Diff: display.cpp

Revision:

0:d6269d17c8cf

Child:

2:c6986ee3c7c5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/display.cpp	Thu Feb 04 21:48:54 2016 +0000
@@ -0,0 +1,336 @@
+/* University of York Robotics Laboratory PsiSwarm Library: Display Driver Source File
+ * 
+ * File: display.cpp
+ *
+ * (C) Dept. Electronics & Computer Science, University of York
+ * 
+ * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
+ *
+ * PsiSwarm Library Version: 0.4
+ *
+ * February 2016
+ *
+ * Driver for the Midas 16x2 I2C LCD Display (MCCOG21605x6W) LCD
+ * [Farnell part 2218942 or 2063206]
+ *
+ */ 
+ 
+#include "psiswarm.h"
+
+Timeout init_timeout;
+Timeout backlight_timeout;
+Timeout debug_timeout;
+int backlight_on_time;
+int backlight_off_time;
+char backlight_step;
+char multipage[200];
+char multipage_length = 0;
+char preserve_line_1 [17];
+char preserve_line_2 [17];
+char c_row=0;
+char c_column=0;
+char p_row;
+char p_column;
+
+
+Display::Display(PinName sda, PinName scl, PinName reset, PinName backlight) :  Stream("display"), _i2c(sda,scl), _reset(reset), _backlight(backlight)  {
+}
+
+Display::Display() :  Stream("display"), _i2c(p28,p27), _reset(p29), _backlight(p30)  {
+}
+
+int Display::i2c_message(char byte){
+   char bytes [2];
+   bytes[0]=0x80;
+   bytes[1]=byte;
+   int ret=_i2c.write(LCD_ADDRESS,bytes,2);  
+   wait(0.01);
+   return ret;
+}
+
+int Display::disp_putc(int c){
+   char message [2];
+   message[0]=0x40;
+   message[1]=c;
+   _i2c.write(LCD_ADDRESS,message,2);
+   wait(0.01);
+   return c;
+}
+
+void Display::init_display(char mode){
+   //Set initial states: display on, cursor off
+   display_on = 1;
+   set_backlight_brightness(1);
+   cursor_on = 0;
+   blink_on  = 0;
+    
+   _reset=1;
+   wait(0.02);
+   //Set reset low
+   _reset=0;
+   wait(0.001);
+   _reset=1;
+   wait(0.03);
+   i2c_message(0x38); 
+   i2c_message(0x39); 
+   i2c_message(0x14); 
+   i2c_message(0x74); 
+   i2c_message(0x54); 
+   i2c_message(0x6F); 
+   _set_display();
+   clear_display(); 
+   char psis[17];
+   for(int i=0;i<16;i++){
+       psis[i]=0x1D;
+   }
+   set_position(0,0);
+   write_string(psis,16);
+   set_position(1,0);
+   write_string(psis,16);
+   wait(0.25);
+   clear_display();
+   if(mode == 0){
+   set_position(0,0);
+   write_string("  YORK ROBOTICS");
+   set_position(1,0);
+   write_string("   LABORATORY");
+   init_timeout.attach(this,&Display::post_init,0.3);}
+   else {      
+   set_position(0,0);
+   write_string("Hold button to");
+   set_position(1,0);
+   write_string("launch demo code");
+    }
+} 
+
+void Display::post_init(){
+    clear_display();
+    home();
+    write_string("PSI SWARM ROBOT");
+    set_position(1,0);
+    char line [17];
+    sprintf(line,"VERSION %1.2f", SOFTWARE_VERSION_CODE  );
+    set_position(1,0);
+    write_string(line);
+    init_timeout.attach(this,&Display::post_post_init,0.3);
+}
+
+void Display::post_post_init(){
+    clear_display();
+    home();
+}
+
+void Display::write_string(char * message){
+   size_t length = strlen(message);
+   if (length > 16) length = 16;
+   char to_send [length+1];
+   to_send[0]=0x40;
+   for(int i=0;i<length;i++){
+     to_send[i+1] = message[i];
+   }
+   _i2c.write(LCD_ADDRESS,to_send,length+1);
+   // Add to saved buffer
+   int count = 0;
+   for(int i=c_column;i<16;i++){
+       if(count < length){
+            if(c_row == 0) preserve_line_1[i] = message[count];
+            else preserve_line_2[i] = message[count];  
+       }
+       count++;
+   }
+   c_column+=length;
+   if(c_column>15) c_column=15;
+}
+
+
+void Display::write_string(char * message, char length){
+   char to_send [length+1];
+   to_send[0]=0x40;
+   for(int i=0;i<length;i++){
+     to_send[i+1] = message[i];
+   }
+   _i2c.write(LCD_ADDRESS,to_send,length+1);
+   // Add to saved buffer
+   int count = 0;
+   for(int i=c_column;i<16;i++){
+       if(count < length){
+            if(c_row == 0) preserve_line_1[i] = message[count];
+            else preserve_line_2[i] = message[count];  
+       }
+       count++;
+   }
+   c_column+=length;
+   if(c_column>15) c_column=15;
+}
+
+void Display::set_position(char row, char column){
+  if(row < 2 && column < 16){
+    char pos = 128 +((row * 64)+column);
+    i2c_message(pos);
+    c_row= row;
+    c_column = column;
+  }
+}
+
+void Display::set_cursor(char enable){
+  cursor_on=enable;
+  _set_display();
+}
+
+void Display::set_blink(char enable){
