Programming Manual Elektor Proton Robot - ELEKTOR.se

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LCD03 - I2C/Serial LCDProton robot developer’s notes:The LCD is a great module to use on the PROTON robot. There is a lot of space to displaymenu’s and values.This LCD uses I2C instructions. Especially displaying numeric values took me sometime to program. I’ve written a few custom instructions that you can now use toprogram the LCD in a much easier way. Just include the PROTON LIBRARY file andenjoy.Technical DocumentationOverviewThis I2C display driver provides easy operation of a standard 20*4 LCD Text display. Itrequires only a 5v power supply and the two data connections for either mode, freeing uppins on your processor. Many useful text formatting functions are provided (describedbelow) and also the ability to put together custom characters into memory which can becalled off as required. There is a 64 byte FIFO buffer to ensure a minimum of delay in writingto the display.ConnectionsBart Huyskens Manual Elektor Proton V1.0 3 April 2011 48
Experience: We use this LCD in I2C mode – SO we only use the 4 pin connector marked with(GND-SCL- SDA-VCC) .Leave the mode jumper open and we do not connect a keypad.Serial/I2C Mode selectionA single jumper link is used to select Serial or I2C mode. When the jumper is present (factorydefault) the module is in serial mode. When the jumper is removed the module is in I2Cmode. The mode jumper is only checked as part of the power-up sequence, so make surethe display is off before changing modes. If you change the link position while the module ispowered, nothing will change until next time you switch on.FIFOBecause the I2C communications operate faster than the display can accept data, allcommands and text you send to the display are placed in the FIFO (First In, First Out) buffer.This data is sent to the display as fast as it will accept it. The FIFO is 64 bytes in length andthe number of free bytes can be returned in either mode. When sending lots of text to thedisplay, you should check the number of free bytes so you don't overflow the buffer. If thebuffer does overflow, the excess bytes are ignored.I2C OperationI2C BusThe I2C display is located on the I2C bus at an address of 0XC6. The SCL and SDA lines shouldhave pull-up resistors on them somewhere on the bus. You only require 1 pair of resistorsfor the whole I2C bus, not specifically for the LCD03. They are already on the mastercontroller. Anything between 1k8 and 10k should work. We used 1k8 for best noiseimmunity.Display control commandsThe LCD03 has four registers, three of which are read only information registers. Register 0 isa dual purpose register, when written, it is the command register where all of theBart Huyskens Manual Elektor Proton V1.0 3 April 2011 49
Page 1 and 2: V1.0Programming ManualElektor Proto
Page 3 and 4: Communications Protocol ...........
Page 5 and 6: Blok schematic:Bart Huyskens Manual
Page 7 and 8: Different modules on PCB levelBart
Page 9 and 10: AVR add-on board• The AVR board h
Page 11 and 12: Servo moduleSCL-SDAHeadSCL-SDAUS di
Page 13 and 14: List of all the connectors on the m
Page 15 and 16: J26J27J28J29 +-J30J31J33J34J35GND12
Page 17 and 18: char I2C_RECEIVE_BYTE(char Last);vo
Page 19 and 20: How to set up Flowcode 4 (PIC) for
Page 21 and 22: How to set up Flowcode 4 (AVR) for
Page 23 and 24: How to set op AVRSTUDIO - WINAVR /
Page 25 and 26: Click on the gear-logo “Edit curr
Page 27 and 28: Make sure that your fuses tab scree
Page 29 and 30: How to set up MPLAB - HITECH C Lite
Page 31 and 32: We choose not to add any file to th
Page 33 and 34: •Copy paste the “PIC_PROTON_LIB
Page 35 and 36: Bart Huyskens Manual Elektor Proton
Page 37 and 38: }{PORTD = 0x0F;__delay_ms(200);PORT
Page 39 and 40: PIC16F887Demoprogram Flowcode PIC V
Page 41 and 42: These are 2 normally open push butt
