void set_Current(int current){
clear_Line(4);
//delay_ms(200);
char number[5];
sprintf(number,"%04d",current);
dip204_set_cursor_position(1,4);
dip204_write_string(number);
}
void init_LCD(void){
static const gpio_map_t DIP204_SPI_GPIO_MAP =
{
{DIP204_SPI_SCK_PIN, DIP204_SPI_SCK_FUNCTION }, // SPI Clock.
{DIP204_SPI_MISO_PIN, DIP204_SPI_MISO_FUNCTION}, // MISO.
{DIP204_SPI_MOSI_PIN, DIP204_SPI_MOSI_FUNCTION}, // MOSI.
{DIP204_SPI_NPCS_PIN, DIP204_SPI_NPCS_FUNCTION} // Chip Select NPCS.
};
spi_options_t spiOptions =
{
.reg = DIP204_SPI_NPCS,
.baudrate = 1000000,
.bits = 8,
.spck_delay = 0,
.trans_delay = 0,
.stay_act = 1,
.spi_mode = 0,
.modfdis = 1
};
gpio_enable_module(DIP204_SPI_GPIO_MAP,
sizeof(DIP204_SPI_GPIO_MAP) / sizeof(DIP204_SPI_GPIO_MAP[0]));
spi_initMaster(DIP204_SPI, &spiOptions);
spi_selectionMode(DIP204_SPI, 0, 0, 0);
spi_enable(DIP204_SPI);
spi_setupChipReg(DIP204_SPI, &spiOptions, FOSC0);
dip204_init(backlight_PWM, true);
clear_Display();
dip204_hide_cursor();
}
void init_Potentiometer(void){
const gpio_map_t ADC_GPIO_MAP = {
{EXAMPLE_ADC_POTENTIOMETER_PIN, EXAMPLE_ADC_POTENTIOMETER_FUNCTION}
};
gpio_enable_module(ADC_GPIO_MAP, sizeof(ADC_GPIO_MAP) /
sizeof(ADC_GPIO_MAP[0]));
AVR32_ADC.mr |= 0x1 << AVR32_ADC_MR_PRESCAL_OFFSET;
adc_configure(&AVR32_ADC);
adc_enable(&AVR32_ADC, EXAMPLE_ADC_POTENTIOMETER_CHANNEL);
adc_start(&AVR32_ADC);
}
void init_CurrentSensor(void){
#define AVR32_ADC_AD_1_PIN 22
const gpio_map_t ADC_GPIO_MAP = {
{AVR32_ADC_AD_3_PIN, AVR32_ADC_AD_3_FUNCTION}
};
gpio_enable_module(ADC_GPIO_MAP, sizeof(ADC_GPIO_MAP) /
sizeof(ADC_GPIO_MAP[0]));
AVR32_ADC.mr |= 0x1 << AVR32_ADC_MR_PRESCAL_OFFSET;
adc_configure(&AVR32_ADC);
adc_enable(&AVR32_ADC, 3);
adc_start(&AVR32_ADC);
}
void clear_Line(int line){
for(int i = 0; i<21;i++){
dip204_set_cursor_position(i,line);
dip204_write_string(" ");
}
}
void set_Direccion(int direccion){
if(direccion == 1){
clear_Line(2);
dip204_set_cursor_position(1,2);
dip204_write_string("Direccion:");
dip204_set_cursor_position(12,2);
dip204_write_string("Forward");
}
if(direccion == 0){
clear_Line(2);
dip204_set_cursor_position(1,2);
dip204_write_string("Direccion:");
dip204_set_cursor_position(12,2);
dip204_write_string("Reverse");
}
}
void set_Velocidad(int velocidad){
clear_Line(3);
dip204_set_cursor_position(1,3);
dip204_write_string("Velocidad:");
dip204_set_cursor_position(12,3);
switch (velocidad){
case 1:
dip204_write_string("1");
break;
case 2:
dip204_write_string("2");
break;
case 3:
dip204_write_string("3");
break;
case 4:
dip204_write_string("4");
break;
case 5:
dip204_write_string("5");
break;
case 6:
dip204_write_string("6");
break;
case 7:
dip204_write_string("7");
break;
case 8:
dip204_write_string("8");
break;
case 9:
dip204_write_string("9");
break;
case 10:
dip204_write_string("10");
break;
}//SWITCH
}
void commandMode(char* author, char* title, char* filename, int row, int col, char** array){
//initialise the ncurses
(void) initscr();
(void) nonl();
(void) cbreak();
// display curses at the bottom screen for command mode
int h = 0;
int w = 0;
getmaxyx(stdscr, h, w);
//move curses to the bottom of the screen
move(h-1, 0);
clrtoeol();
char buffer[20];
char *keySearch = " ";
char* token1 = NULL;
char* token2 = NULL;
char* token3 = "0";
char* token4 = "0";
