/*----------------------------------------------------------------------*/
void test_init_TF()
{
/* TF卡 */
TCHAR *path = "0:";
LCD_P8x16Str(0,0, (BYTE*)"TF..");
if (!SD_init())
{
/* 挂载TF卡文件系统 */
if (FR_OK == f_mount(&fatfs1, path, 1))
{
/* 文件读写测试 */
if (!test_file_system())
{
g_devices_init_status.TFCard_is_OK = 1;
}
}
}
if (g_devices_init_status.TFCard_is_OK)
{
LCD_P8x16Str(0,0, (BYTE*)"TF..OK");
}
else
{
LCD_P8x16Str(0,0, (BYTE*)"TF..NOK");
suicide();
}
}
int main()
{
unsigned char i=0;
HalLcd_HW_Init(); //oled 初始化
LCD_Fill(0xff); //屏全亮
while(1)
{
for(i=0; i<8; i++)
{
LCD_P16x16Ch(i*16,0,i); //点阵显示
LCD_P16x16Ch(i*16,2,i+8);
LCD_P16x16Ch(i*16,4,i+16);
LCD_P16x16Ch(i*16,6,i+24);
}
HalHW_WaitMS(1000);
LCD_CLS();
LCD_P8x16Str(44,0,"saler");
LCD_P8x16Str(20,2,"OLED DISPLAY");
LCD_P8x16Str(8,4,"TEL:18588220515");
LCD_P6x8Str(20,6,"*****@*****.**");
LCD_P6x8Str(20,7,"2013-10-6 18:18");
HalHW_WaitMS(1000);
//LCD_CLS();
//Draw_BMP(0,0,128,8,BMP); //图片显示
//DelayMS(1000);
}
}
//输出汉字和字符混合字符串
void LCD_Print(u8 x, u8 y, u8 ch[])
{
u8 ch2[3];
u8 ii=0;
while(ch[ii] != '\0')
{
if(ch[ii] > 127)
{
ch2[0] = ch[ii];
ch2[1] = ch[ii + 1];
ch2[2] = '\0'; //汉字为两个字节
LCD_P14x16Str(x , y, ch2); //显示汉字
x += 14;
ii += 2;
}
else
{
ch2[0] = ch[ii];
ch2[1] = '\0'; //字母占一个字节
LCD_P8x16Str(x , y , ch2); //显示字母
x += 8;
ii+= 1;
}
}
}
void OLED_Print(unsigned char x, unsigned char y, char ch[])
{
char ch2[3];
unsigned char ii=0;
while(ch[ii] != '\0')
{
ch2[0] = ch[ii];
ch2[1] = '\0';
LCD_P8x16Str(x,y,ch2);
x += 8;
ii+= 1;
}
}
void HalLcdWriteString (char *str, uint8 option)
{
uint8 x=0,y=0,strLen;
uint8 lcdBuf[HAL_LCD_MAX_CHARS+1];
x=0;
y = (option-1)*2;
strLen = (uint8)osal_strlen( (char*)str );
/* Check boundries */
if ( strLen > HAL_LCD_MAX_CHARS )
strLen = HAL_LCD_MAX_CHARS;
osal_memset(lcdBuf, 0, HAL_LCD_MAX_CHARS+1);
osal_memcpy( lcdBuf, str, strLen );
LcdClearLine(y, 2);
LCD_P8x16Str(x, y, lcdBuf);
}
/*----------------------------------------------------------------------*/
void read_device_no()
{
LCD_P8x16Str(0, 4, (BYTE*)"DeviceNo=");
if (!read_device_no_from_TF())
{
if (g_device_NO!=0)
{
LCD_PrintoutInt(72, 4, g_device_NO);
}
else
{
suicide();
}
}
else
{
suicide();
}
}
void para_set(void)
{
PORTB_PCR4|=PORT_PCR_PE_MASK|PORT_PCR_PFE_MASK;
PORTB_PCR5|=PORT_PCR_PE_MASK|PORT_PCR_PFE_MASK;
PORTB_PCR6|=PORT_PCR_PE_MASK|PORT_PCR_PFE_MASK;
PORTB_PCR16|=PORT_PCR_PE_MASK|PORT_PCR_PFE_MASK;
PORTB_PCR17|=PORT_PCR_PE_MASK|PORT_PCR_PFE_MASK;
PORTE_PCR10|=PORT_PCR_PE_MASK|PORT_PCR_PFE_MASK;
PORTE_PCR11|=PORT_PCR_PE_MASK|PORT_PCR_PFE_MASK;
PORTE_PCR12|=PORT_PCR_PE_MASK|PORT_PCR_PFE_MASK;
// if(!boma2_GetBit(3))
{
LCD_P8x16Str(8,0,"jz");
LCD_P8x16Str(8,2,"K_m");
LCD_P8x16Str(8,4,"KD");
LCD_P8x16Str(8,6,"done");
while(1)
{
if(key_sel==0)
{
LCD_P8x16Str(0,0,"*");
