| compassHM55B.cs | |
|---|---|
using System;
using System.Threading;
using Microsoft.SPOT;
using Microsoft.SPOT.Hardware;
using SecretLabs.NETMF.Hardware;
using SecretLabs.NETMF.Hardware.NetduinoMini;
using BoeBotLib;
/**
* Class for HM55B compass.
*
* このクラスの使い方:
*
*
* // compass オブジェクトを作る
* compassHM55B cp = new compassHM55B();
* compassHM55B cp = new compassHM55B(CPU.P0,CPU.P1,CPU.P2);
*
* cp.start()を呼んで計測を開始させる。
* 次のメソッドがある。
* 計測が終了したかどうかを調べるには、cp.poll() を呼ぶ。
* trueが戻ってきたら、cp.getCompassX(), cp.getCompassY, cp.getCompassAngle()を呼ぶ。
* 次の計測のために再度cp.start() 呼ぶ。
*
* 例
* compassHM55B cp = new compassHM55B();
* cp.start(); // Start a measurement
* while (true)
* {
* if (cp.poll())
* {
* Console.WriteLine(cp.getCompassAngle());
* cp.start(); // Start a measurement
* CPU.delay(10);
* }
* }
*
*
*/
namespace BoeBotLib
{
public class compassHM55B
{
static readonly ushort RESET = 0x0000;
static readonly ushort MEASURE = 0x0008;
static readonly ushort REPORT = 0x000c;
static readonly ushort READY = 0x000c;
Cpu.Pin DinDout;
Cpu.Pin Clk;
Cpu.Pin En;
int m_x; //x-axis value
int m_y; //y-axis value
/**
* コンストラクタ
*
* DinDout: 双方向通信に用いるピン番号
* Clk : シリアルクロック出力に用いるピン番号
* En : チップイネーブルに用いる出力ピン番号
*/
public compassHM55B()
{ // デフォールト コンストラクタ
DinDout = CPU.P0;
Clk = CPU.P1;
En = CPU.P2;
CPU.setOutput(En);
CPU.setOutput(Clk);
CPU.writePin(En, true); //initialize enable pin to high output
CPU.writePin(Clk, false); //initialize clock pin to low output
reset();
}
public compassHM55B(Cpu.Pin DinDout, Cpu.Pin Clk, Cpu.Pin En)
{
this.DinDout = DinDout;
this.Clk = Clk;
this.En = En; ;
CPU.setOutput(En);
CPU.setOutput(Clk);
CPU.writePin(En, true); //initialize enable pin to high output
CPU.writePin(Clk, false); //initialize clock pin to low output
reset();
}
/**
* Ｘ方向の値を得る
*
* 戻り: X方向の値
*/
public int getCompassX()
{
return m_x;
}
/**
* Ｙ方向の値を得る
*
* 戻り: Ｙ方向の値
*/
public int getCompassY()
{
return m_y;
}
/**
* 方位の角度を得る
*
* 戻り: 角度(0-359).
*/
public int getCompassAngle()
{
// if (m_x == 0) return 0;
return (int)(System.Math.Atan2((double)-m_y, (double)m_x) * 57.29577951308232 + 0.5);
}
/**
* コンパスをリセットする
*/
void reset()
{
CPU.writePin(En, false);
CPU.shiftOut(DinDout, Clk, 4, CPU.SHIFT_MSB, RESET);
CPU.writePin(En, true);
}
/**
* コンパスの計測を開始させる
*/
public void start()
{
CPU.writePin(En, false);
CPU.shiftOut(DinDout, Clk, 4, CPU.SHIFT_MSB, MEASURE);
}
/**
* 計測終了を調べる
*
* 戻り: 計測終了の場合trueそうでない時false
*/
public bool poll()
{
bool result;
int m_status;
CPU.writePin(En, true);
Timer.delay(10);
CPU.writePin(En, false);
CPU.shiftOut(DinDout, Clk, 4, CPU.SHIFT_MSB, REPORT);
m_status = CPU.shiftIn(DinDout, Clk, 4, CPU.POST_CLOCK_MSB);
result = (m_status == READY);
if (result)
{
m_x = CPU.shiftIn(DinDout, Clk, 11, CPU.POST_CLOCK_MSB);
m_y = CPU.shiftIn(DinDout, Clk, 11, CPU.POST_CLOCK_MSB);
CPU.writePin(En, true);
if ((m_x & 0x0400) != 0)
{
uint x = 0xfffffc00;
x |= (uint)m_x;
m_x = (int)x;
}
if ((m_y & 0x0400) != 0)
{
uint y = 0xfffffc00;
y |= (uint)m_y;
m_y = (int)y;
}
}
return result;
}
}
}
|
