/**
* Function to stop a SPI transaction on the given device.
* This is used to set the SlaveSelect to idle after a transaction occurred thus releasing the bus.
* \param pointer - SPIContext pointer
* \return none
*/
void SPIStop(SPIContext * obj)
{
vTaskSuspendAll();
#ifndef SPI2_FLASH
#ifdef SPI_DBG
uartwrite(1,"[SPI_DBG] SPI stop, checking SS\n");
#endif
if(obj->ss_pin != SPI_OPT_NO_SS)
{
#ifdef SPI_DBG
uartwrite(1,"[SPI_DBG] Pulling SS up\n");
#endif
if(SPI2STATbits.SPITBF)
Delay10us(obj->delay);
IOPut(obj->ss_pin,on);
}
#else
if(SPI2STATbits.SPITBF)
Delay10us(obj->delay);
LATDbits.LATD6=1;
#endif
xTaskResumeAll();
}
//-----------------------------------------------------------------------------
// Envoi des données au LCD
// aData: les données à transmettre au LCD
//-----------------------------------------------------------------------------
static void mLcd_SendLcdData(UINT8 aData)
{
// E inactif
Delay10us(1);
mLCD_E=1;
mLCD_RW=0;
mLCD_RS=1;
// écriture des données
//iDio_SetPortB(aData);
mLCD_D0= aData & 0x01;
mLCD_D1= (aData & 0x02)>>1;
mLCD_D2= (aData & 0x04)>>2;
mLCD_D3= (aData & 0x08)>>3;
mLCD_D4= (aData & 0x10)>>4;
mLCD_D5= (aData & 0x20)>>5;
mLCD_D6= (aData & 0x40)>>6;
mLCD_D7= (aData & 0x80)>>7;
Delay10us(1);
// Bit E (start data read/write) à 1
// le bits E doit être à 1 pendant au moins 230nsec
//iDio_SetPortK(kMaskIo0,kIoOn);
mLCD_E=0;
Delay10us(1);
// Bit E (start data read/write) à 0
// les data sont latchés à ce moment là
//iDio_SetPortK(kMaskIo0,kIoOff);
mLCD_E=1;
mLCD_RW=0;
mLCD_RS=0;
}
//-----------------------------------------------------------------------------
// Ouverture de l'interface (init du display)
//-----------------------------------------------------------------------------
void mLcd_Open(void)
{
unsigned long i = 0 ;
//power supply of LCD
mLCD_VDD=1;
mLCD_V0=1;
DelayMs(40);
// Selection du mode 2 lignes + display on
mLcd_SendLcdCmd(0x3C);
Delay10us(4);
// attendre ~39us
// Selection du mode pas curseur + display on
mLcd_SendLcdCmd(0x0C);
Delay10us(4);
// attendre ~39us
//Display clear
mLcd_SendLcdCmd(0x01);
DelayMs(2);
// attendre ~1.53ms
mLcd_SendLcdCmd(0x06);
Delay10us(4);
}
static void writeToDisplayPort( UINT8 value )
{
UINT8 shift = 0x01;
DIGIT_PORT_1 = ~(0XFF); //switch off display
DIGIT_PORT_2 = ~(0XFF);
DIGIT_PORT_3 = ~(0XFF);
DIGIT_PORT_4 = ~(0XFF);
Delay10us(1);
DATA_PORT = value;
if(digitDisplay.digitIndex < 8)
{
shift <<= digitDisplay.digitIndex;
DIGIT_PORT_1 = shift;
DIGIT_PORT_2 = shift;
DIGIT_PORT_3 = shift;
DIGIT_PORT_4 = shift;
}
Delay10us(1);
}
/*******************************************************************************
* PUBLIC FUNCTION: Disp_GLCDCommand
*
* PARAMETERS:
* ~ command byte
*
* RETURN:
* ~ void
*
* DESCRIPTIONS:
* Send command byte to the GLCD controller.
* Please refer to the datasheet for the list of commands.
