void LCD_PutChar(unsigned char cx,unsigned char cy,unsigned char chr){
uchar *p,i,s,page;
uchar port;
chr=0;//消除warning 该变量无用，仅为兼容之前接口
cy--;
p=arrow16x16;
if(cx<4)
{
port=1;
s=cx<<4;
}
else
{
port=2;
s=((cx-4)<<4);
}
for(page=0;page<2;page++)
{
LCD_WrCmd(port,0xb8+cy*2+page);
delayus(100);
LCD_WrCmd(port,0x40+s);
delayus(100);
for(i=0;i<16;i++)
{
LCD_WrDat(port,*p);
delayus(10);
p++;
}
}
}
void interrupt VectorNumber_Vatd0compare ATD0Interrupt(void)
{
uint Vot[7];
PTM=0xaa;
ATD0STAT0|=0x7f;
delayus(10);
Vot0[add]=ATD0DR0;
Vot1[add]=ATD0DR1;
Vot2[add]=ATD0DR2;
Vot3[add]=ATD0DR3;
Vot4[add]=ATD0DR4;
Vot5[add]=ATD0DR5;
Vot6[add]=ATD0DR6;
add++;
if(add>=50)add=0;
Vot[0]=(Vot0[0]+Vot0[1]+Vot0[2]+Vot0[3])/4+(Vot0[4]+Vot[5]+Vot0[6]);
Vot[1]=(Vot1[0]+Vot1[1]+Vot1[2]+Vot0[3])/4+(Vot1[4]+Vot[5]+Vot1[6]);
Vot[2]=(Vot2[0]+Vot2[1]+Vot2[2]+Vot0[3])/4+(Vot2[4]+Vot[5]+Vot2[6]);
Vot[3]=(Vot3[0]+Vot3[1]+Vot3[2]+Vot0[3])/4+(Vot3[4]+Vot[5]+Vot3[6]);
Vot[4]=(Vot4[0]+Vot4[1]+Vot4[2]+Vot0[3])/4+(Vot4[4]+Vot[5]+Vot4[6]);
Vot[5]=(Vot5[0]+Vot5[1]+Vot5[2]+Vot0[3])/4+(Vot5[4]+Vot[5]+Vot5[6]);
Vot[6]=(Vot6[0]+Vot6[1]+Vot6[2]+Vot0[3])/4+(Vot6[4]+Vot[5]+Vot6[6]);
ATD0CTL5=0x00; //6:0特殊通道禁止,5:0单次转换 ,4:0单通道轮流采样
delayus(6);
}
void DisplayCGRAM(unsigned char cx,unsigned char cy)
{
uchar *p,i,s,page;
uchar port;
cy--;
p=lbatStateGraph;
if(cx<4)
{
port=1;
s=cx<<4;
}
else
{
port=2;
s=((cx-4)<<4);
}
for(page=0;page<2;page++)
{
LCD_WrCmd(port,0xb8+cy*2+page);
delayus(100);
LCD_WrCmd(port,0x40+s);
delayus(100);
for(i=0;i<16;i++)
{
LCD_WrDat(port,*p);
delayus(10);
p++;
}
}
}
void lcd_disp_sz_char(uchar cy,uchar cx,uchar* chr)
{
uchar *p,i,s,page;
uchar port;
getBytesFormGB2312s(chr);
p=chrBuf;
if(cx<4)
{
port=1;
s=cx<<4;
}
else
{
port=2;
s=((cx-4)<<4);
}
for(page=0;page<2;page++)
{
LCD_WrCmd(port,0xb8+cy*2+page);
delayus(100);
LCD_WrCmd(port,0x40+s);
delayus(100);
for(i=0;i<16;i++)
{
LCD_WrDat(port,*p);
delayus(10);
p++;
}
}
}
/*
* 函数介绍：写入一个字节到595里
* 输入参数：无
* 输出参数：无
* 返回值：无
*/
void WriteAByteTo595(uint8 indata) //往 74HC595里写入一个数据。
{
uint8 i,data;
data = indata;
for(i=0;i<8;i++)
{
CLR_SHCLK;
if(data&0x80)
{
SET_SDATA;
}
else
{
CLR_SDATA;
}
data <<= 1;
delayus(2);
// delayus(200);
SET_SHCLK;
delayus(2);
// delayus(200);
