//This function sets cursor position
void LCD_Cursor(unsigned char Row,unsigned char Col){
switch(Row){
case 1: LCD_Command(0x80+ Col -1);break;
case 2: LCD_Command(0xC0+ Col -1);break;
default: break;
}
}
//LCDShow:在HD44780显示屏上显示数据----------------------------------------*
//功 能:在HD44780显示屏显示str所指向的32个数据 *
//参 数:str=待显示的数组 *
//返 回:无 *
//内部调用函数:LCD_Command *
//-------------------------------------------------------------------------*
void LCDShow(INT8U str[])
{
INT8U i;
//1. LCD初始化
LCDInit();
//2. 显示第1行16个字符
//2.1设置显示首地址
LCDCtrl &= ~(1 << LCDRS); //RS,R/W = 00(写的是指令)
LCDCtrl &= ~(1 << LCDRW);
LCD_Command(0x80); //后7位为DD RAM地址(0x00)
//2.2写16个数据到DD RAM
LCDCtrl |= 1 << LCDRS; //RS,R/W = 10(写的是数据)
LCDCtrl &= ~(1 << LCDRW);
//将要显示在第1行上的16个数据逐个写入DD RAM中
for (i = 0;i < 16;i++)
{
LCD_Command(str[i]);
}
//3. 显示第2行16个字符
//3.1设置显示首地址
LCDCtrl &= ~(1 << LCDRS); //RS,R/W = 00(写的是指令)
LCDCtrl &= ~(1 << LCDRW);
LCD_Command(0xC0); //后7位为DD RAM地址(0x40)
//3.2再写16个数据到DD RAM
LCDCtrl |= 1 << LCDRS; //RS,R/W = 10(写的是数据)
LCDCtrl &= ~(1 << LCDRW);
//将要显示在第2行上的16个数据逐个写入DD RAM中
for (i = 16;i < 32;i++)
{
LCD_Command(str[i]);
}
}
void LCDInit()
{
LCD_PinInit();
Delay_ms(20);
GPIO_ResetBits(RS_Port, RS_Pin);
LCD_Send(0x3);
Delay_ms(5);
LCD_Send(0x2);
Delay_ms(5);
LCD_Send(0x0);
LCD_Command(0x28);
LCD_Command(0x08);
LCD_Command(0x01);
LCD_Command(0x06);
LCD_Command(0x0c);
}
/*============================================================================*/
void LCD_CreateChar(unsigned charnum, const unsigned char *chardata){
unsigned char i;
charnum &= 0x07;
LCD_Command(E_SET_CGRAM_ADDR | (charnum << 3));
for (i = 0; i < 8; i++)
LCD_Write(chardata[i]);
}
main(){
DDRD = 0x3E; // set keypad I/O data direction register
NewKey = 0; // reset key variables
LastKey = 0xFF;
// Initialize the LCD
LCD_Command(0x3C); // initialize command
LCD_Command(0x0C); // display on, cursor off
LCD_Command(0x06);
LCD_Command(0x01);
// Display Header Information on LCD
LCD_Command(LINE_1); // goto lcd line 1
LCDprint("Keypad Test");
LCD_Command(LINE_2); // goto lcd line 2
LCDprint("Press Keys");
LCD_Command(LINE_3); // goto lcd line 3
// main loop .. endless
for( ; ;){
if(kbhit()){ // if new key pressed
cprint(NewKey); // display it
}
}
}
void LCD_Goto(char vrsta, char stolpec)
{
char command;
if(vrsta == 1) command = 0x80;
else if(vrsta == 2) command = 0xc0; // Ne dela. Ne vem zakaj
else return;
command += stolpec;
LCD_Command(command);
}
//LCDInit:初始化LCD函数----------------------------------------------------*
//功 能:初始化Lcd(HD44780),设置显示方式,清屏,AC自动+1 *
//参 数:无 *
//返 回:无 *
//内部调用函数:LCD_Command *
//-------------------------------------------------------------------------*
