uGFX/ugfx
2
0
Fork 0
Code Issues 2 Pull requests Projects Releases Wiki Activity

Updates to gdisp Nokia driver

Browse source 
For gdisp Nokia driver
- Add get_bus and release_bus into the board interface definition
- Tidy the code up for readability using some macros.
This commit is contained in:
Andrew Hannam 2012-11-15 15:31:22 +10:00
parent f6455189f8
commit e34ebdcae5
3 changed files with 157 additions and 130 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

235
drivers/gdisp/Nokia6610/gdisp_lld.c
View file

@ -80,13 +80,21 @@
#include "gdisp_lld_board.h" #include "gdisp_lld_board.h"
#endif #endif
static __inline void gdisp_lld_setviewport(coord_t x, coord_t y, coord_t cx, coord_t cy) { // Some macros just to make reading the code easier
GDISP_LLD(write_cmd)(CASET); // Column address set #define write_data(d1) GDISP_LLD(write_data)(d1)
GDISP_LLD(write_data)(x); #define write_data2(d1, d2) { write_data(d1); write_data(d2); }
GDISP_LLD(write_data)(x+cx-1); #define write_data3(d1, d2, d3) { write_data(d1); write_data(d2); write_data(d3); }
GDISP_LLD(write_cmd)(PASET); // Page address set
GDISP_LLD(write_data)(y); #define write_cmd(cmd) GDISP_LLD(write_cmd)(cmd)
GDISP_LLD(write_data)(y+cy-1); #define write_cmd1(cmd, d1) { write_cmd(cmd); write_data(d1); }
#define write_cmd2(cmd, d1, d2) { write_cmd(cmd); write_data2(d1, d2); }
#define write_cmd3(cmd, d1, d2, d3) { write_cmd(cmd); write_data3(d1, d2, d3); }
// A very common thing to do.
// An inline function has been used here incase the parameters have side effects with the internal calculations.
static __inline void setviewport(coord_t x, coord_t y, coord_t cx, coord_t cy) {
write_cmd2(CASET, x, x+cx-1); // Column address set
write_cmd2(PASET, y, y+cy-1); // Page address set
} }
/*===========================================================================*/ /*===========================================================================*/
@ -118,103 +126,95 @@ bool_t GDISP_LLD(init)(void) {
GDISP_LLD(setpin_reset)(FALSE); GDISP_LLD(setpin_reset)(FALSE);
chThdSleepMilliseconds(20); chThdSleepMilliseconds(20);
// Get the bus for the following initialisation commands
GDISP_LLD(get_bus);
#if defined(GDISP_USE_GE8) #if defined(GDISP_USE_GE8)
GDISP_LLD(write_cmd)(DISCTL); // Display control write_cmd3(DISCTL, 0x00, 0x20, 0x00); // Display control
GDISP_LLD(write_data)(0x00); // P1: 0x00 = 2 divisions, switching period=8 (default) // P1: 0x00 = 2 divisions, switching period=8 (default)
GDISP_LLD(write_data)(0x20); // P2: 0x20 = nlines/4 - 1 = 132/4 - 1 = 32) // P2: 0x20 = nlines/4 - 1 = 132/4 - 1 = 32)
GDISP_LLD(write_data)(0x00); // P3: 0x00 = no inversely highlighted lines // P3: 0x00 = no inversely highlighted lines
GDISP_LLD(write_cmd)(COMSCN); // COM scan write_cmd1(COMSCN, 0x01); // COM scan P1: 0x01 = Scan 1->80, 160<-81
GDISP_LLD(write_data)(1); // P1: 0x01 = Scan 1->80, 160<-81 write_cmd(OSCON); // Internal oscilator ON
GDISP_LLD(write_cmd)(OSCON); // Internal oscilator ON write_cmd(SLPOUT); // Sleep out
GDISP_LLD(write_cmd)(SLPOUT); // Sleep out write_cmd1(PWRCTR, 0x0F); // Power control - reference voltage regulator on, circuit voltage follower on, BOOST ON
GDISP_LLD(write_cmd)(PWRCTR); // Power control write_cmd3(DATCTL, 0x48, 0x00, 0x02); // Data control
GDISP_LLD(write_data)(0x0f); // reference voltage regulator on, circuit voltage follower on, BOOST ON // P1: 0x01 = page address inverted, column address normal, address scan in column direction