CLR_SHCLK;
}
}
int spi_byte(uint8_t txbyte)
{
uint8_t rxbyte = 0;
uint8_t bitno;
uint8_t bit ;
//TODO: Implement CPHA1
for (bitno=0; bitno<8; bitno++)
{
/* Transmit MSB first */
bit = ((txbyte & 0x80) != 0x00);
txbyte <<= 1;
gpio_write(config.mosi, bit);
delayus(config.tSettle);
CLOCK_ACTIVE();
delayus(config.tHold);
delayus(config.tFreq);
/* Read MSB first */
bit = gpio_read(config.miso);
rxbyte = (rxbyte<<1) | bit;
CLOCK_IDLE();
delayus(config.tFreq);
}
return rxbyte;
}
void handleButton()
{
static uint32_t btPrev = 0;
uint32_t bt;
static uint8_t r, g, b;
bt = button();
if (bt)
{
cam_getFrame((uint8_t *)SRAM0_LOC, SRAM0_SIZE, 0x21, 0, 0, 320, 200);
getColor(&r, &g, &b);
saturate(&r, &g, &b);
led_setRGB(r, g, b);
}
else if (btPrev)
{
led_setRGB(0, 0, 0);
delayus(50000);
led_setRGB(r, g, b);
delayus(50000);
led_setRGB(0, 0, 0);
delayus(50000);
led_setRGB(r, g, b);
delayus(50000);
led_setRGB(0, 0, 0);
}
btPrev = bt;
}
void lcd_disp_sz_SingleBytechar(uchar cy,uchar cx,uchar* chr)
{
uchar *p,i,s,page;
uchar port;
getBytesFormASCIIs(chr);
p=chrBuf;
if(cx<8)
{
port=1;
s=cx<<3;
}
else
{
port=2;
s=((cx-8)<<3);
}
for(page=0;page<2;page++)
{
LCD_WrCmd(port,0xb8+cy*2+page);
delayus(100);
LCD_WrCmd(port,0x40+s);
delayus(100);
for(i=0;i<8;i++)
{
LCD_WrDat(port,*p);
delayus(10);
p++;
}
}
}
/*
* 函数介绍：将595里的数据输出到锁存器里。
* 输入参数：无
* 输出参数：无
* 返回值：无
*/
void SetByteOut595(void)
{
CLR_STCLK;
delayus(2);
// delayus(200);
SET_STCLK;
delayus(2);
// delayus(200);
CLR_STCLK;
}
Uint8 fb_fw_read(){
FB_FW_Tris = 1;
delayus(1000);
if(FB_FW_Read){
delayus(100);
if(FB_FW_Read){
return true;
}
}
return false;
}
Uint8 fb_tq_read(){
FB_TQ_Tris = 1;
delayus(1000);
if(FB_TQ_Read){
delayus(100);
if(FB_TQ_Read){
return true;
}
}
return false;
}
void DRV8834_Go(unsigned char steps)
{
u8 i = 0;
for(i=0;i<steps;i++)
{
GPIO_ResetBit(6,6);
delayus(500);
GPIO_SetBit(6,6); //制造上升沿
delayus(500); //STEP频率不大于250KHz
}
}
void temp_init()
{
bit s;
DQ=1;
delayus(8);
DQ=0;
delayus(80);
DQ=1;
delayus(14);
s=DQ;
delayus(20);
}
void temp_writeonechar(U8 dat)
{
U8 i;
for(i=0;i<8;i++)
{
dat>>=1;
DQ=0;
DQ=CY;
delayus(5);
DQ=1;
}
delayus(4);
}
void POWER_UP_RESET_CC1100(void)
{
CSN_H; //上电拉高
delayus(1); //
CSN_L; //片选使能
