void LCDInit()
{
#ifdef P_S
LCD_PS=P_S;
#endif
LCD_CS=0;
ShortDelay(10);
LCD_CS=1;
ShortDelay(10);
SendCMD(LCD12864_CMD_NORMAL);//功能设置，基本指令集
LongDelay(DELAY4MS);
#ifdef __USE_PARALLEL_MODE__
LongDelay(DELAY4MS);
#endif
SendCMD(LCD12864_CMD_DISP(1,0,0));//0000,1100 整体显示，游标off，游标位置off
SendCMD(LCD12864_CMD_RSTDDRAM);//0000,0010 DDRAM地址归位
LongDelay(DELAY4MS);
#ifdef __USE_PARALLEL_MODE__
LongDelay(DELAY4MS);
#endif
SendCMD(LCD12864_CMD_CLEAR);//0000,0001 清DDRAM
LongDelay(DELAY4MS);
SendCMD(LCD12864_CMD_SETCUR(1,0));//点设定，显示字符/光标从左到右移位，DDRAM地址AC加1//
#ifdef __USE_PARALLEL_MODE__
LongDelay(DELAY4MS);
LongDelay(DELAY4MS);
#endif
}
void SendCMD(uchar cmd)//写指令
{
LCD_CS=0;
LCD_RW=0;
LCD_RS=0;
ShortDelay(DELAY8US);
LCD_CS=1;
LCDData=cmd;
ShortDelay(DELAY8US);
LCD_CS=0;
}
void SendData(uchar dat)//写数据
{
LCD_CS=0;
LCD_RW=0;
LCD_RS=1;
ShortDelay(DELAY8US);
LCD_CS=1;
LCDData=dat;
ShortDelay(DELAY8US);
LCD_CS=0;
}
uchar SPI_Read() //读SPI时序
{
uchar dat;
uchar t = 8;
LCD_DATA = 1; //读取数据之前DIO 引脚要置1 以切换到输入状态
do
{
LCD_CLK = 1;
ShortDelay(2);
dat <<= 1;
if (LCD_DATA) dat++;
LCD_CLK = 0;
ShortDelay(2);
} while ( --t != 0 );
return dat;
}
//��BF�Լ�AC��ֵ������Read_BF_AC()
uint Read_BF_AC()
{
uint temp;
InitP0(1);
SetRS(0);
SetRW(1);
//ShortDelay(1);
SetE(0);
//ShortDelay(1);
SetE(1);
ShortDelay(1);
temp = PinData;
ShortDelay(10);
SetE(0);
//ShortDelay(1);
SetRW(0);
SetRS(1);
return(temp);
}
/*
* main.c
*/
int main(void) {
WDTCTL = WDTPW|WDTHOLD; // stop the watchdog timer
initMotors();
while(1)
{
TurnLeft();
ShortDelay();
StopBot();
Delay();
TurnRight();
ShortDelay();
StopBot();
Delay();
MoveForward();
Delay();
StopBot();
Delay();
MoveBack();
Delay();
StopBot();
Delay();
TurnRight();
Delay();
StopBot();
Delay();
TurnLeft();
Delay();
StopBot();
Delay();
Delay();
Delay();
}
}
void ResetI2C(void){
int i=0;
int j=0;
I2CEnable(I2C1, FALSE);
TRISBSET = 0x0200;
if(PORTDbits.RD9==0){
sprintf(NU32_RS232OutBuffer,"Bus is low...\r\n");
WriteString(UART2,NU32_RS232OutBuffer);
}
TRISDCLR = 0x0400;
while(PORTDbits.RD9==0){
LATDbits.LATD10=!LATDbits.LATD10;
sprintf(NU32_RS232OutBuffer,"Pulsing SCK...\r\n");
WriteString(UART2,NU32_RS232OutBuffer);
ShortDelay(400000);
}
sprintf(NU32_RS232OutBuffer,"SDA high...\r\n");
WriteString(UART2,NU32_RS232OutBuffer);
TRISDSET = 0x0400;
ShortDelay(10000);
I2CEnable(I2C1, TRUE);
ShortDelay(50000);
I2Cstopevent();
}
//д���ݵ�RAM������WriteData()
void WriteData(uint data1)
{
InitP0(0);
SetRS(1);
SetRW(0);
//ShortDelay(1);
SetE(0);
PinData = data1;
//ShortDelay(1);
SetE(1);
ShortDelay(10);
SetE(0);
//ShortDelay(1);
SetRW(1);
SetRS(0);
}
//дָ�����WriteInstruc()
void WriteInstruc(uint Instruc)
{
while(StatusCheck());
InitP0(0);
SetRS(0);
SetRW(0);
//ShortDelay(1);
SetE(0);
PinData = Instruc;
//ShortDelay(1);
SetE(1);
ShortDelay(10);
SetE(0);
//ShortDelay(1);
SetRW(1);
SetRS(1);
}
