mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_APM: basic LiquidCrystal based sketch to test hal gpio & scheduler
This commit is contained in:
Pat Hickey
Andrew Tridgell
parent
e9c5f07db2
commit
83887cfc87
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/*
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LiquidCrystal Library - Hello World
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Demonstrates the use a 16x2 LCD display. The LiquidCrystal
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library works with all LCD displays that are compatible with the
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Hitachi HD44780 driver. There are many of them out there, and you
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can usually tell them by the 16-pin interface.
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This sketch prints "Hello World!" to the LCD
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and shows the time.
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The circuit:
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* LCD RS pin to digital pin 12
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* LCD Enable pin to digital pin 11
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* LCD D4 pin to digital pin 5
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* LCD D5 pin to digital pin 4
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* LCD D6 pin to digital pin 3
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* LCD D7 pin to digital pin 2
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* LCD R/W pin to ground
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* 10K resistor:
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* ends to +5V and ground
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* wiper to LCD VO pin (pin 3)
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Library originally added 18 Apr 2008
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by David A. Mellis
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library modified 5 Jul 2009
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by Limor Fried (http://www.ladyada.net)
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example added 9 Jul 2009
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by Tom Igoe
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modified 22 Nov 2010
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by Tom Igoe
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This example code is in the public domain.
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http://www.arduino.cc/en/Tutorial/LiquidCrystal
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*/
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// include the library code:
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#include <AP_Common.h>
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#include <AP_HAL.h>
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#include <AP_HAL_AVR.h>
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#include "LCrystal.h"
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const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
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// initialize the library with the numbers of the interface pins
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LiquidCrystal lcd(8, 9, 4, 5, 6, 7);
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void setup() {
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/* pin 54 is A0 on the mega */
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hal.gpio->pinMode(54, GPIO_INPUT);
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// set up the LCD's number of columns and rows:
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lcd.begin(16, 2);
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// Print a message to the LCD.
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lcd.print("hello, world!");
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}
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void loop() {
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// set the cursor to column 0, line 1
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// (note: line 1 is the second row, since counting begins with 0):
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lcd.setCursor(0, 1);
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// print the number of seconds since reset:
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lcd.print(hal.scheduler->millis()/1000);
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lcd.setCursor(8, 1); /* Halfway over second row */
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if (hal.gpio->read(54)) {
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lcd.print("high");
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} else {
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lcd.print("low ");
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}
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}
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extern "C" {
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int main (void) {
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hal.init(NULL);
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setup();
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for(;;) loop();
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return 0;
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}
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}
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#include "LCrystal.h"
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#include <stdio.h>
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#include <string.h>
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#include <inttypes.h>
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#include <AP_HAL.h>
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extern const AP_HAL::HAL& hal;
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// When the display powers up, it is configured as follows:
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//
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// 1. Display clear
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// 2. Function set:
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// DL = 1; 8-bit interface data
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// N = 0; 1-line display
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// F = 0; 5x8 dot character font
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// 3. Display on/off control:
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// D = 0; Display off
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// C = 0; Cursor off
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// B = 0; Blinking off
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// 4. Entry mode set:
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// I/D = 1; Increment by 1
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// S = 0; No shift
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//
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// Note, however, that resetting the Arduino doesn't reset the LCD, so we
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// can't assume that its in that state when a sketch starts (and the
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// LiquidCrystal constructor is called).
