A web server for monitoring and controlling a MakerBot Replicator over the USB host and ethernet.

Dependencies:   IAP NTPClient RTC mbed-rtos mbed Socket lwip-sys lwip BurstSPI

Fork of LPC1768_Mini-DK by Frank Vannieuwkerke

Makerbot Server for LPC1768 Copyright (c) 2013, jake (at) allaboutjake (dot) com All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

  • Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
  • Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
  • The name of the author and/or copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER, AUTHOR, OR ANY CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Warnings:

This is not a commercial product or a hardened and secure network appliance. It is intended as a thought experiment or proof of concept and should not be relied upon in any way. Always operate your 3D printer in a safe and controlled manner.

Do not connect this directly to the exposed internet. It is intended to be behind a secure firewall (and NAT) such that it will only accept commands from the local network. Imagine how much fun a hacker could have instructing your 3D printer to continually print Standford bunnies. Well it could be much worse then that- a malicious user could send commands that could crash your machine (both in the software sense, as well as in the "smash your moving parts against the side of the machine repeatedly sense), overheat your extruders, cause your build plate to catch fire, and do severe damage to the machine, any surrounding building and propery. You have been warned.

Never print unattended and be ready to step in and stop the machine if something goes wrong. Keep in mind, a 3D printer has heaters that are operating at high temperatures, and if something starts to burn, it could cause damage to the machine, other property, and/or hurt yourself, pets, or others.

You should understand what you are doing. The source code here is not intended as a finished product or set of step by step instructions. You should engineer your own solution, which may wind up being better than mine.

Proceed at your own risk. You've been warned. (Several times) If you break your Makerbot, burn your house down, or injure yourself or others, I take no responsibility.

Introduction

I've been working on a side project to solve the "last mile" problem for people wanting to print from the network on their bots. I feel like the first half of the problem is solved with the FlashAir- getting the files to the card. The next step is a lightweight way of sending the "play back capture" command to the bot.

I looked around for a microcontroller platform that supports both networking and can function as a USB host. I happened to have an mbed (mbed) on hand that fit the bill. The mbed also has a working online toolchain (you need to own an mbed to gain access to the compiler). Some people don't like the online development environment, but I'm a fan of "working" and "Mac compatible." It was a good start, but cost wise, you would need an mbed LPC1768 module and some sort of carrier board that has both USB host and ethernet, or rig up your own connector solution. I happened to also have a Seedstudio mbed shield carrier board. This provides ethernet and USB connectors, but is another $25, putting the solution at around $75.

I also had an LPC1768 development board here called the "Mini-DK2". It has a USB host and a wired ethernet connector on board (search ebay if you're interested). It's a single-board solution that costs only $32 (and for $40 you can get one with a touchscreen) Its the cheapest development board I've seen with both USB host and an ethernet connector. I considered RasPi, but I'm not on that bandwagon. Since I had the Mini-DK2 on hand from another project that never went anywhere, I moved from the mbed module and carrier board to the DK2.

The mbed environment can compile binaries that work on the DK2 (again, you need to own at least one 1768 mbed already to get a license to use the compiler), and the mbed libraries provide some nice features. A USB Host library and and Ethernet library were readily available. The USBHost library didn't quite work out of the box. It took some time and more learning about the USB protocols than I would have liked, but I have the board communicating over the USB Host and the Makerbot.

Changes to stock mbed libraries

Many libraries are imported, but then converted to folders as to unlink them.

mbed provides a USHost library that includes a USBHostSerial object for connecting to CDC serial devices. Unfortunately, it did not work for me out of the box. I spent some time learning about USB protocols. One good reference is [Jan Axelson's Lakeview Research](http://www.lvr.com/usb_virtual_com_port.htm) discussion about CDC.

I found that the stock library was sending the control transfers to Interface 1. From what I understand, the control transfers needed to go to interface 0. I modified the USBHostSerial library to correct this, and the serial port interface came to life.

