/****************************************************************************
* 名 称：AddNewline
* 功 能：液晶写满，添加一行，其他行向上移动
* 入口参数：无
* 出口参数：无
* 说 明: 此函数供putchar2Lcd函数调用，当输出满液晶后，自动向上滚动。
****************************************************************************/
void AddNewline()
{
char str[17];
str[16] = 0;
//第二行 移至第一行
LcdWriteComm(0x90);
LcdReadData(); //空读取
for(int i = 0;i<16;i++)
{
str[i] = LcdReadData();
}
LcdWriteString(0x80,str);
//第三行 移至第二行
LcdWriteComm(0x88);
LcdReadData();
for(int i = 0;i<16;i++)
{
str[i] = LcdReadData();
}
LcdWriteString(0x90,str);
//第四行 移至第三行
LcdWriteComm(0x98);
LcdReadData();
for(int i = 0;i<16;i++)
{
str[i] = LcdReadData();
}
LcdWriteString(0x88,str);
//第四行 空白
LcdWriteString(0x98," "); //十六个空格
}
/* Configure the pins on the ATmega328p */
void InitDevice() {
/* Disable all possible devices on the board */
power_all_disable();
/* LCD setup */
/* All PORTB pins are data pins for the LCD screen */
DDRB = (uint8_t)(-1);
/* PDO, PD1, and PD3 are all used as control pins for the LCD screen.
* PD0 is used as the R/S pin, which determines whether the LCD is getting a
* command or a character
* PD1 is the Enable pin, which signals the LCD to read the data pins
* PD3 is the R/W Pin which is used to activate the Busy flag on the LCD and
* is used for timing
*/
DDRD |= (_BV(PD0) | _BV(PD1) | _BV(PD3));
LcdInit();
/* Display title screen */
LcdWriteString(TITLE, LCD_LINE_ONE);
LcdWriteString(NAME, LCD_LINE_TWO);
_delay_ms(STARTUP_DELAY);
LcdWriteString(BOOTUP, LCD_LINE_TWO);
/* Calibration circuit */
/* PD4 is used to determine if the calibration circuit is active or not */
DDRD &= ~_BV(PD4); /* Configure PD4 as an input */
PORTD |= _BV(PD4); /* Pullup PD4 */
/* Configure the ADC */
//Currently not implemented
//power_adc_enable();
/* Magnetometer set up */
/* INT0 is attached to the DataReady pin on the magnometer, and will be used
* to signal that data is ready to be read (obviously). INT0 is set to go
* off on a rising edge.
*/
EIMSK |= _BV(INT0);
EICRA |= _BV(ISC01) | _BV(ISC00);
/* Configure TWI */
power_twi_enable();
TWCR = _BV(TWEN); /* Enable TWI */ //May not be needed here, but definitely elsewhere
//Check to see if the magnetometer needs initialization from the ATmega
//will need init
//Display "Waiting on data" on line 2
}
/* It's the main function for the program, what more do you need to know? */
int main() {
int16_t Degrees = 0;
uint8_t SregSave;
//int16_t Correction = 0;
Degrees = Degrees; //Because it's a warning otherwise, and I don't think I can get rid of it
DataReady = FALSE;
/* Setup the ATmega328p */
InitDevice();
/* Enable interrupts */
sei();
/* Wait till we get data */
while(!DataReady);
/* Main loop */
while(TRUE) {
/* If there is pending data, process it */
if(DataReady) {
SregSave = SREG; /* Preserve the status register */
/* We want the data retrevial completely performed without interruptions */
cli();
//Hand off to a function
Degrees = ProcessData();
DataReady = FALSE;
/* Restore the status register */
SREG = SregSave;
}
//Currently not used, add in later once supplies are received
/* Check to see if the calibration circuit is active, and if so, adjust
* change the mode to calibration mode
*/
//if(bit_is_clear(PORTD, PD4)) {
/* Check to so see if there is a low signal from the calibration circuit */
//Correction = Calibrate(Correction, Degrees);
//} else {
/* If we aren't calibrating, display the direction and such */
LcdWriteString(HeadingString(Degrees), LCD_LINE_ONE);
//}
//Degrees += Correction;
//LcdWriteString(("Degrees: %d", Degrees), LCD_LINE_TWO); //TODO fix this!
}
/* If this is ever called, I don't even know anymore */
return 0;
}