//reset string buffer
for (int i =0; i<20;i++){
buffer[i] = ' ';
}
addch(':');//add : as default
for(;;){
int ch = getch();
if(ch == ERR){
}else if(ch == 13){
if(buffer != NULL){
char *cstr = strdup(buffer); //clone the buffer
token1 = strtok(cstr, keySearch); //cut it
token2 = strtok(NULL, keySearch);
token3 = strtok(NULL, keySearch);
token4 = strtok(NULL, keySearch);
if(strcmp(token1, "q") == 0){
//exit
for (int i = 0; i < 20;i++){
buffer[i] = ' ';
}
//free(cstr);
clear();
refresh();
endwin();
exit(EXIT_SUCCESS);
//system("clear");
break;
} else if ((strcmp(token1, "w") == 0) && ((strcmp(token2, "q") == 0) || (strcmp(token2, "P") == 0))){
//write level to current file
writeToFile(author, title, filename, row, col, array);
move(h - 1, 0);
clrtoeol();
printw("Saved");
move(0,0);
break;
} else if ((strcmp(token1, "w") == 0) && (token2 != NULL)){
//write level to current file with specific name
writeToFile(author, title, token2, row, col, array);
move(h - 1, 0);
clrtoeol();
printw("Saved to %s.pac", token2);
move(0,0);
break;
} else if(strcmp(token1, "wq") == 0 && ((strcmp(token2, "q") == 0) || (strcmp(token2, "P") == 0))){
//write then quit
writeToFile(author, title, filename, row, col, array);
//free(cstr);
clear();
refresh();
endwin();
exit(EXIT_SUCCESS);
} else if(strcmp(token1, "wq") == 0 && token2 != NULL){
//write to specific file then quit;
writeToFile(author, title, token2, row, col, array);
//free(cstr);
clear();
refresh();
endwin();
exit(EXIT_SUCCESS);
} else if(strcmp(token1, "r") == 0 && token2 != NULL){
//read file name
filename = token2;
array = readFromFile(author, title, filename, &row, &col, array);
clear();
refresh();
drawMap(author, title, filename, row, col, array);
} else if(strcmp(token1, "n") == 0 && token2 != NULL && token3 != NULL && token4 != NULL && isdigit(*token3) && isdigit(*token4)){
//create new map with specific row and collumn
int inputRow = atoi(token3);
//int *inputRowPt = &inputRow;
int inputCol = atoi(token4);
//int *inputColPt = &inputCol;
//initialize new array for writing
char** newArray;
newArray = malloc(inputCol*sizeof(char*));
for (int i = 0; i < inputRow; i++) {
newArray[i] = malloc(inputRow*sizeof(char));
}
for (int i = 0; i < inputRow; i++)
{
for (int j = 0; j < inputCol; j++)
{
newArray[i][j] = 's';
}
}
writeToFile(author, title, token2, inputRow, inputCol, newArray);
//free(cstr);
clear();
refresh();
endwin();
exit(EXIT_SUCCESS);
} else if ((strcmp(token1, "m") == 0) && (token2 != NULL) && (token3 != NULL)){
//modify author and title
writeToFile(token2, token3, filename, row, col, array);
move(h - 1, 0);
clrtoeol();
printw("%s.pac modified", filename);
move(0,0);
break;
} else {
clear_Line(h-1,0);
move(h-1,0);
printw("Error input");
break;
}
} else {
for (int i =0; i<20;i++){
buffer[i] = ' ';
//free(buffer);
}
move(h - 1, 0);
clrtoeol();
move(0,0);
break;
}
}else if (ch == 27){
//exit command mode with escape
for (int i =0; i<20;i++){
buffer[i] = ' ';
}
move(h - 1, 0);
clrtoeol();
move(0,0);
break;
} else if(ch == KEY_BACKSPACE){
int x = getcurx(stdscr);
if(x != 1){
//erase character
move(h-1, getcurx(stdscr)-1);
delch();
buffer[getcurx(stdscr)-1] = '\0';
}
}
else {
//read the character user input in command mode
buffer[getcurx(stdscr)-1] = ch;
addch(ch);
}
}
}
