James Hilder
Example code for the Programmable High-Power Infra-Red Beacon with display Designed for use with the E-Puck and Pi Swarm robots for swarm research A number of preset frequencies (1, 2, 5, 10, 20, 30, 40 and 50Hz), powers (25%, 50%, 75% and 100%), duty-cycles (10%, 25%, 50%, 75% and 90%) are defined, and the chosen mode can be selected by holding the 'SET' button for 1 seconds, then moving through to the correct menu. Use as a basic structure should other functionality be required from the beacon, such as custom flash sequencies or alternating between the wide- and narrow- LEDs.
PCB Image:
[NB Missing connection from pin 1-4 of display]
Eagle Files: /media/uploads/jah128/irledboard_pro.sch /media/uploads/jah128/irledboard_pro.brd
Corel Draw file for laser-cutting box: /media/uploads/jah128/irbox_3.cdr
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