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LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable,
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uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3,
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uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7)
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{
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init(0, rs, rw, enable, d0, d1, d2, d3, d4, d5, d6, d7);
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}
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LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t enable,
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uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3,
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uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7)
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{
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init(0, rs, 255, enable, d0, d1, d2, d3, d4, d5, d6, d7);
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}
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LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable,
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uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3)
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{
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init(1, rs, rw, enable, d0, d1, d2, d3, 0, 0, 0, 0);
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}
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LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t enable,
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uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3)
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{
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init(1, rs, 255, enable, d0, d1, d2, d3, 0, 0, 0, 0);
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}
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void LiquidCrystal::init(uint8_t fourbitmode, uint8_t rs, uint8_t rw, uint8_t enable,
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uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3,
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uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7)
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{
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_rs_pin = rs;
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_rw_pin = rw;
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_enable_pin = enable;
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_data_pins[0] = d0;
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_data_pins[1] = d1;
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_data_pins[2] = d2;
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_data_pins[3] = d3;
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_data_pins[4] = d4;
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_data_pins[5] = d5;
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_data_pins[6] = d6;
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_data_pins[7] = d7;
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hal.gpio->pinMode(_rs_pin, GPIO_OUTPUT);
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// we can save 1 pin by not using RW. Indicate by passing 255 instead of pin#
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if (_rw_pin != 255) {
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hal.gpio->pinMode(_rw_pin, GPIO_OUTPUT);
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}
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hal.gpio->pinMode(_enable_pin, GPIO_OUTPUT);
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if (fourbitmode)
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_displayfunction = LCD_4BITMODE | LCD_1LINE | LCD_5x8DOTS;
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else
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_displayfunction = LCD_8BITMODE | LCD_1LINE | LCD_5x8DOTS;
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begin(16, 1);
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}
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void LiquidCrystal::begin(uint8_t cols, uint8_t lines, uint8_t dotsize) {
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if (lines > 1) {
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_displayfunction |= LCD_2LINE;
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}
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_numlines = lines;
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_currline = 0;
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// for some 1 line displays you can select a 10 pixel high font
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if ((dotsize != 0) && (lines == 1)) {
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_displayfunction |= LCD_5x10DOTS;
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}
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// SEE PAGE 45/46 FOR INITIALIZATION SPECIFICATION!
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// according to datasheet, we need at least 40ms after power rises above 2.7V
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// before sending commands. Arduino can turn on way befer 4.5V so we'll wait 50
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hal.scheduler->delayMicroseconds(50000);
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// Now we pull both RS and R/W low to begin commands
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hal.gpio->write(_rs_pin, 0);
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hal.gpio->write(_enable_pin, 0);
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if (_rw_pin != 255) {
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hal.gpio->write(_rw_pin, 0);
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}
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//put the LCD into 4 bit or 8 bit mode
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if (! (_displayfunction & LCD_8BITMODE)) {
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// this is according to the hitachi HD44780 datasheet
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// figure 24, pg 46
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// we start in 8bit mode, try to set 4 bit mode
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write4bits(0x03);
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hal.scheduler->delayMicroseconds(4500); // wait min 4.1ms
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// second try
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write4bits(0x03);
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hal.scheduler->delayMicroseconds(4500); // wait min 4.1ms
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// third go!
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write4bits(0x03);
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hal.scheduler->delayMicroseconds(150);
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// finally, set to 4-bit interface
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write4bits(0x02);
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} else {
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// this is according to the hitachi HD44780 datasheet
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// page 45 figure 23
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// Send function set command sequence
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command(LCD_FUNCTIONSET | _displayfunction);
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hal.scheduler->delayMicroseconds(4500); // wait more than 4.1ms
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// second try
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command(LCD_FUNCTIONSET | _displayfunction);
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hal.scheduler->delayMicroseconds(150);
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// third go
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command(LCD_FUNCTIONSET | _displayfunction);
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}
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// finally, set # lines, font size, etc.
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command(LCD_FUNCTIONSET | _displayfunction);
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// turn the display on with no cursor or blinking default
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_displaycontrol = LCD_DISPLAYON | LCD_CURSOROFF | LCD_BLINKOFF;
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display();
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// clear it off
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clear();
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// Initialize to default text direction (for romance languages)
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_displaymode = LCD_ENTRYLEFT | LCD_ENTRYSHIFTDECREMENT;
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// set the entry mode
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command(LCD_ENTRYMODESET | _displaymode);
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}
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/********** high level commands, for the user! */
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void LiquidCrystal::clear()
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{
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command(LCD_CLEARDISPLAY); // clear display, set cursor position to zero
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hal.scheduler->delayMicroseconds(2000); // this command takes a long time!
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}
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void LiquidCrystal::home()
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{
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command(LCD_RETURNHOME); // set cursor position to zero
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hal.scheduler->delayMicroseconds(2000); // this command takes a long time!
