#include <xdc/std.h>

#include <xdc/runtime/System.h>

#include <ti/sysbios/BIOS.h>

#define xdc__strict

#include <ti/sysbios/knl/Task.h>

#include <ti/sysbios/knl/Clock.h>

#include <ti/sysbios/knl/Event.h>

#include <ti/sysbios/family/c28/Hwi.h>

#include <ti/sysbios/knl/Semaphore.h>

#include <ti/sysbios/knl/Task.h>

#include <xdc/cfg/global.h>

#include "DSP28x_Project.h"

#include "LCD.h"

#include "bq_pack.h"

#include "main.h"

#include "stdlib.h"

#include "stdio.h"

#include "math.h"

#include "string.h"

#include "ALFAT.h"

#include "eCAN.h"

extern w2000_Status W2000;

extern bq_pack_t bq_pack;

extern Bike_Status Bike;

LCD_Status LCD_S;

// GPIO18 (SCITXDB)

// power 3.3v

/*

* ======== taskFxn ========

*/

Void CLK_LCD(UArg a0, UArg a1)

{

Event_post(EVT_LCD_CLK,Event_Id_00);

}

void TSK_LCD(UArg a0, UArg a1)

{

// System_printf("enter taskFxn()\n");

char msg[16];

short index = 0;

while (1)

{

Event_pend(EVT_LCD_CLK,Event_Id_00, Event_Id_NONE,BIOS_WAIT_FOREVER);

if(LCD_S.init == 1)

{

LCD_Clear();

LCD_Cursor(0,0);

if (Bike.Mode == MODE_CHARGE)

{

msg[0] = 'H';

msg[1] = '\0';

scib_msg(msg);

LCD_Cursor(1,0);

double2string((double)(bq_pack.highest_cell_volts/1000.0), 2.0, msg);

scib_msg(msg);

msg[0] = ' ';

msg[1] = 'L';

msg[2] = '\0';

scib_msg(msg);

double2string((double)(bq_pack.lowest_cell_volts/1000.0), 2.0, msg);

scib_msg(msg);

msg[0] = ' ';

msg[1] = 'T';

msg[2] = '\0';

scib_msg(msg);

unsigned short temp = bq_pack.highest_temp;

ltoa(temp,msg);

msg[2] = '\0';

scib_msg(msg);

}

if(Bike.Mode == MODE_RACE)

{

ltoa((long)(W2000.Odometer),msg); //mph

scib_msg(msg);

scib_msg(":\0");

ltoa((long)(W2000.PhaseATemp),msg); //degree C

scib_msg(msg);

scib_msg(":\0");

ltoa((long)(W2000.MotorVelocity),msg); //amps

}

LCD_Cursor(0,1);

if(Bike.Fault.all != 0)

{

index = 0;

if(Bike.Fault.bit.precharge != 0 && index < 9)

{

msg[0] = 'F';

msg[1] = ':';

msg[2] = 'P';

msg[3] = 'R';

msg[4] = 'E';

msg[5] = 'C';

msg[6] = 'H';

msg[7] = ' ';

msg[8] = '\0';

scib_msg(msg);

index = index + 8;

}

if(Bike.Fault.bit.BMM_Init != 0 && index < 11)

{

msg[0] = 'F';

msg[1] = ':';

msg[2] = 'B';

msg[3] = 'M';

msg[4] = 'M';

msg[5] = ' ';

msg[6] = '\0';

scib_msg(msg);

index = index + 6;

}

if(Bike.Fault.bit.OV != 0 && index < 12)

{

msg[0] = 'F';

msg[1] = ':';

msg[2] = 'O';

msg[3] = 'V';

msg[7] = ' ';

msg[8] = '\0';

scib_msg(msg);

index = index + 5;

}

if(Bike.Fault.bit.UV != 0 && index < 12)

{

msg[0] = 'F';

msg[1] = ':';

msg[2] = 'U';

msg[3] = 'V';

msg[7] = ' ';

msg[8] = '\0';

scib_msg(msg);

index = index + 5;

