Takeuchi Kouichi
/
2bk0819_Gyro_test03
エレキジャックweb mbed入門 ジャイロとサーボを動かそう 課題3です。
Revision 0:4a81aff3ea7b, committed 2011-09-20
- Comitter:
- takeuchi
- Date:
- Tue Sep 20 09:59:05 2011 +0000
- Commit message:
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TextLCD0420.cpp Tue Sep 20 09:59:05 2011 +0000 @@ -0,0 +1,167 @@ +/* mbed TextLCD Library + * Copyright (c) 2007-2009 sford + * Released under the MIT License: http://mbed.org/license/mit + */ + // for 04row*20line LCD + +#include "TextLCD0420.h" + +#include "mbed.h" +#include "error.h" + +using namespace mbed; + +/* + * useful info found at http://www.a-netz.de/lcd.en.php + * + * + * Initialisation + * ============== + * + * After attaching the supply voltage/after a reset, the display needs to be brought in to a defined state + * + * - wait approximately 15 ms so the display is ready to execute commands + * - Execute the command 0x30 ("Display Settings") three times (wait 1,64ms after each command, the busy flag cannot be queried now). + * - The display is in 8 bit mode, so if you have only connected 4 data pins you should only transmit the higher nibble of each command. + * - If you want to use the 4 bit mode, now you can execute the command to switch over to this mode now. + * - Execute the "clear display" command + * + * Timing + * ====== + * + * Nearly all commands transmitted to the display need 40us for execution. + * Exceptions are the commands "Clear Display and Reset" and "Set Cursor to Start Position" + * These commands need 1.64ms for execution. These timings are valid for all displays working with an + * internal clock of 250kHz. But I do not know any displays that use other frequencies. Any time you + * can use the busy flag to test if the display is ready to accept the next command. + * + * _e is kept high apart from calling clock + * _rw is kept 0 (write) apart from actions that uyse it differently + * _rs is set by the data/command writes + */ + +TextLCD::TextLCD(PinName rs, PinName rw, PinName e, PinName d0, PinName d1, + PinName d2, PinName d3, int columns, int rows) : _rw(rw), _rs(rs), + _e(e), _d(d0, d1, d2, d3), _columns(columns), _rows(rows) { + + + // Mon, 27 Apr 2009 23:32:34 +0200 + // Kevin Konradt: + // When using a LCD with 1 row x 16 characters + // instead of 2x16, try changing _columns to 8. + // (display seems to split the 16 characters into + // 2 virtual rows with 8 characters each.) + + _rw = 0; + _e = 1; + _rs = 0; // command mode + + // Should theoretically wait 15ms, but most things will be powered up pre-reset + // so i'll disable that for the minute. If implemented, could wait 15ms post reset + // instead + // wait(0.015); + + // send "Display Settings" 3 times (Only top nibble of 0x30 as we've got 4-bit bus) + for(int i=0; i<3; i++) { + writeNibble(0x3); + wait(0.00164); // this command takes 1.64ms, so wait for it + } + writeNibble(0x2); // 4-bit mode + + writeCommand(0x28); // Function set 001 BW N F - - + writeCommand(0x0C); + writeCommand(0x6); // Cursor Direction and Display Shift : 0000 01 CD S (CD 0-left, 1-right S(hift) 0-no, 1-yes + + cls(); +} + +int TextLCD::_putc(int value) { + if(value == '\n') { + newline(); + } else { + writeData(value); + } + return value; +} + +int TextLCD::_getc() { + return 0; +} + +void TextLCD::newline() { + _column = 0; + _row++; + if(_row >= _rows) { + _row = 0; + } + locate(_column, _row); +} + +void TextLCD::locate(int column, int row) { + int address; + if(column < 0 || column >= _columns || row < 0 || row >= _rows) { + error("locate(%d,%d) out of range on %dx%d display", column, row, _columns, _rows); + return; + } + + _row = row; + _column = column; +// 02*20 => int address = 0x80 + (_row * 40) + _column; // memory starts at 0x80, and is 40 chars long per row + + + if(_row == 0 ){ + address = 0x80+_column; + } + else if(_row == 1 ){ + address = 0x80+ (0x40) + _column; + } + else if(_row == 2){ + address = 0x80+(0x14)+_column; + } + else if(_row == 3){ + address = 0x80+(0x54)+_column; + } + + writeCommand(address); +} + +void TextLCD::cls() { + writeCommand(0x01); // Clear Display + wait(0.00164f); // This command takes 1.64 ms + locate(0, 0); +} + +void TextLCD::reset() { + cls(); +} + +void TextLCD::clock() { + wait(0.000040f); + _e = 0; + wait(0.000040f); // most instructions take 40us + _e = 1; +} + +void TextLCD::writeNibble(int