void LoopLicht(void)
{
if(ledOn == 0x08) //4de bit actief (led: D4)
{
ledOn = 0x01; //1ste bit actief (led: D1)
}
else
{
ledOn = ledOn << 1; //Actieve bit links shiften
}
LEDSet(ledOn);
}
void Robot::DisabledPeriodic() {
CheesyVisionServer *cheeseView = CheesyVisionServer::GetInstance();
if(oi->getDriverJoystickRight()->GetRawButton(7))
SMDB();
driveTrain->CheckForTurns();
//SmartDashboard::PutNumber("AutoChooser", (int)autoProgram);
pickup->beaterBarOut->Set(false);
pickup->wings->Set(false);
Scheduler::GetInstance()->Run();
LEDSet(4);
//KinectInfo
// SmartDashboard::PutBoolean("TooManyPlayers!!!!!", kinect->GetNumberOfPlayers() <= 1);
// SmartDashboard::PutBoolean("NoPlayers!!!!!!!", kinect->GetNumberOfPlayers() > 0);
SmartDashboard::PutBoolean("LeftHand", cheeseView->GetLeftStatus());
SmartDashboard::PutBoolean("RightHand", cheeseView->GetRightStatus());
SmartDashboard::PutBoolean("RightSelect", turnDirection == 1);
SmartDashboard::PutBoolean("LeftSelect", turnDirection == -1);
//Autonomous Selection Feedback
switch (static_cast<AutoProgram>((int)(autoChooser->GetSelected())))
{
case fire1Side:
SmartDashboard::PutNumber("AutonomousSelection", 1);
break;
case fire1Center:
SmartDashboard::PutNumber("AutonomousSelection", 2);
break;
case fire2DriveForward:
SmartDashboard::PutNumber("AutonomousSelection", 3);
break;
case fire2DriveForwardWide:
SmartDashboard::PutNumber("AutonomousSelection", 4);
break;
case fire2Side:
SmartDashboard::PutNumber("AutonomousSelection", 5);
break;
case fire3FromCenter:
SmartDashboard::PutNumber("AutonomousSelection", 6);
break;
}
}
/*
* Main entry point
*/
int main(void) {
//=====init green led
LEDInit();
LEDSet(1);
//=====setup eth interface
uint16_t plen = 0, dat_p = 0;
//initialize enc28j60
enc28j60Init(mymac);
_delay_ms(100);
// Magjack leds configuration, see enc28j60 datasheet, page 11
// LEDB=yellow LEDA=green
// 0x476 is PHLCON LEDA=links status, LEDB=receive/transmit
// enc28j60PhyWrite(PHLCON,0b0000 0100 0111 01 10);
enc28j60PhyWrite(PHLCON,0x476);
_delay_ms(100);
//init the ethernet/ip layer:
init_udp_or_www_server(mymac,myip);
www_server_port(MYWWWPORT);
register_ping_rec_callback(PingCallback);
while(1){
// handle ping and wait for a tcp packet:
dat_p = packetloop_arp_icmp_tcp(buf, enc28j60PacketReceive(BUFFER_SIZE, buf));
// dat_p will be unequal to zero if there is a valid http get
if(dat_p==0){
// do nothing
continue;
}
// tcp port 80 begin
if (strncmp("GET ",(char *)&(buf[dat_p]),4)!=0){
dat_p = fill_tcp_data_p(buf, 0, PSTR("HTTP/1.0 200 OK\r\nContent-Type: text/html\r\nPragma: no-cache\r\n\r\n"));
dat_p = fill_tcp_data_p(buf, dat_p, PSTR("<h1>200 OK</h1>"));
goto SENDTCP;
}
if (strncmp("/ ",(char *) & (buf[ dat_p + 4] ), 2) == 0 ){
nAccessCount++;
dat_p = fill_tcp_data_p(buf, 0, PSTR("HTTP/1.0 200 OK\r\nContent-Type: text/html\r\nPragma: no-cache\r\n\r\n"));
// webcontent
char szWebText[130] = {0};
sprintf(szWebText,
"<b>ATmega8 Webserver / ENC28J60</b><br><br>Server stats:<br>Acc:%d Png:%d<br><br>(C) Radu Motisan 2012, www.pocketmagic.net<br/>Tomasz Jokiel",
nAccessCount, nPingCount);
dat_p = fill_tcp_data(buf, dat_p, szWebText);
//
goto SENDTCP;
}
// all other URLs:
dat_p = fill_tcp_data_p(buf, 0, PSTR("HTTP/1.0 401 Unauthorized\r\nContent-Type: text/html\r\n\r\n<h1>401 Unauthorized</h1>"));
SENDTCP:
www_server_reply(buf, dat_p); // send web page data
}
return (0);
}
void LEDToggle() {
if (led_state) LEDSet(0); else LEDSet(1);
}
void Robot::TeleopPeriodic() {
LEDSet(5);
driveTrain->CheckForTurns();
if(oi->getDriverJoystickRight()->GetRawButton(7))
SMDB();
/******************DRIVETRAIN**************************************/
//Resets gyro to zero when crab starts
