//触摸屏校准代码
//得到四个校准参数
void touch_adjust(void)
{
u16 tempVal[4][2]={0};
u16 adjPointX[4]={20,340,20,340};
u16 adjPointY[4]={20,20,220,220};
u8 i;
LCD_Clear(White);//清屏
LCD_SetBackColor(White);
LCD_SetTextColor(Black);
LCD_DisplayString(24,110,"点击屏幕上红点进行校准");
DelayMS(1000);
LCD_Clear(White);//清屏
LCD_SetTextColor(Red);
penPoint.keyState=Up;
AG: i=0;
do
{
LCD_DrawCircle(adjPointX[i],adjPointY[i],1);
LCD_DrawCircle(adjPointX[i],adjPointY[i],2);
LCD_DrawCircle(adjPointX[i],adjPointY[i],3);
LCD_DrawCircle(adjPointX[i],adjPointY[i],4);
if(penPoint.keyState==Down)
{
if(GetTouchValue())
{
tempVal[i][0]=penPoint.x;
tempVal[i][1]=penPoint.y;
LCD_Clear(White);//清屏
DelayMS(100);
i++;
}
}
penPoint.keyState=Up;
}while(i<4);
if(IsOk(tempVal)==0)goto AG;
penConfig.xfac=(float)(340-20)/(tempVal[1][0]-tempVal[0][0]);
penConfig.yfac=(float)(220-20)/(tempVal[3][1]-tempVal[0][1]);
penConfig.xoff=20-penConfig.xfac*tempVal[0][0];
penConfig.yoff=20-penConfig.yfac*tempVal[0][1];
LCD_Clear(White);//清屏
LCD_DisplayString(24,110,"屏幕校准成功");
save_adjdata();
DelayMS(1000);
LCD_Clear(White);//清屏
}
void DemoVector(void)
{
LCD_ClearScreen();
LCD_SetFillColor(1);
LCD_DrawRect(110,20,120,60,1);
LCD_DrawLine(0,0,127,0);
LCD_DrawLine(0,0,127,16);
LCD_DrawLine(0,0,127,32);
LCD_DrawLine(0,0,127,48);
LCD_DrawLine(0,0,127,63);
LCD_SetPenColor(1);
LCD_DrawCircle(63,31,31);
LCD_DrawCircle(8,50,5);
LCD_DrawEllipse(80,40, 30,10);
LCD_SetFillColor(0);
LCD_DrawRect(12,20,40,40,3);
LCD_SetFillColor(-1);
LCD_DrawRect(30,50,60,60,1);
}
void DrawWalls(void)
{
u32 i;
static u32 lineIndexOld;
if(lineIndex == 0) return;
for(i = 0; i < lineIndexOld; i++)
{
LCD_DrawUniLine(120-lineBufOld[i].StartX/lidarScale,
160+lineBufOld[i].StartY/lidarScale,
120-lineBufOld[i].EndX/lidarScale,
160+lineBufOld[i].EndY/lidarScale, BLACK);
LCD_DrawCircle(120-lineBufOld[i].StartX/lidarScale,
160+lineBufOld[i].StartY/lidarScale, 3, BLACK);
LCD_DrawCircle(120-lineBufOld[i].EndX/lidarScale,
160+lineBufOld[i].EndY/lidarScale, 3, BLACK);
}
for(i = 0; i < lineIndex; i++)
{
// line_t line2 = lineBuf[i], line;
// TwoPointsLine_LSQF(line2.Start, line.End, &line);
// // normalize line parameters
// float norm = sqrtf(line.A * line.A + line.B * line.B);
// line.A = line.A / norm;
// line.B = line.B / norm;
// line.C = line.C / norm;
LCD_DrawUniLine(120-lineBuf[i].StartX/lidarScale,
160+lineBuf[i].StartY/lidarScale,
120-lineBuf[i].EndX/lidarScale,
160+lineBuf[i].EndY/lidarScale, CYAN);
LCD_DrawCircle(120-lineBuf[i].StartX/lidarScale,
160+lineBuf[i].StartY/lidarScale, 3, MAGENTA);
LCD_DrawCircle(120-lineBuf[i].EndX/lidarScale,
160+lineBuf[i].EndY/lidarScale, 3, MAGENTA);
lineBufOld[i] = lineBuf[i];
}
lineIndexOld = lineIndex;
}
//--------------------------------------------------------------
void LCD_DrawFullCircle(uint16_t Xpos, uint16_t Ypos, uint16_t Radius, uint16_t color)
{
int32_t D; /* Decision Variable */
