Revision 0:d88fd55a27a6, committed 2014-03-19

Comitter:

jah128

Date:

Wed Mar 19 15:09:11 2014 +0000

Commit message:

Initial Version

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/display.cpp	Wed Mar 19 15:09:11 2014 +0000
@@ -0,0 +1,146 @@
+/* University of York Robotics Laboratory MBED Library
+ * Display Driver for Midas I2C 2x16 Display
+ * Part number MCCOG21605-D6W-BNMLWI
+ * Rapid Electronics Cat Number 57-2340 [or 57-2334]
+ * Farnell Cat Number 2063206 [or 2063205]
+ * 
+ * File: display.cpp
+ *
+ * (C) Dr James Hilder, Dept. Electronics & Computer Science, University of York
+ * 
+ * October 2013
+ *
+ */ 
+ 
+#include "mbed.h"
+#include "display.h"
+
+Display::Display(PinName sda, PinName scl, PinName reset) :  Stream("display"), _i2c(sda,scl), _reset(reset)  {
+  
+}
+
+Display::Display() :  Stream("display"), _i2c(p9,p10), _reset(p12)  {
+  
+}
+
+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(){
+   //Set initial states: display on, cursor off
+   display_on = 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(0x79); 
+   i2c_message(0x50); 
+   i2c_message(0x6c); 
+   _set_display();
+   clear_display(); 
+} 
+
+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);
+}
+ 
+ 
+/* Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/display.h	Wed Mar 19 15:09:11 2014 +0000
@@ -0,0 +1,114 @@
+/* University of York Robotics Laboratory MBED Library
+ * Display Driver for Midas I2C 2x16 Display
+ * Part number MCCOG21605-D6W-BNMLWI
+ * Rapid Electronics Cat Number 57-2340 [or 57-2334]
+ * Farnell Cat Number 2063206 [or 2063205]
+ * 
+ * File: display.cpp
+ *
+ * (C) Dr James Hilder, Dept. Electronics & Computer Science, University of York
+ * 
+ * October 2013
+ *
+ */ 
+ 
+#ifndef DISPLAY_H
+#define DISPLAY_H
+
+//
+// Defines
+// Address is 0111 110  (x7C)
+
+#define LCD_ADDRESS 0x7C      
+
+
+class Display : public Stream {
+
+// Public Functions
+
+public:
+
+   /** Create the LCD Display object connected to the default pins
+     *
+     * @param sda pin   - default is p9
+     * @param scl pin   - default is p10
+     * @param reset pin - default is p12
+     */
+     
+    Display();
+    
+    /** Create the LCD Display object connected to specific pins
+     *
+     */
+    Display(PinName sda, PinName scl, PinName reset);
+
+//Print string message of given length
+void write_string(char * message, char length);
+
+//Set the row and column of cursor position
+void set_position(char row, char column);
+
+// Enable or disable cursor
+void set_cursor(char enable);
+
+// Enable or disable cursor blink
+void set_blink(char enable);
+
+// Enable or disable display
+void set_display(char enable);
+
+
+// Clear display
+void clear_display();
+
+//Set cursor to home position
+void home();
+
+
+// Send a 1-byte control message to the display
+int i2c_message(char byte);
+
+// Default initialisation sequence for the display
+void init_display();
+
+int disp_putc(int c);
+
+
+private :
+
+    I2C _i2c;
+    DigitalOut _reset;
+    
+    char display_on;
+    char cursor_on;
+    char blink_on;
+    
+    void _set_display();
+    
+    virtual int _putc(int c);
+    virtual int _getc();
+    
+};
+
+#endif // DISPLAY_H
+
+ 
+ 
+/* Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Mar 19 15:09:11 2014 +0000
@@ -0,0 +1,337 @@
+/* University of York Robot Lab
+ *
+ * Programmable IR Beacon with Display Example Code
+ *
+ * This file is intended for use exclusively with the high-power IR Beacon with display
+ * 
+ * 
+ *
+ * (C) Dr James Hilder, Dept. Electronics & Computer Science, University of York
+ *
+ * March 2014
+ *
+ */
+
+#include "mbed.h"
+#include "display.h"        //Display driver for the Midas 16x2 I2C Display
+
+DigitalIn button1(p23);     //"SET" Push-button
+DigitalIn button2(p24);     //"SELECT" Push-button
+PwmOut out_narrow(p21);     //PWM Output for the narrow (high intensity) LED driver
+PwmOut out_wide(p22);       //PWM Output for the wide-angle LED driver
+
+Display display;
+Timer system_timer;         //System timer is used for timer the on-off periods for the LEDs
+Timer button_timer;         //Button timer is used for debouncing the push buttons and pausing for entering 'SET' mode
+
+char adjust = 0;
+char mode = 0;
+char power = 1;
