void LCD1602_Init()
{
LCD1602_EN_L;
LCD1602_BL_H;
Delay15ms();//绛夊緟15ms锛岀瓑寰匧CD鐢垫簮绋冲畾
LCD1602_WriteCom(0x03); // - - 璁剧疆4浣嶆牸寮忥紝2琛岋紝5x7
Delay5ms();
LCD1602_WriteCom(0x03); // - - 璁剧疆4浣嶆牸寮忥紝2琛岋紝5x7
Delay200us();
LCD1602_WriteCom(0x03); // - - 璁剧疆4浣嶆牸寮忥紝2琛岋紝5x7
LCD1602_WaitBusy();
LCD1602_WriteCom(0x02); // - - 璁剧疆4浣嶆牸寮忥紝2琛岋紝5x7
LCD1602_WaitBusy();
LCD1602_WriteCom(0x28); // - - 璁剧疆4浣嶆牸寮忥紝2琛岋紝5x7
LCD1602_WaitBusy();
LCD1602_WriteCom(0x0c); // - - 鏁翠綋鏄剧ず锛屽叧鍏夋爣锛屼笉闂儊
LCD1602_WaitBusy();
LCD1602_WriteCom(0x06); // - - 璁惧畾杈撳叆鏂瑰紡锛屽閲忎笉绉讳綅
LCD1602_WaitBusy();
LCD1602_WriteCom(0x01); // - - 娓呴櫎灞忓箷鏄剧ず
}
void LCDChar(unsigned char c) {
LCD_RS = 1;
LCD_DATA &= 0xf0;
LCD_DATA |= (c >> 4);
PulseEnable;
LCD_DATA &= 0xf0;
LCD_DATA |= (c & 0x0f);
PulseEnable;
Delay5ms();
}
void SetPWMFreq(short freq)
{
short prescale=6103;
uint8_t oldmode,newmode;
freq*=0.9;
prescale/=freq;
oldmode =IIC_Read(PCA_Add,PCA9685_MODE1);
newmode =(oldmode&0x7f)|0x10;
IIC_Write(PCA_Add,PCA9685_MODE1,newmode);
IIC_Write(PCA_Add,PCA9685_PRESCALE,prescale);
IIC_Write(PCA_Add,PCA9685_MODE1,oldmode);
Delay5ms();
IIC_Write(PCA_Add,PCA9685_MODE1,oldmode|0xa1);
}
//WriteSPI_to_LCD() Function:
//WriteSPI_to_LCD() writes 32 characters to the 2x16 LCD
//using the SPI1 interface in a polling fashion.
//After each byte is written, the Interrupt Flag bit is polled and the
//next character is written after the interrupt flag bit is set.
void WriteSPI_to_LCD(void)
{
int temp, i;
i=0;
temp = SPI1BUF;
SPI1STATbits.SPIROV = 0;
IFS0bits.SPI1IF = 0;
Delay5us(50);
SPI1BUF = LCDLINE1CMD; //First write the command to set cursor
//to Line1 on LCD
LCDCharPtr = &DisplayData[0]; //Set up LCD character pointer to point
//to the Display buffer
while(i < 16)
{
while (IFS0bits.SPI1IF=0); //Now write 16 characters
temp = SPI1BUF; //to Line 1 of the LCD
IFS0bits.SPI1IF = 0;
SPI1STATbits.SPIROV = 0;
Delay5ms(1);
SPI1BUF = *LCDCharPtr++;
i++;
}
while (IFS0bits.SPI1IF==0);
temp = SPI1BUF;
IFS0bits.SPI1IF = 0;
SPI1STATbits.SPIROV = 0;
temp = *LCDCharPtr++; //Some characters in the Display buffer
temp = *LCDCharPtr++; //are skipped while writing to LCD. CR
Delay5us(50); //and LF are for writing to RS2322 UART
SPI1BUF = LCDLINE2CMD; //Next, write the command to set cursor
//to Line2 on LCD
i = 0;
while(i < 16)
{
while (IFS0bits.SPI1IF==0); //Now write 16 characters
temp = SPI1BUF; //to Line 2 of the LCD
IFS0bits.SPI1IF = 0;
SPI1STATbits.SPIROV = 0;
Delay5us(50);
SPI1BUF = *LCDCharPtr++;
i++;
}
}
int main(void)
{
// Declaration and initialization of message-related data
unsigned int txMsgSID = 0;
unsigned char txMsgData[12] = {'1', '2', '3', '4', '5', 'S', 'X', 'U', 'C', 'L', 'D', 'R'};
unsigned char buffer[32];
unsigned int lenght = 0;
unsigned int cursorPosition = 0;
// Initialize keyboard, CAN and LCD
KeybInit();
CANinit(LOOPBACK_MODE, 0x0000, 0x0000);
LCDInit();
// Clear LCD
LCDClear();
// Char to save key pressed
unsigned char c;
while(1)
{
if(CANtransmissionCompleted())
{
// Get key pressed
c = getKeyBlocking();
if(lenght < 32 && cursorPosition < 32)