void InitializeIMU(void){
I2Cinitialize(); //Turn on and initialize I2C module 1
ShortDelay(5000);
I2Cwrite((0x68 << 1)|I2C_WRITE, 0x6B, 0x00); //Initialize MPU6050
ShortDelay(5000);
I2Cwrite((0x68 << 1)|I2C_WRITE, 0x19, 0x01); //Set Sample Rate Divider
ShortDelay(5000);
I2Cwrite((0x68 << 1)|I2C_WRITE, 0x1A, 0x01); //Set DLPF
ShortDelay(5000);
I2Cwrite((0x68 << 1)|I2C_WRITE, 0x1B, 0x10); //Change Gyro sensitivity
ShortDelay(5000);
I2Cwrite((0x68 << 1)|I2C_WRITE, 0x6A, 0x00); //Disable Aux I2C
ShortDelay(5000);
I2Cwrite((0x68 << 1)|I2C_WRITE, 0x37, 0x02); //Aux I2C Bypass
//WriteString(UART2,"Initialized MPU6050\r\n");
ShortDelay(10000);
I2Cwrite((0x1E << 1)|I2C_WRITE, 0x02, 0x00); //Initialize H
ShortDelay(50000);
}
int main(int argc, char** argv) {
uchar status = 0;
mPORTAClearBits(BIT_6); //Clear bits to ensure the LED is off.
//mPORTASetPinsDigitalOut(BIT_6); //Set port as output
// lets set the digital IO bits for the ethernet module
mPORTASetPinsDigitalOut(BIT_7|BIT_6);
mPORTGSetPinsDigitalOut(BIT_8 | BIT_9 | BIT_14 | BIT_0);
mPORTBSetPinsDigitalOut(0x0000FFFF);
mPORTESetPinsDigitalOut(0x000000FF);
// set the control bits high
mPORTASetBits(BIT_7);
mPORTGSetBits(BIT_8 | BIT_9 | BIT_14);
mPORTGClearBits(BIT_0);
//mPORTGClearBits(BIT_0);
//mPORTGClearBits(0x0000FFFF);
//mPORTEClearBits(0x0000FFFF);
//mPORTAClearBits(0x0000FFFF);
//mPORTBClearBits(0x0000FFFF);
//while(1){}
// lets init the W5100
struct W5100Context_t context;
context.Mode = MR_RST;
context.InterruptMask = 0xFF;
context.RetryTimeValue = 0x0FA0; // 400 ms
context.RetryCount = 1;
context.GateAdd[0] = 10;
context.GateAdd[1] = 1;
context.GateAdd[2] = 1;
context.GateAdd[3] = 3;
context.SHardAdd[0] = 0;
context.SHardAdd[1] = 1;
context.SHardAdd[2] = 2;
context.SHardAdd[3] = 3;
context.SHardAdd[4] = 4;
context.SHardAdd[5] = 5;
context.Subnet[0] = 255;
context.Subnet[1] = 255;
context.Subnet[2] = 255;
context.Subnet[3] = 0;
context.SourceIP[0] = 10;
context.SourceIP[1] = 1;
context.SourceIP[2] = 1;
context.SourceIP[3] = 2;
context.sockets[0].Mem = MEM_2K;
context.sockets[1].Mem = MEM_2K;
context.sockets[2].Mem = MEM_2K;
context.sockets[3].Mem = MEM_2K;
ShortDelay_ms(100);
W5100Init( &context );
W5100ReadData(SHAR0, &status, 1);
W5100ReadData(SHAR1, &status, 1);
W5100ReadData(SHAR2, &status, 1);
W5100ReadData(SHAR3, &status, 1);
W5100ReadData(SHAR4, &status, 1);
W5100ReadData(SHAR5, &status, 1);
EstablishServer(&context);
// lets try a random write
//W5100WriteData(0x001A, 0x07, 1);
//mPORTEWrite(0x07);
while(1)
{
status = W5100PollStatus(&context, 0);
if( status == SOCK_ESTABLISH)
mPORTGSetBits(BIT_0);
else
mPORTGClearBits(BIT_0);
if( status == SOCK_CLOSE_WAIT)
EstablishServer(&context);
//PORTAbits.RA2 = ~PORTAbits.RA2;
mPORTAToggleBits(BIT_6);
ShortDelay(US_TO_CT_TICKS*1000000);
//delay_millis(1000);
}
return (EXIT_SUCCESS);
}