HAN Solarboat
version 1.0
Dependencies: CMSIS_DSP_401 GPS MPU9150_DMP PID QuaternionMath Servo mbed
Fork of
SolarOnFoils_MainModule_20150518
by 
Dannis Brugman
Diff: main.cpp
- Revision:
- 2:f6d058931b17
- Parent:
- 1:b4a0d63db637
--- a/main.cpp Fri Jun 26 09:21:33 2015 +0000
+++ b/main.cpp Tue Aug 11 08:38:55 2015 +0000
@@ -21,7 +21,6 @@
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
-#include "MCP23017.h"
#include "LCD_I2C.h"
#include "uart.h"
#include "GPS.h"
@@ -31,7 +30,6 @@
#include "Servo.h"
#include "mRotaryEncoder.h"
#include "MainModule.h"
-//#include "LCD_Menu.h"
#include "menu.h"
#include "systemVar.h"
@@ -108,11 +106,12 @@
//mRotaryEncoder(PinName pinA, PinName pinB, PinName pinSW, PinMode pullMode=PullUp, int debounceTime_us=1000)
mRotaryEncoder rSwitch(p12, p11, p7);
CAN CANbus(p30, p29);
-MCP23017 mcp23017 = MCP23017(i2c, 0x40);
Serial debug(USBTX, USBRX);
PID rollPID(Kc,Ti,Td,RATE); // declare a PID for roll adjustment
+LCD_I2C LCD(p9, p10, 0x40);
+
//////////////////////////////////////////////////////////////////////////////////////
// function prototypes //
//////////////////////////////////////////////////////////////////////////////////////
@@ -134,13 +133,11 @@
bool enc_rotated = false; // rotary encoder was totaded left or right
bool bSystemFail = false; // sytem fail
-char buffer_GPIOB;
char cBuffer[200];
char cMessage;
char text[16];
char cPTurns[2] ={0};
char cSTurns[2] ={0};
-//char buffer[16];
float fRoll, fPitch, fEulerRoll;
float fRollDiff;
@@ -196,12 +193,7 @@
timer.start(); //timer to test imu roll angle
actualTime.start(); //crash timer
// clear line -1-
- vLCD_printPos_I2C((unsigned char*)" ", 1, 1);
-
- // put text on lcd
-
- //mLCDMenu.vShowScreen(_FOILBORNE);
- //vLCD_printPos_I2C((unsigned char*)mLCDMenu.getLine1(), 2, 1);
+ LCD.vLCD_printPos_I2C((unsigned char*)" ", 1, 1);
//////////////////////////////////////////////////////////////////////////////////////
// endless loop //
@@ -255,7 +247,7 @@
svSoF.vSetPitch(q1); // call function class SystemVar
svSoF.vSetRoll(q1);
mLCDMenu.vShowScreen(mLCDMenu.getScreen());
- vLCD_update();
+ LCD.vLCD_update();
//debug.printf("Roll: %c\t", svSoF.getValue());
//debug.printf("Roll: %f\t", getRollAngle(q1));
@@ -277,218 +269,6 @@
} // END MAIN
//////////////////////////////////////////////////////////////////////////////////////
-// delay function for LCD //
-//////////////////////////////////////////////////////////////////////////////////////
-
-void vLCD_delay_I2C (unsigned int t_delay)
-{
- unsigned int i;
-
- for (i=0; i < t_delay; i++);
-}
-
-//////////////////////////////////////////////////////////////////////////////////////
-// write commando to LCD //
-//////////////////////////////////////////////////////////////////////////////////////
-
-void vLCD_cmd_I2C (unsigned char commando)
-{
-__disable_irq(); // Disable Interrupts
-
- // write commando to LCD
- mcp23017.write(PORT_A, commando);
-
- // LCD_RS = 0
- buffer_GPIOB = buffer_GPIOB & 0xFD; // RS = 0
- // write to LCD
- mcp23017.write(PORT_B, buffer_GPIOB);
-
- // LCD_EN = 1
- buffer_GPIOB = buffer_GPIOB | 0x01; // EN = 1
- // write to LCD
- mcp23017.write(PORT_B, buffer_GPIOB);
-
- // LCD_EN = 0
- buffer_GPIOB = buffer_GPIOB & 0xFE; // EN = 0
- // write to LCD
- mcp23017.write(PORT_B, buffer_GPIOB);
-
-__enable_irq(); // Enable Interrupts
-}
-
-//////////////////////////////////////////////////////////////////////////////////////
