//-----------------------------------------------------------------------------
// Main function
//-----------------------------------------------------------------------------
int main(void) {
WDT_INIT();
InitMCU();
initRotary();
InitUART();
timer_init();
rotary__GetValue();
nRF24L01_Initial();
// initialize dmx driver
MDP_SendDimmingReqToMDP(0xff, 0xFF);
//DMX512Send();
PORTC = 0x00;
TCCR1A = 0x00;
TCCR1B = 0x06;
TCNT1H = 0xFF;
TCNT1L = 0xFF;
TIMSK |= 0x04;
ZRMSendSetPreconfig(0x15);
MSLEEP(100);
ZRMSendReset();
MSLEEP(1000);
timer_set(ON_WTD_TIMER_ID, 500);
timer_set(ON_TEST_TIMER_ID, 3000);
timer_set(ON_ZIGBEE_PING_TIMER_ID, 3000);
timer_set(ON_ONTIME_TIMER_ID, 100);
timer_set(NCP_TIMER_ID, 2000);
tmp_zrmp.zrm_State = ZRM_INIT;
xcps_init_zigbee(USART0_Receive, USART0_Transmit);
xcps_init_rs485(USART1_Receive, USART1_Transmit);
// FILE mystdout =
TX_Mode(0);
// FDEV_SETUP_STREAM((void *)USART0_Transmit, NULL, _FDEV_SETUP_WRITE);
// stdout = &mystdout;
//
// DEBUG("\n\r=========START PROGRAM ===========\n\r");
while (1) {
ledTask();
ZigbeeUsartTask();
NCP_Task();
}
return 0;
}
/**
* initialization procedure of LCD
*
* @param LcdData_t* lcd handler structure address
* @param lcd_topology number representing topology of LCD
* @return none
*
*/
void lcdinit(LcdData_t *lcd, lcd_topology topo)
{
memset(lcd->buffer, 0x20, LCD_BUFFER_SIZE); //Fill buffer with spaces
if (topo > LCD_TOPO_8x2)
topo = LCD_TOPO_16x2;
lcd->organization.topology = topo;
lcd->organization.columns = topoaddr[topo][4];
lcd->organization.rows = topoaddr[topo][5];
memcpy(lcd->organization.addresses, topoaddr[topo], sizeof(topoaddr[topo]) - 2);
lcd->organization.toponame = toponames[topo];
lcd->displaycontrol = 0;
lcd->displaymode = 0;
lcd->displayfunction = LCD_FS_4BITDATA | LCD_FS_1LINE | LCD_FS_5x8FONT;
if (lcd->organization.rows > 1)
lcd->displayfunction |= LCD_FS_2LINES;
MSLEEP(50);
_buswrite(lcd, lcd->backlight ? (1 << PIN_BACKLIGHTON) : 0);
MSLEEP(100);
_write4bits(lcd, (1 << PIN_DB4) | (1 << PIN_DB5));
MSLEEP(5);
_write4bits(lcd, (1 << PIN_DB4) | (1 << PIN_DB5));
MSLEEP(5);
_write4bits(lcd, (1 << PIN_DB4) | (1 << PIN_DB5));
MSLEEP(15);
_write4bits(lcd, (1 << PIN_DB5));
lcdcommand(lcd, lcd->displayfunction);
lcd->displaycontrol |= LCD_DC_DISPLAYON | LCD_DC_CURSOROFF |
LCD_DC_CURSORBLINKOFF;
lcdcommand(lcd, lcd->displaycontrol);
lcdclear(lcd);
lcdhome(lcd);
lcdsetcursor(lcd, lcd->column, lcd->row);
lcdcursor(lcd, lcd->cursor);
lcdblink(lcd, lcd->blink);
}
INT CGSCondEx::BroadcastSignal(void)
{
#ifdef _WIN32
::SetEvent(m_hEvent);
INT x = m_iWaitConts-1;
for( ;x>0; x-- )
{
if( !::SetEvent(m_hEvent) )
{
assert(0);
}
MSLEEP(1);
}
//ResetEvent(m_hEvent);
return R_SUCCESS;
#else
if( ::pthread_cond_broadcast(&m_hEvent) )
{
return R_ESYSTEM;
}
return R_SUCCESS;
#endif
}
/**
* will set LCD back to home, which usually is cursor set at position 0,0
*
* @param LcdData_t* lcd handler structure address
* @return none
*
*/
void lcdhome(LcdData_t *lcd)
{
lcd->column = 0;
lcd->row = 0;
lcdcommand(lcd, LCD_HOME);
MSLEEP(2);
}
SqlOpenLob::~SqlOpenLob()
{
bool done = false;
while(!done)
{
sword res = OCICALL(OCILobClose(
_lob._conn._svc_ctx,
_lob._conn._env._errh,
_lob._loc
));
if( res != OCI_SUCCESS )
{
sb4 errorcode;
sword res2 = OCICALL(OCIErrorGet(_lob._conn._env._errh, 1, NULL, &errorcode, NULL, 0, OCI_HTYPE_ERROR));
