Revision 3:34d8706e1614, committed 2015-08-08

Comitter:

Rhyme

Date:

Sat Aug 08 12:07:56 2015 +0000

Parent:

2:4b85d308f1ef

Child:

4:8c3681dc676f

Commit message:

UniGraphic lib version

Changed in this revision

--- a/SPI_STMPE610.cpp	Fri Oct 31 01:43:18 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,223 +0,0 @@
-/* mbed SPI_STMPE610.cpp to test adafruit 2.8" TFT LCD shiled w Touchscreen
- * Copyright (c) 2014 Motoo Tanaka @ Design Methodology Lab
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
- /*
-  * Note: Since the interrupt siganl of the shield was not connected
-  * to an interrupt pin on my frdm-kl25z, I just used polling mode.
-  */
-  
-#include "SPI_STMPE610.h"
-
-/* some definitions here */
-#define REG_CHIP_ID       0x00
-#define REG_CHIP_ID_MSB   0x00
-#define REG_CHIP_ID_LSB   0x01
-
-#define REG_ID_VER        0x02
-#define REG_SYS_CTRL1     0x03
-#define REG_SYS_CTRL1_RESET 0x02
-
-#define REG_SYS_CTRL2     0x04
-#define REG_SPI_CFG       0x08
-#define REG_INT_CTRL      0x09
-#define REG_INT_CTRL_POL_HIGH 0x04
-#define REG_INT_CTRL_POL_LOW  0x00
-#define REG_INT_CTRL_EDGE     0x02
-#define REG_INT_CTRL_LEVEL    0x00
-#define REG_INT_CTRL_ENABLE   0x01
-#define REG_INT_CTRL_DISABLE  0x00
-
-#define REG_INT_EN        0x0A
-#define REG_INT_EN_TOUCHDET  0x01
-#define REG_INT_EN_FIFOTH    0x02
-#define REG_INT_EN_FIFOOF    0x04
-#define REG_INT_EN_FIFOFULL  0x08
-#define REG_INT_EN_FIFOEMPTY 0x10
-#define REG_INT_EN_ADC       0x40
-
-#define REG_INT_STA       0x0B
-#define REG_INT_STA_TOUCHDET 0x01
-
-#define REG_GPIO_EN       0x0C
-#define REG_GPIO_INT_STA  0x0D
-#define REG_ADC_INT_EN    0x0E
-#define REG_ADC_INT_STA   0x0F
-#define REG_GPIO_SET_PIN  0x10
-#define REG_GPIO_CLR_PIN  0x11
-#define REG_GPIO_MP_STA   0x12
-#define REG_GPIO_DIR      0x13
-#define REG_GPIO_ED       0x14
-#define REG_GPIO_RE       0x15
-#define REG_GPIO_FE       0x16
-#define REG_GPIO_AF       0x17
-#define REG_ADC_CTRL1     0x20
-#define REG_ADC_CTRL1_12BIT 0x08
-#define REG_ADC_CTRL1_10BIT 0x00
-
-#define REG_ADC_CTRL2     0x21
-#define REG_ADC_CTRL2_1_625MHZ 0x00
-#define REG_ADC_CTRL2_3_25MHZ  0x01
-#define REG_ADC_CTRL2_6_5MHZ   0x02
-
-#define REG_ADC_CAPT      0x22
-#define REG_ADC_DATA_CH0  0x30
-#define REG_ADC_DATA_CH1  0x32
-#define REG_ADC_DATA_CH4  0x38
-#define REG_ADC_DATA_CH5  0x3A
-#define REG_ADC_DATA_CH6  0x3C
-#define REG_ADC_DATA_CH7  0x3E
-#define REG_TSC_CTRL      0x40
-#define REG_TSC_CTRL_EN     0x01
-#define REG_TSC_CTRL_XYZ    0x00
-#define REG_TSC_CTRL_XY     0x02
-
-#define REG_TSC_CFG       0x41
-#define REG_TSC_CFG_1SAMPLE      0x00
-#define REG_TSC_CFG_2SAMPLE      0x40
-#define REG_TSC_CFG_4SAMPLE      0x80
-#define REG_TSC_CFG_8SAMPLE      0xC0
-#define REG_TSC_CFG_DELAY_10US   0x00
-#define REG_TSC_CFG_DELAY_50US   0x08
-#define REG_TSC_CFG_DELAY_100US  0x10
-#define REG_TSC_CFG_DELAY_500US  0x18
-#define REG_TSC_CFG_DELAY_1MS    0x20
-#define REG_TSC_CFG_DELAY_5MS    0x28
-#define REG_TSC_CFG_DELAY_10MS   0x30
-#define REG_TSC_CFG_DELAY_50MS   0x38
-#define REG_TSC_CFG_SETTLE_10US  0x00
-#define REG_TSC_CFG_SETTLE_100US 0x01
-#define REG_TSC_CFG_SETTLE_500US 0x02
-#define REG_TSC_CFG_SETTLE_1MS   0x03
