fun bcm2835_delay `{ bcm2835_delay(recv); `}
fun bcm2835_delay_micros `{ bcm2835_delayMicroseconds(recv); `}
end
+
+class RotaryEncoder
+ var pin_a: RPiPin
+ var pin_b: RPiPin
+ var old_a= false
+ var old_b= false
+
+ # returns '<', '>' or null accoring to rotation or lack thereof
+ fun update: nullable Char
+ do
+ var new_a = pin_a.lev
+ var new_b = pin_b.lev
+ var res = null
+
+ if new_a != old_a or new_b != old_b then
+ if not old_a and not old_b then
+ # everything was on
+ if not new_a and new_b then
+ res = '<'
+ else if new_a and not new_b then
+ res = '>'
+ end
+ else if old_a and old_b then
+ # everything was off
+ if not new_a and new_b then
+ res = '>'
+ else if new_a and not new_b then
+ res = '<'
+ end
+ end
+
+ old_a = new_a
+ old_b = new_b
+ end
+
+ return res
+ end
+end
+
+# Hitachi HD44780 or similar 2-4 lines LCD displays
+class HD44780
+ var rs: RPiPin
+ var en: RPiPin
+ var d4: RPiPin
+ var d5: RPiPin
+ var d6: RPiPin
+ var d7: RPiPin
+
+ var ds = new Array[RPiPin]
+
+ # commands
+ fun flag_clear_display: Int do return 1
+ fun flag_return_home: Int do return 2
+ fun flag_entry_mode_set: Int do return 4
+ fun flag_display_control: Int do return 8
+ fun flag_cursor_shift: Int do return 16
+ fun flag_function_set: Int do return 32
+ fun flag_set_cgram_addr: Int do return 64
+ fun flag_set_ggram_addr: Int do return 128
+
+ # entry mode
+ fun flag_entry_right: Int do return 0
+ fun flag_entry_left: Int do return 2
+ fun flag_entry_shift_increment: Int do return 1
+ fun flag_entry_shift_decrement: Int do return 0
+
+ # display flags
+ fun flag_display_on: Int do return 4
+ fun flag_display_off: Int do return 0
+ fun flag_cursor_on: Int do return 2
+ fun flag_cursor_off: Int do return 0
+ fun flag_blink_on: Int do return 1
+ fun flag_blink_off: Int do return 0
+
+ # display/cursor shift
+ fun flag_display_move: Int do return 8
+ fun flag_cursor_move: Int do return 0
+ fun flag_move_right: Int do return 4
+ fun flag_move_left: Int do return 0
+
+ # function set
+ fun flag_8bit_mode: Int do return 16
+ fun flag_4bit_mode: Int do return 0
+ fun flag_2_lines: Int do return 8
+ fun flag_1_line: Int do return 0
+ fun flag_5x10_dots: Int do return 4
+ fun flag_5x8_dots: Int do return 0
+
+ # last text displayed
+ private var last_text: nullable String = null
+
+ fun function_set(bits, lines, dots_wide: Int)
+ do
+ var fs = flag_function_set
+ if bits == 8 then
+ fs = fs.bin_or(16)
+ else if bits != 4 then abort
+
+ if lines == 2 then
+ fs = fs.bin_or(8)
+ else if lines != 1 then abort
+
+ if dots_wide == 10 then
+ fs = fs.bin_or(4)
+ else if dots_wide != 8 then abort
+
+ write(true, fs)
+ end
+
+ fun display_control(on, cursor, blink: Bool)
+ do
+ var fs = flag_display_control
+
+ if on then
+ fs = fs.bin_or(flag_display_on)
+ else fs = fs.bin_or(flag_display_off)
+
+ if cursor then
+ fs = fs.bin_or(flag_cursor_on)
+ else fs = fs.bin_or(flag_cursor_off)
+
+ if blink then
+ fs = fs.bin_or(flag_blink_on)
+ else fs = fs.bin_or(flag_blink_off)