Next, I found that I wasn't able to get reliable communication. I traced it to what I think is an odd C++ inheritance and override problem. The USBHostSerial class implements the Stream interface, allowing printf/scanf operations. This is done by overriding the virtual _getc and _putc methods. Unfortunately, and for a reason I can't understand, these methods were not being called consistently. Sometimes they would work, but other times they would not. My solution was to implement transmit/receive methods with different names, and since the names were different, they seemed to get called consistently. I'd like to learn exactly what's going on here, but I don't feel like debugging it for academic purposes when it works just fine with the added methods.

Usage

Connect up your chosen dev board to power, ethernet and the USB host to the Makerbot's USB cable. The Mini-DK uses a USB-OTG adapter for the USB host. If you're using a Mini-DK board with an LCD, it will inform you of it's IP address on the display. This means it is now listening for a connection on port 7654.

If you are using an mbed dev board, or a Mini-DK without a display, the message will be directed to the serial console. Connect your computer to the appropriate port at a baud rate of 115200 to see the messages.

Use a telnet client to connect to the given IP address at port 7654. Telnet clients typically revert to "line mode" on ports other than 21. This means you get a local echo and the command isn't sent until you press enter.

Once connected, you can send the following commands:

A <username>:<password> : Set a username & password for the web interface and the telnet interface. Use the format shown with a colon separating the username from the password.

V : Print the version and Makerbot name, as well as the local firmware version (the Makerbot_Server firmware as discussed here).

B <filename.x3g> : Build from SD the given filename. According tot he protocol spec, this command is limited to 12 characters, so 8.3 filenames only.

P : Pause an active build

R : Resume active build

C : Cancel build- note that this immediately halts the build and does not clear the build area. You might want to pause the build first, and then cancel shortly after to make sure the nozzle isn't left hot and in contact with a printed part.

S : Print build status, tool and platform temps

Q : Quit and logout

The Mini-DK has two onboard buttons (besides the ISP and reset buttons). Currently one button will trigger a pause (if the Makerbot is printing) and the other will resume (if the Makerbot it paused)

Compiling

Edit "Target.h" to set whether you're building for an MBED module or the Mini-DK2

Installation

If you are using a mbed, then you can simply load the BIN file to the mbed using the mass storage bootloader. The mbed mounts as if it were a USB thumbdrive, and you copy the BIN file to the drive. After a reset, you're running the installed firmware.

The MiniDK has a serial bootloader. You connect to this bootloader from the "top" USB connector (not the USB host one). Hold down the ISP button and then tap the reset button and then release the ISP button to put it into programming mode. I use [lpc21isp](http://sourceforge.net/projects/lpc21isp/) to load the binary. The other option is FlashMagic, which uses HEX files, so you'll need to use some sort of bin2hex utility to convert the firmware file if you use this utility. I can't really say if/how this works, as I don't use this method. See this (http://mbed.org/users/frankvnk/notebook/lpc1768-mini-dk/) for more info.

Credits

Some credits, where credit is due.

EthernetInterface - modified to include PHY code for both the MiniDK2 and MBED based on selected #definitions

Mini-DK - Thanks for Frank and Erik for doing all the heavy lifting getting the MBED compiler and libraries and peripherals working on the Mini-DK2

NTP Client - Thanks to Donatien for this library to set the clock over the network

RTC - Thanks to Erik for the RTC library. I've got it in my project, but I don't think I'm using it for anything (yet).

SimpleSocket - Thanks to Yamaguchi-san. Modified slightly to take out references to EthernetInterface::init() and ::getIPAddress(). For some reason these don't like to be called in a thread.

JPEGCamera - Thanks again to Yamaguchi-san. Modified to output the JPEG binary over a socket rather than to a file descriptor.

USBHost - modified as noted above

IAP - Thanks to Okano-san. Pulled out of the Mini-DK folder so that I could link it back to the base repository at the root level.

Committer:
frankvnk
Date:
Tue Dec 11 08:58:06 2012 +0000
Revision:
0:ee7076d8260a
First version - LCD and touch working - no Ethernet

Who changed what in which revision?

