Einer Fabian Aponte Cubides
/
Final3
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Revision 12:b8ee724b42b1, committed 2019-05-30
- Comitter:
- Darstack
- Date:
- Thu May 30 20:41:52 2019 +0000
- Parent:
- 11:6b3570e525a1
- Commit message:
- Final corte;
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 6b3570e525a1 -r b8ee724b42b1 main.cpp
--- a/main.cpp Fri May 17 03:56:46 2019 +0000
+++ b/main.cpp Thu May 30 20:41:52 2019 +0000
@@ -53,21 +53,26 @@
#define MI 3000
#define FA 3500
-
/* ||Definicion de Puertos || */
- Serial command(USBTX, USBRX);
+
// S0, S1, S2, S3, OUT
- scolor_TCS3200 scolor( PA_9, PC_7, PB_6, PA_7, PA_6 ) ;
- DigitalOut stepper_step ( PB_4 ) ;
- DigitalOut steppeer_dir ( PB_5 ) ;
- DigitalOut stepper_step2 ( PB_10 ) ;
- DigitalOut steppeer_dir2 ( PA_8 ) ;
- AnalogIn analog_value0 ( A0 ) ;
- AnalogIn analog_value1 ( A1 ) ;
- PwmOut mybuzzer( PB_9 ) ;
+ scolor_TCS3200 scolor( PA_9, PC_7, PB_6, PA_4, PB_3 ) ;//PA_9, PC_7, PB_6, PA_7, PA_6 //PA_9, PC_7, PB_6, PA_4, PB_3
+ Serial command(USBTX, USBRX);
+
+ DigitalOut stepper_step (PB_4);
+ DigitalOut steppeer_dir (PB_5);
+ DigitalOut stepper_step2 (PB_10);
+ DigitalOut steppeer_dir2 (PA_8);
+
+ AnalogIn analog_value0 (A0);
+ AnalogIn analog_value1 (A1);
+ PwmOut mybuzzer(PB_9) ;
+
Ticker tk1;
+ Ticker tk2;
+
volatile int Exit = 0 ;
-
+
/*|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||/ /
/ | |/
/ | Interrupcion del Joystick- Eliminando ruido |/
@@ -112,28 +117,158 @@
/*Definicion de variables codigo principal*/
- uint32_t VELOCITY = 400 ; // Tiempo en micro segundos
- int16_t Lectura [ 2 ] = {} ;
+ uint32_t VELOCITY = 1000; // Tiempo en micro segundos
+
double In [ 1 ] = {} ;
// Definición de las funciones bucle principal
- void setup_uart ();
void leer_datos ();
void leer_color ();
+
void funcionesrobot ( uint8_t _Parametro, uint8_t _Comando );
+ int16_t Lectura [ 2 ] = {} ;
+ void setup_uart ();
+
+
+ SPI spi(PA_7, PA_6, PA_5); // MOSI, MISO, SCK
+DigitalOut cs(PB_0); // TFT chipselect pin
+DigitalOut dc(PC_0); // TFT data command select pin
+DigitalOut rst(PC_1); // TFT reset pin
+
+#define TFT_WIDTH 320
+#define TFT_HEIGHT 240
+
+#define TFT_BLUE 0x1F00
+#define TFT_RED 0x00F8
+#define TFT_GREEN 0xE007
+#define TFT_YELLOW 0xE0FF
+#define TFT_WHITE 0xFFFF
+
+/*-------------------------------------------------------------------*/
+/* Write command */
+/*-------------------------------------------------------------------*/
+void write_cmd(uint8_t cmd)
+{
+ dc = 0;
+ spi.write(cmd);
+}
+
+/*-------------------------------------------------------------------*/
+/* Write data */
+/*-------------------------------------------------------------------*/
+void write_data(uint8_t data)
+{
+ dc = 1;
+ spi.write(data);
+}
+
+/*-------------------------------------------------------------------*/
+/* TFT reset */
+/*-------------------------------------------------------------------*/
+void tft_reset()
+{
+ wait_ms(200);
+ cs = 1;
+ dc = 1;
+ rst = 1;
+ wait_ms(200);
+ rst = 0;
+ wait_us(10);
+ rst = 1;
+ wait_ms(120);
+ cs = 0;
+ wait_ms(10);
+
+ write_cmd(0x3A); // Pixel Format
+ write_data(0x55); // 16bit Color
+
+ write_cmd(0xB1); // Frame Control
+ write_data(0);
+ write_data(0x1f);
+
+ write_cmd(0x36); // Memory Access Control
+ write_data(0xE8); // MY MX MV BGR
+
+ write_cmd(0x11); // Sleep Out
+ wait_ms(5);
+
+ write_cmd(0x29); // Display On
+}
+
+/*-------------------------------------------------------------------*/
+/* Set the windows area and Start memory write. */
+/*-------------------------------------------------------------------*/