+
+ write(true, fs)
+ end
+
+ fun entry_mode(left, incr: Bool)
+ do
+ var fs = flag_entry_mode_set
+
+ if left then
+ fs = fs.bin_or(flag_entry_left)
+ else fs = fs.bin_or(flag_entry_right)
+
+ if incr then
+ fs = fs.bin_or(flag_entry_shift_increment)
+ else fs = fs.bin_or(flag_entry_shift_decrement)
+
+ write(true, fs)
+ end
+
+ fun setup_alt
+ do
+ ds = [d4,d5,d6,d7]
+
+ rs.fsel = new FunctionSelect.outp
+ en.fsel = new FunctionSelect.outp
+ d4.fsel = new FunctionSelect.outp
+ d5.fsel = new FunctionSelect.outp
+ d6.fsel = new FunctionSelect.outp
+ d7.fsel = new FunctionSelect.outp
+
+ rs.write(false)
+ en.write(false)
+
+ # wait 20ms for power up
+ 50.bcm2835_delay
+
+ write_4bits(true,true,false,false)
+ write_4_bits(3)
+
+ 5.bcm2835_delay
+
+ write_4bits(true,true,false,false)
+ write_4_bits(3)
+
+ 5.bcm2835_delay
+
+ write_4bits(true,true,false,false)
+ write_4_bits(3)
+
+ 200.bcm2835_delay_micros
+
+ write_4bits(false,true,false,false)
+ write_4_bits(2)
+
+ # wait 5ms
+ 5.bcm2835_delay
+
+ # set interface
+ # 4bits, 2 lines
+ function_set(4, 2, 8)
+
+ # cursor
+ # don't shift & hide
+ display_control(true, true, true)
+
+ # clear & home
+ clear
+
+ # set cursor move direction
+ # move right
+ write(true, 6)
+
+ # turn on display
+ write(true, 4)
+
+ # set entry mode
+ entry_mode(true, true)
+ end
+
+ fun setup
+ do
+ ds = [d4,d5,d6,d7]
+
+ rs.fsel = new FunctionSelect.outp
+ en.fsel = new FunctionSelect.outp
+ d4.fsel = new FunctionSelect.outp
+ d5.fsel = new FunctionSelect.outp
+ d6.fsel = new FunctionSelect.outp
+ d7.fsel = new FunctionSelect.outp
+
+ rs.write(false)
+ en.write(false)
+
+ write(true, "33".to_hex) # init
+ write(true, "32".to_hex) # init
+ write(true, "28".to_hex) # 2 lines, 5x7
+ write(true, "0C".to_hex) # hide cursor
+ write(true, "06".to_hex) # cursor move right
+ write(true, "04".to_hex) # turn on display
+ write(true, "01".to_hex) # clear display
+ end
+
+ fun write_4_bits(v: Int)
+ do
+ var lb = once [1,2,4,8]
+ for i in [0..4[ do
+ var b = lb[i]
+ var r = b.bin_and(v) != 0
+ var d = ds[i]
+ d.write(r)
+ end
+ pulse_enable
+ end
+
+ fun write_4bits(a,b,c,d:Bool)
+ do
+ d4.write(a)
+ d5.write(b)
+ d6.write(c)
+ d7.write(d)
+ pulse_enable
+ end
+
+ fun pulse_enable
+ do
+ en.write(false)
+ 1.bcm2835_delay_micros
+ en.write(true)
+ 100.bcm2835_delay_micros
+ en.write(false)
+ 1.bcm2835_delay_micros
+ end
+
+ fun write(is_cmd: Bool, cmd: Int)
+ do
+ en.write(false)
+ rs.write(not is_cmd)
+
+ # high byte
+ var hb = once [16,32,64,128]
+ for i in [0..4[ do
+ var b = hb[i]
+ var r = b.bin_and(cmd) != 0
+ var d = ds[i]
+ d.write(r)
+ end
+
+ pulse_enable
+
+ if is_cmd then
+ # wait 5ms
+ 5.bcm2835_delay
+ else
+ # wait 200us
+ 200.bcm2835_delay_micros
+ end
+
+ # low byte
+ var lb = once [1,2,4,8]
+ for i in [0..4[ do
+ var b = lb[i]
+ var r = b.bin_and(cmd) != 0
+ var d = ds[i]
+ d.write(r)
+ end
+
+ pulse_enable
+
+ if is_cmd then
+ # wait 5ms
+ 5.bcm2835_delay
+ else
+ # wait 200us
+ 200.bcm2835_delay_micros
