mirror of
https://gitlab.dit.htwk-leipzig.de/phillip.kuehne/dezibot.git
synced 2025-05-20 11:31:48 +02:00
Merge remote-tracking branch 'origin/release' into feature/#20-communication
This commit is contained in:
Anton Jacker
commit
2d01315d45
8
example/FindAFriend/FindAFriend/.theia/launch.json
Normal file
8
example/FindAFriend/FindAFriend/.theia/launch.json
Normal file
@ -0,0 +1,8 @@
|
||||
{
|
||||
// Use IntelliSense to learn about possible attributes.
|
||||
// Hover to view descriptions of existing attributes.
|
||||
"version": "0.2.0",
|
||||
"configurations": [
|
||||
|
||||
]
|
||||
}
|
||||
48
example/FindAFriend/FindAFriend/FindAFriend.ino
Normal file
48
example/FindAFriend/FindAFriend/FindAFriend.ino
Normal file
@ -0,0 +1,48 @@
|
||||
#include "Dezibot.h"
|
||||
|
||||
Dezibot dezibot = Dezibot();
|
||||
const int centeredThreshold = 50 ;
|
||||
|
||||
void setup() {
|
||||
// put your setup code here, to run once:
|
||||
dezibot.begin();
|
||||
Serial.begin(115200);
|
||||
}
|
||||
|
||||
void loop() {
|
||||
int32_t leftValue = (int32_t)dezibot.lightDetection.getAverageValue(IR_LEFT, 20, 1);
|
||||
int32_t rightValue = (int32_t)dezibot.lightDetection.getAverageValue(IR_RIGHT, 20, 1);
|
||||
switch(dezibot.lightDetection.getBrightest(IR)){
|
||||
case IR_FRONT:
|
||||
//correct Stearing to be centered
|
||||
if( abs(leftValue-rightValue)
|
||||
< centeredThreshold){
|
||||
dezibot.motion.move();
|
||||
}else{
|
||||
if (leftValue > rightValue){
|
||||
dezibot.motion.rotateAntiClockwise();
|
||||
} else{
|
||||
dezibot.motion.rotateClockwise();
|
||||
}
|
||||
}
|
||||
dezibot.multiColorLight.setTopLeds(BLUE);
|
||||
break;
|
||||
case IR_LEFT:
|
||||
dezibot.motion.rotateAntiClockwise();
|
||||
dezibot.multiColorLight.setTopLeds(RED);
|
||||
break;
|
||||
case IR_RIGHT:
|
||||
dezibot.motion.rotateClockwise();
|
||||
dezibot.multiColorLight.setTopLeds(GREEN);
|
||||
break;
|
||||
case IR_BACK:
|
||||
if(leftValue > rightValue){
|
||||
dezibot.motion.rotateAntiClockwise();
|
||||
} else {
|
||||
dezibot.motion.rotateClockwise();
|
||||
}
|
||||
dezibot.multiColorLight.setTopLeds(YELLOW);
|
||||
break;
|
||||
}
|
||||
//delay(100);
|
||||
}
|
||||
@ -0,0 +1,156 @@
|
||||
#include <Dezibot.h>
|
||||
#include <arduinoFFT.h>
|
||||
#include <rom/ets_sys.h>
|
||||
const uint16_t samples = 256; //This value MUST ALWAYS be a power of 2
|
||||
const int centeredThreshold = 50 ;
|
||||
//const float signalFrequency = 1000;
|
||||
const float samplingFrequency = 4000;
|
||||
float vReal[4][samples];
|
||||
float vImag[4][samples];
|
||||
#define SCL_INDEX 0x00
|
||||
#define SCL_TIME 0x01
|
||||
#define SCL_FREQUENCY 0x02
|
||||
#define SCL_PLOT 0x03
|
||||
|
||||
ArduinoFFT<float> FFT = ArduinoFFT<float>(vReal[0], vImag[0], samples, samplingFrequency); /* Create FFT object */
|
||||
|
||||
Dezibot dezibot = Dezibot();
|
||||
void setup() {
|
||||
dezibot.begin();
|
||||
Serial.begin(115200);
|
||||
//dezibot.infraredLight.front.turnOn();
|
||||
//dezibot.infraredLight.bottom.turnOn();
|
||||
}
|
||||
|
||||
void loop() {
|
||||
portDISABLE_INTERRUPTS();
|
||||
for(int i = 0; i < samples; i++){
|
||||
vReal[0][i] = dezibot.lightDetection.getValue(IR_FRONT);
|
||||
vImag[0][i] = 0.0;
|
||||
vReal[1][i] = dezibot.lightDetection.getValue(IR_LEFT);
|
||||
vImag[1][i] = 0.0;
|
||||
vReal[2][i] = dezibot.lightDetection.getValue(IR_RIGHT);
|
||||
vImag[2][i] = 0.0;
|
||||
vReal[3][i] = dezibot.lightDetection.getValue(IR_BACK);
|
||||
vImag[3][i] = 0.0;
|
||||
ets_delay_us(125);
|
||||
}
|
||||
|
||||
portENABLE_INTERRUPTS();
|
||||
//PrintVector(vReal, (samples>>1), 0);
|
||||
|
||||
//PrintVector(vReal, (samples>>1), 0);
|
||||
float frequency[4];
|
||||
float magnitude[4];
|
||||
for(int index = 0; index <4; index++){
|
||||
FFT.setArrays(vReal[index], vImag[index]);
|
||||
FFT.windowing(FFTWindow::Rectangle, FFTDirection::Forward); /* Weigh data */
|
||||
FFT.compute(FFTDirection::Forward); /* Compute FFT */
|
||||
FFT.complexToMagnitude(); /* Compute magnitudes */
|
||||
FFT.majorPeak(&frequency[index],&magnitude[index]);
|
||||
if(abs(frequency[index]-1147)>10){
|
||||
magnitude[index] = 0;
|
||||
}
|
||||
Serial.print(index);
|
||||
Serial.print(":");
|
||||
Serial.print(frequency[index]);
|
||||
Serial.print(",");
|
||||
Serial.print(index+4);
|
||||
Serial.print(":");
|
||||
Serial.print(magnitude[index]);
|
||||
if(index < 3){
|
||||
Serial.print(",");
|
||||
}
|
||||
Serial.println();
|
||||
}
|
||||
|
||||
//================================================
|
||||
float leftValue = magnitude[1];
|
||||
float rightValue = magnitude[2];
|
||||
switch(brightest(magnitude)){
|
||||
case IR_FRONT:
|
||||
//correct Stearing to be centered
|
||||
if( abs(leftValue-rightValue)
|
||||
< centeredThreshold){
|
||||
dezibot.motion.move();
|
||||
}else{
|
||||
if (leftValue > rightValue){
|
||||
dezibot.motion.rotateAntiClockwise();
|
||||
} else{
|
||||
dezibot.motion.rotateClockwise();
|
||||
}
|
||||
}
|
||||
dezibot.multiColorLight.setTopLeds(BLUE);
|
||||
break;
|
||||
case IR_LEFT:
|
||||
dezibot.motion.rotateAntiClockwise();
|
||||
dezibot.multiColorLight.setTopLeds(RED);
|
||||
break;
|
||||
case IR_RIGHT:
|
||||
dezibot.motion.rotateClockwise();
|
||||
dezibot.multiColorLight.setTopLeds(GREEN);
|
||||
break;
|
||||
case IR_BACK:
|
||||
if(leftValue > rightValue){
|
||||
dezibot.motion.rotateAntiClockwise();
|
||||
} else {
|
||||
dezibot.motion.rotateClockwise();
|
||||
}
|
||||
dezibot.multiColorLight.setTopLeds(YELLOW);
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
photoTransistors brightest(float *magnitudes){
|
||||
int pos;
|
||||
float maxMagnitude = 0;
|
||||
for(int index = 0; index <4; index++){
|
||||
if (magnitudes[index] > maxMagnitude){
|
||||
pos = index;
|
||||
maxMagnitude = magnitudes[index];
|
||||
}
|
||||
}
|
||||
switch (pos) {
|
||||
case 0:
|
||||
return IR_FRONT;
|
||||
case 1:
|
||||
return IR_LEFT;
|
||||
case 2:
|
||||
return IR_RIGHT;
|
||||
case 3:
|
||||
return IR_BACK;
|
||||
}
|
||||
}
|
||||
|
||||
void PrintVector(float *vData, uint16_t bufferSize, uint8_t scaleType)
|
||||
{
|
||||
for (uint16_t i = 0; i < bufferSize; i++)
|
||||
{
|
||||
float abscissa;
|
||||
/* Print abscissa value */
|
||||
switch (scaleType)
|
||||
{
|
||||
case SCL_INDEX:
|
||||
abscissa = (i * 1.0);
|
||||
break;
|
||||
case SCL_TIME:
|
||||
abscissa = ((i * 1.0) / samplingFrequency);
|
||||
break;
|
||||
case SCL_FREQUENCY:
|
||||
abscissa = ((i * 1.0 * samplingFrequency) / samples);
|
||||
break;
|
||||
}
|
||||
Serial.print(abscissa, 6);
|
||||
if(scaleType==SCL_FREQUENCY)
|
||||
Serial.print("Hz");
|
||||
Serial.print(" ");
|
||||
Serial.println(vData[i], 4);
|
||||
}
|
||||
Serial.println();
|
||||
}
|
||||
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@ -0,0 +1,19 @@
|
||||
#include "Dezibot.h"
|
||||
|
||||
Dezibot dezibot = Dezibot();
|
||||
void setup() {
|
||||
// put your setup code here, to run once:
|
||||
|
||||
dezibot.begin();
|
||||
dezibot.multiColorLight.turnOffLed();
|
||||
|
||||
}
|
||||
|
||||
void loop() {
|
||||
// put your main code here, to run repeatedly:
|
||||
if(dezibot.motionDetection.isShaken(1000,zAxis)){
|
||||
dezibot.multiColorLight.setTopLeds(0xFF0000);
|
||||
} else if(dezibot.motionDetection.isShaken(1000,xAxis|yAxis)) {
|
||||
dezibot.multiColorLight.setTopLeds(0x00FF00);
|
||||
}
|
||||
}
|
||||
37
example/IMU/Tilt_Detection/tilt_detection/tilt_detection.ino
Normal file
37
example/IMU/Tilt_Detection/tilt_detection/tilt_detection.ino
Normal file
@ -0,0 +1,37 @@
|
||||
#include "Dezibot.h"
|
||||
|
||||
Dezibot dezibot = Dezibot();
|
||||
|
||||
void setup() {
|
||||
// put your setup code here, to run once:
|
||||
Serial.begin(115200);
|
||||
dezibot.begin();
|
||||
}
|
||||
|
||||
void loop() {
|
||||
switch (dezibot.motionDetection.getTiltDirection()) {
|
||||
case Front:
|
||||
dezibot.multiColorLight.setTopLeds(GREEN);
|
||||
break;
|
||||
case Left:
|
||||
dezibot.multiColorLight.setTopLeds(YELLOW);
|
||||
break;
|
||||
case Right:
|
||||
dezibot.multiColorLight.setTopLeds(TURQUOISE);
|
||||
break;
|
||||
case Back:
|
||||
dezibot.multiColorLight.setTopLeds(BLUE);
|
||||
break;
|
||||
case Flipped:
|
||||
dezibot.multiColorLight.setTopLeds(PINK);
|
||||
break;
|
||||
case Neutral:
|
||||
dezibot.multiColorLight.turnOffLed();
|
||||
break;
|
||||
|
||||
case Error:
|
||||
dezibot.multiColorLight.setTopLeds(RED);
|
||||
break;
|
||||
}
|
||||
delay(100);
|
||||
}
|
||||
35
example/IRDirection/IRDirection/IRDirection.ino
Normal file
35
example/IRDirection/IRDirection/IRDirection.ino
Normal file
@ -0,0 +1,35 @@
|
||||
#include "Dezibot.h"
|
||||
|
||||
Dezibot dezibot = Dezibot();
|
||||
void setup() {
|
||||
// put your setup code here, to run once:
|
||||
dezibot.begin();
|
||||
Serial.begin(115200);
|
