hazheng 40:be98219930e4 1 #include "ArduUTFT.h"
hazheng 40:be98219930e4 2
hazheng 40:be98219930e4 3 #include "GlobalVariable.h"
hazheng 40:be98219930e4 4 #include "SWUSBServer.h"
hazheng 40:be98219930e4 5
hazheng 40:be98219930e4 6 extern SPI g_spi_port;
hazheng 40:be98219930e4 7
hazheng 40:be98219930e4 8 #define UTFT_DISP_X_SIZE 239
hazheng 40:be98219930e4 9 #define UTFT_DISP_Y_SIZE 319
hazheng 40:be98219930e4 10 #define UTFT_DISP_TRANS_MODE 8
hazheng 40:be98219930e4 11
hazheng 40:be98219930e4 12
hazheng 40:be98219930e4 13 #define swap(type, i, j) {type t = i; i = j; j = t;}
hazheng 40:be98219930e4 14
hazheng 40:be98219930e4 15
hazheng 40:be98219930e4 16 namespace
hazheng 40:be98219930e4 17 {
hazheng 40:be98219930e4 18 uint8_t * current_font = NULL;
hazheng 40:be98219930e4 19 uint8_t font_x_size = 0;
hazheng 40:be98219930e4 20 uint8_t font_y_size = 0;
hazheng 40:be98219930e4 21 uint8_t font_offset = 0;
hazheng 40:be98219930e4 22 uint8_t font_numchars = 0;
hazheng 40:be98219930e4 23
hazheng 40:be98219930e4 24 uint8_t front_color_high = 0;
hazheng 40:be98219930e4 25 uint8_t front_color_low = 0;
hazheng 40:be98219930e4 26
hazheng 40:be98219930e4 27 }
hazheng 40:be98219930e4 28
hazheng 41:7b21c5e3599e 29 DigitalOut utft_cs(PIN_AUC_CS, 1);
hazheng 41:7b21c5e3599e 30
hazheng 40:be98219930e4 31 inline void ardu_cam_spi_write_8(int address, int value)
hazheng 40:be98219930e4 32 {
hazheng 40:be98219930e4 33 utft_cs = 0;
hazheng 40:be98219930e4 34 g_spi_port.write(address | 0x80);
hazheng 40:be98219930e4 35 g_spi_port.write(value);
hazheng 40:be98219930e4 36 utft_cs = 1;
hazheng 40:be98219930e4 37 }
hazheng 40:be98219930e4 38
hazheng 40:be98219930e4 39 inline uint8_t ardu_cam_spi_read_8(int address)
hazheng 40:be98219930e4 40 {
hazheng 40:be98219930e4 41 utft_cs = 0;
hazheng 40:be98219930e4 42 g_spi_port.write(address & 0x7F);
hazheng 40:be98219930e4 43 uint8_t value = static_cast<uint8_t>(g_spi_port.write(0x00));
hazheng 40:be98219930e4 44 utft_cs = 1;
hazheng 40:be98219930e4 45 return value;
hazheng 40:be98219930e4 46 }
hazheng 40:be98219930e4 47
hazheng 41:7b21c5e3599e 48 inline void ardu_utft_write_COM_internal(uint8_t VL)
hazheng 40:be98219930e4 49 {
hazheng 40:be98219930e4 50 utft_cs = 0;
hazheng 40:be98219930e4 51 g_spi_port.write(0xBE);
hazheng 40:be98219930e4 52 g_spi_port.write(VL);
hazheng 40:be98219930e4 53 utft_cs = 1;
hazheng 40:be98219930e4 54 }
hazheng 40:be98219930e4 55
hazheng 41:7b21c5e3599e 56 inline void ardu_utft_write_DATA_internal(uint8_t VH, uint8_t VL)
hazheng 40:be98219930e4 57 {
hazheng 40:be98219930e4 58 utft_cs = 0;
hazheng 40:be98219930e4 59 g_spi_port.write(0xBF);
