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
Hardwares/ArduUTFT.cpp
- Committer:
- Bobymicjohn
- Date:
- 2017-04-19
- Revision:
- 97:0ed9ede9a995
- Parent:
- 96:ec89c4d1383d
File content as of revision 97:0ed9ede9a995:
#include "ArduUTFT.h" //#define SW_DEBUG #include "GlobalVariable.h" #include "ArduUTFTFont.h" extern SPI g_spi_port; #define UTFT_DISP_TRANS_MODE 8 #define swap(type, i, j) {type t = i; i = j; j = t;} #ifdef __cplusplus extern "C" { #endif static uint8_t * current_font = NULL; static uint8_t font_x_size = 0; static uint8_t font_y_size = 0; static uint8_t font_offset = 0; //static uint8_t font_numchars = 0; static uint8_t front_color_high = 0; static uint8_t front_color_low = 0; static DigitalOut utft_cs(PIN_AUC_CS, 1); static DigitalOut utft_sd_cs(PIN_AUC_SD_CS, 1); inline void ardu_utft_spi_write_8(int address, int value) { utft_cs = 0; g_spi_port.write(address | 0x80); g_spi_port.write(value); utft_cs = 1; } inline uint8_t ardu_utft_spi_read_8(int address) { utft_cs = 0; g_spi_port.write(address & 0x7F); uint8_t value = static_cast<uint8_t>(g_spi_port.write(0x00)); utft_cs = 1; return value; } inline void ardu_utft_write_COM_internal(uint8_t VL) { utft_cs = 0; g_spi_port.write(0xBE); g_spi_port.write(VL); utft_cs = 1; } inline void ardu_utft_write_DATA_internal(uint8_t VH, uint8_t VL) { utft_cs = 0; g_spi_port.write(0xBF); g_spi_port.write(VH); utft_cs = 1; utft_cs = 0; g_spi_port.write(0xBF); g_spi_port.write(VL); utft_cs = 1; } inline void ardu_utft_write_COM_DATA_internal(uint8_t com1, uint16_t dat1) { ardu_utft_write_COM_internal(com1); ardu_utft_write_DATA_internal((dat1 >> 8) & 0xFF, dat1); } void ardu_utft_write_DATA(uint8_t VH, uint8_t VL) { ardu_utft_write_DATA_internal(VH, VL); } void ardu_utft_init() { uint8_t VerNum = ardu_utft_spi_read_8(ARDUCHIP_VER_UTFT); VerNum = ardu_utft_spi_read_8(ARDUCHIP_VER_UTFT); ardu_utft_spi_write_8(ARDUCHIP_TEST1_UTFT, ARDUCHIP_TEST_MSG_UTFT); uint8_t testV = ardu_utft_spi_read_8(ARDUCHIP_TEST1_UTFT); if(VerNum != ARDUCHIP_VER_NUM_UTFT || testV != ARDUCHIP_TEST_MSG_UTFT) { } else { } ardu_cam_set_mode(MCU2LCD_MODE); ardu_utft_write_COM_DATA_internal(0x00,0x0001); ardu_utft_write_COM_DATA_internal(0x03,0xA8A4); ardu_utft_write_COM_DATA_internal(0x0C,0x0000); ardu_utft_write_COM_DATA_internal(0x0D,0x080C); ardu_utft_write_COM_DATA_internal(0x0E,0x2B00); ardu_utft_write_COM_DATA_internal(0x1E,0x00B7); ardu_utft_write_COM_DATA_internal(0x01,0x6B3F); //693F ardu_utft_write_COM_DATA_internal(0x02,0x0600); ardu_utft_write_COM_DATA_internal(0x10,0x0000); ardu_utft_write_COM_DATA_internal(0x11,0x6078); ardu_utft_write_COM_DATA_internal(0x05,0x0000); ardu_utft_write_COM_DATA_internal(0x06,0x0000); ardu_utft_write_COM_DATA_internal(0x16,0xEF1C); ardu_utft_write_COM_DATA_internal(0x17,0x0003); ardu_utft_write_COM_DATA_internal(0x07,0x0233); ardu_utft_write_COM_DATA_internal(0x0B,0x0000); ardu_utft_write_COM_DATA_internal(0x0F,0x0000); ardu_utft_write_COM_DATA_internal(0x41,0x0000); ardu_utft_write_COM_DATA_internal(0x42,0x0000); ardu_utft_write_COM_DATA_internal(0x48,0x0000); ardu_utft_write_COM_DATA_internal(0x49,0x013F); ardu_utft_write_COM_DATA_internal(0x4A,0x0000); ardu_utft_write_COM_DATA_internal(0x4B,0x0000); ardu_utft_write_COM_DATA_internal(0x44,0xEF00); ardu_utft_write_COM_DATA_internal(0x45,0x0000); ardu_utft_write_COM_DATA_internal(0x46,0x013F); ardu_utft_write_COM_DATA_internal(0x30,0x0707); ardu_utft_write_COM_DATA_internal(0x31,0x0204); ardu_utft_write_COM_DATA_internal(0x32,0x0204); ardu_utft_write_COM_DATA_internal(0x33,0x0502); ardu_utft_write_COM_DATA_internal(0x34,0x0507); ardu_utft_write_COM_DATA_internal(0x35,0x0204); ardu_utft_write_COM_DATA_internal(0x36,0x0204); ardu_utft_write_COM_DATA_internal(0x37,0x0502); ardu_utft_write_COM_DATA_internal(0x3A,0x0302); ardu_utft_write_COM_DATA_internal(0x3B,0x0302); ardu_utft_write_COM_DATA_internal(0x23,0x0000); ardu_utft_write_COM_DATA_internal(0x24,0x0000); ardu_utft_write_COM_DATA_internal(0x25,0x8000); ardu_utft_write_COM_DATA_internal(0x4f,0x0000); ardu_utft_write_COM_DATA_internal(0x4e,0x0000); ardu_utft_write_COM_internal(0x22); ardu_utft_set_font(SmallFont); ardu_utft_clr_scr(); } void