UserRevisionLine numberNew contents of line
frankvnk 0:ee7076d8260a 1 // Code based on Carlos E. Vidales tutorial : How To Calibrate Touch Screens
frankvnk 0:ee7076d8260a 2 // http://www.embedded.com/design/configurable-systems/4023968/How-To-Calibrate-Touch-Screens
frankvnk 0:ee7076d8260a 3
frankvnk 0:ee7076d8260a 4 #include "Touch.h"
frankvnk 0:ee7076d8260a 5 #include "mbed.h"
frankvnk 0:ee7076d8260a 6 #include "Arial12x12.h"
frankvnk 0:ee7076d8260a 7
frankvnk 0:ee7076d8260a 8 // (To be modified) C code below works on KEIL compiler but NOT on LPCXpresso/mbed
frankvnk 0:ee7076d8260a 9 //Matrix matrix ;
frankvnk 0:ee7076d8260a 10 //Coordinate display ;
frankvnk 0:ee7076d8260a 11
frankvnk 0:ee7076d8260a 12 Coordinate ScreenSample[3] = {
frankvnk 0:ee7076d8260a 13 { 45, 45 },
frankvnk 0:ee7076d8260a 14 { 45, 270},
frankvnk 0:ee7076d8260a 15 { 190,190}
frankvnk 0:ee7076d8260a 16 } ;
frankvnk 0:ee7076d8260a 17 Coordinate DisplaySample[3] = {
frankvnk 0:ee7076d8260a 18 { 45, 45 },
frankvnk 0:ee7076d8260a 19 { 45, 270},
frankvnk 0:ee7076d8260a 20 { 190,190}
frankvnk 0:ee7076d8260a 21 } ;
frankvnk 0:ee7076d8260a 22
frankvnk 0:ee7076d8260a 23 #define THRESHOLD 2
frankvnk 0:ee7076d8260a 24 // **********************************************************************
frankvnk 0:ee7076d8260a 25
frankvnk 0:ee7076d8260a 26 TouchScreenADS7843::TouchScreenADS7843(PinName tp_mosi,PinName tp_miso,PinName tp_sclk,PinName tp_cs,PinName tp_irq,PinName mosi, PinName miso, PinName sclk, PinName cs, PinName reset,const char* name)
frankvnk 0:ee7076d8260a 27 : _tp_spi(tp_mosi, tp_miso, tp_sclk), _tp_cs(tp_cs), _tp_irq(tp_irq),SPI_TFT(mosi,miso,sclk,cs,reset,name) {}
frankvnk 0:ee7076d8260a 28 // **********************************************************************
frankvnk 0:ee7076d8260a 29 void TouchScreenADS7843::TP_Init(void)
frankvnk 0:ee7076d8260a 30 {
frankvnk 0:ee7076d8260a 31 _tp_cs=1;
frankvnk 0:ee7076d8260a 32 _tp_spi.frequency(500000);
frankvnk 0:ee7076d8260a 33 _tp_spi.format(8,0); // 8 bit spi mode 3
frankvnk 0:ee7076d8260a 34 }
frankvnk 0:ee7076d8260a 35
frankvnk 0:ee7076d8260a 36 int TouchScreenADS7843::Read_XY(unsigned char XY)
frankvnk 0:ee7076d8260a 37 {
frankvnk 0:ee7076d8260a 38 unsigned char msb, lsb;
frankvnk 0:ee7076d8260a 39 unsigned int Temp;
frankvnk 0:ee7076d8260a 40
frankvnk 0:ee7076d8260a 41 Temp=0;
frankvnk 0:ee7076d8260a 42 _tp_cs=0;
frankvnk 0:ee7076d8260a 43 wait_us(SPI_RD_DELAY);
