Alan Millard / Mbed 2 deprecated BeautifulMemeProjectBT

Bluetooth communication for flocking.

Dependencies:   mbed

Fork of BeautifulMemeProject by James Hilder

PsiSwarm/display.cpp@27:7eb032772bc2, 2016-01-31 (annotated)

Committer:
alanmillard
Date:
Sun Jan 31 15:14:54 2016 +0000
Revision:
27:7eb032772bc2
Parent:
9:085e090e1ec1 
Flocking seems to work better now, however the robot controller sometimes "crashes" (unsure why).

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 0:8a5497a2e366 1 /* University of York Robotics Laboratory PsiSwarm Library: Display Driver Source File
jah128 0:8a5497a2e366 2 *
jah128 0:8a5497a2e366 3 * File: display.cpp
jah128 0:8a5497a2e366 4 *
jah128 0:8a5497a2e366 5 * (C) Dr James Hilder, Dept. Electronics & Computer Science, University of York
jah128 0:8a5497a2e366 6 *
jah128 6:ff3c66f7372b 7 * PsiSwarm Library Version: 0.3
jah128 0:8a5497a2e366 8 * Display Driver Version: 0.2
jah128 0:8a5497a2e366 9 *
jah128 6:ff3c66f7372b 10 * October 2015
jah128 0:8a5497a2e366 11 *
jah128 0:8a5497a2e366 12 * Driver for the Midas 16x2 I2C LCD Display (MCCOG21605x6W) LCD
jah128 0:8a5497a2e366 13 * [Farnell part 2218942 or 2063206]
jah128 0:8a5497a2e366 14 *
jah128 0:8a5497a2e366 15 */
jah128 0:8a5497a2e366 16
jah128 0:8a5497a2e366 17 #include "psiswarm.h"
jah128 0:8a5497a2e366 18
jah128 0:8a5497a2e366 19 Timeout init_timeout;
jah128 0:8a5497a2e366 20 Timeout backlight_timeout;
jah128 0:8a5497a2e366 21 Timeout debug_timeout;
jah128 0:8a5497a2e366 22 int backlight_on_time;
jah128 0:8a5497a2e366 23 int backlight_off_time;
jah128 0:8a5497a2e366 24 char backlight_step;
jah128 0:8a5497a2e366 25 char multipage[200];
jah128 0:8a5497a2e366 26 char multipage_length = 0;
jah128 0:8a5497a2e366 27 char preserve_line_1 [17];
jah128 0:8a5497a2e366 28 char preserve_line_2 [17];
jah128 0:8a5497a2e366 29 char c_row=0;
jah128 0:8a5497a2e366 30 char c_column=0;
jah128 0:8a5497a2e366 31 char p_row;
jah128 0:8a5497a2e366 32 char p_column;
jah128 0:8a5497a2e366 33
jah128 0:8a5497a2e366 34
jah128 0:8a5497a2e366 35 Display::Display(PinName sda, PinName scl, PinName reset, PinName backlight) : Stream("display"), _i2c(sda,scl), _reset(reset), _backlight(backlight) {
jah128 0:8a5497a2e366 36 }
jah128 0:8a5497a2e366 37
jah128 0:8a5497a2e366 38 Display::Display() : Stream("display"), _i2c(p28,p27), _reset(p29), _backlight(p30) {
jah128 0:8a5497a2e366 39 }
jah128 0:8a5497a2e366 40
jah128 0:8a5497a2e366 41 int Display::i2c_message(char byte){
jah128 0:8a5497a2e366 42 char bytes [2];
jah128 0:8a5497a2e366 43 bytes[0]=0x80;
jah128 0:8a5497a2e366 44 bytes[1]=byte;
jah128 0:8a5497a2e366 45 int ret=_i2c.write(LCD_ADDRESS,bytes,2);
jah128 0:8a5497a2e366 46 wait(0.01);
