[136] | 1 | #include "ArduinoRobot.h"
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| 2 | #include "Wire.h"
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| 3 |
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| 4 | #define BUFFPIXEL 20
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| 5 |
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| 6 | bool cmp(char* str1, char* str2, uint8_t len);
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| 7 | uint16_t read16(Fat16& f);
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| 8 | uint32_t read32(Fat16& f);
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| 9 | //uint16_t color565(uint8_t r, uint8_t g, uint8_t b);
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| 10 |
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| 11 | void RobotControl::beginTFT(uint16_t foreGround, uint16_t backGround){
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| 12 | //TFT initialization
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| 13 | Arduino_LCD::initB();
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| 14 | Arduino_LCD::fillScreen(backGround);
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| 15 | Arduino_LCD::setTextColor(foreGround);
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| 16 | Arduino_LCD::setTextSize(1);
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| 17 | this->foreGround=foreGround;
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| 18 | this->backGround=backGround;
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| 19 | }
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| 20 | void RobotControl::_enableLCD(){
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| 21 | DDRB = DDRB & 0xEF; //pinMode(CS_SD,INPUT);
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| 22 | DDRB = DDRB | 0x20; //pinMode(CS_LCD,OUTPUT);
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| 23 | }
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| 24 | /*void RobotControl::_setErase(uint8_t posX, uint8_t posY){
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| 25 | Arduino_LCD::setCursor(posX,posY);
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| 26 | Arduino_LCD::setTextColor(backGround);
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| 27 | Arduino_LCD::setTextSize(1);
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| 28 | }
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| 29 | void RobotControl::_setWrite(uint8_t posX, uint8_t posY){
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| 30 | Arduino_LCD::setCursor(posX,posY);
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| 31 | Arduino_LCD::setTextColor(foreGround);
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| 32 | Arduino_LCD::setTextSize(1);
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| 33 | }*/
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| 34 | /*
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| 35 | void RobotControl::text(int value, uint8_t posX, uint8_t posY, bool EW){
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| 36 | if(EW)
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| 37 | _setWrite(posX,posY);
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| 38 | else
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| 39 | _setErase(posX,posY);
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| 40 | Arduino_LCD::print(value);
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| 41 | }
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| 42 | void RobotControl::text(long value, uint8_t posX, uint8_t posY, bool EW){
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| 43 | if(EW)
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| 44 | _setWrite(posX,posY);
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| 45 | else
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| 46 | _setErase(posX,posY);
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| 47 | Arduino_LCD::print(value);
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| 48 | }
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| 49 | void RobotControl::text(char* value, uint8_t posX, uint8_t posY, bool EW){
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| 50 | if(EW)
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| 51 | _setWrite(posX,posY);
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| 52 | else
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| 53 | _setErase(posX,posY);
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| 54 | Arduino_LCD::print(value);
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| 55 | }
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| 56 | void RobotControl::text(char value, uint8_t posX, uint8_t posY, bool EW){
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| 57 | if(EW)
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| 58 | _setWrite(posX,posY);
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| 59 | else
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| 60 | _setErase(posX,posY);
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| 61 | Arduino_LCD::print(value);
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| 62 | }
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| 63 | */
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| 64 |
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| 65 | void RobotControl::debugPrint(long value, uint8_t x, uint8_t y){
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| 66 | static long oldVal=0;
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| 67 | Arduino_LCD::stroke(backGround);
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| 68 | text(oldVal,x,y);
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| 69 | Arduino_LCD::stroke(foreGround);
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| 70 | text(value,x,y);
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| 71 | oldVal=value;
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| 72 | }
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| 73 |
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| 74 | void RobotControl::clearScreen(){
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| 75 | Arduino_LCD::fillScreen(backGround);
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| 76 | }
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| 77 |
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| 78 | void RobotControl::drawBMP(char* filename, uint8_t x, uint8_t y){
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| 79 | /*for(int j=0;j<NUM_EEPROM_BMP;j++){
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| 80 | Serial.println(_eeprom_bmp[j].name);
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| 81 | Serial.print(" ");
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| 82 | Serial.print(_eeprom_bmp[j].address);
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| 83 | Serial.print(" ");
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| 84 | Serial.print(_eeprom_bmp[j].width);
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| 85 | Serial.print(" ");
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| 86 | Serial.println(_eeprom_bmp[j].height);
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| 87 | }
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| 88 | Serial.println();*/
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| 89 | if(_isEEPROM_BMP_Allocated){
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| 90 | for(int i=0;i<NUM_EEPROM_BMP;i++){
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| 91 | if(cmp(_eeprom_bmp[i].name,filename,7)){
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| 92 | /*Serial.println(_eeprom_bmp[i].name);
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| 93 | Serial.print(" ");
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| 94 | Serial.print(_eeprom_bmp[i].address);
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| 95 | Serial.print(" ");
