///lcdCmd(0xC0);2行目の先頭に移動
///lcdCmd(0x80);1行目の先頭に移動
void lcdCmd(unsigned char cmd) {
Soft_I2C_Start();
Soft_I2C_Write(0x7C);
Soft_I2C_Write(0x80);
Soft_I2C_Write(cmd);
Soft_I2C_Stop();
}
void lcd_str_byCode(char cmd) {
Soft_I2C_Start();
Soft_I2C_Write(0x7C);
Soft_I2C_Write(0xC0);
Soft_I2C_Write(cmd);
Soft_I2C_Stop();
}
void lcdData(unsigned char str) {
Soft_I2C_Start();
Soft_I2C_Write(0x7C);
Soft_I2C_Write(0xC0);
Soft_I2C_Write(str);
Soft_I2C_Stop();
}
//--------------------- Reads time and date information from RTC (PCF8563)
void rtc_r(void)
{
unsigned char tmp;
Soft_I2C_Start();
Soft_I2C_Write(0xA2);
Soft_I2C_Write(2);
Soft_I2C_Start();
Soft_I2C_Write(0xA3);
tmp= 0x7F & Soft_I2C_Read(1); //segundos
time[5]=':';
time[6]=getd(tmp);
time[7]=getu(tmp);
time[8]=0;
tmp= 0x7F & Soft_I2C_Read(1); //minutos
time[2]=':';
time[3]=getd(tmp);
time[4]=getu(tmp);
tmp= 0x3F & Soft_I2C_Read(1); //horas
time[0]=getd(tmp);
time[1]=getu(tmp);
tmp= 0x3F & Soft_I2C_Read(1); //dia
date[0]=getd(tmp);
date[1]=getu(tmp);
Soft_I2C_Read(1); //dia semana
tmp= 0x1F & Soft_I2C_Read(1); //mes
date[2]='/';
date[3]=getd(tmp);
date[4]=getu(tmp);
tmp= Soft_I2C_Read(1); //ano
date[5]='/';
date[6]=getd(tmp);
date[7]=getu(tmp);
date[8]=0;
Soft_I2C_Stop();
}
void FSetMotorAddress(char dataIn[])
{
// Send start
Soft_I2C_Start();
// Write to motors: Address
Soft_I2C_Write(dataIn[0]);
// Write to motors: Speed
Soft_I2C_Write(0x06);
// Write to motors: Info
Soft_I2C_Write(0x72);
// Write to motors: Checksum
//checkSum = dataIn[0] + 0x06 + 0x72;
Soft_I2C_Write(dataIn[0] + 0x06 + 0x72);
// Stop
Soft_I2C_Stop();
//Delay_ms(100);
Soft_I2C_Start();
// Write to motors: Address
Soft_I2C_Write(dataIn[0]);
// Write to motors: Speed
Soft_I2C_Write(dataIn[1]);
// Write to motors: Checksum
//checkSum = dataIn[0] + dataIn[1];
Soft_I2C_Write(dataIn[0] + dataIn[1]);
//Soft_I2C_Write(dataIn[0]+dataIn[0]+dataIn[1]+0x06+0x72 + dataIn[1]);
// Stop
Soft_I2C_Stop();
}
void FCommandMotors(char address, char command)
{
// Send START
Soft_I2C_Start();
// Write to motors: Address
Soft_I2C_Write(address);
// Write to motors: Speed
Soft_I2C_Write(command);
// Write to motors: Info
Soft_I2C_Write(MOTORFUTUREGROWTH);
// Write to motors: Checksum
Soft_I2C_Write(address + command + MOTORFUTUREGROWTH);
// Stop
Soft_I2C_Stop();
}
void FReportMotorStatus(char dataIn[])
{
char message[8];
message[7] = dataIn[0];
Soft_I2C_Start();
// Write to motors: Address
Soft_I2C_Write(dataIn[0] | 0x01);
// Current address
message[0] = (Soft_I2C_Read(1) & 0xFE);
// Status Byte
// 7 6 5 4 3 2 1 bits
// 7-4 Software Revision
// 3-2 Future Growth
// 1 Motor type
// - 0-Brushed
// - 1-Brushless
// 0 Current Limitation
// - 0-Limited
// - 1-Unlimited
message[1] = Soft_I2C_Read(1);
// Fault Byte
// 7-5 Future Growth
// 4 Water Detect (0 none, 1 water)
// 3 Ground Fault
// 2 Hall Sensor error
// 1 Stalled Motor
// 0 Over Temperature
message[2] = Soft_I2C_Read(1);
// Current Byte
// 0x00-0xFF If 12 in decimal, current is 1.2A
message[3] = Soft_I2C_Read(1);
// SPEED, current speed
message[4] = Soft_I2C_Read(1);
// Temperature, in Celcius
message[5] = Soft_I2C_Read(1);
// Checksum
message[6] = Soft_I2C_Read(0);
// End I2C communication
Soft_I2C_Stop();
TxPacketBytes(reportMotorStatus,
message[0],message[2],
message[3],message[5]);
}