*******************************************************************************/
void Disp_GLCDCommand(unsigned char command)
{
RS = 0;
//Delay10us(2);
E = 1;
Delay10us(2);
// Move higher nibble first
DB4 = (command & (1 << 4)) >> 4;
DB5 = (command & (1 << 5)) >> 5;
DB6 = (command & (1 << 6)) >> 6;
DB7 = (command & (1 << 7)) >> 7;
Delay10us(2);
E = 0;
E = 1;
Delay10us(2);
// Then move the lower nibble
DB4 = (command & (1 << 0)) >> 0;
DB5 = (command & (1 << 1)) >> 1;
DB6 = (command & (1 << 2)) >> 2;
DB7 = (command & (1 << 3)) >> 3;
Delay10us(2);
E = 0;
Delay10us(2); // Please increase this delay if the screen is not showing things correctly.
}
void KT_I2C_Start(void) {
SDA_1;
Delay10us();
SCL_1;
Delay10us();
SDA_0;
Delay10us();
SCL_0;
Delay10us();
}
void KT_I2C_Stop(void) {
SCL_0;
Delay10us();
SDA_0;
Delay10us();
SCL_1;
Delay10us();
SDA_1;
Delay10us();
}
void display_row (unsigned char p_byRow)
{
unsigned char i,j;
unsigned char k;
if(p_byRow == 1) // if row is same as saying if row is non zero, in our case its row = 1
{
// Set the address to the second line
lcd_cmd(0xC0);
Delay10us(5);
// Output second line
for(i = 0; i < 16u; i++)
{
// Erase the rest of the line if a null char is
// encountered (good for printing strings directly)
if(LCDText[i] == 0u)
{
for(j=i; j < 16u; j++)
{
LCDText[j] = ' ';
}
}
lcd_dat(LCDText[i]);
Delay10us(5);
}
}
else
{
lcd_cmd(0x80);
DelayMs(2);
// Output first line
for(i = 0; i < 16u; i++)
{
// Erase the rest of the line if a null char is
// encountered (good for printing strings directly)
if(LCDText[i] == 0u)
{
for(j=i; j < 16u; j++)
{
LCDText[j] = ' ';
}
}
lcd_dat(LCDText[i]);
Delay10us(5);
}
}
}
uint8_t KT_I2C_Write(uint8_t u8Data) {
uint8_t i, ret;
for(i=0; i<8; ++i) {
if(u8Data&0x80) {
SDA_1;
} else {
SDA_0;
}
Delay10us();
SCL_1;
Delay10us();
Delay10us();
SCL_0;
Delay10us();
u8Data<<=1;
}
//kiem tra ack
SDA_1;
Delay10us();
SCL_1;
Delay10us();
if(SDA_VAL) {
ret=1;
} else {
ret=0;
}
Delay10us();
SCL_0;
Delay10us();
return ret;
}
uint8_t KT_I2C_Read(uint8_t u8Ack) {
uint8_t i, ret;
for(i=0; i<8; ++i) {
ret<<=1;
Delay10us();
SCL_1;
Delay10us();
if(SDA_VAL) {
ret|=0x01;
}
Delay10us();
SCL_0;
Delay10us();
}
//kiem tra ack
if(u8Ack) {
SDA_1;
} else {
SDA_0;
}
Delay10us();
SCL_1;
Delay10us();
Delay10us();
SCL_0;
Delay10us();
return ret;
}
void ConsoleInit(void)
{
#if defined(ENABLE_CONSOLE)
unsigned long i = 0;
// Don't attempt anything if not connected
if (!USB_BUS_SENSE) return;
USBInitializeSystem();
USBDeviceAttach();
// This will only work in an interrupt driven USB system - exits on button press, only exits after enumeration is usb is detected
while (USBDeviceState < CONFIGURED_STATE)
{
#ifndef USB_INTERRUPT
USBDeviceTasks(); // Interrupt or polling method. If using polling, must call
#endif
USBProcessIO();
Delay10us(1);
// Timed-out starting connection (perhaps a charger or disconnected?)
