Henry Foley / Mbed 2 deprecated TFT_Sample

Sample TFT to KL25Z program.

Dependencies:   SPI_STMPE610 TFT_fonts UniGraphic mbed

Fork of TFT_test_frdm-kl25z by Motoo Tanaka

maze.cpp@3:34d8706e1614, 2015-08-08 (annotated)

Committer:
Rhyme
Date:
Sat Aug 08 12:07:56 2015 +0000
Revision:
3:34d8706e1614
UniGraphic lib version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Rhyme 3:34d8706e1614 1 /** maze_vt100 a simple maze using UniGraphic and MMA8451Q libraries
Rhyme 3:34d8706e1614 2 */
Rhyme 3:34d8706e1614 3 #include "mbed.h"
Rhyme 3:34d8706e1614 4 #include "MMA8451Q.h"
Rhyme 3:34d8706e1614 5 #include <ILI9341.h>
Rhyme 3:34d8706e1614 6 #include "Arial12x12.h"
Rhyme 3:34d8706e1614 7 #include "Arial24x23.h"
Rhyme 3:34d8706e1614 8 #include "Arial28x28.h"
Rhyme 3:34d8706e1614 9 #include "Arial43x48_numb.h"
Rhyme 3:34d8706e1614 10 #include "maze.h"
Rhyme 3:34d8706e1614 11
Rhyme 3:34d8706e1614 12 #define CELL_W 10
Rhyme 3:34d8706e1614 13 #define CELL_H 10
Rhyme 3:34d8706e1614 14 #define CELL_S 5
Rhyme 3:34d8706e1614 15 #define CELL_R 4
Rhyme 3:34d8706e1614 16 #define LEFT_OFFSET 20
Rhyme 3:34d8706e1614 17 #define TOP_OFFSET 20
Rhyme 3:34d8706e1614 18
Rhyme 3:34d8706e1614 19 #define DIR_STAY 0
Rhyme 3:34d8706e1614 20 #define DIR_UP 1
Rhyme 3:34d8706e1614 21 #define DIR_DOWN 2
Rhyme 3:34d8706e1614 22 #define DIR_RIGHT 3
Rhyme 3:34d8706e1614 23 #define DIR_LEFT 4
Rhyme 3:34d8706e1614 24
Rhyme 3:34d8706e1614 25 #define MMA8451_I2C_ADDRESS (0x1D<<1)
Rhyme 3:34d8706e1614 26
Rhyme 3:34d8706e1614 27 typedef struct _pos {
Rhyme 3:34d8706e1614 28 int x ;
Rhyme 3:34d8706e1614 29 int y ;
Rhyme 3:34d8706e1614 30 } pos_type ;
Rhyme 3:34d8706e1614 31
Rhyme 3:34d8706e1614 32 extern MMA8451Q *acc ;
Rhyme 3:34d8706e1614 33 extern ILI9341 TFT ;
Rhyme 3:34d8706e1614 34 extern DigitalOut backlight ;
Rhyme 3:34d8706e1614 35 float threshold = 0.2 ;
Rhyme 3:34d8706e1614 36
Rhyme 3:34d8706e1614 37 /** Check if two pos_type values are same
Rhyme 3:34d8706e1614 38 * @param pos_type a
Rhyme 3:34d8706e1614 39 * @param pos_type b
Rhyme 3:34d8706e1614 40 * @returns if a and b are same position
Rhyme 3:34d8706e1614 41 */
Rhyme 3:34d8706e1614 42 bool isSame(pos_type a, pos_type b)
Rhyme 3:34d8706e1614 43 {
Rhyme 3:34d8706e1614 44 return((a.x == b.x)&&(a.y == b.y)) ;
Rhyme 3:34d8706e1614 45 }
Rhyme 3:34d8706e1614 46
Rhyme 3:34d8706e1614 47 /** Draw the maze defined in the "maze.h"
Rhyme 3:34d8706e1614 48 * @param pos_type *current actually the start point
Rhyme 3:34d8706e1614 49 * @param pos_type *goal the position of the goal
Rhyme 3:34d8706e1614 50 * @note those params are actually returned by this function
Rhyme 3:34d8706e1614 51 */
Rhyme 3:34d8706e1614 52 void drawTFTMaze(pos_type *current, pos_type *goal)
Rhyme 3:34d8706e1614 53 {
Rhyme 3:34d8706e1614 54 int x, y, i, j ;
Rhyme 3:34d8706e1614 55 TFT.BusEnable(true) ;
Rhyme 3:34d8706e1614 56
Rhyme 3:34d8706e1614 57 backlight = 0 ;
Rhyme 3:34d8706e1614 58 TFT.foreground(White) ;