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| 96 | Serial.print(_eeprom_bmp[i].width);
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| 97 | Serial.print(" ");
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| 98 | Serial.println(_eeprom_bmp[i].height);*/
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| 99 | _drawBMP(_eeprom_bmp[i].address,x,y,_eeprom_bmp[i].width,_eeprom_bmp[i].height);
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| 100 | return;
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| 101 | }
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| 102 | }
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| 103 | }else{
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| 104 | _drawBMP(filename,x,y);//goes to SD
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| 105 | }
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| 106 | }
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| 107 | bool cmp(char* str1, char* str2, uint8_t len){
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| 108 | for(uint8_t i=0;i<len;i++){
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| 109 | if(str1[i]==' ')break;
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| 110 | if(str1[i]!=str2[i])return false;
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| 111 | }
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| 112 | return true;
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| 113 | }
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| 114 |
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| 115 | void RobotControl::_drawBMP(uint32_t iconOffset, uint8_t x, uint8_t y, uint8_t width, uint8_t height){
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| 116 | uint8_t screenWidth=Arduino_LCD::width();
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| 117 | uint8_t screenHeight=Arduino_LCD::height();
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| 118 | if((x >= screenWidth) || (y >= screenHeight)) return;
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| 119 |
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| 120 | // Crop area to be loaded
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| 121 | if((x+width-1) >= screenWidth) width = screenWidth - x;
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| 122 | if((y+height-1) >= screenHeight) height = screenHeight - y;
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| 123 |
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| 124 | // Set TFT address window to clipped image bounds
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| 125 | Arduino_LCD::setAddrWindow(x, y, x+width-1, y+height-1);
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| 126 |
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| 127 | // launch the reading command
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| 128 | _drawBMP_EEPROM(iconOffset, width, height);
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| 129 | }
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| 130 |
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| 131 | // Draw BMP from SD card through the filename
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| 132 | void RobotControl::_drawBMP(char* filename, uint8_t posX, uint8_t posY){
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| 133 | uint8_t bmpWidth, bmpHeight; // W+H in pixels
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| 134 | uint8_t bmpDepth; // Bit depth (currently must be 24)
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| 135 | uint32_t bmpImageoffset; // Start of image data in file
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| 136 | uint32_t rowSize; // Not always = bmpWidth; may have padding
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| 137 | uint8_t sdbuffer[3*BUFFPIXEL]; // pixel buffer (R+G+B per pixel)
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| 138 | uint8_t buffidx = sizeof(sdbuffer); // Current position in sdbuffer
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| 139 | bool goodBmp = false; // Set to true on valid header parse
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| 140 | bool flip = true; // BMP is stored bottom-to-top
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| 141 | uint8_t w, h, row, col;
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| 142 | uint8_t r, g, b;
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| 143 | uint32_t pos = 0;
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| 144 |
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| 145 | // Open requested file on SD card
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| 146 | if ((file.open(filename,O_READ)) == NULL) {
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| 147 | return;
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| 148 | }
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| 149 |
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| 150 | // Parse BMP header
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| 151 | if(read16(file) == 0x4D42) { // BMP signature
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| 152 | read32(file);//uint32_t aux = read32(file);
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| 153 | (void)read32(file); // Read & ignore creator bytes
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| 154 | bmpImageoffset = read32(file); // Start of image data
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| 155 |
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| 156 | // Read DIB header
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| 157 | (void)read32(file);//aux = read32(file);
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| 158 | bmpWidth = read32(file);
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| 159 | bmpHeight = read32(file);
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| 160 |
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| 161 | if(read16(file) == 1) { // # planes -- must be '1'
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| 162 | bmpDepth = read16(file); // bits per pixel
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| 163 | if((bmpDepth == 24) && (read32(file) == 0)) { // 0 = uncompressed
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| 164 | goodBmp = true; // Supported BMP format -- proceed!
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| 165 |
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| 166 | // BMP rows are padded (if needed) to 4-byte boundary
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| 167 | rowSize = (bmpWidth * 3 + 3) & ~3;
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| 168 |
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| 169 | // If bmpHeight is negative, image is in top-down order.
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| 170 | // This is not canon but has been observed in the wild.
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| 171 | if(bmpHeight < 0) {
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| 172 | bmpHeight = -bmpHeight;
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| 173 | flip = false;
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| 174 | }
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| 175 |
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| 176 | // Crop area to be loaded
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| 177 | w = bmpWidth;
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| 178 | h = bmpHeight;
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| 179 |
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| 180 | // Start drawing
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| 181 | //_enableLCD();
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| 182 | Arduino_LCD::setAddrWindow(posX, posY, posX+bmpWidth-1, posY+bmpHeight-1);
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| 183 |
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| 184 | for (row=0; row<h; row++) { // For each scanline...
