void fSetCoreParam(void)
{
//clear ico?
uint16_t keyValue=0;
static uint8_t Id=0;
keyValue = KeyPop();
switch(keyValue)
{
case BTN_UP: fAddCoreParam(Id); break;
case BTN_DOWN:fSubCoreParam(Id); break;
case BTN_CLOCK: Id++;
if (Id >= CoreParamsMax)
{
Id = 0;
}
break;
case BTN_TIMER: Id--;
if (Id >= 0xff)
{
Id = CoreParamsMax-1;
}
break;
case BTN_SHUT: MenuParam.pfmenu = MenuOffStatus; Id=0; lcd_wr_char(_lcd5_find,0);return;
case BTN_LOCK: MenuParam.lockFlag ^= 1;break;//need to add lock ico
default: break;
}
lcd_wr_char(_lcd4_lock, MenuParam.lockFlag);
fOffStatusPara(Id);
}
/*****Function to Print String on LCD*****/
void lcd_string(char *str)
{
while(*str != '\0')
{
lcd_wr_char(*str);
str++;
}
int i=0;
for(i=0;i<12;i++) lcd_wr_char(' ');
}
//Function to Print String on LCD
void lcd_string(char *str)
{
while(*str != '\0')
{
lcd_wr_char(*str);
str++;
}
}
void main (void)
{
//Set CPU Clock to 40MHz. 400MHz PLL/2 = 200 DIV 5 = 40MHz
SysCtlClockSet(SYSCTL_SYSDIV_5|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|SYSCTL_OSC_MAIN);
lcd_port_config();
lcd_init();
lcd_cursor(1,1);
lcd_wr_char('S');
}
void MenuOffStatus(void)
{
uint16_t keyValue=0;
keyValue = KeyPop();
switch(keyValue)
{
case BTN_SETCORE: MenuParam.pfmenu = fSetCoreParam; lcd_wr_char(_lcd5_find,1);break;
case BTN_SHUT: MenuParam.pfmenu = MenuOnStatus;
lcd_wr_char(_lcd3_run, 1);
lcd_wr_char(_lcd10_hotWater, 1);
MenuParam.runFlag ^= 0x01;
MenuParam.StartParamChange = 1;
break;
case BTN_LOCK: MenuParam.lockFlag ^= 1;break;//need to add lock ico
default: break;
}
//lcd_wr_char(_lcd11_waterT, 1);
//lcd_wr_char(_lcd13_c, 1);
lcd_wr_char(_lcd4_lock, MenuParam.lockFlag);//lock
fClockOn(MenuParam.clock.hour, MenuParam.clock.min);
DispLayWatetT();
LcdSetWater(0);
}
/*!
Function used for displaying a number on LCD
*/
void lcd_num(int x)
{
if (current_state == 4) {
lcd_cursor(2,1);
}
else if (current_state == 8) {
lcd_cursor(1,1);
current_state = 0;
}
current_state++;
char cVal[10];
itoa(x,cVal,10);
lcd_string(cVal);
char a=" ";
lcd_wr_char(a);
}
//!Function To Print Any input value upto the desired digit on LCD
void lcd_print (char row, char coloumn, unsigned int value, int digits)
{
unsigned char flag=0;
if(row==0||coloumn==0)
{
lcd_home();
}
else
{
lcd_cursor(row,coloumn);
}
if(digits==5 || flag==1)
{
million=value/10000+48;
lcd_wr_char(million);
flag=1;
}
if(digits==4 || flag==1)
{
temp = value/1000;
thousand = temp%10 + 48;
lcd_wr_char(thousand);
flag=1;
}
if(digits==3 || flag==1)
{
temp = value/100;
hundred = temp%10 + 48;
lcd_wr_char(hundred);
flag=1;
}
if(digits==2 || flag==1)
{
temp = value/10;
tens = temp%10 + 48;
lcd_wr_char(tens);
flag=1;
}
if(digits==1 || flag==1)
{
unit = value%10 + 48;
lcd_wr_char(unit);
}
if(digits>5)
{
lcd_wr_char('E');
}
}
void ErrorDisplay(void)
{
uint16_t keyValue=0;
keyValue = KeyPop();
switch(keyValue)
{
case BTN_SHUT: MenuParam.runFlag = 0;
MenuParam.StartParamChange=1;
MenuParam.pfmenu =MenuOffStatus;
//clear errors then shutdown
break;
case BTN_LOCK: MenuParam.lockFlag ^= 1;break;//need to add lock ico
default: break;
}
lcd_wr_num(10, 0, 1);
lcd_wr_num(0, 1, 1);
lcd_wr_num(0, 2, 1);
fClockOn(MenuParam.clock.hour, MenuParam.clock.min);
LcdSetWater(0);
lcd_wr_char(_lcd4_lock, MenuParam.lockFlag);//lock
}
//The main invoker routine. It takes as argument the next command to execute and does what is necessary
//Self-explanatory code!
