616 lines
12 KiB
C
616 lines
12 KiB
C
#include "main.h"
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#include "c.h"
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#include "mpu6050.h"
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uint8_t LD_true_1[10]={63, 6, 91, 79, 102, 109, 125, 7, 127, 111};
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uint8_t LD_true_2[10]={63, 6, 155, 143, 166, 173, 189, 7, 191, 175};
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uint8_t LD_1[10]={63,48, 155, 185, 180, 173, 175, 56, 191};
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uint8_t LD_2[10]={63,48, 91, 121, 116, 109, 111, 56, 127, 125};
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uint8_t sbuffer[6]={0,0,0,0,0,0};
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struct ui
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{
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uint8_t DT[2];
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uint8_t lattice[2][8][8];
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};
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struct ui dis=
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{
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0,0,
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{
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{
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{1,1,1,1,1,1,1,1,},
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{1,1,1,1,1,1,1,1,},
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{1,1,1,1,1,1,1,1,},
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{1,1,1,1,1,1,1,1,},
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{1,1,1,1,1,1,1,1,},
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{1,1,1,1,1,1,1,1,},
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{1,1,1,1,1,1,1,1,},
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{1,1,1,1,1,1,1,1,},
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},
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{
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{0,0,0,0,0,0,0,0,},
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{0,0,0,0,0,0,0,0,},
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{0,0,0,0,0,0,0,0,},
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{0,0,0,0,0,0,0,0,},
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{0,0,0,0,0,0,0,0,},
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{0,0,0,0,0,0,0,0,},
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{0,0,0,0,0,0,0,0,},
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{0,0,0,0,0,0,0,0,},
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}
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}
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};
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void send_buffer()
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{
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uint8_t a,b,c;
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D(0);
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CLK(0);
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RCLK(0);
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for(b=0;b<6;b++)
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{
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c=sbuffer[b];
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for(a=0;a<8;a++)
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{
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if(c&0x80)
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{
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D(1);
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}else
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{
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D(0);
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}
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CLK(1);
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CLK(0);
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c<<=1;
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}
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}
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RCLK(1);
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RCLK(0);
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}
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const uint16_t DEN[8]=//len
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{
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0x1000,
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0x0020,
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0x0010,
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0x0200,
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0x0004,
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0x0400,
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0x4000,
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0x8000,
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};
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const uint16_t DEP[8]=
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{
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0x0008,
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0x0040,
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0x0002,
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0x0080,
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0x0800,
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0x0001,
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0x2000,
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0x0100,
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};
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void dis_ui()
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{
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uint16_t temp=0,temp2=0;
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for(uint8_t y=0;y<8;y++)
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{
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temp=0;
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temp|=DEN[0]|DEN[1]|DEN[2]|DEN[3]|DEN[4]|DEN[5]|DEN[6]|DEN[7];
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temp&=~DEN[y];
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temp2=0;
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temp2|=DEN[0]|DEN[1]|DEN[2]|DEN[3]|DEN[4]|DEN[5]|DEN[6]|DEN[7];
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temp2&=~DEN[y];
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for(uint8_t x=0;x<8;x++)
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{
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if(dis.lattice[1][y][x]==1)
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{
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temp|=DEP[x];
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}
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if(dis.lattice[0][y][x]==1)
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{
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temp2|=DEP[x];
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}
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}
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if(y<1)//控制数字亮度 0-7
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{
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sbuffer[0]=dis.DT[1];
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sbuffer[1]=dis.DT[0];
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}else
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{
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sbuffer[0]=0;
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sbuffer[1]=0;
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}
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sbuffer[4]=temp;
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sbuffer[5]=temp>>8;
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sbuffer[3]=temp2;
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sbuffer[2]=temp2>>8;
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send_buffer();
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temp=0;
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temp|=DEN[0]|DEN[1]|DEN[2]|DEN[3]|DEN[4]|DEN[5]|DEN[6]|DEN[7];
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temp2=0;
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temp2|=DEN[0]|DEN[1]|DEN[2]|DEN[3]|DEN[4]|DEN[5]|DEN[6]|DEN[7];
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sbuffer[4]=temp;
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sbuffer[5]=temp>>8;
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sbuffer[3]=temp2;
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sbuffer[2]=temp2>>8;
