From 83887cfc873cb1ff52aa5cc57f29e6d7e32b11d8 Mon Sep 17 00:00:00 2001 From: Pat Hickey Date: Thu, 23 Aug 2012 16:08:15 -0700 Subject: [PATCH] AP_HAL_APM: basic LiquidCrystal based sketch to test hal gpio & scheduler --- .../AP_HAL_AVR/examples/LCDTest/Arduino.h | 0 .../AP_HAL_AVR/examples/LCDTest/LCDTest.pde | 83 +++++ .../AP_HAL_AVR/examples/LCDTest/LCrystal.cpp | 313 ++++++++++++++++++ .../AP_HAL_AVR/examples/LCDTest/LCrystal.h | 106 ++++++ .../AP_HAL_AVR/examples/LCDTest/Makefile | 1 + libraries/AP_HAL_AVR/examples/LCDTest/README | 7 + .../examples/LCDTest/nocore.inoflag | 0 7 files changed, 510 insertions(+) create mode 100644 libraries/AP_HAL_AVR/examples/LCDTest/Arduino.h create mode 100644 libraries/AP_HAL_AVR/examples/LCDTest/LCDTest.pde create mode 100644 libraries/AP_HAL_AVR/examples/LCDTest/LCrystal.cpp create mode 100644 libraries/AP_HAL_AVR/examples/LCDTest/LCrystal.h create mode 100644 libraries/AP_HAL_AVR/examples/LCDTest/Makefile create mode 100644 libraries/AP_HAL_AVR/examples/LCDTest/README create mode 100644 libraries/AP_HAL_AVR/examples/LCDTest/nocore.inoflag diff --git a/libraries/AP_HAL_AVR/examples/LCDTest/Arduino.h b/libraries/AP_HAL_AVR/examples/LCDTest/Arduino.h new file mode 100644 index 0000000000..e69de29bb2 diff --git a/libraries/AP_HAL_AVR/examples/LCDTest/LCDTest.pde b/libraries/AP_HAL_AVR/examples/LCDTest/LCDTest.pde new file mode 100644 index 0000000000..009a8f4686 --- /dev/null +++ b/libraries/AP_HAL_AVR/examples/LCDTest/LCDTest.pde @@ -0,0 +1,83 @@ +/* + LiquidCrystal Library - Hello World + + Demonstrates the use a 16x2 LCD display. The LiquidCrystal + library works with all LCD displays that are compatible with the + Hitachi HD44780 driver. There are many of them out there, and you + can usually tell them by the 16-pin interface. + + This sketch prints "Hello World!" to the LCD + and shows the time. + + The circuit: + * LCD RS pin to digital pin 12 + * LCD Enable pin to digital pin 11 + * LCD D4 pin to digital pin 5 + * LCD D5 pin to digital pin 4 + * LCD D6 pin to digital pin 3 + * LCD D7 pin to digital pin 2 + * LCD R/W pin to ground + * 10K resistor: + * ends to +5V and ground + * wiper to LCD VO pin (pin 3) + + Library originally added 18 Apr 2008 + by David A. Mellis + library modified 5 Jul 2009 + by Limor Fried (http://www.ladyada.net) + example added 9 Jul 2009 + by Tom Igoe + modified 22 Nov 2010 + by Tom Igoe + + This example code is in the public domain. + + http://www.arduino.cc/en/Tutorial/LiquidCrystal + */ + +// include the library code: + +#include +#include +#include + +#include "LCrystal.h" + +const AP_HAL::HAL& hal = AP_HAL_AVR_APM1; + +// initialize the library with the numbers of the interface pins +LiquidCrystal lcd(8, 9, 4, 5, 6, 7); + +void setup() { + /* pin 54 is A0 on the mega */ + hal.gpio->pinMode(54, GPIO_INPUT); + // set up the LCD's number of columns and rows: + lcd.begin(16, 2); + // Print a message to the LCD. + lcd.print("hello, world!"); +} + +void loop() { + // set the cursor to column 0, line 1 + // (note: line 1 is the second row, since counting begins with 0): + lcd.setCursor(0, 1); + // print the number of seconds since reset: + lcd.print(hal.scheduler->millis()/1000); + + + lcd.setCursor(8, 1); /* Halfway over second row */ + if (hal.gpio->read(54)) { + lcd.print("high"); + } else { + lcd.print("low "); + } +} + +extern "C" { +int main (void) { + hal.init(NULL); + setup(); + for(;;) loop(); + return 0; +} +} diff --git a/libraries/AP_HAL_AVR/examples/LCDTest/LCrystal.cpp b/libraries/AP_HAL_AVR/examples/LCDTest/LCrystal.cpp new file mode 100644 index 0000000000..7abcd56683 --- /dev/null +++ b/libraries/AP_HAL_AVR/examples/LCDTest/LCrystal.cpp @@ -0,0 +1,313 @@ +#include "LCrystal.h" + +#include +#include +#include + +#include + +extern const AP_HAL::HAL& hal; + +// When the display powers up, it is configured as follows: +// +// 1. Display clear +// 2. Function set: +// DL = 1; 8-bit interface data +// N = 0; 1-line display +// F = 0; 5x8 dot character font +// 3. Display on/off control: +// D = 0; Display off +// C = 0; Cursor off +// B = 0; Blinking off +// 4. Entry mode set: +// I/D = 1; Increment by 1 +// S = 0; No shift +// +// Note, however, that resetting the Arduino doesn't reset the LCD, so we +// can't assume that its in that state when a sketch starts (and the +// LiquidCrystal constructor is called). + +LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable, + uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3, + uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7) +{ + init(0, rs, rw, enable, d0, d1, d2, d3, d4, d5, d6, d7); +} + +LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t enable, + uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3, + uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7) +{ + init(0, rs, 255, enable, d0, d1, d2, d3, d4, d5, d6, d7); +} + +LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable, + uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3) +{ + init(1, rs, rw, enable, d0, d1, d2, d3, 0, 0, 0, 0); +} + +LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t enable, + uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3) +{ + init(1, rs, 255, enable, d0, d1, d2, d3, 0, 0, 0, 0); +} + +void LiquidCrystal::init(uint8_t fourbitmode, uint8_t rs, uint8_t rw, uint8_t enable, + uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3, + uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7) +{ + _rs_pin = rs; + _rw_pin = rw; + _enable_pin = enable; + + _data_pins[0] = d0; + _data_pins[1] = d1; + _data_pins[2] = d2; + _data_pins[3] = d3; + _data_pins[4] = d4; + _data_pins[5] = d5; + _data_pins[6] = d6; + _data_pins[7] = d7; + + hal.gpio->pinMode(_rs_pin, GPIO_OUTPUT); + // we can save 1 pin by not using RW. Indicate by passing 255 instead of pin# + if (_rw_pin != 255) { + hal.gpio->pinMode(_rw_pin, GPIO_OUTPUT); + } + hal.gpio->pinMode(_enable_pin, GPIO_OUTPUT); + + if (fourbitmode) + _displayfunction = LCD_4BITMODE | LCD_1LINE | LCD_5x8DOTS; + else + _displayfunction = LCD_8BITMODE | LCD_1LINE | LCD_5x8DOTS; + + begin(16, 1); +} + +void LiquidCrystal::begin(uint8_t cols, uint8_t lines, uint8_t dotsize) { + if (lines > 1) { + _displayfunction |= LCD_2LINE; + } + _numlines = lines; + _currline = 0; + + // for some 1 line displays you can select a 10 pixel high font + if ((dotsize != 0) && (lines == 1)) { + _displayfunction |= LCD_5x10DOTS; + } + + // SEE PAGE 45/46 FOR INITIALIZATION SPECIFICATION! + // according to datasheet, we need at least 40ms after power rises above 2.7V + // before sending commands. Arduino can turn on way befer 4.5V so we'll wait 50 + hal.scheduler->delayMicroseconds(50000); + // Now we pull both RS and R/W low to begin commands + hal.gpio->write(_rs_pin, 0); + hal.gpio->write(_enable_pin, 0); + if (_rw_pin != 255) { + hal.gpio->write(_rw_pin, 0); + } + + //put the LCD into 4 bit or 8 bit mode + if (! (_displayfunction & LCD_8BITMODE)) { + // this is according to the hitachi HD44780 datasheet + // figure 24, pg 46 + + // we start in 8bit mode, try to set 4 bit mode + write4bits(0x03); + hal.scheduler->delayMicroseconds(4500); // wait min 4.1ms + + // second try + write4bits(0x03); + hal.scheduler->delayMicroseconds(4500); // wait min 4.1ms + + // third go! + write4bits(0x03); + hal.scheduler->delayMicroseconds(150); + + // finally, set to 4-bit interface + write4bits(0x02); + } else { + // this is according to the hitachi HD44780 datasheet + // page 45 figure 23 + + // Send function set command sequence + command(LCD_FUNCTIONSET | _displayfunction); + hal.scheduler->delayMicroseconds(4500); // wait more than 4.1ms + + // second try + command(LCD_FUNCTIONSET | _displayfunction); + hal.scheduler->delayMicroseconds(150); + + // third