+char duty = 2;
+char frequency = 2;
+
+int on_period;
+int off_period;
+int total_period;
+char phase;
+
+int get_period()
+{
+    switch(frequency) {
+        case 0:
+            return 1000000;
+        case 1:
+            return 500000;
+        case 2:
+            return 200000;
+        case 3:
+            return 100000;
+        case 4:
+            return 50000;
+        case 5:
+            return 33333;
+        case 6:
+            return 25000;
+        case 7:
+            return 20000;
+    }
+    return 0;
+}
+
+void update_cycles()
+{
+    total_period = get_period();
+    switch(duty){
+        case 0: on_period=total_period/10;break;
+        case 1: on_period=total_period/4;break;
+        case 2: on_period=total_period/2;break;
+        case 3: on_period=(total_period*3)/4;break;
+        case 4: on_period=total_period-(total_period/10);break;    
+    }
+    off_period = total_period - on_period;
+    phase = 0;
+    system_timer.reset();
+}
+
+void init()
+{
+    display.init_display();
+    display.set_position(0,2);
+    display.write_string("YORK ROBOTICS",13);
+    display.set_position(1,3);
+    display.write_string("LABORATORY",10);
+    wait(0.45);
+    display.clear_display();
+    display.set_position(0,2);
+    display.write_string("Programmable",12);
+    display.set_position(1,3);
+    display.write_string("IR Beacon",9);
+    wait(0.45);
+}
+
+char * mode_string()
+{
+    switch(mode) {
+        case 1:
+            return "WIDE  ";
+        case 2:
+            return "NARROW";
+    }
+    return "BOTH  ";
+}
+
+char * duty_string()
+{
+    switch(duty) {
+        case 0:
+            return " 10%";
+        case 1:
+            return " 25%";
+        case 2:
+            return " 50%";
+        case 3:
+            return " 75%";
+        case 4:
+            return " 90%";
+    }
+    return"???";
+}
+
+char * power_string()
+{
+    switch(power) {
+        case 0:
+            return " 25%";
+        case 1:
+            return " 50%";
+        case 2:
+            return " 75%";
+        case 3:
+            return "100%";
+    }
+    return"????";
+}
+
+char * freq_string()
+{
+    switch(frequency) {
+        case 0:
+            return " 1Hz";
+        case 1:
+            return " 2Hz";
+        case 2:
+            return " 5Hz";
+        case 3:
+            return "10Hz";
+        case 4:
+            return "20Hz";
+        case 5:
+            return "30Hz";
+        case 6:
+            return "40Hz";
+        case 7:
+            return "50Hz";
+    }
+    return "????";
+}
+
+// The normal mode display output: shows the frequency, power, duty-cycle and output mode (ie wide, narrow or both)
+void display_status()
+{
+    display.clear_display();
+    display.set_position(0,0);
+    char line1[15] ;
+    strcpy(line1, "F:");
+    strcat(line1, freq_string());
+    strcat(line1, " P:");
+    strcat(line1, power_string());
+    display.write_string(line1,13);
+    char line2[17];
+    strcpy(line2, "D:");
+    strcat(line2, duty_string());
+    strcat(line2, " M:");
+    strcat(line2, mode_string());
+    display.set_position(1,0);
+    display.write_string(line2,16);
+}
+
+// The configuration mode; entered by holding the 'set' button for one second.  In this mode the user can through the options
+// by pressing 'set' and change a setting by pressing 'select'.  The final screen in the loop allows the user to return to
+// normal operation, this will also happen with no user input for 5 seconds.
+void change_settings()
+{
+    //Switch off LEDs whilst in configuration mode 
+    out_wide.pulsewidth_us(0);
+    out_narrow.pulsewidth_us(0);
+    display.clear_display();
+    display.set_position(0,0);
+    display.write_string("CONFIGURATION",13);
+    display.set_position(1,0);
+    display.write_string("MODE",4);
+    while(button1 == 1);
+    char screen = 0;
+    char active = 1;
+    Timer settings_timer;
+    settings_timer.start();
+    while(active) {
+        display.clear_display();
+        display.set_position(0,0);
+        char line2[17];
+        switch(screen) {
+            case 0:
+                display.write_string("Set Frequency:",14);
+                display.set_position(1,0);
+                strcpy(line2,freq_string());
