For YRL Robot Arm
Diff: display.cpp
- Revision:
- 0:b14dfd8816da
diff -r 000000000000 -r b14dfd8816da display.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/display.cpp Fri Mar 03 13:28:54 2017 +0000 @@ -0,0 +1,196 @@ +/* University of York Robotics Laboratory Robot Arm Controller Board + * + * Copyright 2017 University of York + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. + * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 + * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and limitations under the License. + * + * File: display.cpp + * + * (C) Dept. Electronics & Computer Science, University of York + * + * James Hilder, Alan Millard, Shuhei Miyashita, Homero Elizondo, Jon Timmis + * + * + * January 2017 + * + * Driver for the Midas 16x2 I2C LCD Display (MCCOG21605x6W) LCD + * [Farnell part 2218942 or 2063206] + * + */ + +#include "robotarm.h" + + +Timeout init_timeout; + + +Display::Display(PinName sda, PinName scl) : Stream("display"), _i2c(sda,scl) +{ +} + +Display::Display() : Stream("display"), _i2c(p28,p27) +{ +} + +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() +{ + //Set initial states: display on, cursor off + display_on = 1; + cursor_on = 0; + blink_on = 0; + + i2c_message(0x38); + i2c_message(0x39); + i2c_message(0x14); + i2c_message(0x74); + i2c_message(0x54); + i2c_message(0x6F); + _set_display(); + clear_display(); + wait(0.05); + clear_display(); + set_position(0,0); + write_string(" YORK ROBOTICS"); + set_position(1,0); + write_string(" LABORATORY"); + init_timeout.attach(this,&Display::post_init,0.3); + wait(0.62); +} + +void Display::post_init() +{ + clear_display(); + home(); + write_string("ROBOTIC ARM"); + 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); + +} + + +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); + +} + +void Display::set_position(char row, char column) +{ + if(row < 2 && column < 16) { + char pos = 128 +((row * 64)+column); + i2c_message(pos); + } +} + +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::clear_display() +{ + i2c_message(0x01); +} + +void Display::home() +{ + i2c_message(0x02); +} + + +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); +} + +/* + * Copyright 2017 University of York + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. + * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 + * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and limitations under the License. + */