139 lines
4.0 KiB
C
139 lines
4.0 KiB
C
/* RTOS_LD19.c
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* Jonathan Valvano
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* Nov 5, 2025
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* Remove 3.3V J101 jumper to run RTOS sensor board or motor board
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* A two-pin female header is required on the LaunchPad TP10(XDS_VCC) and TP9(!RSTN)
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*/
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#include <ti/devices/msp/msp.h>
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#include "../RTOS_Labs_common/LaunchPad.h"
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#include "../inc/Clock.h"
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#include "../RTOS_Labs_common/LD19.h"
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#include "../RTOS_Labs_common/SPI.h"
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#include "../RTOS_Labs_common/ST7735_SDC.h"
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#include "../RTOS_Labs_common/fixed.h"
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#include <stdio.h>
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uint16_t Data[540];
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int main1(void){
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__disable_irq();
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Clock_Init80MHz(0); // no clock out to pin
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LaunchPad_Init();
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LD19_Init(Data);
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__enable_irq();
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while(1){
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}
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}
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#define SCALE 1000 //(3 meters)
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#define IMIN 270
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#define IMAX 540
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const uint32_t Colors[8]={
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ST7735_CYAN, ST7735_MAGENTA, ST7735_YELLOW, ST7735_WHITE,
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((228 & 0xF8) << 8) | ((228 & 0xFC) << 3) | (228 >> 3), // light grey
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ST7735_GREEN,
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((255 & 0xF8) << 8) | ((102 & 0xFC) << 3) | (0 >> 3), // orange
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((106 & 0xF8) << 8) | ((13 & 0xFC) << 3) | (173 >> 3) // purple
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};
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int main2(void){
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__disable_irq();
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Clock_Init80MHz(0); // no clock out to pin
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LaunchPad_Init();
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SPI1_Init();
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ST7735_InitR(INITR_REDTAB); //INITR_REDTAB for AdaFruit, INITR_BLACKTAB for SPI HiLetgo ST7735R
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ST7735_FillScreen(ST7735_BLACK);
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ST7735_SetCursor(0, 0);
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ST7735_OutString("LD19 test\n");
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LD19_Init(Data);
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__enable_irq();
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while(1){
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for(int j=0; j<8; j++){
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for(int i=IMIN; i<IMAX; i++){
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uint32_t d = Data[i]; // mm
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if(d > SCALE) d = SCALE;
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uint32_t y = 191-(128*d)/SCALE;
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uint32_t x = (128*(i-IMIN))/(IMAX-IMIN);
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ST7735_DrawPixel(x, y,Colors[j]);
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}
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}
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if(LaunchPad_InS1()||LaunchPad_InS2()){
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ST7735_FillScreen(ST7735_BLACK);
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ST7735_SetCursor(0, 0);
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ST7735_OutString("LD19 test\n");
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while(LaunchPad_InS1()||LaunchPad_InS2()){
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Clock_Delay1ms(10);
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}
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}
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}
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}
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// plots 0 to 128
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// plots 32 to 159
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int main(void){
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__disable_irq();
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Clock_Init80MHz(0); // no clock out to pin
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LaunchPad_Init();
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SPI1_Init();
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ST7735_InitR(INITR_REDTAB); //INITR_REDTAB for AdaFruit, INITR_BLACKTAB for SPI HiLetgo ST7735R
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ST7735_FillScreen(ST7735_BLACK);
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ST7735_SetCursor(0, 0);
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ST7735_OutString("LD19 test\n");
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LD19_Init(Data);
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__enable_irq();
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while(1){
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for(int j=0; j<8; j++){
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for(int i=IMIN; i<IMAX; i++){
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int32_t d = Data[i]; // mm
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// 270 < i <539
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// -SCALE < d < +SCALE
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// sine cosine return -65536 to +65536
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int32_t y=(sin540(i)*d)>>16; // -SCALE < y < 0 because 270 < i <539
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int32_t x=(cos540(i)*d)>>16; // -SCALE < x < +SCALE
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int32_t ix = 64+(64*x)/SCALE; // 0 to 127
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if(ix<0)ix=0; if(ix>127) ix=127;
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int32_t iy = 32-(128*y)/SCALE;
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if(iy<32)iy=32; if(iy>159) iy=159;
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ST7735_DrawPixel(ix, iy,Colors[j]);
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}
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}
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if(LaunchPad_InS1()||LaunchPad_InS2()){
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ST7735_FillScreen(ST7735_BLACK);
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ST7735_SetCursor(0, 0);
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ST7735_OutString("LD19 test\n");
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while(LaunchPad_InS1()||LaunchPad_InS2()){
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Clock_Delay1ms(10);
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}
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}
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}
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}
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int main4(void){ // sin cos test
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__disable_irq();
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Clock_Init80MHz(0); // no clock out to pin
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LaunchPad_Init();
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SPI1_Init();
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ST7735_InitR(INITR_REDTAB); //INITR_REDTAB for AdaFruit, INITR_BLACKTAB for SPI HiLetgo ST7735R
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ST7735_FillScreen(ST7735_BLACK);
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ST7735_SetCursor(0, 0);
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ST7735_OutString("LD19 test\n");
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int32_t d = 900; // mm
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for(int i=IMIN; i<IMAX; i++){
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// if(d > SCALE) d = SCALE;
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// 270 < i <539
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// -SCALE < d < +SCALE
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// sine cosine return -65536 to +65536
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int32_t y=(sin540(i)*d)>>16; // -SCALE < y < 0 because 270 < i <539
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int32_t x=(cos540(i)*d)>>16; // -SCALE < x < +SCALE
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int32_t ix = 64+(64*x)/SCALE; // 0 to 127
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if(ix<0)ix=0; if(ix>127) ix=127;
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int32_t iy = 32-(128*y)/SCALE;
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if(iy<32)iy=32; if(iy>159) iy=159;
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ST7735_DrawPixel(ix, iy,Colors[0]);
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}
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while(1){};
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}
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