void linear_ccd_read(){
SI(0);
CLK(0);
_delay_us(1);
SI(1);
for(u8 n=0;n<128;n++)
{
_delay_us(1);
CLK(1);
SI(0);
_delay_us(1);
linear_ccd_buffer1[n]=AO1();
//linear_ccd_buffer2[n]=AO2();
CLK(0);
}
for(u8 y=0;y<128;y++)
{
linear_ccd_buffer1[y] = (linear_ccd_buffer1[y])*160 / 4095;
if(linear_ccd_buffer1[y] >= 160){
linear_ccd_buffer1[y] = 159;
}
}
moving_adverage();
//putting pixel on the monitor
for(u8 y=0;y<128;y +=1)
{
tft_put_pixel(y,linear_ccd_buffer1[y],GREEN);//put linear ccd1 pixels
//tft_put_pixel(y,(linear_ccd_buffer2[y]*80 / 4095)+80,GREEN);//put linear ccd2 pixels
}
for(u8 y=0;y<128;y+=1 )
{
tft_put_pixel(y,linear_ccd_buffer1[y],BLACK);//clear linear ccd1 pixels
//tft_put_pixel(y,(linear_ccd_buffer2[y]*80 / 4095)+80,BLACK);//clear linear ccd2 pixels
}
}
void linear_ccd_prints()
{ int y ;
int x ;
for(x=0;x<=127;x++)
{y= linear_ccd_buffer1[x];
tft_put_pixel(x,y, BLACK);}
tft_prints(2,4,"%d",find_white_line());
tft_update();
}
void linear_ccd_clear()
{ int y ;
int x ;
for(x=0;x<=127;x++)
{y= linear_ccd_buffer1[x];
tft_put_pixel(x,y, WHITE);}
tft_clear();
}
void print_ccd()
{
int y;
int x;
int avex;
int sum;
int max=0;
int min=159;
int mmin;
int mmax;
int count;
for(int i=0; i<128; ++i){
tft_put_pixel(i, linear_ccd_buffer1[i], BLACK);
x=i;
y=linear_ccd_buffer1[i];
max= (y>max)? y: max;
min = (y<min)? y :min;
/*if(whiteexists(max,min)){
sum+=i;
count=count+1;
tft_prints(1,1,"whiteline=1");
tft_update();
}else{
tft_prints(1,1,"whiteline=0");
tft_update();
//checkendstage(max,min);
}
//checkendstage(max,min);
}
tft_prints(2,2,"max=%d",max);
tft_update();
tft_prints(2,3,"min=%d",min);
tft_update();
avex=sum/count;
tft_prints(7,7,"avex=%d",avex);
tft_update();
//turnn(avex);*/
}
}
/**
* @brief System start interface display (to be called directly, delay exists)
* @param duration: the delay time (in ms) of this function
* @retval None
*/
void system_start(u16 duration)
{
const char* title = "Robocon 2015 Min System 1.2";
//led_control((LED) (LED_D1 | LED_D2 | LED_D3), LED_ON);
tft_clear();
char tmp[CHAR_MAX_X-1] = "";
tft_clear();
tft_prints(1, 1, "[HKUST]");
tft_prints(1, 2, "[Robotics Team]");
strncpy(tmp, title, tft_get_max_x_char()-2);
tft_prints(1, 4, "%s", tmp);
if (strlen(title) >= tft_get_max_x_char()-2) {
strncpy(tmp, &title[tft_get_max_x_char()-2], tft_get_max_x_char()-2);
tft_prints(1, 5, "%s", tmp);
}
tft_update();
buzzer_play_song(START_UP, 120, 0);
// Start-up battery check
//battery_adc_update();
u16 prev_text_color = tft_get_text_color(); // Temp color change
// tft_prints(0, 8, " Level: %d.%02dV", get_voltage() / 100, get_voltage() % 100);
/*
switch(battery_check()) {
case BATTERY_USB:
case BATTERY_OKAY:
// DO NOTHING
buzzer_play_song(START_UP, 120, 0);
tft_set_text_color(DARK_GREEN);
tft_prints(0, 7, " Battery OK");