assert(res2 == OCI_SUCCESS);
if(errorcode == 3127) // ORA-03127: no new operations allowed until the active operation ends
{
std::cerr << "ORA-03127: no new operations allowed until the active operation ends" << std::endl;
MSLEEP(100);
}
else
{
oci_check_error(__TROTL_HERE__, _lob._conn._env._errh, res);
}
}
else
{
done = true;
}
}
};
oraub8 SqlLob::length()
{
if(!is_not_null())
return 0;
bool done = false;
oraub8 len;
while(!done)
{
sword res = OCICALL(OCILobGetLength2(_conn._svc_ctx, _conn._env._errh, _loc, &len));
if( res != OCI_SUCCESS )
{
sb4 errorcode;
sword res2 = OCICALL(OCIErrorGet(_conn._env._errh, 1, NULL, &errorcode, NULL, 0, OCI_HTYPE_ERROR));
assert(res2 == OCI_SUCCESS);
if(errorcode == 3127) // ORA-03127: no new operations allowed until the active operation ends
{
std::cerr << "ORA-03127: no new operations allowed until the active operation ends" << std::endl;
MSLEEP(100);
}
else
{
oci_check_error(__TROTL_HERE__, _conn._env._errh, res);
}
}
else
{
done = true;
}
}
return len;
};
/*
* NOTE: !! offset has to be >= 1. Oracle's LOBs start at 1st byte.
*/
oraub8 SqlClob::read(dvoid* bufp, oraub8 buflen, oraub8 offset, oraub8 amount, oraub8 *chars, ub2 csid, ub1 csfrm)
{
oraub8 char_amt = 0;
bool done = false;
while(!done)
{
sword res = OCICALL(OCILobRead2(
_conn._svc_ctx,
_conn._env._errh,
_loc,
&amount,
&char_amt,
offset,
bufp,
buflen,
OCI_ONE_PIECE, /* ub1 piece */
NULL, /* dvoid* ctxp */
NULL, /* sb4 (*cbfp)(dvoid*ctxp,CONST dvoid*bufp,oraub8*len,ub1*piece) */
0 /* csid */,
0 /* csfrm */
));
if( res != OCI_SUCCESS )
{
sb4 errorcode;
sword res2 = OCICALL(OCIErrorGet(_conn._env._errh, 1, NULL, &errorcode, NULL, 0, OCI_HTYPE_ERROR));
assert(res2 == OCI_SUCCESS);
if(errorcode == 24804) // ORA-24804: Lob read/write functions called while another OCI LOB read/write streaming is in progress
{
std::cerr << "ORA-24804: Lob read/write functions called while another OCI LOB read/write streaming is in progress" << std::endl;
MSLEEP(100);
}
else
{
oci_check_error(__TROTL_HERE__, _conn._env._errh, res);
}
}
else
{
done = true;
}
}
if(chars)
*chars = char_amt;
return amount;
};
int main()
{
printf("checklist");
printf("hit black button when ready");
while(black_button());
printf("MAKE SURE CREATE IS ON!!!!!!!!");
while(!black_button());
printf("MAKE SURE ARM IS IN DOWN POSITION!!!!!!!!");
while(!black_button());
printf("MAKE SURE ARM AND CLAW WORK");
while(!black_button());
printf("CHECK POSITION OF CLAW AND ARM");
while(!black_button());
printf("MAKE SURE LIGHT SENSORT IS CALIBRATED");
while(!black_button());
// this starts the robot SECTion 1
wait_for_light(0);
shut_down_in(120.0);
//this shuts the robot down after 120.0 seconds
while(create_connect());
//connects create to cbc
set_servo_position(3, 0);
set_servo_position(0, 1800);
enable_servos();
msleep(500);
create_full();
//section 2
create_drive_direct(SUPER_FAST, SUPER_FAST);
msleep(1646);
//leave beach
create_stop();
msleep(300);
create_drive_direct(SUPER_FAST, -SUPER_FAST);
msleep(435);
//turn towards center
create_stop();
msleep(300);
create_drive_direct(SUPER_FAST, SUPER_FAST);
msleep(1600);
//move towards botguy
create_stop();
msleep(500);
//section 3
set_servo_position(0, 1424);
msleep(1800);
set_servo_position(0, 1100);
msleep(1800);
set_servo_position(0, 924);
msleep(1800);
set_servo_position(0, 724);
msleep(1800);