Rhyme 3:34d8706e1614 59 TFT.background(Black) ;
Rhyme 3:34d8706e1614 60 TFT.cls() ;
Rhyme 3:34d8706e1614 61 for (j = 0 ; j < MAZE_H ; j++ ) {
Rhyme 3:34d8706e1614 62 for (i = 0 ; i < MAZE_W ; i++ ) {
Rhyme 3:34d8706e1614 63 x = i * CELL_W + LEFT_OFFSET ;
Rhyme 3:34d8706e1614 64 y = j * CELL_H + TOP_OFFSET ;
Rhyme 3:34d8706e1614 65 switch(maze[j][i]) {
Rhyme 3:34d8706e1614 66 case 0: // path
Rhyme 3:34d8706e1614 67 TFT.fillrect(x, y, x+CELL_W-1, y+CELL_H-1, Black) ;
Rhyme 3:34d8706e1614 68 break ;
Rhyme 3:34d8706e1614 69 case 1: // wall
Rhyme 3:34d8706e1614 70 TFT.fillrect(x, y, x+CELL_W-1, y+CELL_H-1, DarkGrey) ;
Rhyme 3:34d8706e1614 71 break ;
Rhyme 3:34d8706e1614 72 case 2: // Start point
Rhyme 3:34d8706e1614 73 TFT.fillcircle(x+CELL_S, y+CELL_S, CELL_R, Green) ;
Rhyme 3:34d8706e1614 74 current->x = i ;
Rhyme 3:34d8706e1614 75 current->y = j ;
Rhyme 3:34d8706e1614 76 break ;
Rhyme 3:34d8706e1614 77 case 3: // Goal
Rhyme 3:34d8706e1614 78 TFT.fillcircle(x+CELL_S, y+CELL_S, CELL_R, Red) ;
Rhyme 3:34d8706e1614 79 goal->x = i ;
Rhyme 3:34d8706e1614 80 goal->y = j ;
Rhyme 3:34d8706e1614 81 break ;
Rhyme 3:34d8706e1614 82 default: // should not be here
Rhyme 3:34d8706e1614 83 break ;
Rhyme 3:34d8706e1614 84 }
Rhyme 3:34d8706e1614 85 }
Rhyme 3:34d8706e1614 86 }
Rhyme 3:34d8706e1614 87 backlight = 1 ;
Rhyme 3:34d8706e1614 88 TFT.BusEnable(false) ;
Rhyme 3:34d8706e1614 89 }
Rhyme 3:34d8706e1614 90
Rhyme 3:34d8706e1614 91 /** Filter out too little move
Rhyme 3:34d8706e1614 92 * @param float in returned value from the acc
Rhyme 3:34d8706e1614 93 * @returns float result filtered value of in
Rhyme 3:34d8706e1614 94 */
Rhyme 3:34d8706e1614 95 float filterVal(float in)
Rhyme 3:34d8706e1614 96 {
Rhyme 3:34d8706e1614 97 float result = 0.0 ;
Rhyme 3:34d8706e1614 98 if ((-threshold > in)||(in > threshold)) {
Rhyme 3:34d8706e1614 99 result = in ;
Rhyme 3:34d8706e1614 100 }
Rhyme 3:34d8706e1614 101 return( result ) ;
Rhyme 3:34d8706e1614 102 }
Rhyme 3:34d8706e1614 103
Rhyme 3:34d8706e1614 104 /** Decide which direction to go
Rhyme 3:34d8706e1614 105 * @param float res[] acc value of x, y
Rhyme 3:34d8706e1614 106 * @returns int direction to move
Rhyme 3:34d8706e1614 107 */
Rhyme 3:34d8706e1614 108 int getDirection(float res[])
Rhyme 3:34d8706e1614 109 {
Rhyme 3:34d8706e1614 110 float dx, dy ;
Rhyme 3:34d8706e1614 111 int direction = DIR_STAY ;
Rhyme 3:34d8706e1614 112 dx = filterVal(res[0]) ;
Rhyme 3:34d8706e1614 113 dy = filterVal(res[1]) ;
Rhyme 3:34d8706e1614 114
Rhyme 3:34d8706e1614 115 if ((dx*dx) > (dy*dy)) { // holizontal move
Rhyme 3:34d8706e1614 116 if (dx > 0.0) {
Rhyme 3:34d8706e1614 117 direction = DIR_DOWN ;
Rhyme 3:34d8706e1614 118 } else if (dx < 0.0) {
Rhyme 3:34d8706e1614 119 direction = DIR_UP ;
Rhyme 3:34d8706e1614 120 }
Rhyme 3:34d8706e1614 121 } else { // vertical move
Rhyme 3:34d8706e1614 122 if (dy > 0.0) {
Rhyme 3:34d8706e1614 123 direction = DIR_RIGHT ;
Rhyme 3:34d8706e1614 124 } else if (dy < 0.0) {