-#define REG_TSC_CFG_SETTLE_5MS   0x04
-#define REG_TSC_CFG_SETTLE_10MS  0x05
-#define REG_TSC_CFG_SETTLE_50MS  0x06
-#define REG_TSC_CFG_SETTLE_100MS 0x07
-
-#define REG_WDW_TR_X      0x42
-#define REG_WDW_TR_Y      0x44
-#define REG_WDW_BL_X      0x46
-#define REG_WDW_BL_Y      0x48
-#define REG_FIFO_TH       0x4A
-#define REG_FIFO_STA      0x4B
-#define REG_FIFO_SIZE     0x4C
-#define REG_TSC_DATA_X    0x4D
-#define REG_TSC_DATA_Y    0x4F
-#define REG_TSC_DATA_Z    0x51
-#define REG_TSC_DATA_XYZ  0x52
-#define REG_TSC_FRACT_XYZ 0x56
-#define REG_TSC_DATA      0x57
-#define REG_TSC_I_DRIVE   0x58
-#define REG_TSC_SHIELD    0x59
-
-SPI_STMPE610::SPI_STMPE610(PinName mosi, PinName miso, PinName sclk, PinName cs) :
-        m_spi(mosi, miso, sclk), m_cs(cs) {
-    // activate the peripheral
-    m_cs = 0 ;
-    _mode = 0 ;
-    m_spi.frequency(1000000) ;
-    m_spi.format(8, 0) ;
-    write8(REG_SYS_CTRL1, REG_SYS_CTRL1_RESET) ;
-    wait(0.1) ;
-    write8(REG_SYS_CTRL2, 0x00) ; // turn on clocks
-    write8(REG_TSC_CFG,
-          REG_TSC_CFG_4SAMPLE 
-        | REG_TSC_CFG_DELAY_100US
-        | REG_TSC_CFG_SETTLE_1MS ) ;
-        
-    write8(REG_TSC_CTRL, REG_TSC_CTRL_XYZ | REG_TSC_CTRL_EN) ;   
-    m_cs = 1 ;
-}
-
-SPI_STMPE610::~SPI_STMPE610() { }
-
-void SPI_STMPE610::readRegs(int addr, uint8_t * data, int len) {
-    m_cs = 0 ;
-
-    for (int i = 0 ; i < len ; i++ ) {    
-       m_spi.write((addr+i)|0x80) ;  // spacify address to read
-       data[i] = m_spi.write((addr+i)|0x80) ; 
-    } 
-    m_spi.write(0x00) ; // to terminate read mode
-    m_cs = 1 ;
-}
-
-void SPI_STMPE610::writeRegs(uint8_t * data, int len) {
-   m_cs = 0 ;
-   for (int i = 0 ; i < len ; i++ ) {
-      m_spi.write(data[i]) ;
-   }
-   m_cs = 1 ;
-}
-
-void SPI_STMPE610::write8(int addr, uint8_t data8)
-{
-    uint8_t data[2] ;
-    data[0] = addr ;
-    data[1] = data8 ;
-    writeRegs(data, 2) ;
-}
-
-uint8_t SPI_STMPE610::read8(int addr)
-{
-    uint8_t data[1] ;    
-    readRegs(addr, data, 1) ;
-    return( data[0] ) ;
-}
-
-void SPI_STMPE610::write16(int addr, uint16_t data16)
-{
-    uint8_t data[3] ;
-    data[0] = addr ;
-    data[1] = (data16 >> 8) & 0xFF ;
-    data[2] = data16 & 0xFF ;
-    writeRegs(data, 3) ;
-}
-
-uint16_t SPI_STMPE610::read16(int addr)
-{
-    uint8_t data[2] ;
-    uint16_t value = 0 ;
-    readRegs(addr, data, 2) ;
-    value = (data[0] << 8) | data[1] ;
-    return( value ) ;
-}
-
-int SPI_STMPE610::getRAWPoint(uint16_t *x, uint16_t *y, uint16_t *z)
-{
-    uint8_t data[8], touched = 0 ;
-    data[0] = REG_TSC_CTRL ;
-    data[1] = REG_TSC_CTRL_EN  ; 
-    writeRegs(data, 2) ;
-    wait(0.01) ;
-     
-    readRegs(REG_TSC_CTRL, data, 1) ;
-    touched = data[0] & 0x80 ;
-    if (touched) { //Touch Detected
-       readRegs(REG_TSC_DATA_X, data,5) ;
-        *x = (data[0] << 8) | data[1] ;
-        *y = (data[2] << 8) | data[3] ;
-        *z = data[4] ;
-    } else {
-        *x = 0 ;
-        *y = 0 ;
-        *z = 0 ;
-    }
-    
-    data[0] = 0x4B ;
-    data[1] = 0x01 ;
-    writeRegs(data, 2)  ; // clear FIFO
- 
-    data[0] = REG_TSC_CTRL ;
-    data[1] = 0x00 ; // disable TSC 
-    writeRegs(data, 2) ;
-    
-    return( touched & (*x || *y || *z)) ;
-}

