Takeuchi Kouichi
Tamagawaseiki IMU2 Ver1
Fork of
AQM0802_test
by 
Yoshihiro TSUBOI
Diff: main.cpp
- Revision:
- 1:20b0a21f3b43
- Parent:
- 0:0543430a6bd1
--- a/main.cpp Wed Jun 19 15:58:03 2013 +0000
+++ b/main.cpp Sun Sep 22 03:04:05 2013 +0000
@@ -1,208 +1,89 @@
-/*
- * LCD module "AQM0802A-RN-GBW" sample program
- *
- * AQM0802A-RN-GBW is an I2C text LCD panel (Controller: Sitronix ST7032i)
- * I bought this from AKIZUKI DENSHI TSUSHO CO.,LTD.
- * http://akizukidenshi.com/catalog/g/gP-06669/ (Online shop page (Japanese))
- * http://akizukidenshi.com/download/ds/sitronix/st7032.pdf (datasheet of the chip)
- *
- * Original Arduino version was developed by
- * Copyright (c) 2013 Masahiro WAKAYAMA at SWITCH SCIENCE
- *
- * Copyright (c) 2013 Yoshihiro TSUBOI
- *
- * Released under the MIT License: http://mbed.org/license/mit
- *
- * revision 1.0 19-June-2013 a. 1st release
- *
- */
-
- #include "mbed.h"
+// IMU2 Ver1
+// Subete Suuji hyouji
+
+#include "mbed.h"
+#include "I2cLCD.h"
-I2C i2c(p28, p27); // sda, scl
-const int AQCM0802_addr = 0x7C;
+I2cLCD lcd(p28,p27,p26); //sda scl reset
+Serial IMU(p9,p10);// p9=Tx,p10=Rx
-unsigned char mode;
-unsigned char contrast = 0; // 0-63
-unsigned char contrastFlag = false;
-int CGcounter;
-int FADEcounter;
-
-void lcd_cmd(char x) {
- char data[2];
- data[0] = 0x00; // CO = 0,RS = 0
- data[1] = x;
- i2c.write(AQCM0802_addr, data, 2);
-}
+DigitalOut mled0(LED1);
+DigitalOut mled1(LED2);
+DigitalIn tsw(p11);
-void lcd_contdata(char x) {
- char data[2];
- data[0] = 0xC0; //0b11000000 CO = 1, RS = 1
- data[1] = x;
- i2c.write(AQCM0802_addr, data, 2);
-}
+#define ON 1
+#define OFF 0
+#define XON 0
+#define XOFF 1
-void lcd_lastdata(char x) {
- char data[2];
- data[0] = 0x40; //0b11000000 CO = 0, RS = 1
- data[1] = x;
- i2c.write(AQCM0802_addr, data, 2);
-}
+float rx,px,hx;
-void lcd_printStr(const char *s) {
- while(*s) {
- if(*(s + 1)) {
- lcd_contdata(*s);
- } else {
- lcd_lastdata(*s);
- }
- s++;
- }
-}
-
-void lcd_printHex(unsigned char num) {
- lcd_contdata(num);
-}
-
-void lcd_init() {
- wait(0.04);
- // LCD initialize
- lcd_cmd(0x38); // function set
- lcd_cmd(0x39); // function set
- lcd_cmd(0x04); // EntryModeSet
- lcd_cmd(0x14); // interval osc
- lcd_cmd(0x70 | (contrast & 0xF)); // contrast Low
- lcd_cmd(0x5C | ((contrast >> 4) & 0x3)); // contast High/icon/power
- lcd_cmd(0x6C); // follower control
- wait(0.2);
- lcd_cmd(0x38); // function set
- lcd_cmd(0x0C); // Display On
- lcd_cmd(0x01); // Clear Display