GDISP_LLD(write_cmd)(DATCTL); // Data control // P2: 0x00 = RGB sequence (default value)
GDISP_LLD(write_data)(0x48); // P1: 0x01 = page address inverted, column address normal, address scan in column direction // P3: 0x02 = Grayscale -> 16 (selects 12-bit color, type A)
GDISP_LLD(write_data)(0x00); // P2: 0x00 = RGB sequence (default value) write_cmd2(VOLCTR, GDISP_INITIAL_CONTRAST, 0x03); // Voltage control (contrast setting)
GDISP_LLD(write_data)(0x02); // P3: 0x02 = Grayscale -> 16 (selects 12-bit color, type A) // P1 = Contrast
GDISP_LLD(write_cmd)(VOLCTR); // Voltage control (contrast setting) // P2 = 3 resistance ratio (only value that works)
GDISP_LLD(write_data)(GDISP_INITIAL_CONTRAST); // P1 = Contrast chThdSleepMilliseconds(100); // allow power supply to stabilize
GDISP_LLD(write_data)(3); // P2 = 3 resistance ratio (only value that works) write_cmd(DISON); // Turn on the display
chThdSleepMilliseconds(100); // allow power supply to stabilize
GDISP_LLD(write_cmd)(DISON); // Turn on the display
#elif defined(GDISP_USE_GE12) #elif defined(GDISP_USE_GE12)
// UNTESTED
#if 1 #if 1
GDISP_LLD(write_cmd)(SLEEPOUT); // Sleep out write_cmd(SLEEPOUT); // Sleep out
GDISP_LLD(write_cmd)(INVON); // Inversion on: seems to be required for this controller write_cmd(INVON); // Inversion on: seems to be required for this controller
GDISP_LLD(write_cmd)(COLMOD); // Color Interface Pixel Format write_cmd1(COLMOD, 0x03); // Color Interface Pixel Format - 0x03 = 12 bits-per-pixel
GDISP_LLD(write_data)(0x03); // 0x03 = 12 bits-per-pixel write_cmd1(MADCTL, 0xC8); // Memory access controler - 0xC0 = mirror x and y, reverse rgb
GDISP_LLD(write_cmd)(MADCTL); // Memory access controler write_cmd1(SETCON, GDISP_INITIAL_CONTRAST); // Write contrast
GDISP_LLD(write_data)(0xC8); // 0xC0 = mirror x and y, reverse rgb
GDISP_LLD(write_cmd)(SETCON); // Write contrast
GDISP_LLD(write_data)(GDISP_INITIAL_CONTRAST); // contrast - experiental value
chThdSleepMilliseconds(20); chThdSleepMilliseconds(20);
GDISP_LLD(write_cmd)(DISPON); // Display On write_cmd(DISPON); // Display On
#else #else
// Alternative // Alternative
// Hardware reset commented out write_cmd(SOFTRST); // Software Reset
GDISP_LLD(write_cmd)(SOFTRST); // Software Reset
chThdSleepMilliseconds(20); chThdSleepMilliseconds(20);
GDISP_LLD(write_cmd)(INITESC); // Initial escape write_cmd(INITESC); // Initial escape
chThdSleepMilliseconds(20); chThdSleepMilliseconds(20);
GDISP_LLD(write_cmd)(REFSET); // Refresh set write_cmd1(REFSET, 0x00); // Refresh set
GDISP_LLD(write_data)(0); write_cmd(DISPCTRL); // Set Display control - really 7 bytes of data
GDISP_LLD(write_cmd)(DISPCTRL); // Set Display control write_data(128); // Set the lenght of one selection term
GDISP_LLD(write_data)(128); // Set the lenght of one selection term write_data(128); // Set N inversion -> no N inversion
GDISP_LLD(write_data)(128); // Set N inversion -> no N inversion write_data(134); // Set frame frequence and bias rate -> 2 devision of frequency and 1/8 bias, 1/67 duty, 96x67 size
GDISP_LLD(write_data)(134); // Set frame frequence and bias rate -> 2 devision of frequency and 1/8 bias, 1/67 duty, 96x67 size write_data(84); // Set duty parameter
GDISP_LLD(write_data)(84); // Set duty parameter write_data(69); // Set duty parameter
