// Initialize LCD
// Inputs: none
// Outputs: none
void LCD_Init(void){
SYSCTL_RCGC2_R |= 0x00000003; // 1) activate clock for Ports A and B
while((SYSCTL_PRGPIO_R&0x03) != 0x03){};// ready?
GPIO_PORTB_AMSEL_R &= ~0xFF; // 3) disable analog function on PB7-0
GPIO_PORTA_AMSEL_R &= ~0xC0; // disable analog function on PA7-6
GPIO_PORTB_PCTL_R = 0x00000000; // 4) configure PB7-0 as GPIO
GPIO_PORTA_PCTL_R &= ~0xFF000000; // configure PA7-6 as GPIO
GPIO_PORTB_DIR_R = 0xFF; // 5) set direction register
GPIO_PORTA_DIR_R |= 0xC0;
GPIO_PORTB_AFSEL_R = 0x00; // 6) regular port function
GPIO_PORTA_AFSEL_R &= ~0xC0;
GPIO_PORTB_DEN_R = 0xFF; // 7) enable digital port
GPIO_PORTA_DEN_R |= 0xC0;
GPIO_PORTB_DR8R_R = 0xFF; // enable 8 mA drive
GPIO_PORTA_DR8R_R |= 0xC0;
SysTick_Init(); // Volume 1 Program 4.7, Volume 2 Program 2.10
LCDCMD = 0; // E=0, R/W=0, RS=0
SysTick_Wait(T15ms); // Wait >15 ms after power is applied
OutCmd(0x30); // command 0x30 = Wake up
SysTick_Wait(T5ms); // must wait 5ms, busy flag not available
OutCmd(0x30); // command 0x30 = Wake up #2
SysTick_Wait(T160us); // must wait 160us, busy flag not available
OutCmd(0x30); // command 0x30 = Wake up #3
SysTick_Wait(T160us); // must wait 160us, busy flag not available
OutCmd(0x38); // Function set: 8-bit/2-line
OutCmd(0x10); // Set cursor
OutCmd(0x0C); // Display ON; Cursor ON
OutCmd(0x06); // Entry mode set
}
/**
* @brief Switches the Reset pin PC3 for the OLED display.
* @retval None
*/
void OLED_Reset(void) {
GPIOC->ODR &= ~(1<<3);
//TODO: insert timer wait 200ms
SysTick_Wait(20);
GPIOC->ODR |= (1<<3);
SysTick_Wait(20);
}
//------------Switch_Debounce------------
// wait for the switch to be touched
// Input: none
// Output: none
// debounces switch
void Switch_WaitForTouch(void){
// wait for release
while(Switch_Input()){};
SysTick_Wait(DELAY10MS); // 10ms
// wait for touch
while(Switch_Input()==0){};
SysTick_Wait(800000); // 10ms
}
// Output a character to the LCD
// Inputs: letter is ASCII character, 0 to 0x7F
// Outputs: none
void LCD_OutChar(char letter){
LCDDATA = letter;
LCDCMD = RS; // E=0, R/W=0, RS=1
SysTick_Wait(T6us); // wait 6us
LCDCMD = E+RS; // E=1, R/W=0, RS=1
SysTick_Wait(T6us); // wait 6us
LCDCMD = RS; // E=0, R/W=0, RS=1
SysTick_Wait(T40us); // wait 40us
}
void static OutCmd(unsigned char command){
LCDDATA = command;
LCDCMD = 0; // E=0, R/W=0, RS=0
SysTick_Wait(T6us); // wait 6us
LCDCMD = E; // E=1, R/W=0, RS=0
SysTick_Wait(T6us); // wait 6us
LCDCMD = 0; // E=0, R/W=0, RS=0
SysTick_Wait(T40us); // wait 40us
}
/**
* @brief Prints out the configuration options of the XBee.
* @retval XBEE_OK if successfull, XBEE_INIT_FAIL on failure.
