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[Krobot-commits] [SCM] krobot branch, master, updated. 61f9eb71c06e9e9f33994eef5a47029db8a07baa
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From: Xavier L. <Ba...@us...> - 2010-03-07 22:59:31
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The branch, master has been updated
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from 898dd1a410781431143f0c21e6158de5c4b7624c (commit)
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- Log -----------------------------------------------------------------
commit 61f9eb71c06e9e9f33994eef5a47029db8a07baa
Author: Xavier Lagorce <Xav...@cr...>
Date: Sun Mar 7 23:57:53 2010 +0100
Adding a Library to manage the I2C LCD screen + USB interface
-----------------------------------------------------------------------
Changes:
diff --git a/USB_Module/Robot_Interface/Firmware/lcd.c b/USB_Module/Robot_Interface/Firmware/lcd.c
new file mode 100644
index 0000000..555c44e
--- /dev/null
+++ b/USB_Module/Robot_Interface/Firmware/lcd.c
@@ -0,0 +1,164 @@
+/**
+ * @file lcd.c
+ * Bibliothe de gestion de l'afficheur LCD CLDC204
+*/
+
+#include "lcd.h"
+
+/**
+ * Initialise et efface l'an LCD
+ *
+ * @param address adresse de l'an LCD sur le bus I2C
+*/
+void lcd_init(BYTE address)
+{
+ OpenI2C(MASTER, SLEW_OFF);
+ StartI2C();
+ IdleI2C(); // Absolument nssaire
+ WriteI2C(address);
+ WriteI2C(0); // Les 3 write suivants servent nitialiser correctement l'afficheur
+ WriteI2C(0);
+ WriteI2C(0);
+ WriteI2C(CMD_HEAD);
+ WriteI2C(CMD_CLEAR);
+ StopI2C();
+ CloseI2C();
+}
+
+/**
+ * Efface l'an LCD
+ *
+ * @param address adresse de l'an LCD sur le bus I2C
+*/
+void lcd_clear(BYTE address)
+{
+ OpenI2C(MASTER, SLEW_OFF);
+ StartI2C();
+ IdleI2C(); // Absolument nssaire
+ WriteI2C(address);
+ WriteI2C(CMD_HEAD);
+ WriteI2C(CMD_CLEAR);
+ StopI2C();
+ CloseI2C();
+}
+
+/**
+ * Re l'affichage du curseur sur l'an LCD
+ *
+ * @param address adresse de l'an LCD sur le bus I2C
+ * @param activate_cursor mode du curseur :@n
+ * @TRUE : active le curseur@n
+ * @FALSE : dctive le curseur
+*/
+void lcd_set_cursor(BYTE address, BOOL activate_cursor)
+{
+ OpenI2C(MASTER, SLEW_OFF);
+ StartI2C();
+ IdleI2C(); // Absolument nssaire
+ WriteI2C(address);
+ WriteI2C(CMD_HEAD);
+ if (activate_cursor)
+ WriteI2C(CMD_CURSOR_ON);
+ else
+ WriteI2C(CMD_CURSOR_OFF);
+ StopI2C();
+ CloseI2C();
+}
+
+/**
+ * Re l'activation du ro-airage sur l'an LCD
+ *
+ * @param address adresse de l'an LCD sur le bus I2C
+ * @param activate_backlight mode du curseur :@n
+ * @TRUE : active le ro-airage@n
+ * @FALSE : dctive le ro-airage
+*/
+void lcd_set_backlight(BYTE address, BOOL activate_backlight)
+{
+ OpenI2C(MASTER, SLEW_OFF);
+ StartI2C();
+ IdleI2C(); // Absolument nssaire
+ WriteI2C(address);
+ WriteI2C(CMD_HEAD);
+ if (activate_backlight)
+ WriteI2C(CMD_BACKLIGHT_ON);
+ else
+ WriteI2C(CMD_BACKLIGHT_OFF);
+ StopI2C();
+ CloseI2C();
+}
+
+/**
+ * Dace le curseur vers l'origine de l'an LCD
+ *
+ * @param address adresse de l'an LCD sur le bus I2C
+*/
+void lcd_goto_origin(BYTE address)
+{
+ OpenI2C(MASTER, SLEW_OFF);
+ StartI2C();