hazheng 40:be98219930e4 60 g_spi_port.write(VH);
hazheng 41:7b21c5e3599e 61 utft_cs = 1;
hazheng 41:7b21c5e3599e 62 utft_cs = 0;
hazheng 40:be98219930e4 63 g_spi_port.write(0xBF);
hazheng 40:be98219930e4 64 g_spi_port.write(VL);
hazheng 40:be98219930e4 65 utft_cs = 1;
hazheng 40:be98219930e4 66 }
hazheng 40:be98219930e4 67
hazheng 41:7b21c5e3599e 68 inline void ardu_utft_write_COM_DATA_internal(uint8_t com1, uint16_t dat1)
hazheng 40:be98219930e4 69 {
hazheng 41:7b21c5e3599e 70 ardu_utft_write_COM_internal(com1);
hazheng 41:7b21c5e3599e 71 ardu_utft_write_DATA_internal((dat1 >> 8) & 0xFF, dat1);
hazheng 41:7b21c5e3599e 72 }
hazheng 41:7b21c5e3599e 73
hazheng 41:7b21c5e3599e 74 void ardu_utft_write_DATA(uint8_t VH, uint8_t VL)
hazheng 41:7b21c5e3599e 75 {
hazheng 41:7b21c5e3599e 76 ardu_utft_write_DATA_internal(VH, VL);
hazheng 40:be98219930e4 77 }
hazheng 40:be98219930e4 78
hazheng 40:be98219930e4 79 void ardu_utft_init()
hazheng 40:be98219930e4 80 {
hazheng 40:be98219930e4 81 char buf[20];
hazheng 40:be98219930e4 82 uint8_t VerNum = ardu_cam_spi_read_8(0x40);
hazheng 40:be98219930e4 83 VerNum = ardu_cam_spi_read_8(0x40);
hazheng 40:be98219930e4 84
hazheng 40:be98219930e4 85
hazheng 40:be98219930e4 86 sprintf(buf, "UTFT Ver %#x", VerNum);
hazheng 40:be98219930e4 87 g_core.GetUSBServer().PushReliableMsg('D', buf);
hazheng 40:be98219930e4 88
hazheng 40:be98219930e4 89 ardu_cam_spi_write_8(ARDUCHIP_TEST1_UTFT, ARDUCHIP_TEST_MSG_UTFT);
hazheng 40:be98219930e4 90 uint8_t testV = ardu_cam_spi_read_8(ARDUCHIP_TEST1_UTFT);
hazheng 40:be98219930e4 91 if(VerNum != ARDUCHIP_VER_NUM_UTFT || testV != ARDUCHIP_TEST_MSG_UTFT)
hazheng 40:be98219930e4 92 {
hazheng 40:be98219930e4 93 g_core.GetUSBServer().PushReliableMsg('D', "UTFTInit Fai");
hazheng 40:be98219930e4 94 }
hazheng 40:be98219930e4 95 else
hazheng 40:be98219930e4 96 {
hazheng 40:be98219930e4 97 g_core.GetUSBServer().PushReliableMsg('D', "UTFTInit Suc");
hazheng 40:be98219930e4 98 }
hazheng 40:be98219930e4 99
hazheng 40:be98219930e4 100 ardu_cam_set_mode(MCU2LCD_MODE);
hazheng 41:7b21c5e3599e 101 ardu_utft_write_COM_DATA_internal(0x00,0x0001);
hazheng 41:7b21c5e3599e 102 ardu_utft_write_COM_DATA_internal(0x03,0xA8A4);
hazheng 41:7b21c5e3599e 103 ardu_utft_write_COM_DATA_internal(0x0C,0x0000);
hazheng 41:7b21c5e3599e 104 ardu_utft_write_COM_DATA_internal(0x0D,0x080C);
hazheng 41:7b21c5e3599e 105 ardu_utft_write_COM_DATA_internal(0x0E,0x2B00);
hazheng 41:7b21c5e3599e 106 ardu_utft_write_COM_DATA_internal(0x1E,0x00B7);
hazheng 41:7b21c5e3599e 107 ardu_utft_write_COM_DATA_internal(0x01,0x6B3F); //693F
hazheng 41:7b21c5e3599e 108 ardu_utft_write_COM_DATA_internal(0x02,0x0600);