||||
}
|
||||
|
||||
void loop() {
|
||||
// put your main code here, to run repeatedly:
|
||||
Serial.print("Front:");
|
||||
Serial.print(dezibot.lightDetection.getAverageValue(IR_FRONT,20,1));
|
||||
Serial.print(",Left:");
|
||||
Serial.print(dezibot.lightDetection.getAverageValue(IR_LEFT,20,1));
|
||||
Serial.print(",Right:");
|
||||
Serial.print(dezibot.lightDetection.getAverageValue(IR_RIGHT,20,1));
|
||||
Serial.print(",Back:");
|
||||
Serial.println(dezibot.lightDetection.getAverageValue(IR_BACK,20,1));
|
||||
switch(dezibot.lightDetection.getBrightest(IR)){
|
||||
case IR_FRONT:
|
||||
dezibot.multiColorLight.setTopLeds(BLUE);
|
||||
break;
|
||||
case IR_LEFT:
|
||||
dezibot.multiColorLight.setTopLeds(RED);
|
||||
break;
|
||||
case IR_RIGHT:
|
||||
dezibot.multiColorLight.setTopLeds(GREEN);
|
||||
break;
|
||||
case IR_BACK:
|
||||
dezibot.multiColorLight.setTopLeds(YELLOW);
|
||||
break;
|
||||
}
|
||||
//delay(100);
|
||||
}
|
||||
17
example/advanced/FindAFriend/FindAFriend.ino
Normal file
17
example/advanced/FindAFriend/FindAFriend.ino
Normal file
@ -0,0 +1,17 @@
|
||||
#include "Dezibot.h"
|
||||
|
||||
Dezibot dezibot = Dezibot();
|
||||
const int centeredThreshold = 50 ;
|
||||
|
||||
void setup() {
|
||||
// put your setup code here, to run once:
|
||||
dezibot.begin();
|
||||
//Serial.begin(115200);
|
||||
dezibot.infraredLight.bottom.turnOn();
|
||||
dezibot.infraredLight.front.turnOn();
|
||||
}
|
||||
|
||||
void loop() {
|
||||
|
||||
//delay(100);
|
||||
}
|
||||
0
example/advanced/FindAFriend/FindAFriend/.gitkeep
Normal file
0
example/advanced/FindAFriend/FindAFriend/.gitkeep
Normal file
82
example/advanced/simpleMorse/simpleMorse.ino
Normal file
82
example/advanced/simpleMorse/simpleMorse.ino
Normal file
@ -0,0 +1,82 @@
|
||||
#include "Dezibot.h"
|
||||
|
||||
Dezibot dezibot = Dezibot();
|
||||
void setup() {
|
||||
// put your setup code here, to run once:
|
||||
dezibot.begin();
|
||||
}
|
||||
|
||||
void loop() {
|
||||
// put your main code here, to run repeatedly:
|
||||
delay(2000);
|
||||
dezibot.multiColorLight.setLed(ALL,dezibot.multiColorLight.color(100,0,0));
|
||||
delay(2000);
|
||||
dezibot.multiColorLight.turnOffLed(ALL);
|
||||
delay(2000);
|
||||
//dezibot.display.print("Starte Nachricht!");
|
||||
//delay(2000);
|
||||
//dezibot.display.clear();
|
||||
|
||||
// T
|
||||
longSignal(1);
|
||||
pauseLetter();
|
||||
// E
|
||||
shortSignal(1);
|
||||
pauseLetter();
|
||||
// S
|
||||
shortSignal(3);
|
||||
pauseLetter();
|
||||
// T
|
||||
longSignal(1);
|
||||
pauseLetter();
|
||||
|
||||
pauseWord();
|
||||
|
||||
//A
|
||||
shortSignal(1);
|
||||
longSignal(1);
|
||||
pauseLetter();
|
||||
//B
|
||||
longSignal(1);
|
||||
shortSignal(3);
|
||||
pauseLetter();
|
||||
//C
|
||||
longSignal(1);
|
||||
shortSignal(1);
|
||||
longSignal(1);
|
||||
shortSignal(1);
|
||||
|
||||
delay(2000);
|
||||
dezibot.multiColorLight.setLed(ALL,dezibot.multiColorLight.color(0,255,0));
|
||||
delay(2000);
|
||||
dezibot.multiColorLight.turnOffLed(ALL);
|
||||
delay(2000);
|
||||
//dezibot.display.print("Ende Nachricht!");
|
||||
//dezibot.display.clear();
|
||||
}
|
||||
|
||||
void shortSignal(int count){
|
||||
for(int i=0; i < count; i++){
|
||||
dezibot.motion.move();
|
||||
delay(1000);
|
||||
dezibot.motion.stop();
|
||||
delay(1000);
|
||||
}
|
||||
}
|
||||
|
||||
void longSignal(int count){
|
||||
for(int i=0; i < count; i++){
|
||||
dezibot.motion.move();
|
||||
delay(3000);
|
||||
dezibot.motion.stop();
|
||||
delay(1000);
|
||||
}
|
||||
}
|
||||
|
||||
void pauseLetter(){
|
||||
delay(2000);
|
||||
}
|
||||
|
||||
void pauseWord(){
|
||||
delay(6000);
|
||||
}
|
||||
393
example/display/Logo_und_Icon/Logo_und_Icon.ino
Normal file
393
example/display/Logo_und_Icon/Logo_und_Icon.ino
Normal file
@ -0,0 +1,393 @@
|
||||
/**************************************************************************
|
||||
This is an example for our Monochrome OLEDs based on SSD1306 drivers
|
||||
|
||||
Pick one up today in the adafruit shop!
|
||||
------> http://www.adafruit.com/category/63_98
|
||||
|
||||
This example is for a 128x32 pixel display using I2C to communicate
|
||||
3 pins are required to interface (two I2C and one reset).
|
||||
|
||||
Adafruit invests time and resources providing this open
|
||||
source code, please support Adafruit and open-source
|
||||
hardware by purchasing products from Adafruit!
|
||||
|
||||
Written by Limor Fried/Ladyada for Adafruit Industries,
|
||||
with contributions from the open source community.
|
||||
BSD license, check license.txt for more information
|
||||
All text above, and the splash screen below must be
|
||||
included in any redistribution.
|
||||
**************************************************************************/
|
||||
#include <Wire.h>
|
||||
#include <Adafruit_SSD1306.h>
|
||||
|
||||
#define SCREEN_WIDTH 128 // OLED display width, in pixels
|
||||
#define SCREEN_HEIGHT 64 // OLED display height, in pixels
|
||||
|
||||
Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, -1);
|
||||
|
||||
|
||||
#define LOGO_HEIGHT 64
|
||||
#define LOGO_WIDTH 128
|
||||
const unsigned char logo_bmp [] = {
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xF0, 0x3F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xF0, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xE0, 0x0F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xE0, 0x0F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xE0, 0x0F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xE0, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xF0, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xF0, 0x3F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xFC, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xFC, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xFC, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xFC, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xF0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0F, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xE1, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xC7, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFF, 0xC3, 0xFF, 0xFF, 0xC7, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFF, 0x40, 0x7F, 0xFF, 0x00, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFE, 0x00, 0x3F, 0xFE, 0x00, 0x3F, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFC, 0x3C, 0x3F, 0xFC, 0x3C, 0x3F, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFC, 0x7F, 0x1F, 0xF8, 0x7E, 0x1F, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0x83, 0xFC, 0xE7, 0x1F, 0xF8, 0xE7, 0x1F, 0xC1, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xF8, 0xE3, 0x9F, 0xF9, 0xC3, 0x9F, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xF8, 0xE3, 0x9F, 0xF8, 0xC3, 0x1F, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0x23, 0xF8, 0xFF, 0x1F, 0xF8, 0xFF, 0x1F, 0xC4, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFC, 0x7F, 0x1F, 0xF8, 0x7E, 0x1F, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFC, 0x1C, 0x3F, 0xFC, 0x1C, 0x3F, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0x00, 0x7F, 0xFE, 0x00, 0x7F, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0x01, 0xFF, 0xFF, 0x00, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFC, 0x62, 0x11, 0x8C, 0x42, 0x3F, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFC, 0x62, 0x11, 0x8C, 0x42, 0x3F, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xC0, 0x62, 0x11, 0x8C, 0x42, 0x07, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xC0, 0x00, 0x00, 0x00, 0x00, 0x07, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xE0, 0x00, 0x00, 0x00, 0x00, 0x0F, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xF0, 0x00, 0x00, 0x00, 0x00, 0x1F, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFF, 0x80, 0x00, 0x00, 0x01, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xFF, 0xF8, 0x1F, 0xFF, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC7, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x07, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0x80, 0x00, 0x00, 0x00, 0x00, 0x01, 0x07, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xF0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0F, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF
|
||||
};
|
||||
const unsigned char Banner [] = {
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0x00, 0xFF, 0xFC, 0x00, 0x0C, 0x00, 0x00, 0x43, 0x00, 0x3F, 0xFF, 0xF8, 0x7F, 0x80, 0x00, 0x00,
|
||||
0x00, 0x1F, 0xFC, 0x00, 0x0C, 0x00, 0x00, 0x43, 0x00, 0x0F, 0xFF, 0x80, 0x07, 0x80, 0x00, 0x00,
|
||||
0x00, 0x07, 0xFC, 0x00, 0x0C, 0x00, 0x00, 0x43, 0x00, 0x07, 0xFE, 0x00, 0x03, 0x80, 0x00, 0x00,
|
||||
0x00, 0x01, 0xFC, 0x00, 0x0C, 0x00, 0x00, 0x43, 0x00, 0x03, 0xFC, 0x00, 0x00, 0x80, 0x00, 0x00,
|
||||