+void tft_set_window(uint16_t x0, uint16_t y0, uint16_t x1, uint16_t y1)
+{
+ write_cmd(0x2A); // Column Address Set
+ write_data(x0 >> 8);
+ write_data(x0);
+ write_data(x1 >> 8);
+ write_data(x1);
+
+ write_cmd(0x2B); // Page Address Set
+ write_data(y0 >> 8);
+ write_data(y0);
+ write_data(y1 >> 8);
+ write_data(y1);
+
+ write_cmd(0x2C); // Memory Write
+
+ wait_us(20);
+
+ dc = 1;
+}
+
+/*-------------------------------------------------------------------*/
+/* Clear screen */
+/*-------------------------------------------------------------------*/
+void tft_clear(uint16_t color)
+{
+ tft_set_window(0, 0, TFT_WIDTH, TFT_HEIGHT);
+
+ for (int i = 0; i < TFT_WIDTH * TFT_HEIGHT; ++i)
+ {
+ spi.write(color & 0xff);
+ spi.write(color >> 8);
+ }
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
int main() {
setup_uart();
- tk1.attach ( &leer_color, 0.8 ); // Se dirigue a la funcion leer_color cada 0.8 segundos
+ tk1.attach (&leer_color, 10); // Se dirigue a la funcion leer_color cada 0.8 segundos
Button_joy.fall(callback(Button_joy_onpressed_cb)); // Llama a la funcion Button_joy_onpressed_cb al precionar el botón
+ spi.frequency(45000000);
- while(1){
-
+ while(1){
+
+ tft_reset();
//Interrupcion boton
leer_datos();
- funcionesrobot ( Lectura [ 1 ], Lectura [ 0 ] );
-
+ funcionesrobot (Lectura [ 1 ], Lectura [ 0 ]);
+ //Lcd();
}
}
@@ -153,17 +288,31 @@
for ( i = 0 ; i < 2 ; i++){
Lectura [ i ] = command.getc ();
- //printf ( " %4d ", Lectura [ i ]);
+ printf ( " %4d ", Lectura [ i ]);
}
}
void Rx_interrupt() {
- Exit = 1;
+
+ if ( command.readable () == 1 ){
+
+ uint8_t l1, l2 ;
+
+ while ( command.getc()!= INITCMD ) ;
+ l1 = command.getc () ;
+ l2 = command.getc () ;
+
+ if ( l1 == 10 and l2 == 2 ){
+
+ //NVIC_SystemReset();
+ Exit = 1 ;
+ }
+
+ }
}
void leer_color(){
- mybuzzer.write(0);
long red = scolor.ReadRed();
long green = scolor.ReadGreen();
long blue = scolor.ReadBlue();
@@ -251,6 +400,9 @@
//printf ( txt5 , "%02X" , enviar5 );
command.putc( 0xFE );
command.putc( 0x00 );
+ // tft_reset();
+ tft_clear(TFT_WHITE);
+
break ;
@@ -260,7 +412,9 @@
//char txt1 [6] ;
command.putc( 0xFE );
command.putc( 0x01 );
- sel_color = 0;
+ sel_color = 0;
+ // tft_reset();
+ tft_clear(TFT_RED);
break ;
@@ -271,6 +425,8 @@
command.putc ( 0xFE );
command.putc ( 0x02 );
sel_color = 0;
+ // tft_reset();
+ tft_clear(TFT_GREEN);
break ;
@@ -282,6 +438,10 @@
command.putc ( 0x03 );
sel_color = 0;
+//tft_reset();
+ tft_clear(TFT_BLUE);
+
+
break ;
case 4 :
@@ -291,12 +451,14 @@
command.putc ( 0xFE );
command.putc ( 0x04 );
sel_color = 0;
-
+ //tft_reset();
+ tft_clear(TFT_YELLOW);
+
break ;
}
}
- void funcionesrobot ( uint8_t _Parametro, uint8_t _Comando ){
+void funcionesrobot ( uint8_t _Parametro, uint8_t _Comando ){
/* °°Declaración de contadores°° */
uint8_t i ;
@@ -305,11 +467,27 @@
switch ( _Comando ){
// Acciones que ejerce el robot
- /*case 0 :
+ case 0 :
- leer_color() ;
+ tft_reset();
+
+ tft_clear(TFT_RED);
+
+ wait(1);
+
+ tft_clear(TFT_GREEN);
+
+ wait(1);
- break ; */
+ tft_clear(TFT_BLUE);
+
+ wait(1);
+
+ tft_clear(TFT_YELLOW);
+
+ wait(1);
+
+ break ;
case 1 :
@@ -360,7 +538,7 @@
for ( i= 0 ; i <= 200 ; i++ ){
- stepper_step = 1 ;
+ stepper_step = 1 ;
stepper_step2 = 1;
wait_us( VELOCITY );
stepper_step = 0;
@@ -472,7 +650,7 @@
while ( !Exit ){
In [ 0 ] = analog_value0.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
- //printf(" X = %.04f \n", In[0]);
+ // printf(" X = %.04f \n", In[0]);
if ( In [ 0 ] > 0.6 ){
steppeer_dir = 1;
@@ -569,5 +747,6 @@
break ;
}
- }
+}
+