-// write single char to LCD //
-//////////////////////////////////////////////////////////////////////////////////////
-
-void vLCD_data_I2C (unsigned char data)
-{
-__disable_irq(); // Disable Interrupts
-
- // write data to LCD
- mcp23017.write(PORT_A, data);
-
- // LCD_RS = 1
- buffer_GPIOB = buffer_GPIOB | 0x02; // RS = 1
- // write to LCD
- mcp23017.write(PORT_B, buffer_GPIOB);
-
- // LCD_EN = 1
- buffer_GPIOB = buffer_GPIOB | 0x01; // EN = 1
- // write to LCD
- mcp23017.write(PORT_B, buffer_GPIOB);
-
- // LCD_EN = 0
- buffer_GPIOB = buffer_GPIOB & 0xFE; // EN = 0
- // write to LCD
- mcp23017.write(PORT_B, buffer_GPIOB);
-
-__enable_irq(); // Enable Interrupts
-}
-
-//////////////////////////////////////////////////////////////////////////////////////
-// Initialize LCD //
-//////////////////////////////////////////////////////////////////////////////////////
-
-void vLCD_init_I2C (void)
-{
- vLCD_cmd_I2C (0x00);
- // vLCD_delay_I2C (65535)
- vLCD_delay_I2C (100);
-
- vLCD_cmd_I2C (0x38);
- // vLCD_delay_I2C (65535)
- vLCD_delay_I2C (100);
-
- vLCD_cmd_I2C (0x38);
- //vLCD_delay_I2C (65535)
- vLCD_delay_I2C (100);
-
- vLCD_cmd_I2C (0x38);
- //vLCD_delay_I2C (65535)
- vLCD_delay_I2C (100);
-
- // Display ON / OFF
- vLCD_cmd_I2C (0x08);
-
- //vLCD_delay_I2C (65535)
- vLCD_delay_I2C (100);
-
- // Clear Display
- vLCD_cmd_I2C (0x01);
-
- //vLCD_delay_I2C (65535)
- vLCD_delay_I2C (100);
-
- // Entry Mode Set
- vLCD_cmd_I2C (0x06);
-
- //vLCD_delay_I2C (65535)
- vLCD_delay_I2C (100);
-
- // Display ON / OFF
- vLCD_cmd_I2C (0x0C);
-
- //vLCD_delay_I2C (65535)
- vLCD_delay_I2C (100);
-}
-
-//////////////////////////////////////////////////////////////////////////////////////
-// Write string to LCD //
-//////////////////////////////////////////////////////////////////////////////////////
-
-void vLCD_print_I2C (unsigned char *string, unsigned char line)
-{
- unsigned int i;
-
- // select target line to write to
- if (line == 1)
- {
- vLCD_cmd_I2C (0x80);
- }
- else if (line == 2)
- {
- vLCD_cmd_I2C (0xC0);
- }
- else
- {
- return; // End of function: Error in the past value of line
- }
-
- // write data to selected line
- for (i=0; i<16; i++)
- {
- if (string [i] != 0x00)
- {
- vLCD_data_I2C (string [i]);
- }
- else
- vLCD_data_I2C (' ');
- }
-}
-
-//////////////////////////////////////////////////////////////////////////////////////
-// Write string to LCD //
-//////////////////////////////////////////////////////////////////////////////////////
-
-void vLCD_printPos_I2C (unsigned char *string, unsigned char line, unsigned char character)
-{
- unsigned int i;
-
- // select target line and position to write to
- if (line == 1)
- {
- vLCD_cmd_I2C (0x80+(character-1));
- }
-
- else if (line == 2)
- {
- vLCD_cmd_I2C (0xC0+(character-1));
- }
-
- else
- {
- return; // End of function: Error in the past value of line
- }
-
- // write data to selected line and position
- for (i=0; i<16; i++)
- {
- if (string [i] != 0x00)
- {
- vLCD_data_I2C (string [i]);
- }
- else
- vLCD_data_I2C (' ');
- }
-}
-
-//////////////////////////////////////////////////////////////////////////////////////
-// update LCD //
-//////////////////////////////////////////////////////////////////////////////////////
-void vLCD_clear_I2C (void)
-{
- // Clear Display
- vLCD_cmd_I2C (0x01);
- //vLCD_delay_I2C (65535)
- vLCD_delay_I2C (100);