- wait(0.2); // need additional wait to Clear Display
-}
-
-void lcd_setCursor(unsigned char x,unsigned char y) {
- lcd_cmd(0x80 | (y * 0x40 + x));
+void offset_can(){
+ int i;
+ lcd.cls();
+ IMU.printf("$TSC,OFC,10*CC\r\n");
+ IMU.printf("$TSC,HRST*75\r\n");
+ lcd.printf("Offset cansel\n");
+ for(i=0;i<5;i++){
+ lcd.printf(".");
+ wait(0.5);
+ }
+ lcd.cls();
}
-unsigned char cg[13 * 8] = {
-/*
- 0b00001111,0b00010000,0b00010000,0b00001110,0b00000001,0b00000001,0b00011110,0b00000000,
- 0b00010001,0b00010001,0b00010001,0b00010101,0b00010101,0b00010101,0b00001010,0b00000000,
- 0b00001110,0b00000100,0b00000100,0b00000100,0b00000100,0b00000100,0b00001110,0b00000000,
- 0b00011111,0b00000100,0b00000100,0b00000100,0b00000100,0b00000100,0b00000100,0b00000000,
- 0b00001110,0b00010001,0b00010000,0b00010000,0b00010000,0b00010001,0b00001110,0b00000000,
- 0b00010001,0b00010001,0b00010001,0b00011111,0b00010001,0b00010001,0b00010001,0b00000000,
-*/
- 0x0F,0x10,0x10,0x0E,0x01,0x01,0x1E,0x00, // S
- 0x11,0x11,0x11,0x15,0x15,0x15,0x0A,0x00, // W
- 0x0E,0x40,0x40,0x40,0x40,0x40,0x0E,0x00, // I
- 0x1F,0x40,0x40,0x40,0x40,0x40,0x40,0x00, // T
- 0x0E,0x11,0x10,0x10,0x10,0x11,0x0E,0x00, // C
- 0x11,0x11,0x11,0x1F,0x11,0x11,0x11,0x00, // H
-/*
- 0b00001111,0b00010000,0b00010000,0b00001110,0b00000001,0b00000001,0b00011110,0b00000000,
- 0b00001110,0b00010001,0b00010000,0b00010000,0b00010000,0b00010001,0b00001110,0b00000000,
- 0b00001110,0b00000100,0b00000100,0b00000100,0b00000100,0b00000100,0b00001110,0b00000000,
- 0b00011111,0b00010000,0b00010000,0b00011110,0b00010000,0b00010000,0b00011111,0b00000000,
- 0b00010001,0b00010001,0b00011001,0b00010101,0b00010011,0b00010001,0b00010001,0b00000000,
- 0b00001110,0b00010001,0b00010000,0b00010000,0b00010000,0b00010001,0b00001110,0b00000000,
- 0b00011111,0b00010000,0b00010000,0b00011110,0b00010000,0b00010000,0b00011111,0b00000000,
-*/
- 0x0F,0x10,0x10,0x0E,0x01,0x01,0x1E,0x00, // S
- 0x0E,0x11,0x10,0x10,0x10,0x11,0x0E,0x00, // C
- 0x0E,0x40,0x40,0x40,0x40,0x40,0x0E,0x00, // I
- 0x1F,0x10,0x10,0x1E,0x10,0x10,0x1F,0x00, // E
- 0x11,0x11,0x19,0x15,0x13,0x11,0x11,0x00, // N
- 0x0E,0x11,0x10,0x10,0x10,0x11,0x0E,0x00, // C
- 0x1F,0x10,0x10,0x1E,0x10,0x10,0x1F,0x00 // E
-};
+void IMU_get(){
+ int i;
+ unsigned char c1,c2;
-void setCG(int src,int dst,int len) {
- lcd_cmd(0x38);
- lcd_cmd(0x40 + dst);
- if (src >= 0) {
- for (int i = 0;i < len;i++) lcd_printHex(cg[src + i]);
- } else {
- for (int i = 0;i < len;i++) lcd_printHex(0);
