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.h@100:ffbeefc9e218, 2017-04-20 (annotated)

Committer:
hazheng
Date:
Thu Apr 20 21:04:10 2017 +0000
Revision:
100:ffbeefc9e218
Parent:
97:0ed9ede9a995 
Better version of Intersection detection.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hazheng 92:e9bd429f16b5 1 /**
hazheng 92:e9bd429f16b5 2 * @file ArduUTFT.h
hazheng 92:e9bd429f16b5 3 * @brief The header file for all functions that controls the ArduCam UTFT screen.
hazheng 92:e9bd429f16b5 4 * @author Jordan Brack <jabrack@mix.wvu.edu>, Haofan Zheng <hazheng@mix.wvu.edu>
hazheng 92:e9bd429f16b5 5 *
hazheng 92:e9bd429f16b5 6 */
hazheng 40:be98219930e4 7 #pragma once
hazheng 40:be98219930e4 8 #ifndef ARDU_UTFT_H
hazheng 40:be98219930e4 9 #define ARDU_UTFT_H
hazheng 40:be98219930e4 10
hazheng 40:be98219930e4 11 #include <mbed.h>
hazheng 40:be98219930e4 12 #include "PinAssignment.h"
hazheng 40:be98219930e4 13
hazheng 92:e9bd429f16b5 14 #define ARDUCHIP_MODE 0x02 /*!< @brief The address for the ArduCam bus mode setting register. */
hazheng 92:e9bd429f16b5 15 #define MCU2LCD_MODE 0x00 /*!< @brief The byte used to set the ArduCam bus to MCU to LCD mode. */
hazheng 92:e9bd429f16b5 16 #define CAM2LCD_MODE 0x01 /*!< @brief The byte used to set the ArduCam bus to CAM to LCD mode. */
hazheng 40:be98219930e4 17
hazheng 92:e9bd429f16b5 18 #define ARDUCHIP_TEST1_UTFT 0x00 /*!< @brief The address for the ArduCam test register. */
hazheng 92:e9bd429f16b5 19 #define ARDUCHIP_TEST_MSG_UTFT 0x72 /*!< @brief The message used to write/read/verify with the test register. */
hazheng 40:be98219930e4 20
hazheng 92:e9bd429f16b5 21 #define ARDUCHIP_VER_UTFT 0x40 /*!< @brief The address for the ArduCam version register. */
hazheng 92:e9bd429f16b5 22 #define ARDUCHIP_VER_NUM_UTFT 0x61 /*!< @brief The version num for the ArduCam Shield V2 */
hazheng 42:c4e1606087ff 23
hazheng 42:c4e1606087ff 24
hazheng 92:e9bd429f16b5 25 #define UTFT_DISP_X_SIZE 239 /*!< @brief The vertical size of the UTFT screen resolution. */
hazheng 92:e9bd429f16b5 26 #define UTFT_DISP_Y_SIZE 319 /*!< @brief The horizontal size of the UTFT screen resolution. */
hazheng 42:c4e1606087ff 27
hazheng 92:e9bd429f16b5 28 #define UTFT_LEFT 0 /*!< @brief left alignment. */
hazheng 92:e9bd429f16b5 29 #define UTFT_RIGHT 9999 /*!< @brief Right alignment. */
hazheng 92:e9bd429f16b5 30 #define UTFT_CENTER 9998 /*!< @brief right alignment. */
hazheng 44:15de535c4005 31
hazheng 92:e9bd429f16b5 32 #define CAM_IMG_CANVAS_ROW_OFFSET 20 /*!< @brief The horizontal postion of the canvas that used to display the camera image. */
Bobymicjohn 97:0ed9ede9a995 33 #define CAM_IMG_CANVAS_COL_OFFSET 200 /*!< @brief The vertical postion of the canvas that used to display the camera image. */
hazheng 46:a5eb9bd3bb55 34
hazheng 46:a5eb9bd3bb55 35
hazheng 46:a5eb9bd3bb55 36 #ifdef __cplusplus
hazheng 46:a5eb9bd3bb55 37 extern "C" {
hazheng 46:a5eb9bd3bb55 38 #endif
hazheng 46:a5eb9bd3bb55 39
hazheng 92:e9bd429f16b5 40 /**
hazheng 92:e9bd429f16b5 41 * @brief Init the UTFT screen. There is only one screen in the system, thus, this function is required to be called only once during the system initialization.
hazheng 92:e9bd429f16b5 42 */
hazheng 40:be98219930e4 43 void ardu_utft_init(); //We only use LANDSCAPE orientation!
hazheng 40:be98219930e4 44
hazheng 92:e9bd429f16b5 45 /**
hazheng 92:e9bd429f16b5 46 * @brief Set the ArduCam bus mode.
hazheng 92:e9bd429f16b5 47 * @param mode The new bus mode for the ArduCam Shield V2.