Page 43 and 44: • After the readbyte instruction
Page 45 and 46: READ DATA FROM THE SLAVEFor example
Page 47: void main(){// init AD & Option reg
Page 51 and 52: Commands to write in the command re
Page 53 and 54: Custom char generatorCustom charact
Page 55 and 56: The servo motors in the head and th
Page 57 and 58: This robot can be equipped with up
Page 59 and 60: Although the signal for the positio
Page 61 and 62: The head with ldr’s, RGB-led’s
Page 63 and 64: Head I2C Slave address = 0x10Index
Page 65 and 66: Proton robot developer’s notes:Th
Page 67 and 68: When a ranging command in cm is giv
Page 69 and 70: address of a sonar currently at 0xE
Page 71 and 72: The MD25 motor driver moduleThis pr
Page 75 and 76: The MD25 has 17 registers numbered
Page 77 and 78: ultimate speed, the MD25 has a regi
Page 79 and 80: Changing the I2C Bus AddressTo chan
Page 81 and 82: The line sensor module with 3 IR li
Page 83 and 84: Photo of the 3 line follow sensorsT
Page 85 and 86: Analogue to digital conversion expl
Page 87 and 88: }}Proton robot developer’s notes:
Page 89 and 90: RS232 communication explainedRS-232
Page 93 and 94: • Supportso MMC, SDC, SDHC card f
Page 95 and 96: Communications ProtocolDescriptionT
Page 97 and 98: Prompt CharacterSetting name: PThis
Page 99 and 100:
BoostSetting name: BSets the defaul
Page 101 and 102:
Input/Output Interface SettingsInpu
Page 103 and 104:
SettingsDescriptionNon-volatile set
Page 105 and 106:
Play NextDescriptionThis plays the
Page 107 and 108:
StopDescriptionStops playback.Forma
Page 109 and 110:
Playback StatusDescriptionThis show
Page 111 and 112:
Play ToneDescriptionThis command pl
Page 113 and 114:
Reset AudioDescriptionResets the au
Page 115 and 116:
Loop CountDescriptionGets or sets t
Page 117 and 118:
1 1 0001 1 +1.5 dB2 2 0010 2 +3 dB3
Page 119 and 120:
This command will copy data from an
Page 121 and 122:
CloseDescriptionCloses an open file
Page 123 and 124:
Parameters• path is the absolute
Page 125 and 126:
InfoDescriptionGives the file posit
Page 127 and 128:
Card InfoDescriptionGets card speci
Page 129 and 130:
List DirectoryDescriptionThe List D
Page 131 and 132:
L /PICTURES/*.JPG«sp»----A 2008/0
Page 133 and 134:
RenameDescriptionRenames/moves a fi
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O 1 R /LOGS/JANUARY/JAN03.LOGOpen a
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DescriptionYou can read up to 512 b
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Read LineDescriptionThe Read Line c
Page 141 and 142:
WriteDescriptionYou can write up to
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E /LOG.TXTO 1 RW /LOG.TXTS E0I 10/0
Page 145 and 146:
Table of SettingsCommunication Sett
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Input/Output Interface SettingsSett
Page 149 and 150:
Proton main program for PIC in C:/*
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void UART_STRING_RECEIVE(char *rece
Page 153 and 154:
}SSPBUF=Data;//Send bytewhile((PIR1
Page 155 and 156:
}}// Writes an integer value to the
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s++;}}//bit STRING_IN( const char *
Page 159 and 160:
eturn;}}}}}/***********************
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Proton main program for AVR in C:/*
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char STR_PREFIX( const char *p, con
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}TWCR = (1
Page 167 and 168:
LCD_WRITE_STRING(String);alsoLCD_WR
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n--;}}//bit char_in( char c, const
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}} else {_delay_us( 100 );t++;if( t
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Cheat sheet C - for Hitech C compil
Page 175:
Version changes summary09/04/2011 v
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