////////LCM reset
void LCD_Reset(void)
{
RESET = 0;
Delay1ms(1);
RESET = 1;
Delay1ms(1);
}
void Soft_Reset(void)
{
xSemaphoreTake(xDispSemaphore, portMAX_DELAY);
{
LCD_Reset();
Delay1ms(500);
LCD_Initial();
Two_Layers();
Delay1ms(100);
Active_Window(0,479,0,271);
Background_color(color_black);
Text_color(color_white);
Text_Cursor_Disable();
Layer1_Visible();
Write_To_Bank1();
Clear_Active_Window();
Write_To_Bank2();
Clear_Full_Window();
Display_ON();
//backlight on for RAiO RA8875_demo_board_V2
PWM1_enable();
PWM1_duty_cycle(0xff);
Text_color(color_white);
Background_color(color_black);
xSemaphoreGive(xDispSemaphore);
}
}
// 3. Subroutines Section
// MAIN: Mandatory for a C Program to be executable
int main(void){
TExaS_Init(SW_PIN_PF40, LED_PIN_PF31,ScopeOn); // activate grader and set system clock to 80 MHz
PortF_Init(); // Init port PF4 PF3 PF1
EnableInterrupts(); // enable interrupts for the grader
while(1){
SetReady();
WaitForASLow();
ClearReady();
Delay1ms(10);
WaitForASHigh();
Delay1ms(250);
SetVT();
Delay1ms(250);
ClearVT();
// Follows the nine steps list above
// a) Ready signal goes high
// b) wait for switch to be pressed
// c) Ready signal goes low
// d) wait 10ms
// e) wait for switch to be released
// f) wait 250ms
// g) VT signal goes high
// h) wait 250ms
// i) VT signal goes low
}
}
/////////////PLL setting
void PLL_ini(void)
{
LCD_CmdWrite(0x88);
LCD_DataWrite(0x0C);
Delay1ms(1);
LCD_CmdWrite(0x89);
LCD_DataWrite(0x02);
Delay1ms(1);
}
static void RA8875_PLL_ini(void)
{
#ifdef P800x480
LCD_CmdWrite(0x88);
LCD_DataWrite(0x0c);
Delay1ms(1);
LCD_CmdWrite(0x89);
LCD_DataWrite(0x02);
Delay1ms(1);
#endif
}
void Init_Display(void)
{
xSemaphoreTake(xDispSemaphore, portMAX_DELAY);
{
Delay1ms(1000);
LowLevel_Init();
Delay1ms(100);
bDisplayInitialized = 0x01;
xSemaphoreGive(xDispSemaphore);
}
}
//////////////////////////////////////////////////////////////////////////
// I2C access start.
//
// Arguments: ucSlaveAdr - slave address
// trans_t - I2C_TRANS_WRITE/I2C_TRANS_READ
//////////////////////////////////////////////////////////////////////////
BOOL i2c_AccessStart(BYTE ucSlaveAdr, I2C_Direction trans_t)
{
BYTE ucDummy; // loop dummy
if (trans_t == I2C_READ) // check i2c read or write
ucSlaveAdr = I2C_DEVICE_ADR_READ(ucSlaveAdr); // read
else
ucSlaveAdr = I2C_DEVICE_ADR_WRITE(ucSlaveAdr); // write
ucDummy = I2C_ACCESS_DUMMY_TIME;
while (ucDummy--)
{
i2c_Delay();
if (i2c_Start() == FALSE)
continue;
if (i2c_SendByte(ucSlaveAdr) == I2C_ACKNOWLEDGE) // check acknowledge
return TRUE;
//printf("ucSlaveAdr====%x", ucSlaveAdr);
i2c_Stop();
Delay1ms(1);
}
return FALSE;
}
// Initialization code common to both 'B' and 'R' type displays
void static commonInit(const uint8_t *cmdList) {
ColStart = RowStart = 0; // May be overridden in init func
// toggle RST low to reset; CS low so it'll listen to us
// UCA3STE is temporarily used as GPIO
P9SEL0 &= ~0x0C;
P9SEL1 &= ~0x0C; // configure P9.2 (D/C), P9.3 (Reset), and P9.4 (TFT_CS) as GPIO
P9DIR |= 0x1C; // make P9.2 (D/C), P9.3 (Reset), and P9.4 (TFT_CS) out
TFT_CS &= ~TFT_CS_BIT;
RESET |= RESET_BIT;
Delay1ms(500);
RESET &= ~RESET_BIT;
Delay1ms(500);
RESET |= RESET_BIT;
Delay1ms(500);
// initialize eUSCI
UCA3CTLW0 = 0x0001; // hold the eUSCI module in reset mode