jah128 0:8a5497a2e366 47 return ret;
jah128 0:8a5497a2e366 48 }
jah128 0:8a5497a2e366 49
jah128 0:8a5497a2e366 50 int Display::disp_putc(int c){
jah128 0:8a5497a2e366 51 char message [2];
jah128 0:8a5497a2e366 52 message[0]=0x40;
jah128 0:8a5497a2e366 53 message[1]=c;
jah128 0:8a5497a2e366 54 _i2c.write(LCD_ADDRESS,message,2);
jah128 0:8a5497a2e366 55 wait(0.01);
jah128 0:8a5497a2e366 56 return c;
jah128 0:8a5497a2e366 57 }
jah128 0:8a5497a2e366 58
jah128 0:8a5497a2e366 59 void Display::init_display(char mode){
jah128 0:8a5497a2e366 60 //Set initial states: display on, cursor off
jah128 0:8a5497a2e366 61 display_on = 1;
jah128 0:8a5497a2e366 62 set_backlight_brightness(1);
jah128 0:8a5497a2e366 63 cursor_on = 0;
jah128 0:8a5497a2e366 64 blink_on = 0;
jah128 0:8a5497a2e366 65
jah128 0:8a5497a2e366 66 _reset=1;
jah128 0:8a5497a2e366 67 wait(0.02);
jah128 0:8a5497a2e366 68 //Set reset low
jah128 0:8a5497a2e366 69 _reset=0;
jah128 0:8a5497a2e366 70 wait(0.001);
jah128 0:8a5497a2e366 71 _reset=1;
jah128 0:8a5497a2e366 72 wait(0.03);
jah128 0:8a5497a2e366 73 i2c_message(0x38);
jah128 0:8a5497a2e366 74 i2c_message(0x39);
jah128 0:8a5497a2e366 75 i2c_message(0x14);
jah128 0:8a5497a2e366 76 i2c_message(0x74);
jah128 0:8a5497a2e366 77 i2c_message(0x54);
jah128 0:8a5497a2e366 78 i2c_message(0x6F);
jah128 0:8a5497a2e366 79 _set_display();
jah128 0:8a5497a2e366 80 clear_display();
jah128 0:8a5497a2e366 81 char psis[17];
jah128 0:8a5497a2e366 82 for(int i=0;i<16;i++){
jah128 0:8a5497a2e366 83 psis[i]=0x1D;
jah128 0:8a5497a2e366 84 }
jah128 0:8a5497a2e366 85 set_position(0,0);
jah128 0:8a5497a2e366 86 write_string(psis,16);
jah128 0:8a5497a2e366 87 set_position(1,0);
jah128 0:8a5497a2e366 88 write_string(psis,16);
jah128 9:085e090e1ec1 89 wait(0.25);
jah128 0:8a5497a2e366 90 clear_display();
jah128 0:8a5497a2e366 91 if(mode == 0){
jah128 0:8a5497a2e366 92 set_position(0,0);
jah128 0:8a5497a2e366 93 write_string(" YORK ROBOTICS");
jah128 0:8a5497a2e366 94 set_position(1,0);
jah128 0:8a5497a2e366 95 write_string(" LABORATORY");
jah128 9:085e090e1ec1 96 init_timeout.attach(this,&Display::post_init,0.3);}
jah128 0:8a5497a2e366 97 else {
jah128 0:8a5497a2e366 98 set_position(0,0);
jah128 0:8a5497a2e366 99 write_string("Hold button to");
jah128 0:8a5497a2e366 100 set_position(1,0);
jah128 0:8a5497a2e366 101 write_string("launch demo code");
jah128 0:8a5497a2e366 102 }
jah128 0:8a5497a2e366 103 }
jah128 0:8a5497a2e366 104
jah128 0:8a5497a2e366 105 void Display::post_init(){
jah128 0:8a5497a2e366 106 clear_display();
jah128 0:8a5497a2e366 107 home();
jah128 0:8a5497a2e366 108 write_string("PSI SWARM ROBOT");
jah128 0:8a5497a2e366 109 set_position(1,0);
jah128 0:8a5497a2e366 110 char line [17];
