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Merge from <feature-CLI>

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This commit is contained in:
but0n 2016-12-21 09:38:27 +08:00
commit 51354cadb8
6 changed files with 79 additions and 38 deletions
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28
libs/include/cli.h Normal file
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@ -0,0 +1,28 @@
#ifndef CLI_H
#define CLI_H
#include "uart.h"
#define BLOCK_WIDTH 2
#define BLOCK_HEIGHT 8
#define WIDTH 40
#define HEIGHT 40
#define CACHE_WIDTH WIDTH/BLOCK_WIDTH
#define CACHE_HEIGHT HEIGHT/BLOCK_HEIGHT
// ---
// |0 3|
// |1 4|
// |2 5|
// |6 7|
// ---
// #define BRAILLE_OFFSET 0x2800
// #define PIX(x) (1<<(x))
// #define MAP(bit) BRAILLE_OFFSET + (bit)
void cli_fresh();
void cli_drawBlock(unsigned char *uni);
void cli_drawSpot(unsigned char x, unsigned char y);
#endif

18
libs/include/drawille.h
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@ -1,18 +0,0 @@
#ifndef DRAWILLE_H
#define DRAWILLE_H
#include "uart.h"
// ---
// |0 3|
// |1 4|
// |2 5|
// |6 7|
// ---
// #define BRAILLE_OFFSET 0x2800
#define PIX(x) (1<<(x))
// #define MAP(bit) BRAILLE_OFFSET + (bit)
void draw(unsigned char uni);
#endif

1
libs/include/uart.h
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@ -11,5 +11,6 @@ void uart_sendStr(char * cmd);
uart_sendData(0x0D);\
uart_sendData(0x0A);\
}
#define UART_CLEAR() {uart_sendStr("\033[H\033[J");}
#endif

44
libs/source/cli.c Normal file
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@ -0,0 +1,44 @@
#include "cli.h"
#include "tty.h"
// Command Line Interface
// 1110 xxxx : 10xx xxxx : 10xx xxxx - UTF-8
// 0x2800 - braille unicode offset
// 0010 1000 : 0000 0000
const char cli_bitmap[BLOCK_HEIGHT][BLOCK_WIDTH] = {
{0x01, 0x08},
{0x02, 0x10},
{0x04, 0x20},
{0x40, 0x80}
};
unsigned char cli_cache[CACHE_HEIGHT][CACHE_WIDTH] = {};
void cli_fresh() {
for(unsigned char x = 0; x < CACHE_WIDTH; x++) {
for(unsigned char y = 0; y < CACHE_HEIGHT; y++) {
cli_drawBlock(&cli_cache[y][x]);
}
UART_CR();
}
}
void cli_drawBlock(unsigned char *uni) { //unicode to UTF-8
uart_sendData(0xE2); //First byte must be 0xE2
uart_sendData(0xA0 | ((*uni>>6) & 0b00000011));
uart_sendData(0x80 | (*uni & 0b00111111));
}
void cli_drawSpot(unsigned char x, unsigned char y) {
if((x < WIDTH)&&(y < HEIGHT)) {
// Get offset of block
unsigned char x_offset = x % BLOCK_WIDTH;
unsigned char y_offset = y % BLOCK_HEIGHT;
// Get position of block
x /= BLOCK_WIDTH;
y /= BLOCK_HEIGHT;
cli_cache[y][x] |= cli_bitmap[y_offset][x_offset];
}
}

18
libs/source/drawille.c
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@ -1,18 +0,0 @@
#include "drawille.h"
// 1110 xxxx : 10xx xxxx : 10xx xxxx - UTF-8
// 0x2800 - braille unicode offset
// 0010 1000 : 0000 0000
const char bitmap[2][4] = {
{0x01, 0x08},
{0x02, 0x10},
{0x04, 0x20},
{0x40, 0x80}
}
void draw(unsigned char uni) { //unicode to UTF-8
uart_sendData(0xE2); //First byte must be 0xE2
uart_sendData(0xA0 | ((uni>>6) & 0b00000011));
uart_sendData(0x80 | (uni & 0b00111111));
}

8
src/main.c
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@ -10,7 +10,7 @@
#include "wifi.h"
#include "pid.h"
#include "tty.h"
#include "drawille.h"
#include "cli.h"
#define Kp 100.0f //比例增益支配率(常量)
#define Ki 0.002f //积分增益支配率
@ -185,7 +185,11 @@ void uart_debugPID() {
void drawille_task() {
while(1) {
draw((PIX(0)|PIX(1)|PIX(2)|PIX(3)|PIX(4)|PIX(5)|PIX(6)|PIX(7)));
UART_CLEAR();
for(unsigned char x = 0; x< WIDTH; x++) {
cli_drawSpot(x,x);
}
cli_fresh();
}
}