if (i++ >= 1000000ul)
{
// The USB connection has failed -- if we're not using the PLL when the radio is on, turn it off now
USBDeviceDetach();
return;
}
}
// Gives host time to assign CDC port
i = 0;
while (USBDeviceState >= CONFIGURED_STATE && i++ < 600000ul)
{
MRF_LED = 1;
#ifndef USB_INTERRUPT
USBDeviceTasks(); // Interrupt or polling method. If using polling, must call
#endif
USBProcessIO();
Delay10us(10);
if (usb_haschar())
{
break;
}
}
MRF_LED = 0;
#endif
return;
}
/*
*------------------------------------------------------------------------------
* void PutrsUART(const rom char *data)
*
* Summary : Send the rom character string through UART
*
* Input : const rom char *data - pointer to the null terminated string rom.
*
* Output : None
*------------------------------------------------------------------------------
*/
void PutrsUART(const rom char *data)
{
TX_EN = 1; //enable the tx control for rs485 communication
Delay10us(1);
do
{
// Wait till the last bit trasmision
while(BusyUSART());
// Transmit a byte
putcUSART(*data++);
} while( *data != '\0');
TX_EN = 0; //disable the tx control for rs485 communication
Delay10us(1);
}
void KT_I2C_Init(void) {
GPIO_InitPara GPIO_InitStructure;
RCC_APB2PeriphClock_Enable(RCC_APB2PERIPH_GPIOB,ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_PIN_6 | GPIO_PIN_7;
GPIO_InitStructure.GPIO_Speed = GPIO_SPEED_50MHZ;
GPIO_InitStructure.GPIO_Mode = GPIO_MODE_OUT_OD;
GPIO_Init(GPIOB,&GPIO_InitStructure);
SDA_1;
SCL_1;
Delay10us();
Delay10us();
}
/**
* Delays for the given time.
* @param ms Time to delay = given time x 1ms
*/
void DelayMs(unsigned char ms)
{
while (ms--)
{
Delay10us(99);
}
}
void KT_I2C_Init(void) {
//GPIO_InitTypeDef GPIO_InitStructure;
//RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);
//GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
//GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
//GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD;
//GPIO_Init(GPIOB,&GPIO_InitStructure);
GPIO_Init(GPIOD, GPIO_PIN_4, GPIO_MODE_OUT_OD_LOW_FAST);
GPIO_Init(GPIOD, GPIO_PIN_5, GPIO_MODE_OUT_OD_LOW_FAST);
SDA_1;
SCL_1;
Delay10us();
Delay10us();
}
/******************************************************************************
* Function: void LCDUpdate(void)
*
* PreCondition: LCDInit() must have been called once
*
* Input: LCDText[]
*
* Output: None
*
* Side Effects: None
*
* Overview: Copies the contents of the local LCDText[] array into the
* LCD's internal display buffer. Null terminators in
* LCDText[] terminate the current line, so strings may be
* printed directly to LCDText[].
*
* Note: None
*****************************************************************************/
void LCDUpdate(void)
{
BYTE i, j;
// Go home
LCDWrite(0, 0x02);
DelayMs(2);
// Output first line
for(i = 0; i < 16u; i++)
{
// Erase the rest of the line if a null char is
// encountered (good for printing strings directly)
if(LCDText[0][i] == 0u)
{
for(j=i; j < 16u; j++)
{
LCDText[0][j] = ' ';
}
}
LCDWrite(1, LCDText[0][i]);
Delay10us(5);
}
// Set the address to the second line
LCDWrite(0, 0xC0);
Delay10us(5);
// Output second line
// for(i = 16; i < 32u; i++)
for(i = 0; i < 16u; i++)
{
// Erase the rest of the line if a null char is
// encountered (good for printing strings directly)
if(LCDText[1][i] == 0u)
{
//for(j=i; j < 32u; j++)
for(j=i; j < 16u; j++)
{
LCDText[1][j] = ' ';
}
}
LCDWrite(1, LCDText[1][i]);
Delay10us(5);
}
}
/****************************************************************************
Function:
void DelayMs( UINT16 ms )
Description:
This routine performs a software delay in intervals of 1 millisecond.