GDISP_LLD(write_data)(69); // Set duty parameter write_data(82); // Set duty parameter
GDISP_LLD(write_data)(82); // Set duty parameter write_data(67); // Set duty parameter
GDISP_LLD(write_data)(67); // Set duty parameter write_cmd(GRAYSCALE0); // Grey scale 0 position set - really 15 bytes of data
GDISP_LLD(write_cmd)(GRAYSCALE0); // Grey scale 0 position set - 15 parameters write_data(1); // GCP1 - gray lavel to be output when the RAM data is "0001"
GDISP_LLD(write_data)(1); // GCP1 - gray lavel to be output when the RAM data is "0001" write_data(2); // GCP2 - gray lavel to be output when the RAM data is "0010"
GDISP_LLD(write_data)(2); // GCP2 - gray lavel to be output when the RAM data is "0010" write_data(4); // GCP3 - gray lavel to be output when the RAM data is "0011"
GDISP_LLD(write_data)(4); // GCP3 - gray lavel to be output when the RAM data is "0011" write_data(8); // GCP4 - gray lavel to be output when the RAM data is "0100"
GDISP_LLD(write_data)(8); // GCP4 - gray lavel to be output when the RAM data is "0100" write_data(16); // GCP5 - gray lavel to be output when the RAM data is "0101"
GDISP_LLD(write_data)(16); // GCP5 - gray lavel to be output when the RAM data is "0101" write_data(30); // GCP6 - gray lavel to be output when the RAM data is "0110"
GDISP_LLD(write_data)(30); // GCP6 - gray lavel to be output when the RAM data is "0110" write_data(40); // GCP7 - gray lavel to be output when the RAM data is "0111"
GDISP_LLD(write_data)(40); // GCP7 - gray lavel to be output when the RAM data is "0111" write_data(50); // GCP8 - gray lavel to be output when the RAM data is "1000"
GDISP_LLD(write_data)(50); // GCP8 - gray lavel to be output when the RAM data is "1000" write_data(60); // GCP9 - gray lavel to be output when the RAM data is "1001"
GDISP_LLD(write_data)(60); // GCP9 - gray lavel to be output when the RAM data is "1001" write_data(70); // GCP10 - gray lavel to be output when the RAM data is "1010"
GDISP_LLD(write_data)(70); // GCP10 - gray lavel to be output when the RAM data is "1010" write_data(80); // GCP11 - gray lavel to be output when the RAM data is "1011"
GDISP_LLD(write_data)(80); // GCP11 - gray lavel to be output when the RAM data is "1011" write_data(90); // GCP12 - gray lavel to be output when the RAM data is "1100"
GDISP_LLD(write_data)(90); // GCP12 - gray lavel to be output when the RAM data is "1100" write_data(100); // GCP13 - gray lavel to be output when the RAM data is "1101"
GDISP_LLD(write_data)(100); // GCP13 - gray lavel to be output when the RAM data is "1101" write_data(110); // GCP14 - gray lavel to be output when the RAM data is "1110"
GDISP_LLD(write_data)(110); // GCP14 - gray lavel to be output when the RAM data is "1110" write_data(127); // GCP15 - gray lavel to be output when the RAM data is "1111"
GDISP_LLD(write_data)(127); // GCP15 - gray lavel to be output when the RAM data is "1111" write_cmd1(GAMMA, 0x01); // Gamma curve set - select gray scale - GRAYSCALE 0 or GREYSCALE 1 - Select grey scale 0
GDISP_LLD(write_cmd)(GAMMA); // Gamma curve set - select gray scale - GRAYSCALE 0 or GREYSCALE 1 write_cmd1(COMMONDRV, 0x00); // Command driver output - Set COM1-COM41 side come first, normal mod
GDISP_LLD(write_data)(1); // Select grey scale 0 write_cmd(NORMALMODE); // Set Normal mode (my)
GDISP_LLD(write_cmd)(COMMONDRV); // Command driver output // write_cmd(INVERSIONOFF); // Inversion off