*/
XBEE_STATUS Blox_XBee_Print(void) {
uint8_t garbage;
Blox_VUSART_TryReceive(XBEE_VUSART_ID, &garbage); //clear VUSART buffer before send/receive
Blox_VUSART_Send(XBEE_VUSART_ID, 'X'); // Junk character to before init
SysTick_Wait(1100);
Blox_VUSART_SendData(XBEE_VUSART_ID, "+++", 3) ; //Enter Command Mode
if (XBee_CheckOkResponse() == FALSE)
return XBEE_INIT_FAIL;
SysTick_Wait(1100);
Blox_VUSART_SendData(XBEE_VUSART_ID, "ATMY\r", 5) ; //Read source address
Blox_DebugStr("ATMY:");
Blox_VUSART_Receive(XBEE_VUSART_ID, &garbage);
Blox_DebugPat("%c\r\n", garbage);
Blox_VUSART_Receive(XBEE_VUSART_ID, &garbage); //\r
Blox_VUSART_SendData(XBEE_VUSART_ID, "ATDL\r", 5) ; //Read source address
Blox_DebugStr("ATDL:");
Blox_VUSART_Receive(XBEE_VUSART_ID, &garbage);
Blox_DebugPat("%c", garbage);
Blox_VUSART_Receive(XBEE_VUSART_ID, &garbage);
Blox_DebugPat("%c", garbage);
Blox_VUSART_Receive(XBEE_VUSART_ID, &garbage);
Blox_DebugPat("%c", garbage);
Blox_VUSART_Receive(XBEE_VUSART_ID, &garbage);
Blox_DebugPat("%c\r\n", garbage);
Blox_VUSART_Receive(XBEE_VUSART_ID, &garbage); //\r
Blox_VUSART_SendData(XBEE_VUSART_ID, "ATDH\r", 5) ; //Read source address
Blox_DebugStr("ATDH:");
Blox_VUSART_Receive(XBEE_VUSART_ID, &garbage);
Blox_DebugPat("%c\r\n", garbage);
Blox_VUSART_Receive(XBEE_VUSART_ID, &garbage); //\r
Blox_VUSART_SendData(XBEE_VUSART_ID, "ATAP\r", 5) ; //Read source address
Blox_DebugStr("ATAP:");
Blox_VUSART_Receive(XBEE_VUSART_ID, &garbage);
Blox_DebugPat("%c\r\n", garbage);
Blox_VUSART_Receive(XBEE_VUSART_ID, &garbage); //\r
Blox_VUSART_SendData(XBEE_VUSART_ID, "ATCN\r", 5) ; //Exit command mode
if (XBee_CheckOkResponse() == FALSE)
return XBEE_INIT_FAIL;
SysTick_Wait(20);
return XBEE_OK;
}
// Time delay using busy wait.
// This assumes 50 MHz system clock.
void SysTick_10ms_wait(unsigned long delay){
unsigned long i;
SysTick_Init(500000);
for(i=0; i<delay; i++){
SysTick_Wait(500000); // wait 10ms (assumes 50 MHz clock)
}
}
//Blinks the south LED
void role_2(void) {
Blox_LED_Init();
SysTick_Init();
while(1) {
Blox_LED_Toggle(LED2);
SysTick_Wait(1000);
}
}
//Blinks the east LED
void role_1(void) {
Blox_LED_Init();
SysTick_Init();
while(1) {
SysTick_Wait(500);
Blox_LED_Toggle(LED1);
}
}
void SysTick_Wait_10ms(unsigned long delay) {
unsigned long i;
for(i = 0; i < delay; i++) {
SysTick_Wait(800000);
}
}
/**
* @brief Initializes the OLED display.
* @retval None
*/
void Blox_OLED_Init(void) {
uint8_t garbage;
OLED_RCC_Configuration();
OLED_GPIO_Configuration();
SysTick_Init();
Blox_VUSART_Init(OLED_USART_ID);
OLED_Reset();
SysTick_Wait(2000);
Blox_VUSART_TryReceive(2, &garbage); //receive any garbage data
Blox_OLED_Send(OLED_AUTOBAUD);
Blox_OLED_Receive();
}
/**
* @brief Initializes the XBees sleep and reset pins, and then resets the XBee.
