void st7565_init(void){
SIU.PCR[PIN_GLCD_CS].R = OUTPUT;
SIU.PCR[PIN_GLCD_RST].R = OUTPUT;
SIU.PCR[PIN_GLCD_AO].R = OUTPUT;
SIU.PCR[PIN_GLCD_SID].R = OUTPUT;
SIU.PCR[PIN_GLCD_SCLK].R = OUTPUT;
if(PIN_GLCD_CS > 0)
GPIO_SetState(PIN_GLCD_CS, LOW);
GPIO_SetState(PIN_GLCD_RST, LOW);
sdelay(1);
GPIO_SetState(PIN_GLCD_RST, HIGH);
// LCD bias select
st7565_command(CMD_SET_BIAS_7);
// ADC select
st7565_command(CMD_SET_ADC_NORMAL);
// SHL select
st7565_command(CMD_SET_COM_NORMAL);
// Initial display line
st7565_command(CMD_SET_DISP_START_LINE);
// turn on voltage converter (VC=1, VR=0, VF=0)
st7565_command(CMD_SET_POWER_CONTROL | 0x4);
// wait for 50% rising
mdelay(200);
// turn on voltage regulator (VC=1, VR=1, VF=0)
st7565_command(CMD_SET_POWER_CONTROL | 0x6);
// wait >=50ms
mdelay(200);
// turn on voltage follower (VC=1, VR=1, VF=1)
st7565_command(CMD_SET_POWER_CONTROL | 0x7);
// wait
mdelay(40);
// set lcd operating voltage (regulator resistor, ref voltage resistor)
st7565_command(CMD_SET_RESISTOR_RATIO | 0x6);
// initial display line
// set page address
// set column address
// write display data
updateBoundingBox(0, 0, LCDWIDTH-1, LCDHEIGHT-1);
}
int sonarGetDistance(void){
static int distanceValue[9]={
9999,9999,9999,9999,9999,9999,9999,9999,9999
};
static const int ch =0;
unsigned long int tempDistance,temp;
volatile int i,distance;
int tempData[9];
switch(sonarStatus){
case SONAR_WAIT_RISING:
//sonar trigger
GPIO_SetState(SONAR0_CONTROL_CH,1);
for(i=0;i<110;i++);
GPIO_SetState(SONAR0_CONTROL_CH,0);
SIU.IRER.R = 0x00000001;
//set rising
temp = SIU.IREER.R;
temp |= (1<<ch);
SIU.IREER.R = temp;
temp = SIU.IFEER.R;
temp &= ~(1<<ch);
SIU.IFEER.R = temp;
break;
case SONAR_WAIT_END:
sonarStatus = SONAR_WAIT_RISING;
break;
}
tempDistance = counter;
distance = counterToDistance(tempDistance);
//shift
for(i=8;i>0;i--)
distanceValue[i] = distanceValue[i-1];
distanceValue[0] = distance;
for(i=0;i<9;i++)
tempData[i] = distanceValue[i];
//median filter
distance = medianFilter(tempData,9,5);
return distance;
}
int main(void) {
volatile T_ULONG lul_InfLoop = 0;
volatile T_ULONG lul_Validate = 0;
volatile T_ULONG lul_ValidateUp = 0;
volatile T_ULONG lul_ValidateDw = 0;
T_UWORD luw_SwDwState;
T_UWORD luw_SwUpState;
WL_initModesAndClock();
WL_EIRQ_Init();
WL_STM_init();
WL_GPIO_Init();
init_ext_ints();
init_PIT();
asm(" wrteei 1");
INTC_InstallINTCInterruptHandler(WL_A_Pinch,EIRQ_2,1); /* vector 32 for STM[2] */
INTC.CPR.R = 0;
/* Loop forever */
for (;;) {
/*------------------------------*/
luw_SwDwState = GPIO_GetState(SW_DOWN);
if (luw_SwDwState == 1)
{
lul_Validate = WL_CheckValid();
if (lul_Validate == 1)
{
lul_ValidateDw = WL_CheckAutoManualDw();
}
else
{
/*DO NOTHING*/
}
}
else
{
/*DO NOTHING*/
}
while (luw_SwDwState == 1){
if (lul_ValidateDw == 1)
{
WL_WinMDw();
}
else
{
/*DO NOTHING*/
}
if (lul_ValidateDw == 0)
{
WL_WinADw();
}
else
{
/*DO NOTHING*/
}
luw_SwDwState = GPIO_GetState(SW_DOWN);
}
/*------------------------------*/
luw_SwUpState = GPIO_GetState(SW_UP);
if (luw_SwUpState == 1)
{
lul_Validate = WL_CheckValid();
if (lul_Validate == 1)
{
lul_ValidateUp = WL_CheckAutoManualUp();
}
else
{
/*DO NOTHING*/
}
}
else
{
/*DO NOTHING*/
}
while (luw_SwUpState == 1){
if (lul_ValidateUp == 1)
{
WL_WinMUp();
}
else
{
/*DO NOTHING*/
}
if (lul_ValidateUp == 0)
{
WL_WinAUp();
}
else
{
/*DO NOTHING*/
}
luw_SwUpState = GPIO_GetState(SW_UP);
}
GPIO_SetState(LED_DOWN, 0);
GPIO_SetState(LED_UP, 0);
lul_InfLoop++;
WL_SetState();
}
}