delayus(1); //
CSN_H; //选择拉高
delayms(1); //最少延时40us,没有最大时间限制
RESET_CC1100(); //复位命令
}
/*************************************************
名称:DS1302WriteByte
*说明:无
*功能:写入8bit数据*调用:delayus()
*输入:dat:要写入的数据*输出:无
*************************************************/
void DS1302WriteByte(unsigned char dat)
{
unsigned char i;
SCLK=0; //初始时钟线置为0
delayus(2);
for(i=0;i<8;i++) //开始传输8个字节的数据
{
SDA=dat&0x01; //取最低位，注意DS1302的数据和地址都是从最低位开始传输的
delayus(2);
SCLK=1; //时钟线拉高，制造上升沿，SDA的数据被传输
delayus(2);
SCLK=0; //时钟线拉低，为下一个上升沿做准备
dat>>=1; //数据右移一位，准备传输下一位数据
}
}
int DynamixelClass::moveSpeed(unsigned char ID, int Position, int Speed)
{
char Position_H,Position_L,Speed_H,Speed_L;
Position_H = Position >> 8;
Position_L = Position; // 16 bits - 2 x 8 bits variables
Speed_H = Speed >> 8;
Speed_L = Speed; // 16 bits - 2 x 8 bits variables
Checksum = (~(ID + AX_GOAL_SP_LENGTH + AX_WRITE_DATA + AX_GOAL_POSITION_L + Position_L + Position_H + Speed_L + Speed_H))&0xFF;
switchCom(Direction_Pin,Tx_MODE);
sendData(AX_START); // Send Instructions over Serial
sendData(AX_START);
sendData(ID);
sendData(AX_GOAL_SP_LENGTH);
sendData(AX_WRITE_DATA);
sendData(AX_GOAL_POSITION_L);
sendData(Position_L);
sendData(Position_H);
sendData(Speed_L);
sendData(Speed_H);
sendData(Checksum);
delayus(TX_DELAY_TIME);
switchCom(Direction_Pin,Rx_MODE);
return (read_error()); // Return the read error
}
void led_init()
{
// turn on LEDs (max)
led_setPWM(LED_RED, LED_MAX_PWM);
led_setPWM(LED_GREEN, LED_MAX_PWM);
led_setPWM(LED_BLUE, LED_MAX_PWM);
// wait for things to settle...
delayus(20000);
// get current of each led. This is needed because each LED has a different forward voltage. But current determines
// brightness regardless of voltage drop. So we normalize with respect to current for best color accuracy.
g_ledOnCurrent[LED_RED] = (float)adc_get(LED_RED_ADCCHAN)/ADC_MAX*ADC_VOLTAGE/LED_RED_RESISTOR;
g_ledOnCurrent[LED_GREEN] = (float)adc_get(LED_GREEN_ADCCHAN)/ADC_MAX*ADC_VOLTAGE/LED_GREEN_RESISTOR;
g_ledOnCurrent[LED_BLUE] = (float)adc_get(LED_BLUE_ADCCHAN)/ADC_MAX*ADC_VOLTAGE/LED_BLUE_RESISTOR;
g_ledVal[LED_RED] = 0xff;
g_ledVal[LED_GREEN] = 0xff;
g_ledVal[LED_BLUE] = 0xff;
// turn off LEDs
led_set(0);
// set other vals...