0x0F, 0x00, 0xFC, 0x3F, 0xFF, 0xFF, 0xF0, 0x43, 0x0F, 0x03, 0xF8, 0x0F, 0x20, 0x7F, 0xE1, 0xFF,
|
||||
0x0F, 0xC0, 0x7C, 0x3F, 0xFF, 0xFF, 0xE0, 0x43, 0x0F, 0x83, 0xF0, 0x6F, 0x18, 0x3F, 0xE1, 0xFF,
|
||||
0x0F, 0xF0, 0x3C, 0x3F, 0xFF, 0xFF, 0xC0, 0xC3, 0x0F, 0xC1, 0xE0, 0xEF, 0x1C, 0x3F, 0xE1, 0xFF,
|
||||
0x0F, 0xF8, 0x1C, 0x3F, 0xFF, 0xFF, 0xC1, 0xC3, 0x0F, 0xC1, 0xE1, 0xEF, 0x3E, 0x1F, 0xE1, 0xFF,
|
||||
0x0F, 0xFC, 0x1C, 0x3F, 0xFF, 0xFF, 0x83, 0xC3, 0x0F, 0xC1, 0xC0, 0x00, 0x01, 0x0F, 0xE1, 0xFF,
|
||||
0x0F, 0xFE, 0x0C, 0x3F, 0xFF, 0xFF, 0x03, 0xC3, 0x0F, 0x81, 0xC4, 0x00, 0x00, 0x0F, 0xE1, 0xFF,
|
||||
0x0F, 0xFE, 0x0C, 0x3F, 0xFF, 0xFF, 0x07, 0xC3, 0x0F, 0x83, 0x85, 0xFF, 0xFE, 0x8F, 0xE1, 0xFF,
|
||||
0x0F, 0xFF, 0x0C, 0x3F, 0xFF, 0xFE, 0x0F, 0xC3, 0x0E, 0x03, 0x85, 0x87, 0x8E, 0x8F, 0xE1, 0xFF,
|
||||
0x0F, 0xFF, 0x0C, 0x00, 0x1F, 0xFC, 0x0F, 0xC3, 0x00, 0x07, 0x89, 0xA3, 0x06, 0x07, 0xE1, 0xFF,
|
||||
0x0F, 0xFF, 0x0C, 0x00, 0x1F, 0xF8, 0x1F, 0xC3, 0x00, 0x0F, 0x89, 0x83, 0x06, 0x07, 0xE1, 0xFF,
|
||||
0x0F, 0xFF, 0x0C, 0x00, 0x1F, 0xF8, 0x3F, 0xC3, 0x00, 0x07, 0x89, 0x87, 0x8E, 0x07, 0xE1, 0xFF,
|
||||
0x0F, 0xFF, 0x0C, 0x00, 0x1F, 0xF0, 0x3F, 0xC3, 0x00, 0x03, 0x89, 0xFF, 0xFE, 0x07, 0xE1, 0xFF,
|
||||
0x0F, 0xFF, 0x0C, 0x3F, 0xFF, 0xE0, 0x7F, 0xC3, 0x00, 0x01, 0x89, 0xFF, 0xFE, 0x07, 0xE1, 0xFF,
|
||||
0x0F, 0xFF, 0x0C, 0x3F, 0xFF, 0xE0, 0xFF, 0xC3, 0x0F, 0x80, 0x81, 0xFF, 0xFE, 0x0F, 0xE1, 0xFF,
|
||||
0x0F, 0xFE, 0x0C, 0x3F, 0xFF, 0xC1, 0xFF, 0xC3, 0x0F, 0xE0, 0xC5, 0x00, 0x06, 0x8F, 0xE1, 0xFF,
|
||||
0x0F, 0xFE, 0x1C, 0x3F, 0xFF, 0x81, 0xFF, 0xC3, 0x0F, 0xF0, 0x41, 0x00, 0x06, 0x0F, 0xE1, 0xFF,
|
||||
0x0F, 0xFC, 0x1C, 0x3F, 0xFF, 0x83, 0xFF, 0xC3, 0x0F, 0xF0, 0x40, 0xFF, 0xFC, 0x1F, 0xE1, 0xFF,
|
||||
0x0F, 0xF8, 0x3C, 0x3F, 0xFF, 0x07, 0xFF, 0xC3, 0x0F, 0xF0, 0x60, 0x00, 0x00, 0x1F, 0xE1, 0xFF,
|
||||
0x0F, 0xF0, 0x3C, 0x3F, 0xFE, 0x07, 0xFF, 0xC3, 0x0F, 0xF0, 0x70, 0xFF, 0xF8, 0x3F, 0xE1, 0xFF,
|
||||
0x0F, 0xC0, 0x7C, 0x3F, 0xFE, 0x0F, 0xFF, 0xC3, 0x0F, 0xE0, 0x70, 0x3F, 0xF0, 0x7F, 0xE1, 0xFF,
|
||||
0x00, 0x00, 0xFC, 0x00, 0x0C, 0x00, 0x00, 0x43, 0x0F, 0xC0, 0xF8, 0x0F, 0xC0, 0xFF, 0xE1, 0xFF,
|
||||
0x00, 0x01, 0xFC, 0x00, 0x0C, 0x00, 0x00, 0x43, 0x00, 0x00, 0xFC, 0x00, 0x01, 0xFF, 0xE1, 0xFF,
|
||||
0x00, 0x07, 0xFC, 0x00, 0x0C, 0x00, 0x00, 0x43, 0x00, 0x01, 0xFF, 0x00, 0x03, 0xFF, 0xE1, 0xFF,
|
||||
0x00, 0x1F, 0xFC, 0x00, 0x0C, 0x00, 0x00, 0x43, 0x00, 0x03, 0xFF, 0xC0, 0x1F, 0xFF, 0xE1, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF
|
||||
};
|
||||
|
||||
#define ICON_HEIGHT 64
|
||||
#define ICON_WIDTH 64
|
||||
|
||||
const unsigned char icon_1 [] = {
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xC1, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF0, 0xFF, 0xC1, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0,
|
||||
0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0,
|
||||
0xFE, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0xFC, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0x00,
|
||||
0xF8, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x00, 0xE0, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00,
|
||||
0xC0, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0x00, 0x00, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0x80, 0x00,
|
||||
0x00, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0x80, 0x20, 0x01, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0x80, 0x60,
|
||||
0x03, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0x81, 0xE0, 0x0F, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0x87, 0xE0,
|
||||
0x3F, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0x8F, 0xE0, 0xFF, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0xFF, 0xE0,
|
||||
0xFF, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0,
|
||||
0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0,
|
||||
0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0,
|
||||
0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0,
|
||||
0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0,
|
||||
0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0,
|
||||
0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0,
|
||||
0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0,
|
||||
0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0,
|
||||
0xFF, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0xFF, 0xE0,
|
||||
0xFF, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0xFF, 0xE0,
|
||||
0xFF, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0xFF, 0xE0,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF
|
||||
};
|
||||
const unsigned char icon_2 [] = {
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0x3F, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0x3F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0x3F, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0x3F, 0xFF, 0xFF, 0x87, 0xFF, 0xFF, 0xFF, 0xE0, 0x3F, 0xFF,
|
||||
0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xE0, 0x7F, 0xFF, 0xFE, 0x03, 0xFF, 0xFF, 0xFF, 0xFB, 0xFF, 0xFF,
|
||||
0xFE, 0x01, 0xFF, 0xFF, 0xFF, 0xFB, 0xFF, 0xFF, 0xFE, 0x01, 0xFF, 0xFF, 0xFF, 0xF3, 0xFF, 0xFF,
|
||||
0xFE, 0x03, 0xFF, 0xFF, 0xFF, 0xF3, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xF3, 0xFF, 0xFF,
|
||||
0xFF, 0x87, 0xFF, 0xFF, 0xFF, 0xF3, 0xFF, 0xFF, 0xFF, 0x9F, 0xFF, 0xFF, 0xFF, 0xF3, 0xFF, 0xFF,
|
||||
0xFF, 0x3F, 0xFF, 0xFF, 0xFF, 0xF7, 0xFF, 0xFF, 0xFF, 0x3F, 0xFF, 0xFF, 0xFF, 0xF7, 0xFF, 0xFF,
|
||||
0xFE, 0x7F, 0xFF, 0xFF, 0xFF, 0xE7, 0xFF, 0xFF, 0xFE, 0x7F, 0xFF, 0xFF, 0xFF, 0xE7, 0xFF, 0xC1,
|
||||
0xFE, 0x7F, 0xFF, 0xFF, 0xFF, 0xE7, 0xFF, 0x80, 0xFC, 0xFF, 0xFF, 0xFF, 0xFF, 0xE7, 0xFF, 0x80,
|
||||
0xFC, 0xFF, 0xFF, 0xFF, 0xFF, 0xEF, 0xFF, 0x80, 0xFD, 0xFF, 0xFF, 0xFF, 0xFF, 0xEF, 0xFF, 0x00,
|
||||
0xF9, 0xFF, 0xFF, 0xFF, 0xFF, 0xEF, 0xFC, 0x00, 0xF9, 0xFF, 0xFF, 0xFF, 0xFF, 0xCF, 0xF0, 0xC1,
|
||||
0xF3, 0xFF, 0xFF, 0xFF, 0xFF, 0xCF, 0xC3, 0xFF, 0xF3, 0xFF, 0xFF, 0xFF, 0xFF, 0x87, 0x0F, 0xFF,
|
||||
0xF3, 0xFF, 0xFF, 0xFF, 0xFE, 0x00, 0x3F, 0xFF, 0xE7, 0xFF, 0xFF, 0xFF, 0xFE, 0x00, 0xFF, 0xFF,
|
||||
0x83, 0xFF, 0xFF, 0xFF, 0xFE, 0x01, 0xFF, 0xFF, 0x01, 0xFF, 0xFF, 0xFF, 0xF8, 0x01, 0xFF, 0xFF,
|
||||
0x01, 0xFF, 0xFC, 0x0F, 0x80, 0x03, 0xFF, 0xFF, 0x01, 0xFF, 0xFC, 0x00, 0x0F, 0x03, 0xFF, 0xFF,
|
||||
0x01, 0xFF, 0xF8, 0x00, 0xFF, 0x8F, 0xFF, 0xFF, 0x01, 0xFF, 0xF8, 0x07, 0xFF, 0xCF, 0xFF, 0xFF,
|
||||
0x03, 0xFF, 0xF8, 0x07, 0xFF, 0xCF, 0xFF, 0xFF, 0xC7, 0xFF, 0xFC, 0x07, 0xFF, 0xCF, 0xFF, 0xFF,
|
||||
0xF3, 0xFF, 0xFE, 0x0F, 0xFF, 0xEF, 0xFF, 0xFF, 0xF3, 0xFF, 0xFC, 0xFF, 0xFF, 0xEF, 0xFF, 0xFF,
|
||||
0xF9, 0xFF, 0xFC, 0xFF, 0xFF, 0xEF, 0xFF, 0xFF, 0xF9, 0xFF, 0xF9, 0xFF, 0xFF, 0xEF, 0xFF, 0xFF,
|
||||
0xF9, 0xFF, 0xF9, 0xFF, 0xFF, 0xE7, 0xFF, 0xFF, 0xFC, 0xFF, 0xF3, 0xFF, 0xFF, 0xE7, 0xFF, 0xFF,
|
||||
0xFC, 0xFF, 0xE3, 0xFF, 0xFF, 0xE7, 0xFF, 0xFF, 0xFE, 0x7F, 0xE7, 0xFF, 0xFF, 0xE7, 0xFF, 0xFF,
|
||||
0xFE, 0x7F, 0xC7, 0xFF, 0xFF, 0xE7, 0xFF, 0xFF, 0xFE, 0x7F, 0xCF, 0xFF, 0xFF, 0xE1, 0xFF, 0xFF,
|
||||
0xFF, 0x3F, 0x9F, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0x3F, 0x9F, 0xFF, 0xFF, 0x80, 0x7F, 0xFF,
|
||||
0xFF, 0x9F, 0x3F, 0xFF, 0xFF, 0x80, 0x7F, 0xFF, 0xFF, 0x9F, 0x3F, 0xFF, 0xFF, 0x80, 0x7F, 0xFF,
|
||||
0xFF, 0x9E, 0x7F, 0xFF, 0xFF, 0x80, 0x7F, 0xFF, 0xFF, 0xCE, 0x7F, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF,
|
||||
0xFF, 0xCC, 0xFF, 0xFF, 0xFF, 0xE1, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xC0, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xC0, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xC0, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF
|
||||
};
|
||||
|
||||
const unsigned char icon_3 [] = {
|
||||
0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0x00, 0x00, 0x03, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xC0, 0x00, 0x00, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0x00, 0x00, 0x07, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xF0, 0x00, 0x00, 0x0F, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x1F, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFC, 0x00, 0x00, 0x3F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0x00, 0x00, 0x7F, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x80, 0x01, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xC0, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0x07, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xF0, 0x0F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x1F, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFC, 0x3F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0x7F, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xF0, 0x00, 0x00, 0x0F, 0xFF, 0xFF, 0xFF, 0xFF, 0x80, 0x00, 0x00, 0x01, 0xFF, 0xFF,
|
||||
0xFF, 0xFE, 0x00, 0x1C, 0x18, 0x00, 0xFF, 0xFF, 0xFF, 0xFE, 0x01, 0xFC, 0x1F, 0x00, 0x7F, 0xFF,
|
||||