--- a/SPI_STMPE610.h	Fri Oct 31 01:43:18 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,58 +0,0 @@
-/* mbed SPI_STMPE610.h to test adafruit 2.8" TFT LCD shiled w Touchscreen
- * Copyright (c) 2014 Motoo Tanaka @ Design Methodology Lab
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#ifndef SPI_STMPE610_H
-#define SPI_STMPE610_H
-
-#include "mbed.h"
-
-/**
- * STMPE610 Touch Sensor
- * 
- *
- */
-
-class SPI_STMPE610 
-{
-public:
- /**
- * STMPE610 constructor
- *
- * @param mosi SPI_MOSI pin
- * @param miso SPI_MISO pin
- * @param sclk SPI_CLK pin
- * @param cs   SPI_CS  pin
- */
- SPI_STMPE610(PinName mosi, PinName miso, PinName sclk, PinName cs) ;
- 
- ~SPI_STMPE610() ;
-
- /*
-  * some member functions here (yet to be written)
-  */
-
- SPI m_spi;
- DigitalOut m_cs ;
- int _mode ;
- 
-  void readRegs(int addr, uint8_t *data, int len) ;
-  void writeRegs(uint8_t *data, int len) ;
-  uint8_t read8(int addr) ;
-  void write8(int addr, uint8_t data) ;
-  uint16_t read16(int addr) ;
-  void write16(int addr, uint16_t data) ;
-  
-  int getRAWPoint(uint16_t *x, uint16_t *y, uint16_t *z) ;
-  
-  private:
-} ;
-#endif /* SPI_STMPE610_H */
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SPI_STMPE610.lib	Sat Aug 08 12:07:56 2015 +0000
@@ -0,0 +1,1 @@
+SPI_STMPE610#50965da0e845

--- a/SPI_TFT_ILI9341.lib	Fri Oct 31 01:43:18 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://developer.mbed.org/users/Rhyme/code/SPI_TFT_ILI9341/#61fa73a34834

--- a/TFT_fonts.lib	Fri Oct 31 01:43:18 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/users/dreschpe/code/TFT_fonts/#76774250fcec

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TSI.lib	Sat Aug 08 12:07:56 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/emilmont/code/TSI/#507b1f67804b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/UniGraphic.lib	Sat Aug 08 12:07:56 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/teams/GraphicsDisplay/code/UniGraphic/#1bdfb971b2c1