frankvnk 0:ee7076d8260a 44 _tp_spi.write(XY);
frankvnk 0:ee7076d8260a 45 wait_us(SPI_RD_DELAY);
frankvnk 0:ee7076d8260a 46 msb = _tp_spi.write(0x00); // msb
frankvnk 0:ee7076d8260a 47 wait_us(SPI_RD_DELAY);
frankvnk 0:ee7076d8260a 48 lsb = _tp_spi.write(0x00); // lsb
frankvnk 0:ee7076d8260a 49 _tp_cs=1;
frankvnk 0:ee7076d8260a 50 Temp = ((msb <<8 ) | lsb);
frankvnk 0:ee7076d8260a 51 Temp >>= 3;
frankvnk 0:ee7076d8260a 52 Temp &= 0xfff;
frankvnk 0:ee7076d8260a 53 Temp /= 4; // Scaling : return value range must be between 0 and 1024
frankvnk 0:ee7076d8260a 54 // Temp = (((msb & 0x7f) <<8) | lsb) >> 3; // 12 bit
frankvnk 0:ee7076d8260a 55 return(Temp);
frankvnk 0:ee7076d8260a 56 }
frankvnk 0:ee7076d8260a 57
frankvnk 0:ee7076d8260a 58
frankvnk 0:ee7076d8260a 59 void TouchScreenADS7843::TP_GetAdXY(int *x,int *y)
frankvnk 0:ee7076d8260a 60 {
frankvnk 0:ee7076d8260a 61 int adx,ady;
frankvnk 0:ee7076d8260a 62 adx = Read_XY(CHX);
frankvnk 0:ee7076d8260a 63 wait_us(1);
frankvnk 0:ee7076d8260a 64 ady = Read_XY(CHY);
frankvnk 0:ee7076d8260a 65 *x = adx;
frankvnk 0:ee7076d8260a 66 *y = ady;
frankvnk 0:ee7076d8260a 67 }
frankvnk 0:ee7076d8260a 68
frankvnk 0:ee7076d8260a 69 void TouchScreenADS7843::TP_DrawPoint(unsigned int Xpos,unsigned int Ypos, unsigned int color)
frankvnk 0:ee7076d8260a 70 {
frankvnk 0:ee7076d8260a 71 wr_reg(0x03, 0x1030);
frankvnk 0:ee7076d8260a 72 WindowMax();
frankvnk 0:ee7076d8260a 73 pixel(Xpos,Ypos,color);
frankvnk 0:ee7076d8260a 74 pixel(Xpos+1,Ypos,color);
frankvnk 0:ee7076d8260a 75 pixel(Xpos,Ypos+1,color);
frankvnk 0:ee7076d8260a 76 pixel(Xpos+1,Ypos+1,color);
frankvnk 0:ee7076d8260a 77 }
frankvnk 0:ee7076d8260a 78
frankvnk 0:ee7076d8260a 79 void TouchScreenADS7843::DrawCross(unsigned int Xpos,unsigned int Ypos)
frankvnk 0:ee7076d8260a 80 {
frankvnk 0:ee7076d8260a 81 line(Xpos-15,Ypos,Xpos-2,Ypos,White);
frankvnk 0:ee7076d8260a 82 line(Xpos+2,Ypos,Xpos+15,Ypos,White);
frankvnk 0:ee7076d8260a 83 line(Xpos,Ypos-15,Xpos,Ypos-2,White);
frankvnk 0:ee7076d8260a 84 line(Xpos,Ypos+2,Xpos,Ypos+15,White);
frankvnk 0:ee7076d8260a 85
frankvnk 0:ee7076d8260a 86 line(Xpos-15,Ypos+15,Xpos-7,Ypos+15,DarkGrey);
frankvnk 0:ee7076d8260a 87 line(Xpos-15,Ypos+7,Xpos-15,Ypos+15,DarkGrey);
frankvnk 0:ee7076d8260a 88
frankvnk 0:ee7076d8260a 89 line(Xpos-15,Ypos-15,Xpos-7,Ypos-15,DarkGrey);
frankvnk 0:ee7076d8260a 90 line(Xpos-15,Ypos-7,Xpos-15,Ypos-15,DarkGrey);
frankvnk 0:ee7076d8260a 91
frankvnk 0:ee7076d8260a 92 line(Xpos+7,Ypos+15,Xpos+15,Ypos+15,DarkGrey);