uint32_t CurX;/* Current X Value */
uint32_t CurY;/* Current Y Value */
D = 3 - (Radius << 1);
CurX = 0;
CurY = Radius;
while (CurX <= CurY)
{
if(CurY > 0)
{
LCD_DrawLine(Xpos - CurX, Ypos - CurY, 2*CurY, LCD_DIR_VERTICAL, color);
LCD_DrawLine(Xpos + CurX, Ypos - CurY, 2*CurY, LCD_DIR_VERTICAL, color);
}
if(CurX > 0)
{
LCD_DrawLine(Xpos - CurY, Ypos - CurX, 2*CurX, LCD_DIR_VERTICAL, color);
LCD_DrawLine(Xpos + CurY, Ypos - CurX, 2*CurX, LCD_DIR_VERTICAL, color);
}
if (D < 0)
{
D += (CurX << 2) + 6;
}
else
{
D += ((CurX - CurY) << 2) + 10;
CurY--;
}
CurX++;
}
LCD_DrawCircle(Xpos, Ypos, Radius, color);
}
void DrawFunction(int FuncArray[] , int Length)
{
int a,b,c;
a = FuncArray[0];
b = FuncArray[1];
c = FuncArray[2];
int Xpos,Ypos,math_x,math_y;
Xpos = 10;
Ypos = 10;
math_x =0;
math_y =0;
for(math_x=0;math_x<100;math_x++)
{
math_y = a*math_x*math_x + b*math_x + c;
LCD_DrawCircle(math_x+Xpos , math_y+Ypos , 1);
}
}
void drawCenter(){
LCD_SetTextColor(White);
uint16_t radius = CENTER_RADIUS;
while(radius != 0)
LCD_DrawCircle(CENTER_X, CENTER_Y, radius--);
}
int ts_test(void)
{
calibration_t cal;
tp_point_t point;
int cal_fd;
char cal_buffer[256];
char *tsdevice = NULL;
char *calfile = NULL;
unsigned int i;
int xtemp,ytemp;
int x,y;
/* Clear the LCD */
LCD_Clear(Blue);
get_sample (&cal, 0, 50, 50, "Top left");
get_sample (&cal, 1, XRES - 50, 50, "Top right");
get_sample (&cal, 2, XRES - 50, YRES - 50, "Bot right");
get_sample (&cal, 3, 50, YRES - 50, "Bot left");
get_sample (&cal, 4, XRES / 2, YRES / 2, "Center");
if (Tp_Calibration (&cal)) {
printf ("Calibration constants: ");
for (i = 0; i < 7; i++)
printf("%d ", cal.a [i]);
printf("\n\r");
sprintf (cal_buffer,"%d %d %d %d %d %d %d",
cal.a[0], cal.a[1], cal.a[2],
cal.a[3], cal.a[4], cal.a[5], cal.a[6]);
printf ("%d %d %d %d %d %d %d",
cal.a[1], cal.a[2], cal.a[0],
cal.a[4], cal.a[5], cal.a[3], cal.a[6]);
i = 0;
}
else {
printf("Calibration failed.\n\r");
i = -1;
}
while(1)
{
while(1){
if (pen_flag){
TpGetXY(&point);
LCD_Clear(White);
pen_flag = 0;
break;
}
}
cal.x[0] = point.x;
cal.y[0] = point.y;
printf("before Calibration x = %d y=%d\n\r",cal.x[0],cal.y[0]);
xtemp = cal.x[0];
ytemp = cal.y[0];
x = (int)(( cal.a[0] +
cal.a[1]*xtemp +
cal.a[2]*ytemp ) / cal.a[6]);
y = (int)(( cal.a[3] +
cal.a[4]*xtemp +
cal.a[5]*ytemp ) / cal.a[6]);
printf("after Calibration x = %d y=%d\n\r",x,y);
LCD_DrawCircle(x, y, 5, Red);
}
// close_framebuffer();
return i;
}
void GUI_Release(){ // create GUI
static int i, j; //indexes
//if z-index == 0 eq hide
for(j = 1; j < MAX_Z_INDEX; j++ ){
for(i = 0; i < MAX_OBJECTS_Q; i++){
if(GUI_Objects[i].z_index == j){
if(GUI_Objects[i].existance){
LCD_SetColorPixel(GUI_Objects[i].color); // set the font, color of font and the color of line
switch(GUI_Objects[i].type){
case LINE_TYPE:
LCD_DrawLine(GUI_Objects[i].params[0], GUI_Objects[i].params[1], GUI_Objects[i].params[2], GUI_Objects[i].params[3]);