+  blink_on=enable;
+    _set_display();
+}
+
+void Display::set_display(char enable){
+  display_on=enable;
+    _set_display();
+}
+
+void Display::set_backlight_brightness(float brightness){
+    if(brightness > 1) brightness = 0;
+    if(brightness < 0) brightness = 0;
+    backlight_brightness = brightness;
+    if(backlight_brightness == 1) {
+        backlight_timeout.detach();   
+        _backlight = 1;
+    }else{
+        if(backlight_brightness == 0){
+            backlight_timeout.detach();
+            _backlight = 0;   
+        }   else {
+            backlight_on_time = (int) (10000.0f * backlight_brightness);
+            backlight_off_time = 10000 - backlight_on_time;
+            backlight_step = 0;
+            _backlight = 0;
+            backlight_timeout.attach_us(this,&Display::IF_backlight_toggle,backlight_off_time);
+        }
+    }
+}
+
+void Display::IF_backlight_toggle(){
+    if(backlight_step == 0){
+        _backlight = 1;
+        backlight_step = 1;
+        backlight_timeout.attach_us(this,&Display::IF_backlight_toggle,backlight_on_time);
+    }   else {
+        _backlight = 0;
+        backlight_step = 0;
+        backlight_timeout.attach_us(this,&Display::IF_backlight_toggle,backlight_off_time);
+    }
+}
+void Display::clear_display(){
+  for(int i=0;i<16;i++){
+      preserve_line_1[i] = 0x20;
+      preserve_line_2[i] = 0x20;
+  }
+  i2c_message(0x01);
+}
+
+void Display::home(){
+  c_row = 0;
+  c_column = 0;
+  i2c_message(0x02);
+}
+
+void Display::debug_page(char * message, char length){
+    p_row=c_row;
+    p_column=c_column;
+    i2c_message(0x01);
+    home();
+    char multipage_mode = 0;
+    char line_1[18];
+    char line_2[18];
+    line_1[0]=0x40;
+    line_2[0]=0x40;
+    if(length > 16){
+        strncpy(line_1+1, message, 16);
+        char f_length = length - 16;
+        if(f_length > 16) {
+            f_length = 16;
+            multipage_mode = 1;
+        }
+        strncpy(line_2+1, message+16, f_length);
+        line_1[17]=0;
+        line_2[f_length+1]=0;
+        _i2c.write(LCD_ADDRESS,line_1,17);
+        set_position(1,0);
+        _i2c.write(LCD_ADDRESS,line_2,f_length+1);
+    } else {
+        strncpy(line_1+1, message, length);
+        _i2c.write(LCD_ADDRESS,line_1,length+1);
+        }
+    if(multipage_mode == 1){
+        strncpy(multipage, message + 32, length - 32);
+        multipage_length = length - 32;
+        debug_timeout.attach(this,&Display::IF_debug_multipage,PAGE_TIME);
+    } else debug_timeout.attach(this,&Display::IF_restore_page,CLEAR_TIME);
+}
+
+void Display::IF_restore_page(){
+    i2c_message(0x01);
+    home();
+    char line_1[17];
+    char line_2[17];
+    line_1[0]=0x40;
+    line_2[0]=0x40;
+    strncpy(line_1+1, preserve_line_1, 16);
+    strncpy(line_2+1, preserve_line_2, 16);
+    _i2c.write(LCD_ADDRESS,line_1,17);
+    set_position(1,0);
+    _i2c.write(LCD_ADDRESS,line_2,17);
+    set_position(p_row,p_column);
+}
+
+void Display::IF_debug_multipage(){
+    i2c_message(0x01);
+    home();
+    char multipage_mode = 0;
+    char line_1[18];
+    char line_2[18];
+    line_1[0]=0x40;
+    line_2[0]=0x40;
+    if(multipage_length > 16){
+        strncpy(line_1+1, multipage, 16);
+        char f_length = multipage_length - 16;
+        if(f_length > 16) {
+            f_length = 16;
+            multipage_mode = 1;
+        }
+        strncpy(line_2+1, multipage+16, f_length);
+        line_1[17]=0;
+        line_2[f_length+1]=0;
+       _i2c.write(LCD_ADDRESS,line_1,17);
+        set_position(1,0);
+        _i2c.write(LCD_ADDRESS,line_2,f_length+1);
+    } else  {
+        strncpy(line_1+1, multipage, multipage_length);
+        _i2c.write(LCD_ADDRESS,line_1,multipage_length+1);
+        }
+    if(multipage_mode == 1){
+        char temp[200];
+        strncpy(temp, multipage + 32, multipage_length - 32);
+        multipage_length -= 32;
+        strncpy(multipage, temp, multipage_length);
+        debug_timeout.attach(this,&Display::IF_debug_multipage,PAGE_TIME);
+    }else debug_timeout.attach(this,&Display::IF_restore_page,CLEAR_TIME);
+}
+
+void Display::_set_display(){
+    char mode = 8;
+    if(display_on>0) mode += 4;
+    if(cursor_on>0) mode += 2;
+    if(blink_on>0) mode ++;
+    i2c_message(mode);
+}
+
+
+int Display::_putc (int c) {
+    putc(c);
+    return(c);
+}
+
+int Display::_getc (void) {
+    char r = 0;
+    return(r);
+}