frankvnk 0:ee7076d8260a 93 line(Xpos+15,Ypos+7,Xpos+15,Ypos+15,DarkGrey);
frankvnk 0:ee7076d8260a 94
frankvnk 0:ee7076d8260a 95 line(Xpos+7,Ypos-15,Xpos+15,Ypos-15,DarkGrey);
frankvnk 0:ee7076d8260a 96 line(Xpos+15,Ypos-15,Xpos+15,Ypos-7,DarkGrey);
frankvnk 0:ee7076d8260a 97 }
frankvnk 0:ee7076d8260a 98
frankvnk 0:ee7076d8260a 99 unsigned char TouchScreenADS7843::Read_Ads7846(Coordinate * screenPtr)
frankvnk 0:ee7076d8260a 100 {
frankvnk 0:ee7076d8260a 101 // static Coordinate screen;
frankvnk 0:ee7076d8260a 102 int m0,m1,m2,TP_X[1],TP_Y[1],temp[3];
frankvnk 0:ee7076d8260a 103 uint8_t count=0;
frankvnk 0:ee7076d8260a 104 int buffer[2][9]={{0},{0}};
frankvnk 0:ee7076d8260a 105 do
frankvnk 0:ee7076d8260a 106 {
frankvnk 0:ee7076d8260a 107 TP_GetAdXY(TP_X,TP_Y);
frankvnk 0:ee7076d8260a 108 buffer[0][count]=TP_X[0];
frankvnk 0:ee7076d8260a 109 buffer[1][count]=TP_Y[0];
frankvnk 0:ee7076d8260a 110 count++;
frankvnk 0:ee7076d8260a 111 }
frankvnk 0:ee7076d8260a 112 while(!_tp_irq && (count < 9));
frankvnk 0:ee7076d8260a 113 if(count==9)
frankvnk 0:ee7076d8260a 114 {
frankvnk 0:ee7076d8260a 115 temp[0]=(buffer[0][0]+buffer[0][1]+buffer[0][2])/3;
frankvnk 0:ee7076d8260a 116 temp[1]=(buffer[0][3]+buffer[0][4]+buffer[0][5])/3;
frankvnk 0:ee7076d8260a 117 temp[2]=(buffer[0][6]+buffer[0][7]+buffer[0][8])/3;
frankvnk 0:ee7076d8260a 118 m0=temp[0]-temp[1];
frankvnk 0:ee7076d8260a 119 m1=temp[1]-temp[2];
frankvnk 0:ee7076d8260a 120 m2=temp[2]-temp[0];
frankvnk 0:ee7076d8260a 121 m0=m0>0?m0:(-m0);
frankvnk 0:ee7076d8260a 122 m1=m1>0?m1:(-m1);
frankvnk 0:ee7076d8260a 123 m2=m2>0?m2:(-m2);
frankvnk 0:ee7076d8260a 124 if( (m0>THRESHOLD) && (m1>THRESHOLD) && (m2>THRESHOLD) ) return 0;
frankvnk 0:ee7076d8260a 125 if(m0<m1)
frankvnk 0:ee7076d8260a 126 {
frankvnk 0:ee7076d8260a 127 if(m2<m0)
frankvnk 0:ee7076d8260a 128 screenPtr->x=(temp[0]+temp[2])/2;
frankvnk 0:ee7076d8260a 129 else
frankvnk 0:ee7076d8260a 130 screenPtr->x=(temp[0]+temp[1])/2;
frankvnk 0:ee7076d8260a 131 }
frankvnk 0:ee7076d8260a 132 else if(m2<m1)
frankvnk 0:ee7076d8260a 133 screenPtr->x=(temp[0]+temp[2])/2;
frankvnk 0:ee7076d8260a 134 else
frankvnk 0:ee7076d8260a 135 screenPtr->x=(temp[1]+temp[2])/2;
frankvnk 0:ee7076d8260a 136
frankvnk 0:ee7076d8260a 137 temp[0]=(buffer[1][0]+buffer[1][1]+buffer[1][2])/3;
frankvnk 0:ee7076d8260a 138 temp[1]=(buffer[1][3]+buffer[1][4]+buffer[1][5])/3;
frankvnk 0:ee7076d8260a 139 temp[2]=(buffer[1][6]+buffer[1][7]+buffer[1][8])/3;
