tronone-h7-scaffold/User_Code/module/periph/tft/tft.c

#include "tft.h"
#include <stdbool.h>
#include <stddef.h>
#include <string.h>

#define TFT_SPI_TIMEOUT_MS 100U
#define TFT_FONT_W        5U
#define TFT_FONT_H        7U
#define TFT_MAX_SCALE     4U

#if (TFT_USE_HORIZONTAL == 0U) || (TFT_USE_HORIZONTAL == 1U)
#define TFT_X_OFFSET 0U
#define TFT_Y_OFFSET 20U
#else
#define TFT_X_OFFSET 20U
#define TFT_Y_OFFSET 0U
#endif

typedef enum
{
    TFT_GLYPH_SPACE = 0,
    TFT_GLYPH_DASH,
    TFT_GLYPH_DOT,
    TFT_GLYPH_COLON,
    TFT_GLYPH_0,
    TFT_GLYPH_A = TFT_GLYPH_0 + 10
} TFT_GlyphIndex_e;

static bool tft_initialized = false;
static bool tft_transfer_ok = true;
static volatile bool tft_dma_active = false;
static TFT_TransferDoneCallback tft_dma_callback = NULL;
static void *tft_dma_context = NULL;

static const uint8_t tft_font5x7[][TFT_FONT_H] = {
    {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, /* space */
    {0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00}, /* - */
    {0x00, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x0C}, /* . */
    {0x00, 0x0C, 0x0C, 0x00, 0x0C, 0x0C, 0x00}, /* : */
    {0x0E, 0x11, 0x13, 0x15, 0x19, 0x11, 0x0E}, /* 0 */
    {0x04, 0x06, 0x04, 0x04, 0x04, 0x04, 0x0E}, /* 1 */
    {0x0E, 0x11, 0x10, 0x08, 0x04, 0x02, 0x1F}, /* 2 */
    {0x1F, 0x08, 0x04, 0x08, 0x10, 0x11, 0x0E}, /* 3 */
    {0x08, 0x0C, 0x0A, 0x09, 0x1F, 0x08, 0x08}, /* 4 */
    {0x1F, 0x01, 0x0F, 0x10, 0x10, 0x11, 0x0E}, /* 5 */
    {0x0C, 0x02, 0x01, 0x0F, 0x11, 0x11, 0x0E}, /* 6 */
    {0x1F, 0x10, 0x08, 0x04, 0x02, 0x02, 0x02}, /* 7 */
    {0x0E, 0x11, 0x11, 0x0E, 0x11, 0x11, 0x0E}, /* 8 */
    {0x0E, 0x11, 0x11, 0x1E, 0x10, 0x08, 0x06}, /* 9 */
    {0x0E, 0x11, 0x11, 0x1F, 0x11, 0x11, 0x11}, /* A */
    {0x0F, 0x11, 0x11, 0x0F, 0x11, 0x11, 0x0F}, /* B */
    {0x0E, 0x11, 0x01, 0x01, 0x01, 0x11, 0x0E}, /* C */
    {0x0F, 0x11, 0x11, 0x11, 0x11, 0x11, 0x0F}, /* D */
    {0x1F, 0x01, 0x01, 0x0F, 0x01, 0x01, 0x1F}, /* E */
    {0x1F, 0x01, 0x01, 0x0F, 0x01, 0x01, 0x01}, /* F */
    {0x0E, 0x11, 0x01, 0x1D, 0x11, 0x11, 0x0E}, /* G */
    {0x11, 0x11, 0x11, 0x1F, 0x11, 0x11, 0x11}, /* H */
    {0x0E, 0x04, 0x04, 0x04, 0x04, 0x04, 0x0E}, /* I */
    {0x1C, 0x08, 0x08, 0x08, 0x08, 0x09, 0x06}, /* J */
    {0x11, 0x09, 0x05, 0x03, 0x05, 0x09, 0x11}, /* K */
    {0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x1F}, /* L */
    {0x11, 0x1B, 0x15, 0x15, 0x11, 0x11, 0x11}, /* M */
    {0x11, 0x13, 0x15, 0x19, 0x11, 0x11, 0x11}, /* N */
    {0x0E, 0x11, 0x11, 0x11, 0x11, 0x11, 0x0E}, /* O */
    {0x0F, 0x11, 0x11, 0x0F, 0x01, 0x01, 0x01}, /* P */
    {0x0E, 0x11, 0x11, 0x11, 0x15, 0x09, 0x16}, /* Q */
    {0x0F, 0x11, 0x11, 0x0F, 0x05, 0x09, 0x11}, /* R */
    {0x1E, 0x01, 0x01, 0x0E, 0x10, 0x10, 0x0F}, /* S */
    {0x1F, 0x04, 0x04, 0x04, 0x04, 0x04, 0x04}, /* T */
    {0x11, 0x11, 0x11, 0x11, 0x11, 0x11, 0x0E}, /* U */
    {0x11, 0x11, 0x11, 0x11, 0x11, 0x0A, 0x04}, /* V */
    {0x11, 0x11, 0x11, 0x15, 0x15, 0x15, 0x0A}, /* W */
    {0x11, 0x11, 0x0A, 0x04, 0x0A, 0x11, 0x11}, /* X */
    {0x11, 0x11, 0x0A, 0x04, 0x04, 0x04, 0x04}, /* Y */
    {0x1F, 0x10, 0x08, 0x04, 0x02, 0x01, 0x1F}, /* Z */
};