set_servo_position(3, 1024);
msleep(1800);
set_servo_position(0, 924);
msleep(1800);
set_servo_position(0, 1100);
msleep(1800);
set_servo_position(0, 1200);
msleep(2000);
//retrieve botguy
//section 4
create_drive_direct(-FAST, FAST);
msleep(445);
create_stop();
create_drive_direct(-FAST, -FAST);
msleep(2000);
create_stop();
create_drive_direct(FAST, -FAST);
msleep(445);
create_stop();
create_drive_direct(-FAST, -FAST);
msleep(900);
create_stop();
msleep(1600);
create_stop();
set_servo_position(3, 0);
set_servo_position(0, 1800);
msleep(1200);
set_servo_position(0, 1200);
msleep(1000);
set_servo_position(0, 1800);
msleep(1000);
create_drive_direct(1000, 1000);
msleep(800);
create_drive_direct(-1000, -1000);
msleep(800);
DRIVE(SUPER_FAST);
MSLEEP(800);
TURN(-SUPER_FAST, SUPER_FAST);
MSLEEP(460);
DRIVE(SUPER_FAST);
MSLEEP(1380);
TURN(SUPER_FAST, -SUPER_FAST);
MSLEEP(425);
DRIVE(SUPER_FAST);
SLEEP(1.5);
while(get_create_lbump(0.01) == 0)
{
DRIVE(SUPER_FAST);
}
TURN(-SUPER_FAST, SUPER_FAST);
MSLEEP(435);
TURN(SUPER_FAST, 975);
MSLEEP(500);
while(get_create_rbump(0.01) == 0)
{
TURN(SUPER_FAST, 990);
}
create_stop();
create_disconnect();
}
INT32 CGSProcessInfo::GSGetTotalCPUUsage(INT32 &iCPU)
{
INT32 iRet = -1;
#ifdef _WIN32
FILETIME preidleTime;
FILETIME prekernelTime;
FILETIME preuserTime;
FILETIME idleTime;
FILETIME kernelTime;
FILETIME userTime;
GetSystemTimes( &idleTime, &kernelTime, &userTime );
preidleTime = idleTime;
prekernelTime = kernelTime;
preuserTime = userTime ;
//休眠1s后再获取
MSLEEP(1000);
GetSystemTimes( &idleTime, &kernelTime, &userTime );
INT64 idle = CompareFileTime( preidleTime,idleTime);
INT64 kernel = CompareFileTime( prekernelTime, kernelTime);
INT64 user = CompareFileTime(preuserTime, userTime);
//CPU利用率
iCPU = (kernel +user - idle) *100/(kernel+user);
//CPU空闲率
INT64 cpuidle = ( idle) *100/(kernel+user);
iRet = 0;
#elif _LINUX
DWORD total1;
DWORD total2;
DWORD user1;
DWORD nice1;
DWORD system1;
DWORD idle1;
DWORD iowait1;
DWORD irq1;
DWORD softirq1;
DWORD user2;
DWORD nice2;
DWORD system2;
DWORD idle2;
DWORD iowait2;
DWORD irq2;
DWORD softirq2;
char cpu[21];
char text[201];
FILE *fp;
fp = fopen("/proc/stat", "r");
fgets(text, 200, fp);
if(strstr(text, "cpu"))
{
sscanf(text, "%s%lu%lu%lu%lu", cpu, &user1, &nice1, &system1, &idle1, &iowait1, &irq1, &softirq1);
}
fclose(fp);
total1 = (user1+nice1+system1+idle1+iowait1+irq1+softirq1);
MSLEEP(1000);
fp = fopen("/proc/stat", "r");
fgets(text, 200, fp);
if(strstr(text, "cpu"))
{
sscanf(text, "%s%lu%lu%lu%lu", cpu, &user2, &nice2, &system2, &idle2, &iowait2, &irq2, &softirq2);
}
fclose(fp);
total2 = (user2+nice2+system2+idle2+iowait2+irq2+softirq2);
if ((total2 - total1) == 0)
{
iCPU = 0;
}
else
{
iCPU = (INT32)((user2-user1+nice2 - nice1 +system2 - system1)*10000)/(total2-total1);
}
iRet = 0;
#endif
return iRet;
}
/**
* clears buffer by setting all bytes to 0x20 (ASCII code for space) and
* send clear command to a LCD
*
* @param LcdData_t* lcd handler structure address
* @return none
*
*/
void lcdclear(LcdData_t *lcd)
{
memset(lcd->buffer, 0x20, LCD_BUFFER_SIZE); //Fill buffer with spaces
lcdcommand(lcd, LCD_CLEAR);
MSLEEP(2);
}
//----------------------------------------------------------------------//
void resetZigbee() {
PORTD &= ~(0x80);
MSLEEP(100);
PORTD |= 0x80;
}
void bs_sleep( int ms )
{
// TODO: Need the value from datasheet.