Rhyme 3:34d8706e1614 125 direction = DIR_LEFT ;
Rhyme 3:34d8706e1614 126 }
Rhyme 3:34d8706e1614 127 }
Rhyme 3:34d8706e1614 128 return(direction) ;
Rhyme 3:34d8706e1614 129 }
Rhyme 3:34d8706e1614 130
Rhyme 3:34d8706e1614 131 /** Get next positon to move to
Rhyme 3:34d8706e1614 132 * @param pos_type current where we are now
Rhyme 3:34d8706e1614 133 * @param int direction which way we'd like to move
Rhyme 3:34d8706e1614 134 * @returns the candidate positon for the next move
Rhyme 3:34d8706e1614 135 */
Rhyme 3:34d8706e1614 136 pos_type getNext(pos_type current, int direction)
Rhyme 3:34d8706e1614 137 {
Rhyme 3:34d8706e1614 138 pos_type next = current ;
Rhyme 3:34d8706e1614 139 switch(direction) {
Rhyme 3:34d8706e1614 140 case DIR_STAY:
Rhyme 3:34d8706e1614 141 break ;
Rhyme 3:34d8706e1614 142 case DIR_UP:
Rhyme 3:34d8706e1614 143 if (next.y > 0) {
Rhyme 3:34d8706e1614 144 next.y-- ;
Rhyme 3:34d8706e1614 145 }
Rhyme 3:34d8706e1614 146 break ;
Rhyme 3:34d8706e1614 147 case DIR_DOWN:
Rhyme 3:34d8706e1614 148 if (next.y < (MAZE_H - 1)) {
Rhyme 3:34d8706e1614 149 next.y++ ;
Rhyme 3:34d8706e1614 150 }
Rhyme 3:34d8706e1614 151 break ;
Rhyme 3:34d8706e1614 152 case DIR_RIGHT:
Rhyme 3:34d8706e1614 153 if (next.x < (MAZE_W - 1)) {
Rhyme 3:34d8706e1614 154 next.x++ ;
Rhyme 3:34d8706e1614 155 }
Rhyme 3:34d8706e1614 156 break ;
Rhyme 3:34d8706e1614 157 case DIR_LEFT:
Rhyme 3:34d8706e1614 158 if (next.x > 0) {
Rhyme 3:34d8706e1614 159 next.x-- ;
Rhyme 3:34d8706e1614 160 }
Rhyme 3:34d8706e1614 161 break ;
Rhyme 3:34d8706e1614 162 default:
Rhyme 3:34d8706e1614 163 break ;
Rhyme 3:34d8706e1614 164 }
Rhyme 3:34d8706e1614 165 return( next ) ;
Rhyme 3:34d8706e1614 166 }
Rhyme 3:34d8706e1614 167
Rhyme 3:34d8706e1614 168 /** Notice of the goal
Rhyme 3:34d8706e1614 169 */
Rhyme 3:34d8706e1614 170 void showGoal(void)
Rhyme 3:34d8706e1614 171 {
Rhyme 3:34d8706e1614 172 int x0, y0, x1, y1 ;
Rhyme 3:34d8706e1614 173 x0 = ((MAZE_W/2)-4) * CELL_W + LEFT_OFFSET ;
Rhyme 3:34d8706e1614 174 y0 = ((MAZE_H/2)-1) * CELL_H + TOP_OFFSET ;
Rhyme 3:34d8706e1614 175 x1 = ((MAZE_W/2)+4) * CELL_W + LEFT_OFFSET ;
Rhyme 3:34d8706e1614 176 y1 = ((MAZE_H/2)+1) * CELL_H + TOP_OFFSET ;
Rhyme 3:34d8706e1614 177
Rhyme 3:34d8706e1614 178 TFT.BusEnable(true) ;
Rhyme 3:34d8706e1614 179 // TFT.set_font((unsigned char*) Arial12x12);
Rhyme 3:34d8706e1614 180 TFT.set_font((unsigned char*) Terminal6x8) ;
Rhyme 3:34d8706e1614 181 TFT.fillrect(x0, y0, x1, y1, Blue) ;
Rhyme 3:34d8706e1614 182 TFT.rect(x0,y0,x1,y1, Yellow) ;
Rhyme 3:34d8706e1614 183 TFT.foreground(Red) ;
Rhyme 3:34d8706e1614 184 TFT.background(Blue) ;
Rhyme 3:34d8706e1614 185 x0 = ((MAZE_W/2) - 2) * CELL_W + LEFT_OFFSET ;
Rhyme 3:34d8706e1614 186 y0 = (MAZE_H/2) * CELL_H - 3 + TOP_OFFSET ;
Rhyme 3:34d8706e1614 187 TFT.locate(x0, y0) ;
Rhyme 3:34d8706e1614 188 TFT.printf("G O A L") ;
Rhyme 3:34d8706e1614 189 TFT.foreground(Yellow) ;
Rhyme 3:34d8706e1614 190 TFT.background(Black) ;