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| I2CLCD.cs | |
|---|---|
//#define GHIE
#define SecretLabs
using System;
using System.Threading;
using Microsoft.SPOT;
using Microsoft.SPOT.Hardware;
#if GHIE
using GHI.OSHW.Hardware; // FEZCerberus使用のため追加、参照設定にも追加
#elif SecretLabs
using SecretLabs.NETMF.Hardware;
#endif
using BoeBotLib;
namespace BoeBotLib
{
class I2CLCD
{
// Set Constants for Address and Clock Frequency
const byte LCD_ADDRESS = 0x3E;
const int CLOCK_FREQ = 100;
const int TIMEOUT = 1000;
int chCount;
int columnNumber = 16;
//Write Buffer
byte[] WriteBuffer = new byte[3];
//Init I2C Device Config
I2CDevice.Configuration config =
new I2CDevice.Configuration(LCD_ADDRESS, CLOCK_FREQ);
//Init I2C Device & LCD initialize
I2CDevice i2c;
public I2CLCD()
{
this.columnNumber = 16;
i2c = new I2CDevice(config);
init();
}
public I2CLCD(int columnNumber)
{
this.columnNumber = columnNumber;
i2c = new I2CDevice(config);
init();
}
public void write(byte control, byte data)
{
i2c.Execute(new I2CDevice.I2CTransaction[1] {
I2CDevice.CreateWriteTransaction(new Byte[] { control, data }) }, TIMEOUT);
//Thread.Sleep(5);
}
void wait_us(int tm)
{
BoeBotLib.Timer.delay(tm * 10);
}
void wait_ms(int tm)
{
BoeBotLib.CPU.delay(tm);
}
void init()
{
int Wait = 50;
chCount = 0;
wait_ms(40);
// LCD_WRITE= 0x7c;
write(0x0, 0x38); //data8bit, numberOfLine=2
wait_us(Wait);
write(0x0, 0x39); //data8bit, numberOfLine=2
wait_us(Wait);
write(0x0, 0x14); //internal OSC frequency
wait_us(Wait);
write(0x0, 0x7A); // contrast
wait_us(Wait);
write(0x0, 0x5F); // power/icon/contrast control
wait_us(Wait);
write(0x0, 0x6a); // follower control
wait_ms(200); // 200ms
write(0x0, 0x0c); // Display ON
wait_us(Wait);
// write(0x0, 0x0E); // cursor on, blink
// wait_us(Wait);
write(0x0, 0x01); // clear disply
wait_us(2000); // 2ms
write(0x00, 0x06); // entry mode set
wait_us(Wait);
}
public void write(byte ch)
{
int x;
//int cn2 = columnNumber / 2;
if (ch == 0x0a)
{
x = chCount % (columnNumber * 2);
if (x < columnNumber)
{
write(0x00, 0xc0);
chCount = columnNumber;
}
else
{
write(0x00, 0x01); // clear display
chCount = 0;
wait_ms(2);
}
}
else if (ch == 0x0d)
{
if (chCount < columnNumber)
{
home();
//write(0x00, 0x80);
chCount = 0;
}
else
{
write(0x00, 0xC0);
chCount = columnNumber;
}
wait_ms(2);
}
else
{
write(0x40, ch);
x = ++chCount % (columnNumber * 2);
if (x == columnNumber) write(0x00, 0xc0);
else if (x == 0) home();
}
}
public void write(String str)
{
foreach (byte ch in str) write(ch);
}
public void write(byte[] str, int n)
{
for (int i = 0; i < n; i++) write(str[i]);
}
public void clear()
{
write(0x00, 0x01); // clear display
chCount = 0;
wait_ms(2);
}
public void home()
{
write(0x00, 0x02); // return to home
chCount = 0;
wait_ms(2);
}
public void write(int x)
{
byte[] num = new byte[5];
int n = 0;
if (x < 0)
{ // マイナスの値の場合
write((byte)'-');
x *= -1;
}
do
{
num[n++] = (byte)(x % 10 + (int)'0');
x /= 10;
} while (x != 0);
while (--n >= 0) write(num[n]);
}
public void write(int x, int column, bool zeroPad)
{
byte[] Buffer = new byte[10];
