/** Define a glyph */
void lcd_glyph_P(const uint8_t index, const uint8_t* array)
{
lcd_addr_cg(index * 8);
for (uint8_t i = 0; i < 8; ++i) {
lcd_write(pgm_read_byte(&array[i]));
}
// restore previous position
lcd_xy(_pos.x, _pos.y);
_addrtype = TEXT;
}
// display an icon at position x,y
void d_icon(int x,int y) //display first bit of 8x8 icon at x,y position
{
char i,j;
if (p_x%16 <8) //if x position is on upper byte of 16 bit
{
for (j=0;j<8;j++) //repeat for 8 vertical line
{
lcd_xy(p_x/16,(p_y+j)%64); //go to the location and y is re-adjust after adding j ( > 64 after adding j )
send_char(0); //send upperbyte with shifting according to the x position
send_char(0); //send lowerbyte with shifting according to the x position
}
}
else
{
for (j=0;j<8;j++)
{
lcd_xy(p_x/16,(p_y+j)%64); //go to the location and y is re-adjust after adding j ( > 64 after adding j )
send_char (0); //send dummy data to the upperbyte
send_char(0); //send lowerbyte data with shifting according to the x position
if(p_x/16 == 7) lcd_xy(0,p_y+j);
send_char(0); //send upperbyte of the next 'x' with shifting according to the x position
}
}
if (x%16 <8) //if x position is on upper byte of 16 bit
{
for (j=0;j<8;j++) //repeat for 8 vertical line
{
lcd_xy(x/16,(y+j)%64); //go to the location and y is re-adjust after adding j ( > 64 after adding j )
send_char(icon[j]>> x%8); //send upperbyte with shifting according to the x position
send_char(icon[j]<< (8-x%8)); //send lowerbyte with shifting according to the x position
}
}
else
{
for (j=0;j<8;j++)
int main( void )
{
uint32_t val = 0;
char s[sizeof("4294967295")]; // ASCII space for 32 bit number
char textbuf [ 16 + 1 ];
//_delay_ms ( 5000 );
lcd_init();
#if 1
char *p;
if ( 1 ) {
char *source = "68u65gujl";
unsigned int i;
for ( i = 0; i < strlen ( source ); i++ ) {
textbuf [ i ] = source [ i ];
}
textbuf [ i ] = '\0';
lcd_xy( 0, 0 );
lcd_puts( textbuf ); // display number right adjusted
}
#endif
#if 0
for(;;){
ultoa( val, s, 10 );
lcd_xy( 0, 1 );
lcd_blank( 10 - strlen( s )); // insert spaces until number
lcd_puts( s ); // display number right adjusted
val++;
}
#endif
return ( 0 );
}
/** Write a data byte */
void lcd_write(uint8_t bb)
{
if (_addrtype == TEXT) {
if (bb == '\r') {
// CR
_pos.x = 0;
lcd_xy(_pos.x, _pos.y);
return;
}
if (bb == '\n') {
// LF
_pos.y++;
lcd_xy(_pos.x, _pos.y);
return;
}
_pos.x++;
}
_lcd_wait_bf();
pin_high(LCD_RS); // select data register
_lcd_write_byte(bb); // send data byte
}
void lcd_puts_xy(uint8_t x, uint8_t y, const char *str)
{
for (lcd_xy(x, y); x < LCD_STRIDE && *str; ++x, ++str) {
lcd_putc(*str);
}
}
char _key_string(char __mode) {
unsigned char __chr = 0, __i = 0;
