单片机模拟还原三阶魔方.docx

三阶魔方模拟还原n 暂时没有硬件平台，故在程序里建立魔方模型，通过程序还原它如图片所示：以绿色面为顶面（0面），底面为蓝色（5面），从上依次顺时针为 白-1、红-2、黄-3、橙色-4。将其六面以顶面为准平铺开，各面以从左到右从上到下顺序依次标记为0-8块，4为中心块。 旋转某一面时（如旋转0面），主要改变的有本面的9块颜色、各侧边颜色（Up0-2、Right0-2、Down0-2、Left0-2,这四数组依次存储各侧面的那三块的地址）,当旋转时只是其值改变但地址保持不变。通过此数组和结构体建立旋转的模型。 还原算法不能完全依靠上面的模型（或者说是基于它而建立），此时需要建立一个有相对位置关系的数学模型，也就是我能通过它知道下一步应该如何转。此时建立了数组Color_D6来实现标准相对位置,它包含信息有各面相对实际旋转角度（0-n*90）、对应实际面、其颜色，location（低2位记录0-3 上右下左的顺时针4个位置，bit6-4记录那个相对标准面，最高位置1表示0、2、8、6四块，为0时表示低2位记录1、3、7、5四个位置）用于记录寻找的目标快所在位置，通过它来计算旋转。 算法分7段，程序只需要扫描一次六面的情况，后期处理不再需要获取各面信息。 基于STM32F103C8T6，程序22K，AVRmega16完全可以实现，程序算法很快，全程时间 reset CS RD WR RS PA0-PA7:DATA IO STM32 IO使用信息/-/#define TFT_RST PB6#define LCD_RST_UP GPIO_SetBits(GPIOB,GPIO_Pin_6)#define LCD_RST_DOWN GPIO_ResetBits(GPIOB,GPIO_Pin_6)/#define TFT_CS PB7 #define LCD_CS_UP GPIO_SetBits(GPIOB,GPIO_Pin_7);#define LCD_CS_DOWN GPIO_ResetBits(GPIOB,GPIO_Pin_7)/#define TFT_RD PB8 /那?3?1#define LCD_RD_DOWN GPIO_ResetBits(GPIOB,GPIO_Pin_8)#define LCD_RD_UP GPIO_SetBits(GPIOB,GPIO_Pin_8)/#define TFT_RS PB3 /那?3?1#define LCD_RS_UP GPIO_SetBits(GPIOB,GPIO_Pin_3)#define LCD_RS_DOWN GPIO_ResetBits(GPIOB,GPIO_Pin_3)/#define TFT_WR PB9 /那?3?1#define LCD_WR_UP GPIO_SetBits(GPIOB,GPIO_Pin_9)#define LCD_WR_DOWN GPIO_ResetBits(GPIOB,GPIO_Pin_9)#define TFT_8Bits_out(GPIOX, VAL ) GPIOX-BSRR = VAL|(VAL&0x00FF)16)/8bits数据端口struct rotate/各侧边的关联 即当前面的个侧边面块u8 *Up3;u8 *Down3;u8 *Left3;u8 *Right3;extern u8 Red,Gre,Blu;extern u8 Cube69;/magic cube color void LCD_Init ( void );void LCD_Set_Horizontal_Vertical ( unsigned int horizontal, unsigned int vertical );void LCD_Set_Window ( unsigned int , unsigned int , unsigned int, unsigned int );void LCD_Show_Blackground ( uint8_t red, uint8_t green, uint8_t blue );void LCD_ShowChar(uint8_t x,uint16_t y,uint8_t num,uint8_t size,uint8_t mode);void LCD_Fill(u8 xsta,u16 ysta,u8 xend,u16 yend);void LCD_DrawLine(u8 x1, u16 y1, u8 x2, u16 y2);void Draw_Circle(u8 x0,u16 y0,u8 r);void LCD_Cube_Paint(void);void Turn_Cube( u8 direction );void init_Cube(void);unsigned char Cube_Restore(u8 face);#endif/* ILI93XX.c */#include delay.h#include ILI93XX.h#include font.h#include usart.h/=u8 Red,Gre,Blu;u8 Cube69;/magic cube color/#define DEBUG4 1/不同阶段调试#define DEBUG7 1/不同阶段调试struct rotate Cube16;void LCD_Write_Data_Start()LCD_CS_DOWN;LCD_RS_DOWN;TFT_8Bits_out ( GPIOA, 0x00 );LCD_WR_DOWN;LCD_WR_UP;TFT_8Bits_out ( GPIOA, 0x22 );LCD_WR_DOWN;LCD_WR_UP;LCD_RS_UP;void LCD_Write_Data_End()LCD_RS_UP;LCD_CS_UP;void LCD_Write_Data ( uint8_t Red, uint8_t Green, uint8_t Blue )TFT_8Bits_out ( GPIOA, ( Red2 ) );LCD_WR_DOWN;LCD_WR_UP;TFT_8Bits_out ( GPIOA, ( Green2 ) );LCD_WR_DOWN;LCD_WR_UP;TFT_8Bits_out ( GPIOA, ( Blue8 ) );LCD_WR_DOWN;LCD_WR_UP;TFT_8Bits_out ( GPIOA, index );LCD_WR_DOWN;LCD_WR_UP;LCD_RS_UP;TFT_8Bits_out ( GPIOA, ( uint8_t ) ( data8 ) );LCD_WR_DOWN;LCD_WR_UP;TFT_8Bits_out ( GPIOA, ( uint8_t ) ( data ) );LCD_WR_DOWN;LCD_WR_UP;LCD_CS_UP;void LCD_Display_ON()LCD_Write_Register ( 0x07, 0x0033 );void LCD_Display_OFF()LCD_Write_Register ( 0x07, 0x0021 );void LCD_Init()GPIO_InitTypeDef GPIO_InitStructure;RCC_APB2PeriphClockCmd ( RCC_APB2Periph_GPIOA, ENABLE ); /使能端口时钟GPIO_InitStructure.GPIO_Pin =0x00FF; /端口配置GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; /推挽输出GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init ( GPIOA, &GPIO_InitStructure );RCC_APB2PeriphClockCmd ( RCC_APB2Periph_GPIOB, ENABLE ); /使能端口时钟GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3|GPIO_Pin_6|GPIO_Pin_7|GPIO_Pin_8|GPIO_Pin_9; /端口配置GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; /推挽输出GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init ( GPIOB, &GPIO_InitStructure );LCD_RST_UP;LCD_RD_UP;LCD_RS_UP;LCD_WR_UP;LCD_CS_UP;/LCD_DATA_HIGH=0xff;LCD_CS_UP;LCD_RST_UP;LCD_RS_UP;LCD_RD_UP;LCD_WR_UP;delay_ms ( 1 );LCD_CS_DOWN;LCD_RST_DOWN;delay_ms ( 10 );LCD_RST_UP;LCD_CS_UP;delay_ms ( 50 );/* Start Initial Sequence */LCD_Write_Register ( 0x00E3, 0x3008 ); / Set internal timingLCD_Write_Register ( 0x00E7, 0x0012 ); / Set internal timingLCD_Write_Register ( 0x00EF, 0x1231 ); / Set internal timingLCD_Write_Register ( 0x00E5,0x78F0 ); / set SRAM internal timingLCD_Write_Register ( 0x0001,0x0100 ); / set SS and SM bitLCD_Write_Register ( 0x0002,0x0700 ); / set 1 line inversionLCD_Write_Register ( 0x0003,0xD030 ); / set GRAM write direction and BGR=1.LCD_Write_Register ( 0x0004,0x0000 ); / Resize registerLCD_Write_Register ( 0x0008,0x0202 ); / set the back porch and front porchLCD_Write_Register ( 0x0009,0x0000 ); / set non-display area refresh cycle ISC3:0LCD_Write_Register ( 0x000A,0x0000 ); / FMARK functionLCD_Write_Register ( 0x000C,0x0000 ); / RGB interface settingLCD_Write_Register ( 0x000D,0x0000 ); / Frame marker PositionLCD_Write_Register ( 0x000F,0x0000 ); / RGB interface polarity/*Power On sequence */LCD_Write_Register ( 0x0010,0x0000 ); / SAP, BT3:0, AP, DSTB, SLP, STBLCD_Write_Register ( 0x0011,0x0007 ); / DC12:0, DC02:0, VC2:0LCD_Write_Register ( 0x0012,0x0000 ); / VREG1OUT voltageLCD_Write_Register ( 0x0013,0x0000 ); / VDV4:0 for VCOM amplitudeLCD_Write_Register ( 0x0007,0x0001 );delay_ms ( 200 ); / Dis-charge capacitor power voltageLCD_Write_Register ( 0x0010,0x1690 ); / 1490/SAP, BT3:0, AP, DSTB, SLP, STBLCD_Write_Register ( 0x0011,0x0227 ); / DC12:0, DC02:0, VC2:0delay_ms ( 50 ); / Delay 50msLCD_Write_Register ( 0x0012,0x009D ); /001C/ Internal reference voltage= Vci;delay_ms ( 50 ); / Delay 50msLCD_Write_Register ( 0x0013,0x1900 ); /0x1000/1400 Set VDV4:0 for VCOM amplitude 1A00LCD_Write_Register ( 0x0029,0x0025 ); /0x0012 /001a Set VCM5:0 for VCOMH /0x0025 0034LCD_Write_Register ( 0x002B,0x000D ); / Set Frame Rate 000Cdelay_ms ( 50 ); / Delay 