if (!prevTrigger && oi->getDriverJoystickRight()->GetRawButton(1))
driveTrain->gyro->Reset();
prevTrigger = oi->getDriverJoystickRight()->GetRawButton(1);
if(oi->getDriverJoystickLeft()->GetRawButton(1) && oi->getDriverJoystickRight()->GetMagnitude() < .1)
{
driveTrain->Lock();
undoTurnsPressed = true;
}
else if(oi->getDriverJoystickRight()->GetRawButton(1))
{
driveTrain->Crab(oi->getJoystickTwist(),-oi->getJoystickY(),oi->getJoystickX(),true);
}
else
{
driveTrain->Steer(oi->getLeftJoystickXRadians(),oi->getJoystickY(),0.5);
}
/* if (undoTurnsPressed && !oi->getDriverJoystickLeft()->GetRawButton(1))
{
driveTrain->frontLeft->Enable();
driveTrain->frontRight->Enable();
driveTrain->rearLeft->Enable();
driveTrain->rearRight->Enable();
undoTurnsPressed = false;
}
*/
/******************SHOOTER**************************************/
if(oi->getGamePad()->GetRawButton(10)){
if(oi->getGamePad()->GetRawAxis(6) < 0) {
shooter->Reset();
}
else if(oi->getGamePad()->GetRawAxis(6) > 0) {
shooter->RelieveStress();
}
else {
shooter->RunCams(-oi->getGamePad()->GetRawAxis(2), true);
}
}
else if(oi->getDriverJoystickRight()->GetRawButton(9) || oi->getGamePad()->GetRawButton(9)){
shooter->RelieveStress();
}
else if(oi->getDriverJoystickRight()->GetRawButton(11)){
shooter->Reset();
}
else {
shooter->CamChecker(); //Runs every cycle to control cam postion
if((oi->getDriverJoystickRight()->GetRawButton(3)) && !shooter->GetFiring()) {
if(!pickup->beaterBarOut->Get())
beaterBarTimer->Reset();
pickup->beaterBarOut->Set(true);
shooter->Fire(0.6 - beaterBarTimer->Get(), true);
}
else if (oi->getDriverJoystickRight()->GetRawButton(2)) {
shooter->Fire(0,false);
}
}
shooter->fingers->Set(oi->getGamePad()->GetRawButton(2));
/******************WINGS**************************************/
if(oi->getGamePad()->GetRawButton(7))
pickup->wings->Set(true);
if(oi->getGamePad()->GetRawButton(5))
pickup->wings->Set(false);
/******************BEATERBAR**************************************/
if(fabs(oi->getGamePad()->GetRawAxis(4)) > fabs(oi->getGamePad()->GetRawAxis(2))) {
pickup->beaterBar->Set((oi->getGamePad()->GetRawAxis(4)));
}
else
pickup->beaterBar->Set(oi->getGamePad()->GetRawAxis(2));
if(oi->getDriverJoystickLeft()->GetRawButton(4))
pickup->beaterBar->Set(1);
if(oi->getDriverJoystickLeft()->GetRawButton(5))
pickup->beaterBar->Set(-1);
if ((oi->getGamePad()->GetRawButton(8) || oi->getDriverJoystickLeft()->GetRawButton(2)) && !pickup->beaterBarOut->Get()) {
pickup->beaterBarOut->Set(true);
beaterBarTimer->Reset();
}
if (oi->getGamePad()->GetRawButton(6) || oi->getDriverJoystickLeft()->GetRawButton(3)) {
pickup->beaterBarOut->Set(false);
}
Scheduler::GetInstance()->Run();
}
void Robot::AutonomousPeriodic() {
//KinectInfo
SmartDashboard::PutBoolean("TooManyPlayers!!!!!", kinect->GetNumberOfPlayers() <= 1);
SmartDashboard::PutBoolean("NoPlayers!!!!!!!", kinect->GetNumberOfPlayers() > 0);
SmartDashboard::PutBoolean("LeftHand", KinectLeftSelect());
SmartDashboard::PutBoolean("RightHand", KinectRightSelect());
SmartDashboard::PutBoolean("RightSelect", turnDirection == 1);
SmartDashboard::PutBoolean("LeftSelect", turnDirection == -1);
driveTrain->CheckForTurns();
if(oi->getDriverJoystickRight()->GetRawButton(7))
SMDB();
// if (autonomousTimer->HasPeriodPassed(1))
// LEDSet(4);
LEDSet(7);
if(autoStep != FirstResetShooter && autoStep != FirstTurn && autoStep !=DriveForwardFirstTurn && autoStep != DriveForwardReset) {
shooter->CamChecker();
}
switch(autoStep) {
case ResetShooterAndCollect:
x = 0;
y = 0;
if(autoStepTimer->HasPeriodPassed(.2)){
if(pickup->beaterBar->GetOutputCurrent() >= peakBeaterBarCurrent) {