LCD_P8x16Str(0,2," ");
LCD_P8x16Str(0,4," ");
LCD_P8x16Str(0,6," ");
if(key_sel3==1)
{
jiaozhengkey=para1;
if(para1<0) {LCD_P8x16Str(48,0,"-");para=(-1)*para1;}
else {LCD_P8x16Str(48,0," ");para=para1;}
display_num(56,0,(int)para%1000/100);
display_num(64,0,((int)para%100)/10);
display_num(72,0,((int)para%10));
LCD_P8x16Str(80,0,".");
display_num(88,0,(int)(para*10)%10);
if(key_sel2==0) LCD_P8x16Str(56,2," -");
else if(key_sel2==1) LCD_P8x16Str(56,2," - ");
else if(key_sel2==2) LCD_P8x16Str(56,2," - ");
else if(key_sel2==3) LCD_P8x16Str(56,2,"- ");
}
else para1=jiaozhengkey;
}
else if(key_sel==1)
{
LCD_P8x16Str(0,0," ");
LCD_P8x16Str(0,2,"*");
LCD_P8x16Str(0,4," ");
LCD_P8x16Str(0,6," ");
if(key_sel3==1)
{
K_middle=para1;
if(para1<0) {LCD_P8x16Str(48,2,"-");para=(-1)*para1;}
else {LCD_P8x16Str(48,2," ");para=para1;}
display_num(56,2,(int)para%1000/100);
display_num(64,2,((int)para%100)/10);
display_num(72,2,((int)para%10));
LCD_P8x16Str(80,2,".");
display_num(88,2,(int)(para*10)%10);
if(key_sel2==0) LCD_P8x16Str(56,4," -");
else if(key_sel2==1) LCD_P8x16Str(56,4," - ");
else if(key_sel2==2) LCD_P8x16Str(56,4," - ");
else if(key_sel2==3) LCD_P8x16Str(56,4,"- ");
}
else para1=K_middle;;
}
else if(key_sel==2)
{
LCD_P8x16Str(0,0," ");
LCD_P8x16Str(0,2," ");
LCD_P8x16Str(0,4,"*");
LCD_P8x16Str(0,6," ");
if(key_sel3==1)
{
Key_KD=para1;
if(para1<0) {LCD_P8x16Str(48,4,"-");para=(-1)*para1;}
else {LCD_P8x16Str(48,4," ");para=para1;}
display_num(56,4,(int)para%1000/100);
display_num(64,4,((int)para%100)/10);
display_num(72,4,((int)para%10));
LCD_P8x16Str(80,4,".");
display_num(88,4,(int)(para*10)%10);
if(key_sel2==0) LCD_P8x16Str(56,6," -");
else if(key_sel2==1) LCD_P8x16Str(56,6," - ");
else if(key_sel2==2) LCD_P8x16Str(56,6," - ");
else if(key_sel2==3) LCD_P8x16Str(56,6,"- ");
}
else para1=Key_KD;
}
else if(key_sel==3)
{
LCD_P8x16Str(0,0," ");
LCD_P8x16Str(0,2," ");
LCD_P8x16Str(0,4," ");
LCD_P8x16Str(0,6,"*");
if(key_sel3==1)
{ LCD_P8x16Str(56,6,"done...");key_sel3=0; break;}
}
}
/***************************************************************************************************/
LCD_CLS();
LCD_P8x16Str(8,0,"length");
LCD_P8x16Str(8,2,"pwml");
LCD_P8x16Str(8,4,"R yu");
LCD_P8x16Str(8,6,"done");
while(1)
{
if(key_sel==0)
{
LCD_P8x16Str(0,0,"*");
LCD_P8x16Str(0,2," ");
LCD_P8x16Str(0,4," ");
LCD_P8x16Str(0,6," ");
if(key_sel3==1)
{
ren_para_length=para1;
if(para1<0) {LCD_P8x16Str(48,0,"-");para=(-1)*para1;}
else {LCD_P8x16Str(48,0," ");para=para1;}
display_num(56,0,(int)para%10000/1000);
display_num(64,0,(int)para%1000/100);
display_num(72,0,((int)para%100)/10);
display_num(80,0,((int)para%10));
LCD_P8x16Str(88,0,".");
display_num(92,0,(int)(para*10)%10);
if(key_sel2==0) LCD_P8x16Str(56,2," -");