// configure UCA3CTLW0 for:
// bit15 UCCKPH = 1; data shifts in on first edge, out on following edge
// bit14 UCCKPL = 0; clock is low when inactive
// bit13 UCMSB = 1; MSB first
// bit12 UC7BIT = 0; 8-bit data
// bit11 UCMST = 1; master mode
// bits10-9 UCMODEx = 00; UCSTE active low
// bit8 UCSYNC = 1; synchronous mode
// bits7-6 UCSSELx = 2; eUSCI clock SMCLK
// bits5-2 reserved
// bit1 UCSTEM = 0; UCSTE pin enables slave
// bit0 UCSWRST = 1; reset enabled
UCA3CTLW0 = 0xA981;
// set the baud rate for the eUSCI which gets its clock from SMCLK
// Clock_Init48MHz() from ClockSystem.c sets SMCLK = HFXTCLK/4 = 12 MHz
// if the SMCLK is set to 12 MHz, divide by 3 for 4 MHz baud clock
UCA3BRW = 3;
// modulation is not used in SPI mode, so clear UCA3MCTLW
UCA3MCTLW = 0;
P9SEL0 |= 0xE0;
P9SEL1 &= ~0xE0;
P9SEL0 &= ~0x0C;
P9SEL1 &= ~0x0C; // configure P9.7, P9.5, and P9.4 as primary module function
UCA3CTLW0 &= ~0x0001; // enable eUSCI module
UCA3IE &= ~0x0003; // disable interrupts
if(cmdList) commandList(cmdList);
}
void Delay100ms(uint8_t x)
{
uint8_t i;
for (i=0;i<x;i++)
{
Delay1ms(100);
}
}
/////////////LCM initial
void LCD_Initial(void)
{
PLL_ini();
LCD_CmdWrite(0x10); //
LCD_DataWrite(0x0C); // 65k 8bit mcu interface
LCD_CmdWrite(0x04); //PCLK
LCD_DataWrite(0x81); //
Delay1ms(1);
//Horizontal set
LCD_CmdWrite(0x14); //HDWR//Horizontal Display Width Setting Bit[6:0]
LCD_DataWrite(0x63);//Horizontal display width(pixels) = (HDWR + 1)*8
LCD_CmdWrite(0x15);//Horizontal Non-Display Period Fine Tuning Option Register (HNDFTR)
LCD_DataWrite(0x00);//Horizontal Non-Display Period Fine Tuning(HNDFT) [3:0]
LCD_CmdWrite(0x16); //HNDR//Horizontal Non-Display Period Bit[4:0]
LCD_DataWrite(0x03);//Horizontal Non-Display Period (pixels) = (HNDR + 1)*8
LCD_CmdWrite(0x17); //HSTR//HSYNC Start Position[4:0]
LCD_DataWrite(0x03);//HSYNC Start Position(PCLK) = (HSTR + 1)*8
LCD_CmdWrite(0x18); //HPWR//HSYNC Polarity ,The period width of HSYNC.
LCD_DataWrite(0x0B);//HSYNC Width [4:0] HSYNC Pulse width(PCLK) = (HPWR + 1)*8
//Vertical set
LCD_CmdWrite(0x19); //VDHR0 //Vertical Display Height Bit [7:0]
LCD_DataWrite(0xdf);//Vertical pixels = VDHR + 1
LCD_CmdWrite(0x1a); //VDHR1 //Vertical Display Height Bit [8]
LCD_DataWrite(0x01);//Vertical pixels = VDHR + 1
LCD_CmdWrite(0x1b); //VNDR0 //Vertical Non-Display Period Bit [7:0]
LCD_DataWrite(0x20);//Vertical Non-Display area = (VNDR + 1)
LCD_CmdWrite(0x1c); //VNDR1 //Vertical Non-Display Period Bit [8]
LCD_DataWrite(0x00);//Vertical Non-Display area = (VNDR + 1)
LCD_CmdWrite(0x1d); //VSTR0 //VSYNC Start Position[7:0]
LCD_DataWrite(0x16);//VSYNC Start Position(PCLK) = (VSTR + 1)
LCD_CmdWrite(0x1e); //VSTR1 //VSYNC Start Position[8]
LCD_DataWrite(0x00);//VSYNC Start Position(PCLK) = (VSTR + 1)
LCD_CmdWrite(0x1f); //VPWR //VSYNC Polarity ,VSYNC Pulse Width[6:0]
LCD_DataWrite(0x01);//VSYNC Pulse Width(PCLK) = (VPWR + 1)
Active_Window(0,799,0,479);
LCD_CmdWrite(0x8a);//PWM setting
LCD_DataWrite(0x80);
LCD_CmdWrite(0x8a);//PWM setting
LCD_DataWrite(0x81);//open PWM
LCD_CmdWrite(0x8b);//Backlight brightness setting
LCD_DataWrite(0xff);//Brightness parameter 0xff-0x00
}
// Companion code to the above tables. Reads and issues
// a series of LCD commands stored in ROM byte array.