MSLEEP(ms);
}
static void lcd_truely_1p3828_config_480_800()
{
int spi_fd, i;
char buf[64];
#ifndef LCD_BRIGHEST
int pwm_fd1, pwm_fd2;
int lcd_brightness;
int ret;
#endif
/* Power On */
lcd_power_on();
/* Hardware Reset */
lcd_reset();
#ifdef LCD_BRIGHEST
/* Backlight on */
lcd_backlight_on();
#endif
/* Program TRUELY_1P3828 to output 480x800 */
if (lcd_spi_dev_node(buf)) {
perror("Unable to get lcd spi bus_id or cs_id!\n");
goto lcd_truely_1p3828_config_480_800_exit;
}
spi_fd = open(buf, O_WRONLY);
if (spi_fd < 0) {
perror("Can't open TRUELY_1P3828_SPI_DEV_NODE to write");
goto lcd_truely_1p3828_config_480_800_exit;
} else {
truely_1p3828_set_spi_bus(spi_fd);
}
truely_1p3828_write_cmd(spi_fd, 0xB9); //Set_EXTC
truely_1p3828_write_data(spi_fd, 0xFF);
truely_1p3828_write_data(spi_fd, 0x83);
truely_1p3828_write_data(spi_fd, 0x69);
truely_1p3828_write_cmd(spi_fd, 0xB1); //Set Power
truely_1p3828_write_data(spi_fd, 0x01);
truely_1p3828_write_data(spi_fd, 0x00);
truely_1p3828_write_data(spi_fd, 0x34);
truely_1p3828_write_data(spi_fd, 0x06);
truely_1p3828_write_data(spi_fd, 0x00);
truely_1p3828_write_data(spi_fd, 0x0F); //
truely_1p3828_write_data(spi_fd, 0x0F);
truely_1p3828_write_data(spi_fd, 0x2A);
truely_1p3828_write_data(spi_fd, 0x32);
truely_1p3828_write_data(spi_fd, 0x3F);
truely_1p3828_write_data(spi_fd, 0x3F);
truely_1p3828_write_data(spi_fd, 0x07);
truely_1p3828_write_data(spi_fd, 0x23);
truely_1p3828_write_data(spi_fd, 0x01);
truely_1p3828_write_data(spi_fd, 0xE6);
truely_1p3828_write_data(spi_fd, 0xE6);
truely_1p3828_write_data(spi_fd, 0xE6);
truely_1p3828_write_data(spi_fd, 0xE6);
truely_1p3828_write_data(spi_fd, 0xE6);
truely_1p3828_write_cmd(spi_fd, 0xB2); // SET Display 480x800
truely_1p3828_write_data(spi_fd, 0x00);
truely_1p3828_write_data(spi_fd, 0x2b);
truely_1p3828_write_data(spi_fd, 0x0A);
truely_1p3828_write_data(spi_fd, 0x0A);
truely_1p3828_write_data(spi_fd, 0x70);
truely_1p3828_write_data(spi_fd, 0x00);
truely_1p3828_write_data(spi_fd, 0xFF);
truely_1p3828_write_data(spi_fd, 0x00);
truely_1p3828_write_data(spi_fd, 0x00);
truely_1p3828_write_data(spi_fd, 0x00);
truely_1p3828_write_data(spi_fd, 0x00);
truely_1p3828_write_data(spi_fd, 0x03);
truely_1p3828_write_data(spi_fd, 0x03);
truely_1p3828_write_data(spi_fd, 0x00);
truely_1p3828_write_data(spi_fd, 0x01);
truely_1p3828_write_cmd(spi_fd, 0xB4); // SET Display 480x800
truely_1p3828_write_data(spi_fd, 0x00);
truely_1p3828_write_data(spi_fd, 0x18);
truely_1p3828_write_data(spi_fd, 0x80);
truely_1p3828_write_data(spi_fd, 0x10);
truely_1p3828_write_data(spi_fd, 0x01);
truely_1p3828_write_cmd(spi_fd, 0xB6); // SET VCOM
truely_1p3828_write_data(spi_fd, 0x2C);
truely_1p3828_write_data(spi_fd, 0x2C);
truely_1p3828_write_cmd(spi_fd, 0xD5); //SET GIP
truely_1p3828_write_data(spi_fd, 0x00);
truely_1p3828_write_data(spi_fd, 0x05);
truely_1p3828_write_data(spi_fd, 0x03);
truely_1p3828_write_data(spi_fd, 0x00);
truely_1p3828_write_data(spi_fd, 0x01);