break;
case BATTERY_LOW:
buzzer_set_note_period(get_note_period(NOTE_E, 7));
tft_set_text_color(ORANGE);
buzzer_control(5, 100);
tft_prints(0, 7, " LOW BATTERY!");
break;
case BATTERY_SUPER_LOW:
buzzer_set_note_period(get_note_period(NOTE_C, 7));
tft_set_text_color(RED);
buzzer_control(10, 50);
tft_prints(0, 7, " NO BATTERY!");
tft_update();
while(1) {
delay_nms(200);
//led_control((LED) (LED_D1 | LED_D2 | LED_D3), LED_OFF);
tft_clear_line(7);
tft_update();
delay_nms(200);
//led_control((LED) (LED_D1 | LED_D2 | LED_D3), LED_ON);
tft_prints(0, 7, " NO BATTERY!");
tft_update();
}
}*/
tft_update();
// Reset bg and text color
tft_set_text_color(prev_text_color);
/*
for (u16 i = 0; i < duration / 4; ++i) {
_delay_ms(4);
button_update();
if (button_pressed(BUTTON_JS2_CENTER) == 1) {
break;
}
}
led_control((LED) (LED_D1 | LED_D2 | LED_D3), LED_OFF);
}
*/
/**
* @brief Regular battery check (to be called every 10 seconds)
* @param None
* @retval None.
* @warning Low battery will NOT go into while loop.
*/
/*
void battery_regular_check(void)
{
switch(battery_check()) {
case BATTERY_USB:
case BATTERY_OKAY:
// DO NOTHING
break;
case BATTERY_LOW:
buzzer_set_note_period(get_note_period(NOTE_E, 7));
buzzer_control(2, 100);
break;
case BATTERY_SUPER_LOW:
buzzer_set_note_period(get_note_period(NOTE_E, 7));
buzzer_control(6, 200);
break;
}
}
*/
/**
* @brief Draw the battery icon on the top right corner of the TFT LCD monitor
* @param batt: The battery level in voltage times 10 (122 for 12.2V)
* @retval None
*/
static void draw_battery_icon(u16 batt)
{
u8 pos = (tft_get_orientation() % 2 ? MAX_HEIGHT : MAX_WIDTH);
u16 batt_color = 0, batt_boundary = 0;
u16 batt_w = 0;
if (batt > BATTERY_USB_LEVEL / 10) {
tft_prints(tft_get_max_x_char()-7, 0, "%2d.%d", batt/10, batt%10);
batt_color = batt <= 114 ? RED : (batt <= 120 ? ORANGE : GREEN);
batt_boundary = batt <= 114 ? RED : WHITE;
} else {
tft_prints(tft_get_max_x_char()-7, 0, " USB");
batt_color = SKY_BLUE;
batt_boundary = WHITE;
batt = 126;
}
pos = (tft_get_orientation() % 2 ? MAX_HEIGHT : MAX_WIDTH);
/* Convert battery level (110 to 126) to the pixel range (0 to 13) */
batt_w = (batt > 126 ? 13 : batt < 110 ? 0 : (batt-110)*13/16);
for (u8 i = 0; i < 13; i++) {
for (u8 j = 0; j < 6; j++) {
tft_put_pixel(pos-19+i, 5+j, i < batt_w ? batt_color : DARK_GREY);
}
}
// Top and bottom line
for (u8 i = 0; i < 17; i++) {
tft_put_pixel(pos-21+i, 3, batt_boundary);
tft_put_pixel(pos-21+i, 12, batt_boundary);
}
// Left and right line
for (u8 i = 0; i < 8; i++) {
tft_put_pixel(pos-21, 4+i, batt_boundary);
tft_put_pixel(pos-5, 4+i, batt_boundary);
}
// The right extra lines
for (u8 i = 0; i < 6; i++) {
tft_put_pixel(pos-4, 5+i, batt_boundary);
tft_put_pixel(pos-3, 5+i, batt_boundary);
}
}