+ end
+ end
+
+ fun clear
+ do
+ write(true,1)
+ 2.bcm2835_delay
+ end
+
+ fun return_home
+ do
+ write(true,2)
+ 2.bcm2835_delay
+ end
+
+ fun text=(v: String)
+ do
+ # do not redraw the samething
+ var last_text = last_text
+ if last_text != null and last_text == v then return
+
+ clear
+ return_home
+ var count = 0
+ for c in v.chars do
+ if c == '\n' then
+ # FIXME, this should work
+ #write(true, "C0".to_hex)
+ # instead we use the following which may not be portable
+
+ for s in [count..40[ do write(false, ' '.ascii)
+ count = 0
+ else
+ write(false, c.ascii)
+ count += 1
+ end
+ end
+
+ self.last_text = v
+ end
+end
+
+# Component for any kind of buttons or switches
+class Switch
+ var pin: RPiPin
+
+ init (pin: RPiPin, pud: PUDControl)
+ do
+ self.pin = pin
+ pin.fsel = new FunctionSelect.inpt
+ pin.pud = pud
+ end
+
+ fun is_down: Bool do return pin.lev
+
+ var last_down: nullable Bool = null
+
+ # Returns true is state (is_down) changed since last call to `changed`
+ fun changed: Bool
+ do
+ var now = is_down
+ var last_down = last_down
+ if last_down == null then
+ self.last_down = now
+ return false
+ else if last_down != now then
+ self.last_down = now
+ return true
+ else return false
+ end
+end
+
+class StepperMotor
+ var pins: Sequence[RPiPin]
+ var delay: Int
+
+ init (delay: Int, a, b, c, d: RPiPin)
+ do
+ pins = [a, b, c, d]
+ self.delay = delay
+
+ for p in pins do p.fsel = new FunctionSelect.outp
+ end
+
+ fun forward(steps: Int)
+ do
+ for s in [0..steps[ do
+ set(true, false, false, false)
+ delay.bcm2835_delay
+ set(true, true, false, false)
+ delay.bcm2835_delay
+ set(false, true, false, false)
+ delay.bcm2835_delay
+ set(false, true, true, false)
+ delay.bcm2835_delay
+ set(false, false, true, false)
+ delay.bcm2835_delay
+ set(false, false, true, true)
+ delay.bcm2835_delay
+ set(false, false, false, true)
+ delay.bcm2835_delay
+ set(true, false, false, true)
+ delay.bcm2835_delay
+ end
+ end
+
+ fun backwards(steps: Int)
+ do
+ for s in [0..steps[ do
+ set(true, false, false, true)
+ delay.bcm2835_delay
+ set(false, false, false, true)
+ delay.bcm2835_delay
+ set(false, false, true, true)
+ delay.bcm2835_delay
+ set(false, false, true, false)
+ delay.bcm2835_delay
+ set(false, true, true, false)
+ delay.bcm2835_delay
+ set(false, true, false, false)
+ delay.bcm2835_delay
+ set(true, true, false, false)
+ delay.bcm2835_delay
+ set(true, false, false, false)
+ delay.bcm2835_delay
+ end
+ end
+
+ fun release do set(false, false, false, false)
+
+ protected fun set(a, b, c, d: Bool)
+ do
+ var bits = new Array[Bool].with_items(a, b, c, d)
+
+ for i in [0..4[ do pins[i].write(bits[i])
+ end
+end
+
+class Buzzer
+ var pin: RPiPin
+
+ fun buzz(delay: Float, times: Int)
+ do
+ assert times > 0
+ assert delay > 0.0
+ var delay_i = (delay*1000.0).to_i
+ for i in [0..times[ do
+ pin.write(true)
+ delay_i.bcm2835_delay_micros
+ pin.write(false)
+ delay_i.bcm2835_delay_micros
+ end
+ end
+end
nitlanguage / nit.git / blobdiff