truely_1p3828_write_data(spi_fd, 0x09);
truely_1p3828_write_data(spi_fd, 0x10);
truely_1p3828_write_data(spi_fd, 0x80);
truely_1p3828_write_data(spi_fd, 0x37);
truely_1p3828_write_data(spi_fd, 0x37);
truely_1p3828_write_data(spi_fd, 0x20);
truely_1p3828_write_data(spi_fd, 0x31);
truely_1p3828_write_data(spi_fd, 0x46);
truely_1p3828_write_data(spi_fd, 0x8A);
truely_1p3828_write_data(spi_fd, 0x57);
truely_1p3828_write_data(spi_fd, 0x9B);
truely_1p3828_write_data(spi_fd, 0x20);
truely_1p3828_write_data(spi_fd, 0x31);
truely_1p3828_write_data(spi_fd, 0x46);
truely_1p3828_write_data(spi_fd, 0x8A);
truely_1p3828_write_data(spi_fd, 0x57);
truely_1p3828_write_data(spi_fd, 0x9B);
truely_1p3828_write_data(spi_fd, 0x07);
truely_1p3828_write_data(spi_fd, 0x0F);
truely_1p3828_write_data(spi_fd, 0x02);
truely_1p3828_write_data(spi_fd, 0x00);
truely_1p3828_write_cmd(spi_fd, 0xE0); //SET GAMMA
truely_1p3828_write_data(spi_fd, 0x00);
truely_1p3828_write_data(spi_fd, 0x08);
truely_1p3828_write_data(spi_fd, 0x0D);
truely_1p3828_write_data(spi_fd, 0x2D);
truely_1p3828_write_data(spi_fd, 0x34);
truely_1p3828_write_data(spi_fd, 0x3F);
truely_1p3828_write_data(spi_fd, 0x19);
truely_1p3828_write_data(spi_fd, 0x38);
truely_1p3828_write_data(spi_fd, 0x09);
truely_1p3828_write_data(spi_fd, 0x0E);
truely_1p3828_write_data(spi_fd, 0x0E);
truely_1p3828_write_data(spi_fd, 0x12);
truely_1p3828_write_data(spi_fd, 0x14);
truely_1p3828_write_data(spi_fd, 0x12);
truely_1p3828_write_data(spi_fd, 0x14);
truely_1p3828_write_data(spi_fd, 0x13);
truely_1p3828_write_data(spi_fd, 0x19);
truely_1p3828_write_data(spi_fd, 0x00);
truely_1p3828_write_data(spi_fd, 0x08);
truely_1p3828_write_data(spi_fd, 0x0D);
truely_1p3828_write_data(spi_fd, 0x2D);
truely_1p3828_write_data(spi_fd, 0x34);
truely_1p3828_write_data(spi_fd, 0x3F);
truely_1p3828_write_data(spi_fd, 0x19);
truely_1p3828_write_data(spi_fd, 0x38);
truely_1p3828_write_data(spi_fd, 0x09);
truely_1p3828_write_data(spi_fd, 0x0E);
truely_1p3828_write_data(spi_fd, 0x0E);
truely_1p3828_write_data(spi_fd, 0x12);
truely_1p3828_write_data(spi_fd, 0x14);
truely_1p3828_write_data(spi_fd, 0x12);
truely_1p3828_write_data(spi_fd, 0x14);
truely_1p3828_write_data(spi_fd, 0x13);
truely_1p3828_write_data(spi_fd, 0x19);
truely_1p3828_write_cmd(spi_fd, 0xC1); //set DGC
truely_1p3828_write_data(spi_fd, 0x01); //enable DGC function
truely_1p3828_write_data(spi_fd, 0x02); //SET R-GAMMA
truely_1p3828_write_data(spi_fd, 0x08);
truely_1p3828_write_data(spi_fd, 0x12);
truely_1p3828_write_data(spi_fd, 0x1A);
truely_1p3828_write_data(spi_fd, 0x22);
truely_1p3828_write_data(spi_fd, 0x2A);
truely_1p3828_write_data(spi_fd, 0x31);
truely_1p3828_write_data(spi_fd, 0x36);
truely_1p3828_write_data(spi_fd, 0x3F);
truely_1p3828_write_data(spi_fd, 0x48);
truely_1p3828_write_data(spi_fd, 0x51);
truely_1p3828_write_data(spi_fd, 0x58);
truely_1p3828_write_data(spi_fd, 0x60);
truely_1p3828_write_data(spi_fd, 0x68);