static void tft_cs_low(void)
{
    HAL_GPIO_WritePin(TFT_CS_GPIO_Port, TFT_CS_Pin, GPIO_PIN_RESET);
}

static void tft_cs_high(void)
{
    HAL_GPIO_WritePin(TFT_CS_GPIO_Port, TFT_CS_Pin, GPIO_PIN_SET);
}

static void tft_dc_command(void)
{
    HAL_GPIO_WritePin(TFT_DC_GPIO_Port, TFT_DC_Pin, GPIO_PIN_RESET);
}

static void tft_dc_data(void)
{
    HAL_GPIO_WritePin(TFT_DC_GPIO_Port, TFT_DC_Pin, GPIO_PIN_SET);
}

static void tft_reset_low(void)
{
    HAL_GPIO_WritePin(TFT_RES_GPIO_Port, TFT_RES_Pin, GPIO_PIN_RESET);
}

static void tft_reset_high(void)
{
    HAL_GPIO_WritePin(TFT_RES_GPIO_Port, TFT_RES_Pin, GPIO_PIN_SET);
}

static void tft_backlight_on(void)
{
    HAL_GPIO_WritePin(TFT_BLK_GPIO_Port, TFT_BLK_Pin, GPIO_PIN_SET);
}

static void tft_dma_finish(bool ok)
{
    TFT_TransferDoneCallback callback = tft_dma_callback;
    void *context = tft_dma_context;

    if (!tft_dma_active)
    {
        return;
    }

    tft_dma_active = false;
    tft_dma_callback = NULL;
    tft_dma_context = NULL;
    if (!ok)
    {
        tft_transfer_ok = false;
    }
    tft_cs_high();

    if (callback != NULL)
    {
        callback(context, ok);
    }
}

static void tft_bus_init(void)
{
#if TFT_USE_SOFT_SPI
    GPIO_InitTypeDef GPIO_InitStruct = {0};

    __HAL_RCC_GPIOB_CLK_ENABLE();
    __HAL_RCC_GPIOD_CLK_ENABLE();

    GPIO_InitStruct.Pin = TFT_SCK_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    HAL_GPIO_Init(TFT_SCK_GPIO_Port, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = TFT_MOSI_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    HAL_GPIO_Init(TFT_MOSI_GPIO_Port, &GPIO_InitStruct);

    HAL_GPIO_WritePin(TFT_SCK_GPIO_Port, TFT_SCK_Pin, GPIO_PIN_SET);
    HAL_GPIO_WritePin(TFT_MOSI_GPIO_Port, TFT_MOSI_Pin, GPIO_PIN_RESET);
#endif
}

