![](/media/cache/profiles/2012_sf_avc_095.jpg.50x50_q85.jpg)
Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.
Dependencies: mbed Watchdog SDFileSystem DigoleSerialDisp
UI/SerialGraphicLCD/SerialGraphicLCD.h@0:a6a169de725f, 2013-05-27 (annotated)
- Committer:
- shimniok
- Date:
- Mon May 27 13:26:03 2013 +0000
- Revision:
- 0:a6a169de725f
Working version with priorities set and update time display
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
shimniok | 0:a6a169de725f | 1 | /* Serial Graphics LCD Driver for Sparkfun Serial Graphics LCD, LCD-09351; and Graphic |
shimniok | 0:a6a169de725f | 2 | * LCD Serial Backpack, LCD-09352. |
shimniok | 0:a6a169de725f | 3 | * |
shimniok | 0:a6a169de725f | 4 | * @author Michael Shimniok http://www.bot-thoughts.com/ |
shimniok | 0:a6a169de725f | 5 | * |
shimniok | 0:a6a169de725f | 6 | */ |
shimniok | 0:a6a169de725f | 7 | #ifndef _SERIALGRAPHICLCD_H |
shimniok | 0:a6a169de725f | 8 | #define _SERIALGRAPHICLCD_H |
shimniok | 0:a6a169de725f | 9 | |
shimniok | 0:a6a169de725f | 10 | #include "mbed.h" |
shimniok | 0:a6a169de725f | 11 | |
shimniok | 0:a6a169de725f | 12 | /** Firmware modes */ |
shimniok | 0:a6a169de725f | 13 | #define SFE_FW 0x01 // Stock SFE firmware |
shimniok | 0:a6a169de725f | 14 | #define SD_FW 0x02 // summoningdark firmware http://sourceforge.net/projects/serialglcd/ |
shimniok | 0:a6a169de725f | 15 | |
shimniok | 0:a6a169de725f | 16 | /** Modes for SD firmware */ |
shimniok | 0:a6a169de725f | 17 | #define FILL 0xFF |
shimniok | 0:a6a169de725f | 18 | #define CLEAR 0x00 |
shimniok | 0:a6a169de725f | 19 | |
shimniok | 0:a6a169de725f | 20 | /** LCD Baud Rates */ |
shimniok | 0:a6a169de725f | 21 | #define LCD_4800 1 |
shimniok | 0:a6a169de725f | 22 | #define LCD_9600 2 |
shimniok | 0:a6a169de725f | 23 | #define LCD_19200 3 |
shimniok | 0:a6a169de725f | 24 | #define LCD_38400 4 |
shimniok | 0:a6a169de725f | 25 | #define LCD_57600 5 |
shimniok | 0:a6a169de725f | 26 | #define LCD_115200 6 |
shimniok | 0:a6a169de725f | 27 | |
shimniok | 0:a6a169de725f | 28 | /** LCD Types */ |
shimniok | 0:a6a169de725f | 29 | #define LCD_128x64 1 |
shimniok | 0:a6a169de725f | 30 | #define LCD_160x128 2 |
shimniok | 0:a6a169de725f | 31 | |
shimniok | 0:a6a169de725f | 32 | /** Interface to the Sparkfun Serial Graphic LCD, LCD-09351; and Graphic |
shimniok | 0:a6a169de725f | 33 | * LCD Serial Backpack, LCD-09352. Derived class from Serial so that you |
shimniok | 0:a6a169de725f | 34 | * can conveniently printf(), putc(), etc to the display. |
shimniok | 0:a6a169de725f | 35 | * |
shimniok | 0:a6a169de725f | 36 | * Example: |
shimniok | 0:a6a169de725f | 37 | * @code |
shimniok | 0:a6a169de725f | 38 | * #include "mbed.h" |
shimniok | 0:a6a169de725f | 39 | * #include "SerialGraphicLCD.h" |
shimniok | 0:a6a169de725f | 40 | * |
shimniok | 0:a6a169de725f | 41 | * SerialGraphicLCD lcd(p26, p25); |
shimniok | 0:a6a169de725f | 42 | * |
shimniok | 0:a6a169de725f | 43 | * int main() { |
shimniok | 0:a6a169de725f | 44 | * lcd.baud(115200); // default baud rate |
shimniok | 0:a6a169de725f | 45 | * while (1) { |
shimniok | 0:a6a169de725f | 46 | * lcd.clear(); |
shimniok | 0:a6a169de725f | 47 | * lcd.rect(3, 3, 20, 20); |
shimniok | 0:a6a169de725f | 48 | * lcd.printf("Hello World!"); |
shimniok | 0:a6a169de725f | 49 | * lcd.pixel(14, 35, true); |
shimniok | 0:a6a169de725f | 50 | * lcd.pixel(16, 36, true); |