0xFF, 0xFE, 0x03, 0xFC, 0x1F, 0x81, 0xFF, 0xFF, 0xFF, 0xFE, 0x00, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0x00, 0x04, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x80, 0x00, 0x00, 0x3F, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x00, 0x00, 0x7F, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0x00, 0x3F, 0xFF, 0xFF, 0xFF, 0x07, 0xFC, 0x1F, 0xC0, 0x3F, 0xFF,
|
||||
0xFF, 0xFC, 0x03, 0xFC, 0x1F, 0xC0, 0x3F, 0xFF, 0xFF, 0xFC, 0x00, 0xFC, 0x1F, 0x80, 0x3F, 0xFF,
|
||||
0xFF, 0xFE, 0x00, 0x0C, 0x10, 0x00, 0x7F, 0xFF, 0xFF, 0xFF, 0x80, 0x00, 0x00, 0x01, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF
|
||||
};
|
||||
const unsigned char icon_4 [] = {
|
||||
0x3F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFD, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8,
|
||||
0x8F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF1, 0xC7, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3,
|
||||
0xE3, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC7, 0xF1, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x8F,
|
||||
0xF8, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x1F, 0xFC, 0x7F, 0xF7, 0xFF, 0xFF, 0xEF, 0xFE, 0x3F,
|
||||
0xFE, 0x3F, 0xF7, 0xFF, 0xFF, 0xEF, 0xFC, 0x7F, 0xFF, 0x1F, 0xF7, 0xFF, 0xFF, 0xEF, 0xF8, 0xFF,
|
||||
0xFF, 0x8F, 0xF7, 0xFF, 0xFF, 0xEF, 0xF1, 0xFF, 0xFF, 0xC7, 0xF7, 0xFF, 0xFF, 0xEF, 0xE3, 0xFF,
|
||||
0xFF, 0xE3, 0xF7, 0xFF, 0xFF, 0xEF, 0xC7, 0xFF, 0xFF, 0xF1, 0xF7, 0xFF, 0xFF, 0xEF, 0x8F, 0xFF,
|
||||
0xFF, 0xF8, 0xF7, 0xFF, 0xFF, 0xEF, 0x1F, 0xFF, 0xFF, 0xFC, 0x77, 0xFF, 0xFF, 0xEE, 0x3F, 0xFF,
|
||||
0xFF, 0xFE, 0x37, 0xFF, 0xFF, 0xEC, 0x7F, 0xFF, 0xFF, 0xFF, 0x17, 0xFF, 0xFF, 0xE8, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0x87, 0xFF, 0xFF, 0xE1, 0xFF, 0xFF, 0xFF, 0xFF, 0xC7, 0xFF, 0xFF, 0xE3, 0xFF, 0xFF,
|
||||
0xFE, 0x00, 0x07, 0xFF, 0xFF, 0xC0, 0x00, 0x7F, 0xFF, 0xFF, 0xF7, 0xFF, 0xFF, 0xEF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x0F, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xF8, 0x0F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x0F, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xF8, 0x07, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x0F, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0x00, 0x07, 0xFF, 0xFF, 0xE0, 0x00, 0x7F,
|
||||
0xFF, 0xFF, 0xC7, 0xFF, 0xFF, 0xE7, 0xFF, 0xFF, 0xFF, 0xFF, 0x87, 0xFF, 0xFF, 0xE1, 0xFF, 0xFF,
|
||||
0xFF, 0xFF, 0x17, 0xFF, 0xFF, 0xE8, 0xFF, 0xFF, 0xFF, 0xFE, 0x37, 0xFF, 0xFF, 0xEC, 0x7F, 0xFF,
|
||||
0xFF, 0xFC, 0x77, 0xFF, 0xFF, 0xEE, 0x3F, 0xFF, 0xFF, 0xF8, 0xF7, 0xFF, 0xFF, 0xEF, 0x1F, 0xFF,
|
||||
0xFF, 0xF1, 0xF7, 0xFF, 0xFF, 0xEF, 0x8F, 0xFF, 0xFF, 0xE3, 0xF7, 0xFF, 0xFF, 0xEF, 0xC7, 0xFF,
|
||||
0xFF, 0xC7, 0xF7, 0xFF, 0xFF, 0xEF, 0xE3, 0xFF, 0xFF, 0x8F, 0xF7, 0xFF, 0xFF, 0xEF, 0xF1, 0xFF,
|
||||
0xFF, 0x1F, 0xF7, 0xFF, 0xFF, 0xEF, 0xF8, 0xFF, 0xFE, 0x3F, 0xF7, 0xFF, 0xFF, 0xEF, 0xFC, 0x7F,
|
||||
0xFC, 0x7F, 0xF7, 0xFF, 0xFF, 0xEF, 0xFE, 0x3F, 0xF8, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x1F,
|
||||
0xF1, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x8F, 0xE3, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC7,
|
||||
0xC7, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0x8F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF1,
|
||||
0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0xBF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFD
|
||||
};
|
||||
|
||||
void setup() {
|
||||
Wire.begin(1,2);
|
||||
display.begin(SSD1306_SWITCHCAPVCC, 0x3C);
|
||||
|
||||
}
|
||||
|
||||
void loop() {
|
||||
|
||||
display.invertDisplay(true);
|
||||
drawlogo();
|
||||
delay(3000);
|
||||
drawbanner();
|
||||
delay(3000);
|
||||
jiaText();
|
||||
|
||||
}
|
||||
|
||||
|
||||
void jiaText(void) {
|
||||
display.invertDisplay(false);
|
||||
display.clearDisplay();
|
||||
display.setCursor(0, 0);
|
||||
display.setTextColor(WHITE);
|
||||
display.setTextSize(2); // Draw 2X-scale text
|
||||
display.println("Hallo \nJunior-\nIngenieur-\nAkademie!");
|
||||
display.display(); // Show initial text
|
||||
delay(3000);
|
||||
|
||||
display.stopscroll();
|
||||
|
||||
|
||||
}
|
||||
|
||||
void drawlogo(void) {
|
||||
display.clearDisplay();
|
||||
|
||||
display.drawBitmap(
|
||||
(display.width() - LOGO_WIDTH ) / 2,
|
||||
(display.height() - LOGO_HEIGHT) / 2,
|
||||
logo_bmp, LOGO_WIDTH, LOGO_HEIGHT, 1);
|
||||
display.display();
|
||||
|
||||
}
|
||||
void drawbanner(void) {
|
||||
display.clearDisplay();
|
||||
|
||||
display.drawBitmap(
|
||||
(display.width() - LOGO_WIDTH ) / 2,
|
||||
(display.height() - LOGO_HEIGHT) / 2,
|
||||
Banner, LOGO_WIDTH, LOGO_HEIGHT, 1);
|
||||
display.display();
|
||||
|
||||
}
|
||||
void drawicon1(void){
|
||||
display.clearDisplay();
|
||||
|
||||
display.drawBitmap(
|
||||
(display.width() - ICON_WIDTH) / 2,
|
||||
(display.height() - ICON_HEIGHT) /2,
|
||||
icon_1, ICON_WIDTH, ICON_HEIGHT, 1);
|
||||
display.display();
|
||||
}
|
||||
void drawicon2(void){
|
||||
display.clearDisplay();
|
||||
|
||||
display.drawBitmap(
|
||||
(display.width() - ICON_WIDTH) / 2,
|
||||
(display.height() - ICON_HEIGHT) /2,
|
||||
icon_2, ICON_WIDTH, ICON_HEIGHT, 1);
|
||||
display.display();
|
||||
}
|
||||
void drawicon3(void){
|
||||
display.clearDisplay();
|
||||
|
||||
display.drawBitmap(
|
||||
(display.width() - ICON_WIDTH) / 2,
|
||||
(display.height() - ICON_HEIGHT) /2,
|
||||
icon_3, ICON_WIDTH, ICON_HEIGHT, 1);
|
||||
display.display();
|
||||
}
|
||||
void drawicon4(void){
|
||||
display.clearDisplay();
|
||||
|
||||
display.drawBitmap(
|
||||
(display.width() - ICON_WIDTH) / 2,
|
||||
(display.height() - ICON_HEIGHT) /2,
|
||||
icon_4, ICON_WIDTH, ICON_HEIGHT, 1);
|
||||
display.display();
|
||||
}
|
||||
17
example/display/basic/basic/basic.ino
Normal file
17
example/display/basic/basic/basic.ino
Normal file
@ -0,0 +1,17 @@
|
||||
#include "Dezibot.h"
|
||||
|
||||
Dezibot dezibot = Dezibot();
|
||||
void setup() {
|
||||
// put your setup code here, to run once:
|
||||
dezibot.begin();
|
||||
}
|
||||
|
||||
void loop() {
|
||||
// put your main code here, to run repeatedly:
|
||||
dezibot.display.print("Hello from\nDezibot!");
|
||||
delay(5000);
|
||||
dezibot.display.clear();
|
||||
dezibot.display.print("Bye!");
|
||||
delay(5000);
|
||||
dezibot.display.clear();
|
||||
}
|
||||
@ -1,12 +0,0 @@
|
||||
#include <Dezibot.h>
|
||||
|
||||
|
||||
|
||||
Dezibot dezibot = Dezibot();
|
||||
|
||||
void setup() {
|
||||
dezibot.begin();
|
||||
}
|
||||
|
||||
void loop() {
|
||||
}
|
||||
@ -1,16 +0,0 @@
|
||||
#include <Dezibot.h>
|
||||
|
||||
Dezibot dezibot = Dezibot();
|
||||
|
||||
void setup() {
|
||||
dezibot.begin();
|
||||
//dezibot.infraredLight.front.turnOn();
|
||||
//dezibot.infraredLight.bottom.turnOn();
|
||||
}
|
||||
|
||||
void loop() {
|
||||
dezibot.infraredLight.bottom.turnOn();
|
||||
delay(1000);
|
||||
dezibot.infraredLight.bottom.turnOff();
|
||||
delay(1000);
|
||||
}
|
||||
@ -2,6 +2,10 @@
|
||||
Dezibot dezibot = Dezibot();
|
||||
void setup() {
|
||||
dezibot.begin();
|
||||
<<<<<<< HEAD:example/motion_indicating/motion_indicating.ino
|
||||
=======
|
||||
Serial.begin(115200);
|
||||
>>>>>>> remotes/origin/feature/#9-display:example/motion/motion.ino
|
||||
}
|
||||
void loop() {
|
||||
dezibot.motion.move(1000);
|
||||
|
||||
@ -1,23 +1,22 @@
|
||||
//
|
||||
// Created by Anton Jacker on 24.11.23.
|
||||
//
|
||||
|
||||
#define SDA_PIN 1
|
||||
#define SCL_PIN 2
|
||||
|
||||
#include "Dezibot.h"
|
||||
#include <SPI.h>
|
||||
|
||||
#include <Adafruit_NeoPixel.h>
|
||||
|
||||
|
||||
|
||||
#include <Wire.h>
|
||||
|
||||
#define GPIO_LED 48
|
||||
|
||||
void Dezibot::begin(void) {
|
||||
Wire.begin(SDA_PIN,SCL_PIN);
|
||||
infraredLight.begin();
|
||||
lightDetection.begin();
|
||||
motion.begin();
|
||||
lightDetection.begin();
|
||||
colorDetection.begin();
|
||||
multiColorLight.begin();
|
||||
motionDetection.begin();
|
||||
infraredLight.begin();
|
||||
}
|
||||
display.begin();
|
||||
};
|
||||
|
||||
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
/**
|
||||
* @file Dezibot.h
|
||||
* @author your name (you@domain.com)
|
||||
* @author Hans Haupt, Jens Wagner, Anina Morgner, Anton Jacker, Saskia Dübener
|
||||
* @brief
|
||||
* @version 0.1
|
||||
* @date 2023-11-19
|
||||
@ -18,6 +18,7 @@
|
||||
#include "motionDetection/MotionDetection.h"
|
||||
#include "infraredLight/InfraredLight.h"
|
||||
#include "communication/Communication.h"
|
||||
#include "display/Display.h"
|
||||
|
||||
|
||||
class Dezibot {
|
||||
@ -31,23 +32,8 @@ public:
|
||||
MotionDetection motionDetection;
|
||||
InfraredLight infraredLight;
|
||||
Communication communication;
|
||||
Display display;
|
||||
void begin(void);
|
||||
/*
|
||||
Display display
|
||||
IRCommuncation irCommuncation (beinhaltet Kommuniaktion / Annhärung...)