peakBeaterBarCurrent = pickup->beaterBar->GetOutputCurrent();
ballCollectedInc = 0;
}
else
ballCollectedInc++;
}
pickup->beaterBar->Set(1);
SmartDashboard::PutString("AutoStep", "ResetShooter");
if(shooter->GetResetCamComplete() && (ballCollectedInc > 50 || autoStepTimer->HasPeriodPassed(1.5))) {
autoStepComplete = true;
pickup->beaterBar->Set(0);
ballCollectedInc = 0;
}
break;
case FirstResetShooter:
x = 0;
y = 0;
if(!shooter->GetResetCamComplete()) {
shooter->Reset();
pickup->beaterBar->Set(-.25);
}
else {
shooter->CamChecker();
}
if(turnDirection == 0) {
if(KinectLeftSelect() || autoStepTimer->HasPeriodPassed(2.0)) {
turnDirection = -1;
}
else if (KinectRightSelect()) {
turnDirection = 1;
}
}
SmartDashboard::PutString("AutoStep", "FirstResetShooter");
if(turnDirection != 0 && autoStepTimer->HasPeriodPassed(0.25)) {
autoStepComplete = true;
pickup->beaterBar->Set(0);
}
break;
case WaitToFire50:
x = 0;
y = 0;
SmartDashboard::PutString("AutoStep", "FindTarget");
if(autonomousTimer->HasPeriodPassed(5.0))
autoStepComplete = true;
break;
case WaitToFire75:
x = 0;
y = 0;
SmartDashboard::PutString("AutoStep", "FindTarget");
if(autonomousTimer->HasPeriodPassed(7.5))
autoStepComplete = true;
break;
case WaitForHot:
if(KinectLeftSelect() || KinectRightSelect())
autoStepComplete = true;
SmartDashboard::PutString("AutoStep", "WaitForHot");
break;
case FirstTurn:
twist = turnDegree*turnDirection;
x = 0;
y = 0;
if(!shooter->GetResetCamComplete()) {
shooter->Reset();
if(autoProgram == fire3FromCenter){
pickup->beaterBar->Set(-.25);
}
else if(!autoStepTimer->HasPeriodPassed(0.25)){
pickup->beaterBar->Set(.25);
}
else
pickup->beaterBar->Set(0);
}
else {
shooter->CamChecker();
}
driveTrain->DriveControlTwist->SetPID(.035, 0, .15);
SmartDashboard::PutString("AutoStep", "FirstTurn");
if(!driveTrain->DriveControlTwist->OnTarget()) {
onTargetTimer->Reset();
}
if(onTargetTimer->HasPeriodPassed(.2) && shooter->GetResetCamComplete()){
autoStepComplete = true;
pickup->beaterBar->Set(0);
}
break;
case DriveForwardReset:
driveTrain->DriveControlTwist->SetPID(.010, 0, .05);
x = 0;
y = -.5;
twist = 0;
if(!shooter->GetResetCamComplete()) {
shooter->Reset();
pickup->beaterBar->Set(-.25);
}
else {
shooter->CamChecker();
}
SmartDashboard::PutString("AutoStep", "DriveForwardReset");
if(autoStepTimer->HasPeriodPassed(1.3) && shooter->GetResetCamComplete()) {
autoStepComplete = true;
x = 0;
y = 0;
twist = 0;
}
break;
case DriveForwardFirstTurn:
if(pickup->ballInPickup->Get() == 1) {
pickup->beaterBar->Set(.75);
}
else {
pickup->beaterBar->Set(0);
}
if(turnDirection == 0) {
if(KinectLeftSelect() || autoStepTimer->HasPeriodPassed(2.5)) {
turnDirection = -1;
}
else if (KinectRightSelect()) {
turnDirection = 1;
}
}
if(!autoStepTimer->HasPeriodPassed(1.45)) {
x = 0;
y = -.5;
twist = 0;
driveTrain->DriveControlTwist->SetPID(.010, 0, .05);
}
else {
x = 0;
y = 0;
twist = turnDegree*turnDirection;
driveTrain->DriveControlTwist->SetPID(.040, 0, .15);
}
if(!shooter->GetResetCamComplete()) {
shooter->Reset();
}
else {
shooter->CamChecker();
}
SmartDashboard::PutString("AutoStep", "DriveForwardFirstTurn");
if(turnDirection != 0 && (KinectRightSelect() || KinectLeftSelect())) {
turnDegree = 20;
}
else
turnDegree = 10;
SmartDashboard::PutBoolean("Wide", turnDegree > 15);
if(!driveTrain->DriveControlTwist->OnTarget() || turnDirection == 0 || twist == 0) {
onTargetTimer->Reset();
}
if(turnDirection != 0 && onTargetTimer->HasPeriodPassed(1.0) && shooter->GetResetCamComplete()){
autoStepComplete = true;
pickup->beaterBar->Set(0);
x = 0;
y = 0;
}
break;
case SecondTurn:
twist = turnDegree*-turnDirection;
x = 0;
y = 0;
driveTrain->DriveControlTwist->SetPID(.035, 0, .15);