--- a/main.cpp	Fri Oct 31 01:43:18 2014 +0000
+++ b/main.cpp	Sat Aug 08 12:07:56 2015 +0000
@@ -21,13 +21,14 @@
 
 #include "mbed.h"
 #include "MMA8451Q.h"
+#include "TSISensor.h"
 #include <math.h>
-#include "SPI_TFT_ILI9341.h"
+#include "ILI9341.h"
 #include "SPI_STMPE610.h"
 #include "Arial12x12.h"
 #include "Arial24x23.h"
 #include "Arial28x28.h"
-#include "font_big.h"
+#include "Arial43x48_numb.h"
 
 
 #define PIN_XP          PTB3
@@ -43,36 +44,46 @@
 #define PIN_CS_SD       PTA4 
 #define PIN_CS_TSC      PTA13
 #define PIN_TSC_INTR    PTC9
+#define PIN_RESET_TFT   PTB10
 
 #define MMA8451_I2C_ADDRESS (0x1d<<1)
 MMA8451Q *acc = 0 ;
+TSISensor tsi;
 
-//  SPI_TFT_ILI9341(PinName mosi, PinName miso, PinName sclk, PinName cs, PinName reset, PinName dc, const char* name ="TFT");
-SPI_TFT_ILI9341 TFT(PIN_MOSI, PIN_MISO, PIN_SCLK, PIN_CS_TFT, PIN_BL_TFT, PIN_DC_TFT) ;
+DigitalOut backlight(PTA12) ;
+ILI9341 TFT(SPI_8, 10000000, 
+    PIN_MOSI, PIN_MISO,  PIN_SCLK, 
+    PIN_CS_TFT, PIN_RESET_TFT, PIN_DC_TFT, "Adafruit2.8") ;
 SPI_STMPE610 TSC(PIN_MOSI, PIN_MISO, PIN_SCLK, PIN_CS_TSC) ;
 
-DigitalOut backlight(PTA12) ;
 DigitalIn pinD7(PTC9) ;
 
 int page = 0 ;
-int numPage = 3 ;
+int numPage = 5 ;
+
+extern void doMaze(void) ;
 
 void initTFT(void)
 {
     //Configure the display driver
+    TFT.BusEnable(true) ;
+    TFT.FastWindow(true) ;
     TFT.background(Black);
     TFT.foreground(White);
     wait(0.01) ;
     TFT.cls();
+    TFT.BusEnable(false) ;
 }
 
 void screen1(void) // Welcome Screen
 {
+    TFT.BusEnable(true) ;
     backlight = 0 ;
     TFT.background(White) ;
+    wait(0.1) ;
     TFT.cls() ;
-
     wait(0.1) ;
+    
     TFT.set_font((unsigned char*) Arial24x23);
     TFT.foreground(Red) ;
     TFT.locate(80, 40) ;
@@ -85,19 +96,20 @@
     TFT.foreground(Black);
     TFT.set_font((unsigned char*) Arial12x12);
     TFT.foreground(Blue) ;
-    TFT.locate(10, 180) ;
+    TFT.locate(30, 180) ;
     TFT.printf("This program is running on") ;
-    TFT.locate(10, 200) ;
+    TFT.locate(30, 200) ;
     TFT.printf("freescale FRDM-KL25Z with") ;
-    TFT.locate(10, 220) ;
-    TFT.printf("a program developed on mbed") ;
+    TFT.locate(30, 220) ;
+    TFT.printf("a program developed in mbed") ;
     TFT.foreground(Green) ;
-    TFT.locate(10, 260) ;
+    TFT.locate(30, 260) ;
     TFT.printf("To advance demo page, touch") ;
-    TFT.locate(10, 280) ;
+    TFT.locate(30, 280) ;
     TFT.printf("and hold right side of screen") ;
-    TFT.locate(10, 300) ;
+    TFT.locate(30, 300) ;
     TFT.printf("until the next screen starts") ;
+    TFT.BusEnable(false) ;
     backlight = 1 ;
 }
 