shimniok | 0:a6a169de725f | 51 | * lcd.pixel(18, 37, true); |
shimniok | 0:a6a169de725f | 52 | * lcd.pos(5, 30); |
shimniok | 0:a6a169de725f | 53 | * lcd.printf("Hi"); |
shimniok | 0:a6a169de725f | 54 | * lcd.circle(50, 20, 20, true); |
shimniok | 0:a6a169de725f | 55 | * lcd.pos(50, 20); |
shimniok | 0:a6a169de725f | 56 | * lcd.printf("Howdy"); |
shimniok | 0:a6a169de725f | 57 | * lcd.line(0, 0, 25, 25, true); |
shimniok | 0:a6a169de725f | 58 | * wait(2); |
shimniok | 0:a6a169de725f | 59 | * } |
shimniok | 0:a6a169de725f | 60 | * } |
shimniok | 0:a6a169de725f | 61 | * @endcode |
shimniok | 0:a6a169de725f | 62 | */ |
shimniok | 0:a6a169de725f | 63 | class SerialGraphicLCD: public Serial { |
shimniok | 0:a6a169de725f | 64 | public: |
shimniok | 0:a6a169de725f | 65 | /** Create a new interface to a Serial Graphic LCD |
shimniok | 0:a6a169de725f | 66 | * Note that the display lower left corner is coordinates 0, 0. |
shimniok | 0:a6a169de725f | 67 | * Rows start at the top at 0, columns start at the left at 0. |
shimniok | 0:a6a169de725f | 68 | * @param tx -- mbed transmit pin |
shimniok | 0:a6a169de725f | 69 | * @param rx -- mbed receive pin |
shimniok | 0:a6a169de725f | 70 | */ |
shimniok | 0:a6a169de725f | 71 | SerialGraphicLCD(PinName tx, PinName rx); |
shimniok | 0:a6a169de725f | 72 | |
shimniok | 0:a6a169de725f | 73 | /** Create a new interface to a Serial Graphic LCD |
shimniok | 0:a6a169de725f | 74 | * Note that the display lower left corner is coordinates 0, 0. |
shimniok | 0:a6a169de725f | 75 | * Rows start at the top at 0, columns start at the left at 0. |
shimniok | 0:a6a169de725f | 76 | * @param tx -- mbed transmit pin |
shimniok | 0:a6a169de725f | 77 | * @param rx -- mbed receive pin |
shimniok | 0:a6a169de725f | 78 | * @param firmware -- SFE_FW, stock firmware or SD_FW, summoningdark firmware |
shimniok | 0:a6a169de725f | 79 | */ |
shimniok | 0:a6a169de725f | 80 | SerialGraphicLCD(PinName tx, PinName rx, int firmware); |
shimniok | 0:a6a169de725f | 81 | |
shimniok | 0:a6a169de725f | 82 | /** clear the screen |
shimniok | 0:a6a169de725f | 83 | */ |
shimniok | 0:a6a169de725f | 84 | void clear(void); |
shimniok | 0:a6a169de725f | 85 | |
shimniok | 0:a6a169de725f | 86 | /** set text position in rows, columns |
shimniok | 0:a6a169de725f | 87 | * |
shimniok | 0:a6a169de725f | 88 | * @param col is the col coordinate |
shimniok | 0:a6a169de725f | 89 | * @param row is the row coordinate |
shimniok | 0:a6a169de725f | 90 | */ |
shimniok | 0:a6a169de725f | 91 | void pos(int col, int row); |
shimniok | 0:a6a169de725f | 92 | |
shimniok | 0:a6a169de725f | 93 | /** set text position in x, y coordinates |
shimniok | 0:a6a169de725f | 94 | * |
shimniok | 0:a6a169de725f | 95 | * @param x is the x coordinate |
shimniok | 0:a6a169de725f | 96 | * @param y is the y coordinate |
shimniok | 0:a6a169de725f | 97 | */ |
shimniok | 0:a6a169de725f | 98 | void posXY(int x, int y); |
shimniok | 0:a6a169de725f | 99 | |
shimniok | 0:a6a169de725f | 100 | /** set or erase a pixel |
shimniok | 0:a6a169de725f | 101 | * |
shimniok | 0:a6a169de725f | 102 | * @param x is the x coordinate |
shimniok | 0:a6a169de725f | 103 | * @param y is the y coordinate |
shimniok | 0:a6a169de725f | 104 | * @param set if true sets the pixel, if false, erases it |
shimniok | 0:a6a169de725f | 105 | */ |
shimniok | 0:a6a169de725f | 106 | void pixel(int x, int y, bool set); |