byte[] num = new byte[5];
int i, j, n = 0;
bool signFlag = false;
if (x < 0)
{ // マイナスの値の場合
signFlag = true;
x *= -1;
}
do
{
num[n++] = (byte)(x % 10);
x /= 10;
} while (x != 0);
i = column - n;
if (i > 0)
{
for (i = 0; i < 10; i++) Buffer[i] = (byte)' ';
if (zeroPad) for (i = 0; i < column - n; i++) Buffer[i] = (byte)'0';
Buffer[9] = 0;
for (i = column - n, j = n - 1; i < column; i++, j--)
Buffer[i] = (byte)(num[j] | '0');
Buffer[i] = 0;
if (signFlag) Buffer[column - n - 1] = (byte)'-';
}
else
{
j = 0;
if (signFlag) Buffer[j++] = (byte)'-';
for (i = --n; i >= 0; i--) Buffer[j++] = (byte)(num[i] | '0');
Buffer[j] = 0;
}
write(Buffer, column);
}
public void setCG(bool mode, byte[] cgData)
{
int i, j;
write(0x00, 0x38); // Function set IS= 0
write(0x00, 0x40); // CGRAM set address= 0
if (mode)
{ // StringModeで呼ばれた時はデフォールトにセット
for (i = 0; i < 8; i++)
{
for (j = 0; j < 8; j++)
{
if (j < (7 - i)) write(0x40, 0x00);
else write(0x40, 0x1f); // 横棒をセット
}
}
}
else
{
for (i = 0; i < 64; i++) write(0x40, cgData[i]);
}
}
public void setIcon(int x)
{
write(0x00, 0x39); // Function set
write(0x00, 0x40 | 0x0f); // flower icon
if ((x & 1)!=0) write(0x40, 0x10);
else write(0x40, 0x00);
write(0x00, 0x40 | 0x0d); // Battery icon
write(0x40, 0);
if ((x & 0x0e)!=0)
{
write(0x00, 0x40 | 0x0d); // Battery icon
write(0x40, (byte)(((x & 0x0e) << 1) | 2));
}
write(0x00, 0x40 | 0x0b); // no sound icon
if ((x & 0x10) != 0) write(0x40, 0x10);
else write(0x40, 0);
write(0x00, 0x40 | 0x09); // Key icon
if ((x & 0x20) != 0) write(0x40, 0x10);
else write(0x40, 0);
write(0x00, 0x40 | 0x07); // 矢印 icon
write(0x40, 0);
if ((x & 0xC0) != 0)
{
write(0x00, 0x40 | 0x07); // 矢印 icon
write(0x40, (byte)((x & 0xC0) >> 3));
}
write(0x00, 0x40 | 0x06); // enter icon
if ((x & 0x100) != 0) write(0x40, 0x10);
else write(0x40, 0);
write(0x00, 0x40 | 0x04); // ring icon
if ((x & 0x200) != 0) write(0x40, 0x10);
else write(0x40, 0);
write(0x00, 0x40 | 0x02); // 電話 icon
if ((x & 0x400) != 0) write(0x40, 0x10);
else write(0x40, 0);
write(0x00, 0x40); // antena icon
if ((x & 0x800) != 0) write(0x40, 0x10);
else write(0x40, 0);
write(0x00, 0x38); // Function set
}
}
}
|
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| メインプログラム | |
|---|---|
using System;
using System.Threading;
using Microsoft.SPOT;
using Microsoft.SPOT.Hardware;
using SecretLabs.NETMF.Hardware;
using SecretLabs.NETMF.Hardware.NetduinoMini;
using BoeBotLib;
namespace compass
{
public class Program
{
public static void Main()
{
new Program().main();
}
public void main()
{
String str = "Mizuno\n";
I2CLCD lcd = new I2CLCD(8);
lcd.write(str);
compassHM55B cp = new compassHM55B(CPU.P7,CPU.P6,CPU.P8);
cp.start(); // Start a measurement
while (true)
{
if (cp.poll())
{
//Console.WriteLine(cp.getCompassAngle());
lcd.write(cp.getCompassAngle(),4,false);
cp.start(); // Start a measurement
CPU.delay(10);
lcd.write((byte)0x0d);
}
}
}
}
}
|
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 小型LCDを利用する 22 23 24 25 26 27 28 29 VisualStudioに出力する場合 30 31 32 33 34 35 36 37 38 |