hazheng 41:7b21c5e3599e 109 ardu_utft_write_COM_DATA_internal(0x10,0x0000);
hazheng 41:7b21c5e3599e 110 ardu_utft_write_COM_DATA_internal(0x11,0x6078);
hazheng 41:7b21c5e3599e 111 ardu_utft_write_COM_DATA_internal(0x05,0x0000);
hazheng 41:7b21c5e3599e 112 ardu_utft_write_COM_DATA_internal(0x06,0x0000);
hazheng 41:7b21c5e3599e 113 ardu_utft_write_COM_DATA_internal(0x16,0xEF1C);
hazheng 41:7b21c5e3599e 114 ardu_utft_write_COM_DATA_internal(0x17,0x0003);
hazheng 41:7b21c5e3599e 115 ardu_utft_write_COM_DATA_internal(0x07,0x0233);
hazheng 41:7b21c5e3599e 116 ardu_utft_write_COM_DATA_internal(0x0B,0x0000);
hazheng 41:7b21c5e3599e 117 ardu_utft_write_COM_DATA_internal(0x0F,0x0000);
hazheng 41:7b21c5e3599e 118 ardu_utft_write_COM_DATA_internal(0x41,0x0000);
hazheng 41:7b21c5e3599e 119 ardu_utft_write_COM_DATA_internal(0x42,0x0000);
hazheng 41:7b21c5e3599e 120 ardu_utft_write_COM_DATA_internal(0x48,0x0000);
hazheng 41:7b21c5e3599e 121 ardu_utft_write_COM_DATA_internal(0x49,0x013F);
hazheng 41:7b21c5e3599e 122 ardu_utft_write_COM_DATA_internal(0x4A,0x0000);
hazheng 41:7b21c5e3599e 123 ardu_utft_write_COM_DATA_internal(0x4B,0x0000);
hazheng 41:7b21c5e3599e 124 ardu_utft_write_COM_DATA_internal(0x44,0xEF00);
hazheng 41:7b21c5e3599e 125 ardu_utft_write_COM_DATA_internal(0x45,0x0000);
hazheng 41:7b21c5e3599e 126 ardu_utft_write_COM_DATA_internal(0x46,0x013F);
hazheng 41:7b21c5e3599e 127 ardu_utft_write_COM_DATA_internal(0x30,0x0707);
hazheng 41:7b21c5e3599e 128 ardu_utft_write_COM_DATA_internal(0x31,0x0204);
hazheng 41:7b21c5e3599e 129 ardu_utft_write_COM_DATA_internal(0x32,0x0204);
hazheng 41:7b21c5e3599e 130 ardu_utft_write_COM_DATA_internal(0x33,0x0502);
hazheng 41:7b21c5e3599e 131 ardu_utft_write_COM_DATA_internal(0x34,0x0507);
hazheng 41:7b21c5e3599e 132 ardu_utft_write_COM_DATA_internal(0x35,0x0204);
hazheng 41:7b21c5e3599e 133 ardu_utft_write_COM_DATA_internal(0x36,0x0204);
hazheng 41:7b21c5e3599e 134 ardu_utft_write_COM_DATA_internal(0x37,0x0502);
hazheng 41:7b21c5e3599e 135 ardu_utft_write_COM_DATA_internal(0x3A,0x0302);
hazheng 41:7b21c5e3599e 136 ardu_utft_write_COM_DATA_internal(0x3B,0x0302);
hazheng 41:7b21c5e3599e 137 ardu_utft_write_COM_DATA_internal(0x23,0x0000);
hazheng 41:7b21c5e3599e 138 ardu_utft_write_COM_DATA_internal(0x24,0x0000);
hazheng 41:7b21c5e3599e 139 ardu_utft_write_COM_DATA_internal(0x25,0x8000);
hazheng 41:7b21c5e3599e 140 ardu_utft_write_COM_DATA_internal(0x4f,0x0000);
hazheng 41:7b21c5e3599e 141 ardu_utft_write_COM_DATA_internal(0x4e,0x0000);
hazheng 41:7b21c5e3599e 142 ardu_utft_write_COM_internal(0x22);
hazheng 41:7b21c5e3599e 143