shimniok | 0:a6a169de725f | 107 | |
shimniok | 0:a6a169de725f | 108 | /** draw or erase a line |
shimniok | 0:a6a169de725f | 109 | * |
shimniok | 0:a6a169de725f | 110 | * @param x1 is the x coordinate of the start of the line |
shimniok | 0:a6a169de725f | 111 | * @param y1 is the y coordinate of the start of the line |
shimniok | 0:a6a169de725f | 112 | * @param x2 is the x coordinate of the end of the line |
shimniok | 0:a6a169de725f | 113 | * @param y2 is the y coordinate of the end of the line |
shimniok | 0:a6a169de725f | 114 | * @param set if true sets the line, if false, erases it |
shimniok | 0:a6a169de725f | 115 | */ |
shimniok | 0:a6a169de725f | 116 | void line(int x1, int y1, int x2, int y2, bool set); |
shimniok | 0:a6a169de725f | 117 | |
shimniok | 0:a6a169de725f | 118 | /** set or reset a circle |
shimniok | 0:a6a169de725f | 119 | * |
shimniok | 0:a6a169de725f | 120 | * @param x is the x coordinate of the circle center |
shimniok | 0:a6a169de725f | 121 | * @param y is the y coordinate of the circle center |
shimniok | 0:a6a169de725f | 122 | * @param r is the radius of the circle |
shimniok | 0:a6a169de725f | 123 | * @param set if true sets the pixel, if false, clears it |
shimniok | 0:a6a169de725f | 124 | */ |
shimniok | 0:a6a169de725f | 125 | void circle(int x, int y, int r, bool set); |
shimniok | 0:a6a169de725f | 126 | |
shimniok | 0:a6a169de725f | 127 | /** draw a rectangle |
shimniok | 0:a6a169de725f | 128 | * |
shimniok | 0:a6a169de725f | 129 | * @param x1 is the x coordinate of the upper left of the rectangle |
shimniok | 0:a6a169de725f | 130 | * @param y1 is the y coordinate of the upper left of the rectangle |
shimniok | 0:a6a169de725f | 131 | * @param x2 is the x coordinate of the lower right of the rectangle |
shimniok | 0:a6a169de725f | 132 | * @param y2 is the y coordinate of the lower right of the rectangle |
shimniok | 0:a6a169de725f | 133 | */ |
shimniok | 0:a6a169de725f | 134 | void rect(int x1, int y1, int x2, int y2); |
shimniok | 0:a6a169de725f | 135 | |
shimniok | 0:a6a169de725f | 136 | /** draw or erase a rectangle (SD firmware only) |
shimniok | 0:a6a169de725f | 137 | * |
shimniok | 0:a6a169de725f | 138 | * @param x1 is the x coordinate of the upper left of the rectangle |
shimniok | 0:a6a169de725f | 139 | * @param y1 is the y coordinate of the upper left of the rectangle |
shimniok | 0:a6a169de725f | 140 | * @param x2 is the x coordinate of the lower right of the rectangle |
shimniok | 0:a6a169de725f | 141 | * @param y2 is the y coordinate of the lower right of the rectangle |
shimniok | 0:a6a169de725f | 142 | */ |
shimniok | 0:a6a169de725f | 143 | void rect(int x1, int y1, int x2, int y2, bool set); |
shimniok | 0:a6a169de725f | 144 | |
shimniok | 0:a6a169de725f | 145 | /** Draw a filled box. |
shimniok | 0:a6a169de725f | 146 | * |
shimniok | 0:a6a169de725f | 147 | * @param x1 is the x coordinate of the upper left of the rectangle |
shimniok | 0:a6a169de725f | 148 | * @param y1 is the y coordinate of the upper left of the rectangle |
shimniok | 0:a6a169de725f | 149 | * @param x2 is the x coordinate of the lower right of the rectangle |
shimniok | 0:a6a169de725f | 150 | * @param y2 is the y coordinate of the lower right of the rectangle |
shimniok | 0:a6a169de725f | 151 | * @param fillByte describes 1 8-pixel high stripe that is repeated every x |