void LCDInit(void)
{
INT16U i;
//定义数据口(PTB0-7)为输出
LCDData_D = 0xFF; //数据口为输出
//定义控制口(PTC0-2)为输出
LCDCtrl_D |= (1<<LCDE);
LCDCtrl_D |= (1<<LCDRS);
LCDCtrl_D |= (1<<LCDRW);
//设置指令
LCDCtrl &= ~(1<<LCDRS); //RS、R/W=00,写指令
LCDCtrl &= ~(1<<LCDRW);
LCD_Command(0x38);
//||||||||____ 可设任意值(0/1)
//||||||______ F = 0,5*7点阵模式
//|||||_______ N = 1,2行显示
//||||________ DL = 1,8位数据总线
//|||_________ 固定为001
LCD_Command(0x08); //关显示,关光标显示,不闪烁
LCD_Command(0x01); //清屏
for (i=0; i<20000; i++); //延时>1.6ms
LCD_Command(0X06);
LCD_Command(0x14); //光标右移一个字符位,AC自动加1
LCD_Command(0x0C); //开显示,关光标显示,不闪烁
}
/*==================================================================================================================================================================================*/
void LCD_Init( void (*RS_Control)(unsigned char c), void (*RW_Control)(unsigned char c), void (*EN_Control)(unsigned char c), void (*DataControl)(unsigned char c), void (*WaitusFcn)(unsigned int time)){
__lcd_dvr_io_pins.RS_Control = RS_Control;
__lcd_dvr_io_pins.RW_Control = RW_Control;
__lcd_dvr_io_pins.EN_Control = EN_Control;
__lcd_dvr_io_pins.DataControl = DataControl;
__lcd_dvr_io_pins.WaitusFcn = WaitusFcn;
__lcd_dvr_io_pins.EN_Control(0);
__lcd_dvr_io_pins.RS_Control(0);
if(__lcd_dvr_io_pins.RW_Control!=NULL) __lcd_dvr_io_pins.RW_Control(0);
__lcd_dvr_io_pins.WaitusFcn(LCD_INIT_DELAY_US);
LCD_IOWrite4(0x03);
__lcd_dvr_io_pins.WaitusFcn(5);
LCD_Strobe();
__lcd_dvr_io_pins.WaitusFcn(200);
LCD_Strobe();
__lcd_dvr_io_pins.WaitusFcn(200);
LCD_IOWrite4(0x02);
__lcd_dvr_io_pins.WaitusFcn(120);
LCD_Command(E_FUNCTION_SET | BIT_DL_DATALENGTH_4 | BIT_N_DISP_LINES_2 | BIT_F_FONT_5_10);
LCD_Command(E_DISPLAY_ON_OFF_CTRL | BIT_D_DISPLAY_OFF);
LCD_Command(E_CLEAR_DISPLAY);
LCD_Command(E_ENTRY_MODE_SET | BIT_S_AUTOSCROLL_OFF | BIT_ID_INCREMENT_CURSOR);
}
int main(void)
{
binToDecDigits(1234, display, 4);
scheduler_init(display);
serial_init(onReceive);
scheduler_addPeriodicTask(sendText, 5000);
LCD_Initalize();
LCD_Command(HD44780_DISPLAY_ONOFF|HD44780_DISPLAY_ON);
LCD_Text("Ala ma kota!");
scheduler_run();
}
int main()
{
PINSEL0 = 0x00000000;
PINSEL1 = 0x00000000;
//PINSEL2 = 0x00000000;
Init_Peripherals();
adc_data();
DelaymSec(40);
Init_Peripherals();
LCD_4Bit_Mode();
LCD_Init();
LCD_Command(0x01);
DelaymSec(15);
while(1)
{
xTaskCreate(IR1,"IR1",configMINIMAL_STACK_SIZE,NULL,tskIDLE_PRIORITY+1,&xIR1);
xTaskCreate(IR2,"IR2",configMINIMAL_STACK_SIZE,NULL,tskIDLE_PRIORITY+1,&xIR2);
xTaskCreate(IR3,"IR3",configMINIMAL_STACK_SIZE,NULL,tskIDLE_PRIORITY+1,&xIR3);
xTaskCreate(IR4,"IR4",configMINIMAL_STACK_SIZE,NULL,tskIDLE_PRIORITY+1,&xIR4);