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| 185 | if(flip) // Bitmap is stored bottom-to-top order (normal BMP)
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| 186 | pos = bmpImageoffset + (bmpHeight - 1 - row) * rowSize;
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| 187 | else // Bitmap is stored top-to-bottom
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| 188 | pos = bmpImageoffset + row * rowSize;
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| 189 |
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| 190 | if(file.curPosition() != pos) { // Need seek?
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| 191 | //_enableSD();
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| 192 | file.seekSet(pos);
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| 193 | buffidx = sizeof(sdbuffer); // Force buffer reload
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| 194 | //_enableLCD();
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| 195 | }
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| 196 | for (col=0; col<w; col++) { // For each pixel...
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| 197 | // Time to read more pixel data?
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| 198 | if (buffidx >= sizeof(sdbuffer)) { // Indeed
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| 199 | //_enableSD();
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| 200 | file.read(sdbuffer, sizeof(sdbuffer));
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| 201 | buffidx = 0; // Set index to beginning
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| 202 | //_enableLCD();
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| 203 | }
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| 204 | // Convert pixel from BMP to TFT format, push to display
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| 205 | b = sdbuffer[buffidx++];
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| 206 | g = sdbuffer[buffidx++];
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| 207 | r = sdbuffer[buffidx++];
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| 208 |
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| 209 | int color = Arduino_LCD::Color565(r,g,b);
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| 210 |
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| 211 | Arduino_LCD::pushColor(color);
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| 212 | } // end pixel
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| 213 | } // end scanline
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| 214 | //_enableSD();
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| 215 | } // end goodBmp*/
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| 216 | }
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| 217 | }
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| 218 | file.close();
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| 219 | //_enableLCD();
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| 220 | }
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| 221 | uint16_t read16(Fat16& f) {
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| 222 | uint16_t result;
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| 223 | f.read(&result,sizeof(result));
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| 224 | return result;
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| 225 | }
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| 226 | uint32_t read32(Fat16& f) {
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| 227 | uint32_t result;
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| 228 | f.read(&result,sizeof(result));
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| 229 | return result;
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| 230 | }
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| 231 | /*
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| 232 | uint16_t color565(uint8_t r, uint8_t g, uint8_t b) {
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| 233 | return ((r & 0xF8) << 8) | ((g & 0xFC) << 3) | (b >> 3);
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| 234 | }*/
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| 235 |
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| 236 |
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| 237 | void RobotControl::_drawBMP_EEPROM(uint16_t address, uint8_t width, uint8_t height){
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| 238 | uint16_t u16retVal = 0;
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| 239 | EEPROM_I2C::_beginTransmission(address);
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| 240 | EEPROM_I2C::_endTransmission();
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| 241 | /*Wire.beginTransmission(DEVICEADDRESS);
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| 242 | Wire.write( (address >> 8) & 0xFF );
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| 243 | Wire.write( (address >> 0) & 0xFF );
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| 244 | Wire.endTransmission();*/
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| 245 |
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| 246 | long s = width * height ;
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| 247 | for(long j = 0; j < (long) s >> 4; j++) { // divided by 32, times 2
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| 248 | Wire.requestFrom(DEVICEADDRESS, 32);
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| 249 | for(int i = 0; i < 32; i+=2) {
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| 250 | u16retVal = Wire.read();
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| 251 | u16retVal = (u16retVal << 8) + Wire.read();
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| 252 | Arduino_LCD::pushColor(u16retVal);
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| 253 | }
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| 254 | }
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| 255 |
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| 256 | }
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| 257 | void RobotControl::beginBMPFromEEPROM(){
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| 258 | _eeprom_bmp=(EEPROM_BMP*)malloc(NUM_EEPROM_BMP*sizeof(EEPROM_BMP));
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| 259 | EEPROM_I2C::_beginTransmission(0);
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| 260 | EEPROM_I2C::_endTransmission();
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| 261 |
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| 262 | for(uint8_t j=0;j<NUM_EEPROM_BMP;j++){
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| 263 | Wire.requestFrom(DEVICEADDRESS, sizeof(EEPROM_BMP));
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| 264 | for(uint8_t i=0;i<8;i++){
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| 265 | _eeprom_bmp[j].name[i]=Wire.read();//name
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| 266 | }
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| 267 | _eeprom_bmp[j].width=Wire.read();//width
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| 268 | _eeprom_bmp[j].height=Wire.read();//height
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| 269 |
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| 270 | _eeprom_bmp[j].address=Wire.read();
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| 271 | _eeprom_bmp[j].address=_eeprom_bmp[j].address + (Wire.read() << 8);//address
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| 272 | }
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| 273 | _isEEPROM_BMP_Allocated=true;
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| 274 |
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| 275 | }
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| 276 | void RobotControl::endBMPFromEEPROM(){
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| 277 | free(_eeprom_bmp);
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| 278 | _isEEPROM_BMP_Allocated=false;
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| 279 | }
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