value) { + _d = value; + clock(); +} + +void TextLCD::writeByte(int value) { + writeNibble(value >> 4); + writeNibble(value >> 0); +} + +void TextLCD::writeCommand(int command) { + _rs = 0; + writeByte(command); +} + +void TextLCD::writeData(int data) { + _rs = 1; + writeByte(data); + _column++; + if(_column >= _columns) { + newline(); + } +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TextLCD0420.h Tue Sep 20 09:59:05 2011 +0000 @@ -0,0 +1,109 @@ +/* mbed TextLCD Library + * Copyright (c) 2007-2009 sford + * Released under the MIT License: http://mbed.org/license/mit + */ + +#ifndef MBED_TEXTLCD_H +#define MBED_TEXTLCD_H + +#include "Stream.h" +#include "DigitalOut.h" +#include "BusOut.h" + +namespace mbed { + +/* Class: TextLCD + * A 16x2 Text LCD controller + * + * Allows you to print to a Text LCD screen, and locate/cls. Could be + * turned in to a more generic libray. + * + * If you are connecting multiple displays, you can connect them all in + * parallel except for the enable (e) pin, which must be unique for each + * display. + * + * Example: + * > #include "mbed.h" + * > #include "TextLCD.h" + * > + * > TextLCD lcd(p24, p25, p26, p27, p28, p29, p30); // rs, rw, e, d0, d1, d2, d3 + * > + * > int main() { + * > lcd.printf("Hello World!"); + * > } + */ +class TextLCD : public Stream { + +public: + /* Constructor: TextLCD + * Create a TextLCD object, connected to the specified pins + * + * All signals must be connected to DigitalIn compatible pins. + * + * Variables: + * rs - Used to specify data or command + * rw - Used to determine read or write + * e - enable + * d0..d3 - The data lines + */ + TextLCD(PinName rs, PinName rw, PinName e, PinName d0, PinName d1, + PinName d2, PinName d3, int columns , int rows ); + +#if 0 // Inhereted from Stream, for documentation only + /* Function: putc + * Write a character + * + * Variables: + * c - The character to write to the serial port + */ + int putc(int c); + + /* Function: printf + * Write a formated string + * + * Variables: + * format - A printf-style format string, followed by the + * variables to use in formating the string. + */ + int printf(const char* format, ...); +#endif + + /* Function: locate + * Locate to a certian position + * + * Variables: + * column - the column to locate to, from 0..15 + * row - the row to locate to, from 0..1 + */ + virtual void locate(int column, int row); + + /* Function: cls + * Clear the screen, and locate to 0,0 + */ + virtual void cls(); + + virtual void reset(); + +protected: + + void clock(); + void writeData(int data); + void writeCommand(int command); + void writeByte(int value); + void writeNibble(int value); + virtual int _putc(int c); + virtual int _getc(); + virtual void newline(); + + int _row; + int _column; + DigitalOut _rw, _rs, _e; + BusOut _d; + int _columns; + int _rows; + +}; + +} + +#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Tue Sep 20 09:59:05 2011 +0000 @@ -0,0 +1,68 @@ +//Gyro test03 +// Akidukidensi AE-GYRO-SMD +#include "mbed.h" +#include "TextLCD0420.h" + +#define ON 1 +#define OFF 0 +#define Gy1_offset 0.01 + +DigitalOut mled0(LED1); +DigitalOut mled1(LED2); +AnalogIn gy1_adc(p16); +AnalogIn gy2_adc(p17); + +TextLCD lcd(p24, p25, p26, p27, p28, p29, p30,20,4); // rs, rw, e, d0, d1, d2, d3 + +double round3(double x){ + double y; + y=double(int((x+0.005)*100))/100; + return(y); +} + +int main() { + float gy1_data; + float gy1_center; + float gy1_sgm=0; + float gy1_wk0=0,gy1_wk1=0; + float gy1_avg=0,gy1_sum; + int i; + + lcd.cls(); + lcd.locate(0,0); + lcd.printf("*** Gyro test03 ****\n"); + + gy1_center=0; + for(i=0;i<10;i++){ + gy1_center=gy1_center+round3(gy1_adc.read()*3.3); + wait(0.01); + } + gy1_center=round3(gy1_center/10); + + + while(1){ + gy1_sum=0; + for(i=0;i<10;i++){ + gy1_sum=gy1_sum+round3(gy1_adc.read()*3.3); + wait(0.01); + } + gy1_avg=round3(gy1_sum/10); + + gy1_wk1=round3((gy1_avg-gy1_center)*1000/6.7); + gy1_sgm=round3(gy1_sgm+(gy1_wk0+gy1_wk1)*0.1/2); + gy1_wk0=gy1_wk1; + + if(gy1_sgm > 90){ + gy1_sgm=90; + } + else if(gy1_sgm < -90){ + gy1_sgm=-90; + } + + lcd.locate(0,1); + lcd.printf("%3.4f %3.4f",gy1_avg,gy1_center); + lcd.locate(0,2); + lcd.printf("Deg:%2.0f",gy1_sgm); + }//while +}//main +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Sep 20 09:59:05 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/9114680c05da