Precondition:
None
Parameters:
UINT16 ms - number of one millisecond delays to perform at once.
Returns:
None
Remarks:
None
***************************************************************************/
void DelayMs( UINT16 ms )
{
volatile UINT8 i;
while (ms--)
{
i = 4;
while (i--){Delay10us( 25 );}
}
}
// *-------------------------------------------*
UINT16 ADC_Conversion(void){
AD1CON1bits.SAMP=1; // Inicia adquisicion
Delay10us(5);
AD1CON1bits.SAMP=0; // Inicia conversion
Nop();
while(AD1CON1bits.DONE==0); // Esperamos conversion
return(ADC1BUF0);
}
void DelayMs(WORD ms){
unsigned char i;
while(ms--){
i=4;
while(i--){
Delay10us(25);
}
}
}
void DelayPreServo(void)
{
unsigned char i;
i=4;
while(i--)
{
Delay10us(18);
}
}
// Purpose: Write a BYTE of data
// Inputs: The BYTE of data to write
void s1d13700_SendByte(BYTE data)
{
S1D13700_TRIS_DATA &= 0xFFFFFF00;
//S1D13700_WR = 0;
S1D13700_A0 = 0;
S1D13700_CS = 0;
Delay10us();
S1D13700_E = 1;
Delay10us();
S1D13700_WR_DATA = data;
Delay10us();
S1D13700_E = 0;
Delay10us();
//S1D13700_WR = 1;
S1D13700_CS = 1;
S1D13700_E = 1;
}
// Purpose: Send an 8 bit command
// Inputs: The command to send
void s1d13700_SendCMD(BYTE cmd)
{
S1D13700_TRIS_DATA &= 0xFFFFFF00;
//S1D13700_WR = 0;
S1D13700_A0 = 1;
S1D13700_CS = 0;
Delay10us();
S1D13700_E = 1;
Delay10us();
S1D13700_WR_DATA = cmd;
Delay10us();
S1D13700_E = 0;
Delay10us();
//S1D13700_WR = 1;
S1D13700_CS = 1;
S1D13700_E = 1;
}
void DelayMs(uint16_t ms)
{
unsigned char i;
while (ms--) {
i = 4;
while (i--) {
Delay10us(25);
}
}
}
/************************************************************************
* Function: void GfxTconWriteCommand(BYTE index, WORD value)
*
* Overview: This writes a word to SPI by calling the write byte
* routine.
*
* Input: index - The index (or address) of the register to be written.
* value - The value that will be written to the register.
*
* Output: none
*
************************************************************************/
void GfxTconWriteCommand(WORD index, WORD value)
{
GfxTconSetIO(BB_CS, 0);
// Index
GfxTconSetIO(BB_DC, 0);
GfxTconWriteByte(((WORD_VAL) index).v[1]);
GfxTconWriteByte(((WORD_VAL) index).v[0]);
GfxTconSetIO(BB_CS, 1);
Delay10us(1);
GfxTconSetIO(BB_CS, 0);
// Data
GfxTconSetIO(BB_DC, 1);
GfxTconWriteByte(((WORD_VAL) value).v[1]);
GfxTconWriteByte(((WORD_VAL) value).v[0]);
GfxTconSetIO(BB_CS, 1);
Delay10us(1);
}
/****************************************************************************
Function:
void DelayMs( unsigned short int ms )
Description:
This routine performs a software delay in intervals of 1 millisecond.
Precondition:
None
Parameters:
UINT16 ms - number of one millisecond delays to perform at once.
