Versio Inicial V1.0.0

Doc/DataSheet/9_DOF_Razor_ IMU_AHRS/Codigo_Ejemplo.txt

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+https://github.com/ptrbrtz/razor-9dof-ahrs/wiki/Tutorial

Doc/DataSheet/Display_Avago_HCMS_xx/LedDisplay/LedDisplay.cpp

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+/*
+  LedDisplay -- controller library for Avago HCMS-297x displays -- version 0.2
+  
+   Copyright (c) 2009 Tom Igoe. Some right reserved.
+   
+   Revisions on version 0.2 and 0.3 by Mark Liebman, 27 Jan 2010
+    * extended a bit to support up to four (4) 8 character displays.
+  
+  Controls an Avago HCMS29xx display. This display has 8 characters, each 5x7 LEDs
+   
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA 
+
+*/
+
+
+#include "LedDisplay.h"
+
+// Pascal Stang's 5x7 font library:
+#include "font5x7.h"
+// The font library is stored in program memory:
+#include <avr/pgmspace.h>
+#include <string.h> 
+
+/*
+ * 	Constructor.  Initializes the pins and the instance variables.
+ */
+LedDisplay::LedDisplay(uint8_t _dataPin, 
+					   uint8_t _registerSelect, 
+					   uint8_t _clockPin, 
+					   uint8_t _chipEnable, 
+					   uint8_t _resetPin, 
+					   uint8_t _displayLength)
+{
+	// Define pins for the LED display:
+	this->dataPin = _dataPin;         			// connects to the display's data in
+	this->registerSelect = _registerSelect;   	// the display's register select pin 
+	this->clockPin = _clockPin;        			// the display's clock pin
+	this->chipEnable = _chipEnable;       		// the display's chip enable pin
+	this->resetPin = _resetPin;         		// the display's reset pin
+	this->displayLength = _displayLength;    	// number of bytes needed to pad the string
+	this->cursorPos = 0;						// position of the cursor in the display
+	char stringBuffer[displayLength+1];			// default array that the displayString will point to
+
+	// fill stringBuffer with spaces, and a trailing 0:
+	for (int i = 0; i < displayLength; i++) {
+		stringBuffer[i] = ' ';
+	}
+	stringBuffer[displayLength] = '\0';
+
+	this->setString(stringBuffer);				// give displayString a default buffer
+}
+
+/*
+ * 	Initialize the display.
+ */
+
+void LedDisplay::begin() {
+ // set pin modes for connections:
+  pinMode(dataPin, OUTPUT);
+  pinMode(registerSelect, OUTPUT);
+  pinMode(clockPin, OUTPUT);
+  pinMode(chipEnable, OUTPUT);
+  pinMode(resetPin, OUTPUT);
+
+  // reset the display:
+  digitalWrite(resetPin, LOW);
+  delay(10);
+  digitalWrite(resetPin, HIGH);
+
+  // load dot register with lows
+  loadDotRegister();
+
+  loadControlRegister(B10000001); // set serial mode. see table 1, footnote 1
+  // set control register 0 for max brightness, and no sleep:
+  // added: ML send multiple inits to 2nd, 3rd, 4th display, etc.
+  // set control register 0 for max brightness, and no sleep:
+  loadControlRegister(B01111111);
+  loadControlRegister(B01111111);
+  loadControlRegister(B01111111);
+  loadControlRegister(B01111111);
+  loadControlRegister(B01111111);
+  loadControlRegister(B01111111);
+  loadControlRegister(B01111111);
+  // set control register 1 so all 8 characters display:
+ // loadControlRegister(B10000001); 
+
+
+
+}
+
+/*
+ * 	Clear the display
+ */
+
+void LedDisplay::clear() {
+ for (int displayPos = 0; displayPos < displayLength; displayPos++) {
+ 	char charToShow = ' ';
+	  // put the character in the dot register:
+	writeCharacter(charToShow, displayPos);  
+	}
+
+	// send the dot register array out to the display:
+	loadDotRegister();
+}
+
+
+/*
+ * 	set the cursor to the home position (0)
+ */
+void LedDisplay::home() {
+	// set the cursor to the upper left corner:
+	this->cursorPos = 0;
+}
+
+/*
+ * 	set the cursor anywhere
+ */
+void LedDisplay::setCursor(int whichPosition){
+	this->cursorPos = whichPosition;
+}
+
+/*
+ * 	return the cursor position
+ */
+
+int LedDisplay::getCursor() {
+	return this->cursorPos;