#if TFT_USE_SOFT_SPI
static void tft_write_byte(uint8_t data)
{
    for (uint8_t i = 0U; i < 8U; i++)
    {
        HAL_GPIO_WritePin(TFT_SCK_GPIO_Port, TFT_SCK_Pin, GPIO_PIN_RESET);
        HAL_GPIO_WritePin(TFT_MOSI_GPIO_Port, TFT_MOSI_Pin,
                          (data & 0x80U) != 0U ? GPIO_PIN_SET : GPIO_PIN_RESET);
        HAL_GPIO_WritePin(TFT_SCK_GPIO_Port, TFT_SCK_Pin, GPIO_PIN_SET);
        data <<= 1U;
    }
}
#endif

static void tft_write_bytes(const uint8_t *data, uint32_t len)
{
#if TFT_USE_SOFT_SPI
    while (len > 0U)
    {
        tft_write_byte(*data);
        data++;
        len--;
    }
#else
    while (len > 0U)
    {
#if TFT_HW_SPI_BYTE_MODE && TFT_HW_SPI_PULSE_CS
        tft_cs_low();
        if (HAL_SPI_Transmit(&TFT_SPI_UNIT, (uint8_t *) data, 1U, TFT_SPI_TIMEOUT_MS) != HAL_OK)
        {
            tft_transfer_ok = false;
            tft_cs_high();
            return;
        }
        tft_cs_high();
        data++;
        len--;
#else
#if TFT_HW_SPI_BYTE_MODE
        uint16_t chunk = 1U;
#else
        uint16_t chunk = len > UINT16_MAX ? UINT16_MAX : (uint16_t) len;
#endif
        if (HAL_SPI_Transmit(&TFT_SPI_UNIT, (uint8_t *) data, chunk, TFT_SPI_TIMEOUT_MS) != HAL_OK)
        {
            tft_transfer_ok = false;
            tft_cs_high();
            return;
        }
        data += chunk;
        len -= chunk;
#endif
    }
#endif
}

static void tft_write_bytes_continuous(const uint8_t *data, uint32_t len)
{
#if TFT_USE_SOFT_SPI
    tft_write_bytes(data, len);
#else
    while (len > 0U)
    {
        uint16_t chunk = len > UINT16_MAX ? UINT16_MAX : (uint16_t) len;
        if (HAL_SPI_Transmit(&TFT_SPI_UNIT, (uint8_t *) data, chunk, TFT_SPI_TIMEOUT_MS) != HAL_OK)
        {
            tft_transfer_ok = false;
            return;
        }
        data += chunk;
        len -= chunk;
    }
#endif
}

static void lcd_write_reg(uint8_t reg)
{
    tft_cs_low();
    tft_dc_command();
    tft_write_bytes(&reg, 1U);
    tft_cs_high();
    tft_dc_data();
}

static void lcd_write_data8(uint8_t data)
{
    tft_cs_low();
    tft_dc_data();
    tft_write_bytes(&data, 1U);
    tft_cs_high();
}

static void lcd_write_reg_data(uint8_t reg, const uint8_t *data, uint32_t len)
{
    tft_cs_low();
    tft_dc_command();
    tft_write_bytes(&reg, 1U);
    if (data != NULL && len > 0U && tft_transfer_ok)
    {
        tft_dc_data();
        tft_write_bytes(data, len);
    }
    tft_cs_high();
    tft_dc_data();
}

static void tft_write_color_block(uint16_t color, uint32_t count)
{
    uint8_t buf[64];
    uint8_t high = (uint8_t) (color >> 8);
    uint8_t low = (uint8_t) color;

    for (uint32_t i = 0U; i < sizeof(buf); i += 2U)
    {
        buf[i] = high;
        buf[i + 1U] = low;
    }

    tft_cs_low();
    tft_dc_data();
    while (count > 0U && tft_transfer_ok)
    {
        uint32_t pixels = count > (sizeof(buf) / 2U) ? (sizeof(buf) / 2U) : count;
        tft_write_bytes(buf, pixels * 2U);
        count -= pixels;
    }
    tft_cs_high();
}

void TFT_WriteColorData(const uint8_t *data, uint32_t len)
{
    if (data == NULL || len == 0U)
    {
        return;
    }

    tft_cs_low();
    tft_dc_data();
#if TFT_HW_SPI_STREAM_COLOR
    tft_write_bytes_continuous(data, len);
#else
    tft_write_bytes(data, len);
#endif
    tft_cs_high();
}