{
buffer[lenght] = txMsgData[c];
lenght++;
if(c == 0 || c == 1 || c == 2 || c == 3 || c == 4 || c == 11)
{
switch(c)
{
case 0: LCDPrint("1"); break;
case 1: LCDPrint("2"); break;
case 2: LCDPrint("3"); break;
case 3: LCDPrint("4"); break;
case 4: LCDPrint("5"); break;
case 11: LCDMoveRight(); break;
}
// Cursor managment - Update position
if(cursorPosition == 15)
{
// Cursor is at the end of the first line
// Move to second line
LCDMoveSecondLine();
}
// Increase cursor position
cursorPosition++;
}
else if(c == 6 || c == 9)
{
// Pressed erase and go back key ( <- )
if(cursorPosition == 0)
{
// Cursor is at the begining of the first line
// Do nothing
}
else if(cursorPosition == 16)
{
// Cursor is at the begining of the second line
// Move cursor to the last position of the first line
LCDSetCursor(15);
if(c == 6)
{
// Erase content (print a white space)
LCDPrint(" ");
// Move cursor back and decrease cursor position
LCDMoveLeft();
}
cursorPosition--;
}
else
{
// Cursor is between extreme positions or at position 32
// Move cursor back
LCDMoveLeft();
if(c == 6)
{
// Erase content (print a white space)
LCDPrint(" ");
// Move cursor back and decrease cursor position
LCDMoveLeft();
}
cursorPosition--;
}
}
else if(c == 7)
{
// Move to first line
LCDMoveFirstLine();
cursorPosition = 0;
}
else if(c == 10)
{
// Move to second line
LCDMoveSecondLine();
cursorPosition = 16;
}
else
{
// Pressed clear (C) or send (S)
if(c == 8)
{
// Clear LCD
LCDClear();
// Move to home
LCDMoveHome();
// Set counter of cursor position to 0 (zero)
cursorPosition = 0;
}
else
{
// Clear LCD and show message
////////////////////
// SENDING! //
// //
////////////////////
LCDClear();
LCDMoveHome();
LCDPrint(" SENDING!");
// Wait 1s before start send
for(i = 0; i < 200; i++) Delay5ms();
// Clear LCD
LCDClear();
// Send message according keys pressed
for(i = 0; i < lenght; i++)
{
CANsendMessage(txMsgSID, buffer[i]);
// Wait until transmission complete
while(CANtransmissionCompleted() == 0);
// Wait 0,5s before send the next
for(j = 0; j < 100; j++) Delay5ms();
}
lenght = 0;
cursorPosition = 0;
LCDMoveHome();
}
}
}
else
{
// Clear LCD and show message in two lines
////////////////////
// WARNING! //
// Full memory //
////////////////////
LCDClear();
LCDMoveHome();
LCDPrint(" WARNING!");
LCDMoveSecondLine();
LCDPrint(" Full memory");
// Pressed key send (S)
if(c == 5)
{
// Clear LCD and show message
////////////////////
// SENDING! //
// //
////////////////////
LCDClear();
LCDMoveHome();
LCDPrint(" SENDING!");
// Wait 1s before start send
for(i = 0; i < 200; i++) Delay5ms();
// Clear LCD
LCDClear();
// Send message according keys pressed
for(i = 0; i < lenght; i++)
{
CANsendMessage(txMsgSID, buffer[i]);
// Wait until transmission complete
while(CANtransmissionCompleted() == 0);
// Wait 0,5s before send the next
for(j = 0; j < 100; j++) Delay5ms();
}
lenght = 0;
cursorPosition = 0;
LCDMoveHome();
}
}
}
// Wait 0,25s before to detect another time the key pressed
for(i = 0; i < 50; i++) Delay5ms();
}
}