xTaskCreate(IR5,"IR5",configMINIMAL_STACK_SIZE,NULL,tskIDLE_PRIORITY+1,&xIR5);
xTaskCreate(IR6,"IR6",configMINIMAL_STACK_SIZE,NULL,tskIDLE_PRIORITY+1,&xIR6);
xTaskCreate(IR7,"IR7",configMINIMAL_STACK_SIZE,NULL,tskIDLE_PRIORITY+1,&xIR7);
xTaskCreate(IR8,"IR8",configMINIMAL_STACK_SIZE,NULL,tskIDLE_PRIORITY+1,&xIR8);
xTaskCreate(IR2_IR3,"IR2_IR3",configMINIMAL_STACK_SIZE,NULL,tskIDLE_PRIORITY+1,&xIR2_IR3);
xTaskCreate(IR3_IR4,"IR3_IR4",configMINIMAL_STACK_SIZE,NULL,tskIDLE_PRIORITY+1,&xIR3_IR4);
xTaskCreate(forward,"forward",configMINIMAL_STACK_SIZE,NULL,tskIDLE_PRIORITY+1,&xforward);
xTaskCreate(IR2_IR3_IR4,"IR2_IR3_IR4",configMINIMAL_STACK_SIZE,NULL,tskIDLE_PRIORITY+1,&xIR2_IR3_IR4);
xTaskCreate(lcdprint,"Display",configMINIMAL_STACK_SIZE,NULL,tskIDLE_PRIORITY+1,&xdisplay);
vTaskStartScheduler();
}
}
void LCD_Cursor_ShiftRight()
{
LCD_Command(0x14);
}
void LCD_DisplayOn_CursorAndBlinkOn()
{
LCD_Command(0x0f);
}
void LCD_Cursor_ShiftLeft()
{
LCD_Command(0x10);
}
void LCD_DisplayOn_CursorAndBlinkOff()
{
LCD_Command(0x0c);
}
void LCD_DisplayOn_CursorOnBlinkOff()
{
LCD_Command(0x0e);
}
//This Function puts LCD cursor to Home position
void LCD_Home(void)
{
LCD_Command(0x80);
}
/*============================================================================*/
void LCD_ScrollPos(unsigned char left_rigth){
LCD_Command(E_CURSOR_DISPLAY_SHIFT | BIT_SC_SHIFT_DISPLAY | ((left_rigth)? BIT_RL_SHIFT_LEFT: BIT_RL_SHIFT_RIGHT));
}
void LCD_CursorDecrement_ShiftOn()
{
LCD_Command(0x05);
}
void LCD_CursorIncrement_ShiftOff()
{
LCD_Command(0x06);
}
/*============================================================================*/
void LCD_Cursor(enum enLCDCursorModes mode){
__lcd_dispctrl &= 0xFC;
__lcd_dispctrl |= mode;
LCD_Command(E_DISPLAY_ON_OFF_CTRL | __lcd_dispctrl);
}
void LCD_CursorDecrement_ShiftOff()
{
LCD_Command(0x04);
}
// Clear display, cursor to home
void LCD_Clear()
{
LCD_Command(0x01);
}
// Display Function (default 2x40 size)
void LCD_DisplayFunction()
{
LCD_Command(0x3c);
}
void LCD_Display_ShiftRight()
{
LCD_Command(0x1c);
}
void LCD_Display_ShiftLeft()
{
LCD_Command(0x18);
}
void LCD_CursorIncrement_ShiftOn()
{
LCD_Command(0x07);
}
//This function enables LCD's internal funcions
void LCD_Init(void)
{
LCD_Command(0x28);
LCD_Command(0x0C);
LCD_Command(0x06);
}
// Display, cursor and blink off
void LCD_DisplayOff()
{
LCD_Command(0x08);
}
void LCD_CursorHome()
{
LCD_Command(0x02);
}
/*============================================================================*/
void LCD_AutoScroll(unsigned char on_off){
LCD_Command(E_ENTRY_MODE_SET | ((on_off)? BIT_S_AUTOSCROLL_ON:BIT_S_AUTOSCROLL_ON) | BIT_ID_INCREMENT_CURSOR);
}