pickup->beaterBar->Set(-.25);
SmartDashboard::PutString("AutoStep", "SecondTurn");
if((KinectRightSelect() || KinectLeftSelect())) {
turnDegree = 20;
}
else
turnDegree = 10;
SmartDashboard::PutBoolean("Wide", turnDegree > 15);
if(!driveTrain->DriveControlTwist->OnTarget()) {
onTargetTimer->Reset();
}
if(onTargetTimer->HasPeriodPassed(.2) && shooter->GetResetCamComplete()){
autoStepComplete = true;
pickup->beaterBar->Set(0);
}
break;
case Fire:
x = 0;
y = 0;
shooter->Fire(0, false);
SmartDashboard::PutString("AutoStep", "Fire");
if(shooter ->GetCorrectedCamPos() < 4.5 && shooter->GetCorrectedCamPos() > 4.0)
autoStepComplete = true;
break;
case Chill:
x = 0;
y = 0;
SmartDashboard::PutString("AutoStep", "Chill");
if(autoStepTimer->HasPeriodPassed(.5))
autoStepComplete = true;
break;
case CollectBall:
pickup->beaterBar->Set(1);
x = 0;
y = 0;
if(autoStepTimer->HasPeriodPassed(.2) && pickup->beaterBar->GetOutputCurrent() >= peakBeaterBarCurrent) {
peakBeaterBarCurrent = pickup->beaterBar->GetOutputCurrent();
ballCollectedInc = 0;
}
else
ballCollectedInc++;
SmartDashboard::PutString("AutoStep", "CollectBall");
if(autoStepTimer->HasPeriodPassed(1.5) || ballCollectedInc >= 50) {
autoStepComplete = true;
pickup->beaterBar->Set(0);
peakBeaterBarCurrent = 0;
ballCollectedInc = 0;
}
break;
case LoadBall:
pickup->beaterBarOut->Set(false);
pickup->beaterBar->Set(-.5);
x = 0;
y = 0;
SmartDashboard::PutString("AutoStep", "LoadBall");
if(autoStepTimer->HasPeriodPassed(.2)){
autoStepComplete = true;
}
break;
case DropPickup:
pickup->beaterBarOut->Set(true);
if(autoStepTimer->HasPeriodPassed(.2)) {
pickup->beaterBar->Set(.5);
}
x = 0;
y = 0;
SmartDashboard::PutString("AutoStep", "DropPickup");
if(autoStepTimer->HasPeriodPassed(0.6)) {
autoStepComplete = true;
pickup->beaterBar->Set(0.0);
}
break;
case DriveForward:
x = 0;
y = -1.0;
pickup->beaterBar->Set(-.5);
SmartDashboard::PutString("AutoStep", "DriveForward");
if(autoStepTimer->HasPeriodPassed(.75)) {
autoStepComplete = true;
pickup->beaterBar->Set(0);
}
break;
case End:
x = 0;
y = 0;
SmartDashboard::PutString("AutoStep", "End");
break;
}
driveTrain->DriveControlTwist->SetSetpoint(twist);
driveTrain->Crab(driveTrain->CrabSpeedTwist->Get(), y, x, true);
/***********************Increment Through Program****************************/
if (autoStepComplete) {
autoStepTimer->Reset();
autoStepComplete = false;
autoStepIncrementer ++;
onTargetTimer->Reset();
try {
autoStep = genericAutoProgram.at(autoStepIncrementer);
}
catch (const out_of_range& oor) {
printf ("AutoProgram Vector Out of Range \n");
}
}
}
void Robot::AutonomousInit() {
LEDSet(7);
autoProgram = static_cast<AutoProgram>((int)(autoChooser->GetSelected()));
autoStepTimer->Reset();
autoStepIncrementer = 0;
turnDirection = 0;
peakBeaterBarCurrent = 0;
ballCollectedInc = 0;
genericAutoProgram.clear();
autonomousTimer->Reset();
driveTrain->gyro->Reset();
x = 0;
y = 0;
twist = 0;
switch(autoProgram) {
case fire1Side:
genericAutoProgram.push_back(DriveForwardReset);
genericAutoProgram.push_back(WaitForHot);
genericAutoProgram.push_back(Fire);
genericAutoProgram.push_back(End);
break;
case fire1Center:
genericAutoProgram.push_back(DriveForwardFirstTurn);
genericAutoProgram.push_back(Fire);
genericAutoProgram.push_back(End);
break;
case fire2Side:
genericAutoProgram.push_back(DropPickup);
genericAutoProgram.push_back(DriveForwardReset);
genericAutoProgram.push_back(WaitForHot);
genericAutoProgram.push_back(Fire);
genericAutoProgram.push_back(ResetShooterAndCollect);
genericAutoProgram.push_back(LoadBall);
genericAutoProgram.push_back(Fire);
genericAutoProgram.push_back(End);
break;
case fire2DriveForward: case fire2DriveForwardWide:
genericAutoProgram.push_back(DropPickup);
genericAutoProgram.push_back(DriveForwardFirstTurn);
genericAutoProgram.push_back(Fire);
genericAutoProgram.push_back(ResetShooterAndCollect);
genericAutoProgram.push_back(LoadBall);
genericAutoProgram.push_back(WaitToFire50);
genericAutoProgram.push_back(SecondTurn);
//genericAutoProgram.push_back(DropPickup);
genericAutoProgram.push_back(Fire);
genericAutoProgram.push_back(End);
break;
case fire3FromCenter:
genericAutoProgram.push_back(FirstResetShooter);
genericAutoProgram.push_back(FirstTurn);
genericAutoProgram.push_back(DropPickup);
genericAutoProgram.push_back(Fire);
genericAutoProgram.push_back(ResetShooterAndCollect);
genericAutoProgram.push_back(LoadBall);
genericAutoProgram.push_back(SecondTurn);
genericAutoProgram.push_back(DropPickup);
genericAutoProgram.push_back(WaitToFire50);
genericAutoProgram.push_back(Fire);
genericAutoProgram.push_back(ResetShooterAndCollect);
genericAutoProgram.push_back(LoadBall);
genericAutoProgram.push_back(DriveForward);
genericAutoProgram.push_back(Chill);
genericAutoProgram.push_back(DropPickup);
genericAutoProgram.push_back(Fire);
genericAutoProgram.push_back(End);
break;
}
autoStep = genericAutoProgram[autoStepIncrementer];
driveTrain->DriveControlTwist->Enable();
driveForwardAngle = 0;
// LEDSet(7);
//odroid->sendProcessImage->Set(true);
turnDegree = 13;
if (autoProgram == fire3FromCenter || autoProgram == fire2DriveForwardWide) {
turnDegree = 20;
}
}
static int lcd_ioctl(struct inode *inode, struct file *file, unsigned int cmd,
unsigned long arg)
{
struct lcd_display button_display;
unsigned long address, a;
int index;
switch (cmd) {
case LCD_On:
udelay(150);
BusyCheck();
LCDWriteInst(0x0F);
break;
case LCD_Off:
udelay(150);
BusyCheck();
LCDWriteInst(0x08);
break;
case LCD_Reset:
udelay(150);
LCDWriteInst(0x3F);
udelay(150);
LCDWriteInst(0x3F);
udelay(150);
LCDWriteInst(0x3F);
udelay(150);
LCDWriteInst(0x3F);
udelay(150);
LCDWriteInst(0x01);
udelay(150);
LCDWriteInst(0x06);
break;
case LCD_Clear:
udelay(150);
BusyCheck();
LCDWriteInst(0x01);
break;
case LCD_Cursor_Left:
udelay(150);
BusyCheck();
LCDWriteInst(0x10);
break;
case LCD_Cursor_Right:
udelay(150);
BusyCheck();
LCDWriteInst(0x14);
break;
case LCD_Cursor_Off:
udelay(150);
BusyCheck();
LCDWriteInst(0x0C);
break;
case LCD_Cursor_On:
udelay(150);
BusyCheck();
LCDWriteInst(0x0F);
break;
case LCD_Blink_Off:
udelay(150);
BusyCheck();
LCDWriteInst(0x0E);
break;
case LCD_Get_Cursor_Pos:{
struct lcd_display display;
udelay(150);
BusyCheck();
display.cursor_address = ( LCDReadInst );
display.cursor_address = ( display.cursor_address & 0x07F );
if(copy_to_user((struct lcd_display*)arg, &display, sizeof(struct lcd_display)))
return -EFAULT;
break;
}
case LCD_Set_Cursor_Pos: {
struct lcd_display display;
if(copy_from_user(&display, (struct lcd_display*)arg, sizeof(struct lcd_display)))
return -EFAULT;
a = (display.cursor_address | kLCD_Addr );
udelay(150);
BusyCheck();
LCDWriteInst( a );
break;
}
case LCD_Get_Cursor: {
struct lcd_display display;
udelay(150);
BusyCheck();
display.character = LCDReadData;
if(copy_to_user((struct lcd_display*)arg, &display, sizeof(struct lcd_display)))
return -EFAULT;
udelay(150);
BusyCheck();
LCDWriteInst(0x10);
break;
}
case LCD_Set_Cursor:{
struct lcd_display display;
if(copy_from_user(&display, (struct lcd_display*)arg, sizeof(struct lcd_display)))
return -EFAULT;
udelay(150);
BusyCheck();
LCDWriteData( display.character );
udelay(150);
BusyCheck();
LCDWriteInst(0x10);
break;
}
case LCD_Disp_Left:
udelay(150);
BusyCheck();
LCDWriteInst(0x18);
break;
case LCD_Disp_Right:
udelay(150);
BusyCheck();
LCDWriteInst(0x1C);
break;
case LCD_Home:
udelay(150);
BusyCheck();
LCDWriteInst(0x02);
break;
case LCD_Write: {
struct lcd_display display;
if(copy_from_user(&display, (struct lcd_display*)arg, sizeof(struct lcd_display)))
return -EFAULT;
udelay(150);
BusyCheck();
LCDWriteInst(0x80);
udelay(150);
BusyCheck();
for (index = 0; index < (display.size1); index++) {
udelay(150);
BusyCheck();
LCDWriteData( display.line1[index]);
BusyCheck();
}
udelay(150);
BusyCheck();
LCDWriteInst(0xC0);
udelay(150);
BusyCheck();
for (index = 0; index < (display.size2); index++) {
udelay(150);
BusyCheck();
LCDWriteData( display.line2[index]);
}
break;
}
case LCD_Read: {
struct lcd_display display;
BusyCheck();
for (address = kDD_R00; address <= kDD_R01; address++) {
a = (address | kLCD_Addr );
udelay(150);
BusyCheck();
LCDWriteInst( a );
udelay(150);
BusyCheck();
display.line1[address] = LCDReadData;
}
display.line1[ 0x27 ] = '\0';
for (address = kDD_R10; address <= kDD_R11; address++) {
a = (address | kLCD_Addr );
udelay(150);
BusyCheck();
LCDWriteInst( a );
udelay(150);
BusyCheck();
display.line2[address - 0x40 ] = LCDReadData;
}
display.line2[ 0x27 ] = '\0';
if(copy_to_user((struct lcd_display*)arg, &display,
sizeof(struct lcd_display)))
return -EFAULT;
break;
}
// set all GPIO leds to led_display.leds
case LED_Set: {
struct lcd_display led_display;
if(copy_from_user(&led_display, (struct lcd_display*)arg,
sizeof(struct lcd_display)))
return -EFAULT;
led_state = led_display.leds;
LEDSet(led_state);
break;
}
// set only bit led_display.leds
case LED_Bit_Set: {
int i;
int bit=1;
struct lcd_display led_display;
if(copy_from_user(&led_display, (struct lcd_display*)arg,
sizeof(struct lcd_display)))
return -EFAULT;
for (i=0;i<(int)led_display.leds;i++)
{
bit = 2*bit;
}
led_state = led_state | bit;
LEDSet(led_state);
break;
}
// clear only bit led_display.leds
case LED_Bit_Clear: {
int i;
int bit=1;
struct lcd_display led_display;
if(copy_from_user(&led_display, (struct lcd_display*)arg,
sizeof(struct lcd_display)))
return -EFAULT;
for (i=0;i<(int)led_display.leds;i++)
{
bit = 2*bit;
}
led_state = led_state & ~bit;
LEDSet(led_state);
break;
}
case BUTTON_Read: {
button_display.buttons = GPIRead;
if(copy_to_user((struct lcd_display*)arg, &button_display, sizeof(struct lcd_display)))
return -EFAULT;
break;
}
case LINK_Check: {
button_display.buttons = *((volatile unsigned long *) (0xB0100060) );
if(copy_to_user((struct lcd_display*)arg, &button_display, sizeof(struct lcd_display)))
return -EFAULT;
break;
}
case LINK_Check_2: {
int iface_num;
/* panel-utils should pass in the desired interface status is wanted for
* in "buttons" of the structure. We will set this to non-zero if the
* link is in fact up for the requested interface. --DaveM
*/
if(copy_from_user(&button_display, (struct lcd_display *)arg, sizeof(button_display)))
return -EFAULT;
iface_num = button_display.buttons;
#if defined(CONFIG_TULIP) && 0
if (iface_num >= 0 &&
iface_num < MAX_INTERFACES &&
linkcheck_callbacks[iface_num] != NULL) {
button_display.buttons =
linkcheck_callbacks[iface_num](linkcheck_cookies[iface_num]);
} else
#endif
button_display.buttons = 0;
if(__copy_to_user((struct lcd_display*)arg, &button_display, sizeof(struct lcd_display)))
return -EFAULT;
break;
}
// Erase the flash
case FLASH_Erase: {
int ctr=0;
// Chip Erase Sequence
WRITE_FLASH( kFlash_Addr1, kFlash_Data1 );
WRITE_FLASH( kFlash_Addr2, kFlash_Data2 );
WRITE_FLASH( kFlash_Addr1, kFlash_Erase3 );
WRITE_FLASH( kFlash_Addr1, kFlash_Data1 );
WRITE_FLASH( kFlash_Addr2, kFlash_Data2 );
WRITE_FLASH( kFlash_Addr1, kFlash_Erase6 );
printk( "Erasing Flash.\n");
while ( (!dqpoll(0x00000000,0xFF)) && (!timeout(0x00000000)) ) {
ctr++;
