Motoo Tanaka / Mbed OS TFT_test_MAX32630FTHR

My first mbed-os 5.x test project with MAX32630FTHR and Adafruit 2.4" TFT with touch.

Dependencies:   BMI160 SPI_STMPE610 USBDevice UniGraphic max32630fthr

My first test program of mbed-os 5.x, using MAX32630FTHR and Adafruit 2.4" TFT with Touch.

On 22-Sep-2017 Monitoring both Acc and Gyr added to the screen 3 Controlling the backlight via STMPE610 GPIO-2 added

maze.cpp@3:43de31beea45, 2017-09-22 (annotated)

Committer:
Rhyme
Date:
Fri Sep 22 05:35:56 2017 +0000
Revision:
3:43de31beea45
Parent:
0:a4d7417f7672 
some backlight control added

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Rhyme 0:a4d7417f7672 1 /** maze_vt100 a simple maze using UniGraphic and MMA8451Q libraries
Rhyme 0:a4d7417f7672 2 */
Rhyme 0:a4d7417f7672 3 #include "mbed.h"
Rhyme 0:a4d7417f7672 4 #include "BMI160.h"
Rhyme 0:a4d7417f7672 5 // #include "MMA8451Q.h"
Rhyme 0:a4d7417f7672 6 #include <ILI9341.h>
Rhyme 0:a4d7417f7672 7 #include "Arial12x12.h"
Rhyme 0:a4d7417f7672 8 #include "Arial24x23.h"
Rhyme 0:a4d7417f7672 9 #include "Arial28x28.h"
Rhyme 0:a4d7417f7672 10 #include "Arial43x48_numb.h"
Rhyme 0:a4d7417f7672 11 #include "maze.h"
Rhyme 0:a4d7417f7672 12
Rhyme 0:a4d7417f7672 13 #define CELL_W 10
Rhyme 0:a4d7417f7672 14 #define CELL_H 10
Rhyme 0:a4d7417f7672 15 #define CELL_S 5
Rhyme 0:a4d7417f7672 16 #define CELL_R 4
Rhyme 0:a4d7417f7672 17 #define LEFT_OFFSET 20
Rhyme 0:a4d7417f7672 18 #define TOP_OFFSET 20
Rhyme 0:a4d7417f7672 19
Rhyme 0:a4d7417f7672 20 #define DIR_STAY 0
Rhyme 0:a4d7417f7672 21 #define DIR_UP 1
Rhyme 0:a4d7417f7672 22 #define DIR_DOWN 2
Rhyme 0:a4d7417f7672 23 #define DIR_RIGHT 3
Rhyme 0:a4d7417f7672 24 #define DIR_LEFT 4
Rhyme 0:a4d7417f7672 25
Rhyme 0:a4d7417f7672 26 #define MMA8451_I2C_ADDRESS (0x1D<<1)
Rhyme 0:a4d7417f7672 27
Rhyme 0:a4d7417f7672 28 typedef struct _pos {
Rhyme 0:a4d7417f7672 29 int x ;
Rhyme 0:a4d7417f7672 30 int y ;
Rhyme 0:a4d7417f7672 31 } pos_type ;
Rhyme 0:a4d7417f7672 32
Rhyme 0:a4d7417f7672 33 extern BMI160 *acc ;
Rhyme 0:a4d7417f7672 34 extern ILI9341 *tft ;
Rhyme 0:a4d7417f7672 35 // extern DigitalOut backlight ;
Rhyme 0:a4d7417f7672 36 float threshold = 0.2 ;
Rhyme 0:a4d7417f7672 37
Rhyme 0:a4d7417f7672 38 /** Check if two pos_type values are same
Rhyme 0:a4d7417f7672 39 * @param pos_type a
Rhyme 0:a4d7417f7672 40 * @param pos_type b
Rhyme 0:a4d7417f7672 41 * @returns if a and b are same position
Rhyme 0:a4d7417f7672 42 */