bool TFT_WriteColorDataDMA(const uint8_t *data,
                           uint32_t len,
                           TFT_TransferDoneCallback callback,
                           void *context)
{
    if (data == NULL || len == 0U || len > UINT16_MAX || tft_dma_active || TFT_SPI_UNIT.hdmatx == NULL)
    {
        return false;
    }

    tft_cs_low();
    tft_dc_data();
    tft_dma_callback = callback;
    tft_dma_context = context;
    tft_dma_active = true;

    if (HAL_SPI_Transmit_DMA(&TFT_SPI_UNIT, (uint8_t *) data, (uint16_t) len) != HAL_OK)
    {
        tft_dma_active = false;
        tft_dma_callback = NULL;
        tft_dma_context = NULL;
        tft_transfer_ok = false;
        tft_cs_high();
        return false;
    }

    return true;
}

void HAL_SPI_TxCpltCallback(SPI_HandleTypeDef *hspi)
{
    if (hspi == &TFT_SPI_UNIT)
    {
        tft_dma_finish(true);
    }
}

void HAL_SPI_ErrorCallback(SPI_HandleTypeDef *hspi)
{
    if (hspi == &TFT_SPI_UNIT)
    {
        tft_dma_finish(false);
    }
}

bool TFT_IsReady(void)
{
    return tft_initialized && tft_transfer_ok;
}

void LCD_Address_Set(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2)
{
    uint16_t xs = x1 + TFT_X_OFFSET;
    uint16_t xe = x2 + TFT_X_OFFSET;
    uint16_t ys = y1 + TFT_Y_OFFSET;
    uint16_t ye = y2 + TFT_Y_OFFSET;
    uint8_t col_data[4] = {
        (uint8_t) (xs >> 8),
        (uint8_t) xs,
        (uint8_t) (xe >> 8),
        (uint8_t) xe
    };
    uint8_t row_data[4] = {
        (uint8_t) (ys >> 8),
        (uint8_t) ys,
        (uint8_t) (ye >> 8),
        (uint8_t) ye
    };

    lcd_write_reg_data(0x2A, col_data, sizeof(col_data));
    lcd_write_reg_data(0x2B, row_data, sizeof(row_data));
    lcd_write_reg_data(0x2C, NULL, 0U);
}

void TFT_FillRect(uint16_t x, uint16_t y, uint16_t width, uint16_t height, uint16_t color)
{
    if (x >= TFT_LCD_W || y >= TFT_LCD_H || width == 0U || height == 0U)
    {
        return;
    }

    if ((uint32_t) x + width > TFT_LCD_W)
    {
        width = (uint16_t) (TFT_LCD_W - x);
    }
    if ((uint32_t) y + height > TFT_LCD_H)
    {
        height = (uint16_t) (TFT_LCD_H - y);
    }

    LCD_Address_Set(x, y, (uint16_t) (x + width - 1U), (uint16_t) (y + height - 1U));
    tft_write_color_block(color, (uint32_t) width * height);
}

void LCD_Fill(uint16_t xsta, uint16_t ysta, uint16_t xend, uint16_t yend, uint16_t color)
{
    if (xend <= xsta || yend <= ysta)
    {
        return;
    }

    TFT_FillRect(xsta, ysta, (uint16_t) (xend - xsta), (uint16_t) (yend - ysta), color);
}

void TFT_DrawPoint(uint16_t x, uint16_t y, uint16_t color)
{
    TFT_FillRect(x, y, 1U, 1U, color);
}

static const uint8_t *tft_get_glyph(char ch)
{
    if (ch >= 'a' && ch <= 'z')
    {
        ch = (char) (ch - ('a' - 'A'));
    }

    if (ch >= '0' && ch <= '9')
    {
        return tft_font5x7[TFT_GLYPH_0 + (uint8_t) (ch - '0')];
    }
    if (ch >= 'A' && ch <= 'Z')
    {
        return tft_font5x7[TFT_GLYPH_A + (uint8_t) (ch - 'A')];
    }