uint8_t __key = 0;
if(__mode==0) {
CURSOR_SHOW;
while(1) {
__key = _key_scan(_PAD_SINGLE);
if(__key==_KEY_NULL || __key==_KEY_TIKET || __key==_KEY_MENU || __key==_KEY_SHIFT);
else if(__key==_KEY_CANCEL) {
__chr_count = 0;
CURSOR_HIDE;
_SHIFT_OFF;//
return 1;
}
else if(__key==_KEY_ENTER) {
__chr_count = 0;
CURSOR_HIDE;
_SHIFT_OFF;//
return 0;
}
else if(__key==_KEY_CLEAR) {
if(__chr_count>0) {
_LCD_LEFT;
_lcd(0x10);
_LCD_LEFT;
__buf_string[__chr_count-1] = '\0';
__chr_count--;
}
}
else {
if(__chr_count<__max_string) {
_lcd(_table_alphanum(0, __key, 0));
__buf_string[__chr_count] = _table_alphanum(0, __key, 0);
__buf_string[__chr_count + 1] = '\0';
__chr_count++;
}
}
}
}
if(__mode==_STRING_ALPHANUM) {
while(1) {
CURSOR_SHOW;
__key = _key_scan(_PAD_MULTI);
if(__key == _KEY_NULL || __key == _KEY_TIKET || __key == _KEY_MENU);
else if(__key == _KEY_CANCEL) {
CURSOR_HIDE;
_SHIFT_OFF;
return 1;
}
else if(__key == _KEY_ENTER) {
CURSOR_HIDE;
_SHIFT_OFF;
return 0;
}
else if(__key == _KEY_SHIFT) {
__caps_lock = __caps_lock ^ 1;
}
else if(__key == _KEY_CLEAR) {
if(__chr_count > 0) {
if(!__key_shift) {
_LCD_LEFT;
_lcd(0x10);
_LCD_LEFT;
__buf_string[__chr_count - 1] = '\0';
__chr_count--;
if(__chr_count == 19) {
lcd_put(2, 20, 0x10);
lcd_xy(2, 20);
}
_SHIFT_OFF;
CURSOR_SHOW;
//_SHIFT_FREE;
}
}
}
else {
if(__chr_count < __max_string) {
if(__key != __buf_anum) {
__buf_anum = __key;
__hit_count = 0;
if(__key_shift == 1 && __buf_anum != 0) {
_LCD_RIGHT;
__chr_count++;
if(__chr_count == 20)
lcd_xy(3, 1);
}
}
else {
__hit_count++;
}
__chr = _table_alphanum(__caps_lock, __key, __hit_count);
if(__chr == '\0') {
__hit_count = 0;
__chr = _table_alphanum(__caps_lock, __key, __hit_count);
}
if(__chr_count < __max_string) {
_lcd(__chr);
_LCD_LEFT;
__buf_string[__chr_count] = __chr;
__buf_string[__chr_count + 1] = '\0';
}
}
CURSOR_SHOW;
//else _SHIFT_LOCK;
}
}
}
if(__mode==_STRING_PASSWORD) {
CURSOR_SHOW;
while(1) {
__key = _key_scan(_PAD_SINGLE);
if(__key==_KEY_NULL || __key==_KEY_TIKET || __key==_KEY_MENU || __key==_KEY_SHIFT);
else if(__key==_KEY_CANCEL) {
__chr_count = 0;
CURSOR_HIDE;
return 1;
}
else if(__key==_KEY_ENTER) {
__chr_count = 0;
CURSOR_HIDE;
return 0;
}
else if(__key==_KEY_CLEAR) {
if(__chr_count>0) {
_LCD_LEFT;
_lcd(0x10);
_LCD_LEFT;
__buf_string[__chr_count-1] = '\0';
__chr_count--;
}
}
else {
if(__chr_count<__max_string) {
_lcd(0x2a);
__buf_string[__chr_count] = _table_alphanum(0, __key, 0);
__buf_string[__chr_count + 1] = '\0';
__chr_count++;
}
}
}
}
if(__mode==_STRING_VALUE) {
for(__i=0; __i<__max_string; __i++)
_lcd('0');
while(1) {
__key = _key_scan(_PAD_SINGLE);
if(__key==_KEY_NULL || __key==_KEY_TIKET || __key==_KEY_MENU || __key==_KEY_SHIFT || __key==_KEY_CLEAR);