+ IdleI2C(); // Absolument nssaire
+ WriteI2C(address);
+ WriteI2C(CMD_HEAD);
+ WriteI2C(CMD_GOTO_ORIGIN);
+ StopI2C();
+ CloseI2C();
+}
+
+/**
+ * Positionne le curseur ne position donnsur l'an LCD
+ *
+ * @param address adresse de l'an LCD sur le bus I2C
+ * @param xx coordonnx du curseur
+ * @param yy coordonny du curseur
+*/
+void lcd_goto(BYTE address, BYTE xx, BYTE yy)
+{
+ OpenI2C(MASTER, SLEW_OFF);
+ StartI2C();
+ IdleI2C(); // Absolument nssaire
+ WriteI2C(address);
+ WriteI2C(CMD_HEAD);
+ WriteI2C(CMD_GOTO_POS);
+ WriteI2C(xx);
+ WriteI2C(yy);
+ StopI2C();
+ CloseI2C();
+}
+
+/**
+ * Ecrit une suite de caract sur l'an LCD a position courante du curseur
+ *
+ * @param address adresse de l'an LCD sur le bus I2C
+ * @param msg cha de caracts crire (se termine par NULL)
+*/
+void lcd_write(BYTE address, unsigned char *msg)
+{
+ OpenI2C(MASTER, SLEW_OFF);
+ StartI2C();
+ IdleI2C(); // Absolument nssaire
+ WriteI2C(address);
+ putsI2C(msg);
+ StopI2C();
+ CloseI2C();
+}
+
+/**
+ * Ecrit une suite de caract sur l'an LCD a ligne indiqu
+ * Attention : le dssement ne sera pas test+ *
+ * @param address adresse de l'an LCD sur le bus I2C
+ * @param line num de la ligne sur laquelle ire
+ * @param msg cha de caracts crire (se termine par NULL)
+*/
+void lcd_write_line(BYTE address, BYTE line, unsigned char *msg)
+{
+ OpenI2C(MASTER, SLEW_OFF);
+ StartI2C();
+ IdleI2C(); // Absolument nssaire
+ WriteI2C(address);
+ WriteI2C(line);
+ putsI2C(msg);
+ StopI2C();
+ CloseI2C();
+}
diff --git a/USB_Module/Robot_Interface/Firmware/lcd.h b/USB_Module/Robot_Interface/Firmware/lcd.h
new file mode 100644
index 0000000..0e459d8
--- /dev/null
+++ b/USB_Module/Robot_Interface/Firmware/lcd.h
@@ -0,0 +1,34 @@
+/**
+ * @file lcd.h
+ * Bibliothe de gestion de l'afficheur LCD CLDC204
+*/
+
+#ifndef LCD_H
+#define LCD_H
+
+#include "GenericTypeDefs.h"
+#include "Compiler.h"
+#include "HardwareProfile.h"
+#include <i2c.h>
+
+// Commandes de l'afficheur LCD
+#define CMD_HEAD 0x1B
+#define CMD_CLEAR 0x43
+#define CMD_CURSOR_ON 0x53
+#define CMD_CURSOR_OFF 0x73
+#define CMD_BACKLIGHT_ON 0x42
+#define CMD_BACKLIGHT_OFF 0x62
+#define CMD_GOTO_ORIGIN 0x48
+#define CMD_GOTO_POS 0x4C
+
+void lcd_init(BYTE address);
+void lcd_clear(BYTE address);
+void lcd_set_cursor(BYTE address, BOOL activate_cursor);
+void lcd_set_backlight(BYTE address, BOOL activate_backlight);
+void lcd_goto_origin(BYTE address);
+void lcd_goto(BYTE address, BYTE xx, BYTE yy);
+void lcd_write(BYTE address, unsigned char* msg);
+void lcd_write_line(BYTE address, BYTE line, unsigned char *msg);
+
+
+#endif
\ No newline at end of file
diff --git a/USB_Module/Robot_Interface/Firmware/main.c b/USB_Module/Robot_Interface/Firmware/main.c
index 0461899..2243d8b 100644
--- a/USB_Module/Robot_Interface/Firmware/main.c
+++ b/USB_Module/Robot_Interface/Firmware/main.c
@@ -91,6 +91,10 @@
#include "servo.h"
#include "mcc.h"
#include "adjd-s371.h"
+#include "lcd.h"
+
+
+#define ADD_LCD 0x00
/* VARIABLES ******************************************************/
#pragma udata
@@ -556,17 +560,7 @@ void UserInit(void)
SSPADD = 119; // Vitesse de l'I2C = 100 KHz ( = FOSC/[4*(SSPADD+1)] )