* @retval None
*/
XBEE_STATUS Blox_XBee_Init(void) {
uint8_t garbage;
XBee_RCC_Configuration();
XBee_GPIO_Configuration();
Blox_System_Init();
SysTick_Init();
XBEE_SLEEP_GPIO->ODR &= ~(XBEE_SLEEP_PIN);
XBEE_RESET_GPIO->ODR |= XBEE_RESET_PIN;
SysTick_Wait(1);
XBEE_RESET_GPIO->ODR &= ~(XBEE_RESET_PIN);
SysTick_Wait(1);
XBEE_RESET_GPIO->ODR |= XBEE_RESET_PIN;
SysTick_Wait(300);
Blox_VUSART_Init(XBEE_VUSART_ID);
Blox_VUSART_TryReceive(XBEE_VUSART_ID, &garbage); //clear VUSART buffer before send/receive
Blox_VUSART_Disable_RXNE_IRQ(XBEE_VUSART_ID);
Blox_VUSART_Register_RXNE_IRQ(XBEE_VUSART_ID, &Blox_XBee_VUSART_RXNE_IRQ);
Blox_VUSART_Enable_RXNE_IRQ(XBEE_VUSART_ID);
return XBEE_OK;
}
//------------Switch_Debounce------------
// Read and return the status of the switch
// Input: none
// Output: 0x02 if PB1 is high
// 0x00 if PB1 is low
// debounces switch
uint32_t Switch_Debounce(void){
uint32_t in,old,time;
time = 1000; // 10 ms
old = Switch_Input();
while(time){
SysTick_Wait(DELAY10US); // 10us
in = Switch_Input();
if(in == old){
time--; // same value
}else{
time = 1000; // different
old = in;
}
}
return old;
}
/**
* @brief Sends a XBeeTxFrame.
* @param frame: the frame to be sent.
* @retval XBEE_OK if successful, XBEE_INIT_FAIL on failure.
*/
XBEE_STATUS XBee_SendTxFrame (XBeeTxFrame *frame) {
uint8_t i;
uint8_t len = frame->length-5;
XBee_TxStatus_Flag = XBEE_TXSTATUS_NORMAL;
Blox_VUSART_Send(XBEE_VUSART_ID, frame->start);
Blox_VUSART_Send(XBEE_VUSART_ID, (uint8_t)(frame->length >> 8));
Blox_VUSART_Send(XBEE_VUSART_ID, (uint8_t)frame->length);
Blox_VUSART_Send(XBEE_VUSART_ID, frame->api);
Blox_VUSART_Send(XBEE_VUSART_ID, frame->id);
Blox_VUSART_Send(XBEE_VUSART_ID, (uint8_t)(frame->dest_addr >> 8));
Blox_VUSART_Send(XBEE_VUSART_ID, (uint8_t)frame->dest_addr);
Blox_VUSART_Send(XBEE_VUSART_ID, frame->options);
for (i = 0; i < len; i++)
Blox_VUSART_Send(XBEE_VUSART_ID, ((uint8_t *)&(frame->blox_frame))[i]);
Blox_VUSART_Send(XBEE_VUSART_ID, frame->checksum);
SysTick_Wait(1); //Give it a chance to send.
if(XBee_TxStatus_Flag == XBEE_TXSTATUS_SUCCESS)
return XBEE_OK;
return XBEE_TX_FAIL;
}
// Time delay using busy wait.
// 10000us equals 10ms
void SysTick_Wait10ms(unsigned long delay){
unsigned long i;
for(i=0; i<delay; i++){
SysTick_Wait(60000); // wait 10ms (assumes 6 MHz clock)
}
}
/**
* @brief Configures the XBee and writes the configuration to non-volatile mem.
* @retval XBEE_OK if successfull, XBEE_INIT_FAIL on failure.