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send_buffer();
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}
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}
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uint8_t dir=0;
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int rend_int(int MIN_VALUE, int MAX_VALUE) //可控范围的随机数生成
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{
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return rand() % (MAX_VALUE - MIN_VALUE + 1) + MIN_VALUE; //算法，最大值取余加上最小值就是范围内的数
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}
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uint8_t move(uint8_t map,int y,int x,uint8_t move_dir)
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{
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if(dis.lattice[map][y][x])
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{
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switch(move_dir)
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{
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case 1:
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y+=1;
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x+=1;
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if((y>7)|(x>7)|(dis.lattice[map][y][x]))
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{
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return 1;
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}else
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{
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dis.lattice[map][y][x]=1;
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dis.lattice[map][y-1][x-1]=0;
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return 0;
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}
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break;
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case 2:
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y+=1;
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if((y>7)|(dis.lattice[map][y][x]))
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{
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return 1;
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}else
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{
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dis.lattice[map][y][x]=1;
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dis.lattice[map][y-1][x]=0;
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return 0;
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}
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break;
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case 3:
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y+=1;
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x-=1;
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if((y>7)|(x<0)|(dis.lattice[map][y][x]))
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{
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return 1;
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}else
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{
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dis.lattice[map][y][x]=1;
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dis.lattice[map][y-1][x+1]=0;
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return 0;
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}
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break;
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case 4:
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x-=1;
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if((x<0)|(dis.lattice[map][y][x]))
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{
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return 1;
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}else
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{
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dis.lattice[map][y][x]=1;
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dis.lattice[map][y][x+1]=0;
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return 0;
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}
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break;
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case 5:
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x-=1;
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y-=1;
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if((x<0)|(y<0)|(dis.lattice[map][y][x]))
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{
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return 1;
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}else
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{
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dis.lattice[map][y][x]=1;
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dis.lattice[map][y+1][x+1]=0;
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return 0;
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}
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break;
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case 6:
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y-=1;
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if((y<0)|(dis.lattice[map][y][x]))
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{
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return 1;
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}else
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{
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dis.lattice[map][y][x]=1;
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dis.lattice[map][y+1][x]=0;
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return 0;
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}
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break;
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case 7:
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y-=1;
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x+=1;
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if((y<0)|(x>7)|(dis.lattice[map][y][x]))
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{
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return 1;
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}else
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{
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dis.lattice[map][y][x]=1;
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dis.lattice[map][y+1][x-1]=0;
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return 0;
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}
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break;
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case 8:
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x+=1;
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if((x>7)|(dis.lattice[map][y][x]))
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{
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return 1;
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}else
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{
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dis.lattice[map][y][x]=1;
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dis.lattice[map][y][x-1]=0;
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return 0;
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}
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break;
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}
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}
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return 1;
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}
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void scan()
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{
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int temp_x,temp_y;
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uint8_t temp_dir;
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switch(dir)
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{
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case 0: //平躺状态 随机扩散
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dis.DT[0]=0;
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dis.DT[1]=0;
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break;
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case 1:
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for(temp_y=7;temp_y>=0;temp_y--)
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{
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for(temp_x=7;temp_x>=0;temp_x--)
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{
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if(move(0,temp_y,temp_x,dir))
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{