frankvnk 0:ee7076d8260a 140 m0=temp[0]-temp[1];
frankvnk 0:ee7076d8260a 141 m1=temp[1]-temp[2];
frankvnk 0:ee7076d8260a 142 m2=temp[2]-temp[0];
frankvnk 0:ee7076d8260a 143 m0=m0>0?m0:(-m0);
frankvnk 0:ee7076d8260a 144 m1=m1>0?m1:(-m1);
frankvnk 0:ee7076d8260a 145 m2=m2>0?m2:(-m2);
frankvnk 0:ee7076d8260a 146 if( (m0>THRESHOLD) && (m1>THRESHOLD) && (m2>THRESHOLD) ) return 0;
frankvnk 0:ee7076d8260a 147
frankvnk 0:ee7076d8260a 148 if(m0<m1)
frankvnk 0:ee7076d8260a 149 {
frankvnk 0:ee7076d8260a 150 if(m2<m0)
frankvnk 0:ee7076d8260a 151 screenPtr->y=(temp[0]+temp[2])/2;
frankvnk 0:ee7076d8260a 152 else
frankvnk 0:ee7076d8260a 153 screenPtr->y=(temp[0]+temp[1])/2;
frankvnk 0:ee7076d8260a 154 }
frankvnk 0:ee7076d8260a 155 else if(m2<m1)
frankvnk 0:ee7076d8260a 156 screenPtr->y=(temp[0]+temp[2])/2;
frankvnk 0:ee7076d8260a 157 else
frankvnk 0:ee7076d8260a 158 screenPtr->y=(temp[1]+temp[2])/2;
frankvnk 0:ee7076d8260a 159 return 1;
frankvnk 0:ee7076d8260a 160 }
frankvnk 0:ee7076d8260a 161 return 0;
frankvnk 0:ee7076d8260a 162 }
frankvnk 0:ee7076d8260a 163
frankvnk 0:ee7076d8260a 164 uint8_t TouchScreenADS7843::setCalibrationMatrix( Coordinate * displayPtr,
frankvnk 0:ee7076d8260a 165 Coordinate * screenPtr,
frankvnk 0:ee7076d8260a 166 Matrix * matrixPtr)
frankvnk 0:ee7076d8260a 167 {
frankvnk 0:ee7076d8260a 168 uint8_t retTHRESHOLD = 0 ;
frankvnk 0:ee7076d8260a 169 // K = (Xs0 - Xs2)*(Ys1 - Ys2) - (Xs1 - Xs2)*(Ys0 - Ys2)
frankvnk 0:ee7076d8260a 170 matrixPtr->Divider = ((screenPtr[0].x - screenPtr[2].x) * (screenPtr[1].y - screenPtr[2].y)) -
frankvnk 0:ee7076d8260a 171 ((screenPtr[1].x - screenPtr[2].x) * (screenPtr[0].y - screenPtr[2].y)) ;
frankvnk 0:ee7076d8260a 172 if( matrixPtr->Divider == 0 )
frankvnk 0:ee7076d8260a 173 {
frankvnk 0:ee7076d8260a 174 retTHRESHOLD = 1;
frankvnk 0:ee7076d8260a 175 }
frankvnk 0:ee7076d8260a 176 else
frankvnk 0:ee7076d8260a 177 {
frankvnk 0:ee7076d8260a 178 // (Xd0 - Xd2)*(Ys1 - Ys2) - (Xd1 - Xd2)*(Ys0 - Ys2)
frankvnk 0:ee7076d8260a 179 // A = ---------------------------------------------------
frankvnk 0:ee7076d8260a 180 // K
frankvnk 0:ee7076d8260a 181 matrixPtr->An = ((displayPtr[0].x - displayPtr[2].x) * (screenPtr[1].y - screenPtr[2].y)) -
frankvnk 0:ee7076d8260a 182 ((displayPtr[1].x - displayPtr[2].x) * (screenPtr[0].y - screenPtr[2].y)) ;
frankvnk 0:ee7076d8260a 183 // (Xs0 - Xs2)*(Xd1 - Xd2) - (Xd0 - Xd2)*(Xs1 - Xs2)