jah128 0:8a5497a2e366 111 sprintf(line,"VERSION %1.2f", SOFTWARE_VERSION_CODE );
jah128 0:8a5497a2e366 112 set_position(1,0);
jah128 0:8a5497a2e366 113 write_string(line);
jah128 9:085e090e1ec1 114 init_timeout.attach(this,&Display::post_post_init,0.3);
jah128 0:8a5497a2e366 115 }
jah128 0:8a5497a2e366 116
jah128 0:8a5497a2e366 117 void Display::post_post_init(){
jah128 0:8a5497a2e366 118 clear_display();
jah128 0:8a5497a2e366 119 home();
jah128 0:8a5497a2e366 120 }
jah128 0:8a5497a2e366 121
jah128 0:8a5497a2e366 122 void Display::write_string(char * message){
jah128 0:8a5497a2e366 123 size_t length = strlen(message);
jah128 0:8a5497a2e366 124 if (length > 16) length = 16;
jah128 0:8a5497a2e366 125 char to_send [length+1];
jah128 0:8a5497a2e366 126 to_send[0]=0x40;
jah128 0:8a5497a2e366 127 for(int i=0;i<length;i++){
jah128 0:8a5497a2e366 128 to_send[i+1] = message[i];
jah128 0:8a5497a2e366 129 }
jah128 0:8a5497a2e366 130 _i2c.write(LCD_ADDRESS,to_send,length+1);
jah128 0:8a5497a2e366 131 // Add to saved buffer
jah128 0:8a5497a2e366 132 int count = 0;
jah128 0:8a5497a2e366 133 for(int i=c_column;i<16;i++){
jah128 0:8a5497a2e366 134 if(count < length){
jah128 0:8a5497a2e366 135 if(c_row == 0) preserve_line_1[i] = message[count];
jah128 0:8a5497a2e366 136 else preserve_line_2[i] = message[count];
jah128 0:8a5497a2e366 137 }
jah128 0:8a5497a2e366 138 count++;
jah128 0:8a5497a2e366 139 }
jah128 0:8a5497a2e366 140 c_column+=length;
jah128 0:8a5497a2e366 141 if(c_column>15) c_column=15;
jah128 0:8a5497a2e366 142 }
jah128 0:8a5497a2e366 143
jah128 0:8a5497a2e366 144
jah128 0:8a5497a2e366 145 void Display::write_string(char * message, char length){
jah128 0:8a5497a2e366 146 char to_send [length+1];
jah128 0:8a5497a2e366 147 to_send[0]=0x40;
jah128 0:8a5497a2e366 148 for(int i=0;i<length;i++){
jah128 0:8a5497a2e366 149 to_send[i+1] = message[i];
jah128 0:8a5497a2e366 150 }
jah128 0:8a5497a2e366 151 _i2c.write(LCD_ADDRESS,to_send,length+1);
jah128 0:8a5497a2e366 152 // Add to saved buffer
jah128 0:8a5497a2e366 153 int count = 0;
jah128 0:8a5497a2e366 154 for(int i=c_column;i<16;i++){
jah128 0:8a5497a2e366 155 if(count < length){
jah128 0:8a5497a2e366 156 if(c_row == 0) preserve_line_1[i] = message[count];
jah128 0:8a5497a2e366 157 else preserve_line_2[i] = message[count];
jah128 0:8a5497a2e366 158 }
jah128 0:8a5497a2e366 159 count++;
jah128 0:8a5497a2e366 160 }
jah128 0:8a5497a2e366 161 c_column+=length;
jah128 0:8a5497a2e366 162 if(c_column>15) c_column=15;
jah128 0:8a5497a2e366 163 }
jah128 0:8a5497a2e366 164
jah128 0:8a5497a2e366 165 void Display::set_position(char row, char column){
jah128 0:8a5497a2e366 166 if(row < 2 && column < 16){