break;
case VERTICAL_LINE_TYPE:
break;
case HORIZONTAL_LINE_TYPE:
DrawFastLineHorizontal(GUI_Objects[i].params[0], GUI_Objects[i].params[1], GUI_Objects[i].params[2]);
break;
case POLYGON_TYPE:
break;
case TEXT_STRING:
LCD_InitParams(0, GUI_Objects[i].params[6], GUI_Objects[i].color, (sFONT*) GUI_Objects[i].params[5]);
LCD_DisplayStringAt(GUI_Objects[i].params[0], GUI_Objects[i].params[1], (uint8_t*)GUI_Objects[i].params[2], (Text_AlignModeTypdef) GUI_Objects[i].params[3], (uint8_t)GUI_Objects[i].params[4]);
break;
case CIRCLE_TYPE:
LCD_DrawCircle(GUI_Objects[i].params[0], GUI_Objects[i].params[1], GUI_Objects[i].params[2]);
break;
case FILLED_CIRCLE_TYPE:
LCD_DrawFullCircle(GUI_Objects[i].params[0], GUI_Objects[i].params[1], GUI_Objects[i].params[2]);
break;
case FILLED_RECT_TYPE:
LCD_FillRect(GUI_Objects[i].params[0], GUI_Objects[i].params[1], GUI_Objects[i].params[2], GUI_Objects[i].params[3]);
break;
case RECT_TYPE:
LCD_DrawRect((uint16_t)GUI_Objects[i].params[0], (uint16_t)GUI_Objects[i].params[1], (uint16_t)GUI_Objects[i].params[2], (uint16_t)GUI_Objects[i].params[3]);
break;
case IMAGE_FAST_FILL:
LCD_Fill_Image((ImageInfo *)GUI_Objects[i].params[0], GUI_Objects[i].params[1], GUI_Objects[i].params[2]);
break;
case IMAGE_WITH_TRANSP:
LCD_Fill_ImageTRANSP((ImageInfo *)GUI_Objects[i].params[0], GUI_Objects[i].params[1], GUI_Objects[i].params[2]);
break;
case FILLED_TRIANGLE:
LCD_FillTriangle(GUI_Objects[i].params[0], GUI_Objects[i].params[1], GUI_Objects[i].params[2], GUI_Objects[i].params[3], GUI_Objects[i].params[4], GUI_Objects[i].params[5]);
break;
case FILLED_POLY:
LCD_FillPolygon((pPoint)GUI_Objects[i].params[0], (uint16_t)GUI_Objects[i].params[1]);
break;
case POLY_TYPE:
LCD_DrawPolygon((pPoint)GUI_Objects[i].params[0], (uint16_t)GUI_Objects[i].params[1]);
break;
case ROTATING_FILLED_POLY_TYPE:
StorePoly((pPoint)(GUI_Objects[i].params[0]),(uint16_t)(GUI_Objects[i].params[1]));
RotatePoly((pPoint)(GUI_Objects[i].params[0]), (uint16_t)(GUI_Objects[i].params[1]),(pPoint)GUI_Objects[i].params[2], GUI_Objects[i].params[3]);
LCD_FillPolygon((pPoint)GUI_Objects[i].params[0], (uint16_t)GUI_Objects[i].params[1]);
RestorePoly((pPoint)(GUI_Objects[i].params[0]),(uint16_t)(GUI_Objects[i].params[1]));
break;
}
}
}
}
}
}
/**
* @brief The main task for the LCD
* @param pvParameters:
* @retval None
*/
void lcdTask(void *pvParameters)
{
/* Initialize the hardware */
prvHardwareInit();
/* Display splash screen */
prvSplashScreen();
/* Make sure all channels have started up before we initialize the GUI */
while (!prvAllChanneAreDoneInitializing())
{
vTaskDelay(1 / portTICK_PERIOD_MS);
}
/* Initialize the GUI elements */
prvInitGuiElements();
xLCDEventQueue = xQueueCreate(10, sizeof(LCDEventMessage));
if (xLCDEventQueue == 0)
{
// Queue was not created and must not be used.