hazheng 41:7b21c5e3599e 144 //ardu_cam_spi_write_8(0x03, 0x04); ////////////////
hazheng 41:7b21c5e3599e 145
hazheng 40:be98219930e4 146 //setColor(255, 255, 255);
hazheng 40:be98219930e4 147 //setBackColor(0, 0, 0);
hazheng 40:be98219930e4 148 current_font = NULL;
hazheng 40:be98219930e4 149 ardu_utft_clr_scr();
hazheng 40:be98219930e4 150
hazheng 41:7b21c5e3599e 151 ardu_utft_set_color(255, 0, 255);
hazheng 41:7b21c5e3599e 152 //ardu_utft_draw_rect(150, 150, 20, 20);
hazheng 40:be98219930e4 153
hazheng 40:be98219930e4 154 }
hazheng 40:be98219930e4 155
hazheng 40:be98219930e4 156 void ardu_cam_set_mode(uint8_t mode)
hazheng 40:be98219930e4 157 {
hazheng 40:be98219930e4 158 /////////////////////////////////
hazheng 40:be98219930e4 159 //Careful here!!
hazheng 41:7b21c5e3599e 160 ardu_cam_spi_write_8(0x02, 0x00);
hazheng 41:7b21c5e3599e 161
hazheng 40:be98219930e4 162 }
hazheng 40:be98219930e4 163
hazheng 40:be98219930e4 164 void ardu_utft_clr_scr()
hazheng 40:be98219930e4 165 {
hazheng 40:be98219930e4 166 ardu_utft_reset_xy();
hazheng 40:be98219930e4 167
hazheng 40:be98219930e4 168 long i;
hazheng 40:be98219930e4 169 for (i = 0; i < ((UTFT_DISP_X_SIZE + 1) * (UTFT_DISP_Y_SIZE + 1)); ++i)
hazheng 40:be98219930e4 170 {
hazheng 41:7b21c5e3599e 171 ardu_utft_write_DATA_internal(0x00,0x00);
hazheng 40:be98219930e4 172 }
hazheng 40:be98219930e4 173 }
hazheng 40:be98219930e4 174
hazheng 40:be98219930e4 175 void ardu_utft_reset_xy()
hazheng 40:be98219930e4 176 {
hazheng 40:be98219930e4 177 ardu_utft_set_xy(0, 0, UTFT_DISP_Y_SIZE, UTFT_DISP_X_SIZE);
hazheng 40:be98219930e4 178 }
hazheng 40:be98219930e4 179
hazheng 40:be98219930e4 180 void ardu_utft_set_xy(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2)
hazheng 40:be98219930e4 181 {
hazheng 40:be98219930e4 182 /////////////////////////////
hazheng 40:be98219930e4 183 //Possible to be simplified
hazheng 40:be98219930e4 184 swap(uint16_t, x1, y1);
hazheng 40:be98219930e4 185 swap(uint16_t, x2, y2);
hazheng 40:be98219930e4 186 y1 = UTFT_DISP_Y_SIZE - y1;
hazheng 40:be98219930e4 187 y2 = UTFT_DISP_Y_SIZE - y2;
hazheng 40:be98219930e4 188 swap(uint16_t, y1, y2);
hazheng 40:be98219930e4 189 /////////////////////////////
hazheng 40:be98219930e4 190
hazheng 41:7b21c5e3599e 191 ardu_utft_write_COM_DATA_internal(0x44, (x2 << 8) + x1);
hazheng 41:7b21c5e3599e 192 ardu_utft_write_COM_DATA_internal(0x45, y1);
hazheng 41:7b21c5e3599e 193 ardu_utft_write_COM_DATA_internal(0x46, y2);
hazheng 41:7b21c5e3599e 194 ardu_utft_write_COM_DATA_internal(0x4e, x1);
hazheng 41:7b21c5e3599e 195 ardu_utft_write_COM_DATA_internal(0x4f, y1);