50msLCD_Write_Register ( 0x0020,0x0000 ); / GRAM horizontal AddressLCD_Write_Register ( 0x0021,0x0000 ); / GRAM Vertical Address/ - Adjust the Gamma Curve -/LCD_Write_Register ( 0x0030,0x0007 );LCD_Write_Register ( 0x0031,0x0303 );LCD_Write_Register ( 0x0032,0x0003 );LCD_Write_Register ( 0x0035,0x0206 );LCD_Write_Register ( 0x0036,0x0008 );/0207LCD_Write_Register ( 0x0037,0x0406 );/0306LCD_Write_Register ( 0x0038,0x0304 );/0102LCD_Write_Register ( 0x0039,0x0007 );/0707LCD_Write_Register ( 0x003C,0x0602 );/0702LCD_Write_Register ( 0x003D,0x0008 );/1604/- Set GRAM area -/LCD_Write_Register ( 0x0050,0x0000 ); / Horizontal GRAM Start AddressLCD_Write_Register ( 0x0051,0x00EF ); / Horizontal GRAM End AddressLCD_Write_Register ( 0x0052,0x0000 ); / Vertical GRAM Start AddressLCD_Write_Register ( 0x0053,0x013F ); / Vertical GRAM Start AddressLCD_Write_Register ( 0x0060,0xA700 ); / Gate Scan LineLCD_Write_Register ( 0x0061,0x0001 ); / NDL,VLE, REVLCD_Write_Register ( 0x006A,0x0000 ); / set scrolling line/- Partial Display Control -/LCD_Write_Register ( 0x0080,0x0000 );LCD_Write_Register ( 0x0081,0x0000 );LCD_Write_Register ( 0x0082,0x0000 );LCD_Write_Register ( 0x0083,0x0000 );LCD_Write_Register ( 0x0084,0x0000 );LCD_Write_Register ( 0x0085,0x0000 );/- Panel Control -/LCD_Write_Register ( 0x0090,0x0010 );LCD_Write_Register ( 0x0092,0x0600 );/LCD_Write_Register(0x0093,0x0003);/LCD_Write_Register(0x0095,0x0110);/LCD_Write_Register(0x0097,0x0000);/ LCD_Write_Register(0x0098,0x0000);LCD_Write_Register ( 0x0007,0x0133 ); / 262K color and display ON/LCD_Write_Register(0x0022);void LCD_Set_Horizontal_Vertical ( unsigned int horizontal, unsigned int vertical )LCD_Write_Register ( 0x20, horizontal );LCD_Write_Register ( 0x21, vertical );void LCD_Set_Window ( unsigned int start_horizontal, unsigned int start_vertical, unsigned int end_horizontal, unsigned int end_vertical )LCD_Set_Horizontal_Vertical ( start_horizontal, start_vertical );LCD_Write_Register ( 0x50, start_horizontal );LCD_Write_Register ( 0x52, start_vertical );LCD_Write_Register ( 0x51, end_horizontal );LCD_Write_Register ( 0x53, end_vertical );void LCD_Show_Blackground ( uint8_t red, uint8_t green, uint8_t blue )unsigned int i, j;LCD_Set_Horizontal_Vertical ( 0X00, 0X00 );LCD_Write_Data_Start();for ( i=0; i240; i+ )for ( j=0; j/size:字体大小 12/16/mode:叠加方式(1)还是非叠加方式(0)void LCD_ShowChar(u8 x,u16 y,u8 num,u8 size,u8 mode) #define MAX_CHAR_POSX 232#define MAX_CHAR_POSY 304 u8 temp; u8 pos,t; if(xMAX_CHAR_POSX|yMAX_CHAR_POSY)return; /?LCD_Write_Register(0x50,x); /?GRAM?LCD_Write_Register(0x51,x+(size/2-1);/?GRAM?LCD_Write_Register(0x52,y); /?GRAM?LCD_Write_Register(0x53,y+size-1); /?GRAM?LCD_Set_Horizontal_Vertical(x,y); /? LCD_Write_Data_Start();/LCD_Write_Register(0x22);/LCD_WriteRAM_Prepare(); /?GRAM num=num- ;/?if(!mode) /非叠加方式for(pos=0;possize;pos+)if(size=12)temp=asc2_1206numpos;/调用1206字体else temp=asc2_1608numpos; /调用1608字体for(t=0;t=1; else /叠加方式for(pos=0;possize;pos+)if(size=12)temp=asc2_1206numpos;/调用1206字体else temp=asc2_1608numpos; /调用1608字体for(t=0;t=1; /? /LCD_WriteReg(0x50, 0x0000); /?GRAM?