ardu_cam_set_mode(uint8_t mode) { ardu_utft_spi_write_8(ARDUCHIP_MODE, MCU2LCD_MODE); } void ardu_utft_clr_scr() { ardu_utft_reset_xy(); long i; for (i = 0; i < ((UTFT_DISP_X_SIZE + 1) * (UTFT_DISP_Y_SIZE + 1)); ++i) { ardu_utft_write_DATA_internal(0x00,0x00); } } void ardu_utft_reset_xy() { ardu_utft_set_xy(0, 0, UTFT_DISP_Y_SIZE, UTFT_DISP_X_SIZE); } void ardu_utft_set_xy(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2) { ///////////////////////////// //Possible to be simplified swap(uint16_t, x1, y1); swap(uint16_t, x2, y2); //y1 = UTFT_DISP_Y_SIZE - y1; //319 - 0 = 319 //y2 = UTFT_DISP_Y_SIZE - y2; //319 - 300 = 19 //swap(uint16_t, y1, y2); //y1 = 19, y2 = 319 ///////////////////////////// ardu_utft_write_COM_DATA_internal(0x44, (x2 << 8) + x1); ardu_utft_write_COM_DATA_internal(0x45, UTFT_DISP_Y_SIZE - y2); //19 ardu_utft_write_COM_DATA_internal(0x46, UTFT_DISP_Y_SIZE - y1); //319 ardu_utft_write_COM_DATA_internal(0x4e, x1); ardu_utft_write_COM_DATA_internal(0x4f, UTFT_DISP_Y_SIZE - y2); ardu_utft_write_COM_internal(0x22); } void ardu_utft_set_color(uint8_t r, uint8_t g, uint8_t b) { front_color_high = ((r & 248) | g >> 5); front_color_low = ((g & 28) << 3 | b >> 3); } void ardu_utft_draw_rect(int x1, int y1, int x2, int y2) { if (x1>x2) { swap(int, x1, x2); } if (y1>y2) { swap(int, y1, y2); } ardu_utft_draw_hline(x1, y1, x2 - x1); ardu_utft_draw_hline(x1, y2, x2 - x1); ardu_utft_draw_vline(x1, y1, y2 - y1); ardu_utft_draw_vline(x2, y1, y2 - y1); } void ardu_utft_draw_hline(int x, int y, int l) { if (l<0) { l = -l; x -= l; } ardu_utft_set_xy(x, y, x+l, y); for (int i = 0; i < l + 1; ++i) { ardu_utft_write_DATA_internal(front_color_high, front_color_low); } ardu_utft_reset_xy(); } void ardu_utft_draw_vline(int x, int y, int l) { if (l<0) { l = -l; y -= l; } ardu_utft_set_xy(x, y, x, y+l); for (int i = 0; i < l + 1; ++i) { ardu_utft_write_DATA_internal(front_color_high, front_color_low); } ardu_utft_reset_xy(); } void ardu_utft_draw_pixel(int x, int y) { ardu_utft_set_xy(x, y, x, y); ardu_utft_write_DATA_internal(front_color_high, front_color_low); ardu_utft_reset_xy(); } void ardu_utft_fill_rect(int x1, int y1, int x2, int y2) { if (x1 > x2) { swap(int, x1, x2); } if (y1 > y2) { swap(int, y1, y2); } for (int i = 0; i < ((x2 - x1) / 2) + 1; ++i) { ardu_utft_draw_vline(x1 + i, y1, y2 - y1); ardu_utft_draw_vline(x2 - i, y1, y2 - y1); } } void ardu_utft_set_font(uint8_t * font) { current_font = font; font_x_size = font[0]; font_y_size = font[1]; font_offset = font[2]; //font_numchars = font[3]; } void ardu_utft_print_char(char c, int x, int y) { char i, ch; uint16_t temp = ((c - font_offset) * ((font_x_size / 8) * font_y_size)) + 4; for(uint8_t j = 0; j < font_y_size; ++j) { for (int zz = 0; zz < (font_x_size / 8); ++zz) { ch = current_font[temp + zz]; for(i = 0; i < 8; ++i) { ardu_utft_set_xy(x + i + (zz * 8), y + j, x + i + (zz * 8) + 1, y + j + 1); 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); } ardu_utft_reset_xy(); } void ardu_utft_print(char * st, int x, int y) { int stl, i; stl = strlen(st); if (x == UTFT_RIGHT) x = (UTFT_DISP_Y_SIZE + 1) - (stl * font_x_size); if (x == UTFT_CENTER) x = ((UTFT_DISP_Y_SIZE + 1) - (stl * font_x_size)) / 2; for (i = 0; i < stl; ++i) ardu_utft_print_char(*st++, x - (i * (font_x_size)), y); } uint8_t ardu_utft_get_ver_num() { return ardu_utft_spi_read_8(ARDUCHIP_VER_UTFT); } #ifdef __cplusplus } #endif