Rhyme 3:34d8706e1614 191 TFT.locate(30, 300) ;
Rhyme 3:34d8706e1614 192 // TFT.printf("Use FRDM touch slider") ;
Rhyme 3:34d8706e1614 193 TFT.printf(" Retry! ") ;
Rhyme 3:34d8706e1614 194 TFT.locate(5, 300) ;
Rhyme 3:34d8706e1614 195 TFT.printf("<< Prev") ;
Rhyme 3:34d8706e1614 196 TFT.locate(180, 300) ;
Rhyme 3:34d8706e1614 197 TFT.printf("Next >>") ;
Rhyme 3:34d8706e1614 198 TFT.BusEnable(false) ;
Rhyme 3:34d8706e1614 199 }
Rhyme 3:34d8706e1614 200
Rhyme 3:34d8706e1614 201 /** Check if we can move to the next position
Rhyme 3:34d8706e1614 202 * @param pos_type next the position we'd like to move next
Rhyme 3:34d8706e1614 203 * @returns if the position is empty (movable)
Rhyme 3:34d8706e1614 204 */
Rhyme 3:34d8706e1614 205 bool checkMove(pos_type next)
Rhyme 3:34d8706e1614 206 {
Rhyme 3:34d8706e1614 207 bool result = false ;
Rhyme 3:34d8706e1614 208
Rhyme 3:34d8706e1614 209 switch(maze[next.y][next.x]) {
Rhyme 3:34d8706e1614 210 case POS_PATH:
Rhyme 3:34d8706e1614 211 case POS_GOAL:
Rhyme 3:34d8706e1614 212 result = true ;
Rhyme 3:34d8706e1614 213 break ;
Rhyme 3:34d8706e1614 214 case POS_START:
Rhyme 3:34d8706e1614 215 case POS_WALL:
Rhyme 3:34d8706e1614 216 default:
Rhyme 3:34d8706e1614 217 result = false ;
Rhyme 3:34d8706e1614 218 break ;
Rhyme 3:34d8706e1614 219 }
Rhyme 3:34d8706e1614 220 return( result ) ;
Rhyme 3:34d8706e1614 221 }
Rhyme 3:34d8706e1614 222
Rhyme 3:34d8706e1614 223 /** main a simple maze program
Rhyme 3:34d8706e1614 224 */
Rhyme 3:34d8706e1614 225 void doMaze(void)
Rhyme 3:34d8706e1614 226 {
Rhyme 3:34d8706e1614 227 float res[3] ;
Rhyme 3:34d8706e1614 228 pos_type current, next, goal ;
Rhyme 3:34d8706e1614 229 int direction = DIR_STAY ;
Rhyme 3:34d8706e1614 230 int x, y ;
Rhyme 3:34d8706e1614 231
Rhyme 3:34d8706e1614 232 drawTFTMaze(&current, &goal) ;
Rhyme 3:34d8706e1614 233
Rhyme 3:34d8706e1614 234 for (;;) {
Rhyme 3:34d8706e1614 235 acc->getAccAllAxis(res) ;
Rhyme 3:34d8706e1614 236 direction = getDirection(res) ;
Rhyme 3:34d8706e1614 237 next = getNext(current, direction) ;
Rhyme 3:34d8706e1614 238 if ((!isSame(current, next)) && checkMove(next)) {
Rhyme 3:34d8706e1614 239 TFT.BusEnable(true) ;
Rhyme 3:34d8706e1614 240 x = current.x * CELL_W + LEFT_OFFSET ;
Rhyme 3:34d8706e1614 241 y = current.y * CELL_H + TOP_OFFSET ;
Rhyme 3:34d8706e1614 242 TFT.fillrect(x, y, x+CELL_W-1, y+CELL_H-1, Black) ;
Rhyme 3:34d8706e1614 243 x = next.x * CELL_W + LEFT_OFFSET ;
Rhyme 3:34d8706e1614 244 y = next.y * CELL_H + TOP_OFFSET ;
Rhyme 3:34d8706e1614 245 TFT.fillcircle(x+CELL_S, y+CELL_S, CELL_R, Green) ;
Rhyme 3:34d8706e1614 246 TFT.BusEnable(false) ;
Rhyme 3:34d8706e1614 247 current = next ;
Rhyme 3:34d8706e1614 248 if (isSame(next, goal)) {
Rhyme 3:34d8706e1614 249 break ; // goal in!
Rhyme 3:34d8706e1614 250 }
Rhyme 3:34d8706e1614 251 }
Rhyme 3:34d8706e1614 252 wait(0.1) ;
Rhyme 3:34d8706e1614 253 }
Rhyme 3:34d8706e1614 254 showGoal() ;
Rhyme 3:34d8706e1614 255 }