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}
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void LiquidCrystal::setCursor(uint8_t col, uint8_t row)
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{
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int row_offsets[] = { 0x00, 0x40, 0x14, 0x54 };
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if ( row >= _numlines ) {
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row = _numlines-1; // we count rows starting w/0
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}
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command(LCD_SETDDRAMADDR | (col + row_offsets[row]));
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}
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// Turn the display on/off (quickly)
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void LiquidCrystal::noDisplay() {
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_displaycontrol &= ~LCD_DISPLAYON;
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command(LCD_DISPLAYCONTROL | _displaycontrol);
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}
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void LiquidCrystal::display() {
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_displaycontrol |= LCD_DISPLAYON;
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command(LCD_DISPLAYCONTROL | _displaycontrol);
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}
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// Turns the underline cursor on/off
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void LiquidCrystal::noCursor() {
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_displaycontrol &= ~LCD_CURSORON;
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command(LCD_DISPLAYCONTROL | _displaycontrol);
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}
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void LiquidCrystal::cursor() {
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_displaycontrol |= LCD_CURSORON;
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command(LCD_DISPLAYCONTROL | _displaycontrol);
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}
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// Turn on and off the blinking cursor
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void LiquidCrystal::noBlink() {
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_displaycontrol &= ~LCD_BLINKON;
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command(LCD_DISPLAYCONTROL | _displaycontrol);
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}
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void LiquidCrystal::blink() {
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_displaycontrol |= LCD_BLINKON;
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command(LCD_DISPLAYCONTROL | _displaycontrol);
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}
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// These commands scroll the display without changing the RAM
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void LiquidCrystal::scrollDisplayLeft(void) {
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command(LCD_CURSORSHIFT | LCD_DISPLAYMOVE | LCD_MOVELEFT);
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}
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void LiquidCrystal::scrollDisplayRight(void) {
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command(LCD_CURSORSHIFT | LCD_DISPLAYMOVE | LCD_MOVERIGHT);
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}
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// This is for text that flows Left to Right
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void LiquidCrystal::leftToRight(void) {
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_displaymode |= LCD_ENTRYLEFT;
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command(LCD_ENTRYMODESET | _displaymode);
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}
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// This is for text that flows Right to Left
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void LiquidCrystal::rightToLeft(void) {
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_displaymode &= ~LCD_ENTRYLEFT;
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command(LCD_ENTRYMODESET | _displaymode);
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}
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// This will 'right justify' text from the cursor
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void LiquidCrystal::autoscroll(void) {
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_displaymode |= LCD_ENTRYSHIFTINCREMENT;
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command(LCD_ENTRYMODESET | _displaymode);
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}
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// This will 'left justify' text from the cursor
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void LiquidCrystal::noAutoscroll(void) {
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_displaymode &= ~LCD_ENTRYSHIFTINCREMENT;
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command(LCD_ENTRYMODESET | _displaymode);
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}
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// Allows us to fill the first 8 CGRAM locations
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// with custom characters
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void LiquidCrystal::createChar(uint8_t location, uint8_t charmap[]) {
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location &= 0x7; // we only have 8 locations 0-7
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command(LCD_SETCGRAMADDR | (location << 3));
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for (int i=0; i<8; i++) {
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write(charmap[i]);
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}
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}
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/*********** mid level commands, for sending data/cmds */
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inline void LiquidCrystal::command(uint8_t value) {
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send(value, 0);
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}
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inline size_t LiquidCrystal::write(uint8_t value) {
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send(value, 1);
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return 1; // assume sucess
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}
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/************ low level data pushing commands **********/
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// write either command or data, with automatic 4/8-bit selection
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void LiquidCrystal::send(uint8_t value, uint8_t mode) {
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hal.gpio->write(_rs_pin, mode);
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// if there is a RW pin indicated, set it low to Write
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if (_rw_pin != 255) {
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hal.gpio->write(_rw_pin, 0);
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}
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if (_displayfunction & LCD_8BITMODE) {
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write8bits(value);
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} else {
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write4bits(value>>4);
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write4bits(value);
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}
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}
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void LiquidCrystal::pulseEnable(void) {
