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

Diff: Hardwares/ArduUTFT.cpp

Revision:
56:7d3395ae022d
Parent:
54:f1f5648dfacf
Child:
57:0d8a155d511d
--- a/Hardwares/ArduUTFT.cpp	Thu Apr 06 21:43:15 2017 +0000
+++ b/Hardwares/ArduUTFT.cpp	Thu Apr 06 22:19:59 2017 +0000
@@ -1,6 +1,8 @@
 #include "ArduUTFT.h"
 
+#define SW_DEBUG
 #include "GlobalVariable.h"
+
 #include "SWUSBServer.h"
 #include "ArduUTFTFont.h"
 
@@ -33,31 +35,52 @@
 
 inline void ardu_cam_spi_write_8(int address, int value)
 {
+#ifdef SW_DEBUG
+    g_sw_spi_lock.lock();
+#endif
     utft_cs = 0;
     g_spi_port.write(address | 0x80);
     g_spi_port.write(value);
     utft_cs = 1;
+#ifdef SW_DEBUG
+    g_sw_spi_lock.unlock();
+#endif
 }
 
 inline uint8_t ardu_cam_spi_read_8(int address)
 { 
+#ifdef SW_DEBUG
+    g_sw_spi_lock.lock();
+#endif
     utft_cs = 0;
     g_spi_port.write(address & 0x7F);
     uint8_t value = static_cast<uint8_t>(g_spi_port.write(0x00));
     utft_cs = 1;
+#ifdef SW_DEBUG
+    g_sw_spi_lock.unlock();
+#endif
     return value;
 }
 
 inline void ardu_utft_write_COM_internal(uint8_t VL)  
 {   
+#ifdef SW_DEBUG
+    g_sw_spi_lock.lock();
+#endif
     utft_cs = 0;
     g_spi_port.write(0xBE);
     g_spi_port.write(VL);
     utft_cs = 1;
+#ifdef SW_DEBUG
+    g_sw_spi_lock.unlock();
+#endif
 }
  
 inline void ardu_utft_write_DATA_internal(uint8_t VH, uint8_t VL)
 {
+#ifdef SW_DEBUG
+    g_sw_spi_lock.lock();
+#endif
     utft_cs = 0;
     g_spi_port.write(0xBF);
     g_spi_port.write(VH);
@@ -66,6 +89,9 @@
     g_spi_port.write(0xBF);
     g_spi_port.write(VL);
     utft_cs = 1;
+#ifdef SW_DEBUG
+    g_sw_spi_lock.unlock();
+#endif
 }
 
 inline void ardu_utft_write_COM_DATA_internal(uint8_t com1, uint16_t dat1)
@@ -313,7 +339,11 @@
                 if((ch & (1 << i)) != 0)   
                 {
                     ardu_utft_write_DATA_internal(front_color_high, front_color_low);
-                } 
+                }
+                else
+                {
+                    ardu_utft_write_DATA_internal(0x00, 0x00);
+                }
             }
         }
         temp += (font_x_size / 8);