/**
* Clears a row of the display.
*
* @param row A display row (Y address).
*/
void lcd_clear_row(unsigned int row) {
// Start from the beginning of the row.
lcd_set_pos(0, row);
// Fill the row with blank pixels.
for (unsigned int i = 0; i < LCDWIDTH; i++) {
lcd_command(0, 0);
}
// Go back to where everything started.
lcd_set_pos(0, row);
}
/**
* Clears the screen
*/
void lcd_clear() {
// Start from (0,0).
lcd_set_pos(0, 0);
// Fill the whole screen with blank pixels.
for (unsigned int i = 0; i < (LCDWIDTH * (LCDHEIGHT / 8)); i++) {
lcd_command(0, 0);
}
// Go back to (0,0).
lcd_set_pos(0, 0);
}
int lcd_set_pixel( struct lcd_pixel * pix )
{
int y=0;
int val;
int bit=0;
int v;
if ( pix->y >= (LCD_ROWS*8) ) {
return -EINVAL;
}
if ( pix->x >= LCD_COLS ) {
return -EINVAL;
}
if (pix->y) {
y = (pix->y/8);
}
bit = pix->y - (y*8);
// set dram pointer
lcd_set_pos( y, pix->x );
lcd_read_dummy();
val = lcd_read_byte();
v = pix->v;
// invertieren
if ( v == 2 ) {
v = (((~val)>>bit)&1);
}
// Halt board on init failure and print message
void board_fail_P(PGM_P msg) {
printf(str_boot_fail, msg);
// print message
#ifdef LCD_DEBUG
lcd_set_pos(16);
lcd_printf(msg);
lcd_set_pos(31);
lcd_print_char('\3', NULL);
#endif
// and stop
while (1) {
for (int i = 0; i < 2; i++) {
LED_COMM(1);
pause(100);
LED_COMM(0);
pause(150);
}
pause(800);
}
}
// Initialise board
void board_init (void) {
#ifndef SIMULATE
io_init(); // Init GPIOs
uart_init(BAUD_RATE);
stderr = &uartio;
printf(str_boot_uart,BAUD_RATE);
printf(str_boot_start);
#else
printf("Skipping UART initialization...\n");
#endif
#ifndef SIMULATE
digital_init();
#endif
encoder_init();
#ifndef SIMULATE
spi_init();
motor_init();
servo_init();
#ifdef LCD_DEBUG
lcd_init(); //consider wrapping this in an #ifdef LCD_DEBUG tag?
stdout = &lcdout;
#else
stdout = &uartio;
stdin = &uartio;
#endif
adc_init();
isr_init();
memory_init();
#endif
// load config, or fail if invalid
if (!board_load_config())
board_fail("Bad Config");
printf(str_boot_conf);
printf(str_boot_board,
board_config.version>>8,
board_config.version&0xFF);
printf(str_boot_id, board_config.id);
// print boot text to screen
printf(str_boot_message, board_config.version>>8, board_config.version&0xFF);
// check battery, fail if <7.5V
printf(str_boot_batt,read_battery());
#ifdef CHECK_BATTERY
if (!(read_battery()>=7200)) {
// NOTE: in the current 2-battery version of the HappyBoard, the
// battery voltage is the motor battery (P+). Holding GO overrides
// the check so you can run the HappyBoard without a motor battery.
if (go_press())
printf("WARNING: LOW BATTERY\n");
else
board_fail("Low battery");
} else {
printf("Battery OK\n");
}
#endif
#ifndef SIMULATE
// initialise FPGA
if (!fpga_init(FPGA_CONFIG_ADDRESS, board_config.fpga_len))
board_fail("FPGA failure");
printf(str_boot_fpga, fpga_get_version_major(), fpga_get_version_minor());
#else
printf("Skipping FPGA initialization...\n");
#endif
// all ok
#ifndef SIMULATE
#ifdef LCD_DEBUG
lcd_set_pos(31);
lcd_print_char('\1', NULL);
#else
printf("Board init complete.\n");
#endif
#else
printf("Board init complete.\n");
#endif
#ifndef SIMULATE
LED_COMM(0);
#endif
}