hazheng 92:e9bd429f16b5 48 */
hazheng 40:be98219930e4 49 void ardu_cam_set_mode(uint8_t mode);
hazheng 40:be98219930e4 50
hazheng 92:e9bd429f16b5 51 /**
hazheng 92:e9bd429f16b5 52 * @brief Write a pixel to the screen.
hazheng 92:e9bd429f16b5 53 * @param VH The MSB of a RGB565 value.
hazheng 92:e9bd429f16b5 54 * @param VL The LSB of a RGB565 value.
hazheng 92:e9bd429f16b5 55 */
hazheng 41:7b21c5e3599e 56 void ardu_utft_write_DATA(uint8_t VH, uint8_t VL);
hazheng 41:7b21c5e3599e 57
hazheng 92:e9bd429f16b5 58 /**
hazheng 92:e9bd429f16b5 59 * @brief Clear the screen.
hazheng 92:e9bd429f16b5 60 */
hazheng 40:be98219930e4 61 void ardu_utft_clr_scr();
hazheng 40:be98219930e4 62
hazheng 92:e9bd429f16b5 63 /**
hazheng 92:e9bd429f16b5 64 * @brief Set the drawing range.
hazheng 92:e9bd429f16b5 65 * @param x1 The start position in the x-axis.
hazheng 92:e9bd429f16b5 66 * @param y1 The start position in the y-axis.
hazheng 92:e9bd429f16b5 67 * @param x2 The end position in the x-axis.
hazheng 92:e9bd429f16b5 68 * @param y2 The end position in the y-axis.
hazheng 92:e9bd429f16b5 69 */
hazheng 40:be98219930e4 70 void ardu_utft_set_xy(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2);
hazheng 40:be98219930e4 71
hazheng 92:e9bd429f16b5 72 /**
hazheng 92:e9bd429f16b5 73 * @brief Set the drawing range from the (0,0) till the end of the screen.
hazheng 92:e9bd429f16b5 74 */
hazheng 40:be98219930e4 75 void ardu_utft_reset_xy();
hazheng 40:be98219930e4 76
hazheng 92:e9bd429f16b5 77 /**
hazheng 92:e9bd429f16b5 78 * @brief Set the drawing color.
hazheng 92:e9bd429f16b5 79 * @param r The value for red channel.
hazheng 92:e9bd429f16b5 80 * @param g The value for green channel.
hazheng 92:e9bd429f16b5 81 * @param b The value for blue channel.
hazheng 92:e9bd429f16b5 82 */
hazheng 40:be98219930e4 83 void ardu_utft_set_color(uint8_t r, uint8_t g, uint8_t b);
hazheng 40:be98219930e4 84
hazheng 92:e9bd429f16b5 85 /**
hazheng 92:e9bd429f16b5 86 * @brief Draw a rectangle on the srceen.
hazheng 92:e9bd429f16b5 87 * @param x1 The first point of the rectangle in the x-axis.
hazheng 92:e9bd429f16b5 88 * @param y1 The first point of the rectangle in the y-axis.
hazheng 92:e9bd429f16b5 89 * @param x2 The last point of the rectangle in the x-axis.
hazheng 92:e9bd429f16b5 90 * @param y2 The last point of the rectangle in the y-axis.
hazheng 92:e9bd429f16b5 91 */
hazheng 40:be98219930e4 92 void ardu_utft_draw_rect(int x1, int y1, int x2, int y2);
hazheng 40:be98219930e4 93
hazheng 92:e9bd429f16b5 94 /**
hazheng 92:e9bd429f16b5 95 * @brief Draw a horizontal line on the srceen.
hazheng 92:e9bd429f16b5 96 * @param x The start position of the line in the x-axis.
hazheng 92:e9bd429f16b5 97 * @param y The start position of the line in the y-axis.
hazheng 92:e9bd429f16b5 98 * @param l The length of the line.
hazheng 92:e9bd429f16b5 99 */
hazheng 40:be98219930e4 100 void ardu_utft_draw_hline(int x, int y, int l);
hazheng 40:be98219930e4 101
hazheng 92:e9bd429f16b5 102 /**
hazheng 92:e9bd429f16b5 103 * @brief Draw a vertical line on the srceen.
hazheng 92:e9bd429f16b5 104 * @param x The start position of the line in the x-axis.
hazheng 92:e9bd429f16b5 105 * @param y The start position of the line in the y-axis.
hazheng 92:e9bd429f16b5 106 * @param l The length of the line.
hazheng 92:e9bd429f16b5 107 */
hazheng 40:be98219930e4 108 void ardu_utft_draw_vline(int x, int y, int l);
hazheng 40:be98219930e4 109
hazheng 92:e9bd429f16b5 110 /**
hazheng 92:e9bd429f16b5 111 * @brief Draw a single pixel on the srceen.
hazheng 92:e9bd429f16b5 112 * @param x The position of the pixel in the x-axis.
hazheng 92:e9bd429f16b5 113 * @param y The position of the pixel in the y-axis.