/LCD_WriteReg(0x51, 0x00EF); /?GRAM?/LCD_WriteReg(0x52, 0x0000); /?GRAM?/LCD_WriteReg(0x53, 0x013F); /?GRAM? void LCD_Fill(u8 xsta,u16 ysta,u8 xend,u16 yend) u32 n;/?LCD_Write_Register(0x50, xsta); /?GRAM?LCD_Write_Register(0x51, xend); /?GRAM?LCD_Write_Register(0x52, ysta); /?GRAM?LCD_Write_Register(0x53, yend); /?GRAM?LCD_Set_Horizontal_Vertical(xsta,ysta);/? LCD_Write_Data_Start();/LCD_WriteRAM_Prepare(); /?GRAM n=(u32)(yend-ysta+1)*(xend-xsta+1); while(n-) LCD_Write_Data ( Red, Gre, Blu );/ /?LCD_Write_Register(0x50, 0x0000); /?GRAM?LCD_Write_Register(0x51, 0x00EF); /?GRAM?LCD_Write_Register(0x52, 0x0000); /?GRAM?LCD_Write_Register(0x53, 0x013F); /?GRAM? /?/x1,y1:?/x2,y2:? void LCD_DrawLine(u8 x1, u16 y1, u8 x2, u16 y2) u16 x, y, t;Red=0xFF;Blu=0;Gre=0;/设定颜色if(x1=x2)&(y1=y2)LCD_DrawPoint(x1, y1);else if(abs(y2-y1)abs(x2-x1)/?1 if(y1y2) t=y1;y1=y2;y2=t; t=x1;x1=x2;x2=t; for(y=y1;yx2)t=y1;y1=y2;y2=t;t=x1;x1=x2;x2=t; for(x=x1;x=x2;x+)/?x? y =(u32)(x-x1)*(y2-y1)/(x2-x1)+y1;LCD_DrawPoint(x,y); /在指定位置画一个指定大小的圆/(x,y):中心点/r :半径void Draw_Circle(u8 x0,u16 y0,u8 r)int a,b;int di;Red=0x00;Blu=0x3F;Gre=0;/设定颜色a=0;b=r; di=3-(r1); /判断下个点位置的标志while(a=b)LCD_DrawPoint(x0-b,y0-a); /3 LCD_DrawPoint(x0+b,y0-a); /0 LCD_DrawPoint(x0-a,y0+b); /1 LCD_DrawPoint(x0-b,y0-a); /7 LCD_DrawPoint(x0-a,y0-b); /2 LCD_DrawPoint(x0+b,y0+a); /4 LCD_DrawPoint(x0+a,y0-b); /5LCD_DrawPoint(x0+a,y0+b); /6 LCD_DrawPoint(x0-b,y0+a); a+;/使用Bresenham算法画圆 if(di0)di +=4*a+6; elsedi+=10+4*(a-b); b-; LCD_DrawPoint(x0+a,y0+b); /*/*以上为TFT显示驱动 下面为还原算法*/15*15 左到右 上到下Cube0-50-8 bit2-0:color bit3:changevoid LCD_Cube_Paint(void)u8 horizontal,t1,t2;u16 vertical;u8 i,j;for(i=0;i6;i+) if(i=0)horizontal=206;vertical=136;else if(i5)horizontal=143; / 1号 4号有错位 图形显示上vertical=(i-1)*63+10;else horizontal=80;vertical=136; for(j=0;j9;j+)if(Cubeij&0x08) /有改变才去重画 /颜色赋值switch(Cubeij&0x07)case 0: Red=0xFF;Gre=0xFF;Blu=0xFF;break; /Whitecase 1: Red=0;Gre=0;Blu=0xFF;break;/Bluecase 2: Red=0xFF;Gre=0x60;Blu=0;break;/Orangecase 3: Red=0;Blu=0;Gre=0xFF;break;/Greencase 4: Red=0xFF;Gre=0;Blu=0;break;/Redcase 5: Red=0xFF;Gre=0xFF;Blu=0;break;/yellowdefault:Red=0;Gre=0;Blu=0;t2=vertical+j%3*21;t1=horizontal-j/3*21;LCD_Fill(t1-20,t2,t1-1,t2+20-1);/各块分别填充的颜色Cubeij&=0xF7; /clear flag LCD_Write_Data_End();void init_Cube(void)u8 i,j;/ 初始显示for(i=0;i6;i+)/ for(j=0;j5) return ; switch(direction&0x30)case 0x10:/修改侧面for(i=0;i3;i+)temp= *Cube1center.Lefti;*Cube1center.Lefti= *Cube1center.Up2-i |0x08;*Cube1center.Up2-i= *Cube1center.Right2-i |0x08;*Cube1center.Right2-i= *Cube1center.Downi |0x08;*Cube1center.Downi=temp |0x08