@@ -106,10 +118,13 @@
     //Draw some graphics
     int i, x[2], y[2] ;
     backlight = 0 ;
-
+    TFT.BusEnable(true) ;
     TFT.background(Black);
+    wait(0.1) ;
     TFT.foreground(White);
+    wait(0.1) ;
     TFT.cls() ;
+    wait(0.1) ;
     TFT.set_font((unsigned char*) Arial12x12);
     TFT.locate(90,0);
     TFT.printf("Graphics");
@@ -150,6 +165,7 @@
     TFT.printf("simple graphics drawing") ;
     TFT.locate(20, 290) ;
     TFT.printf("capability is provided") ;
+    TFT.BusEnable(false) ;
     backlight = 1 ;
 }    
 
@@ -179,7 +195,8 @@
     unsigned short paneX[2] = {20, 235} ;
     unsigned short paneH = 81 ;
  
-    backlight = 0 ;
+    backlight = 1 ;
+    TFT.BusEnable(true) ;
     TFT.background(Black) ;
     TFT.foreground(White) ;
 //    TFT.cls() ;
@@ -233,6 +250,65 @@
         pt = t ;
         wait(0.01) ;
     }
+    TFT.BusEnable(false) ;
+}
+
+void screen4(void)
+{
+    int dx, px ;
+    float delta = 0.0 ;
+    dx = 0 ;
+    px = 0 ;
+    backlight = 0 ;
+    TFT.BusEnable(true) ;
+    TFT.background(Black);
+    wait(0.1) ;
+    TFT.foreground(White);
+    wait(0.1) ;
+    TFT.cls() ;
+    wait(0.1) ;
+
+    TFT.set_font((unsigned char*) Arial12x12);
+    TFT.foreground(Blue) ;
+    TFT.locate(60, 10) ;
+    TFT.printf("<< TSI demo >>") ;
+    TFT.locate(30, 280) ;
+    TFT.printf("Use FRDM touch slider") ;
+    TFT.locate(30, 300) ;
+    TFT.printf("Touch right edge to end") ;
+    
+    TFT.fillcircle(120, 160, 100, Green) ;
+    TFT.fillcircle(60, 160, 50, Black) ;
+    TFT.fillcircle(60, 160, 45, White) ;
+    TFT.fillcircle(180, 160, 50, Black) ;
+    TFT.fillcircle(180, 160, 45, White) ;
+    TFT.fillcircle(60, 160, 5, Black) ;
+    TFT.fillcircle(180, 160, 5, Black) ;
+    backlight = 1 ;
+
+    while(dx < 38) {
+      delta = (80.0 * (tsi.readPercentage()-0.5)) ;
+      dx = (int)(delta + 0.5) ;
+      TFT.fillcircle(60+px, 160, 5, White) ;
+      TFT.fillcircle(180+px, 160, 5, White) ;
+      TFT.fillcircle(60+dx, 160, 5, Black) ;
+      TFT.fillcircle(180+dx, 160, 5, Black) ;
+      px = dx ;
+      wait(0.1) ;
+    }
+    TFT.fillcircle(60+px, 160, 5, White) ;
+    TFT.fillcircle(180+px, 160, 5, White) ;
+    TFT.line(15, 160, 105, 160, Black) ;
+    TFT.line(135, 160, 225, 160, Black) ;
+    TFT.foreground(Yellow) ;
+    TFT.locate(30, 300) ;
+//    TFT.printf("Use FRDM touch slider") ;
+    TFT.printf("       Wake Up!          ") ;
+    TFT.locate(5, 300) ;
+    TFT.printf("<< Prev") ;
+    TFT.locate(180, 300) ;
+    TFT.printf("Next >>") ;
+    TFT.BusEnable(false) ;
 }
 
 void incPage(void)
@@ -254,13 +330,14 @@
 int main()
 {
     uint16_t x, y, z ;
-    int prevPage = 0 ;
+    int prevPage = 99 ;
+    bool waitTouch = false ;
     
     acc = new MMA8451Q(PTE25, PTE24, MMA8451_I2C_ADDRESS) ;
     
     initTFT() ;
     
-    screen1() ;
+ //   screen0() ;
         
     printf("Program Started!\n\r") ;
     