else if(__key==_KEY_CANCEL) {
__chr_count = 0;
CURSOR_HIDE;
return 1;
}
else if(__key==_KEY_ENTER) {
__chr_count = 0;
CURSOR_HIDE;
return 0;
}
else {
for(__i=0; __i<__max_string - 1; __i++)
__buf_string[__i] = __buf_string[__i + 1];
__buf_string[__max_string - 1] = _table_alphanum(0, __key, 0);
__buf_string[__max_string] = '\0';
for(__i=0; __i<__max_string; __i++)
_LCD_LEFT;
for(__i=0; __i<__max_string; __i++)
_lcd(__buf_string[__i]);
}
}
}
return 0;
}
int main( void )
{
uint32_t val = 0;
char textbuf [ (2*16) + 1 ]; // lcd
/* setup
*/
// LCD
lcd_init();
// Timer: enable a timer so we can measure passage of time
//
// Given: 20MHz clock
// --> if we want resolution of ms (1/1000th second) .. actually, we want us (1/10th of a ms) so we can measure partial ms
// --> and we have 1/20000000 clock resolution
// -----> 2000 ticks will get us there (20,000 will get us ms)
//
// Goal: Use CTC interupt mode (CTC -> Clear on Timer Compare)
// So a compare matches, it clears to zero and triggers interupt
TCCR1B |= (1 << WGM12); // Configure timer 1 for CTC mode
OCR1A = 2000; // number to compare against
TIMSK1 |= (1 << OCIE1A); // Enable CTC interrupt
TCCR1B |= (1 << CS10); // Set up timer , with no prescaler (works at full MHz of clock)
// Receiver setup - set up pin change interupt
#if 1
EICRA &= ~ ( (1 << ISC01) | (1 << ISC01) ); // clear ISC01+ISC00
EICRA |= ( (1 << ISC00) ); // 00 set and 01 unset means any edge will make event
PCMSK0 |= ( (1 << PCINT0) | (1 << PCINT1) ); // Pins to monitor: PA0 and PA1
PCICR |= (1 << PCIE0); // PA is monitored
#endif
// Serial - setup (for motor controller)
mc_setup();
// TWI - set up
unsigned char twibuf [ TWI_BUFFER_SIZE ];
unsigned char TWI_slaveAddress;
TWI_slaveAddress = 0x10; // our TWI address
TWI_Slave_Initialise( (unsigned char)((TWI_slaveAddress<<TWI_ADR_BITS) | (TRUE<<TWI_GEN_BIT) )); // Initialise TWI module as slave; include addr+general
unsigned char twi_heartbeat_counter = 0;
// setup done - kick up interupts
sei();
// lets burn the first couple of seconds, so the receiver can get some signal
// before we start blasting stuff into the motor controllers
{
unsigned int start_sec = g_time_s;
while ( g_time_s - start_sec < 3 ) {
nop();
}
}
// Start the TWI transceiver to enable reseption of the first command from the TWI Master.
TWI_Start_Transceiver();
#if 1 // timer test .. show per-second counter update on lcd
if ( 1 ) {
unsigned int last_sec = g_time_s;
unsigned int last_us = _g_time_us_tick;
unsigned char sent_l = 0, sent_r = 0;
char message [ 17 ];
while(1) {
unsigned int ch1 = g_ch1_duration;
unsigned int ch2 = g_ch2_duration;
// 100ms has past?