Rhyme 0:a4d7417f7672 43 bool isSame(pos_type a, pos_type b)
Rhyme 0:a4d7417f7672 44 {
Rhyme 0:a4d7417f7672 45 return((a.x == b.x)&&(a.y == b.y)) ;
Rhyme 0:a4d7417f7672 46 }
Rhyme 0:a4d7417f7672 47
Rhyme 0:a4d7417f7672 48 /** Draw the maze defined in the "maze.h"
Rhyme 0:a4d7417f7672 49 * @param pos_type *current actually the start point
Rhyme 0:a4d7417f7672 50 * @param pos_type *goal the position of the goal
Rhyme 0:a4d7417f7672 51 * @note those params are actually returned by this function
Rhyme 0:a4d7417f7672 52 */
Rhyme 0:a4d7417f7672 53 void drawTFTMaze(pos_type *current, pos_type *goal)
Rhyme 0:a4d7417f7672 54 {
Rhyme 0:a4d7417f7672 55 int x, y, i, j ;
Rhyme 0:a4d7417f7672 56 tft->BusEnable(true) ;
Rhyme 0:a4d7417f7672 57
Rhyme 0:a4d7417f7672 58 // backlight = 0 ;
Rhyme 0:a4d7417f7672 59 tft->foreground(White) ;
Rhyme 0:a4d7417f7672 60 tft->background(Black) ;
Rhyme 0:a4d7417f7672 61 tft->cls() ;
Rhyme 0:a4d7417f7672 62 for (j = 0 ; j < MAZE_H ; j++ ) {
Rhyme 0:a4d7417f7672 63 for (i = 0 ; i < MAZE_W ; i++ ) {
Rhyme 0:a4d7417f7672 64 x = i * CELL_W + LEFT_OFFSET ;
Rhyme 0:a4d7417f7672 65 y = j * CELL_H + TOP_OFFSET ;
Rhyme 0:a4d7417f7672 66 switch(maze[j][i]) {
Rhyme 0:a4d7417f7672 67 case 0: // path
Rhyme 0:a4d7417f7672 68 tft->fillrect(x, y, x+CELL_W-1, y+CELL_H-1, Black) ;
Rhyme 0:a4d7417f7672 69 break ;
Rhyme 0:a4d7417f7672 70 case 1: // wall
Rhyme 0:a4d7417f7672 71 tft->fillrect(x, y, x+CELL_W-1, y+CELL_H-1, DarkGrey) ;
Rhyme 0:a4d7417f7672 72 break ;
Rhyme 0:a4d7417f7672 73 case 2: // Start point
Rhyme 0:a4d7417f7672 74 tft->fillcircle(x+CELL_S, y+CELL_S, CELL_R, Green) ;
Rhyme 0:a4d7417f7672 75 current->x = i ;
Rhyme 0:a4d7417f7672 76 current->y = j ;
Rhyme 0:a4d7417f7672 77 break ;
Rhyme 0:a4d7417f7672 78 case 3: // Goal
Rhyme 0:a4d7417f7672 79 tft->fillcircle(x+CELL_S, y+CELL_S, CELL_R, Red) ;
Rhyme 0:a4d7417f7672 80 goal->x = i ;
Rhyme 0:a4d7417f7672 81 goal->y = j ;
Rhyme 0:a4d7417f7672 82 break ;
Rhyme 0:a4d7417f7672 83 default: // should not be here
Rhyme 0:a4d7417f7672 84 break ;
Rhyme 0:a4d7417f7672 85 }
Rhyme 0:a4d7417f7672 86 }
Rhyme 0:a4d7417f7672 87 }
Rhyme 0:a4d7417f7672 88 // backlight = 1 ;
Rhyme 0:a4d7417f7672 89 tft->BusEnable(false) ;
Rhyme 0:a4d7417f7672 90 }
Rhyme 0:a4d7417f7672 91
Rhyme 0:a4d7417f7672 92 /** Filter out too little move
Rhyme 0:a4d7417f7672 93 * @param float in returned value from the acc
Rhyme 0:a4d7417f7672 94 * @returns float result filtered value of in
