Diff: display.cpp

Revision:

0:b14dfd8816da

--- /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.
+ */