jah128 0:8a5497a2e366 167 char pos = 128 +((row * 64)+column);
jah128 0:8a5497a2e366 168 i2c_message(pos);
jah128 0:8a5497a2e366 169 c_row= row;
jah128 0:8a5497a2e366 170 c_column = column;
jah128 0:8a5497a2e366 171 }
jah128 0:8a5497a2e366 172 }
jah128 0:8a5497a2e366 173
jah128 0:8a5497a2e366 174 void Display::set_cursor(char enable){
jah128 0:8a5497a2e366 175 cursor_on=enable;
jah128 0:8a5497a2e366 176 _set_display();
jah128 0:8a5497a2e366 177 }
jah128 0:8a5497a2e366 178
jah128 0:8a5497a2e366 179 void Display::set_blink(char enable){
jah128 0:8a5497a2e366 180 blink_on=enable;
jah128 0:8a5497a2e366 181 _set_display();
jah128 0:8a5497a2e366 182 }
jah128 0:8a5497a2e366 183
jah128 0:8a5497a2e366 184 void Display::set_display(char enable){
jah128 0:8a5497a2e366 185 display_on=enable;
jah128 0:8a5497a2e366 186 _set_display();
jah128 0:8a5497a2e366 187 }
jah128 0:8a5497a2e366 188
jah128 0:8a5497a2e366 189 void Display::set_backlight_brightness(float brightness){
jah128 0:8a5497a2e366 190 if(brightness > 1) brightness = 0;
jah128 0:8a5497a2e366 191 if(brightness < 0) brightness = 0;
jah128 0:8a5497a2e366 192 backlight_brightness = brightness;
jah128 0:8a5497a2e366 193 if(backlight_brightness == 1) {
jah128 0:8a5497a2e366 194 backlight_timeout.detach();
jah128 0:8a5497a2e366 195 _backlight = 1;
jah128 0:8a5497a2e366 196 }else{
jah128 0:8a5497a2e366 197 if(backlight_brightness == 0){
jah128 0:8a5497a2e366 198 backlight_timeout.detach();
jah128 0:8a5497a2e366 199 _backlight = 0;
jah128 0:8a5497a2e366 200 } else {
jah128 0:8a5497a2e366 201 backlight_on_time = (int) (10000.0f * backlight_brightness);
jah128 0:8a5497a2e366 202 backlight_off_time = 10000 - backlight_on_time;
jah128 0:8a5497a2e366 203 backlight_step = 0;
jah128 0:8a5497a2e366 204 _backlight = 0;
jah128 0:8a5497a2e366 205 backlight_timeout.attach_us(this,&Display::IF_backlight_toggle,backlight_off_time);
jah128 0:8a5497a2e366 206 }
jah128 0:8a5497a2e366 207 }
jah128 0:8a5497a2e366 208 }
jah128 0:8a5497a2e366 209
jah128 0:8a5497a2e366 210 void Display::IF_backlight_toggle(){
jah128 0:8a5497a2e366 211 if(backlight_step == 0){
jah128 0:8a5497a2e366 212 _backlight = 1;
jah128 0:8a5497a2e366 213 backlight_step = 1;
jah128 0:8a5497a2e366 214 backlight_timeout.attach_us(this,&Display::IF_backlight_toggle,backlight_on_time);
jah128 0:8a5497a2e366 215 } else {
jah128 0:8a5497a2e366 216 _backlight = 0;
jah128 0:8a5497a2e366 217 backlight_step = 0;
jah128 0:8a5497a2e366 218 backlight_timeout.attach_us(this,&Display::IF_backlight_toggle,backlight_off_time);
jah128 0:8a5497a2e366 219 }
jah128 0:8a5497a2e366 220 }
jah128 0:8a5497a2e366 221 void Display::clear_display(){
jah128 0:8a5497a2e366 222 for(int i=0;i<16;i++){