}
prvMainTextBoxRefreshTimer = xTimerCreate("MainTextBoxTimer", 10 / portTICK_PERIOD_MS, pdTRUE, 0, prvMainContainerRefreshTimerCallback);
if (prvMainTextBoxRefreshTimer != NULL)
xTimerStart(prvMainTextBoxRefreshTimer, portMAX_DELAY);
LCDEventMessage receivedMessage;
// GUITextBox_WriteString(GUITextBoxId_Clock, "14:15:12");
/* The parameter in vTaskDelayUntil is the absolute time
* in ticks at which you want to be woken calculated as
* an increment from the time you were last woken. */
TickType_t xNextWakeTime;
/* Initialize xNextWakeTime - this only needs to be done once. */
xNextWakeTime = xTaskGetTickCount();
while (1)
{
/* Wait for a message to be received or the timeout to happen */
if (xQueueReceive(xLCDEventQueue, &receivedMessage, 50) == pdTRUE)
{
/* Item successfully removed from the queue */
switch (receivedMessage.event)
{
/* New touch data received */
case LCDEvent_TouchEvent:
if (receivedMessage.data[3] == FT5206Point_1)
{
#if 0
/* DEBUG */
if (GUI_GetDisplayStateForTextBox(GUITextBoxId_Debug) == GUIDisplayState_NotHidden)
{
GUITextBox_SetWritePosition(GUITextBoxId_Debug, 5, 5);
GUITextBox_Clear(GUITextBoxId_Debug);
GUITextBox_WriteString(GUITextBoxId_Debug, "X:");
GUITextBox_WriteNumber(GUITextBoxId_Debug, receivedMessage.data[0]);
GUITextBox_WriteString(GUITextBoxId_Debug, ", Y:");
GUITextBox_WriteNumber(GUITextBoxId_Debug, receivedMessage.data[1]);
GUITextBox_WriteString(GUITextBoxId_Debug, ", EVENT:");
GUITextBox_WriteNumber(GUITextBoxId_Debug, receivedMessage.data[2]);
}
#endif
#if 0
/* Draw a dot on debug */
if (!prvDebugConsoleIsHidden)
{
LCD_SetForegroundColor(LCD_COLOR_GREEN);
LCD_DrawCircle(receivedMessage.data[0], receivedMessage.data[1], 2, 1);
}
#endif
GUITouchEvent touchEvent;
if (receivedMessage.data[2] == FT5206Event_PutUp)
touchEvent = GUITouchEvent_Up;
else if (receivedMessage.data[2] == FT5206Event_PutDown)
touchEvent = GUITouchEvent_Down;
/* Check all buttons */
GUIButton_CheckAllActiveForTouchEventAt(touchEvent, receivedMessage.data[0], receivedMessage.data[1]);
/* Check all text boxes */
GUITextBox_CheckAllActiveForTouchEventAt(touchEvent, receivedMessage.data[0], receivedMessage.data[1]);
/* Check all containers */
GUIContainer_CheckAllActiveForTouchEventAt(touchEvent, receivedMessage.data[0], receivedMessage.data[1]);
}
break;
/* New temperature data received */
case LCDEvent_TemperatureData:
memcpy(&prvTemperature, receivedMessage.data, sizeof(float));
int8_t currentTemp = (int8_t)prvTemperature - 11;
GUITextBox_Draw(GUITextBoxId_Temperature);
GUITextBox_SetWritePosition(GUITextBoxId_Temperature, 50, 3);
GUITextBox_WriteNumber(GUITextBoxId_Temperature, (int32_t)currentTemp);
GUITextBox_WriteString(GUITextBoxId_Temperature, " C");
break;
/* Debug message received */
case LCDEvent_DebugMessage:
GUITextBox_SetWritePosition(GUITextBoxId_Debug, 5, 5);
GUITextBox_Clear(GUITextBoxId_Debug);
GUITextBox_WriteNumber(GUITextBoxId_Debug, receivedMessage.data[0]);
GUITextBox_WriteString(GUITextBoxId_Debug, " - ");
GUITextBox_WriteString(GUITextBoxId_Debug, (uint8_t*)receivedMessage.data[1]);
break;
default:
break;
}
}
else
{
/* Timeout has occured i.e. no message available */
// HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_2);
/* Do something else */
}
}
}
/*
*********************************************************************************************************
* Description: Main function
* Arguments : None
* Returns : None
*********************************************************************************************************
*/