if ( _g_time_us_tick - last_us > 1000 ) {
if ( g_control_twi ) {
// we're on TWI control, but if nothing comes in.. revert back to RC
if ( g_time_s - g_control_last_s > 2 ) {
g_control_twi = 0;
}
} else {
mc_set_by_receiver ( ch1, ch2, &sent_l, &sent_r, message );
}
last_us = _g_time_us_tick;
} // .1sec tick
// one second has past? update lcd
if ( g_time_s != last_sec ) {
//sprintf ( textbuf, "recv %2d %2d ", g_ch1_duration, g_ch2_duration );
sprintf ( textbuf, "m %2d %2d th %2d %2d #", sent_l, sent_r, ch1, ch2 );
lcd_xy ( 0, 0 );
lcd_puts( textbuf ); // display number right adjusted
//sprintf ( textbuf, "t%2d #", g_time_s );
sprintf ( textbuf, "t%2d # %s", g_time_s, message );
lcd_xy ( 0, 1 );
lcd_puts( textbuf ); // display number right adjusted
last_sec = g_time_s;
} // 1 sec tick
// TWI/I2C stuff, talk to r-pi
//
// Check if the TWI Transceiver has completed an operation.
if ( ! TWI_Transceiver_Busy() ) {
// Check if the last operation was successful
if ( TWI_statusReg.lastTransOK ) {
// Check if the last operation was a reception
if ( TWI_statusReg.RxDataInBuf ) {
TWI_Get_Data_From_Transceiver ( twibuf, 3 );
// Check if the last operation was a reception as General Call
if ( TWI_statusReg.genAddressCall ) {
// don't care
} else { // Ends up here if the last operation was a reception as Slave Address Match
// Example of how to interpret a command and respond.
#if 0
// TWI_CMD_MASTER_WRITE stores the data to PORTB
if (twibuf[0] == TWI_CMD_MASTER_WRITE) {
PORTB = twibuf[1];
}
#endif
// TWI_CMD_MASTER_READ prepares the data from PINB in the transceiver buffer for the TWI master to fetch.
if ( twibuf[0] == tc_heartbeat ) {
twibuf [ 0 ] = 1;
twibuf [ 1 ] = twi_heartbeat_counter++;
TWI_Start_Transceiver_With_Data ( twibuf, TWI_BUFFER_SIZE );
} else if ( twibuf[0] == tc_gethello ) {
sprintf ( twibuf + 1, "hello" );
twibuf [ 0 ] = strlen ( twibuf + 1 ); // len
TWI_Start_Transceiver_With_Data ( twibuf, TWI_BUFFER_SIZE );
} else if ( twibuf[0] == tc_setmotors ) {
g_control_last_s = g_time_s;
mc_speed ( mcm_left, twibuf [ 1 ] );
mc_speed ( mcm_right, twibuf [ 2 ] );
} else if ( twibuf[0] == tc_takeover ) {
g_control_last_s = g_time_s;
g_control_twi = 1;
} else if ( twibuf[0] == tc_release ) {
g_control_twi = 0;
} else {
twibuf [ 0 ] = 1;
twibuf [ 1 ] = 0xde;
twibuf [ 2 ] = 0xad;
twibuf [ 3 ] = 0xbe;
twibuf [ 4 ] = 0xef;
TWI_Start_Transceiver_With_Data ( twibuf, TWI_BUFFER_SIZE );
}
}
} else { // Ends up here if the last operation was a transmission
// don't care
}
// Check if the TWI Transceiver has already been started.
// If not then restart it to prepare it for new receptions.
if ( ! TWI_Transceiver_Busy() ) {
TWI_Start_Transceiver();
}
} else { // Ends up here if the last operation completed unsuccessfully
TWI_Act_On_Failure_In_Last_Transmission ( TWI_Get_State_Info() );
} // success/fail
} // TWI busy?