Rhyme 0:a4d7417f7672 95 */
Rhyme 0:a4d7417f7672 96 float filterVal(float in)
Rhyme 0:a4d7417f7672 97 {
Rhyme 0:a4d7417f7672 98 float result = 0.0 ;
Rhyme 0:a4d7417f7672 99 if ((-threshold > in)||(in > threshold)) {
Rhyme 0:a4d7417f7672 100 result = in ;
Rhyme 0:a4d7417f7672 101 }
Rhyme 0:a4d7417f7672 102 return( result ) ;
Rhyme 0:a4d7417f7672 103 }
Rhyme 0:a4d7417f7672 104
Rhyme 0:a4d7417f7672 105 /** Decide which direction to go
Rhyme 0:a4d7417f7672 106 * @param float res[] acc value of x, y
Rhyme 0:a4d7417f7672 107 * @returns int direction to move
Rhyme 0:a4d7417f7672 108 */
Rhyme 0:a4d7417f7672 109 int getDirection(float res[])
Rhyme 0:a4d7417f7672 110 {
Rhyme 0:a4d7417f7672 111 float dx, dy ;
Rhyme 0:a4d7417f7672 112 int direction = DIR_STAY ;
Rhyme 0:a4d7417f7672 113 dy = filterVal(res[0]) ; /* was dx */
Rhyme 0:a4d7417f7672 114 dx = filterVal(res[1]) ; /* was dy */
Rhyme 0:a4d7417f7672 115
Rhyme 0:a4d7417f7672 116 if ((dx*dx) > (dy*dy)) { // holizontal move
Rhyme 0:a4d7417f7672 117 if (dx > 0.0) {
Rhyme 0:a4d7417f7672 118 direction = DIR_UP ;
Rhyme 0:a4d7417f7672 119 } else if (dx < 0.0) {
Rhyme 0:a4d7417f7672 120 direction = DIR_DOWN ;
Rhyme 0:a4d7417f7672 121 }
Rhyme 0:a4d7417f7672 122 } else { // vertical move
Rhyme 0:a4d7417f7672 123 if (dy > 0.0) {
Rhyme 0:a4d7417f7672 124 direction = DIR_LEFT ;
Rhyme 0:a4d7417f7672 125 } else if (dy < 0.0) {
Rhyme 0:a4d7417f7672 126 direction = DIR_RIGHT ;
Rhyme 0:a4d7417f7672 127 }
Rhyme 0:a4d7417f7672 128 }
Rhyme 0:a4d7417f7672 129 return(direction) ;
Rhyme 0:a4d7417f7672 130 }
Rhyme 0:a4d7417f7672 131
Rhyme 0:a4d7417f7672 132 /** Get next positon to move to
Rhyme 0:a4d7417f7672 133 * @param pos_type current where we are now
Rhyme 0:a4d7417f7672 134 * @param int direction which way we'd like to move
Rhyme 0:a4d7417f7672 135 * @returns the candidate positon for the next move
Rhyme 0:a4d7417f7672 136 */
Rhyme 0:a4d7417f7672 137 pos_type getNext(pos_type current, int direction)
Rhyme 0:a4d7417f7672 138 {
Rhyme 0:a4d7417f7672 139 pos_type next = current ;
Rhyme 0:a4d7417f7672 140 switch(direction) {
Rhyme 0:a4d7417f7672 141 case DIR_STAY:
Rhyme 0:a4d7417f7672 142 break ;
Rhyme 0:a4d7417f7672 143 case DIR_UP:
Rhyme 0:a4d7417f7672 144 if (next.y > 0) {
Rhyme 0:a4d7417f7672 145 next.y-- ;
Rhyme 0:a4d7417f7672 146 }
Rhyme 0:a4d7417f7672 147 break ;
Rhyme 0:a4d7417f7672 148 case DIR_DOWN:
Rhyme 0:a4d7417f7672 149 if (next.y < (MAZE_H - 1)) {