    switch (ch)
    {
        case '-':
            return tft_font5x7[TFT_GLYPH_DASH];
        case '.':
            return tft_font5x7[TFT_GLYPH_DOT];
        case ':':
            return tft_font5x7[TFT_GLYPH_COLON];
        default:
            return tft_font5x7[TFT_GLYPH_SPACE];
    }
}

static void tft_draw_char(uint16_t x, uint16_t y, char ch, uint16_t fc, uint16_t bc, uint8_t scale)
{
    uint8_t line[(TFT_FONT_W * TFT_MAX_SCALE) * 2U];
    const uint8_t *glyph;
    uint16_t char_w;
    uint16_t char_h;

    if (scale == 0U)
    {
        scale = 1U;
    }
    if (scale > TFT_MAX_SCALE)
    {
        scale = TFT_MAX_SCALE;
    }

    char_w = TFT_FONT_W * scale;
    char_h = TFT_FONT_H * scale;
    if (x >= TFT_LCD_W || y >= TFT_LCD_H)
    {
        return;
    }

    glyph = tft_get_glyph(ch);
    LCD_Address_Set(x, y, (uint16_t) (x + char_w - 1U), (uint16_t) (y + char_h - 1U));

    tft_cs_low();
    tft_dc_data();
    for (uint8_t row = 0U; row < TFT_FONT_H; row++)
    {
        for (uint8_t repeat_y = 0U; repeat_y < scale; repeat_y++)
        {
            uint32_t idx = 0U;
            for (uint8_t col = 0U; col < TFT_FONT_W; col++)
            {
                uint16_t color = (glyph[row] & (1U << col)) ? fc : bc;
                for (uint8_t repeat_x = 0U; repeat_x < scale; repeat_x++)
                {
                    line[idx++] = (uint8_t) (color >> 8);
                    line[idx++] = (uint8_t) color;
                }
            }
            tft_write_bytes(line, idx);
        }
    }
    tft_cs_high();
}

void TFT_DrawString(uint16_t x, uint16_t y, const char *text, uint16_t fc, uint16_t bc, uint8_t scale)
{
    uint16_t cursor = x;
    uint16_t advance;

    if (text == NULL)
    {
        return;
    }

    if (scale == 0U)
    {
        scale = 1U;
    }
    if (scale > TFT_MAX_SCALE)
    {
        scale = TFT_MAX_SCALE;
    }

    advance = (TFT_FONT_W + 1U) * scale;
    while (*text != '\0')
    {
        if (cursor + (TFT_FONT_W * scale) >= TFT_LCD_W)
        {
            break;
        }

        tft_draw_char(cursor, y, *text, fc, bc, scale);
        cursor = (uint16_t) (cursor + advance);
        text++;
    }
}

void TFT_Clear(uint16_t color)
{
    LCD_Fill(0U, 0U, TFT_LCD_W, TFT_LCD_H, color);
}

void LCD_Init(void)
{
    if (tft_initialized)
    {
        return;
    }

    tft_transfer_ok = true;
    tft_bus_init();
    tft_cs_high();
    tft_reset_low();
    HAL_Delay(100);
    tft_reset_high();
    HAL_Delay(100);

    tft_backlight_on();
    HAL_Delay(100);

    lcd_write_reg(0x11);
    HAL_Delay(120);

    lcd_write_reg(0x36);
#if TFT_USE_HORIZONTAL == 0U
    lcd_write_data8(0x00);
#elif TFT_USE_HORIZONTAL == 1U
    lcd_write_data8(0xC0);
#elif TFT_USE_HORIZONTAL == 2U
    lcd_write_data8(0x70);
#else
    lcd_write_data8(0xA0);
#endif

    lcd_write_reg(0x3A);
    lcd_write_data8(0x05);

    lcd_write_reg(0xB2);
    lcd_write_data8(0x0C);
    lcd_write_data8(0x0C);
    lcd_write_data8(0x00);
    lcd_write_data8(0x33);
    lcd_write_data8(0x33);

    lcd_write_reg(0xB7);
    lcd_write_data8(0x35);

    lcd_write_reg(0xBB);
    lcd_write_data8(0x32);

    lcd_write_reg(0xC2);
    lcd_write_data8(0x01);