hazheng 92:e9bd429f16b5 114 */
hazheng 42:c4e1606087ff 115 void ardu_utft_draw_pixel(int x, int y);
hazheng 42:c4e1606087ff 116
hazheng 92:e9bd429f16b5 117 /**
hazheng 92:e9bd429f16b5 118 * @brief Draw a filled rectangle on the srceen.
hazheng 92:e9bd429f16b5 119 * @param x1 The first point of the rectangle in the x-axis.
hazheng 92:e9bd429f16b5 120 * @param y1 The first point of the rectangle in the y-axis.
hazheng 92:e9bd429f16b5 121 * @param x2 The last point of the rectangle in the x-axis.
hazheng 92:e9bd429f16b5 122 * @param y2 The last point of the rectangle in the y-axis.
hazheng 92:e9bd429f16b5 123 */
hazheng 42:c4e1606087ff 124 void ardu_utft_fill_rect(int x1, int y1, int x2, int y2);
hazheng 42:c4e1606087ff 125
hazheng 92:e9bd429f16b5 126 /**
hazheng 92:e9bd429f16b5 127 * @brief Set the font that used to print character on the screen.
hazheng 92:e9bd429f16b5 128 * @param font The pointer to a bytes array that describe the font. For details, please refer to the ArduUTFTFont.h header file.
hazheng 92:e9bd429f16b5 129 */
hazheng 42:c4e1606087ff 130 void ardu_utft_set_font(uint8_t * font);
hazheng 42:c4e1606087ff 131
hazheng 92:e9bd429f16b5 132 /**
hazheng 92:e9bd429f16b5 133 * @brief print a char on the screen.
hazheng 92:e9bd429f16b5 134 * @param c The char that needs to print.
hazheng 92:e9bd429f16b5 135 * @param x The position of the char in x-axis.
hazheng 92:e9bd429f16b5 136 * @param y The position of the char in y-axis.
hazheng 92:e9bd429f16b5 137 */
hazheng 42:c4e1606087ff 138 void ardu_utft_print_char(char c, int x, int y);
hazheng 42:c4e1606087ff 139
hazheng 92:e9bd429f16b5 140 /**
hazheng 92:e9bd429f16b5 141 * @brief print a char string on the screen.
hazheng 92:e9bd429f16b5 142 * @param st The pointer to the char string.
hazheng 92:e9bd429f16b5 143 * @param x The start position of the char string in x-axis.
hazheng 92:e9bd429f16b5 144 * @param y The start position of the char string in y-axis.
hazheng 92:e9bd429f16b5 145 */
hazheng 42:c4e1606087ff 146 void ardu_utft_print(char * st, int x, int y);
hazheng 40:be98219930e4 147
hazheng 92:e9bd429f16b5 148 /**
hazheng 92:e9bd429f16b5 149 * @brief Set the current row when printing the camera image on the screen.
hazheng 92:e9bd429f16b5 150 * @param row The row index.
hazheng 92:e9bd429f16b5 151 */
hazheng 44:15de535c4005 152 inline void ardu_utft_set_camimg_row(const uint16_t row)
hazheng 44:15de535c4005 153 {
hazheng 44:15de535c4005 154 ardu_utft_set_xy(0, row + CAM_IMG_CANVAS_ROW_OFFSET, CAM_IMG_CANVAS_COL_OFFSET, row + CAM_IMG_CANVAS_ROW_OFFSET);
hazheng 44:15de535c4005 155 }
hazheng 44:15de535c4005 156
hazheng 92:e9bd429f16b5 157 /**
hazheng 92:e9bd429f16b5 158 * @brief Set the current row and colum when printing the camera image on the screen.
hazheng 92:e9bd429f16b5 159 * @param row The row index.
hazheng 92:e9bd429f16b5 160 * @param col The col index.
hazheng 92:e9bd429f16b5 161 */
hazheng 44:15de535c4005 162 inline void ardu_utft_set_camimg_rowcol(const uint16_t row, const uint16_t col)
hazheng 44:15de535c4005 163 {
hazheng 44:15de535c4005 164 ardu_utft_set_xy(0, row + CAM_IMG_CANVAS_ROW_OFFSET, CAM_IMG_CANVAS_COL_OFFSET - col, row + CAM_IMG_CANVAS_ROW_OFFSET);
hazheng 44:15de535c4005 165 }
hazheng 44:15de535c4005 166
Bobymicjohn 97:0ed9ede9a995 167 /**
Bobymicjohn 97:0ed9ede9a995 168 * @brief Gets the version number from ArduCam Shield V2.
Bobymicjohn 97:0ed9ede9a995 169 * @return The version number.
Bobymicjohn 97:0ed9ede9a995 170 */
Bobymicjohn 97:0ed9ede9a995 171 uint8_t ardu_utft_get_ver_num();
hazheng 46:a5eb9bd3bb55 172 #ifdef __cplusplus
hazheng 46:a5eb9bd3bb55 173 }
hazheng 46:a5eb9bd3bb55 174 #endif
hazheng 46:a5eb9bd3bb55 175
hazheng 40:be98219930e4 176 #endif //ARDU_UTFT_H