|
||||
Battery battery
|
||||
Extension extension
|
||||
WiFi wifi //wie wird WiFi geschrieben?
|
||||
|
||||
//nur lesender Zugriff, in dieser Klasse sind andere Instanzen mit dem Dezibotinterface gekapselt
|
||||
Friends friends
|
||||
OperatingSystem operatingSystem
|
||||
USBCommunication usbCommunication
|
||||
Button button
|
||||
//nicht unique, initzial Dezibot
|
||||
String robotName
|
||||
|
||||
*/
|
||||
};
|
||||
|
||||
#endif //Dezibot_h
|
||||
@ -1,7 +1,6 @@
|
||||
#include "ColorDetection.h"
|
||||
|
||||
void ColorDetection::begin(void){
|
||||
Wire.begin(I2C_MASTER_SDA_IO,I2C_MASTER_SCL_IO);
|
||||
ColorDetection::configure(VEML_CONFIG{.mode = AUTO,.enabled = true,.exposureTime=MS40});
|
||||
};
|
||||
void ColorDetection::configure(VEML_CONFIG config){
|
||||
|
||||
@ -1,3 +1,14 @@
|
||||
/**
|
||||
* @file ColorDetecion.h
|
||||
* @author Hans Haupt
|
||||
* @brief Class that controls the colorsensor (VEML6040) of the dezibot.
|
||||
* @version 0.1
|
||||
* @date 2024-06-01
|
||||
*
|
||||
* @copyright Copyright (c) 2024
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef ColorDetection_h
|
||||
#define ColorDetection_h
|
||||
#include <stdint.h>
|
||||
|
||||
147
src/display/CharTable.h
Normal file
147
src/display/CharTable.h
Normal file
@ -0,0 +1,147 @@
|
||||
/**
|
||||
* @file CharTable.h
|
||||
* @author Hans Haupt (hans.haupt@dezibot.de)
|
||||
* @brief LookUpTable for 8x8 Pixel Characters for an SSD1306 Display
|
||||
* @version 0.1
|
||||
* @date 2024-05-24
|
||||
*
|
||||
* @copyright Copyright (c) 2024
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* @brief First index specifies the index, where index equals the ascii encoding
|
||||
* unprintable characters are encode as all zero
|
||||
* the first byte in an entry is the cmd_byte for SSD1306 and therefore not printed
|
||||
* Encoding is colum wise, so first byte is the first column of the char and so on
|
||||
*
|
||||
*/
|
||||
const char font8x8_colwise[128][9] = {{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+0()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+1()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+2()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+3()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+4()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+5()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+6()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+7()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+8()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+9()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+a()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+b()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+c()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+d()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+e()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+f()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+10()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+11()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+12()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+13()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+14()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+15()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+16()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+17()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+18()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+19()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+1a()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+1b()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+1c()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+1d()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+1e()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+1f()
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+20( )
|
||||
{ 0x40,0x00,0x00,0x06,0x5f,0x5f,0x06,0x00,0x00}, // U+21(!)
|
||||
{ 0x40,0x00,0x03,0x03,0x00,0x03,0x03,0x00,0x00}, // U+22(")
|
||||
{ 0x40,0x14,0x7f,0x7f,0x14,0x7f,0x7f,0x14,0x00}, // U+23(#)
|
||||
{ 0x40,0x24,0x2e,0x6b,0x6b,0x3a,0x12,0x00,0x00}, // U+24($)
|
||||
{ 0x40,0x46,0x66,0x30,0x18,0x0c,0x66,0x62,0x00}, // U+25(%)
|
||||
{ 0x40,0x30,0x7a,0x4f,0x5d,0x37,0x7a,0x48,0x00}, // U+26(&)
|
||||
{ 0x40,0x04,0x07,0x03,0x00,0x00,0x00,0x00,0x00}, // U+27(')
|
||||
{ 0x40,0x00,0x1c,0x3e,0x63,0x41,0x00,0x00,0x00}, // U+28(()
|
||||
{ 0x40,0x00,0x41,0x63,0x3e,0x1c,0x00,0x00,0x00}, // U+29())
|
||||
{ 0x40,0x08,0x2a,0x3e,0x1c,0x1c,0x3e,0x2a,0x08}, // U+2a(*)
|
||||
{ 0x40,0x08,0x08,0x3e,0x3e,0x08,0x08,0x00,0x00}, // U+2b(+)
|
||||
{ 0x40,0x00,0x80,0xe0,0x60,0x00,0x00,0x00,0x00}, // U+2c(,)
|
||||
{ 0x40,0x08,0x08,0x08,0x08,0x08,0x08,0x00,0x00}, // U+2d(-)
|
||||
{ 0x40,0x00,0x00,0x60,0x60,0x00,0x00,0x00,0x00}, // U+2e(.)
|
||||
{ 0x40,0x60,0x30,0x18,0x0c,0x06,0x03,0x01,0x00}, // U+2f(/)
|
||||
{ 0x40,0x3e,0x7f,0x71,0x59,0x4d,0x7f,0x3e,0x00}, // U+30(0)
|
||||
{ 0x40,0x40,0x42,0x7f,0x7f,0x40,0x40,0x00,0x00}, // U+31(1)
|
||||
{ 0x40,0x62,0x73,0x59,0x49,0x6f,0x66,0x00,0x00}, // U+32(2)
|
||||
{ 0x40,0x22,0x63,0x49,0x49,0x7f,0x36,0x00,0x00}, // U+33(3)
|
||||
{ 0x40,0x18,0x1c,0x16,0x53,0x7f,0x7f,0x50,0x00}, // U+34(4)
|
||||
{ 0x40,0x27,0x67,0x45,0x45,0x7d,0x39,0x00,0x00}, // U+35(5)
|
||||
{ 0x40,0x3c,0x7e,0x4b,0x49,0x79,0x30,0x00,0x00}, // U+36(6)
|
||||
{ 0x40,0x03,0x03,0x71,0x79,0x0f,0x07,0x00,0x00}, // U+37(7)
|
||||
{ 0x40,0x36,0x7f,0x49,0x49,0x7f,0x36,0x00,0x00}, // U+38(8)
|
||||
{ 0x40,0x06,0x4f,0x49,0x69,0x3f,0x1e,0x00,0x00}, // U+39(9)
|
||||
{ 0x40,0x00,0x00,0x66,0x66,0x00,0x00,0x00,0x00}, // U+3a(:)
|
||||
{ 0x40,0x00,0x80,0xe6,0x66,0x00,0x00,0x00,0x00}, // U+3b(;)
|
||||
{ 0x40,0x08,0x1c,0x36,0x63,0x41,0x00,0x00,0x00}, // U+3c(<)
|
||||
{ 0x40,0x24,0x24,0x24,0x24,0x24,0x24,0x00,0x00}, // U+3d(=)
|
||||
{ 0x40,0x00,0x41,0x63,0x36,0x1c,0x08,0x00,0x00}, // U+3e(>)
|
||||
{ 0x40,0x02,0x03,0x51,0x59,0x0f,0x06,0x00,0x00}, // U+3f(?)
|
||||
{ 0x40,0x3e,0x7f,0x41,0x5d,0x5d,0x1f,0x1e,0x00}, // U+40(@)
|
||||
{ 0x40,0x7c,0x7e,0x13,0x13,0x7e,0x7c,0x00,0x00}, // U+41(A)
|
||||
{ 0x40,0x41,0x7f,0x7f,0x49,0x49,0x7f,0x36,0x00}, // U+42(B)
|
||||
{ 0x40,0x1c,0x3e,0x63,0x41,0x41,0x63,0x22,0x00}, // U+43(C)
|
||||
{ 0x40,0x41,0x7f,0x7f,0x41,0x63,0x3e,0x1c,0x00}, // U+44(D)
|
||||
{ 0x40,0x41,0x7f,0x7f,0x49,0x5d,0x41,0x63,0x00}, // U+45(E)
|
||||
{ 0x40,0x41,0x7f,0x7f,0x49,0x1d,0x01,0x03,0x00}, // U+46(F)
|
||||
{ 0x40,0x1c,0x3e,0x63,0x41,0x51,0x73,0x72,0x00}, // U+47(G)
|
||||
{ 0x40,0x7f,0x7f,0x08,0x08,0x7f,0x7f,0x00,0x00}, // U+48(H)
|
||||
{ 0x40,0x00,0x41,0x7f,0x7f,0x41,0x00,0x00,0x00}, // U+49(I)
|
||||
{ 0x40,0x30,0x70,0x40,0x41,0x7f,0x3f,0x01,0x00}, // U+4a(J)
|
||||
{ 0x40,0x41,0x7f,0x7f,0x08,0x1c,0x77,0x63,0x00}, // U+4b(K)
|
||||
{ 0x40,0x41,0x7f,0x7f,0x41,0x40,0x60,0x70,0x00}, // U+4c(L)
|
||||
{ 0x40,0x7f,0x7f,0x0e,0x1c,0x0e,0x7f,0x7f,0x00}, // U+4d(M)
|
||||
{ 0x40,0x7f,0x7f,0x06,0x0c,0x18,0x7f,0x7f,0x00}, // U+4e(N)
|
||||
{ 0x40,0x1c,0x3e,0x63,0x41,0x63,0x3e,0x1c,0x00}, // U+4f(O)
|
||||
{ 0x40,0x41,0x7f,0x7f,0x49,0x09,0x0f,0x06,0x00}, // U+50(P)
|
||||
{ 0x40,0x1e,0x3f,0x21,0x71,0x7f,0x5e,0x00,0x00}, // U+51(Q)
|
||||
{ 0x40,0x41,0x7f,0x7f,0x09,0x19,0x7f,0x66,0x00}, // U+52(R)
|
||||
{ 0x40,0x26,0x6f,0x4d,0x59,0x73,0x32,0x00,0x00}, // U+53(S)
|
||||
{ 0x40,0x03,0x41,0x7f,0x7f,0x41,0x03,0x00,0x00}, // U+54(T)
|
||||
{ 0x40,0x7f,0x7f,0x40,0x40,0x7f,0x7f,0x00,0x00}, // U+55(U)
|
||||
{ 0x40,0x1f,0x3f,0x60,0x60,0x3f,0x1f,0x00,0x00}, // U+56(V)
|
||||
{ 0x40,0x7f,0x7f,0x30,0x18,0x30,0x7f,0x7f,0x00}, // U+57(W)
|
||||
{ 0x40,0x43,0x67,0x3c,0x18,0x3c,0x67,0x43,0x00}, // U+58(X)
|
||||
{ 0x40,0x07,0x4f,0x78,0x78,0x4f,0x07,0x00,0x00}, // U+59(Y)
|
||||
{ 0x40,0x47,0x63,0x71,0x59,0x4d,0x67,0x73,0x00}, // U+5a(Z)
|
||||