void static commandList(const uint8_t *addr) {
uint8_t numCommands, numArgs;
uint16_t ms;
numCommands = *(addr++); // Number of commands to follow
while(numCommands--) { // For each command...
writecommand(*(addr++)); // Read, issue command
numArgs = *(addr++); // Number of args to follow
ms = numArgs & DELAY; // If hibit set, delay follows args
numArgs &= ~DELAY; // Mask out delay bit
while(numArgs--) { // For each argument...
writedata(*(addr++)); // Read, issue argument
}
if(ms) {
ms = *(addr++); // Read post-command delay time (ms)
if(ms == 255) ms = 500; // If 255, delay for 500 ms
Delay1ms(ms);
}
}
}
void Delay100ms(uint i)
{
while(i--)
Delay1ms(100);
}
void DelayWait10ms(uint32_t n)
{
Delay1ms(n*10);
}
static void LCD_Initial(void)
{
RA8875_PLL_ini();
LCD_CmdWrite(0x10); //SYSR bit[4:3]=00 256 color bit[2:1]= 00 8bit MPU interface
LCD_DataWrite(0x0f); /* [3:2]-256/65K [1:0]-8/18bit */
#ifdef P800x480
//AT070TN92 setting
//============== Display Window 800x480 ==================
LCD_CmdWrite(0x04); //PCLK inverse
LCD_DataWrite(0x81);
Delay1ms(1);
//Horizontal set
LCD_CmdWrite(0x14); //HDWR//Horizontal Display Width Setting Bit[6:0]
LCD_DataWrite(0x63);//Horizontal display width(pixels) = (HDWR + 1)*8
LCD_CmdWrite(0x15);//Horizontal Non-Display Period Fine Tuning Option Register (HNDFTR)
LCD_DataWrite(0x03);//Horizontal Non-Display Period Fine Tuning(HNDFT) [3:0]
LCD_CmdWrite(0x16); //HNDR//Horizontal Non-Display Period Bit[4:0]
LCD_DataWrite(0x03);//Horizontal Non-Display Period (pixels) = (HNDR + 1)*8
LCD_CmdWrite(0x17); //HSTR//HSYNC Start Position[4:0]
LCD_DataWrite(0x02);//HSYNC Start Position(PCLK) = (HSTR + 1)*8
LCD_CmdWrite(0x18); //HPWR//HSYNC Polarity ,The period width of HSYNC.