frankvnk 0:ee7076d8260a 184 // B = ---------------------------------------------------
frankvnk 0:ee7076d8260a 185 // K
frankvnk 0:ee7076d8260a 186 matrixPtr->Bn = ((screenPtr[0].x - screenPtr[2].x) * (displayPtr[1].x - displayPtr[2].x)) -
frankvnk 0:ee7076d8260a 187 ((displayPtr[0].x - displayPtr[2].x) * (screenPtr[1].x - screenPtr[2].x)) ;
frankvnk 0:ee7076d8260a 188 // Ys0*(Xs2*Xd1 - Xs1*Xd2) + Ys1*(Xs0*Xd2 - Xs2*Xd0) + Ys2*(Xs1*Xd0 - Xs0*Xd1)
frankvnk 0:ee7076d8260a 189 // C = ----------------------------------------------------------------------------
frankvnk 0:ee7076d8260a 190 // K
frankvnk 0:ee7076d8260a 191 matrixPtr->Cn = (screenPtr[2].x * displayPtr[1].x - screenPtr[1].x * displayPtr[2].x) * screenPtr[0].y +
frankvnk 0:ee7076d8260a 192 (screenPtr[0].x * displayPtr[2].x - screenPtr[2].x * displayPtr[0].x) * screenPtr[1].y +
frankvnk 0:ee7076d8260a 193 (screenPtr[1].x * displayPtr[0].x - screenPtr[0].x * displayPtr[1].x) * screenPtr[2].y ;
frankvnk 0:ee7076d8260a 194 // (Yd0 - Yd2)*(Ys1 - Ys2) - (Yd1 - Yd2)*(Ys0 - Ys2)
frankvnk 0:ee7076d8260a 195 // D = ---------------------------------------------------
frankvnk 0:ee7076d8260a 196 // K
frankvnk 0:ee7076d8260a 197 matrixPtr->Dn = ((displayPtr[0].y - displayPtr[2].y) * (screenPtr[1].y - screenPtr[2].y)) -
frankvnk 0:ee7076d8260a 198 ((displayPtr[1].y - displayPtr[2].y) * (screenPtr[0].y - screenPtr[2].y)) ;
frankvnk 0:ee7076d8260a 199 // (Xs0 - Xs2)*(Yd1 - Yd2) - (Yd0 - Yd2)*(Xs1 - Xs2)
frankvnk 0:ee7076d8260a 200 // E = ---------------------------------------------------
frankvnk 0:ee7076d8260a 201 // K
frankvnk 0:ee7076d8260a 202 matrixPtr->En = ((screenPtr[0].x - screenPtr[2].x) * (displayPtr[1].y - displayPtr[2].y)) -
frankvnk 0:ee7076d8260a 203 ((displayPtr[0].y - displayPtr[2].y) * (screenPtr[1].x - screenPtr[2].x)) ;
frankvnk 0:ee7076d8260a 204 // Ys0*(Xs2*Yd1 - Xs1*Yd2) + Ys1*(Xs0*Yd2 - Xs2*Yd0) + Ys2*(Xs1*Yd0 - Xs0*Yd1)
frankvnk 0:ee7076d8260a 205 // F = ----------------------------------------------------------------------------
frankvnk 0:ee7076d8260a 206 // K
frankvnk 0:ee7076d8260a 207 matrixPtr->Fn = (screenPtr[2].x * displayPtr[1].y - screenPtr[1].x * displayPtr[2].y) * screenPtr[0].y +
frankvnk 0:ee7076d8260a 208 (screenPtr[0].x * displayPtr[2].y - screenPtr[2].x * displayPtr[0].y) * screenPtr[1].y +
frankvnk 0:ee7076d8260a 209 (screenPtr[1].x * displayPtr[0].y - screenPtr[0].x * displayPtr[1].y) * screenPtr[2].y ;
frankvnk 0:ee7076d8260a 210 }
