// program entry point
int main()
{
int errCode;
struct LCD_Geometry *pointCurrent= &Current;
struct LCD_Properties *pointProperties = &Properties;
FILE lcd_str = FDEV_SETUP_STREAM(TerminalChar, NULL, _FDEV_SETUP_RW);
stdout = &lcd_str;
FRESULT rc; /* Result code */
DIR dir; /* Directory object */
FILINFO fno; /* File information object */
UINT bw, br, i;
USART_init();
SPI_MasterInit();
SSD1289_Initalize();
UTouch_InitTouch(0);
LCD_Fill_Rectangle(0,0, 320,240,0x000000);
terminalemulator();
Terminal_Set_Properties(2, 1, 0xFFFFFF);
//while(1) { Paint_Program();}
printf("Serial Default Output");
/* Init the MMC */
printf("mmc_init\n");
//disk_initialize(0);
mmc_init();
/// Drive must be mounted before use // Drive 0 - signifies SD System
/// Halt on anything other than mounting system okay
errCode = f_mount(0, &filesystem);
if (errCode != FR_OK)
{
printf("Error: f_mount failed, error code: %d\r", errCode);
printf("Please refer to error list");
while (1); // freeze
}
printf("\n Mounted File System: Type SD");
// Draw BMP
printf("\nCreate a new file (hello.txt).\n");
rc = f_open(&file, "HELLO.TXT", FA_WRITE | FA_CREATE_ALWAYS);
printf("\nWrite a text data. (Hello world!)\n");
rc = f_write(&file, "Hello world!\r\n", 14, &bw);
printf("%u bytes written.\n", bw);
printf("\nClose the file.\n");
rc = f_close(&file);
while(1){
//printf("\nOpen root directory.\n");
rc = f_opendir(&dir, "");
//printf("\nDirectory listing...\n");
for (;;) {
rc = f_readdir(&dir, &fno); /* Read a directory item */
if (rc || !fno.fname[0]) break; /* Error or end of dir */
if (fno.fattrib & AM_DIR)
printf(" <dir> %s\n", fno.fname);
else
{
//printf("%8lu %s\n", fno.fsize, fno.fname);
draw_bmp(0,0,fno.fname);
}
}
}
}
void RS232_TEST(void){
struct LCD_Geometry *pointCurrent= &Current;
struct LCD_Properties *pointProperties= &Properties;
struct Terminal_Program_Values *pointTerminal = &TerminalProperties;
unsigned int i =0;
unsigned int RS232_LENGTH =0;
unsigned char Error =0;
unsigned int Local_Process =0;
unsigned int Local_counter =0;
unsigned int Local_Message_Storage_Counter =0;
unsigned char Local_Error_Flag_Number =0;
int Encoder_L_Counter =0;
int Encoder_R_Counter =0;
unsigned char Encoder_Watchdog_Flag =0;
Error_Flag_Number =0;
RS232_INIT();
// RS232_ECD(1);
/* / Accelerometer_INIT();
// fill outline
LCD_Fill_Rectangle(0,0,pointTerminal->xResolution,pointProperties->yResolution , 0x00FFFF); //
/// Disable any currently running interrupts ///
LCD_Fill_Rectangle(20,20,pointTerminal->xResolution-40,pointTerminal->yResolution-40, 0x000000);
pointCurrent->size = 2;
pointTerminal->previousx = 24;
pointTerminal->currentline = 2;
printf("PROJECT IV - ROBIT V0.%d", 3);
pointTerminal->previousx = 25;
pointTerminal->currentline = 4;
printf("%s", "MOTOR SPEED");
pointTerminal->currentline = 5;
pointTerminal->previousx = 105;
printf("%s", "ENCODER"); */
asm("CLI");
while(1){
asm("SEI");
// RS232
RS232_LENGTH= RS232_COUNTER_OUTSIDE; // could kill perhaps
Local_Process = RS232_Processed_Data_Flag;
Local_Message_Storage_Counter =Message_Storage_Counter;
Local_Error_Flag_Number = Error_Flag_Number;
/// ENCODER
Encoder_L_Counter = L_Counter;
Encoder_R_Counter = R_Counter;
Encoder_Watchdog_Flag = WATCH_DOG_FLAG;
asm("CLI");
if(Local_Error_Flag_Number != 0x00){
asm("SEI");
ERROR_PRINT_SCREEN_2("RS232 outside of alloted data storage array size",Local_Error_Flag_Number);
}
if(Local_Process){
// KILL INTERRUPTS///
asm("SEI");
Local_Message_Storage_Counter = (Message_Storage_Counter%RS232_MESSAGE_STORAGE_LENGTH); // used to count the number of chars in message array from RS232
/// store data in local array for use !!!! 100% NECESSARY FOR FUNCTION//
for (i=0; i < (Local_Message_Storage_Counter); i++)
Local_Message_Storage_Array_RS232[i] = MessageStorageArray[i];
Message_Storage_Counter = 0; // set main counter to zero
RS232_Processed_Data_Flag = 0; // tell the interrupt process we, processed the dat
// Process_RS232(MessageStorageArray,Local_Message_Storage_Counter);
asm("CLI");
for (i=0; i < (Local_Message_Storage_Counter); i++)
printf("%c", Local_Message_Storage_Array_RS232[i]);
/// DATA ARRAY MUST BE PROCESSED EACH RECIEVE !!!
Process_RS232(Local_Message_Storage_Array_RS232,Local_Message_Storage_Counter);
printf(" LENGTH: %d", Local_Message_Storage_Counter);
printf("\n LOAD BOARD FUNCTION: %c", Board_Function);
switch(Board_Function) {
/// RUN RS232 TYPE WRITER
case '0':
printf("\nOPENIGN SERIAL TERMINAL");
RS232_ECD(RS232_Com_PORT);
break;
/// RUN DC MOTOR
case '1':
printf("\nDC MOTOR SHIT");
DC_Motor_ECD( Local_Message_Storage_Counter);
break;
// MOVE CAMERA
case '2':
// printf("\nCAMERA MOVE");
Camera_ECD( Local_Message_Storage_Counter); //Camera_ECD
//DC_Motor_Encoder_ECD(Local_Message_Storage_Array_RS232, Local_Message_Storage_Counter);
break;
case '3':
printf("\nPING");
Ping_ECD(Local_Message_Storage_Counter);
//DC_Motor_Encoder_ECD(Local_Message_Storage_Array_RS232, Local_Message_Storage_Counter);
break;
}
}
if(Encoder_Watchdog_Flag ==1){
// printf("R %d \n", Encoder_R_Counter);
// printf("L %d \n", Encoder_L_Counter);
// RESET COUNTERS AND FLAGS
LCD_Fill_Rectangle(335,100,50,50, 0x000000);
pointTerminal->previousx = 300;
pointTerminal->currentline = 12;
printf("%s: %d", "LEFT", Encoder_L_Counter);
pointTerminal->previousx = 300;
pointTerminal->currentline = 13;
printf("%s: %d ", "RIGHT", Encoder_R_Counter);
DisableInterrupts;
WATCH_DOG_FLAG =0;
L_Counter =0;
R_Counter =0;
EnableInterrupts;
}
// PASS VARS TO WATCHDOG
DisableInterrupts;
WATCH_L_COUNTER = Encoder_L_Counter;
WATCH_R_COUNTER = Encoder_R_Counter;
EnableInterrupts;
// Accelerometer_Test();
}
}