LCD_DataWrite(0x00);//HSYNC Width [4:0] HSYNC Pulse width(PCLK) = (HPWR + 1)*8
//Vertical set
LCD_CmdWrite(0x19); //VDHR0 //Vertical Display Height Bit [7:0]
LCD_DataWrite(0xdf);//Vertical pixels = VDHR + 1
LCD_CmdWrite(0x1a); //VDHR1 //Vertical Display Height Bit [8]
LCD_DataWrite(0x01);//Vertical pixels = VDHR + 1
LCD_CmdWrite(0x1b); //VNDR0 //Vertical Non-Display Period Bit [7:0]
LCD_DataWrite(0x14);//Vertical Non-Display area = (VNDR + 1)
LCD_CmdWrite(0x1c); //VNDR1 //Vertical Non-Display Period Bit [8]
LCD_DataWrite(0x00);//Vertical Non-Display area = (VNDR + 1)
LCD_CmdWrite(0x1d); //VSTR0 //VSYNC Start Position[7:0]
LCD_DataWrite(0x06);//VSYNC Start Position(PCLK) = (VSTR + 1)
LCD_CmdWrite(0x1e); //VSTR1 //VSYNC Start Position[8]
LCD_DataWrite(0x00);//VSYNC Start Position(PCLK) = (VSTR + 1)
LCD_CmdWrite(0x1f); //VPWR //VSYNC Polarity ,VSYNC Pulse Width[6:0]
LCD_DataWrite(0x01);//VSYNC Pulse Width(PCLK) = (VPWR + 1)
//Active window set
//setting active window X
LCD_CmdWrite(0x30); //Horizontal Start Point 0 of Active Window (HSAW0)
LCD_DataWrite(0x00); //Horizontal Start Point of Active Window [7:0]
LCD_CmdWrite(0x31); //Horizontal Start Point 1 of Active Window (HSAW1)
LCD_DataWrite(0x00); //Horizontal Start Point of Active Window [9:8]
LCD_CmdWrite(0x34); //Horizontal End Point 0 of Active Window (HEAW0)
LCD_DataWrite(0x1F); //Horizontal End Point of Active Window [7:0]
LCD_CmdWrite(0x35); //Horizontal End Point 1 of Active Window (HEAW1)
LCD_DataWrite(0x03); //Horizontal End Point of Active Window [9:8]
//setting active window Y
LCD_CmdWrite(0x32); //Vertical Start Point 0 of Active Window (VSAW0)
LCD_DataWrite(0x00); //Vertical Start Point of Active Window [7:0]
LCD_CmdWrite(0x33); //Vertical Start Point 1 of Active Window (VSAW1)
LCD_DataWrite(0x00); //Vertical Start Point of Active Window [8]
LCD_CmdWrite(0x36); //Vertical End Point of Active Window 0 (VEAW0)
LCD_DataWrite(0xdf); //Vertical End Point of Active Window [7:0]
LCD_CmdWrite(0x37); //Vertical End Point of Active Window 1 (VEAW1)
LCD_DataWrite(0x01); //Vertical End Point of Active Window [8]
#endif
}
main()
{
char idx ; //宣告字元變數 idx
unsigned int interval ; //宣告無號數整數變數 interval
unsigned char color ; //宣告無號數字元變數 color ,color=0(紅)color=1(綠),color=2(黃)
idx=0 ; //令 idx = 0
interval=0 ; //令 interval = 0
color=0 ; //令 color = 0
for( ; ;){
CTRLLED=1 ; //關閉所有矩陣LED
if((color== 0) || (color== 2)){ //若color=0(紅)或color=2(黃) 則
P0=hwan[idx*2] ; //取得資料表中第 idx*2 之資料,並輸出至P0
LRED1=0 ; //使P0之資料輸出至上半部的矩陣LED(制能紅色)
LRED1=1 ;
P0=hwan[idx*2+1] ; //取得資料表中第 idx*2+1 之資料,並輸出至P0
LRED2=0 ; //使P0之資料輸出至下半部的矩陣LED(制能紅色)
LRED2=1 ;
}
else{
P0=0xff ; //否則 P0 輸出 11111111
LRED1=0 ; //使P0之資料 11111111 輸出至上半部的矩陣LED
LRED1=1 ;
LRED2=0 ; //使P0之資料 11111111 輸出至下半部的矩陣LED
LRED2=1 ; //使輸出為綠色
}
if((color== 1) || (color== 2)){ //若color=1(綠)或color=2(黃) 則
P0=hwan[idx*2] ; //取得資料表中第 idx*2 之資料,並輸出至P0
LGREEN1=0 ; //使P0之資料輸出至上半部的矩陣LED(制能綠色)
LGREEN1=1 ;
P0=hwan[idx*2+1] ; //取得資料表中第 idx*2 之資料,並輸出至P0
LGREEN2=0 ; //使P0之資料輸出至下半部的矩陣LED(制能綠色)
LGREEN2=1 ; // (若紅色和綠色都被制能則會輸出黃色)
}
else{