Rhyme 0:a4d7417f7672 150 next.y++ ;
Rhyme 0:a4d7417f7672 151 }
Rhyme 0:a4d7417f7672 152 break ;
Rhyme 0:a4d7417f7672 153 case DIR_RIGHT:
Rhyme 0:a4d7417f7672 154 if (next.x < (MAZE_W - 1)) {
Rhyme 0:a4d7417f7672 155 next.x++ ;
Rhyme 0:a4d7417f7672 156 }
Rhyme 0:a4d7417f7672 157 break ;
Rhyme 0:a4d7417f7672 158 case DIR_LEFT:
Rhyme 0:a4d7417f7672 159 if (next.x > 0) {
Rhyme 0:a4d7417f7672 160 next.x-- ;
Rhyme 0:a4d7417f7672 161 }
Rhyme 0:a4d7417f7672 162 break ;
Rhyme 0:a4d7417f7672 163 default:
Rhyme 0:a4d7417f7672 164 break ;
Rhyme 0:a4d7417f7672 165 }
Rhyme 0:a4d7417f7672 166 return( next ) ;
Rhyme 0:a4d7417f7672 167 }
Rhyme 0:a4d7417f7672 168
Rhyme 0:a4d7417f7672 169 /** Notice of the goal
Rhyme 0:a4d7417f7672 170 */
Rhyme 0:a4d7417f7672 171 void showGoal(void)
Rhyme 0:a4d7417f7672 172 {
Rhyme 0:a4d7417f7672 173 int x0, y0, x1, y1 ;
Rhyme 0:a4d7417f7672 174 x0 = ((MAZE_W/2)-4) * CELL_W + LEFT_OFFSET ;
Rhyme 0:a4d7417f7672 175 y0 = ((MAZE_H/2)-1) * CELL_H + TOP_OFFSET ;
Rhyme 0:a4d7417f7672 176 x1 = ((MAZE_W/2)+4) * CELL_W + LEFT_OFFSET ;
Rhyme 0:a4d7417f7672 177 y1 = ((MAZE_H/2)+1) * CELL_H + TOP_OFFSET ;
Rhyme 0:a4d7417f7672 178
Rhyme 0:a4d7417f7672 179 tft->BusEnable(true) ;
Rhyme 0:a4d7417f7672 180 // tft->set_font((unsigned char*) Arial12x12);
Rhyme 0:a4d7417f7672 181 tft->set_font((unsigned char*) Terminal6x8) ;
Rhyme 0:a4d7417f7672 182 tft->fillrect(x0, y0, x1, y1, Blue) ;
Rhyme 0:a4d7417f7672 183 tft->rect(x0,y0,x1,y1, Yellow) ;
Rhyme 0:a4d7417f7672 184 tft->foreground(Red) ;
Rhyme 0:a4d7417f7672 185 tft->background(Blue) ;
Rhyme 0:a4d7417f7672 186 x0 = ((MAZE_W/2) - 2) * CELL_W + LEFT_OFFSET ;
Rhyme 0:a4d7417f7672 187 y0 = (MAZE_H/2) * CELL_H - 3 + TOP_OFFSET ;
Rhyme 0:a4d7417f7672 188 tft->locate(x0, y0) ;
Rhyme 0:a4d7417f7672 189 tft->printf("G O A L") ;
Rhyme 0:a4d7417f7672 190 tft->foreground(Yellow) ;
Rhyme 0:a4d7417f7672 191 tft->background(Black) ;
Rhyme 0:a4d7417f7672 192 tft->locate(30, 300) ;
Rhyme 0:a4d7417f7672 193 // tft->printf("Use FRDM touch slider") ;
Rhyme 0:a4d7417f7672 194 tft->printf(" Retry! ") ;
Rhyme 0:a4d7417f7672 195 tft->locate(5, 300) ;
Rhyme 0:a4d7417f7672 196 tft->printf("<< Prev") ;
Rhyme 0:a4d7417f7672 197 tft->locate(180, 300) ;
Rhyme 0:a4d7417f7672 198 tft->printf("Next >>") ;
Rhyme 0:a4d7417f7672 199 tft->BusEnable(false) ;
Rhyme 0:a4d7417f7672 200 }
Rhyme 0:a4d7417f7672 201
Rhyme 0:a4d7417f7672 202 /** Check if we can move to the next position