frankvnk 0:ee7076d8260a 211 return( retTHRESHOLD ) ;
frankvnk 0:ee7076d8260a 212 }
frankvnk 0:ee7076d8260a 213
frankvnk 0:ee7076d8260a 214 uint8_t TouchScreenADS7843::getDisplayPoint(Coordinate *displayPtr,
frankvnk 0:ee7076d8260a 215 Coordinate *screenPtr,
frankvnk 0:ee7076d8260a 216 Matrix *matrixPtr )
frankvnk 0:ee7076d8260a 217 {
frankvnk 0:ee7076d8260a 218 uint8_t retTHRESHOLD = 0 ;
frankvnk 0:ee7076d8260a 219
frankvnk 0:ee7076d8260a 220 if( matrixPtr->Divider != 0 )
frankvnk 0:ee7076d8260a 221 {
frankvnk 0:ee7076d8260a 222 // XD = AX+BY+C
frankvnk 0:ee7076d8260a 223 displayPtr->x = ( (matrixPtr->An * screenPtr->x) +
frankvnk 0:ee7076d8260a 224 (matrixPtr->Bn * screenPtr->y) +
frankvnk 0:ee7076d8260a 225 matrixPtr->Cn
frankvnk 0:ee7076d8260a 226 ) / matrixPtr->Divider ;
frankvnk 0:ee7076d8260a 227 // YD = DX+EY+F
frankvnk 0:ee7076d8260a 228 displayPtr->y = ( (matrixPtr->Dn * screenPtr->x) +
frankvnk 0:ee7076d8260a 229 (matrixPtr->En * screenPtr->y) +
frankvnk 0:ee7076d8260a 230 matrixPtr->Fn
frankvnk 0:ee7076d8260a 231 ) / matrixPtr->Divider ;
frankvnk 0:ee7076d8260a 232 }
frankvnk 0:ee7076d8260a 233 else
frankvnk 0:ee7076d8260a 234 {
frankvnk 0:ee7076d8260a 235 retTHRESHOLD = 1;
frankvnk 0:ee7076d8260a 236 }
frankvnk 0:ee7076d8260a 237 return(retTHRESHOLD);
frankvnk 0:ee7076d8260a 238 }
frankvnk 0:ee7076d8260a 239
frankvnk 0:ee7076d8260a 240 void TouchScreenADS7843::TouchPanel_Calibrate(Matrix *matrixPtr)
frankvnk 0:ee7076d8260a 241 {
frankvnk 0:ee7076d8260a 242 uint8_t i;
frankvnk 0:ee7076d8260a 243 Coordinate screen_cal;
frankvnk 0:ee7076d8260a 244 setCalibrationMatrix( &DisplaySample[0],&ScreenSample[0],matrixPtr ) ;
frankvnk 0:ee7076d8260a 245 set_font((unsigned char*) Arial12x12);
frankvnk 0:ee7076d8260a 246 for(i=0;i<3;i++)
frankvnk 0:ee7076d8260a 247 {
frankvnk 0:ee7076d8260a 248 cls();
frankvnk 0:ee7076d8260a 249 locate(10,10);
frankvnk 0:ee7076d8260a 250 printf("Touch crosshair to calibrate");
frankvnk 0:ee7076d8260a 251 wait_ms(500);
frankvnk 0:ee7076d8260a 252 DrawCross(DisplaySample[i].x,DisplaySample[i].y);
frankvnk 0:ee7076d8260a 253 do {} while (!Read_Ads7846(&screen_cal));
frankvnk 0:ee7076d8260a 254 ScreenSample[i].x= screen_cal.x; ScreenSample[i].y= screen_cal.y;
frankvnk 0:ee7076d8260a 255 }
frankvnk 0:ee7076d8260a 256 setCalibrationMatrix( &DisplaySample[0],&ScreenSample[0],matrixPtr ) ;
frankvnk 0:ee7076d8260a 257 cls();
frankvnk 0:ee7076d8260a 258 }
frankvnk 0:ee7076d8260a 259