g_ledScale = LED_DEFAULT_SCALE;
led_setMaxCurrent(LED_DEFAULT_MAX_CURRENT);
g_chirpUsb->registerModule(g_module);
}
void menu_conf_5(){
switch(_uintCur){
case 0:
if(_RmRead){
eedata_write(_InverseDisEnable,utrue);
}else{
eedata_write(_InverseDisEnable,ufalse);
}
RESETB_Tris = 0;
Nop();
RESETB_Write = 0;
delayus(500);
RESETB_Write = 1;
dis_init();
menu_conf_exit(SAVED15,MENU_5);
break;
case 1:
eedata_write(_Code_Orde,_Menu5Count0);
menu_conf_exit(SAVED15,MENU_5);
break;
case 2:
_uintCur = 0;
lcd_dis_menu_50();
break;
}
return;
}
static void Snake_Disp() //游戏画面显示
{
uint8 p = 16;
// for(p=0;p<snake.node;p++)//绘制蛇图像
// {
// delayus(500-duty);
// DisPoint(snake.x[p],snake.y[p]);
// delayus(duty/5);
// cdata = 0xff;
// }
// DisPoint(food.x,food.y);//绘制食物图像
// delayus(duty);
// cdata = 0xff;
//
// for(i=0;i<16;i++)
// {
// DispRAM[i] = 0;
// }
while(p--) DispRAM[p]=0; //清除缓存
for(p=0;p<snake.node;p++) //写入新缓存
{
DispRAM[snake.y[p]] |= 0x80 >> (snake.x[p]);
}
// DispRAM[food.y] |= 0x80 >> (food.x);
MatxDisp(DispRAM,duty);
DisPoint(7-food.x,food.y);
delayus(duty);
}
void radio_reset(void)
{
gpio_high(RESET);
delayms(150);
gpio_low(RESET);
delayus(100);
}
unsigned int __sramlocalfunc ddr_datatraining(int nMHz)
{
pDDR_Reg->CSR =0x0;
pDDR_Reg->DRR |= RD;
delayus(1);
pDDR_Reg->CCR |= DTT;
dsb();
do{
delayus(1);
}while(pGRF_Reg->GRF_MEM_STATUS[2] &0x1);
if(pDDR_Reg->CSR & 0x100000)
while(1);
pDDR_Reg->DRR &= ~RD;
return 0;
}
void LCD_DispIni(void)
{
LCD_RST = 0;
delayus(1000);
LCD_RST = 1;
delayus(1000);
LCD_WrCmd(1,LCD_DISPON);
LCD_WrCmd(1,LCD_STARTROW);
delayus(1000);
LCD_WrCmd(2,LCD_DISPON);
LCD_WrCmd(2,LCD_STARTROW);
LCD_DispFill(0x00);
LCD_WrCmd(1,LCD_ADDRSTRY+0);
LCD_WrCmd(1,LCD_ADDRSTRX+0);
LCD_WrCmd(2,LCD_ADDRSTRY+0);
LCD_WrCmd(2,LCD_ADDRSTRX+0);
}
void WriteCommand(uchar cmd) //写命令
{ ce=1;
cd=1;
rw=0;
P0=cmd;
delayus(12);
ce=0;
rw=1;
}
//-----------------------
// delay50us
//-----------------------
void delay50us(void)
{
word i;
for (i=0;i<50;i++)
{
delayus();
}
//wdt_reset();
//WDR();
}
void init_oled(){
uint8_t i;
OLED_PORT->DDR |= OLED_OMASK;
OLED_PORT->CR1 |= OLED_OMASK;
init_spi();
delayus(300);
OLED_PORT->ODR &= ~(1<<OLED_RST_PIN);
delayus(30);
OLED_PORT->ODR |= (1<<OLED_RST_PIN);
oled_spi_begin(OLED_CMD);
for (i = 0; i < sizeof(SSD1306_INIT); i++){
spi_write(SSD1306_INIT[i]);
}
oled_spi_end();
}
void WriteData(uchar dat) //写数据
{ ce=1;
cd=0;
rw=0;
P0=dat;
delayus(12);
ce=0;
rw=1;
}
int DynamixelClass::setEndless(unsigned char ID, bool Status)
{
if ( Status ) {
char AX_CCW_AL_LT = 0; // Changing the CCW Angle Limits for Full Rotation.