Rhyme 0:a4d7417f7672 203 * @param pos_type next the position we'd like to move next
Rhyme 0:a4d7417f7672 204 * @returns if the position is empty (movable)
Rhyme 0:a4d7417f7672 205 */
Rhyme 0:a4d7417f7672 206 bool checkMove(pos_type next)
Rhyme 0:a4d7417f7672 207 {
Rhyme 0:a4d7417f7672 208 bool result = false ;
Rhyme 0:a4d7417f7672 209
Rhyme 0:a4d7417f7672 210 switch(maze[next.y][next.x]) {
Rhyme 0:a4d7417f7672 211 case POS_PATH:
Rhyme 0:a4d7417f7672 212 case POS_GOAL:
Rhyme 0:a4d7417f7672 213 result = true ;
Rhyme 0:a4d7417f7672 214 break ;
Rhyme 0:a4d7417f7672 215 case POS_START:
Rhyme 0:a4d7417f7672 216 case POS_WALL:
Rhyme 0:a4d7417f7672 217 default:
Rhyme 0:a4d7417f7672 218 result = false ;
Rhyme 0:a4d7417f7672 219 break ;
Rhyme 0:a4d7417f7672 220 }
Rhyme 0:a4d7417f7672 221 return( result ) ;
Rhyme 0:a4d7417f7672 222 }
Rhyme 0:a4d7417f7672 223
Rhyme 0:a4d7417f7672 224 /** main a simple maze program
Rhyme 0:a4d7417f7672 225 */
Rhyme 0:a4d7417f7672 226 void doMaze(void)
Rhyme 0:a4d7417f7672 227 {
Rhyme 0:a4d7417f7672 228 float res[3] ;
Rhyme 0:a4d7417f7672 229 pos_type current, next, goal ;
Rhyme 0:a4d7417f7672 230 int direction = DIR_STAY ;
Rhyme 0:a4d7417f7672 231 int x, y ;
Rhyme 0:a4d7417f7672 232
Rhyme 0:a4d7417f7672 233 drawTFTMaze(&current, &goal) ;
Rhyme 0:a4d7417f7672 234
Rhyme 0:a4d7417f7672 235 for (;;) {
Rhyme 0:a4d7417f7672 236 // acc->getAccAllAxis(res) ;
Rhyme 0:a4d7417f7672 237 acc->getAcc(res) ;
Rhyme 0:a4d7417f7672 238 direction = getDirection(res) ;
Rhyme 0:a4d7417f7672 239 next = getNext(current, direction) ;
Rhyme 0:a4d7417f7672 240 if ((!isSame(current, next)) && checkMove(next)) {
Rhyme 0:a4d7417f7672 241 tft->BusEnable(true) ;
Rhyme 0:a4d7417f7672 242 x = current.x * CELL_W + LEFT_OFFSET ;
Rhyme 0:a4d7417f7672 243 y = current.y * CELL_H + TOP_OFFSET ;
Rhyme 0:a4d7417f7672 244 tft->fillrect(x, y, x+CELL_W-1, y+CELL_H-1, Black) ;
Rhyme 0:a4d7417f7672 245 x = next.x * CELL_W + LEFT_OFFSET ;
Rhyme 0:a4d7417f7672 246 y = next.y * CELL_H + TOP_OFFSET ;
Rhyme 0:a4d7417f7672 247 tft->fillcircle(x+CELL_S, y+CELL_S, CELL_R, Green) ;
Rhyme 0:a4d7417f7672 248 tft->BusEnable(false) ;
Rhyme 0:a4d7417f7672 249 current = next ;
Rhyme 0:a4d7417f7672 250 if (isSame(next, goal)) {
Rhyme 0:a4d7417f7672 251 break ; // goal in!
Rhyme 0:a4d7417f7672 252 }
Rhyme 0:a4d7417f7672 253 }
Rhyme 0:a4d7417f7672 254 wait(0.1) ;
Rhyme 0:a4d7417f7672 255 }
Rhyme 0:a4d7417f7672 256 showGoal() ;
Rhyme 0:a4d7417f7672 257 }