}
printk("\n");
printk("\n");
printk("\n");
if (READ_FLASH(0x07FFF0)==0xFF) { printk("Erase Successful\r\n"); }
else if (timeout) { printk("Erase Timed Out\r\n"); }
break;
}
// burn the flash
case FLASH_Burn: {
volatile unsigned long burn_addr;
unsigned long flags;
int i;
unsigned char *rom;
struct lcd_display display;
if(copy_from_user(&display, (struct lcd_display*)arg, sizeof(struct lcd_display)))
return -EFAULT;
rom = (unsigned char *) kmalloc((128),GFP_ATOMIC);
if ( rom == NULL ) {
printk ("broken\n");
return 1;
}
printk("Churning and Burning -");
save_flags(flags);
for (i=0; i<FLASH_SIZE; i=i+128) {
if(copy_from_user(rom, display.RomImage + i, 128))
return -EFAULT;
burn_addr = kFlashBase + i;
cli();
for ( index = 0; index < ( 128 ) ; index++ )
{
WRITE_FLASH( kFlash_Addr1, kFlash_Data1 );
WRITE_FLASH( kFlash_Addr2, kFlash_Data2 );
WRITE_FLASH( kFlash_Addr1, kFlash_Prog );
*((volatile unsigned char *)burn_addr) = (volatile unsigned char) rom[index];
while ( (!dqpoll(burn_addr,(volatile unsigned char) rom[index])) && (!timeout(burn_addr)) ) {
}
burn_addr++;
}
restore_flags(flags);
if ( *((volatile unsigned char *)(burn_addr-1)) == (volatile unsigned char) rom[index-1] ) {
} else if (timeout) {
printk("Program timed out\r\n");
}
}
kfree(rom);
break;
}
// read the flash all at once
case FLASH_Read: {
unsigned char *user_bytes;
volatile unsigned long read_addr;
int i;
user_bytes = &(((struct lcd_display *)arg)->RomImage[0]);
if(!access_ok(VERIFY_WRITE, user_bytes, FLASH_SIZE))
return -EFAULT;
printk("Reading Flash");
for (i=0; i<FLASH_SIZE; i++) {
unsigned char tmp_byte;
read_addr = kFlashBase + i;
tmp_byte = *((volatile unsigned char *)read_addr);
if(__put_user (tmp_byte, &user_bytes[i]))
return -EFAULT;
}
break;
}
default:
return 0;
break;
}
return 0;
}
static int lcd_ioctl(struct inode *inode, struct file *file,
unsigned int cmd, unsigned long arg)
{
struct lcd_display button_display;
unsigned long address, a;
switch (cmd) {
case LCD_On:
udelay(150);
BusyCheck();
LCDWriteInst(0x0F);
break;
case LCD_Off:
udelay(150);
BusyCheck();
LCDWriteInst(0x08);
break;
case LCD_Reset:
udelay(150);
LCDWriteInst(0x3F);
udelay(150);
LCDWriteInst(0x3F);
udelay(150);
LCDWriteInst(0x3F);
udelay(150);
LCDWriteInst(0x3F);
udelay(150);
LCDWriteInst(0x01);
udelay(150);
LCDWriteInst(0x06);
break;
case LCD_Clear:
udelay(150);
BusyCheck();
LCDWriteInst(0x01);
break;
case LCD_Cursor_Left:
udelay(150);
BusyCheck();
LCDWriteInst(0x10);
break;
case LCD_Cursor_Right:
udelay(150);
BusyCheck();
LCDWriteInst(0x14);
break;
case LCD_Cursor_Off:
udelay(150);
BusyCheck();
LCDWriteInst(0x0C);
break;
case LCD_Cursor_On:
udelay(150);
BusyCheck();
LCDWriteInst(0x0F);
break;
case LCD_Blink_Off:
udelay(150);
BusyCheck();
LCDWriteInst(0x0E);
break;
case LCD_Get_Cursor_Pos:{
struct lcd_display display;
udelay(150);
BusyCheck();
display.cursor_address = (LCDReadInst);
display.cursor_address =
(display.cursor_address & 0x07F);
if (copy_to_user
((struct lcd_display *) arg, &display,
sizeof(struct lcd_display)))
return -EFAULT;
break;
}
case LCD_Set_Cursor_Pos:{
struct lcd_display display;
if (copy_from_user
(&display, (struct lcd_display *) arg,
sizeof(struct lcd_display)))
return -EFAULT;
a = (display.cursor_address | kLCD_Addr);
udelay(150);
BusyCheck();
LCDWriteInst(a);
break;
}
case LCD_Get_Cursor:{
struct lcd_display display;
udelay(150);
BusyCheck();
display.character = LCDReadData;
if (copy_to_user
((struct lcd_display *) arg, &display,
sizeof(struct lcd_display)))
return -EFAULT;
udelay(150);
BusyCheck();
LCDWriteInst(0x10);
break;
}
case LCD_Set_Cursor:{
struct lcd_display display;
if (copy_from_user
(&display, (struct lcd_display *) arg,