truely_1p3828_write_data(spi_fd, 0x70);
truely_1p3828_write_data(spi_fd, 0x78);
truely_1p3828_write_data(spi_fd, 0x80);
truely_1p3828_write_data(spi_fd, 0x88);
truely_1p3828_write_data(spi_fd, 0x90);
truely_1p3828_write_data(spi_fd, 0x98);
truely_1p3828_write_data(spi_fd, 0xA0);
truely_1p3828_write_data(spi_fd, 0xA7);
truely_1p3828_write_data(spi_fd, 0xAF);
truely_1p3828_write_data(spi_fd, 0xB6);
truely_1p3828_write_data(spi_fd, 0xBE);
truely_1p3828_write_data(spi_fd, 0xC7);
truely_1p3828_write_data(spi_fd, 0xCE);
truely_1p3828_write_data(spi_fd, 0xD6);
truely_1p3828_write_data(spi_fd, 0xDE);
truely_1p3828_write_data(spi_fd, 0xE6);
truely_1p3828_write_data(spi_fd, 0xEF);
truely_1p3828_write_data(spi_fd, 0xF5);
truely_1p3828_write_data(spi_fd, 0xFB);
truely_1p3828_write_data(spi_fd, 0xFC);
truely_1p3828_write_data(spi_fd, 0xFE);
truely_1p3828_write_data(spi_fd, 0x8C);
truely_1p3828_write_data(spi_fd, 0xA4);
truely_1p3828_write_data(spi_fd, 0x19);
truely_1p3828_write_data(spi_fd, 0xEC);
truely_1p3828_write_data(spi_fd, 0x1B);
truely_1p3828_write_data(spi_fd, 0x4C);
truely_1p3828_write_data(spi_fd, 0x40);
truely_1p3828_write_data(spi_fd, 0x02); //SET G-Gamma
truely_1p3828_write_data(spi_fd, 0x08);
truely_1p3828_write_data(spi_fd, 0x12);
truely_1p3828_write_data(spi_fd, 0x1A);
truely_1p3828_write_data(spi_fd, 0x22);
truely_1p3828_write_data(spi_fd, 0x2A);
truely_1p3828_write_data(spi_fd, 0x31);
truely_1p3828_write_data(spi_fd, 0x36);
truely_1p3828_write_data(spi_fd, 0x3F);
truely_1p3828_write_data(spi_fd, 0x48);
truely_1p3828_write_data(spi_fd, 0x51);
truely_1p3828_write_data(spi_fd, 0x58);
truely_1p3828_write_data(spi_fd, 0x60);
truely_1p3828_write_data(spi_fd, 0x68);
truely_1p3828_write_data(spi_fd, 0x70);
truely_1p3828_write_data(spi_fd, 0x78);
truely_1p3828_write_data(spi_fd, 0x80);
truely_1p3828_write_data(spi_fd, 0x88);
truely_1p3828_write_data(spi_fd, 0x90);
truely_1p3828_write_data(spi_fd, 0x98);
truely_1p3828_write_data(spi_fd, 0xA0);
truely_1p3828_write_data(spi_fd, 0xA7);
truely_1p3828_write_data(spi_fd, 0xAF);
truely_1p3828_write_data(spi_fd, 0xB6);
truely_1p3828_write_data(spi_fd, 0xBE);
truely_1p3828_write_data(spi_fd, 0xC7);
truely_1p3828_write_data(spi_fd, 0xCE);
truely_1p3828_write_data(spi_fd, 0xD6);
truely_1p3828_write_data(spi_fd, 0xDE);
truely_1p3828_write_data(spi_fd, 0xE6);
truely_1p3828_write_data(spi_fd, 0xEF);
truely_1p3828_write_data(spi_fd, 0xF5);
truely_1p3828_write_data(spi_fd, 0xFB);
truely_1p3828_write_data(spi_fd, 0xFC);
truely_1p3828_write_data(spi_fd, 0xFE);
truely_1p3828_write_data(spi_fd, 0x8C);
truely_1p3828_write_data(spi_fd, 0xA4);
truely_1p3828_write_data(spi_fd, 0x19);
truely_1p3828_write_data(spi_fd, 0xEC);
truely_1p3828_write_data(spi_fd, 0x1B);
truely_1p3828_write_data(spi_fd, 0x4C);
truely_1p3828_write_data(spi_fd, 0x40);
truely_1p3828_write_data(spi_fd, 0x02); //SET B-Gamma
truely_1p3828_write_data(spi_fd, 0x08);
truely_1p3828_write_data(spi_fd, 0x12);