}

if(Bike.Fault.bit.estop != 0 && index < 9)

{

msg[0] = 'F';

msg[1] = ':';

msg[2] = 'E';

msg[3] = 'S';

msg[4] = 't';

msg[5] = 'o';

msg[6] = 'p';

msg[7] = ' ';

msg[8] = '\0';

//strcpy(msg,"F:EStop ");

scib_msg(msg);

index = index + 8;

}

if(Bike.Fault.bit.Charge_OC != 0 && index < 10)

{

msg[0] = 'F';

msg[1] = ':';

msg[2] = 'C';

msg[3] = 'h';

msg[4] = 'r';

msg[5] = 'g';

msg[6] = ' ';

msg[7] = '\0';

scib_msg(msg);

index = index + 7;

}

if(Bike.Fault.bit.Dis_OC != 0 && index < 11)

{

msg[0] = 'F';

msg[1] = ':';

msg[2] = 'D';

msg[3] = 'i';

msg[4] = 's';

msg[5] = ' ';

msg[6] = '\0';

scib_msg(msg);

index = index + 6;

}

if(Bike.Fault.bit.Switch_Error != 0 && index < 9)

{

msg[0] = 'F';

msg[1] = ':';

msg[2] = 'S';

msg[3] = '_';

msg[4] = 'E';

msg[5] = 'r';

msg[6] = 'r';

msg[7] = ' ';

msg[8] = '\0';

scib_msg(msg);

index = index + 8;

}

}

else if(Bike.Warning.all != 0)

{

index = 0;

if(Bike.Warning.bit.BMM_loss != 0 && index < 11)

{

msg[0] = 'W';

msg[1] = ':';

msg[2] = 'B';

msg[3] = 'M';

msg[4] = 'M';

msg[5] = ' ';

msg[6] = '\0';

scib_msg(msg);

index = index + 6;

}

if(Bike.Warning.bit.w2000_off != 0 && index < 9)

{

msg[0] = 'W';

msg[1] = ':';

msg[2] = 'W';

msg[3] = '2';

msg[4] = '0';

msg[5] = '0';

msg[6] = '0';

msg[7] = ' ';

msg[8] = '\0';

scib_msg(msg);

index = index + 8;

}

if(Bike.Warning.bit.bus_volt != 0 && index < 9)

{

msg[0] = 'W';

msg[1] = ':';

msg[2] = 'B';

msg[3] = 'V';

msg[4] = 'O';

msg[5] = 'L';

msg[6] = 'T';

msg[7] = ' ';

msg[8] = '\0';

scib_msg(msg);

index = index + 8;

}

if(Bike.Warning.bit.current_sense_error != 0 && index < 11)

{

msg[0] = 'W';

msg[1] = ':';

msg[2] = 'C';

msg[3] = 'S';

msg[4] = 'E';

msg[5] = ' ';

msg[6] = '\0';

scib_msg(msg);

index = index + 6;

}

if(Bike.Warning.bit.Charage_OC != 0 && index < 10)

{

msg[0] = 'W';

msg[1] = ':';

msg[2] = 'C';

msg[3] = 'h';

msg[4] = 'r';

msg[5] = 'g';

msg[6] = ' ';

msg[7] = '\0';

scib_msg(msg);

index = index + 7;

}

if(Bike.Warning.bit.Dis_OC != 0 && index < 11)

{

msg[0] = 'W';

msg[1] = ':';

msg[2] = 'D';

msg[3] = 'i';

msg[4] = 's';

msg[5] = ' ';

msg[6] = '\0';

scib_msg(msg);

index = index + 6;

}

if(Bike.Warning.bit.SD_Startup != 0 && index < 10)

{

msg[0] = 'W';

msg[1] = ':';

msg[2] = 'S';

msg[3] = 'D';

msg[4] = '_';

msg[5] = 'S';

msg[6] = ' ';

msg[7] = '\0';

scib_msg(msg);

index = index + 7;