- // Display ON / OFF
- vLCD_cmd_I2C (0x0C);
- //vLCD_delay_I2C (65535)
- vLCD_delay_I2C (100);
-}
-
-//////////////////////////////////////////////////////////////////////////////////////
-// update LCD //
-//////////////////////////////////////////////////////////////////////////////////////
-void vLCD_update (void)
-{
- vLCD_print_I2C((unsigned char*)mLCDMenu.getLine1(), 1);
- vLCD_print_I2C((unsigned char*)mLCDMenu.getLine2(), 2);
- //vLCD_printPos_I2C((unsigned char*)mLCDMenu.getLine1(), 1, 1);
- //vLCD_printPos_I2C((unsigned char*)mLCDMenu.getLine2(), 2, 1);
-}
-
-//////////////////////////////////////////////////////////////////////////////////////
// Init SOF module //
//////////////////////////////////////////////////////////////////////////////////////
void vInit (void)
@@ -496,15 +276,15 @@
// I2C init
i2c.frequency(100000);
//Port A is databus - Output
- mcp23017.direction(PORT_A, PORT_DIR_OUT);
+// mcp23017.direction(PORT_A, PORT_DIR_OUT);
//Port B is controlbus - Output
- mcp23017.direction(PORT_B, PORT_DIR_OUT);
+// mcp23017.direction(PORT_B, PORT_DIR_OUT);
debug.baud(115200);
// initialize LCD
- vLCD_init_I2C();
+ //vLCD_init_I2C();
mLCDMenu.vSelectMenu(_MENU0_0);
- vLCD_update();
+ LCD.vLCD_update();
// led's out
aliveLed = 1; wait(0.1); aliveLed = 0;
@@ -537,7 +317,7 @@
{
if(imu.isReady()) mLCDMenu.vShowScreen(_IMUREADY);
else mLCDMenu.vShowScreen(_IMUFAIL);
- vLCD_update();
+ LCD.vLCD_update();
imu.initialiseDMP();
imu.setFifoReset(true);
@@ -588,7 +368,7 @@
case GYRO_GPS_DIAGN: if((msg.id == GYRO_GPS_ID)&&(msg.data[0] == 0xFF)) mLCDMenu.vShowScreen(_CANID205OK); break;
case EXT_UI_DIAGN: if((msg.id == EXT_UI_ID)&&(msg.data[0] == 0xFF)) mLCDMenu.vShowScreen(_CANID1001OK); break;
} //end switch
- vLCD_update();
+ LCD.vLCD_update();
bReceived = true;
} //end if
else if(iTry == 1){
@@ -600,7 +380,7 @@
case GYRO_GPS_DIAGN: mLCDMenu.vShowScreen(_CANID205FAIL); break;
case EXT_UI_DIAGN: mLCDMenu.vShowScreen(_CANID1001FAIL); break;
} //end switch
- vLCD_update();
+ LCD.vLCD_update();
} //end if
if(CANbus.read(msg)){}//unwanted message
if(!bReceived) iTry--;
@@ -622,7 +402,7 @@
CANbus.write(CANMessage(EXT_UI_HEIGHT, &cMessage, 1));
mLCDMenu.vSelectMenu(_MENU0_0);
- vLCD_update();
+ LCD.vLCD_update();
debug.printf("end can init");
}
@@ -683,18 +463,6 @@
}
//////////////////////////////////////////////////////////////////////////////////////
-// Writing integer to LCD //
-//////////////////////////////////////////////////////////////////////////////////////
-void vLCD_printInt_I2C (int value, unsigned char line, unsigned char character)
-{
- static char buffer[32];
- // convert int to char
- sprintf(buffer, "%.2d", value);
- // write converted int to LCD
- vLCD_printPos_I2C((unsigned char*)buffer, line, character);
-}
-
-//////////////////////////////////////////////////////////////////////////////////////
// calculate Roll from quaternion //
//////////////////////////////////////////////////////////////////////////////////////
float getRollAngle(Quaternion q1)
@@ -769,7 +537,7 @@
// reset switch count
vResetSwitch();
- vLCD_update();
+ LCD.vLCD_update();
}
//////////////////////////////////////////////////////////////////////////////////////
@@ -784,7 +552,7 @@
// reset switch count
vResetSwitch();
- vLCD_update();
+ LCD.vLCD_update();
}
//////////////////////////////////////////////////////////////////////////////////////