@@ -271,36 +348,54 @@
             if (prevPage != page) {
                 screen1() ;
             }
+            waitTouch = true ;
             break ;
         case 1:
             if (prevPage != page) {
                 screen2() ; 
             }
+            waitTouch = true ;
             break ;
         case 2:
             if (prevPage != page) {
+                TFT.BusEnable(true) ;
                 TFT.background(Black) ;
                 TFT.foreground(White) ;
                 TFT.cls() ;
+                TFT.BusEnable(false) ;
             }
             screen3() ; 
-            wait(2) ;
+            waitTouch = false ;
+            break ;
+        case 3:
+//            if (prevPage != page) {
+                screen4() ;
+                waitTouch = true ;
+//            }
+            break ;
+        case 4:
+//            if (prevPage != page) {
+                doMaze() ;
+                waitTouch = true ;
+//            }
             break ;
         default:
             page = 0 ; 
             break ;
         }
         prevPage = page ;
-        printf("Screen Printed\n\r") ;
 
-        TSC.getRAWPoint(&x, &y, &z) ;
-        if ((x != 0)||(y != 0) || (z != 0)) {
-            if (x < 1000) { // left
-                decPage() ;
-            } else if (x > 3000) { // right
-                incPage() ;
+        do {
+            TSC.getRAWPoint(&x, &y, &z) ;
+            if ((x != 0)||(y != 0) || (z != 0)) {
+                if (x < 1000) { // left
+                    decPage() ;
+                } else if (x > 3000) { // right
+                    incPage() ;
+                }
+                waitTouch = false ;
             }
-        }
+        } while(waitTouch != false) ;
 //        wait(1) ;
     }
 }