P0=0xff ; //否則 P0 輸出 11111111
LGREEN1=0 ; //使P0之資料 11111111 輸出至上半部的矩陣LED
LGREEN1=1 ;
LGREEN2=0 ; //使P0之資料 11111111 輸出至下半部的矩陣LED
LGREEN2=1 ; //使輸出為紅色
}
P1 &=0xf0 ; //令 P1 = P1 and 11110000
P1 |=idx ; //再取得掃描值輸出
CTRLLED=0 ; //啟動矩陣LED
idx++ ; //令 idx = idx + 1
if(idx >=16){ //若 idx 大於等於 16 (矩陣以顯示一次),則
interval++ ; //設 interval = interval + 1
idx=0 ; //令 idx = 0 ,重新在顯示一次
}
//延遲時間
if(interval == INTERVAL3){ //如果 interval 等於 INTERVAL3(75) (再延遲 25 * 1ms) 則
interval=0 ; //設 interval = 0 重新計算延遲時間
color=0 ; //設 color = 0 轉換成紅色
}
else if(interval == INTERVAL2){ //否則如果 interval 等於 INTERVAL2(50) (再延遲 25 * 1ms) 則
color=2 ; //設 color = 2 轉換成黃色
}
else if(interval == INTERVAL1){ //否則如果 interval 等於 INTERVAL1(25) (延遲 25 * 1ms) 則
color=1 ; //設 color = 1 轉換成綠色
}
Delay1ms() ; //呼叫延遲 1 毫秒副程式
}
}
delay3ms() //延遲 3 毫秒之副程式
{
Delay1ms() ; //呼叫延遲 1 毫秒
Delay1ms() ; //呼叫延遲 1 毫秒
Delay1ms() ; //呼叫延遲 1 毫秒
}
void delay_ms(unsigned int i)
{
while(i--)Delay1ms();
}
void delayms(unsigned int a) {
unsigned int i;
for (i=0;i<a;i++) Delay1ms();
}
void main(void)
{
motor_fan_con(0);
buzzer_led(0);
init_sys();
LcdInitiate(); //调用LCD初始化函数
Delay1ms(2);
WriteInstruction(0x01);//清显示：清屏幕指令
DisMenuInit();
mo_forword_slow(); //调用慢速档
while(!CarTurnLeft) { //AB段行驶
if (DeviateLeftTrack) {
mo_R_forword_slow();
}
if(DeviateRightTrack) {
mo_L_forword_slow();
}
if (CHECK_COIN) { //检测硬币
Delay1ms(5);
if (CHECK_COIN) {
mo_stop();
buzzer_led(1);
Delay1ms(500);
mo_forword_slow();
buzzer_led(0);
Delay1ms(130); //不能太小，不能太大，太小会冲出跑道，小了会多次检测！
if (!CHECK_COIN) {
count_coin++;
}
}
}
if (count_kk>=50&&count_kk<51) { //变量显示稳定控制
ClearVarData();
WriteVarData(0x05,mo_time);
WriteVarData(0x0d,total_length);
WriteVarData(0x45,count_coin);
WriteVarData(0x4d,count_bottle);
}
}
while(1){
if (DeviateLeftTrack) {
mo_R_forword();
}
if(DeviateRightTrack)
{
mo_L_forword();
}
/*转角声控报警之奇淫巧技*/
if((total_length >= 80 && total_length <= 110) ||\
(total_length >= 190 && total_length <= 230) ||\
(total_length >= 300 && total_length <= 360)){
if(CarTurnLeft){
mo_left();
buzzer_led(1);
Delay1ms(20);
buzzer_led(0);
}
if (CarTurnRight) {
mo_right();
buzzer_led(1);
Delay1ms(20);
buzzer_led(0);
}
}
else {
if(CarTurnLeft){
mo_left();
Delay1ms(20);
buzzer_led(0);
}
if (CarTurnRight) {
mo_right();
Delay1ms(20);
buzzer_led(0);
}
}
if (UpBottle) { //瓶子检测
motor_fan_con(0);
buzzer_led(1);
Delay1ms(200);
buzzer_led(0);
if (NoBottle) {
count_bottle++;
}
}
if (DownBottle) {
Delay1ms(2);
if (DownBottle) {
mo_stop();
motor_fan_con(1);
Delay1ms(250);
mo_forword();
motor_fan_con(0);
}
if (NoBottle) {
count_bottle++;
motor_fan_con(0);
}
}
if (total_length>=430||mo_time>=90) { //终点
mo_stop();
Delay1ms(20);
ClearVarData();
WriteVarData(0x05,mo_time);
WriteVarData(0x0d,total_length);
WriteVarData(0x45,count_coin);
WriteVarData(0x4d,count_bottle);
EA = 0;
while (1) {
mo_stop();
}
}
if (count_kk>=50&&count_kk<51) { //变量显示稳定控制
ClearVarData();
WriteVarData(0x05,mo_time);
WriteVarData(0x0d,total_length);
WriteVarData(0x45,count_coin);
WriteVarData(0x4d,count_bottle);
}
}
}
void Delaynms(uint a)
{ uint i=a;
while(i--)
Delay1ms();
}