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if(move(0,temp_y,temp_x,2))
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{
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move(0,temp_y,temp_x,8);
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}
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}
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if(move(1,temp_y,temp_x,dir))
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{
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if(move(1,temp_y,temp_x,2))
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{
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move(1,temp_y,temp_x,8);
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}
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}
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}
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}
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break;
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case 2:
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for(temp_y=7;temp_y>=0;temp_y--)
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{
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for(temp_x=7;temp_x>=0;temp_x--)
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{
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if(move(0,temp_y,temp_x,dir))
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{
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if(move(0,temp_y,temp_x,3))
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{
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move(0,temp_y,temp_x,1);
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}
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}
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if(move(1,temp_y,temp_x,dir))
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{
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if(move(1,temp_y,temp_x,3))
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{
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move(1,temp_y,temp_x,1);
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}
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}
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}
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}
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break;
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case 3:
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for(temp_y=7;temp_y>=0;temp_y--)
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{
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for(temp_x=0;temp_x<8;temp_x++)
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{
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if(move(0,temp_y,temp_x,dir))
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{
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if(move(0,temp_y,temp_x,4))
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{
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move(0,temp_y,temp_x,2);
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}
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}
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if(move(1,temp_y,temp_x,dir))
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{
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if(move(1,temp_y,temp_x,4))
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{
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move(1,temp_y,temp_x,2);
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}
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}
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}
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}
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break;
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case 4:
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for(temp_x=0;temp_x<8;temp_x++)
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{
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for(temp_y=0;temp_y<8;temp_y++)
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{
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if(move(0,temp_y,temp_x,dir))
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{
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if(move(0,temp_y,temp_x,5))
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{
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move(0,temp_y,temp_x,3);
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}
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}
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if(move(1,temp_y,temp_x,dir))
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{
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if(move(1,temp_y,temp_x,5))
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{
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move(1,temp_y,temp_x,3);
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}
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}
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}
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}
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break;
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case 5:
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for(temp_x=0;temp_x<8;temp_x++)
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{
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for(temp_y=0;temp_y<8;temp_y++)
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{
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if(move(0,temp_y,temp_x,dir))
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{
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if(move(0,temp_y,temp_x,6))
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{
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move(0,temp_y,temp_x,4);
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}
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}
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if(move(1,temp_y,temp_x,dir))
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{
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if(move(1,temp_y,temp_x,6))
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{
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move(1,temp_y,temp_x,4);
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}
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}
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}
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}
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break;
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case 6:
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for(temp_y=0;temp_y<8;temp_y++)
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{
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for(temp_x=0;temp_x<8;temp_x++)
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{
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if(move(0,temp_y,temp_x,dir))
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{
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if(move(0,temp_y,temp_x,7))
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{
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move(0,temp_y,temp_x,5);
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}
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}
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if(move(1,temp_y,temp_x,dir))
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{
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if(move(1,temp_y,temp_x,7))
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{
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move(1,temp_y,temp_x,5);
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}
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}
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}
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}
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break;
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case 7:
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for(temp_y=0;temp_y<8;temp_y++)
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{
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for(temp_x=7;temp_x>=0;temp_x--)
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{
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if(move(0,temp_y,temp_x,dir))
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{
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if(move(0,temp_y,temp_x,8))
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{
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move(0,temp_y,temp_x,6);
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}
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}