*/
XBEE_STATUS Blox_XBee_Config(void) {
char buffer[10];
uint8_t garbage;
SysVar sys;
XBee_RCC_Configuration();
XBee_GPIO_Configuration();
Blox_VUSART_Init(XBEE_VUSART_ID);
SysTick_Init();
Blox_System_Init();
Blox_System_GetVars(&sys);
XBEE_SLEEP_GPIO->ODR &= ~(XBEE_SLEEP_PIN);
XBEE_RESET_GPIO->ODR |= XBEE_RESET_PIN;
SysTick_Wait(1);
XBEE_RESET_GPIO->ODR &= ~(XBEE_RESET_PIN);
SysTick_Wait(1);
XBEE_RESET_GPIO->ODR |= XBEE_RESET_PIN;
SysTick_Wait(1100);
Blox_VUSART_TryReceive(XBEE_VUSART_ID, &garbage); //clear VUSART buffer before send/receive
Blox_VUSART_Send(XBEE_VUSART_ID, 'X'); // Junk character to before init
SysTick_Wait(1100);
Blox_VUSART_SendData(XBEE_VUSART_ID, "+++", 3) ; //Enter Command Mode
if (XBee_CheckOkResponse() == FALSE)
return XBEE_INIT_FAIL;
SysTick_Wait(1100);
sprintf(buffer, "ATMY%d\r", sys.id);
Blox_VUSART_SendData(XBEE_VUSART_ID, (uint8_t *)buffer, strlen(buffer)) ; //Enter Command Mode
if (XBee_CheckOkResponse() == FALSE)
return XBEE_INIT_FAIL;
SysTick_Wait(20);
Blox_VUSART_SendData(XBEE_VUSART_ID, "ATDLFFFF\r", 9) ; //Set broadcast dest ID
if (XBee_CheckOkResponse() == FALSE)
return XBEE_INIT_FAIL;
SysTick_Wait(20);
Blox_VUSART_SendData(XBEE_VUSART_ID, "ATDH0\r", 6) ; //Set high of dest ID
if (XBee_CheckOkResponse() == FALSE)
return XBEE_INIT_FAIL;
SysTick_Wait(20);
Blox_VUSART_SendData(XBEE_VUSART_ID, "ATAP1\r", 6) ; //API Mode 1 (no escapes)
if (XBee_CheckOkResponse() == FALSE)
return XBEE_INIT_FAIL;
SysTick_Wait(20);
Blox_VUSART_SendData(XBEE_VUSART_ID, "ATRN1\r", 6) ; //API Mode 1 (no escapes)
if (XBee_CheckOkResponse() == FALSE)
return XBEE_INIT_FAIL;
SysTick_Wait(20);
Blox_VUSART_SendData(XBEE_VUSART_ID, "ATWR\r", 9) ; //Write to non-volatile memory
if (XBee_CheckOkResponse() == FALSE)
return XBEE_INIT_FAIL;
SysTick_Wait(20);
Blox_VUSART_SendData(XBEE_VUSART_ID, "ATCN\r", 5) ; //Exit command mode
if (XBee_CheckOkResponse() == FALSE)
return XBEE_INIT_FAIL;
SysTick_Wait(20);
return XBEE_OK;
}
// Time in ms
void ghettoDelay(int time)
{
SysTick_Wait(time*250000);
}
// Clear the LCD
// Inputs: none
// Outputs: none
void LCD_Clear(void){
OutCmd(0x01); // Clear Display
SysTick_Wait(T1600us); // wait 1.6ms
OutCmd(0x02); // Cursor to home
SysTick_Wait(T1600us); // wait 1.6ms
}
// Time delay using busy wait.
// This assumes 50 MHz system clock.
void SysTick_Wait10ms(uint32_t delay){
uint32_t i;
for(i=0; i<delay; i++){
SysTick_Wait(500000); // wait 10ms (assumes 50 MHz clock)
}
}
void SysTick_Wait10ms(uint32_t delay) {
for (uint32_t i = 0; i < delay; ++i) {
SysTick_Wait(800000); // 800000 * 12.5 ns = 10 ms
}
}