{ 0x40,0x00,0x7f,0x7f,0x41,0x41,0x00,0x00,0x00}, // U+5b([)
|
||||
{ 0x40,0x01,0x03,0x06,0x0c,0x18,0x30,0x60,0x00}, // U+5c(\)
|
||||
{ 0x40,0x00,0x41,0x41,0x7f,0x7f,0x00,0x00,0x00}, // U+5d(])
|
||||
{ 0x40,0x08,0x0c,0x06,0x03,0x06,0x0c,0x08,0x00}, // U+5e(^)
|
||||
{ 0x40,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80}, // U+5f(_)
|
||||
{ 0x40,0x00,0x00,0x03,0x07,0x04,0x00,0x00,0x00}, // U+60(`)
|
||||
{ 0x40,0x20,0x74,0x54,0x54,0x3c,0x78,0x40,0x00}, // U+61(a)
|
||||
{ 0x40,0x41,0x7f,0x3f,0x48,0x48,0x78,0x30,0x00}, // U+62(b)
|
||||
{ 0x40,0x38,0x7c,0x44,0x44,0x6c,0x28,0x00,0x00}, // U+63(c)
|
||||
{ 0x40,0x30,0x78,0x48,0x49,0x3f,0x7f,0x40,0x00}, // U+64(d)
|
||||
{ 0x40,0x38,0x7c,0x54,0x54,0x5c,0x18,0x00,0x00}, // U+65(e)
|
||||
{ 0x40,0x48,0x7e,0x7f,0x49,0x03,0x02,0x00,0x00}, // U+66(f)
|
||||
{ 0x40,0x98,0xbc,0xa4,0xa4,0xf8,0x7c,0x04,0x00}, // U+67(g)
|
||||
{ 0x40,0x41,0x7f,0x7f,0x08,0x04,0x7c,0x78,0x00}, // U+68(h)
|
||||
{ 0x40,0x00,0x44,0x7d,0x7d,0x40,0x00,0x00,0x00}, // U+69(i)
|
||||
{ 0x40,0x60,0xe0,0x80,0x80,0xfd,0x7d,0x00,0x00}, // U+6a(j)
|
||||
{ 0x40,0x41,0x7f,0x7f,0x10,0x38,0x6c,0x44,0x00}, // U+6b(k)
|
||||
{ 0x40,0x00,0x41,0x7f,0x7f,0x40,0x00,0x00,0x00}, // U+6c(l)
|
||||
{ 0x40,0x7c,0x7c,0x18,0x38,0x1c,0x7c,0x78,0x00}, // U+6d(m)
|
||||
{ 0x40,0x7c,0x7c,0x04,0x04,0x7c,0x78,0x00,0x00}, // U+6e(n)
|
||||
{ 0x40,0x38,0x7c,0x44,0x44,0x7c,0x38,0x00,0x00}, // U+6f(o)
|
||||
{ 0x40,0x84,0xfc,0xf8,0xa4,0x24,0x3c,0x18,0x00}, // U+70(p)
|
||||
{ 0x40,0x18,0x3c,0x24,0xa4,0xf8,0xfc,0x84,0x00}, // U+71(q)
|
||||
{ 0x40,0x44,0x7c,0x78,0x4c,0x04,0x1c,0x18,0x00}, // U+72(r)
|
||||
{ 0x40,0x48,0x5c,0x54,0x54,0x74,0x24,0x00,0x00}, // U+73(s)
|
||||
{ 0x40,0x00,0x04,0x3e,0x7f,0x44,0x24,0x00,0x00}, // U+74(t)
|
||||
{ 0x40,0x3c,0x7c,0x40,0x40,0x3c,0x7c,0x40,0x00}, // U+75(u)
|
||||
{ 0x40,0x1c,0x3c,0x60,0x60,0x3c,0x1c,0x00,0x00}, // U+76(v)
|
||||
{ 0x40,0x3c,0x7c,0x70,0x38,0x70,0x7c,0x3c,0x00}, // U+77(w)
|
||||
{ 0x40,0x44,0x6c,0x38,0x10,0x38,0x6c,0x44,0x00}, // U+78(x)
|
||||
{ 0x40,0x9c,0xbc,0xa0,0xa0,0xfc,0x7c,0x00,0x00}, // U+79(y)
|
||||
{ 0x40,0x4c,0x64,0x74,0x5c,0x4c,0x64,0x00,0x00}, // U+7a(z)
|
||||
{ 0x40,0x08,0x08,0x3e,0x77,0x41,0x41,0x00,0x00}, // U+7b({)
|
||||
{ 0x40,0x00,0x00,0x00,0x77,0x77,0x00,0x00,0x00}, // U+7c(|)
|
||||
{ 0x40,0x41,0x41,0x77,0x3e,0x08,0x08,0x00,0x00}, // U+7d(})
|
||||
{ 0x40,0x02,0x03,0x01,0x03,0x02,0x03,0x01,0x00}, // U+7e(~)
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}}; // U+7f(°)
|
||||
138
src/display/Display.cpp
Normal file
138
src/display/Display.cpp
Normal file
@ -0,0 +1,138 @@
|
||||
/**
|
||||
* @file Display.cpp
|
||||
* @author Hans Haupt (hans.haupt@dezibot.de)
|
||||
* @brief Adds the ability to print to the display of the robot.
|
||||
* @version 0.1
|
||||
* @date 2024-06-05
|
||||
*
|
||||
* @copyright Copyright (c) 2024
|
||||
*/
|
||||
|
||||
#include "Display.h"
|
||||
#include "CharTable.h"
|
||||
#include "Wire.h"
|
||||
|
||||
|
||||
void Display::begin(void){
|
||||
//set Mux Ratio
|
||||
sendDisplayCMD(muxRatio);
|
||||
sendDisplayCMD(0x3f);
|
||||
sendDisplayCMD(setOffset);
|
||||
sendDisplayCMD(0x00);
|
||||
sendDisplayCMD(setStartLine);
|
||||
sendDisplayCMD(stopCompleteOn);
|
||||
/*which pixels are bright: normal = 1s are bright, inverese= 0s are bright*/
|
||||
sendDisplayCMD( setNormalMode);
|
||||
|
||||
sendDisplayCMD( setOscFreq);
|
||||
sendDisplayCMD(0x80);
|
||||
|
||||
sendDisplayCMD(setChargePump);
|
||||
sendDisplayCMD(0x14);
|
||||
sendDisplayCMD(activateDisplay);
|
||||
this->clear();
|
||||
return;
|
||||
};
|
||||
|
||||
void Display::sendDisplayCMD(uint8_t cmd){
|
||||
Wire.beginTransmission(DisplayAdress);
|
||||
Wire.write(cmd_byte);
|
||||
Wire.write(cmd);
|
||||
Wire.endTransmission();
|
||||
};
|
||||
|
||||
void Display::clear(void){
|
||||
sendDisplayCMD(addressingMode);
|
||||
sendDisplayCMD(0x00); //horizontal
|
||||
sendDisplayCMD(colRange);
|
||||
sendDisplayCMD(0x00);
|
||||
sendDisplayCMD(0x7f);
|
||||
sendDisplayCMD(pageRange);
|
||||
sendDisplayCMD(0x00);
|
||||
sendDisplayCMD(0x07);
|
||||
for (int j=0;j<64;j++){
|
||||
Wire.beginTransmission(DisplayAdress);
|
||||
Wire.write(data_byte);
|
||||
for(int i = 0;i<16;i++){
|
||||
Wire.write(0x00);
|
||||
}
|
||||
Wire.endTransmission();
|
||||
}
|
||||
this -> charsOnCurrLine = 0;
|
||||
this -> currLine = 0;
|
||||
return;
|
||||
};
|
||||
|
||||
void Display::updateLine(uint charAmount)
|
||||
{
|
||||
if(charAmount+this->charsOnCurrLine>16)
|
||||
{
|
||||
this->currLine = (this->currLine+((charAmount+this->charsOnCurrLine)/16))%8;
|
||||
this->charsOnCurrLine = (charAmount+this->charsOnCurrLine)%17; //there can be 0-16 chars on one line, so the 17th char is on next line
|
||||
}
|
||||
else
|
||||
{
|
||||
this->charsOnCurrLine = charAmount+this->charsOnCurrLine;
|
||||
}
|
||||
};
|
||||
|
||||
void Display::print(char *value){
|
||||
char *nextchar;
|
||||
/* write data to the buffer */
|
||||
while(value && *value != '\0') //check if pointer is still valid and string is not terminated
|
||||
{
|
||||
//check if next character is a linebreak
|
||||
if(*value=='\n')
|
||||
{
|
||||
//fill the current line with blanks
|
||||
while(this->charsOnCurrLine<16)
|
||||
{
|
||||
updateLine(1);
|
||||
Wire.beginTransmission(DisplayAdress);
|
||||
for(int i = 0;i<9;i++){
|
||||
Wire.write(font8x8_colwise[0][i]);
|
||||
}
|
||||
Wire.endTransmission();
|
||||
}
|
||||
//make the linebreak
|
||||
this->currLine=currLine+1;
|
||||
this->charsOnCurrLine=0;
|
||||
}
|
||||
else
|
||||
{
|
||||
updateLine(1);
|
||||
Wire.beginTransmission(DisplayAdress);
|
||||
//print the character
|
||||
for(int i = 0;i<9;i++){
|
||||
Wire.write(font8x8_colwise[*value][i]);
|
||||
}
|
||||
Wire.endTransmission();
|
||||
}
|
||||
value++;
|
||||
}
|
||||
};
|
||||
|
||||
void Display::println(char *value){
|
||||
this ->print(value);
|
||||
this->print("\n");
|
||||
};
|
||||
|
||||
void Display::flipOrientation(void){
|
||||
if(this->orientationFlipped){
|
||||
sendDisplayCMD(setComDirectionNormal);
|
||||
sendDisplayCMD(setSegmentMap);
|
||||
} else{
|
||||
sendDisplayCMD(setComDirectionFlipped);
|
||||
sendDisplayCMD(setSegmentReMap);
|
||||
}
|
||||
this->orientationFlipped = !this->orientationFlipped;
|
||||
};
|
||||
|
||||
void Display::invertColor(void){
|
||||
if(this->colorInverted){
|
||||
sendDisplayCMD(setNormalMode);
|
||||
} else {
|
||||
sendDisplayCMD(setInverseMode);
|
||||
}
|
||||
this->colorInverted = !this->colorInverted;
|
||||
};
|
||||
89
src/display/Display.h
Normal file
89
src/display/Display.h
Normal file
@ -0,0 +1,89 @@
|
||||
/**
|
||||
* @file InfraredLight.h
|
||||
* @author Hans Haupt (hans.haupt@dezibot.de)
|
||||
* @brief Adds the ability to print to the display of the robot.
|
||||
* @version 0.1
|
||||
* @date 2024-05-24
|
||||
*
|
||||
* @copyright Copyright (c) 2024
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef Display_h
|
||||
#define Display_h
|
||||
#include <stdint.h>
|
||||
#include <Arduino.h>
|
||||
#include "DisplayCMDs.h"
|
||||
|
||||
class Display{
|
||||
protected:
|
||||
//how many chars are on current line
|
||||
uint8_t charsOnCurrLine = 0;
|
||||
|
||||
//on which line are we currently printing
|
||||
uint8_t currLine = 0;
|
||||
|
||||
//flag that marks if the y-orientation is currently flipped
|
||||
bool orientationFlipped = false;
|
||||
|
||||
//flag thats marks if the color is currently inverted
|
||||
bool colorInverted = false;
|
||||
|
||||
/**
|
||||
* @brief sends the passed cmd to the display, cmd_byte is added as prefix by the function
|
||||
*
|
||||
* @param cmd the byte instruction that shold by sent
|
||||
*/
|
||||
void sendDisplayCMD(uint8_t cmd);
|
||||
|
||||
/**
|
||||
* @brief should be called whenever characters where printed to the display.