truely_1p3828_write_data(spi_fd, 0x1A);
truely_1p3828_write_data(spi_fd, 0x22);
truely_1p3828_write_data(spi_fd, 0x2A);
truely_1p3828_write_data(spi_fd, 0x31);
truely_1p3828_write_data(spi_fd, 0x36);
truely_1p3828_write_data(spi_fd, 0x3F);
truely_1p3828_write_data(spi_fd, 0x48);
truely_1p3828_write_data(spi_fd, 0x51);
truely_1p3828_write_data(spi_fd, 0x58);
truely_1p3828_write_data(spi_fd, 0x60);
truely_1p3828_write_data(spi_fd, 0x68);
truely_1p3828_write_data(spi_fd, 0x70);
truely_1p3828_write_data(spi_fd, 0x78);
truely_1p3828_write_data(spi_fd, 0x80);
truely_1p3828_write_data(spi_fd, 0x88);
truely_1p3828_write_data(spi_fd, 0x90);
truely_1p3828_write_data(spi_fd, 0x98);
truely_1p3828_write_data(spi_fd, 0xA0);
truely_1p3828_write_data(spi_fd, 0xA7);
truely_1p3828_write_data(spi_fd, 0xAF);
truely_1p3828_write_data(spi_fd, 0xB6);
truely_1p3828_write_data(spi_fd, 0xBE);
truely_1p3828_write_data(spi_fd, 0xC7);
truely_1p3828_write_data(spi_fd, 0xCE);
truely_1p3828_write_data(spi_fd, 0xD6);
truely_1p3828_write_data(spi_fd, 0xDE);
truely_1p3828_write_data(spi_fd, 0xE6);
truely_1p3828_write_data(spi_fd, 0xEF);
truely_1p3828_write_data(spi_fd, 0xF5);
truely_1p3828_write_data(spi_fd, 0xFB);
truely_1p3828_write_data(spi_fd, 0xFC);
truely_1p3828_write_data(spi_fd, 0xFE);
truely_1p3828_write_data(spi_fd, 0x8C);
truely_1p3828_write_data(spi_fd, 0xA4);
truely_1p3828_write_data(spi_fd, 0x19);
truely_1p3828_write_data(spi_fd, 0xEC);
truely_1p3828_write_data(spi_fd, 0x1B);
truely_1p3828_write_data(spi_fd, 0x4C);
truely_1p3828_write_data(spi_fd, 0x40);
truely_1p3828_write_cmd(spi_fd, 0x2D);//Look up table
for(i = 0; i < 64; i++) {
truely_1p3828_write_data(spi_fd, 8 * i);
}
for(i = 0; i < 64; i++) {
truely_1p3828_write_data(spi_fd, 4 * i);
}
for(i = 0; i < 64; i++) {
truely_1p3828_write_data(spi_fd, 8 * i);
}
MSLEEP(10);
truely_1p3828_write_cmd(spi_fd, 0x3A); //Set COLMOD
truely_1p3828_write_data(spi_fd, 0x77);
truely_1p3828_write_cmd(spi_fd, 0x11); //Sleep Out
MSLEEP(120);
truely_1p3828_write_cmd(spi_fd, 0x29); //Display On
//truely_1p3828_write_cmd(spi_fd, 0x2C); //Display On
close(spi_fd);
#ifndef LCD_BRIGHEST
/* Backlight on */
pwm_fd1 = open(TRUELY_1P3828_PWM_PATH("max_brightness"), O_RDONLY);
if (pwm_fd1 < 0) {
perror("Can't open max_brightness to read");
goto lcd_truely_1p3828_config_480_800_exit;
}
ret = read(pwm_fd1, buf, sizeof(buf));
close(pwm_fd1);
if (ret <= 0) {
perror("Can't read max_brightness");
goto lcd_truely_1p3828_config_480_800_exit;
} else {
lcd_brightness = atoi(buf) / 2;
}
pwm_fd2 = open(TRUELY_1P3828_PWM_PATH("brightness"), O_WRONLY);
if (pwm_fd2 < 0) {
perror("Can't open brightness to write");
goto lcd_truely_1p3828_config_480_800_exit;
}
sprintf(buf, "%d", lcd_brightness);
ret = write(pwm_fd2, buf, sizeof(buf));
close(pwm_fd2);
if (ret <= 0) {
perror("Can't write brightness");
goto lcd_truely_1p3828_config_480_800_exit;
}
#endif
lcd_truely_1p3828_config_480_800_exit:
return;
}