int main (void)
{
u8 key;
u8 x0,y0,x1,y1,x2,y2;
u8 r,a,b;
unsigned char flag;
tccolor=Blue;
SystemInit();
UART0_Init();
LCD_Init ();
LPC_GPIO0->FIODIR |= 0x00002C0; //P0.6 0.7 0.9 Output
LPC_GPIO2->FIODIR |= 0x00000FF; //P2.13 input P2.0...P2.7 Output
Touch_Init();
LCD_Color(0,0,239,239,White);
Load_Drow_Dialog();
LCD_Color(279,0,40,40,White);
while(1)
{
if(len==8)
{
len=0;
flag=data[6];
switch(flag)
{
case 0x01:
x0=data[0];y0=data[1];x1=data[2];y1=data[3];
pencolor=colorchange(data[7]);
LCD_Color(0,0,239,239,pencolor);
LCD_DrawLine(x0,y0,x1,y1);
break;
case 0x02:
x0=data[0];y0=data[1];x1=data[2];y1=data[3];x2=data[4];y2=data[5];
pencolor=colorchange(data[7]);
LCD_Color(0,0,239,239,pencolor);
LCD_DrawTriangle(x0,y0,x1,y1,x2,y2);
break;
case 0x03:
x0=data[0];y0=data[1];x1=data[2];y1=data[3];
pencolor=colorchange(data[7]);
LCD_Color(0,0,239,239,pencolor);
LCD_DrawRectangle(x0,y0,x1,y1);
break;
case 0x04:
x0=data[0];y0=data[1];r=data[2];
pencolor=colorchange(data[7]);
LCD_Color(0,0,239,239,pencolor);
LCD_DrawCircle(x0,y0,r);
break;
case 0x05:
x0=data[0];y0=data[1];a=data[2];b=data[3];
pencolor=colorchange(data[7]);
LCD_Color(0,0,239,239,pencolor);
LCD_DrawEllipse(x0,y0,a,b);
}
}
key = KEY_Scan();
if(Pen_Point.Key_Sta==Key_Down) //Touch screen is pressed
{
Pen_Int_Set(0); //Closed interrupt
do
{
Convert_Pos();
Pen_Point.Key_Sta=Key_Up;
// Draw_Big_Point(Pen_Point.X0,Pen_Point.Y0); //Drawing
if(Pen_Point.Y0>=240)
{
Load_Drow_Dialog();
switch(Pen_Point.X0/40)
{
case 0:LCD_Color(279,0,40,40,White);tccolor=Blue;break;
case 1:LCD_Color(279,40,40,40,White);tccolor=Yellow;break;
case 2:LCD_Color(279,80,40,40,White);tccolor=Green;break;
case 3:LCD_Color(279,120,40,40,White);tccolor=Red;break;
case 4:LCD_Color(279,160,40,40,White);tccolor=Purple;break;
case 5:LCD_Color(279,200,40,40,White);tccolor=Cyan;break;
}
}
/* else
{
LCD_Color(0,0,239,239,tccolor);
}*/
}while(PEN==0); //While the Touch screen is pressing
Pen_Int_Set(1); //Opene the interrupt
}
else
delay1ms(1);
}
}
void StartLidarDemo(void)
{
u32 i;
u32 j;
static u8 gridnum;
lidarScale = 25;
gridnum = 3;
while(1)
{
fps_time = 0;
//switch lidarScale
if(Touch_pressed)
{
switch(lidarScale)//8916 874 07 98
{
case 13:
{
lidarScale = 25;
gridnum = 3;
break;
}
case 25:
{
lidarScale = 50;
gridnum = 6;
break;
}
case 50:
{
lidarScale = 13;
gridnum = 1;
break;
}
}
LCD_Clear(BLACK);
Delay_Ms(200);
}
//draw onscreen info
LCD_DrawCircle(120,160,3,YELLOW);
LCD_DisplayStringLine(2," # AN DIHN LIDAR DEMO");
//lidar motor spinning rate in 1/10 of Hz
sprintf(stringBuf," # SPIN %.2u", lidarSpeed);
LCD_DisplayStringLine(220,stringBuf);
//draw grid circles
for(j=1;j<=gridnum;j++)
{
LCD_DrawCircle(120,160,j*1000/lidarScale,RGB(0x33,0x33,0x33));
}
//draw point cloud
for(i=0;i<360;i++)
{
if((lidarBuf[i].dist != lidarBufOld[i].dist))
{
PutPixel(120-(lidarBufOld[i].x / lidarScale),160+(lidarBufOld[i].y / lidarScale),BLACK);
//if(!lidarBuf[i].error)
{
if(!lidarBuf[i].warning)
{
PutPixel(120-(lidarBuf[i].x / lidarScale),160+(lidarBuf[i].y / lidarScale),GREEN);
}
else
{
PutPixel(120-(lidarBuf[i].x / lidarScale),160+(lidarBuf[i].y / lidarScale),YELLOW);
}
lidarBufOld[i].dist = lidarBuf[i].dist;
lidarBufOld[i].x = lidarBuf[i].x;
lidarBufOld[i].y = lidarBuf[i].y;
}
}
}
SearchWalls();
// DrawWalls();
//display refresh rate, in frames per second
if (fps_update > 20000)
{
sprintf(stringBuf, " # FPS %.3u", 100000/fps_time);
LCD_DisplayStringLine(207, stringBuf);
fps_update = 0;
}
//LCD_Clear(BLACK);
}
}