GDISP_LLD(write_data)(0); // Set COM1-COM41 side come first, normal mod write_cmd2(COLADDRSET, 0, 131); // Column address set
GDISP_LLD(write_cmd)(NORMALMODE); // Set Normal mode (my) write_cmd2(PAGEADDRSET, 0, 131); // Page address set
// GDISP_LLD(write_cmd)(INVERSIONOFF); // Inversion off write_cmd1(ACCESSCTRL, 0x40); // Memory access controler - 0x40 horizontal
GDISP_LLD(write_cmd)(COLADDRSET); // Column address set // write_data(0x20); // vertical
GDISP_LLD(write_data)(0); write_cmd1(PWRCTRL, 0x04); // Power control - Internal resistance, V1OUT -> high power mode, oscilator devision rate
GDISP_LLD(write_data)(131); write_cmd(SLEEPOUT); // Sleep out
GDISP_LLD(write_cmd)(PAGEADDRSET); // Page address set write_cmd(VOLTCTRL); // Voltage control - voltage control and write contrast define LCD electronic volume
GDISP_LLD(write_data)(0); // write_data(0x7f); // full voltage control
GDISP_LLD(write_data)(131); // write_data(0x03); // must be "1"
GDISP_LLD(write_cmd)(ACCESSCTRL); // Memory access controler write_cmd1(CONTRAST, GDISP_INITIAL_CONTRAST); // Write contrast
GDISP_LLD(write_data)(0x40); // horizontal
//GDISP_LLD(write_data)(0x20); // vertical
GDISP_LLD(write_cmd)(PWRCTRL); // Power control
GDISP_LLD(write_data)(4); // Internal resistance, V1OUT -> high power mode, oscilator devision rate
GDISP_LLD(write_cmd)(SLEEPOUT); // Sleep out
GDISP_LLD(write_cmd)(VOLTCTRL); // Voltage control - voltage control and write contrast define LCD electronic volume
//GDISP_LLD(write_data)(0x7f); // full voltage control
//GDISP_LLD(write_data)(0x03); // must be "1"
GDISP_LLD(write_cmd)(CONTRAST); // Write contrast
GDISP_LLD(write_data)(GDISP_INITIAL_CONTRAST); // contrast
chThdSleepMilliseconds(20); chThdSleepMilliseconds(20);
GDISP_LLD(write_cmd)(TEMPGRADIENT); // Temperature gradient write_cmd(TEMPGRADIENT); // Temperature gradient - really 14 bytes of data
for(i=0; i<14; i++) GDISP_LLD(write_data)(0); for(i=0; i<14; i++)
GDISP_LLD(write_cmd)(BOOSTVON); // Booster voltage ON write_data(0);
GDISP_LLD(write_cmd)(DISPLAYON); // Finally - Display On write_cmd(BOOSTVON); // Booster voltage ON
write_cmd(DISPLAYON); // Finally - Display On
#endif #endif
#endif #endif
// Release the bus
GDISP_LLD(release_bus);
/* Turn on the back-light */ /* Turn on the back-light */
GDISP_LLD(set_backlight)(GDISP_INITIAL_BACKLIGHT); GDISP_LLD(set_backlight)(GDISP_INITIAL_BACKLIGHT);
@ -247,11 +247,10 @@ void GDISP_LLD(drawpixel)(coord_t x, coord_t y, color_t color) {
#if GDISP_NEED_VALIDATION || GDISP_NEED_CLIP #if GDISP_NEED_VALIDATION || GDISP_NEED_CLIP
if (x < GDISP.clipx0 || y < GDISP.clipy0 || x >= GDISP.clipx1 || y >= GDISP.clipy1) return; if (x < GDISP.clipx0 || y < GDISP.clipy0 || x >= GDISP.clipx1 || y >= GDISP.clipy1) return;
#endif #endif
gdisp_lld_setviewport(x, y, 1, 1); GDISP_LLD(get_bus);
GDISP_LLD(write_cmd)(RAMWR); setviewport(x, y, 1, 1);
GDISP_LLD(write_data)(0); write_cmd3(RAMWR, 0, (color>>8) & 0x0F, color & 0xFF);
GDISP_LLD(write_data)((color>>8) & 0x0F); GDISP_LLD(release_bus);
GDISP_LLD(write_data)(color & 0xFF);
} }
/* ---- Optional Routines ---- */ /* ---- Optional Routines ---- */
@ -280,13 +279,12 @@ void GDISP_LLD(drawpixel)(coord_t x, coord_t y, color_t color) {
tuples = (cx*cy+1)/2; // With an odd sized area we over-print by one pixel. tuples = (cx*cy+1)/2; // With an odd sized area we over-print by one pixel.