// spin
_delay_ms ( 20 );
} // while forever
} // if 1
#endif
/* churn forever
*/
while(1);
return ( 0 );
}
void menu_update() {
// czas pobrany z RTC
time_t time;
unsigned char n;
// czyœæ ekran przed aktualizacj¹ menu
if ( menu_updated ) {
lcd_clear();
}
// rysuj g³ówne menu
lcd_xy(0,0); lcd_char(lcd_larrow);
lcd_xy(15,0); lcd_char(lcd_rarrow);
lcd_xy(2,0);
// ogranicz
if (menu_pos == 0xff) {
menu_pos = MENU_POS_COUNT - 1;
}
else if(menu_pos >= MENU_POS_COUNT) {
menu_pos = 0;
}
// wybierz g³ówne menu
switch(menu_pos) {
// czas i trzy temperatury
//
case 0:
// pobierz czas ...
ds1306_time_get(&time);
// ... i poka¿
lcd_xy(1,0);
lcd_int2(time.tm_hour); lcd_char(uptime%2 ? ':' : ' '); lcd_int2(time.tm_min);
lcd_char(' ');//lcd_text_P(PSTR(" 20"));
lcd_int2(time.tm_year);lcd_char('/');lcd_int2(time.tm_mon);lcd_char('/');lcd_int2(time.tm_mday);
// ogranicz podmenu do liczby czujników
if (menu_sub_pos == 0xff) {
menu_sub_pos = 0;
}
else if ( (menu_sub_pos > ds_devices_count-3) && (ds_devices_count > 3) ) {
menu_sub_pos = ds_devices_count-3;
}
// poka¿ temperatury
lcd_xy(1,1);
for (n=0; n<ds_devices_count && n<3; n++) {
lcd_int2(abs(ds_temp[menu_sub_pos + n])/10); lcd_char('.'); lcd_char('0' + (abs(ds_temp[menu_sub_pos + n])%10)); lcd_char(' ');
}
// strza³ki
lcd_xy(0,1); lcd_char( (menu_sub_pos > 0) ? lcd_larrow : ' ');
lcd_xy(15,1); lcd_char( (menu_sub_pos < ds_devices_count-3) ? lcd_rarrow : ' ');
break;
// temperatury
//
case 1:
// poka¿ temperatury
lcd_xy(1,0);
for (n=0; n<ds_devices_count && n<3; n++) {
lcd_int2(abs(ds_temp[n])/10); lcd_char('.'); lcd_char('0' + (abs(ds_temp[n])%10)); lcd_char(n<2 ? ' ' : lcd_rarrow);
}
lcd_xy(1,1);
for (n=3; n<ds_devices_count && n<6; n++) {
lcd_int2(abs(ds_temp[n])/10); lcd_char('.'); lcd_char('0' + (abs(ds_temp[n])%10)); lcd_char(' ');
}
break;
// sieæ (IP, brama, DHCP, pakiety)
//
case 2:
lcd_text_P(PSTR("Sie\x09/")); // sieæ
// ogranicz podmenu
if (menu_sub_pos == 0xff) {
menu_sub_pos = 6;
}
else if (menu_sub_pos > 6) {
menu_sub_pos = 0;
}
lcd_xy(7,0);
switch (menu_sub_pos) {
case 0:
lcd_text_P(PSTR("IP"));
lcd_xy(2,1);
for (n=0; n<4; n++) {
lcd_int(my_net_config.my_ip[n]);
lcd_char(n<3 ? '.' : ' ');
}
break;
case 1:
lcd_text_P(PSTR("brama"));
lcd_xy(2,1);
for (n=0; n<4; n++) {
lcd_int(my_net_config.gate_ip[n]);
lcd_char(n<3 ? '.' : ' ');
}
break;
case 2:
lcd_text_P(PSTR("DHCP"));
lcd_xy(2,1);
// DHCP
if (my_net_config.using_dhcp) {
lcd_text_P(PSTR("u\x0fywane"));
}
else {
lcd_text_P(PSTR("nie"));
}
break;
case 3:
lcd_text_P(PSTR("\x0b\x08")); lcd_text_P(PSTR("cze"));
lcd_xy(2,1);
// stan ³¹cza
if ( enc28_is_link_up() ) {
lcd_text_P(PSTR("tak"));
}
else {
lcd_text_P(PSTR("brak"));
}
break;
case 4:
lcd_text_P(PSTR("pakiety"));
lcd_xy(2,1);
lcd_text_P(PSTR("Tx: ")); lcd_int(net_ip_packet_id);
break;
case 5:
lcd_text_P(PSTR("pakiety"));
lcd_xy(2,1);
lcd_text_P(PSTR("Rx: ")); lcd_int(my_net_config.pktcnt);
break;
case 6:
lcd_text_P(PSTR("MAC"));
lcd_xy(2,1);
for (n=0; n<6; n++) {
lcd_hex(my_net_config.my_mac[n]);
}
break;
}
// strza³ki
lcd_xy(0,1); lcd_char(lcd_larrow);
lcd_xy(15,1); lcd_char(lcd_rarrow);
break;
// PID (wysterowania, nastawy, PV, SP)
//
/*
case 3:
lcd_text_P(PSTR("PID")); // PID
break;
*/
// PWM (wype³nienia)
//
case 3:
lcd_text_P(PSTR("PWM"));
// ogranicz podmenu do liczby kana³ów PWM
if (menu_sub_pos == 0xff) {
menu_sub_pos = 0;
}
else if (menu_sub_pos > PWM_CHANNELS-3) {
menu_sub_pos = PWM_CHANNELS-3;
}
// nr pokazywanych kana³ów
lcd_xy(11,0);
lcd_char('1' + menu_sub_pos);
lcd_char('-');
lcd_char('3' + menu_sub_pos);
// poka¿ wype³nienia
lcd_xy(2,1);
for (n=0; n<PWM_CHANNELS && n<3; n++) {
lcd_char('0' + pwm_get_fill(menu_sub_pos + n)/100);lcd_int2(pwm_get_fill(menu_sub_pos + n)); lcd_char(' ');
}
// strza³ki
lcd_xy(0,1); lcd_char( (menu_sub_pos > 0) ? lcd_larrow : ' ');
lcd_xy(15,1); lcd_char( (menu_sub_pos < PWM_CHANNELS-3) ? lcd_rarrow : ' ');
break;
// informacje (wersja, ENC28J60, karta pamiêci, EEPROM)
//
case 4:
lcd_text_P(PSTR("Informacje")); // sieæ
// ogranicz podmenu
if (menu_sub_pos == 0xff) {
menu_sub_pos = 6;
}
else if (menu_sub_pos > 6) {
menu_sub_pos = 0;
}
lcd_xy(2,1);
switch (menu_sub_pos) {
case 0:
lcd_text_P(PSTR(__DATE__));
break;
case 1:
lcd_text_P(PSTR("GCC " __AVR_LIBC_VERSION_STRING__));
break;
case 2:
//lcd_text_P(PSTR("Up "));
// dni
lcd_int((uptime/3600/24)); lcd_char('d');
// godziny
lcd_int2((uptime/3600)%24); lcd_char(':');
// minuty
lcd_int2((uptime/60)%60); lcd_char(':');
// sekundy
lcd_int2((uptime%60));
break;
case 3:
lcd_text_P(PSTR("ENC28 rev.B"));
lcd_char('0' + enc28_read_rev_id());
break;
case 4:
lcd_text_P(PSTR("Czujnik\x0dw: "));
lcd_int(ds_devices_count);
break;
case 5:
lcd_text_P(PSTR("EEPROM "));
lcd_int(eeprom_get_size() >> 10);
lcd_char('k');lcd_char('B');
break;
case 6:
if (sd_get_state() != SD_FAILED) {
lcd_text_P(sd_get_state() == SD_IS_SD ? PSTR("SD") : PSTR("MMC"));
lcd_char(' ');
lcd_int(sd_size >> 10); // kB
lcd_char('k');lcd_char('b');
}
else {
lcd_text_P(PSTR("SD/MMC: b\x0b\x08d"));
}
break;
}