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/maze.cpp	Sat Aug 08 12:07:56 2015 +0000
@@ -0,0 +1,255 @@
+/** maze_vt100 a simple maze using UniGraphic and MMA8451Q libraries
+ */
+#include "mbed.h"
+#include "MMA8451Q.h"
+#include <ILI9341.h>
+#include "Arial12x12.h"
+#include "Arial24x23.h"
+#include "Arial28x28.h"
+#include "Arial43x48_numb.h"
+#include "maze.h"
+
+#define CELL_W  10
+#define CELL_H  10
+#define CELL_S   5
+#define CELL_R   4
+#define LEFT_OFFSET 20
+#define TOP_OFFSET 20
+
+#define DIR_STAY  0
+#define DIR_UP    1
+#define DIR_DOWN  2
+#define DIR_RIGHT 3 
+#define DIR_LEFT  4
+
+#define MMA8451_I2C_ADDRESS (0x1D<<1)
+
+typedef struct _pos {
+    int x ;
+    int y ;
+} pos_type ;
+
+extern MMA8451Q *acc ;
+extern ILI9341 TFT ;
+extern DigitalOut backlight ;
+float threshold = 0.2 ;
+
+/** Check if two pos_type values are same
+ * @param pos_type a
+ * @param pos_type b
+ * @returns if a and b are same position
+ */
+bool isSame(pos_type a, pos_type b)
+{
+    return((a.x == b.x)&&(a.y == b.y)) ;
+}
+
+/** Draw the maze defined in the "maze.h"
+ * @param pos_type *current actually the start point
+ * @param pos_type *goal the position of the goal
+ * @note those params are actually returned by this function
+ */
+void drawTFTMaze(pos_type *current, pos_type *goal)
+{
+    int x, y, i, j ;
+    TFT.BusEnable(true) ;
+    
+    backlight = 0 ;
+    TFT.foreground(White) ;
+    TFT.background(Black) ;
+    TFT.cls() ;
+    for (j = 0 ; j < MAZE_H ; j++ ) {
+        for (i = 0 ; i < MAZE_W ; i++ ) {
+            x = i * CELL_W + LEFT_OFFSET ;
+            y = j * CELL_H + TOP_OFFSET ;
+            switch(maze[j][i]) {
+            case 0: // path
+                TFT.fillrect(x, y, x+CELL_W-1, y+CELL_H-1, Black) ;
+                break ;
+            case 1: // wall
+                TFT.fillrect(x, y, x+CELL_W-1, y+CELL_H-1, DarkGrey) ;
+                break ;
+            case 2: // Start point
+                TFT.fillcircle(x+CELL_S, y+CELL_S, CELL_R, Green) ;
+                current->x = i ;
+                current->y = j ;
+                break ;
+            case 3: // Goal
+                TFT.fillcircle(x+CELL_S, y+CELL_S, CELL_R, Red) ;
+                goal->x = i ;
+                goal->y = j ;
+                break ;
+            default: // should not be here
+                break ;
+            }
+        }
+    }
+    backlight = 1 ;
+    TFT.BusEnable(false) ;
+}
+
+/** Filter out too little move 
+ * @param float in returned value from the acc
+ * @returns float result filtered value of in
+ */
+float filterVal(float in)
+{
+    float result = 0.0 ;
+    if ((-threshold > in)||(in > threshold)) {
+        result = in ;
+    }
+    return( result ) ;
+}
+
+/** Decide which direction to go
+ * @param float res[] acc value of x, y 
+ * @returns int direction to move 
+ */
+int getDirection(float res[])
+{
+    float dx, dy ;
+    int direction = DIR_STAY ;
+    dx = filterVal(res[0]) ;
+    dy = filterVal(res[1]) ;
+
+    if ((dx*dx) > (dy*dy)) { // holizontal move
+        if (dx > 0.0) {
+            direction = DIR_DOWN ;
+        } else if (dx < 0.0) {
+            direction = DIR_UP ;
+        }
+    } else { // vertical move
+        if (dy > 0.0) {
+            direction = DIR_RIGHT ;
+        } else if (dy < 0.0) {
+            direction = DIR_LEFT ;
+        }
+    }
+    return(direction) ;
+}
+
+/** Get next positon to move to
+ * @param pos_type current where we are now
+ * @param int direction which way we'd like to move
+ * @returns the candidate positon for the next move
+ */
+pos_type getNext(pos_type current, int direction) 
+{
+    pos_type next = current ;
+    switch(direction) {
+    case DIR_STAY: 
+        break ;
+    case DIR_UP: 
+        if (next.y > 0) { 
+            next.y-- ; 
+        }  
+        break ;
+    case DIR_DOWN: 
+        if (next.y < (MAZE_H - 1)) { 
+            next.y++ ; 
+        } 
+        break ;
+    case DIR_RIGHT: 
+        if (next.x < (MAZE_W - 1)) { 
+            next.x++ ; 
+        } 
+        break ;