else if(key_sel2==1) LCD_P8x16Str(56,2," - ");
else if(key_sel2==2) LCD_P8x16Str(56,2," - ");
else if(key_sel2==3) LCD_P8x16Str(56,2," - ");
}
else para1=ren_para_length;
}
else if(key_sel==1)
{
LCD_P8x16Str(0,0," ");
LCD_P8x16Str(0,2,"*");
LCD_P8x16Str(0,4," ");
LCD_P8x16Str(0,6," ");
if(key_sel3==1)
{
ren_para_pwm_l=para1;
if(para1<0) {LCD_P8x16Str(48,0,"-");para=(-1)*para1;}
else {LCD_P8x16Str(48,0," ");para=para1;}
display_num(56,2,(int)para%10000/1000);
display_num(64,2,(int)para%1000/100);
display_num(72,2,((int)para%100)/10);
display_num(80,2,((int)para%10));
LCD_P8x16Str(88,2,".");
display_num(92,2,(int)(para*10)%10);
if(key_sel2==0) LCD_P8x16Str(56,4," -");
else if(key_sel2==1) LCD_P8x16Str(56,4," - ");
else if(key_sel2==2) LCD_P8x16Str(56,4," - ");
else if(key_sel2==3) LCD_P8x16Str(56,4," - ");
}
else para1=ren_para_pwm_l;
}
else if(key_sel==2)
{
LCD_P8x16Str(0,0," ");
LCD_P8x16Str(0,2," ");
LCD_P8x16Str(0,4,"*");
LCD_P8x16Str(0,6," ");
if(key_sel3==1)
{
ren_length=para1;
if(para1<0) {LCD_P8x16Str(48,4,"-");para=(-1)*para1;}
else {LCD_P8x16Str(48,4," ");para=para1;}
display_num(56,4,(int)para%1000/100);
display_num(64,4,((int)para%100)/10);
display_num(72,4,((int)para%10));
LCD_P8x16Str(80,4,".");
display_num(88,4,(int)(para*10)%10);
if(key_sel2==0) LCD_P8x16Str(56,6," -");
else if(key_sel2==1) LCD_P8x16Str(56,6," - ");
else if(key_sel2==2) LCD_P8x16Str(56,6," - ");
else if(key_sel2==3) LCD_P8x16Str(56,6,"- ");
}
else para1=ren_length;
}
else if(key_sel==3)
{
LCD_P8x16Str(0,0," ");
LCD_P8x16Str(0,2," ");
LCD_P8x16Str(0,4," ");
LCD_P8x16Str(0,6,"*");
if(key_sel3==1)
{ LCD_P8x16Str(56,6,"done...");key_sel3=0; break;}
}
}
/********************************************************************************/
LCD_CLS();
LCD_P8x16Str(8,0,"pwmr");
LCD_P8x16Str(8,2,"zhi_s");
LCD_P8x16Str(8,4,"ren_num");
LCD_P8x16Str(8,6,"done");
while(1)
{
if(key_sel==0)
{
LCD_P8x16Str(0,0,"*");
LCD_P8x16Str(0,2," ");
LCD_P8x16Str(0,4," ");
LCD_P8x16Str(0,6," ");
if(key_sel3==1)
{
ren_para_pwm_r=para1;
if(para1<0) {LCD_P8x16Str(48,0,"-");para=(-1)*para1;}
else {LCD_P8x16Str(48,0," ");para=para1;}
display_num(56,0,(int)para%10000/1000);
display_num(64,0,(int)para%1000/100);
display_num(72,0,((int)para%100)/10);
display_num(80,0,((int)para%10));
LCD_P8x16Str(88,0,".");
display_num(92,0,(int)(para*10)%10);
if(key_sel2==0) LCD_P8x16Str(56,2," -");
else if(key_sel2==1) LCD_P8x16Str(56,2," - ");
else if(key_sel2==2) LCD_P8x16Str(56,2," - ");
else if(key_sel2==3) LCD_P8x16Str(56,2," - ");
}
else para1=ren_para_pwm_r;
}
else if(key_sel==1)
{
LCD_P8x16Str(0,0," ");
LCD_P8x16Str(0,2,"*");
LCD_P8x16Str(0,4," ");
LCD_P8x16Str(0,6," ");
if(key_sel3==1)
{
zhidao_speed=para1;
if(para1<0) {LCD_P8x16Str(48,0,"-");para=(-1)*para1;}
else {LCD_P8x16Str(48,0," ");para=para1;}