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hal.gpio->write(_enable_pin, 0);
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hal.scheduler->delayMicroseconds(1);
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hal.gpio->write(_enable_pin, 1);
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hal.scheduler->delayMicroseconds(1); // enable pulse must be >450ns
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hal.gpio->write(_enable_pin, 0);
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hal.scheduler->delayMicroseconds(100); // commands need > 37us to settle
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}
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void LiquidCrystal::write4bits(uint8_t value) {
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for (int i = 0; i < 4; i++) {
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hal.gpio->pinMode(_data_pins[i], GPIO_OUTPUT);
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hal.gpio->write(_data_pins[i], (value >> i) & 0x01);
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}
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pulseEnable();
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}
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void LiquidCrystal::write8bits(uint8_t value) {
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for (int i = 0; i < 8; i++) {
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hal.gpio->pinMode(_data_pins[i], GPIO_OUTPUT);
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hal.gpio->write(_data_pins[i], (value >> i) & 0x01);
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}
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pulseEnable();
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}
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@ -0,0 +1,106 @@
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#ifndef LiquidCrystal_h
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#define LiquidCrystal_h
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#include <inttypes.h>
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#include <../AP_HAL/utility/Print.h>
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// commands
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#define LCD_CLEARDISPLAY 0x01
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#define LCD_RETURNHOME 0x02
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#define LCD_ENTRYMODESET 0x04
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#define LCD_DISPLAYCONTROL 0x08
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#define LCD_CURSORSHIFT 0x10
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#define LCD_FUNCTIONSET 0x20
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#define LCD_SETCGRAMADDR 0x40
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#define LCD_SETDDRAMADDR 0x80
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// flags for display entry mode
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#define LCD_ENTRYRIGHT 0x00
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#define LCD_ENTRYLEFT 0x02
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#define LCD_ENTRYSHIFTINCREMENT 0x01
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#define LCD_ENTRYSHIFTDECREMENT 0x00
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// flags for display on/off control
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#define LCD_DISPLAYON 0x04
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#define LCD_DISPLAYOFF 0x00
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#define LCD_CURSORON 0x02
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#define LCD_CURSOROFF 0x00
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#define LCD_BLINKON 0x01
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#define LCD_BLINKOFF 0x00
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// flags for display/cursor shift
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#define LCD_DISPLAYMOVE 0x08
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#define LCD_CURSORMOVE 0x00
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#define LCD_MOVERIGHT 0x04
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#define LCD_MOVELEFT 0x00
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// flags for function set
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#define LCD_8BITMODE 0x10
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#define LCD_4BITMODE 0x00
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#define LCD_2LINE 0x08
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#define LCD_1LINE 0x00
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#define LCD_5x10DOTS 0x04
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#define LCD_5x8DOTS 0x00
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class LiquidCrystal : public AP_HAL::Print {
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public:
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LiquidCrystal(uint8_t rs, uint8_t enable,
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uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3,
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uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7);
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LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable,
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uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3,
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uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7);
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LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable,
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uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3);
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LiquidCrystal(uint8_t rs, uint8_t enable,
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uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3);
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void init(uint8_t fourbitmode, uint8_t rs, uint8_t rw, uint8_t enable,
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uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3,
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uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7);
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||||
|
||||
void begin(uint8_t cols, uint8_t rows, uint8_t charsize = LCD_5x8DOTS);
|
||||
|
||||
void clear();
|
||||
void home();
|
||||
|
||||
void noDisplay();
|
||||
void display();
|
||||
void noBlink();
|
||||
void blink();
|
||||
void noCursor();
|
||||
void cursor();
|
||||
void scrollDisplayLeft();
|
||||
void scrollDisplayRight();
|
||||
void leftToRight();
|
||||
void rightToLeft();
|
||||
void autoscroll();
|
||||
void noAutoscroll();
|
||||
|
||||
void createChar(uint8_t, uint8_t[]);
|
||||
void setCursor(uint8_t, uint8_t);
|
||||
virtual size_t write(uint8_t);
|
||||
void command(uint8_t);
|
||||
|
||||
using Print::write;
|
||||
private:
|
||||
void send(uint8_t, uint8_t);
|
||||
void write4bits(uint8_t);
|
||||
void write8bits(uint8_t);
|
||||
void pulseEnable();
|
||||
|
||||
uint8_t _rs_pin; // LOW: command. HIGH: character.
|
||||
uint8_t _rw_pin; // LOW: write to LCD. HIGH: read from LCD.
|
||||
uint8_t _enable_pin; // activated by a HIGH pulse.
|
||||
uint8_t _data_pins[8];
|
||||
|
||||
uint8_t _displayfunction;
|
||||
uint8_t _displaycontrol;
|
||||
uint8_t _displaymode;
|
||||
|
||||
uint8_t _initialized;
|
||||
|
||||
uint8_t _numlines,_currline;
|
||||
};
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1 @@
|
|||
include ../../../AP_Common/Arduino.mk
|
||||
|
|
@ -0,0 +1,7 @@
|
|||
|
||||
This is a quick test app based on the Arduino LiquidCrystal library,
|
||||
modified to use an AP_HAL instead of the Arduino core.
|
||||
|
||||
I tested it with a Freetronics 16x2 LCD shield v2 on an Arduino Mega 2560.
|
||||
|
||||
Pat Hickey, 23 Aug 2012
|
||||
Loading…
Reference in New Issue