go + command(LCD_FUNCTIONSET | _displayfunction); + } + + // finally, set # lines, font size, etc. + command(LCD_FUNCTIONSET | _displayfunction); + + // turn the display on with no cursor or blinking default + _displaycontrol = LCD_DISPLAYON | LCD_CURSOROFF | LCD_BLINKOFF; + display(); + + // clear it off + clear(); + + // Initialize to default text direction (for romance languages) + _displaymode = LCD_ENTRYLEFT | LCD_ENTRYSHIFTDECREMENT; + // set the entry mode + command(LCD_ENTRYMODESET | _displaymode); + +} + +/********** high level commands, for the user! */ +void LiquidCrystal::clear() +{ + command(LCD_CLEARDISPLAY); // clear display, set cursor position to zero + hal.scheduler->delayMicroseconds(2000); // this command takes a long time! +} + +void LiquidCrystal::home() +{ + command(LCD_RETURNHOME); // set cursor position to zero + hal.scheduler->delayMicroseconds(2000); // this command takes a long time! +} + +void LiquidCrystal::setCursor(uint8_t col, uint8_t row) +{ + int row_offsets[] = { 0x00, 0x40, 0x14, 0x54 }; + if ( row >= _numlines ) { + row = _numlines-1; // we count rows starting w/0 + } + + command(LCD_SETDDRAMADDR | (col + row_offsets[row])); +} + +// Turn the display on/off (quickly) +void LiquidCrystal::noDisplay() { + _displaycontrol &= ~LCD_DISPLAYON; + command(LCD_DISPLAYCONTROL | _displaycontrol); +} +void LiquidCrystal::display() { + _displaycontrol |= LCD_DISPLAYON; + command(LCD_DISPLAYCONTROL | _displaycontrol); +} + +// Turns the underline cursor on/off +void LiquidCrystal::noCursor() { + _displaycontrol &= ~LCD_CURSORON; + command(LCD_DISPLAYCONTROL | _displaycontrol); +} +void LiquidCrystal::cursor() { + _displaycontrol |= LCD_CURSORON; + command(LCD_DISPLAYCONTROL | _displaycontrol); +} + +// Turn on and off the blinking cursor +void LiquidCrystal::noBlink() { + _displaycontrol &= ~LCD_BLINKON; + command(LCD_DISPLAYCONTROL | _displaycontrol); +} +void LiquidCrystal::blink() { + _displaycontrol |= LCD_BLINKON; + command(LCD_DISPLAYCONTROL | _displaycontrol); +} + +// These commands scroll the display without changing the RAM +void LiquidCrystal::scrollDisplayLeft(void) { + command(LCD_CURSORSHIFT | LCD_DISPLAYMOVE | LCD_MOVELEFT); +} +void LiquidCrystal::scrollDisplayRight(void) { + command(LCD_CURSORSHIFT | LCD_DISPLAYMOVE | LCD_MOVERIGHT); +} + +// This is for text that flows Left to Right +void LiquidCrystal::leftToRight(void) { + _displaymode |= LCD_ENTRYLEFT; + command(LCD_ENTRYMODESET | _displaymode); +} + +// This is for text that flows Right to Left +void LiquidCrystal::rightToLeft(void) { + _displaymode &= ~LCD_ENTRYLEFT; + command(LCD_ENTRYMODESET | _displaymode); +} + +// This will 'right justify' text from the cursor +void LiquidCrystal::autoscroll(void) { + _displaymode |= LCD_ENTRYSHIFTINCREMENT; + command(LCD_ENTRYMODESET | _displaymode); +} + +// This will 'left justify' text from the cursor +void LiquidCrystal::noAutoscroll(void) { + _displaymode &= ~LCD_ENTRYSHIFTINCREMENT; + command(LCD_ENTRYMODESET | _displaymode); +} + +// Allows us to fill the first 8 CGRAM locations +// with custom characters +void LiquidCrystal::createChar(uint8_t location, uint8_t charmap[]) { + location &= 0x7; // we only have 8 locations 0-7 + command(LCD_SETCGRAMADDR | (location << 3)); + for (int i=0; i<8; i++) { + write(charmap[i]); + } +} + +/*********** mid level commands, for sending data/cmds */ + +inline void LiquidCrystal::command(uint8_t value) { + send(value, 0); +} + +inline size_t LiquidCrystal::write(uint8_t value) { + send(value, 1); + return 1; // assume sucess +} + +/************ low level data pushing commands **********/ + +// write either command or data, with automatic 4/8-bit selection +void LiquidCrystal::send(uint8_t value, uint8_t mode) { + hal.gpio->write(_rs_pin, mode); + + // if there is a RW pin indicated, set it low to Write + if (_rw_pin != 255) { + hal.gpio->write(_rw_pin, 0); + } + + if (_displayfunction & LCD_8BITMODE) { + write8bits(value); + } else { + write4bits(value>>4); + write4bits(value); + } +} + +void LiquidCrystal::pulseEnable(void) { + hal.gpio->write(_enable_pin, 0); + hal.scheduler->delayMicroseconds(1); + hal.gpio->write(_enable_pin, 1); + hal.scheduler->delayMicroseconds(1); // enable pulse must be >450ns + hal.gpio->write(_enable_pin, 0); + hal.scheduler->delayMicroseconds(100); // commands need > 37us to settle +} + +void LiquidCrystal::write4bits(uint8_t value) { + for (int i = 0; i < 4; i++) { + hal.gpio->pinMode(_data_pins[i], GPIO_OUTPUT); + hal.gpio->write(_data_pins[i], (value >> i) & 0x01); + } + + pulseEnable(); +} + +void LiquidCrystal::write8bits(uint8_t value) { + for (int i = 0; i < 8; i++) { + hal.gpio->pinMode(_data_pins[i], GPIO_OUTPUT); + hal.gpio->write(_data_pins[i], (value >> i) & 0x01); + } + + pulseEnable(); +} diff --git a/libraries/AP_HAL_AVR/examples/LCDTest/LCrystal.h b/libraries/AP_HAL_AVR/examples/LCDTest/LCrystal.h new file mode 100644 index 0000000000..5517728925 --- /dev/null +++ b/libraries/AP_HAL_AVR/examples/LCDTest/LCrystal.h @@ -0,0 +1,106 @@ +#ifndef LiquidCrystal_h +#define LiquidCrystal_h + +#include +#include <../AP_HAL/utility/Print.h> + +// commands +#define LCD_CLEARDISPLAY 0x01 +#define LCD_RETURNHOME 0x02 +#define LCD_ENTRYMODESET 0x04 +#define LCD_DISPLAYCONTROL 0x08 +#define LCD_CURSORSHIFT 0x10 +#define LCD_FUNCTIONSET 0x20 +#define LCD_SETCGRAMADDR 0x40 +#define LCD_SETDDRAMADDR 0x80 + +// flags for display entry mode +#define LCD_ENTRYRIGHT 0x00 +#define LCD_ENTRYLEFT 0x02 +#define LCD_ENTRYSHIFTINCREMENT 0x01 +#define LCD_ENTRYSHIFTDECREMENT 0x00 + +// flags for display on/off control +#define LCD_DISPLAYON 0x04 +#define LCD_DISPLAYOFF 0x00 +#define LCD_CURSORON 0x02 +#define LCD_CURSOROFF 0x00 +#define LCD_BLINKON 0x01 +#define LCD_BLINKOFF 0x00 + +// flags for display/cursor shift +#define LCD_DISPLAYMOVE 0x08 +#define LCD_CURSORMOVE 0x00 +#define LCD_MOVERIGHT 0x04 +#define LCD_MOVELEFT 0x00 + +// flags for function set +#define LCD_8BITMODE 0x10 +#define LCD_4BITMODE 0x00 +#define LCD_2LINE 0x08 +#define LCD_1LINE 0x00 +#define LCD_5x10DOTS 0x04 +#define LCD_5x8DOTS 0x00 + +class LiquidCrystal : public AP_HAL::Print { +public: + LiquidCrystal(uint8_t rs, uint8_t enable, + uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3, + uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7); + LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable, + uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3, + uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7); + LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable, + uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3); + LiquidCrystal(uint8_t rs, uint8_t enable, + uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3); + + void init(uint8_t fourbitmode, uint8_t rs, uint8_t rw, uint8_t enable, + uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3, + uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7); + + 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 diff --git a/libraries/AP_HAL_AVR/examples/LCDTest/Makefile b/libraries/AP_HAL_AVR/examples/LCDTest/Makefile new file mode 100644 index 0000000000..d1f40fd90f --- /dev/null +++ b/libraries/AP_HAL_AVR/examples/LCDTest/Makefile @@ -0,0 +1 @@ +include ../../../AP_Common/Arduino.mk diff --git a/libraries/AP_HAL_AVR/examples/LCDTest/README b/libraries/AP_HAL_AVR/examples/LCDTest/README new file mode 100644 index 0000000000..eb284601e0 --- /dev/null +++ b/libraries/AP_HAL_AVR/examples/LCDTest/README @@ -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 diff --git a/libraries/AP_HAL_AVR/examples/LCDTest/nocore.inoflag b/libraries/AP_HAL_AVR/examples/LCDTest/nocore.inoflag new file mode 100644 index 0000000000..e69de29bb2