+}
+
+/*
+ * 	write a byte out to the display at the cursor position,
+ *  and advance the cursor position.
+ */
+
+#if ARDUINO >= 100
+size_t LedDisplay::write(uint8_t b) {
+#else
+void LedDisplay::write(uint8_t b) {
+#endif
+	// make sure cursorPos is on the display:
+	if (cursorPos >= 0 && cursorPos < displayLength) {	
+		// put the character into the dot register:
+		writeCharacter(b, cursorPos);
+		// put the character into the displayString:
+		if (cursorPos < this->stringLength()) {
+			this->displayString[cursorPos] = b;
+		}		
+		cursorPos++;	
+		// send the dot register array out to the display:
+		loadDotRegister();
+	}
+#if ARDUINO >= 100
+	return 1;
+#endif
+}
+
+
+/*
+ * 	Scroll the displayString across the display.  left = -1, right = +1
+ */
+
+
+void LedDisplay::scroll(int direction) {
+	clear();
+	cursorPos += direction;
+	// Loop over the string and take displayLength characters to write to the display:
+   	for (int displayPos = 0; displayPos < displayLength; displayPos++) {
+	  // which character in the strings you want:
+	  int whichCharacter =  displayPos - cursorPos;
+	  //  length of the string to display:
+	  int stringEnd = strlen(displayString);
+	 // which character you want to show from the string:
+	  char charToShow; 
+	  // display the characters until you have no more:
+	  if ((whichCharacter >= 0) && (whichCharacter < stringEnd)) {
+		charToShow = displayString[whichCharacter]; 
+	  } 
+	  // if none of the above, show a space:
+	  else {
+		charToShow = ' ';
+	  }
+	  // put the character in the dot register:
+	  writeCharacter(charToShow, displayPos);  
+	}
+	// send the dot register array out to the display:
+	loadDotRegister();
+}
+
+
+/*
+ * 	set displayString
+ */
+
+void LedDisplay::setString(char* _displayString)  {
+	this->displayString = _displayString;
+}
+
+
+/*
+ * 	return displayString
+ */
+
+char* LedDisplay::getString() {
+	return displayString;
+}
+
+
+/*
+ * 	return displayString length
+ */
+
+
+int LedDisplay::stringLength() {
+	return strlen(displayString);
+}	
+
+
+
+/*
+ * 	set brightness (0 - 15)
+ */
+
+
+void LedDisplay::setBrightness(uint8_t bright) 
+{
+	// set the brightness:
+	loadControlRegister(B01110000 + bright);    
+}
+
+
+/* this method loads bits into the dot register array. It doesn't
+ * actually communicate with the display at all,
+ * it just prepares the data:
+*/
+
+void LedDisplay::writeCharacter(char whatCharacter, byte whatPosition) {
+  // calculate the starting position in the array.
+  // every character has 5 columns made of 8 bits:
+  byte thisPosition =  whatPosition * 5;
+
+  // copy the appropriate bits into the dot register array:
+  for (int i = 0; i < 5; i++) {
+    dotRegister[thisPosition+i] = (pgm_read_byte(&Font5x7[((whatCharacter - 0x20) * 5) + i]));
+  }
+}
+
+
+// This method sends 8 bits to one of the control registers:
+void LedDisplay::loadControlRegister(int dataByte) {
+  // select the control registers:
+  digitalWrite(registerSelect, HIGH);
+  // enable writing to the display:
+  digitalWrite(chipEnable, LOW);
+  // shift the data out:
+  shiftOut(dataPin, clockPin, MSBFIRST, dataByte);
+  // disable writing:
+  digitalWrite(chipEnable, HIGH);
+}
+
+// this method originally sent 320 bits to the dot register: 12_30_09 ML
+void LedDisplay::loadDotRegister() {
+
+  // define max data to send, patch for 4 length displays by KaR]V[aN
+  int maxData = displayLength * 5;
+
+  // select the dot register:
+  digitalWrite(registerSelect, LOW);
+  // enable writing to the display:
+  digitalWrite(chipEnable, LOW);
+  // shift the data out:
+  for (int i = 0; i < maxData; i++) {
+    shiftOut(dataPin, clockPin, MSBFIRST, dotRegister[i]);
+  }
+  // disable writing:
+  digitalWrite(chipEnable, HIGH);
+}
+
+/*
+  version() returns the version of the library:
+*/
+int LedDisplay::version(void)
+{
+  return 4;
+}