display_num(56,2,(int)para%10000/1000);
display_num(64,2,(int)para%1000/100);
display_num(72,2,((int)para%100)/10);
display_num(80,2,((int)para%10));
LCD_P8x16Str(88,2,".");
display_num(92,2,(int)(para*10)%10);
if(key_sel2==0) LCD_P8x16Str(56,4," -");
else if(key_sel2==1) LCD_P8x16Str(56,4," - ");
else if(key_sel2==2) LCD_P8x16Str(56,4," - ");
else if(key_sel2==3) LCD_P8x16Str(56,4," - ");
}
else para1=zhidao_speed;
}
else if(key_sel==2)
{
LCD_P8x16Str(0,0," ");
LCD_P8x16Str(0,2," ");
LCD_P8x16Str(0,4,"*");
LCD_P8x16Str(0,6," ");
if(key_sel3==1)
{
ren_num=para1;
if(para1<0) {LCD_P8x16Str(48,4,"-");para=(-1)*para1;}
else {LCD_P8x16Str(48,4," ");para=para1;}
display_num(56,4,(int)para%1000/100);
display_num(64,4,((int)para%100)/10);
display_num(72,4,((int)para%10));
LCD_P8x16Str(80,4,".");
display_num(88,4,(int)(para*10)%10);
if(key_sel2==0) LCD_P8x16Str(56,6," -");
else if(key_sel2==1) LCD_P8x16Str(56,6," - ");
else if(key_sel2==2) LCD_P8x16Str(56,6," - ");
else if(key_sel2==3) LCD_P8x16Str(56,6,"- ");
}
else para1=ren_num;
}
else if(key_sel==3)
{
LCD_P8x16Str(0,0," ");
LCD_P8x16Str(0,2," ");
LCD_P8x16Str(0,4," ");
LCD_P8x16Str(0,6,"*");
if(key_sel3==1)
{ LCD_P8x16Str(56,6,"done...");key_sel3=0; break;}
}
}
}
}
void para_display(void)
{
LCD_CLS();
LCD_P8x16Str(8,0,"jz");
LCD_P8x16Str(8,2,"K_m");
LCD_P8x16Str(8,4,"KD");
para1=jiaozhengkey;
if(para1<0) {LCD_P8x16Str(48,0,"-");para=(-1)*para1;}
else {LCD_P8x16Str(48,0," ");para=para1;}
display_num(56,0,(int)para%1000/100);
display_num(64,0,((int)para%100)/10);
display_num(72,0,((int)para%10));
LCD_P8x16Str(80,0,".");
display_num(88,0,(int)(para*10)%10);
para1=K_middle;
if(para1<0) {LCD_P8x16Str(48,0,"-");para=(-1)*para1;}
else {LCD_P8x16Str(48,0," ");para=para1;}
display_num(56,2,(int)para%1000/100);
display_num(64,2,((int)para%100)/10);
display_num(72,2,((int)para%10));
LCD_P8x16Str(80,2,".");
display_num(88,2,(int)(para*10)%10);
if(key_sel2==0) LCD_P8x16Str(56,4," -");
else if(key_sel2==1) LCD_P8x16Str(56,4," - ");
else if(key_sel2==2) LCD_P8x16Str(56,4," - ");
else if(key_sel2==3) LCD_P8x16Str(56,4,"- ");
para1=Key_KD;
if(para1<0) {LCD_P8x16Str(48,0,"-");para=(-1)*para1;}
else {LCD_P8x16Str(48,0," ");para=para1;}
display_num(56,4,(int)para%1000/100);
display_num(64,4,((int)para%100)/10);
display_num(72,4,((int)para%10));
LCD_P8x16Str(80,4,".");
display_num(88,4,(int)(para*10)%10);
if(key_sel2==0) LCD_P8x16Str(56,6," -");
else if(key_sel2==1) LCD_P8x16Str(56,6," - ");
else if(key_sel2==2) LCD_P8x16Str(56,6," - ");
else if(key_sel2==3) LCD_P8x16Str(56,6,"- ");
}
/*-----------------------------------------------------------------------*/
void init_all_and_POST(void)
{
int i = 0;
/* TF卡 */
TCHAR *path = "0:";
disable_watchdog();
init_modes_and_clock();