// This extra pixel is ignored by the controller. // This extra pixel is ignored by the controller.
gdisp_lld_setviewport(x, y, cx, cy); GDISP_LLD(get_bus);
GDISP_LLD(write_cmd)(RAMWR); setviewport(x, y, cx, cy);
for(i=0; i < tuples; i++) { write_cmd(RAMWR);
GDISP_LLD(write_data)((color >> 4) & 0xFF); for(i=0; i < tuples; i++)
GDISP_LLD(write_data)(((color << 4) & 0xF0)|((color >> 8) & 0x0F)); write_data3(((color >> 4) & 0xFF), (((color << 4) & 0xF0)|((color >> 8) & 0x0F)), (color & 0xFF));
GDISP_LLD(write_data)(color & 0xFF); GDISP_LLD(release_bus);
}
} }
#endif #endif
@ -323,8 +321,9 @@ void GDISP_LLD(drawpixel)(coord_t x, coord_t y, color_t color) {
endx = srcx + cx; endx = srcx + cx;
endy = y + cy; endy = y + cy;
gdisp_lld_setviewport(x, y, cx, cy); GDISP_LLD(get_bus);
GDISP_LLD(write_cmd)(RAMWR); setviewport(x, y, cx, cy);
write_cmd(RAMWR);
#if !GDISP_PACKED_PIXELS #if !GDISP_PACKED_PIXELS
// Although this controller uses packed pixels we support unpacked pixel // Although this controller uses packed pixels we support unpacked pixel
@ -338,9 +337,7 @@ void GDISP_LLD(drawpixel)(coord_t x, coord_t y, color_t color) {
if (++x >= endx) { if (++x >= endx) {
if (++y >= endy) { if (++y >= endy) {
/* Odd pixel at end */ /* Odd pixel at end */
GDISP_LLD(write_data)(0); write_data3(0, ((c1 >> 8) & 0x0F), (c1 & 0xFF));
GDISP_LLD(write_data)((c1 >> 8) & 0x0F);
GDISP_LLD(write_data)(c1 & 0xFF);
break; break;
} }
x = srcx; x = srcx;
@ -348,9 +345,7 @@ void GDISP_LLD(drawpixel)(coord_t x, coord_t y, color_t color) {
} }
/* Get the next pixel */ /* Get the next pixel */
c2 = *buffer++; c2 = *buffer++;
GDISP_LLD(write_data)((c1 >> 4) & 0xFF); write_data3(((c1 >> 4) & 0xFF), (((c1 << 4) & 0xF0)|((c2 >> 8) & 0x0F)), (c2 & 0xFF));
GDISP_LLD(write_data)(((c1 << 4) & 0xF0)|((c2 >> 8) & 0x0F));
GDISP_LLD(write_data)(c2 & 0xFF);
if (++x >= endx) { if (++x >= endx) {
if (++y >= endy) if (++y >= endy)
break; break;
@ -380,9 +375,7 @@ void GDISP_LLD(drawpixel)(coord_t x, coord_t y, color_t color) {
if (++x >= endx) { if (++x >= endx) {
if (++y >= endy) { if (++y >= endy) {
/* Odd pixel at end */ /* Odd pixel at end */
GDISP_LLD(write_data)(0); write_data3(0, ((c1 >> 8) & 0x0F), (c1 & 0xFF));
GDISP_LLD(write_data)((c1 >> 8) & 0x0F);
GDISP_LLD(write_data)(c1 & 0xFF);
break; break;
} }
x = srcx; x = srcx;
@ -394,9 +387,7 @@ void GDISP_LLD(drawpixel)(coord_t x, coord_t y, color_t color) {
case 0: c2 = (((color_t)p[0]) << 4)|(((color_t)p[1])>>4); break; case 0: c2 = (((color_t)p[0]) << 4)|(((color_t)p[1])>>4); break;
case 1: c2 = (((color_t)p[1]&0x0F) << 8)|((color_t)p[1]); break; case 1: c2 = (((color_t)p[1]&0x0F) << 8)|((color_t)p[1]); break;
} }
GDISP_LLD(write_data)((c1 >> 4) & 0xFF); write_data3(((c1 >> 4) & 0xFF), (((c1 << 4) & 0xF0)|((c2 >> 8) & 0x0F)), (c2 & 0xFF));
GDISP_LLD(write_data)(((c1 << 4) & 0xF0)|((c2 >> 8) & 0x0F));
GDISP_LLD(write_data)(c2 & 0xFF);
if (++x >= endx) { if (++x >= endx) {
if (++y >= endy) if (++y >= endy)
break; break;
@ -406,6 +397,7 @@ void GDISP_LLD(drawpixel)(coord_t x, coord_t y, color_t color) {