shimniok | 0:a6a169de725f | 152 | * pixels and every 8 y pixels. The most useful are CLEAR (0x00) to clear the box, and FILL (0xFF) to fill it. |
shimniok | 0:a6a169de725f | 153 | */ |
shimniok | 0:a6a169de725f | 154 | void rectFill(int x1, int y1, int x2, int y2, char fillByte); |
shimniok | 0:a6a169de725f | 155 | |
shimniok | 0:a6a169de725f | 156 | /** erase a rectangular area |
shimniok | 0:a6a169de725f | 157 | * |
shimniok | 0:a6a169de725f | 158 | * @param x1 is the x coordinate of the upper left of the area |
shimniok | 0:a6a169de725f | 159 | * @param y1 is the y coordinate of the upper left of the area |
shimniok | 0:a6a169de725f | 160 | * @param x2 is the x coordinate of the lower right of the area |
shimniok | 0:a6a169de725f | 161 | * @param y2 is the y coordinate of the lower right of the area |
shimniok | 0:a6a169de725f | 162 | */ |
shimniok | 0:a6a169de725f | 163 | void erase(int x1, int y1, int x2, int y2); |
shimniok | 0:a6a169de725f | 164 | |
shimniok | 0:a6a169de725f | 165 | /** set backlight duty cycle |
shimniok | 0:a6a169de725f | 166 | * |
shimniok | 0:a6a169de725f | 167 | * @param i is the duty cycle from 0 to 100; 0 is off, 100 is full power |
shimniok | 0:a6a169de725f | 168 | */ |
shimniok | 0:a6a169de725f | 169 | void backlight(int i); |
shimniok | 0:a6a169de725f | 170 | |
shimniok | 0:a6a169de725f | 171 | /** clear screen and put in reverse mode |
shimniok | 0:a6a169de725f | 172 | */ |
shimniok | 0:a6a169de725f | 173 | void reverseMode(void); |
shimniok | 0:a6a169de725f | 174 | |
shimniok | 0:a6a169de725f | 175 | /** configure the lcd baud rate so you have to call this along with baud() to change |
shimniok | 0:a6a169de725f | 176 | * communication speeds |
shimniok | 0:a6a169de725f | 177 | * |
shimniok | 0:a6a169de725f | 178 | * @param b is the baud rate, LCD_4800, LCD_9600, LCD_19200, LCD_38400, LCD_57600 or LCD_115200 |
shimniok | 0:a6a169de725f | 179 | */ |
shimniok | 0:a6a169de725f | 180 | void lcdbaud(int b); |
shimniok | 0:a6a169de725f | 181 | |
shimniok | 0:a6a169de725f | 182 | |
shimniok | 0:a6a169de725f | 183 | /** sets the resolution of the LCD so that the pos() call works properly |
shimniok | 0:a6a169de725f | 184 | * defaults to LCD_128x64. |
shimniok | 0:a6a169de725f | 185 | * |
shimniok | 0:a6a169de725f | 186 | * @param type is the type of LCD, either LCD_128x64 or LCD_160x128 |
shimniok | 0:a6a169de725f | 187 | */ |
shimniok | 0:a6a169de725f | 188 | void resolution(int type); |
shimniok | 0:a6a169de725f | 189 | |
shimniok | 0:a6a169de725f | 190 | /** sets the resolution of the LCD in x and y coordinates which determines |
shimniok | 0:a6a169de725f | 191 | * how rows and columns are calculated in the pos() call. Defaults to |
shimniok | 0:a6a169de725f | 192 | * x=128, y=64 |
shimniok | 0:a6a169de725f | 193 | * |
shimniok | 0:a6a169de725f | 194 | * @param x is the number of horizontal pixels |
shimniok | 0:a6a169de725f | 195 | * @param y is the number of vertical pixels |
shimniok | 0:a6a169de725f | 196 | */ |
shimniok | 0:a6a169de725f | 197 | void resolution(int x, int y); |
shimniok | 0:a6a169de725f | 198 | |
shimniok | 0:a6a169de725f | 199 | private: |
shimniok | 0:a6a169de725f | 200 | int _xMax; |
shimniok | 0:a6a169de725f | 201 | int _yMax; |
shimniok | 0:a6a169de725f | 202 | int _firmware; |
shimniok | 0:a6a169de725f | 203 | }; |
shimniok | 0:a6a169de725f | 204 | |
shimniok | 0:a6a169de725f | 205 | |
shimniok | 0:a6a169de725f | 206 | #endif |