void test_interrupt()
{
lcd_print_char('a');
//intc_enable();
lcd_enable_interrupt();
lcd_print_char('b');
int i = 0;
int j = 0;
for(i=0;i<100000000;i++) {j++;}
lcd_print_char('x');
lcd_disable_interrupt();
}
void lcd_update(void)
{
int x, y;
for (y = 0; y < lcd_pattern_count; y++)
if (lcd_patterns[y].count > 0)
sim_lcd_define_pattern(y, lcd_patterns[y].pattern);
for (y = 0; y < LCD_HEIGHT; y++)
for (x = 0; x < LCD_WIDTH; x++)
lcd_print_char(x, y, lcd_charbuffer[y][x]);
if (lcd_cursor.visible)
lcd_print_char(lcd_cursor.x, lcd_cursor.y, lcd_cursor.hw_char);
sim_lcd_update_rect(0, ICON_HEIGHT, SIM_LCD_WIDTH,
LCD_HEIGHT*CHAR_HEIGHT*CHAR_PIXEL);
}
void
lcd_print_string(
lcd_x_t x,
lcd_y_t y,
const char *string,
lcd_color_t foreground_color,
lcd_color_t background_color)
{
# define MAX_STRING_LENGTH 256
# define CHAR_WIDTH_IN_PIXELS ((LCD_FONT_WIDTH + 1) * LCD_FONT_DOT_SIZE_IN_PIXELS)
size_t length;
size_t length_in_pixels;
lcd_x_t x_cursor;
/*
* Calculate length of NULL terminated string
*/
for (length = 0; length < MAX_STRING_LENGTH && string[length] != '\0'; length ++)
;
length_in_pixels = length * CHAR_WIDTH_IN_PIXELS;
/*
* Truncate string if necessary
*/
if (x + length_in_pixels > LCD_X_SIZE)
{
length_in_pixels -= (x + length_in_pixels) - LCD_X_SIZE;
length = length_in_pixels / CHAR_WIDTH_IN_PIXELS;
}
x_cursor = x;
for (size_t i = 0; i < length; i ++)
{
lcd_print_char(
x_cursor,
y,
(uint8_t)string[i],
foreground_color,
background_color);
x_cursor += CHAR_WIDTH_IN_PIXELS;
}
}
// Halt board on init failure and print message
void board_fail_P(PGM_P msg) {
printf(str_boot_fail, msg);
// print message
#ifdef LCD_DEBUG
lcd_set_pos(16);
lcd_printf(msg);
lcd_set_pos(31);
lcd_print_char('\3', NULL);
#endif
// and stop
while (1) {
for (int i = 0; i < 2; i++) {
LED_COMM(1);
pause(100);
LED_COMM(0);
pause(150);
}
pause(800);
}
}
void lcd_print_string(lcd_t *lcd, char *c)
{
uint8_t i = 0;
while (*c && ++i < 16)
lcd_print_char(lcd, *(++c));
}
void lputcln(unsigned char c){
lcd_print_char(c);
lcd_print_char(STR_NEWLINE);
}
void lputc(unsigned char c){
lcd_print_char(c);
}
void lputsln(unsigned char * str){
lcd_print_str(str);
lcd_print_char(STR_NEWLINE);
}
// Initialise board
void board_init (void) {
#ifndef SIMULATE
io_init(); // Init GPIOs
uart_init(BAUD_RATE);
stderr = &uartio;
printf(str_boot_uart,BAUD_RATE);
printf(str_boot_start);
#else
printf("Skipping UART initialization...\n");
#endif
#ifndef SIMULATE
digital_init();
#endif
encoder_init();
#ifndef SIMULATE
spi_init();
motor_init();
servo_init();
#ifdef LCD_DEBUG
lcd_init(); //consider wrapping this in an #ifdef LCD_DEBUG tag?
stdout = &lcdout;
#else
stdout = &uartio;
stdin = &uartio;
#endif
adc_init();
isr_init();
memory_init();
#endif
// load config, or fail if invalid
if (!board_load_config())
board_fail("Bad Config");
printf(str_boot_conf);
printf(str_boot_board,
board_config.version>>8,
board_config.version&0xFF);
printf(str_boot_id, board_config.id);
// print boot text to screen
printf(str_boot_message, board_config.version>>8, board_config.version&0xFF);
// check battery, fail if <7.5V
printf(str_boot_batt,read_battery());
#ifdef CHECK_BATTERY
if (!(read_battery()>=7200)) {
// NOTE: in the current 2-battery version of the HappyBoard, the
// battery voltage is the motor battery (P+). Holding GO overrides
// the check so you can run the HappyBoard without a motor battery.
if (go_press())
printf("WARNING: LOW BATTERY\n");
else
board_fail("Low battery");
} else {
printf("Battery OK\n");
}
#endif
#ifndef SIMULATE
// initialise FPGA
if (!fpga_init(FPGA_CONFIG_ADDRESS, board_config.fpga_len))
board_fail("FPGA failure");
printf(str_boot_fpga, fpga_get_version_major(), fpga_get_version_minor());
#else
printf("Skipping FPGA initialization...\n");
#endif
// all ok
#ifndef SIMULATE
#ifdef LCD_DEBUG
lcd_set_pos(31);
lcd_print_char('\1', NULL);
#else
printf("Board init complete.\n");
#endif
#else
printf("Board init complete.\n");
#endif
#ifndef SIMULATE
LED_COMM(0);
#endif
}