void my_invoker (unsigned char command) {
if(command == BUZZER_ON){
buzzer_on();
return;
}
else if(command == BUZZER_OFF){
buzzer_off();
return;
}
else if(command == MOVE_FORWARD)
{
forward(); //forward
return;
}
else if(command == MOVE_BACKWARD)
{
back(); //back
return;
}
else if(command == MOVE_LEFT)
{
left(); //left
return;
}
else if(command == MOVE_RIGHT)
{
right(); //right
return;
}
else if(command == STOP)
{
stop(); //stop
return;
}
else if(command == SET_VELOCITY)
{
int numargs;
unsigned char * ch = recieve_args(&numargs);
//assert(numargs == 1);
int velleft = (int)*(ch);
int velright = (int)*(ch+1);
velocity(velleft,velright);
return;
}
else if(command == MOVE_BY)
{
int numargs;
unsigned char * ch = recieve_args(&numargs);
int pos_a = (int)*(ch);
int pos_b = (int)*(ch+1);
//int pos = 10;
//while (pos_b--) pos *= 10;
//pos *= pos_a;
//forward_mm(pos);
pos_a += (pos_b << 8);
forward();
velocity(120,120);
while (pos_a--) {
//delay on 5 ms
stop_on_timer4_overflow = 1;
start_timer4();
while (stop_on_timer4_overflow != 0) {;}
}
stop();
send_char(SUCCESS);
leftInt = 0;
rightInt = 0;
return;
}
else if(command == MOVE_BACK_BY)
{
int numargs;
unsigned char * ch = recieve_args(&numargs);
int pos_a = (int)*(ch);
int pos_b = (int)*(ch+1);
//int pos = 10;
//while (pos_b--) pos *= 10;
//pos *= pos_a;
//forward_mm(pos);
pos_a += (pos_b << 8);
back();
velocity(120,120);
while (pos_a--) {
//delay on 5 ms
stop_on_timer4_overflow = 1;
start_timer4();
while (stop_on_timer4_overflow != 0) {;}
}
stop();
send_char(SUCCESS);
leftInt = 0;
rightInt = 0;
return;
}
else if(command == TURN_LEFT_BY)
{
int numargs;
unsigned char * ch = recieve_args(&numargs);
already_stopped = 0;
int pos_a = (int)*(ch);
int pos_b = (int)*(ch+1);
pos_a += (pos_b << 8);
_delay_ms(500);
left();
velocity(200,200);
while (pos_a--) {
//delay on 5 ms
stop_on_timer4_overflow = 1;
start_timer4();
while (stop_on_timer4_overflow != 0) {;}
}
stop();
send_char(SUCCESS);
leftInt = 0;
rightInt = 0;
already_modified_stopped = 0;
return;
}
else if(command == TURN_RIGHT_BY)
{
int numargs;
unsigned char * ch = recieve_args(&numargs);
//assert(numargs == 2);
int pos_a = (int)*(ch);
int pos_b = (int)*(ch+1);
pos_a += (pos_b << 8);
_delay_ms(500);
right();
velocity(200,200);
while (pos_a--) {
//delay on 5 ms
stop_on_timer4_overflow = 1;
start_timer4();
while (stop_on_timer4_overflow != 0) {;}
}
stop();
send_char(SUCCESS);
leftInt = 0;
rightInt = 0;
already_modified_stopped = 0;
return;
}
else if(command == LCD_SET_STRING)
{
int numargs;
unsigned char * ch = recieve_args(&numargs);
int i =0;
lcd_clear();
for(;i<numargs;i++)
{
lcd_wr_char(*(ch+i));
}
return;
}
else if (command == SET_PORT){
int numargs;
unsigned char * ch = recieve_args(&numargs); ;
if (numargs != 2){
}
int portnum = (int) *(ch);
unsigned char value = (unsigned char) *(ch+1);
setPort(portnum,value);
}
else if(command == GET_SENSOR_VALUE)
{
int numargs;
unsigned char * ch = recieve_args(&numargs); ;
if (numargs != 1){
}
int sensornum = (int) *(ch);
//setPort(portnum,value);
getSensorValue(sensornum);
}
else if(command == GET_PORT)
{
int numargs;
unsigned char * ch = recieve_args(&numargs); ;
if (numargs != 1){
}
int portnum = (int) *(ch);
getPort(portnum);
}
else if (command == WHITELINE_FOLLOW_START) {
whiteline_follow_start();
}
else if(command == PRINT_STATE){
buzzer_on();
lcd_num(state);
_delay_ms(1000);
buzzer_off();
}
else if (command == WHITELINE_FOLLOW_END) {
whiteline_follow_end();
}
else if (command == WHITELINE_STOP_INTERSECTION) {
whiteline_stop_intersection_flag = 1;
}
else if(command == ACC_START) {
acc_flag = 1;
}
else if(command == ACC_STOP) {
acc_flag = 0;
acc_modified_flag = 0;
buzzer_off();
}
else if(command == ACC_MODIFIED){
acc_modified_flag = 1;
already_modified_stopped = 0;
}
else if(command == ACC_CHECK){
if (acc_modified_flag == 1 && already_modified_stopped == 1){
send_char((char)1);
}
else {
char value = PORTA;
if (value == 0) send_char((char)2);
else send_char((char)0);
}
}
else if (command == ENABLE_LEFT_WHEEL_INTERRUPT) {
leftInt = 0;
left_position_encoder_interrupt_init();
}
else if (command == ENABLE_RIGHT_WHEEL_INTERRUPT) {
rightInt = 0;
right_position_encoder_interrupt_init();
}
else if (command == GET_LEFT_WHEEL_INTERRUPT_COUNT) {
send_int (leftInt);
leftInt = 0;
}
else if (command == GET_RIGHT_WHEEL_INTERRUPT_COUNT) {
send_int (rightInt);
rightInt = 0;
}
else if (command == SET_TIMER) {
int numargs;
unsigned char * ch = recieve_args(&numargs); ;
if (numargs != 1){
}
int time = (int) *(ch);
timer4_init2(time);
}
else if (command == DISCONNECT) {
disconnect();
}
else { //Error!!! Unrecognized Command
buzzer_on();
_delay_ms(1000);
buzzer_off();
}
}