}

if(Bike.Warning.bit.SD_Write != 0 && index < 10)

{

msg[0] = 'W';

msg[1] = ':';

msg[2] = 'S';

msg[3] = 'D';

msg[4] = '_';

msg[5] = 'W';

msg[6] = ' ';

msg[7] = '\0';

scib_msg(msg);

index = index + 7;

}

if(Bike.Warning.bit.Capacity != 0 && index < 11)

{

msg[0] = 'W';

msg[1] = ':';

msg[2] = 'C';

msg[3] = 'a';

msg[4] = 'p';

msg[5] = ' ';

msg[6] = '\0';

scib_msg(msg);

index = index + 6;

}

}

else

{

if(Bike.Mode == MODE_RACE)

{

//scib_msg("Vel:\0");

ltoa((long)(W2000.VehicleVelocity*(2.2)),msg); //mph

scib_msg(msg);

scib_msg(":\0");

ltoa((long)(W2000.MotorTemp),msg); //degree C

scib_msg(msg);

scib_msg(":\0");

ltoa((long)(W2000.BusCurrent),msg); //amps

scib_msg(msg);

}

else if (Bike.Mode == MODE_CHARGE)

{

scib_msg("V:\0");

ltoa((long)W2000.BusVoltage,msg);

scib_msg(msg);

scib_msg("C:\0");

ltoa((long)(W2000.BusCurrent),msg); //amps

scib_msg(msg);

}

/*

FOR REFERENCE

scib_msg("MBV:\0");

ltoa((long)W2000.BusVoltage,msg);

scib_msg(msg);

scib_msg("BV:\0");

ltoa((long)(bq_pack.voltage/1000),msg);

scib_msg(msg);

scib_msg("Vel:\0");

ltoa((long)(W2000.VehicleVelocity*(2.2)),msg); //mph

scib_msg(msg);

scib_msg("MT:\0");

ltoa((long)(W2000.MotorTemp),msg); //degree C

scib_msg(msg);

scib_msg("MC:\0");

ltoa((long)(W2000.BusCurrent),msg); //amps

scib_msg(msg);

*/

}

Task_sleep(2);

}

// System_printf("exit taskFxn()\n");

}

}

void LCD_Startup()

{

InitScibGpio();

scib_fifo_init(); // Init SCI-B

// LCD_Reset();

LCD_Clear();

LCD_Backlight(30);

Clock_start(LCD_CLOCK);

LCD_S.init = 1;

}

void LCD_Disable()

{

Clock_stop(LCD_CLOCK);

ScibRegs.SCICTL1.all =0x0000;

EALLOW;

GpioCtrlRegs.GPAPUD.bit.GPIO14 = 1;

GpioCtrlRegs.GPAMUX1.bit.GPIO14 = 0;

GpioDataRegs.GPACLEAR.bit.GPIO14 = 1;

EDIS;

LCD_S.init = 0;

}

void scib_fifo_init()

{

ScibRegs.SCICCR.all =0x0007; // 1 stop bit, No loopback

// No parity,8 char bits,

// async mode, idle-line protocol

ScibRegs.SCICTL1.all =0x0002; // enable TX, RX, internal SCICLK,

// Disable RX ERR, SLEEP, TXWAKE

ScibRegs.SCICTL1.bit.RXENA = 0; //disable receive

ScibRegs.SCICTL2.bit.TXINTENA =1;

// ScibRegs.SCICTL2.bit.RXBKINTENA =1;

ScibRegs.SCIHBAUD =0x0000; // 9600 baud @LSPCLK = 37.5MHz.