sizeof(struct lcd_display)))
return -EFAULT;
udelay(150);
BusyCheck();
LCDWriteData(display.character);
udelay(150);
BusyCheck();
LCDWriteInst(0x10);
break;
}
case LCD_Disp_Left:
udelay(150);
BusyCheck();
LCDWriteInst(0x18);
break;
case LCD_Disp_Right:
udelay(150);
BusyCheck();
LCDWriteInst(0x1C);
break;
case LCD_Home:
udelay(150);
BusyCheck();
LCDWriteInst(0x02);
break;
case LCD_Write:{
struct lcd_display display;
unsigned int index;
if (copy_from_user
(&display, (struct lcd_display *) arg,
sizeof(struct lcd_display)))
return -EFAULT;
udelay(150);
BusyCheck();
LCDWriteInst(0x80);
udelay(150);
BusyCheck();
for (index = 0; index < (display.size1); index++) {
udelay(150);
BusyCheck();
LCDWriteData(display.line1[index]);
BusyCheck();
}
udelay(150);
BusyCheck();
LCDWriteInst(0xC0);
udelay(150);
BusyCheck();
for (index = 0; index < (display.size2); index++) {
udelay(150);
BusyCheck();
LCDWriteData(display.line2[index]);
}
break;
}
case LCD_Read:{
struct lcd_display display;
BusyCheck();
for (address = kDD_R00; address <= kDD_R01;
address++) {
a = (address | kLCD_Addr);
udelay(150);
BusyCheck();
LCDWriteInst(a);
udelay(150);
BusyCheck();
display.line1[address] = LCDReadData;
}
display.line1[0x27] = '\0';
for (address = kDD_R10; address <= kDD_R11;
address++) {
a = (address | kLCD_Addr);
udelay(150);
BusyCheck();
LCDWriteInst(a);
udelay(150);
BusyCheck();
display.line2[address - 0x40] =
LCDReadData;
}
display.line2[0x27] = '\0';
if (copy_to_user
((struct lcd_display *) arg, &display,
sizeof(struct lcd_display)))
return -EFAULT;
break;
}
// set all GPIO leds to led_display.leds
case LED_Set:{
struct lcd_display led_display;
if (copy_from_user
(&led_display, (struct lcd_display *) arg,
sizeof(struct lcd_display)))
return -EFAULT;
led_state = led_display.leds;
LEDSet(led_state);
break;
}
// set only bit led_display.leds
case LED_Bit_Set:{
unsigned int i;
int bit = 1;
struct lcd_display led_display;
if (copy_from_user
(&led_display, (struct lcd_display *) arg,
sizeof(struct lcd_display)))
return -EFAULT;
for (i = 0; i < (int) led_display.leds; i++) {
bit = 2 * bit;
}
led_state = led_state | bit;
LEDSet(led_state);
break;
}
// clear only bit led_display.leds
case LED_Bit_Clear:{
unsigned int i;
int bit = 1;
struct lcd_display led_display;
if (copy_from_user
(&led_display, (struct lcd_display *) arg,
sizeof(struct lcd_display)))
return -EFAULT;
for (i = 0; i < (int) led_display.leds; i++) {
bit = 2 * bit;
}
led_state = led_state & ~bit;
LEDSet(led_state);
break;
}
case BUTTON_Read:{
button_display.buttons = GPIRead;
if (copy_to_user
((struct lcd_display *) arg, &button_display,
sizeof(struct lcd_display)))
return -EFAULT;
break;
}
case LINK_Check:{
button_display.buttons =
*((volatile unsigned long *) (0xB0100060));
if (copy_to_user
((struct lcd_display *) arg, &button_display,
sizeof(struct lcd_display)))
return -EFAULT;
break;
}
case LINK_Check_2:{
int iface_num;
/* panel-utils should pass in the desired interface status is wanted for
* in "buttons" of the structure. We will set this to non-zero if the
* link is in fact up for the requested interface. --DaveM
*/
if (copy_from_user
(&button_display, (struct lcd_display *) arg,
sizeof(button_display)))
return -EFAULT;
iface_num = button_display.buttons;
#if defined(CONFIG_TULIP) && 0
if (iface_num >= 0 &&
iface_num < MAX_INTERFACES &&
linkcheck_callbacks[iface_num] != NULL) {
button_display.buttons =
linkcheck_callbacks[iface_num]
(linkcheck_cookies[iface_num]);
} else
#endif
button_display.buttons = 0;
if (__copy_to_user
((struct lcd_display *) arg, &button_display,
sizeof(struct lcd_display)))
return -EFAULT;
break;
}
default:
return -EINVAL;
}
return 0;
}