+ while(IMU.getc()!='$'){
+ }
+ for(i=1;i<=8;i++){
+ c1=IMU.getc();
+ }
+ for(i=1;i<=20;i++){
+ c1=IMU.getc();
}
+ c1=IMU.getc();
+ c2=IMU.getc();
+ rx=float((c1 << 8) | c2);
+ c1=IMU.getc();
+ c2=IMU.getc();
+ px=float((c1 << 8) | c2);
+ c1=IMU.getc();
+ c2=IMU.getc();
+ hx=float((c1 << 8) | c2);
}
-void setContrast(unsigned char c) {
- lcd_cmd(0x39);
- lcd_cmd(0x70 | (c & 0x0f)); // contrast Low
- lcd_cmd(0x5C | ((c >> 4) & 0x03)); // contast High/icon/power
- lcd_cmd(0x38);
-}
int main() {
- lcd_init();
- while(1) {
- switch(mode) {
- case 0: // init
- lcd_setCursor(0, 0);
- for (int i = 0;i < 6;i++) lcd_printHex(i);
- lcd_setCursor(1, 1);
- lcd_printStr(" ");
- setCG(-1,0,6 * 8);
- contrast = 35;
- setContrast(contrast);
- CGcounter = 0;
- mode++;
- break;
- case 1: // SWITCH
- if(CGcounter <= (6 * 8)) {
- setCG((CGcounter / 8) * 8,((CGcounter / 8) * 8) + 7 - (CGcounter % 8),CGcounter % 8);
- CGcounter++;
- } else {
- lcd_setCursor(0, 0);
- lcd_printStr("SWITCH");
- setCG(-1,0,3 * 8);
- lcd_setCursor(1, 1);
- for (int i = 0;i < 3;i++) lcd_printHex(i);
- CGcounter = 0;
- mode++;
- }
- break;
- case 2: // SCI
- if(CGcounter <= (3 * 8)) {
- setCG(((CGcounter / 8) + 6) * 8,((CGcounter / 8) * 8) + 7 - (CGcounter % 8),CGcounter % 8);
- CGcounter++;
- } else {
- lcd_setCursor(1, 1);
- lcd_printStr("SCI");
- setCG(-1,0,4 * 8);
- lcd_setCursor(4, 1);
- for (int i = 0;i < 4;i++) lcd_printHex(i);
- CGcounter = 0;
- mode++;
- }
- break;
- case 3: // ENCE
- if(CGcounter <= (4 * 8)) {
- setCG(((CGcounter / 8) + 9) * 8,((CGcounter / 8) * 8) + 7 - (CGcounter % 8),CGcounter % 8);
- CGcounter++;
- } else {
- lcd_setCursor(4, 1);
- lcd_printStr("ENCE");
- FADEcounter = 0;
- mode++;
- }
- break;
- case 4:
- if (contrastFlag == false) {
- if (++contrast >= 54) contrastFlag = true;
- } else {
- if (--contrast <= 17) {
- contrastFlag = false;
- if(++FADEcounter >= 2) {
- mode = 0;
- }
- }
- }
- setContrast(contrast);
- break;
+
+ IMU.baud(119200);
+ lcd.cls();
+ lcd.locate(0,0);
+ lcd.printf("IMU2 Test03\n");
+ lcd.printf("Init now...");
+ IMU.printf("$TSC,HRST*75\r\n");
+ wait(0.1);
+ IMU.printf("$TSC,RAW,10\r\n");
+ wait(0.1);
+
+ lcd.cls();
+ wait(0.1);
+ mled0=OFF;
+
+ while (1) {
+ if(tsw==XON){
+ mled0=ON;
+ offset_can();
}
- wait(0.05);
- }
-}
+ mled0=OFF;
+
+ IMU_get();
+
+ lcd.locate(0,0);
+ lcd.printf("r:%5.1f,p:%5.1f",180*rx/32768,180*px/32768);
+ lcd.locate(0,1);
+ lcd.printf("h:%5.1f",180*hx/32768);
+
+ }//while
+}//main
\ No newline at end of file