|
||||
* Updates the data of the class to handle linebreaks correctly
|
||||
* @param charAmount How many characters where added to the screen
|
||||
*/
|
||||
void updateLine(uint charAmount);
|
||||
|
||||
public:
|
||||
|
||||
/**
|
||||
* @brief initializes the display datastructures and sents the required cmds to start the display. Should only be called once.
|
||||
* @warning doesn't initalize the I²C bus itself, therefore wire.begin(1,2) must be called elsewhere, before this method.
|
||||
*/
|
||||
void begin(void);
|
||||
|
||||
/**
|
||||
* @brief delets all content from the display, resets the linecounter, new print will start at the top left.
|
||||
* Orientationflip is not resetted
|
||||
*/
|
||||
void clear(void);
|
||||
|
||||
/**
|
||||
* @brief prints the passed string right behind the current displaycontent
|
||||
* the sequence "\n" can be used to make a linebreak on the display
|
||||
*
|
||||
* @param value the string "xyz" that should be printed to the display
|
||||
*/
|
||||
void print(char *value);
|
||||
|
||||
/**
|
||||
* @brief same as the print method, but after the string a line break is inserted
|
||||
*
|
||||
* @param value the string that should be printed
|
||||
*/
|
||||
void println(char *value);
|
||||
|
||||
/**
|
||||
* @brief flips the horizontal orientation of all content on the display
|
||||
*/
|
||||
void flipOrientation(void);
|
||||
|
||||
/**
|
||||
* @brief inverts the pixelcolors, so pixels on will be set to off and currently off pixels will be turned off.
|
||||
* affects already printed content as well as future prints.
|
||||
*
|
||||
*/
|
||||
void invertColor(void);
|
||||
};
|
||||
|
||||
|
||||
#endif //Display_h
|
||||
24
src/display/DisplayCMDs.h
Normal file
24
src/display/DisplayCMDs.h
Normal file
@ -0,0 +1,24 @@
|
||||
#define cmd_byte 0x80
|
||||
#define data_byte 0x40
|
||||
#define muxRatio 0xa8 //needs second argument ranging from 16-63
|
||||
#define setOffset 0xd3 //needs second argument ranging from 0-63
|
||||
#define setStartLine 0x40
|
||||
#define setSegmentMap 0xa0
|
||||
#define setSegmentReMap 0xa1
|
||||
#define setComDirectionNormal 0xc0
|
||||
#define setComDirectionFlipped 0xc8
|
||||
#define setComHardwareConfig 0xda //needs second arg
|
||||
#define setContrast 0x81 //needs second arg
|
||||
#define completeOn 0xa5
|
||||
#define stopCompleteOn 0xa4
|
||||
#define setNormalMode 0xa6
|
||||
#define setInverseMode 0xa7
|
||||
#define setOscFreq 0xd5 //needs second arg
|
||||
#define setChargePump 0x8d//needs second arg 0x14 for enable
|
||||
#define activateDisplay 0xaf
|
||||
#define disableDisplay 0xae
|
||||
#define addressingMode 0x20
|
||||
#define colRange 0x21
|
||||
#define pageRange 0x22
|
||||
|
||||
#define DisplayAdress 0x3C
|
||||
@ -1,9 +1,7 @@
|
||||
#include "InfraredLight.h"
|
||||
|
||||
#define pwmSpeedMode LEDC_LOW_SPEED_MODE
|
||||
#define fooPin 13
|
||||
#define footimer LEDC_TIMER_0
|
||||
#define foochannel LEDC_CHANNEL_0
|
||||
|
||||
InfraredLED::InfraredLED(uint8_t pin,ledc_timer_t timer, ledc_channel_t channel){
|
||||
this->ledPin = pin;
|
||||
this->timer = timer;
|
||||
@ -16,7 +14,7 @@ void InfraredLED::begin(void){
|
||||
.speed_mode = pwmSpeedMode,
|
||||
.duty_resolution = LEDC_TIMER_10_BIT,
|
||||
.timer_num = this->timer,
|
||||
.freq_hz = 1,
|
||||
.freq_hz = 800,
|
||||
.clk_cfg = LEDC_AUTO_CLK
|
||||
};
|
||||
ledc_timer_config(&pwmTimer);
|
||||
|
||||
@ -14,10 +14,6 @@
|
||||
#include <Arduino.h>
|
||||
#include "driver/ledc.h"
|
||||
|
||||
enum IRLeds{
|
||||
Bottom,
|
||||
Front
|
||||
};
|
||||
|
||||
class InfraredLED{
|
||||
public:
|
||||
@ -26,7 +22,6 @@ class InfraredLED{
|
||||
/**
|
||||
* @brief enables selected LED
|
||||
*
|
||||
* @param led
|
||||
*/
|
||||
void turnOn(void);
|
||||
/**
|
||||
|
||||
@ -1,4 +1,5 @@
|
||||
#include "LightDetection.h"
|
||||
#include <limits.h>
|
||||
|
||||
void LightDetection::begin(void){
|
||||
LightDetection::beginInfrared();
|
||||
@ -6,7 +7,6 @@ void LightDetection::begin(void){
|
||||
};
|
||||
|
||||
uint16_t LightDetection::getValue(photoTransistors sensor){
|
||||
uint16_t result;
|
||||
switch(sensor){
|
||||
//Fall Through intended
|
||||
case IR_FRONT:
|
||||
@ -17,6 +17,9 @@ uint16_t LightDetection::getValue(photoTransistors sensor){
|
||||
case DL_BOTTOM:
|
||||
case DL_FRONT:
|
||||
return readDLPT(sensor);
|
||||
default:
|
||||
//currently not reachable, just if enum will be extended in the future
|
||||
return UINT16_MAX;
|
||||
}
|
||||
};
|
||||
|
||||
@ -26,6 +29,7 @@ photoTransistors LightDetection::getBrightest(ptType type){
|
||||
uint16_t currentReading = 0;
|
||||
|
||||
if (type == IR){
|
||||
maxSensor = IR_FRONT;
|
||||
for(const auto pt : allIRPTs){
|
||||
currentReading = LightDetection::getValue(pt);
|
||||
if (currentReading > maxReading){
|
||||
@ -34,6 +38,7 @@ photoTransistors LightDetection::getBrightest(ptType type){
|
||||
}
|
||||
}
|
||||
} else {
|
||||
maxSensor = DL_FRONT;
|
||||
for(const auto pt : allDLPTs){
|
||||
currentReading = LightDetection::getValue(pt);
|
||||
if (currentReading > maxReading){
|
||||
@ -47,6 +52,7 @@ photoTransistors LightDetection::getBrightest(ptType type){
|
||||
};
|
||||
|
||||
uint32_t LightDetection::getAverageValue(photoTransistors sensor, uint32_t measurments, uint32_t timeBetween){
|
||||
|
||||
TickType_t xLastWakeTime = xTaskGetTickCount();
|
||||
TickType_t frequency = timeBetween / portTICK_PERIOD_MS;
|
||||
uint64_t cumulatedResult = 0;
|
||||
@ -58,6 +64,7 @@ uint32_t LightDetection::getAverageValue(photoTransistors sensor, uint32_t measu
|
||||
};
|
||||
|
||||
void LightDetection::beginInfrared(void){
|
||||
digitalWrite(IR_PT_ENABLE,true);
|
||||
pinMode(IR_PT_ENABLE, OUTPUT);
|
||||
pinMode(IR_PT_FRONT_ADC, INPUT);
|
||||
pinMode(IR_PT_LEFT_ADC, INPUT);
|
||||
@ -66,13 +73,14 @@ void LightDetection::beginInfrared(void){
|
||||
};
|
||||
|
||||
void LightDetection::beginDaylight(void){
|
||||
digitalWrite(DL_PT_ENABLE,true);
|
||||
pinMode(DL_PT_ENABLE, OUTPUT);
|
||||
pinMode(DL_PT_BOTTOM_ADC, INPUT);
|
||||
pinMode(DL_PT_FRONT_ADC, INPUT );
|
||||
};
|
||||
|
||||
uint16_t LightDetection::readIRPT(photoTransistors sensor){
|
||||
digitalWrite(IR_PT_ENABLE,HIGH);
|
||||
//digitalWrite(IR_PT_ENABLE,HIGH);
|
||||
uint16_t result = 0;
|
||||
switch (sensor)
|
||||
{
|
||||
@ -91,7 +99,7 @@ uint16_t LightDetection::readIRPT(photoTransistors sensor){
|
||||
default:
|
||||
break;
|
||||
}
|
||||
digitalWrite(IR_PT_ENABLE,LOW);
|
||||
//digitalWrite(IR_PT_ENABLE,LOW);
|
||||
return result;
|
||||
};
|
||||
|
||||
|
||||
@ -62,7 +62,7 @@ public:
|
||||
* Can distingish between IR and Daylight
|
||||
*
|
||||
* @param type select which PTTransistors to compare
|
||||
* @return photoTransistors which sensor is exposed to the greatest amount of light
|
||||
* @return photoTransistors which sensor is exposed to the greatest amount of light, if all sensor read 0, the front sensor is returned
|
||||
*/
|
||||
static photoTransistors getBrightest(ptType type);
|
||||
|
||||
@ -93,11 +93,5 @@ protected:
|
||||
static uint16_t readIRPT(photoTransistors sensor);
|
||||
static uint16_t readDLPT(photoTransistors sensor);
|
||||
|
||||
static void averageMeasurmentTask(void * args);
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
};
|
||||
#endif //LightDetection_h
|
||||
@ -1,6 +1,6 @@
|
||||
#include "MotionDetection.h"
|
||||
|
||||
MotionDetection::MotionDetection(){//:handler(FSPI){
|
||||
MotionDetection::MotionDetection(){
|
||||
handler = new SPIClass(FSPI);
|
||||
};
|
||||
|
||||
@ -9,13 +9,20 @@ void MotionDetection::begin(void){
|
||||
digitalWrite(34,HIGH);
|
||||
handler->begin(36,37,35,34);
|
||||
|
||||
|
||||
handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
|
||||
digitalWrite(34,LOW);
|
||||
// set Accel and Gyroscop to Low Noise
|
||||
handler->transfer(PWR_MGMT0);
|
||||
handler->transfer(0x1F);
|
||||
handler->transfer(0x0F);
|
||||
//busy Wait for startup
|
||||
delayMicroseconds(200);
|
||||
delayMicroseconds(250);
|
||||
//set Gyroconfig
|
||||
handler->transfer(0x20);
|
||||
handler->transfer(0x25);
|
||||
//set Gyro Filter
|
||||
handler->transfer(0x23);
|
||||
handler->transfer(0x37);
|
||||
digitalWrite(34,HIGH);
|
||||
handler->endTransaction();
|
||||
};
|
||||
@ -30,12 +37,9 @@ void MotionDetection::end(void){
|
||||
};
|
||||
IMUResult MotionDetection::getAcceleration(){
|
||||
IMUResult result;
|
||||
result.x = readRegister(ACCEL_DATA_X_HIGH)<<8;
|
||||
result.x |= readRegister(ACCEL_DATA_X_LOW);
|
||||
result.y = readRegister(ACCEL_DATA_Y_HIGH)<<8;
|
||||
result.y |= readRegister(ACCEL_DATA_Y_LOW);
|
||||
result.z = readRegister(ACCEL_DATA_Z_HIGH)<<8;
|
||||
result.z |= readRegister(ACCEL_DATA_Z_LOW);
|
||||
result.x = readRegister(ACCEL_DATA_X_HIGH)<<8 | readRegister(ACCEL_DATA_X_LOW);
|
||||
result.y = readRegister(ACCEL_DATA_Y_HIGH)<<8 | readRegister(ACCEL_DATA_Y_LOW);
|
||||
result.z = readRegister(ACCEL_DATA_Z_HIGH)<<8 | readRegister(ACCEL_DATA_Z_LOW);
|
||||
return result;
|
||||
};
|
||||
IMUResult MotionDetection::getRotation(){
|
||||
@ -58,6 +62,106 @@ int8_t MotionDetection::getWhoAmI(){
|
||||
return readRegister(WHO_AM_I);
|
||||
};
|
||||
|
||||
bool MotionDetection::isShaken(uint32_t threshold ,uint8_t axis){
|
||||
IMUResult measurment1;