int main(int argc, char **argv)
{
lbm_context_t *ctx;
server_t server; /* State information for the server. */
char response_topic_name[256];
int err;
/* Get (pretty much) unique client name. */
sprintf(response_topic_name, "Client.%lx.Response", (long)getpid());
#if defined(_MSC_VER)
/* windows-specific code */
WSADATA wsadata;
int wsStat = WSAStartup(MAKEWORD(2,2), &wsadata);
if (wsStat != 0) {
printf("line %d: wsStat=%d\n",__LINE__,wsStat); exit(1);
}
#endif
server.ctx = NULL;
server.topic_name = "Server1.Request";
server.src = NULL; /* Source to send requests to server. */
server.rcv = NULL; /* Receiver for responses from server. */
server.state = 0; /* Waiting for registration. */
err = lbm_config("client.cfg");
EX_LBM_CHK(err);
err = lbm_context_create(&ctx, NULL, NULL, NULL);
EX_LBM_CHK(err);
server.ctx = ctx;
/* Create source to send requests to server. */
{
lbm_topic_t *topic;
err = lbm_src_topic_alloc(&topic, ctx, server.topic_name, NULL);
EX_LBM_CHK(err);
err = lbm_src_create(&server.src, ctx, topic, NULL, NULL, NULL);
EX_LBM_CHK(err);
}
/* Create receiver for responses from server. */
{
lbm_topic_t *topic;
err = lbm_rcv_topic_lookup(&topic, ctx, response_topic_name, NULL);
EX_LBM_CHK(err);
err = lbm_rcv_create(&server.rcv, ctx, topic, response_rcv_cb, &server, NULL);
EX_LBM_CHK(err);
}
/* Register with the server. May need multiple tries. */
{
int try_cnt = 0;
int backoff_delay;
char register_msg[257];
sprintf(register_msg, "r%s", response_topic_name);
backoff_delay = 1; /* In milliseconds. */
MSLEEP(backoff_delay); /* Let TR complete. */
while (server.state == 0) {
try_cnt ++;
err = lbm_src_send(server.src, register_msg,
strlen(register_msg) + 1, LBM_MSG_FLUSH | LBM_SRC_BLOCK);
EX_LBM_CHK(err);
printf("Sent '%s' to %s\n", register_msg, server.topic_name);
/* Exponential backoff, to max of 1 sec. */
backoff_delay *= 2; /* Exponential backoff to max of 1 sec. */
if (backoff_delay > 1000) {
backoff_delay = 1000;
}
MSLEEP(backoff_delay); /* Wait for server response. */
}
printf("Took %d tries to register with server.\n", try_cnt);
}
/* Main work of the program, which includes sending 5 requests. */
{
int i;
char send_buf[500];
req_hdr_t *req_hdr = (req_hdr_t *)send_buf;
memset((char *)req_hdr, '0', sizeof(req_hdr_t));
req_hdr->data[0] = 'R';
for (i = 0; i < 5; i++) {
/* The application builds a request into <tt>request_msg</tt>. */
char request_msg[257];
sprintf(request_msg, "%s.%d", response_topic_name, i);
/* The application message is copied in after the header. */
strcpy(&send_buf[sizeof(req_hdr_t)], request_msg);
err = lbm_src_send(server.src, send_buf, strlen(send_buf) + 1,
LBM_MSG_FLUSH | LBM_SRC_NONBLOCK);
EX_LBM_CHK(err);
MSLEEP(1000);
}
}
printf("Client exiting.\n");
err = lbm_rcv_delete(server.rcv);
EX_LBM_CHK(err);
err = lbm_src_delete(server.src);
EX_LBM_CHK(err);
err = lbm_context_delete(ctx);
EX_LBM_CHK(err);
#if defined(_MSC_VER)
WSACleanup();
#endif
return 0;
} /* main */