hazheng 41:7b21c5e3599e 196 ardu_utft_write_COM_internal(0x22);
hazheng 40:be98219930e4 197 }
hazheng 40:be98219930e4 198
hazheng 40:be98219930e4 199 void ardu_utft_set_color(uint8_t r, uint8_t g, uint8_t b)
hazheng 40:be98219930e4 200 {
hazheng 40:be98219930e4 201 front_color_high = ((r & 248) | g >> 5);
hazheng 40:be98219930e4 202 front_color_low = ((g & 28) << 3 | b >> 3);
hazheng 40:be98219930e4 203 }
hazheng 40:be98219930e4 204
hazheng 40:be98219930e4 205 void ardu_utft_draw_rect(int x1, int y1, int x2, int y2)
hazheng 40:be98219930e4 206 {
hazheng 40:be98219930e4 207 if (x1>x2)
hazheng 40:be98219930e4 208 {
hazheng 40:be98219930e4 209 swap(int, x1, x2);
hazheng 40:be98219930e4 210 }
hazheng 40:be98219930e4 211 if (y1>y2)
hazheng 40:be98219930e4 212 {
hazheng 40:be98219930e4 213 swap(int, y1, y2);
hazheng 40:be98219930e4 214 }
hazheng 40:be98219930e4 215
hazheng 40:be98219930e4 216 ardu_utft_draw_hline(x1, y1, x2 - x1);
hazheng 40:be98219930e4 217 ardu_utft_draw_hline(x1, y2, x2 - x1);
hazheng 40:be98219930e4 218 ardu_utft_draw_vline(x1, y1, y2 - y1);
hazheng 40:be98219930e4 219 ardu_utft_draw_vline(x2, y1, y2 - y1);
hazheng 40:be98219930e4 220 }
hazheng 40:be98219930e4 221
hazheng 40:be98219930e4 222 void ardu_utft_draw_hline(int x, int y, int l)
hazheng 40:be98219930e4 223 {
hazheng 40:be98219930e4 224 if (l<0)
hazheng 40:be98219930e4 225 {
hazheng 40:be98219930e4 226 l = -l;
hazheng 40:be98219930e4 227 x -= l;
hazheng 40:be98219930e4 228 }
hazheng 40:be98219930e4 229
hazheng 40:be98219930e4 230 ardu_utft_set_xy(x, y, x+l, y);
hazheng 40:be98219930e4 231
hazheng 40:be98219930e4 232 for (int i = 0; i < l + 1; ++i)
hazheng 40:be98219930e4 233 {
hazheng 41:7b21c5e3599e 234 ardu_utft_write_DATA_internal(front_color_high, front_color_low);
hazheng 40:be98219930e4 235 }
hazheng 40:be98219930e4 236
hazheng 40:be98219930e4 237 ardu_utft_reset_xy();
hazheng 40:be98219930e4 238 }
hazheng 40:be98219930e4 239
hazheng 40:be98219930e4 240 void ardu_utft_draw_vline(int x, int y, int l)
hazheng 40:be98219930e4 241 {
hazheng 40:be98219930e4 242 if (l<0)
hazheng 40:be98219930e4 243 {
hazheng 40:be98219930e4 244 l = -l;
hazheng 40:be98219930e4 245 y -= l;
hazheng 40:be98219930e4 246 }
hazheng 40:be98219930e4 247
hazheng 40:be98219930e4 248 ardu_utft_set_xy(x, y, x, y+l);
hazheng 40:be98219930e4 249
hazheng 40:be98219930e4 250 for (int i = 0; i < l + 1; ++i)
hazheng 40:be98219930e4 251 {
hazheng 41:7b21c5e3599e 252 ardu_utft_write_DATA_internal(front_color_high, front_color_low);
hazheng 40:be98219930e4 253 }
hazheng 40:be98219930e4 254
hazheng 40:be98219930e4 255 ardu_utft_reset_xy();
hazheng 40:be98219930e4 256 }