    lcd_write_reg(0xC3);
    lcd_write_data8(0x15);

    lcd_write_reg(0xC4);
    lcd_write_data8(0x20);

    lcd_write_reg(0xC6);
    lcd_write_data8(0x0F);

    lcd_write_reg(0xD0);
    lcd_write_data8(0xA4);
    lcd_write_data8(0xA1);

    lcd_write_reg(0xE0);
    lcd_write_data8(0xD0);
    lcd_write_data8(0x08);
    lcd_write_data8(0x0E);
    lcd_write_data8(0x09);
    lcd_write_data8(0x09);
    lcd_write_data8(0x05);
    lcd_write_data8(0x31);
    lcd_write_data8(0x33);
    lcd_write_data8(0x48);
    lcd_write_data8(0x17);
    lcd_write_data8(0x14);
    lcd_write_data8(0x15);
    lcd_write_data8(0x31);
    lcd_write_data8(0x34);

    lcd_write_reg(0xE1);
    lcd_write_data8(0xD0);
    lcd_write_data8(0x08);
    lcd_write_data8(0x0E);
    lcd_write_data8(0x09);
    lcd_write_data8(0x09);
    lcd_write_data8(0x15);
    lcd_write_data8(0x31);
    lcd_write_data8(0x33);
    lcd_write_data8(0x48);
    lcd_write_data8(0x17);
    lcd_write_data8(0x14);
    lcd_write_data8(0x15);
    lcd_write_data8(0x31);
    lcd_write_data8(0x34);

    lcd_write_reg(0x21);
    lcd_write_reg(0x29);

    TFT_Clear(TFT_COLOR_BLACK);
    if (tft_transfer_ok)
    {
        tft_initialized = true;
    }
}

void TFT_Init(void)
{
    LCD_Init();
}

void TFT_ShowBootScreen(void)
{
    if (!tft_initialized)
    {
        TFT_Init();
        if (!tft_initialized)
        {
            return;
        }
    }

    tft_transfer_ok = true;
    uint16_t band_h = TFT_LCD_H / 3U;
    TFT_FillRect(0U, 0U, TFT_LCD_W, band_h, TFT_COLOR_BLUE);
    TFT_FillRect(0U, band_h, TFT_LCD_W, band_h, TFT_COLOR_GREEN);
    TFT_FillRect(0U, (uint16_t) (band_h * 2U), TFT_LCD_W, (uint16_t) (TFT_LCD_H - band_h * 2U), TFT_COLOR_RED);
    TFT_DrawString(16U, 22U, "DM LCD", TFT_COLOR_WHITE, TFT_COLOR_BLUE, 3U);
    TFT_DrawString(16U, (uint16_t) (band_h + 24U), "BOOT", TFT_COLOR_BLACK, TFT_COLOR_GREEN, 3U);
    TFT_DrawString(16U, (uint16_t) (band_h * 2U + 24U), "WAIT IMU", TFT_COLOR_WHITE, TFT_COLOR_RED, 2U);
}

const char *TFT_RobotModeText(RobotMode_t mode)
{
    switch (mode)
    {
        case NORMAL_MODE:
            return "NORMAL";
        case SYS_ERROR_OCCURRED:
            return "ERROR";
        case REMOTE_NOT_CONNECTED:
            return "REMOTE OFF";
        case REMOTE_NOT_READY:
            return "NOT READY";
        case REMOTE_READY:
            return "READY";
        case REMOTE_PROTECT:
            return "PROTECT";
        case AUTO_SHOOTING_MODE:
            return "AUTO SHOOT";
        case IMU_CALIBERATION_MODE:
            return "IMU CAL";
        default:
            return "UNKNOWN";
    }
}

static uint16_t tft_mode_color(RobotMode_t mode)
{
    switch (mode)
    {
        case NORMAL_MODE:
            return TFT_COLOR_GREEN;
        case SYS_ERROR_OCCURRED:
        case REMOTE_NOT_CONNECTED:
            return TFT_COLOR_RED;
        case REMOTE_NOT_READY:
            return TFT_COLOR_WHITE;
        case REMOTE_READY:
            return TFT_COLOR_MAGENTA;
        case REMOTE_PROTECT:
            return TFT_COLOR_YELLOW;
        case AUTO_SHOOTING_MODE:
            return TFT_COLOR_CYAN;
        case IMU_CALIBERATION_MODE:
            return TFT_COLOR_MAGENTA;
        default:
            return TFT_COLOR_LIGHT_GRAY;
    }
}