+                display.write_string(line2,4);
+                break;
+            case 1:
+                display.write_string("Set Power:    ",14);
+                display.set_position(1,0);
+                strcpy(line2,power_string());
+                display.write_string(line2,4);
+                break;
+            case 2:
+                display.write_string("Set Duty Cycle:",15);
+                display.set_position(1,0);
+                strcpy(line2,duty_string());
+                display.write_string(line2,4);
+                break;
+            case 3:
+                display.write_string("Set Mode:     ",14);
+                display.set_position(1,0);
+                strcpy(line2,mode_string());
+                display.write_string(line2,6);
+                break;
+            case 4:
+                display.write_string("End Setup",9);
+                break;
+        }
+        char button_pressed = 0;
+        
+        while(button_pressed < 2 && settings_timer.read_ms() < 5000){
+            if(button1 == 1 || button2 == 1){
+                if(button_pressed == 1){
+                    if(button_timer.read_ms() > 50) button_pressed = 2;
+                } else {button_pressed = 1; button_timer.reset();}
+            }  else button_pressed = 0;
+        }
+        if(button1==1){
+            screen++;
+            if(screen == 5)screen=0;
+            while(button1 == 1);
+        }else{
+          if(button2==1){
+            switch(screen){
+               case 0: frequency ++;
+                       if(frequency == 8) frequency = 0;
+                       break;
+               case 1: power++;
+                       if(power == 4) power=0;
+                       break;
+               case 2: duty++;
+                       if(duty == 5) duty=0;
+                       break;
+               case 3: mode++;
+                       if(mode == 3) mode = 0;
+                       break;
+               case 4: active=0; break;
+            }
+            while(button2 == 1);   
+          }   
+        }
+        if(settings_timer > 5000) active=0;
+        settings_timer.reset();
+    }
+}
+
+int main()
+{
+    init();
+    display_status();
+    char b_p = 0;
+    system_timer.start();
+    button_timer.start();
+    update_cycles();
+    out_narrow.period_us(1000);
+    out_wide.period_us(1000);
+    out_narrow.pulsewidth_us(0);
+    out_wide.pulsewidth_us(0);
+
+
+    while(1) {
+        if(phase==0){
+          if(system_timer.read_us() > off_period){
+            system_timer.reset();
+            int pw = 250;
+            if(power==1) pw=500;
+            if(power==2) pw=750;
+            if(power==3) pw=1000;
+            if(mode<2){
+                out_wide.pulsewidth_us(pw);
+            } 
+            if(mode!=1){
+                out_narrow.pulsewidth_us(pw);
+            }
+            phase = 1;
+          }
+        }else{
+          if(system_timer.read_us() > on_period){
+            system_timer.reset();
+            phase = 0;
+            out_wide.pulsewidth_us(0);
+            out_narrow.pulsewidth_us(0);
+          }   
+        }
+        
+        
+        if(button1 == 1) {
+            if(b_p == 0) {
+                b_p=1;
+                button_timer.reset();
+            }
+            if(b_p == 1) {
+                if(button_timer.read_ms() > 100) {
+                    b_p=2;
+                    display.clear_display();
+                    display.set_position(0,0);
+                    display.write_string("Hold to change",14);
+                    display.set_position(1,0);
+                    display.write_string("settings",8);
+                }
+            }
+            if(b_p == 2) {
+                if(button_timer.read_ms() > 1000) {
+                    change_settings();
+                    update_cycles();
+                    display_status();
+                    b_p=0;
+                }
+            }
+        } else {
+            if (b_p > 0) {
+                if(b_p == 2) display_status();
+                b_p=0;
+            }
+        }
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Wed Mar 19 15:09:11 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/9114680c05da