ScibRegs.SCILBAUD =0x00F3;

// SciaRegs.SCICCR.bit.LOOPBKENA = 1; // Enable loop back

ScibRegs.SCIFFTX.all=0xC028;

// ScibRegs.SCIFFRX.all=0x0028;

ScibRegs.SCIFFCT.all=0x00;

ScibRegs.SCICTL1.all =0x0023; // Relinquish SCI from Reset

ScibRegs.SCIFFTX.bit.TXFIFOXRESET=1;

// ScibRegs.SCIFFRX.bit.RXFIFORESET=1;

}

unsigned char scib_msg(char * msg)

{

int i;

i = 0;

while(msg[i] != '\0')

{

while(Send_LCD(msg[i]) == 0 && LCD_S.timeout_count < LCD_TIMEOUT_COUNT);

i++;

}

if(LCD_S.timeout_count < LCD_TIMEOUT_COUNT)

{

return 0;

}

else

{

return 1;

}

}

unsigned char Send_LCD(int a)

{

ScibRegs.SCITXBUF=a;

ScibRegs.SCIFFTX.bit.TXFFINTCLR=1; // Clear SCI Interrupt flag

unsigned char ret = Event_pend(EVT_LCD_Tx,Event_Id_00, Event_Id_NONE,LCD_TIMEOUT);

if(ret == 0)

{

LCD_S.timeout_count++;

}

else

{

LCD_S.timeout_count = 0;

}

return ret;

}

void HWI_LCD_TxComplete(UArg a0, UArg a1)

{

Event_post(EVT_LCD_Tx,Event_Id_00);

}

/*

* Clears the screen.

*/

void LCD_Clear(void)

{

Send_LCD(254);

Send_LCD(0x01);

}

/*

* Slides all characters on the screen to right by one segemnt

*/

void LCD_ScrollR(void)

{

Send_LCD(254);

Send_LCD(0x1C);

}

/*

* Slides all characters on the screen to left by one segemnt

*/

void LCD_ScrollL(void)

{

Send_LCD(254);

Send_LCD(0x18);

}

/*

* Changes the brightness of backlight LCD.

* Value between 0-30. 0=off, 30=%100 on

*/

void LCD_Backlight(int value)

{

Send_LCD(254);

Send_LCD(128+value);

}

/*

* if value is 1, enables line under the character

* 0 disables it.

*/

void LCD_Underline(int value)

{

Send_LCD(254);

if(value==1)

Send_LCD(0x0E);

else

Send_LCD(0x0C);

}

/*

* Places cursor on the xth segment (0-15) on line Y(0-1)

* Y=0 is the top line, Y=1 is the bottom line

*/

void LCD_Cursor(int x, int y)

{

Send_LCD(254);

Send_LCD(((128)+(64*y)+x));

}

/*

* if value is 1, enables box cursor around character

* 0 disables it.

*/

void LCD_Blink(int value)

{

Send_LCD(254);

if(value==1)

Send_LCD(0x0D);

else

Send_LCD(0x0C);

}

/*

* if value is 'L' or 'l', moves the cursor to the left

* by one segment, any other value will move the cursor

* to the right by one segment.

*/

void LCD_MoveCursor(char value)

{

Send_LCD(254);

if(value==(('L')||('l')))

Send_LCD(0x10);

else

Send_LCD(0x14);

}

/*

* when called, it toggles splash screen. If called when

* splash screen is enabled, it will be disabled and vice versa.

*/

void LCD_Splash(void)

{

Send_LCD(254);

Send_LCD(0x09);

}

/*

* when called, whatever is currently on the LCD is saved to

* ROM and will be displayed as the splash screen next time

* the LCD boots up.

* **OBSERVED ISSUES**

* - Reset the LCD after using this command. Once the splash

* screen is updated, the LCD might not respond to commands

* until it is reset.

* - Splash screen will not be displayed if splash screens are

* disabled. Try using the LCD_Splash function to enable it.

* - To be safe, try using spaces to indent your custom splash

* screen instead of using LCD_Cursor. I noticed that there

* were undesired characters in the custom splash screen.

*/

void LCD_SplashSave(void)

{

Send_LCD(254);

Send_LCD(0x0A);

}

void LCD_Reset(void)

{

Send_LCD(254);

Send_LCD(0x72);

}