jah128 0:8a5497a2e366 223 preserve_line_1[i] = 0x20;
jah128 0:8a5497a2e366 224 preserve_line_2[i] = 0x20;
jah128 0:8a5497a2e366 225 }
jah128 0:8a5497a2e366 226 i2c_message(0x01);
jah128 0:8a5497a2e366 227 }
jah128 0:8a5497a2e366 228
jah128 0:8a5497a2e366 229 void Display::home(){
jah128 0:8a5497a2e366 230 c_row = 0;
jah128 0:8a5497a2e366 231 c_column = 0;
jah128 0:8a5497a2e366 232 i2c_message(0x02);
jah128 0:8a5497a2e366 233 }
jah128 0:8a5497a2e366 234
jah128 0:8a5497a2e366 235 void Display::debug_page(char * message, char length){
jah128 0:8a5497a2e366 236 p_row=c_row;
jah128 0:8a5497a2e366 237 p_column=c_column;
jah128 0:8a5497a2e366 238 i2c_message(0x01);
jah128 0:8a5497a2e366 239 home();
jah128 0:8a5497a2e366 240 char multipage_mode = 0;
jah128 0:8a5497a2e366 241 char line_1[18];
jah128 0:8a5497a2e366 242 char line_2[18];
jah128 0:8a5497a2e366 243 line_1[0]=0x40;
jah128 0:8a5497a2e366 244 line_2[0]=0x40;
jah128 0:8a5497a2e366 245 if(length > 16){
jah128 0:8a5497a2e366 246 strncpy(line_1+1, message, 16);
jah128 0:8a5497a2e366 247 char f_length = length - 16;
jah128 0:8a5497a2e366 248 if(f_length > 16) {
jah128 0:8a5497a2e366 249 f_length = 16;
jah128 0:8a5497a2e366 250 multipage_mode = 1;
jah128 0:8a5497a2e366 251 }
jah128 0:8a5497a2e366 252 strncpy(line_2+1, message+16, f_length);
jah128 0:8a5497a2e366 253 line_1[17]=0;
jah128 0:8a5497a2e366 254 line_2[f_length+1]=0;
jah128 0:8a5497a2e366 255 _i2c.write(LCD_ADDRESS,line_1,17);
jah128 0:8a5497a2e366 256 set_position(1,0);
jah128 0:8a5497a2e366 257 _i2c.write(LCD_ADDRESS,line_2,f_length+1);
jah128 0:8a5497a2e366 258 } else {
jah128 0:8a5497a2e366 259 strncpy(line_1+1, message, length);
jah128 0:8a5497a2e366 260 _i2c.write(LCD_ADDRESS,line_1,length+1);
jah128 0:8a5497a2e366 261 }
jah128 0:8a5497a2e366 262 if(multipage_mode == 1){
jah128 0:8a5497a2e366 263 strncpy(multipage, message + 32, length - 32);
jah128 0:8a5497a2e366 264 multipage_length = length - 32;
jah128 0:8a5497a2e366 265 debug_timeout.attach(this,&Display::IF_debug_multipage,PAGE_TIME);
jah128 0:8a5497a2e366 266 } else debug_timeout.attach(this,&Display::IF_restore_page,CLEAR_TIME);
jah128 0:8a5497a2e366 267 }
jah128 0:8a5497a2e366 268
jah128 0:8a5497a2e366 269 void Display::IF_restore_page(){
jah128 0:8a5497a2e366 270 i2c_message(0x01);
jah128 0:8a5497a2e366 271 home();
jah128 0:8a5497a2e366 272 char line_1[17];
jah128 0:8a5497a2e366 273 char line_2[17];
jah128 0:8a5497a2e366 274 line_1[0]=0x40;
jah128 0:8a5497a2e366 275 line_2[0]=0x40;
jah128 0:8a5497a2e366 276 strncpy(line_1+1, preserve_line_1, 16);
jah128 0:8a5497a2e366 277 strncpy(line_2+1, preserve_line_2, 16);
jah128 0:8a5497a2e366 278 _i2c.write(LCD_ADDRESS,line_1,17);