Checksum = (~(ID + AX_GOAL_LENGTH + AX_WRITE_DATA + AX_CCW_ANGLE_LIMIT_L))&0xFF;
switchCom(Direction_Pin,Tx_MODE);
sendData(AX_START); // Send Instructions over Serial
sendData(AX_START);
sendData(ID);
sendData(AX_GOAL_LENGTH);
sendData(AX_WRITE_DATA);
sendData(AX_CCW_ANGLE_LIMIT_L );
sendData(AX_CCW_AL_LT);
sendData(AX_CCW_AL_LT);
sendData(Checksum);
delayus(TX_DELAY_TIME);
switchCom(Direction_Pin,Rx_MODE);
return(read_error());
}
else
{
turn(ID,0,0);
Checksum = (~(ID + AX_GOAL_LENGTH + AX_WRITE_DATA + AX_CCW_ANGLE_LIMIT_L + AX_CCW_AL_L + AX_CCW_AL_H))&0xFF;
switchCom(Direction_Pin,Tx_MODE);
sendData(AX_START); // Send Instructions over Serial
sendData(AX_START);
sendData(ID);
sendData(AX_GOAL_LENGTH);
sendData(AX_WRITE_DATA);
sendData(AX_CCW_ANGLE_LIMIT_L);
sendData(AX_CCW_AL_L);
sendData(AX_CCW_AL_H);
sendData(Checksum);
delayus(TX_DELAY_TIME);
switchCom(Direction_Pin,Rx_MODE);
return (read_error()); // Return the read error
}
}
// initiate a soft reset (run code in spifi) when flag is set.
void handleReset()
{
// note, none of this soft reset code works. There is some kind of issue with the spifi coming out of reset.
// 1) if you boot into spifi from power-up and run this code (from ram), reset works.
// but only if you do soft reset of RGU_SIG_M3. RGU_SIG_CORE won't work, which is consistent with (3) below.
// 2) if you boot into dfu from power-up (non-spifi) and run this code, reset fails.
// This implies that some state either in the spifi device or the spifi controller isn't being reset/restored correctly
// during reset.
// 3) if you softreset the spifi, (1) no longer holds.
// This implies that the state of the spifi controller is likely causing the reset hang.
// 4) reading the state of the spifi controller (registers 0x40003000-0x40003020) shows a change in controller
// state regarding (1) and (2), namely 0x40003014, 3018, 301c, but strangely, trying to read 0x40003014 programatically
// hangs the processor.
// There's this:
// http://www.lpcware.com/content/blog/introduction-spifi
// which describes how to reset the spifi device.
// The Winbond W25Q80BV has a 0xff reset instruction (for stopping a read stream).
// But this doesn't help either.
// Other sources like the errata:
// http://www.nxp.com/documents/errata_sheet/ES_LPC43X0_A.pdf
// say that you need to issue a cancel_mem_mode() command beofore resetting. This doesn't work either.
// http://www.lpcware.com/content/forum/soft-reset-spifi
if (g_resetFlag)
{
delayus(100000); // wait for USB return packet to be sent
#if 0
// reset spifi device
SPIFI_CMD =(0xffu << 24) | // opcode 0xFF winbond reset
(0x1 << 21) | // frame form indicating opcode only
(0x0 << 19) | // field form indicating all serial
(0); // datalen
while(SPIFI_STAT & 2); // wait for command to complete
//RGU_SoftReset(RGU_SIG_SPIFI); // reset spifi controller
delayus(100000); // wait for spifi device to reset
#endif
(*spifi_table.cancel_mem_mode)(&g_spifi);
(*spifi_table.cancel_mem_mode)(&g_spifi);
delayus(100000); // wait for spifi device to reset
RGU_SoftReset(RGU_SIG_CORE); // reset processor
while(1);
}
}
Uint8 l_cl_read(){
L_CL_Tris = 1;
Nop();
if(L_CL_Read==0){
delayus(100);
if(L_CL_Read==0){
return true;
}
}
return false;
}