// Initialisation et effacement de l'afficheur LCD
- OpenI2C(MASTER, SLEW_OFF);
- StartI2C();
- IdleI2C(); // Absolument nssaire
- WriteI2C(0x00);
- WriteI2C(0); // Les 3 write suivants servent nitialiser correctement l'afficheur
- WriteI2C(0);
- WriteI2C(0);
- WriteI2C(0x1B);
- WriteI2C(0x43);
- StopI2C();
- CloseI2C();
+ lcd_init(ADD_LCD);
//Initialize all of the LED pins
mInitAllLEDs();
@@ -994,6 +988,55 @@ void ProcessIO(void) {
}
break;
+ case CMD_LCD:
+ if (!HIDTxHandleBusy(USBInHandle)) {
+ ToSendDataBuffer.HSEQ = ReceivedDataBuffer.HSEQ; // Num sence PC
+ ToSendDataBuffer.DSEQ = 0; // Num sence PIC
+ ToSendDataBuffer.CMD = CMD_RESPOND; // Type requ
+ ToSendDataBuffer.ERR = 0; // Erreur
+
+ switch (ReceivedDataBuffer.DATA[0]) {
+ case LCD_CLEAR:
+ lcd_clear(ADD_LCD);
+ break;
+
+ case LCD_CURSOR_ON:
+ lcd_set_cursor(ADD_LCD, TRUE);
+ break;
+
+ case LCD_CURSOR_OFF:
+ lcd_set_cursor(ADD_LCD, FALSE);
+ break;
+
+ case LCD_BACKLIGHT_ON:
+ lcd_set_backlight(ADD_LCD, TRUE);
+ break;
+
+ case LCD_BACKLIGHT_OFF:
+ lcd_set_backlight(ADD_LCD, FALSE);
+ break;
+
+ case LCD_GOTO_POS:
+ lcd_goto(ADD_LCD, ReceivedDataBuffer.DATA[1], ReceivedDataBuffer.DATA[2]);
+ break;
+
+ case LCD_WRITE:
+ lcd_write(ADD_LCD, &ReceivedDataBuffer.DATA[1]);
+ break;
+
+ case LCD_WRITE_LINE:
+ lcd_write_line(ADD_LCD, ReceivedDataBuffer.DATA[1], &ReceivedDataBuffer.DATA[2]);
+ break;
+
+ default:
+ ToSendDataBuffer.ERR = ERR_UNKNOWN_CMD;
+ }
+
+ USBInHandle = HIDTxPacket(HID_EP, (BYTE*) &ToSendDataBuffer, 64);
+ USBOutHandle = HIDRxPacket(HID_EP,(BYTE*)&ReceivedDataBuffer,64); // Re-arm the OUT endpoint for the next packet
+ }
+ break;
+
case CMD_MOTOR:
switch (ReceivedDataBuffer.DATA[0]) {
case MOTOR_ENABLE:
@@ -1289,14 +1332,7 @@ void USBCBSuspend(void)
//things to not work as intended.
// Turn off LCD backlight
- OpenI2C(MASTER, SLEW_OFF);
- StartI2C();
- IdleI2C(); // Absolument nssaire
- WriteI2C(0x00);
- WriteI2C(0x1B);
- WriteI2C(0x62);
- StopI2C();
- CloseI2C();
+ lcd_set_backlight(ADD_LCD, FALSE);
#if defined(__C30__)
#if 0
@@ -1381,14 +1417,7 @@ void USBCBWakeFromSuspend(void)
// operation).
// Turn on LCD backlight
- OpenI2C(MASTER, SLEW_OFF);
- StartI2C();
- IdleI2C(); // Absolument nssaire
- WriteI2C(0x00);
- WriteI2C(0x1B);
- WriteI2C(0x42);
- StopI2C();
- CloseI2C();
+ lcd_set_backlight(ADD_LCD, TRUE);
}
/********************************************************************
diff --git a/USB_Module/Robot_Interface/Firmware/output/Robot_Interface.cof b/USB_Module/Robot_Interface/Firmware/output/Robot_Interface.cof
index afa6b37..1f92449 100644
Binary files a/USB_Module/Robot_Interface/Firmware/output/Robot_Interface.cof and b/USB_Module/Robot_Interface/Firmware/output/Robot_Interface.cof differ
diff --git a/USB_Module/Robot_Interface/Firmware/output/Robot_Interface.hex b/USB_Module/Robot_Interface/Firmware/output/Robot_Interface.hex
index 6f525bf..9e6f00d 100644
--- a/USB_Module/Robot_Interface/Firmware/output/Robot_Interface.hex
+++ b/USB_Module/Robot_Interface/Firmware/output/Robot_Interface.hex
@@ -1,915 +1,948 @@
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