|
||||
IMUResult measurment2;
|
||||
uint count = 0;
|
||||
for(uint i = 0;i<20;i++){
|
||||
measurment1 = this->getAcceleration();
|
||||
delayMicroseconds(10);
|
||||
measurment2 = this->getAcceleration();
|
||||
if(
|
||||
(((axis && xAxis) > 0) && (abs(abs(measurment1.x)-abs(measurment2.x))>threshold)) ||
|
||||
(((axis && yAxis) > 0) && (abs(abs(measurment1.y)-abs(measurment2.y))>threshold)) ||
|
||||
(((axis && zAxis) > 0) && (abs(abs(measurment1.z)-abs(measurment2.z))>threshold))){
|
||||
count++;
|
||||
}
|
||||
delayMicroseconds(15);
|
||||
}
|
||||
return (count > 6);
|
||||
};
|
||||
|
||||
void MotionDetection::calibrateZAxis(uint gforceValue){
|
||||
this->gForceCalib = gforceValue;
|
||||
};
|
||||
|
||||
Orientation MotionDetection::getTilt(){
|
||||
uint tolerance = 200;
|
||||
IMUResult reading = this->getAcceleration();
|
||||
bool flipped = reading.z < 0;
|
||||
float accelrationStrenght = sqrt(reading.x*reading.x+reading.y*reading.y+reading.z*reading.z);
|
||||
//check if reading is valid
|
||||
if (abs(accelrationStrenght-this->gForceCalib) > tolerance ){
|
||||
//total accelration is not gravitational force, error
|
||||
return Orientation{INT_MAX,INT_MAX};
|
||||
}
|
||||
|
||||
//calculates the angle between the two axis, therefore value between 0-90
|
||||
int yAngle;
|
||||
int xAngle;
|
||||
if(reading.z != 0){
|
||||
yAngle = atan(float(reading.x)/reading.z)*180/3.1415+0.5;
|
||||
xAngle = atan(float(reading.y)/reading.z)*180/3.1415+0.5;
|
||||
} else {
|
||||
yAngle = 90*(reading.x > 0) - (reading.x < 0);
|
||||
xAngle = 90*(reading.y > 0) - (reading.y < 0);
|
||||
}
|
||||
|
||||
//shift quadrants depending on signum
|
||||
//esp is facing down (normal position)
|
||||
if (reading.z > 0){
|
||||
if(reading.y < 0){
|
||||
xAngle = xAngle+180;
|
||||
} else{
|
||||
xAngle = -1*(180-xAngle);
|
||||
}
|
||||
|
||||
if(reading.x < 0){
|
||||
yAngle = yAngle+180;
|
||||
} else{
|
||||
yAngle = -1*(180-yAngle);
|
||||
}
|
||||
//yAngle = -1*yAngle-90;
|
||||
}
|
||||
|
||||
|
||||
return Orientation{xAngle,yAngle};
|
||||
|
||||
};
|
||||
|
||||
Direction MotionDetection::getTiltDirection(uint tolerance){
|
||||
if (this->getAcceleration().z > 0){
|
||||
return Flipped;
|
||||
}
|
||||
Orientation Rot = this->getTilt();
|
||||
Serial.println(Rot.xRotation);
|
||||
Serial.println(Rot.xRotation == INT_MAX);
|
||||
if ((Rot.xRotation == INT_MAX)){
|
||||
return Error;
|
||||
}
|
||||
if(abs(abs(Rot.xRotation)-abs(Rot.yRotation))>tolerance){
|
||||
//determine which axis is more tiltet
|
||||
if (abs(Rot.xRotation)>abs(Rot.yRotation)){
|
||||
//test if dezibot is tilted left or right
|
||||
if (Rot.xRotation > 0){
|
||||
return Right;
|
||||
} else {
|
||||
return Left;
|
||||
}
|
||||
} else {
|
||||
//test if robot is tilted front or back
|
||||
if (Rot.yRotation > 0){
|
||||
return Front;
|
||||
} else {
|
||||
return Back;
|
||||
}
|
||||
}
|
||||
} else {
|
||||
//dezibot is (with tolerance) leveled
|
||||
return Neutral;
|
||||
}
|
||||
};
|
||||
|
||||
uint8_t MotionDetection::cmdRead(uint8_t reg){
|
||||
return (CMD_READ | (reg & ADDR_MASK));
|
||||
};
|
||||
@ -65,7 +169,7 @@ uint8_t MotionDetection::cmdWrite(uint8_t reg){
|
||||
return (CMD_WRITE | (reg & ADDR_MASK));
|
||||
};
|
||||
|
||||
int8_t MotionDetection::readRegister(uint8_t reg){
|
||||
uint8_t MotionDetection::readRegister(uint8_t reg){
|
||||
handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
|
||||
digitalWrite(34,LOW);
|
||||
uint8_t result;
|
||||
|
||||
@ -17,7 +17,26 @@ struct IMUResult{
|
||||
int16_t y;
|
||||
int16_t z;
|
||||
};
|
||||
enum Axis{
|
||||
xAxis = 0x01,
|
||||
yAxis = 0x02,
|
||||
zAxis = 0x04
|
||||
};
|
||||
|
||||
struct Orientation{
|
||||
int xRotation;
|
||||
int yRotation;
|
||||
};
|
||||
|
||||
enum Direction{
|
||||
Front,
|
||||
Left,
|
||||
Right,
|
||||
Back,
|
||||
Neutral,
|
||||
Flipped,
|
||||
Error
|
||||
};
|
||||
|
||||
class MotionDetection{
|
||||
protected:
|
||||
@ -48,17 +67,20 @@ protected:
|
||||
static const uint8_t WHO_AM_I = 0x75;
|
||||
|
||||
static const uint frequency = 10000000;
|
||||
static const uint16_t defaultShakeThreshold = 500;
|
||||
|
||||
uint16_t cmdRead(uint8_t regHigh,uint8_t regLow);
|
||||
uint16_t cmdWrite(uint8_t regHigh,uint8_t regLow);
|
||||
uint8_t cmdRead(uint8_t reg);
|
||||
uint8_t cmdWrite(uint8_t reg);
|
||||
|
||||
int8_t readRegister(uint8_t reg);
|
||||
uint8_t readRegister(uint8_t reg);
|
||||
int16_t readDoubleRegister(uint8_t lowerReg);
|
||||
|
||||
SPIClass * handler = NULL;
|
||||
|
||||
uint gForceCalib = 4050;
|
||||
|
||||
|
||||
public:
|
||||
MotionDetection();
|
||||
@ -83,21 +105,21 @@ public:
|
||||
*
|
||||
* @return IMUResult that contains the new read values
|
||||
*/
|
||||
IMUResult getAcceleration();
|
||||
IMUResult getAcceleration(void);
|
||||
|
||||
/**
|
||||
* @brief Triggers a new reading of the gyroscope and reads the values from the imu
|
||||
*
|
||||
* @return IMUResult
|
||||
*/
|
||||
IMUResult getRotation();
|
||||
IMUResult getRotation(void);
|
||||
|
||||
/**
|
||||
* @brief Reads the current On Chip temperature of the IMU
|
||||
*
|
||||
* @return normalized temperature in degree Centigrade
|
||||
*/
|
||||
float getTemperature();
|
||||
float getTemperature(void);
|
||||
|
||||
/**
|
||||
* @brief Returns the value of reading the whoAmI register
|
||||
@ -105,6 +127,62 @@ public:
|
||||
*
|
||||
* @return the value of the whoami register of the ICM-42670
|
||||
*/
|
||||
int8_t getWhoAmI();
|
||||
int8_t getWhoAmI(void);
|
||||
|
||||
/**
|
||||
* @brief Detects if at the time of calling is shaken. Therefore the sum over all accelerationvalues is calculated
|
||||
* and checked against threshold. If sum > threshold a shake is detected, else not
|
||||
*
|
||||
* @param threshold (optional) the level of acceleration that must be reached to detect a shake
|
||||
* @param axis (optional) select which axis should be used for detection. Possible values ar xAxis,yAxis,zAxis
|
||||
* It's possible to combine multiple axis with the bitwise or Operator |
|
||||
* For Example: to detect x and y axis: axis = xAxis|yAxis
|
||||
*
|
||||
* @return true if a shake is detected, false else
|
||||
*/
|
||||
bool isShaken(uint32_t threshold = defaultShakeThreshold,uint8_t axis = xAxis|yAxis|zAxis);
|
||||
|
||||
/**
|
||||
* @brief calculates how the robot is tilted. It is set, that when the robot is placed normally on a flat table, the result will be (0,0)
|
||||
* Tilting the robot, so that the front leg is deeper than the other to results in an increasing degrees, tilting the front leg up will increase negativ degrees
|
||||
* Tilting the robot to the right will increase the degrees until 180° (upside down), tilting it left will result in increasing negativ degrees (-1,-2,...,-180).
|
||||
* On the top there is a jump of the values from 180->-180 and vice versa.
|
||||
*
|
||||
* Precision is rounded to 1 deg steps
|
||||
*
|
||||
* @attention The results are only valid, if the robot is not moved in any way during the measurment, as the calculation is made by using the accelration values.
|
||||
* If it's detected, that the robot is accelerated while measuring, the method will return max(int).
|
||||
* Please note that the imu is pretty sensitiv, even walking next to the table may influcene the result.
|
||||
*
|
||||
*/
|
||||
Orientation getTilt();
|
||||
|
||||
|
||||
/**
|
||||
* @brief Checks in which direction (Front, Left, Right, Back) the robot is tilted.
|
||||
*
|
||||
* @attention Does only work if the robot is not moving
|
||||
*
|
||||
* @param tolerance (optional, default = 10) how many degrees can the robot be tilted, and still will be considerd as neutral.
|
||||
*
|
||||
*
|
||||
* @return Direction the direction in that the robot is tilted most. Front is onsiderd as the direction of driving.
|
||||
* If robot is not tilted more than the tolerance in any direction, return is Neutral.
|
||||
* If Robot is upside down, return is Flipped.
|
||||
* If Robot is moved, return is Error
|
||||
*/
|
||||
Direction getTiltDirection(uint tolerance = 10);
|
||||
|
||||
/**
|
||||
* can be used to set a custom value for the gforceReading of the zaxis, which will improve the getTiltFunction.
|
||||
*
|
||||
* @attention this method is not persisten, so the value is not stored when the programm is restarted / the robot is powerd off
|
||||
*
|
||||
* @param gforceValue the value the IMU returns for the gravitationforce -> to get this value, place the robot on a leveled surface
|
||||
* and read the value getAcceleration().z
|
||||
*/
|
||||
void calibrateZAxis(uint gforceValue);
|
||||
|
||||
|
||||
};
|
||||
#endif //MotionDetection
|
||||
@ -6,6 +6,7 @@ MultiColorLight::MultiColorLight():rgbLeds(ledAmount,ledPin){
|
||||
|
||||
void MultiColorLight::begin(void){
|
||||
rgbLeds.begin();
|
||||
this->turnOffLed();
|
||||
};
|
||||
|
||||
void MultiColorLight::setLed(uint8_t index , uint32_t color){
|
||||
@ -60,7 +61,6 @@ void MultiColorLight::blink(uint16_t amount,uint32_t color, leds leds, uint32_t
|
||||
MultiColorLight::turnOffLed(leds);
|
||||
vTaskDelay(interval);
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
void MultiColorLight::turnOffLed(leds leds){
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user