static int16_t tft_temperature_to_tenths(float temperature_c)
{
    return (int16_t) ((temperature_c * 10.0f) + (temperature_c >= 0.0f ? 0.5f : -0.5f));
}

static void tft_format_temperature(char *buf, size_t len, int16_t temperature_tenths)
{
    uint16_t abs_temp;
    uint16_t integer;
    uint8_t decimal;
    size_t idx = 0U;
    char digits[5];
    uint8_t digits_len = 0U;

    if (buf == NULL || len < 6U)
    {
        return;
    }

    if (temperature_tenths < 0)
    {
        abs_temp = (uint16_t) (-temperature_tenths);
        buf[idx++] = '-';
    }
    else
    {
        abs_temp = (uint16_t) temperature_tenths;
    }

    integer = abs_temp / 10U;
    decimal = (uint8_t) (abs_temp % 10U);
    do
    {
        digits[digits_len++] = (char) ('0' + (integer % 10U));
        integer /= 10U;
    } while (integer > 0U && digits_len < sizeof(digits));

    while (digits_len > 0U && idx + 1U < len)
    {
        buf[idx++] = digits[--digits_len];
    }
    if (idx + 4U < len)
    {
        buf[idx++] = '.';
        buf[idx++] = (char) ('0' + decimal);
        buf[idx++] = ' ';
        buf[idx++] = 'C';
    }
    buf[idx] = '\0';
}

static void tft_draw_status_layout(void)
{
    TFT_Clear(TFT_COLOR_BLACK);
    TFT_DrawString(16U, 16U, "DM LCD", TFT_COLOR_CYAN, TFT_COLOR_BLACK, 3U);
    TFT_FillRect(16U, 54U, 248U, 2U, TFT_COLOR_DARK_GRAY);
    TFT_DrawString(16U, 76U, "TEMP:", TFT_COLOR_YELLOW, TFT_COLOR_BLACK, 2U);
    TFT_DrawString(16U, 132U, "MODE:", TFT_COLOR_YELLOW, TFT_COLOR_BLACK, 2U);
}

void TFT_ShowStatus(float temperature_c, RobotMode_t mode)
{
    static bool layout_ready = false;
    static int16_t last_temperature_tenths = INT16_MIN;
    static RobotMode_t last_mode = (RobotMode_t) 0xFF;
    int16_t temperature_tenths = tft_temperature_to_tenths(temperature_c);
    char temperature_text[16];
    const char *mode_text = TFT_RobotModeText(mode);

    if (!tft_initialized)
    {
        TFT_Init();
        if (!tft_initialized)
        {
            return;
        }
    }

    if (!layout_ready)
    {
        tft_transfer_ok = true;
        tft_draw_status_layout();
        if (!tft_transfer_ok)
        {
            return;
        }
        layout_ready = true;
    }

    if (temperature_tenths != last_temperature_tenths)
    {
        tft_transfer_ok = true;
        uint16_t temperature_color = temperature_tenths >= 550 ? TFT_COLOR_RED : TFT_COLOR_WHITE;
        tft_format_temperature(temperature_text, sizeof(temperature_text), temperature_tenths);
        TFT_FillRect(96U, 68U, 168U, 32U, TFT_COLOR_BLACK);
        TFT_DrawString(100U, 70U, temperature_text, temperature_color, TFT_COLOR_BLACK, 3U);
        if (tft_transfer_ok)
        {
            last_temperature_tenths = temperature_tenths;
        }
    }

    if (mode != last_mode)
    {
        tft_transfer_ok = true;
        TFT_FillRect(96U, 124U, 184U, 32U, TFT_COLOR_BLACK);
        TFT_DrawString(100U, 126U, mode_text, tft_mode_color(mode), TFT_COLOR_BLACK, 3U);
        if (tft_transfer_ok)
        {
            last_mode = mode;
        }
    }
}