jah128 0:8a5497a2e366 279 set_position(1,0);
jah128 0:8a5497a2e366 280 _i2c.write(LCD_ADDRESS,line_2,17);
jah128 0:8a5497a2e366 281 set_position(p_row,p_column);
jah128 0:8a5497a2e366 282 }
jah128 0:8a5497a2e366 283
jah128 0:8a5497a2e366 284 void Display::IF_debug_multipage(){
jah128 0:8a5497a2e366 285 i2c_message(0x01);
jah128 0:8a5497a2e366 286 home();
jah128 0:8a5497a2e366 287 char multipage_mode = 0;
jah128 0:8a5497a2e366 288 char line_1[18];
jah128 0:8a5497a2e366 289 char line_2[18];
jah128 0:8a5497a2e366 290 line_1[0]=0x40;
jah128 0:8a5497a2e366 291 line_2[0]=0x40;
jah128 0:8a5497a2e366 292 if(multipage_length > 16){
jah128 0:8a5497a2e366 293 strncpy(line_1+1, multipage, 16);
jah128 0:8a5497a2e366 294 char f_length = multipage_length - 16;
jah128 0:8a5497a2e366 295 if(f_length > 16) {
jah128 0:8a5497a2e366 296 f_length = 16;
jah128 0:8a5497a2e366 297 multipage_mode = 1;
jah128 0:8a5497a2e366 298 }
jah128 0:8a5497a2e366 299 strncpy(line_2+1, multipage+16, f_length);
jah128 0:8a5497a2e366 300 line_1[17]=0;
jah128 0:8a5497a2e366 301 line_2[f_length+1]=0;
jah128 0:8a5497a2e366 302 _i2c.write(LCD_ADDRESS,line_1,17);
jah128 0:8a5497a2e366 303 set_position(1,0);
jah128 0:8a5497a2e366 304 _i2c.write(LCD_ADDRESS,line_2,f_length+1);
jah128 0:8a5497a2e366 305 } else {
jah128 0:8a5497a2e366 306 strncpy(line_1+1, multipage, multipage_length);
jah128 0:8a5497a2e366 307 _i2c.write(LCD_ADDRESS,line_1,multipage_length+1);
jah128 0:8a5497a2e366 308 }
jah128 0:8a5497a2e366 309 if(multipage_mode == 1){
jah128 0:8a5497a2e366 310 char temp[200];
jah128 0:8a5497a2e366 311 strncpy(temp, multipage + 32, multipage_length - 32);
jah128 0:8a5497a2e366 312 multipage_length -= 32;
jah128 0:8a5497a2e366 313 strncpy(multipage, temp, multipage_length);
jah128 0:8a5497a2e366 314 debug_timeout.attach(this,&Display::IF_debug_multipage,PAGE_TIME);
jah128 0:8a5497a2e366 315 }else debug_timeout.attach(this,&Display::IF_restore_page,CLEAR_TIME);
jah128 0:8a5497a2e366 316 }
jah128 0:8a5497a2e366 317
jah128 0:8a5497a2e366 318 void Display::_set_display(){
jah128 0:8a5497a2e366 319 char mode = 8;
jah128 0:8a5497a2e366 320 if(display_on>0) mode += 4;
jah128 0:8a5497a2e366 321 if(cursor_on>0) mode += 2;
jah128 0:8a5497a2e366 322 if(blink_on>0) mode ++;
jah128 0:8a5497a2e366 323 i2c_message(mode);
jah128 0:8a5497a2e366 324 }
jah128 0:8a5497a2e366 325
jah128 0:8a5497a2e366 326
jah128 0:8a5497a2e366 327 int Display::_putc (int c) {
jah128 0:8a5497a2e366 328 putc(c);
jah128 0:8a5497a2e366 329 return(c);
jah128 0:8a5497a2e366 330 }
jah128 0:8a5497a2e366 331
jah128 0:8a5497a2e366 332 int Display::_getc (void) {
jah128 0:8a5497a2e366 333 char r = 0;
jah128 0:8a5497a2e366 334 return(r);
jah128 0:8a5497a2e366 335 }