+    case DIR_LEFT: 
+        if (next.x > 0) { 
+            next.x-- ; 
+        } 
+        break ;
+    default: 
+        break ;
+    }
+    return( next ) ;
+}
+
+/** Notice of the goal
+ */
+void showGoal(void)
+{
+    int x0, y0, x1, y1 ;
+    x0 = ((MAZE_W/2)-4) * CELL_W + LEFT_OFFSET ;
+    y0 = ((MAZE_H/2)-1) * CELL_H + TOP_OFFSET ;
+    x1 = ((MAZE_W/2)+4) * CELL_W + LEFT_OFFSET ;
+    y1 = ((MAZE_H/2)+1) * CELL_H + TOP_OFFSET ;
+
+    TFT.BusEnable(true) ;
+//    TFT.set_font((unsigned char*) Arial12x12);
+    TFT.set_font((unsigned char*) Terminal6x8) ;
+    TFT.fillrect(x0, y0, x1, y1, Blue) ;
+    TFT.rect(x0,y0,x1,y1, Yellow) ;
+    TFT.foreground(Red) ;
+    TFT.background(Blue) ;
+    x0 = ((MAZE_W/2) - 2) * CELL_W + LEFT_OFFSET ;
+    y0 = (MAZE_H/2) * CELL_H - 3 + TOP_OFFSET ;
+    TFT.locate(x0, y0) ;
+    TFT.printf("G O A L") ;
+    TFT.foreground(Yellow) ;
+    TFT.background(Black) ;
+    TFT.locate(30, 300) ;
+//    TFT.printf("Use FRDM touch slider") ;
+    TFT.printf("           Retry!      ") ;
+    TFT.locate(5, 300) ;
+    TFT.printf("<< Prev") ;
+    TFT.locate(180, 300) ;
+    TFT.printf("Next >>") ;
+    TFT.BusEnable(false) ;
+}
+
+/** Check if we can move to the next position
+ * @param pos_type next the position we'd like to move next
+ * @returns if the position is empty (movable)
+ */
+bool checkMove(pos_type next) 
+{
+    bool result = false ;
+    
+    switch(maze[next.y][next.x]) {
+    case POS_PATH:
+    case POS_GOAL:
+        result = true ;
+        break ;
+    case POS_START:
+    case POS_WALL:
+    default:
+        result = false ;
+        break ;
+    } 
+    return( result ) ;
+}
+
+/** main a simple maze program
+ */
+void doMaze(void) 
+{
+    float res[3] ;
+    pos_type current, next, goal ;
+    int direction = DIR_STAY ;
+    int x, y ;
+    
+    drawTFTMaze(&current, &goal) ;
+    
+    for (;;) {
+        acc->getAccAllAxis(res) ;
+        direction = getDirection(res) ;
+        next = getNext(current, direction) ;
+        if ((!isSame(current, next)) && checkMove(next)) {
+           TFT.BusEnable(true) ;
+           x = current.x * CELL_W + LEFT_OFFSET ;
+           y = current.y * CELL_H + TOP_OFFSET ;
+           TFT.fillrect(x, y, x+CELL_W-1, y+CELL_H-1, Black) ;
+           x = next.x * CELL_W + LEFT_OFFSET ;
+           y = next.y * CELL_H + TOP_OFFSET ;
+           TFT.fillcircle(x+CELL_S, y+CELL_S, CELL_R, Green) ; 
+           TFT.BusEnable(false) ;
+           current = next ;
+           if (isSame(next, goal)) {
+             break ; // goal in!
+           }
+        }
+        wait(0.1) ;
+    }
+    showGoal() ;
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/maze.h	Sat Aug 08 12:07:56 2015 +0000
@@ -0,0 +1,36 @@
+#ifndef _MAZE_H_
+#define _MAZE_H_ defined
+
+#define MAZE_W 20
+#define MAZE_H 20
+
+#define POS_PATH  0
+#define POS_WALL  1
+#define POS_START 2
+#define POS_GOAL  3
+
+uint8_t maze[MAZE_H][MAZE_W] = {
+ {1,2,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1},
+ {1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1},
+ {1,0,1,0,1,0,1,1,1,1,0,1,1,1,1,1,1,1,0,1},
+ {1,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,1,1,0,1},
+ {1,1,1,1,1,0,1,0,1,1,1,1,1,1,1,0,1,1,0,1},
+ {1,0,0,0,1,0,1,0,1,0,0,0,0,0,1,0,1,1,0,1},
+ {1,0,1,1,1,0,1,0,1,1,0,1,0,1,1,0,1,1,0,1},
+ {1,0,1,0,0,0,1,0,1,1,0,1,0,1,0,0,1,1,0,1},
+ {1,0,1,0,1,1,1,0,0,1,0,1,0,1,0,1,1,1,0,1},
+ {1,0,1,0,1,1,1,1,1,1,0,1,0,1,0,0,0,1,0,1},
+ {1,0,0,0,0,0,0,0,0,0,0,1,0,1,1,1,0,1,0,1},
+ {1,0,1,1,1,1,1,1,1,1,1,1,0,1,1,1,1,1,0,1},
+ {1,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,1},
+ {1,0,1,0,1,1,1,1,1,1,1,1,1,1,0,1,1,1,1,1},
+ {1,0,1,0,1,0,0,0,1,0,0,0,0,0,0,1,1,1,1,1},
+ {1,0,1,0,1,1,1,0,1,0,1,1,1,1,1,1,1,1,1,1},
+ {1,0,1,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0,1},
+ {1,0,1,1,1,1,1,0,1,1,1,1,1,1,1,1,1,1,0,1},
+ {1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1},
+ {1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,3,1}
+} ;      
+
+extern void doMaze(void) ;
+#endif // _MAZE_H_
\ No newline at end of file