} }
} }
#endif #endif
GDISP_LLD(release_bus);
} }
#endif #endif
@ -547,14 +539,13 @@ void GDISP_LLD(drawpixel)(coord_t x, coord_t y, color_t color) {
return; return;
case GDISP_CONTROL_CONTRAST: case GDISP_CONTROL_CONTRAST:
if ((unsigned)value > 100) value = (void *)100; if ((unsigned)value > 100) value = (void *)100;
GDISP_LLD(get_bus);
#if defined(GDISP_USE_GE8) #if defined(GDISP_USE_GE8)
GDISP_LLD(write_cmd)(VOLCTR); write_cmd2(VOLCTR, (unsigned)value, 0x03);
GDISP_LLD(write_data)((unsigned)value);
GDISP_LLD(write_data)(3);
#elif defined(GDISP_USE_GE12) #elif defined(GDISP_USE_GE12)
GDISP_LLD(write_cmd)(CONTRAST); write_cmd1(CONTRAST,(unsigned)value);
GDISP_LLD(write_data)((unsigned)value);
#endif #endif
GDISP_LLD(release_bus);
GDISP.Contrast = (unsigned)value; GDISP.Contrast = (unsigned)value;
return; return;
} }

26
drivers/gdisp/Nokia6610/gdisp_lld_board_example.h
View file

@ -72,13 +72,31 @@ static __inline void GDISP_LLD(set_backlight)(uint8_t percent) {
} }
/** /**
* @brief Send an 8 bit command to the lcd. * @brief Take exclusive control of the bus
*
* @param[in] data The command to send
* *
* @notapi * @notapi
*/ */
static __inline void GDISP_LLD(write_cmd)(uint16_t data) { static __inline void GDISP_LLD(get_bus)(void) {
#error "gdispNokia6610: You must supply a definition for get_bus for your board"
}
/**
* @brief Release exclusive control of the bus
*
* @notapi
*/
static __inline void GDISP_LLD(release_bus)(void) {
#error "gdispNokia6610: You must supply a definition for release_bus for your board"
}
/**
* @brief Send an 8 bit command to the lcd.
*
* @param[in] cmd The command to send
*
* @notapi
*/
static __inline void GDISP_LLD(write_cmd)(uint16_t cmd) {
/* Code here */ /* Code here */
#error "gdispNokia6610: You must supply a definition for write_cmd for your board" #error "gdispNokia6610: You must supply a definition for write_cmd for your board"
} }

26
drivers/gdisp/Nokia6610/gdisp_lld_board_olimexsam7ex256.h
View file

@ -175,13 +175,31 @@ static __inline void GDISP_LLD(set_backlight)(uint8_t percent) {
} }
/** /**
* @brief Send an 8 bit command to the lcd. * @brief Take exclusive control of the bus
*
* @param[in] data The command to send
* *
* @notapi * @notapi
*/ */
static __inline void GDISP_LLD(write_cmd)(uint16_t data) { static __inline void GDISP_LLD(get_bus)(void) {
// Nothing to do for this board as the LCD is the only device on the SPI port
}
/**
* @brief Release exclusive control of the bus
*
* @notapi
*/
static __inline void GDISP_LLD(release_bus)(void) {
// Nothing to do for this board as the LCD is the only device on the SPI port
}
/**
* @brief Send an 8 bit command to the lcd.
*
* @param[in] cmd The command to send
*
* @notapi
*/
static __inline void GDISP_LLD(write_cmd)(uint16_t cmd) {
// wait for the previous transfer to complete // wait for the previous transfer to complete
while((pSPI->SPI_SR & AT91C_SPI_TXEMPTY) == 0); while((pSPI->SPI_SR & AT91C_SPI_TXEMPTY) == 0);
// send the command // send the command