void putc(char c) {
uint8_t cursor_location = read_register(INSTRUCTION);
cursor_location &= ~BUSY_FLAG;
if(cursor_location == 0x07) {
write_data_lcd(c);
write_command_lcd(0xc0);
} else if(cursor_location == 0x47) {
write_data_lcd(c);
write_command_lcd(0x80);
} else write_data_lcd(c);
}
int main(void) {
uint8_t init; //Variable fuer init_speedy
uint16_t key;
uint8_t text_1[] = {" HPS Speedy "
"\n"
" INIT: Ok Press # "
"\n"};
uint8_t text_2[] = {"\n"
" * + # = Terminate "
"\n"
" Press # "};
//Anpassen wie benoetigt
uint8_t text_3[] = {"1 Fahre gerade "
"2 Drehen rechts "
"3 180 Grad Kurve "
"4 Sende Laser "};
int memmory; //file pointer fuer speicher
void *virtual_base;
volatile uint32_t *hps_laser = NULL;
volatile uint32_t *hps_saber = NULL;
volatile uint32_t *hps_xbee = NULL;
//Init Speedy Peripheral, no Laser and Drive
init = init_speedy();
if(init != 0){
printf("Init Speedy Failed: %d", init);
return init;
}
//Init HPS Bridge
if( ( memmory = open( "/dev/mem", ( O_RDWR | O_SYNC ) ) ) == -1 ) {
printf( "ERROR: could not open \"/dev/mem\"...\n" );
return 5;
}
virtual_base = mmap( NULL, HW_REGS_SPAN, ( PROT_READ | PROT_WRITE ), MAP_SHARED, memmory, HW_REGS_BASE );
if( virtual_base == MAP_FAILED ) {
printf( "ERROR: mmap() failed...\n" );
close(memmory);
return 6;
}
hps_laser = virtual_base + ( (uint32_t)( ALT_LWFPGASLVS_OFST + LASER_BASE ) & (uint32_t)( HW_REGS_MASK ) );
hps_saber = virtual_base + ( (uint32_t)( ALT_LWFPGASLVS_OFST + MOTOR_MODUL_BASE ) & (uint32_t)( HW_REGS_MASK ) );
hps_xbee = virtual_base + ( (uint32_t)( ALT_LWFPGASLVS_OFST + FIFOED_AVALON_UART_BASE ) & (uint32_t)( HW_REGS_MASK ) );
//Init memmory laser
initMemory(hps_laser);
//Write on LCD
hide_cursor_lcd();
clear_lcd();
blacklight_on_lcd();
set_courser_lcd(1, 1);
write_data_lcd(text_1, sizeof(text_1));
usleep(700*1000);
do{
key = read_key_lcd();
}while(key != 0x0800);
key = 0;
clear_lcd();
set_courser_lcd(1, 1);
write_data_lcd(text_2, sizeof(text_2));
usleep(700*1000);
do{
key = read_key_lcd();
if(key == 0x0A00){
clear_lcd();
blacklight_off_lcd();
if( munmap( virtual_base, HW_REGS_SPAN ) != 0 ) {
printf( "ERROR: munmap() failed...\n" );
close( memmory );
return 7;
}
close(memmory);
return 0;
}
}while(key != 0x0800);
key = 0;
clear_lcd();
set_courser_lcd(1, 1);
write_data_lcd(text_3, sizeof(text_3));
usleep(700*1000);
while(read_key_lcd() != 0x0A00){
//Enter CODE here!!!!!!!!!!!!!
usleep(100*1000);
};
clear_lcd();
blacklight_off_lcd();
if( munmap( virtual_base, HW_REGS_SPAN ) != 0 ) {
printf( "ERROR: munmap() failed...\n" );
close( memmory );
return 7;
}
close(memmory);
return 0;
}