initEMIOS_0MotorAndSteer();
initEMIOS_0Image();/* 摄像头输入中断初始化 */
init_pit();
init_led();
init_DIP();
init_serial_port_0();
init_serial_port_1();
init_serial_port_2();
//init_ADC();
//init_serial_port_3();
init_supersonic_receive_0();
init_supersonic_receive_1();
// init_supersonic_receive_2();
// init_supersonic_receive_3();
init_supersonic_trigger_0();
init_supersonic_trigger_1();
// init_supersonic_trigger_2();
// init_supersonic_trigger_3();
// init_optical_encoder();
//init_DSPI_2();
//init_I2C();
init_choose_mode();
/* 初始化SPI总线 */
init_DSPI_1();
/* 开启外部总中断 */
enable_irq();
/* 初始化显示屏 */
initLCD();
//LCD_DISPLAY();
LCD_Fill(0xFF); /* 亮屏 */
delay_ms(50);
LCD_Fill(0x00); /* 黑屏 */
delay_ms(50);
#if 1
/* 初始化TF卡 */
LCD_P8x16Str(0,0, (BYTE*)"TF..");
if (!SD_init())
{
/* 挂载TF卡文件系统 */
if (FR_OK == f_mount(&fatfs1, path, 1))
{
/* 文件读写测试 */
if (!test_file_system())
{
g_devices_init_status.TFCard_is_OK = 1;
}
}
}
if (g_devices_init_status.TFCard_is_OK)
{
LCD_P8x16Str(0,0, (BYTE*)"TF..OK");
}
else
{
LCD_P8x16Str(0,0, (BYTE*)"TF..NOK");
suicide();
}
/* 读取设备号 */
LCD_P8x16Str(0, 4, (BYTE*)"DeviceNo=");
if (!read_device_no_from_TF())
{
if (WIFI_ADDRESS_WITHOUT_INIT != g_device_NO)
{
LCD_PrintoutInt(72, 4, g_device_NO);
}
else
{
suicide();
}
}
else
{
suicide();
}
/* 开启RFID读卡器主动模式 */
if (!init_RFID_modul_type())
{
g_devices_init_status.RFIDCard_energetic_mode_enable_is_OK = 1;
LCD_P8x16Str(0, 6, (BYTE*)"RFID..OK");
}
else
{
g_devices_init_status.RFIDCard_energetic_mode_enable_is_OK = 0;
LCD_P8x16Str(0, 6, (BYTE*)"RFID..NOK");
suicide();
}
delay_ms(1000);
/* 换屏 */
LCD_Fill(0x00);
/* 读取舵机参数 */
LCD_P8x16Str(0, 0, (BYTE*)"StH.L=");
if (read_steer_helm_data_from_TF())
{
suicide();
}
update_steer_helm_basement_to_steer_helm();
LCD_PrintoutInt(48, 0, data_steer_helm_basement.left_limit);
set_steer_helm_basement(data_steer_helm_basement.left_limit);
delay_ms(500);
LCD_P8x16Str(0, 2, (BYTE*)"StH.R=");
LCD_PrintoutInt(48, 2, data_steer_helm_basement.right_limit);
set_steer_helm_basement(data_steer_helm_basement.right_limit);
delay_ms(500);
LCD_P8x16Str(0, 4, (BYTE*)"StH.C=");
LCD_PrintoutInt(48, 4, data_steer_helm_basement.center);
set_steer_helm_basement(data_steer_helm_basement.center);
/* 读取mode号 */
LCD_P8x16Str(0, 6, (BYTE*)"MODE=");
LCD_PrintoutInt(40, 6, mode);
//set_pos_target();
delay_ms(1000);
/* 换屏 */
LCD_Fill(0x00);
/* 速度闭环测试 */
g_f_enable_speed_control = 1;
LCD_P8x16Str(0, 4, (BYTE*)"S.T=0");
set_speed_target(0);
delay_ms(2000);
/* 换屏 */
LCD_Fill(0x00);
#endif
}
void init_speed_control()
{
g_f_enable_speed_control = 1;
LCD_P8x16Str(0, 4, (BYTE*)"S.T=0");
set_speed_target(0);
}
/*----------------------------------------------------------------------*/
void read_DIP_mode()
{
LCD_P8x16Str(0, 6, (BYTE*)"MODE=");
LCD_PrintoutInt(40, 6, mode);
}