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if(move(1,temp_y,temp_x,dir))
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{
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if(move(1,temp_y,temp_x,8))
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{
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move(1,temp_y,temp_x,6);
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}
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}
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}
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}
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break;
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case 8:
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for(temp_x=7;temp_x>=0;temp_x--)
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{
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for(temp_y=0;temp_y<8;temp_y++)
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{
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if(move(0,temp_y,temp_x,dir))
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{
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if(move(0,temp_y,temp_x,1))
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{
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move(0,temp_y,temp_x,7);
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}
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}
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if(move(1,temp_y,temp_x,dir))
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{
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if(move(1,temp_y,temp_x,1))
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{
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move(1,temp_y,temp_x,7);
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}
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}
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}
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}
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break;
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}
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}
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uint8_t read_map(uint8_t map)
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{
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uint8_t a=0;
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for(uint8_t y=0;y<8;y++)
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{
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for(uint8_t x=0;x<8;x++)
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{
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if(dis.lattice[map][y][x])
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{
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a++;
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}
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}
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}
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return a;
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}
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void fuck()
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{
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uint8_t a=0;
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uint32_t tike=1000,tike2=0;
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uint16_t mup6050_flag=0;
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int ax,ay,az,gx,gy,gz,ax_of=0,ay_of=0,az_of=0,gx_of=0,gy_of=0,gz_of=0;
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int fax,fay,faz;
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HAL_Delay(150);
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mup6050_flag=MPU_Init();
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if(mup6050_flag!=0)
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{
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//kill
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while(1)
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{
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}
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}
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while(1)
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{
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MPU_Get_Accelerometer(&ax,&ay,&az);
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//off set
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ax=ax+ax_of;
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ay=ay+ay_of;
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az=az+az_of;
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gx=gx+gx_of;
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gy=gy+gy_of;
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gz=gz+gz_of;
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//to g
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fax=((ax/16384.0)* 57.29577)/0.637;
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fay=((ay/16384.0)* 57.29577)/0.637;
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faz=((az/16384.0)* 57.29577)/0.637;
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#define det 20
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uint8_t temp1=0,temp2=0;
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if((((fax>=(360-det))&(fax<=360))|((fax>=0)&(fax<=det)))&(((fay>=(360-det))&(fay<=360))|((fay>=0)&(fay<=det))))//平躺姿态
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{
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dir=0;
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}else
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{
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/*
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一个诡异的BUG
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判断条件过多的时候会改变判断对象的值
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所以分两步判断
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*/
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temp1=0;
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temp2=0;
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if((fax>0)&(fax<90))
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{
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temp1=1;
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}
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if((fax>275)&(fax<360))
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{
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temp2=1;
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}
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if((((fay>(360-det))&(fay<=0))|((fay>=0)&(fay<=det)))&temp1)
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{
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dir=1;
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}
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if(((fay>(45-det))&(fay<(45+det)))&temp1)
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{
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dir=8;
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}
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if((fay>(90-det))&(fay<(90+det)))
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{
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dir=7;
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}
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if(((fay>(45-det))&(fay<(45+det)))&temp2)
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{
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dir=6;
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}
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if((((fay>(360-det))&(fay<=0))|((fay>=0)&(fay<=det)))&temp2)
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{
|
|
dir=5;
|
|
}
|
|
if(((fay>(315-det))&(fay<(315+det)))&temp2)
|
|
{
|
|
dir=4;
|
|
}
|
|
if((fay>(270-det))&(fay<(270+det)))
|
|
{
|
|
dir=3;
|
|
}
|
|
if(((fay>(315-det))&(fay<(315+det)))&temp1)
|
|
{
|
|
dir=2;
|
|
}
|
|
}
|
|
|
|
|
|
|
|
if(HAL_GetTick()>tike)
|
|
{
|
|
tike=HAL_GetTick()+1000;
|
|
if(dir==1||dir==2||dir==8)
|
|
{
|
|
if((dis.lattice[0][7][7]==1)&&dis.lattice[1][0][0]==0)
|
|
{
|
|
dis.lattice[0][7][7]=0;
|
|
dis.lattice[1][0][0]=1;
|
|
}
|
|
a=read_map(0);
|
|
dis.DT[0]=LD_true_1[a/10];
|
|
dis.DT[1]=LD_true_2[a%10];
|
|
}
|
|
if(dir==5||dir==4||dir==6)
|
|
{
|
|
if((dis.lattice[1][0][0]==1)&&dis.lattice[0][7][7]==0)
|
|
{
|
|
dis.lattice[1][0][0]=0;
|
|
dis.lattice[0][7][7]=1;
|
|
}
|
|
a=read_map(1);
|
|
dis.DT[1]=LD_1[a/10];
|
|
dis.DT[0]=LD_2[a%10];
|
|
}
|
|
}
|
|
|
|
if(HAL_GetTick()>tike2)
|
|
{
|
|
tike2=HAL_GetTick()+10;
|
|
|
|
scan();
|
|
}
|
|
|
|
dis_ui();
|
|
}
|
|
|
|
}
|
|
|