Returns:
None
Remarks:
None
***************************************************************************/
void DelayMs( unsigned short int ms )
{
volatile unsigned char i;
while (ms--)
{
i = 4;
while (i--)
{
Delay10us( 25 );
}
}
}
/*
*------------------------------------------------------------------------------
* void WriteDataToDisplay(UINT8 digit, UINT8 data)
*
* Summary : Write one byte data on the bus
*
* Input : UINT8 digit - digit number to write the data
* UINT8 dataByte - data byte for the digit
*
* Output : None
*------------------------------------------------------------------------------
*/
void WriteDataToDisplay(UINT8 digit, UINT8 data)
{
if( digit >=64 )
{
digit+=128;
}
DISPLAY_CONTROL = DISPLAY_DISABLE; //disable the display
DIGIT_PORT = digit; //set the address
DATA_PORT = data; // write data
DISPLAY_CONTROL = DISPLAY_ENABLE; //enable the display
Delay10us(10); //delay for the data to stabilize
DISPLAY_CONTROL = DISPLAY_DISABLE; //disable it again
}
//-----------------------------------------------------------------------------
// Ecriture sur le LCD complet
// aChar: Pointeur sur la chaîne de charactère à afficher 32 caractères
//-----------------------------------------------------------------------------
void mLcd_WriteEntireDisplay(UINT8* aChar)
{
UINT16 i;
// Attente du busy flag=0
while(TRUE==mLcd_ReadLcdBusy());
// Efface la mémoire
mLcd_SendLcdCmd(kReturnHome);
DelayMs(2);
// Envoi des 32 caractères à l'affichage
for (i=0;i<kMaxLcdCarac;i++)
{
// Attente du busy=0
while(TRUE==mLcd_ReadLcdBusy());
// Envoi du caractère au LCD
mLcd_SendLcdData(*aChar);
Delay10us(5);
// Si fin de 1ère ligne on passe à la 2e
if((kNbOfChar-1)==i)
{
// Attente du busy flag=0
while(TRUE==mLcd_ReadLcdBusy());
// 2e ligne
mLcd_SendLcdCmd(kLineJump);
Delay10us(5);
}
// Caractère suivant
aChar++;
}
}
double distance()
{
double distemp=0;
TRIG = 1;
Delay10us();
Delay10us();
TRIG = 0;
while(ECHO==0);
TR1 = 1; //开定时器
while(ECHO==1);
TR1=0;
distemp= ((TH1*256+TL1)*1.08) * 340.0 /2 /10000;
// printf("TL0 IS %bd",TL1);
// printf("TH0 IS %bd",TH1);
TH1 = 0;
TL1 = 0;
return distemp;
}
/*
*------------------------------------------------------------------------------
* void DDR_loadDigit(UINT8 digit, UINT8 data)
*
* Summary : Write one byte data on the bus
*
* Input : UINT8 digit - digit number to write the data
* UINT8 dataByte - data byte for the digit
*
* Output : None
*------------------------------------------------------------------------------
*/
void DDR_loadDigit(UINT8 digit, UINT8 data)
{
/*
if( digit >=64 )
{
digit+=128;
}
*/
DISABLE_TMR1_INTERRUPT();
DISPLAY_CONTROL = DISPLAY_DISABLE; //disable the display
DIGIT_PORT = digit; //set the address
DATA_PORT = (~LED_MAP[data]) | 0X80; // write data
DISPLAY_CONTROL = DISPLAY_ENABLE; //enable the display
Delay10us(50); //delay for the data to stabilize
DISPLAY_CONTROL = DISPLAY_DISABLE; //disable it again
ENABLE_TMR1_INTERRUPT();
}
/**
* Reset the NIC
*/
void NICReset(void)
{
#if (DEBUG_MAC >= LOG_INFO)
debugPutMsg(5); //@mxd:5:Reset MAC
#endif
TRISD = 0xff; //Input
WRITE_NIC_ADDR(0);
NIC_IOW_IO = 1;
NIC_IOR_IO = 1;
NIC_RESET_IO = 1;
NIC_CTRL_TRIS = 0x00;
// Reset pulse must be at least 800 ns.
Delay10us(1);
DelayMs(5);
NIC_RESET_IO = 0;
}