app-board-LCD mbed NXP LPC1768
# app-board-LCD mbed NXP LPC1768 # http://mbed.org/users/chris/code/app-board-LCD/ # http://mbed.org/users/dreschpe/code/C12832_lcd/ import sys import mbed class C12832_LCD: def __init__(self): self._spi = mbed.SPI('p5','NC','p7') self._reset = mbed.DigitalOut('p6') self._A0 = mbed.DigitalOut('p8') self._CS =mbed.DigitalOut('p11') self.lcd_reset() def lcd_reset(self): self._spi.format(8,3) # 8 bit spi mode 3 self._spi.frequency(20000000) # 19,2 Mhz SPI clock self._A0.write(0) self._CS.write(1) self._reset.write(0) # display reset sys.wait(1) # wait 50us self._reset.write(1) # end reset sys.wait(5) # Start Initial Sequence ---------------------------------------------------- self.wr_cmd(0xAE) # display off self.wr_cmd(0xA2) # bias voltage self.wr_cmd(0xA0) self.wr_cmd(0xC8) # colum normal self.wr_cmd(0x22) # voltage resistor ratio self.wr_cmd(0x2F) # power on #wr_cmd(0xA4) # LCD display ram self.wr_cmd(0x40) # start line = 0 self.wr_cmd(0xAF) # display ON self.wr_cmd(0x81) # set contrast self.wr_cmd(0x17) # set contrast self.wr_cmd(0xA6) # display normal def buf_to_lcd(self, page, colum, buffer): self.wr_cmd(0x00 + (colum & 0xf)) # set column low nibble self.wr_cmd(0x10 + ((colum>>4)&0x0f)) # set column hi nibble self.wr_cmd(0xB0+page) # set page address for d in buffer: self.wr_dat(d) def wr_cmd(self, cmd): self._A0.write(0) self._CS.write(0) self._spi.write(cmd) self._CS.write(1) def wr_dat(self, dat): self._A0.write(1) self._CS.write(0) self._spi.write(dat) self._CS.write(1) def cls(self, data=0): for page in range(4): colum = 0 while colum < 128: self.buf_to_lcd(page, colum, [data]) colum += 1 self.locate(0, 0) def locate(self, row, colum): self.page = row self.colum = colum * 4 def crlf(self): self.colum = 0 self.page += 1 if self.page >= 4: self.page = 0 def puts(self, s): for c in s: self.putc(c) def putc(self, c): if c == "\n": self.crlf() return font = self.get_font(c) self.buf_to_lcd(self.page, self.colum, font) self.colum += len(font) if self.colum >= 128: self.crlf() def get_font(self, c): # misaki_bdf_b11a.tar.gz misaki_4x8_jisx0201.bdf font = ( 0,6016,49155,1034559,434070,590866,695986,130,1072896,8001,164746,139016, 532480,132104,4096,66576,464156,532260,595250,333090,1018392,300334,300316, 105730,333076,464164,2560,2592,559624,330260,133666,103554,496786,1017022, 430783,544926,495807,545471,17087,938142,1033279,548769,512016,967231,528447, 1033023,1015999,495774,99519,1544350,885951,414370,24449,1036351,247871, 1035327,837171,56835,579249,1081216,352021,16321,32898,1056832,32896,987672, 397887,594456,1036824,726552,89988,993864,918079,7808,7872,853055,8065, 921148,918076,397848,397948,2036248,66620,335400,597764,987196,198716,989244, 592932,993356,727588,1071880,16256,138049,16513, ) i = ord(c) - 0x20 if i < 0 or i > len(font): i = 0 return(font[i]&0x7f,(font[i]>>7)&0x7f,(font[i]>>14)&0x7f, 0) lcd = C12832_LCD() lcd.cls() lcd.locate(0, 3) lcd.puts("mbed application board!") j = 0 while 1: lcd.locate(1, 15) lcd.puts("Counting : %d" % j); j += 1 sys.wait(1*1000)
FRDM_MMA8451Q
# FRDM_MMA8451Q # http://mbed.org/users/mbed_official/code/FRDM_MMA8451Q/ import mbed import sys def float(n): s = 1.0 if n < 0: s = -1.0 n *= -1 f = 0.0 a = 1.0 while n: if n & 1: f += a n >>= 1 a *= 2.0 f *= s return f def abs(a): if a < 0: return -a return a class MMA8451Q: REG_WHO_AM_I=0x0D REG_CTRL_REG_1=0x2A REG_OUT_X_MSB=0x01 REG_OUT_Y_MSB=0x03 REG_OUT_Z_MSB=0x05 UINT14_MAX=16383 def __init__(self, sda, scl, addr): self._i2c = mbed.I2C(sda, scl) self._addr = addr data = chr(self.REG_CTRL_REG_1)+chr(0x01) self.writeRegs(data) def getAccX(self): return float(self.getAccAxis(self.REG_OUT_X_MSB)) / 4096.0 def getAccY(self): return float(self.getAccAxis(self.REG_OUT_Y_MSB)) / 4096.0 def getAccZ(self): return float(self.getAccAxis(self.REG_OUT_Z_MSB)) / 4096.0 def getWhoAmI(self): who_am_i = chr(0) self.readRegs(self.REG_WHO_AM_I, who_am_i); return ord(who_am_i) def getAccAxis(self, addr): res = chr(0)+chr(0) self.readRegs(addr, res) acc = (ord(res[0]) << 6) | (ord(res[1]) >> 2) if acc > (self.UINT14_MAX/2): acc -= self.UINT14_MAX; return acc def readRegs(self, addr, data): self._i2c.write(self._addr, chr(addr), 1, 1) self._i2c.read(self._addr, data, len(data), 0) def writeRegs(self, data): self._i2c.write(self._addr, data, len(data), 0) MMA8451_I2C_ADDRESS=(0x1d<<1) acc = MMA8451Q('PTE25', 'PTE24', MMA8451_I2C_ADDRESS) rled = mbed.PwmOut('LED_RED') gled = mbed.PwmOut('LED_GREEN') bled = mbed.PwmOut('LED_BLUE'); while 1: rled.write(1.0 - abs(acc.getAccX())) gled.write(1.0 - abs(acc.getAccY())) bled.write(1.0 - abs(acc.getAccZ())) sys.wait(100) # 100ms #print sys.heap() #sys.wait(1000)
[pymite[KL25Z] FRDM_TSI Touch Sensor
# FRDM_TSI Touch Sensor # http://mbed.org/users/mbed_official/code/FRDM_TSI/ import sys import mbed led = mbed.PwmOut('LED_GREEN'); tsi = mbed.TSISensor() while 1: led.write(1.0 - tsi.readPercentage()) sys.wait(100)
websocket clientのテスト
# wsbench.py 2013/2/21 # coding: utf-8 # import websocket import base64 import time import argparse channel = "public-ch" url = "ws://sockets.mbed.org/ws/" + channel + "/rw"; CHUNK=2*30 def buf_to_websocket(buf, ws=None): print "image size: %d bytes" % len(buf) st = time.time() ws_send = 0 for i in range(0, len(buf), CHUNK): chunk_len = min(len(buf) - i, CHUNK) s = buf[i:i+chunk_len] d = base64.b64encode(s) print d if ws: ws.send(d) ws_send += len(d) d = "." print d if ws: ws.send(d) ms = (time.time() - st) * 1000 print "websocket: send: %d bytes %d ms" % (ws_send, ms) if __name__ == '__main__': ws = websocket.create_connection(url) #ws = None parser = argparse.ArgumentParser() parser.add_argument('infiles', nargs='*', help=u"image file") args = parser.parse_args() for i, filename in enumerate(args.infiles): with open(filename, "rb") as f: data = f.read() print("input: %s %d bytes" % (filename, len(data))) buf_to_websocket(data, ws)
QcamOrbitAFのモータ制御をする。
// BaseJpegDecode_example/main_QcamOrbitAF.cpp 2013/2/16 // simple color tracking for Logitech Qcam Orbit AF // #include "mbed.h" #include "rtos.h" #include "BaseUsbHost.h" #include "UvcCam.h" #include "BaseJpegDecode.h" #include "Terminal.h" #include "MyThread.h" #define WIDTH 160 #define HEIGHT 120 #define THRESHOLD 200 DigitalOut led1(LED1), led2(LED2), led3(LED3), led4(LED4); Terminal term(USBTX, USBRX); class CalcCenter : public MyThread, public BaseJpegDecode { public: int y_center, x_center; int m_x_sum, m_y_sum, m_sum; uint32_t EOI_count; int16_t buf_Cb[WIDTH/16*HEIGHT/8]; // debug int16_t buf_Cr[WIDTH/16*HEIGHT/8]; // debug CalcCenter(BaseUvc* cam) { m_cam = cam; m_cam->setOnResult(this, &CalcCenter::callback_motion_jpeg); EOI_count = 0; } protected: void callback_motion_jpeg(uint16_t frame, uint8_t* buf, int len) { input(buf+12, len-12); if (buf[1]&1) { // FID led1 = !led1; } } virtual void outputDC(int mcu, int block, int value) { if (mcu >= (WIDTH/16*HEIGHT/8)) { return; } if (block == 2) { buf_Cb[mcu] = value * qt[1][0]; } else if (block == 3) { // 0-1:Y 2:Cb 3:Cr buf_Cr[mcu] = value * qt[1][0]; value *= qt[1][0]; if (value >= THRESHOLD) { // red m_x_sum += value*(mcu%(WIDTH/16)); m_y_sum += value*(mcu/(WIDTH/16)); m_sum += value; } } } virtual void outputAC(int mcu, int block, int scan, int value){}; virtual void outputMARK(uint8_t c){ if (c == 0xd9) { // EOI if(m_sum == 0) { x_center = y_center = -1; // not found } else { x_center = m_x_sum / m_sum; y_center = m_y_sum / m_sum; } m_x_sum = m_y_sum = m_sum = 0; // reset EOI_count++; led3 = !led3; } } virtual void run() { while(true) { if (m_cam) { m_cam->poll(); } } } BaseUvc* m_cam; }; BaseUvc* cam = NULL; CalcCenter* calc = NULL; class display_Thread : public MyThread { virtual void run() { term.cls(); int fg, old_fg = 0xffffff; while(1) { int column = 0; for(int y = 0; y < HEIGHT/8; y++) { term.locate(0, column++); for(int x = 0; x < WIDTH/16; x++) { int value = calc->buf_Cr[y*WIDTH/16+x]; if (value >= THRESHOLD) { fg = 0xff0000; // red } else { fg = 0xffffff; // white } if (fg != old_fg) { term.foreground(fg); old_fg = fg; } term.printf("%+4d,", value); Thread::yield(); } } term.locate(0, column++); term.printf("Cr:(%d,%d)", calc->x_center, calc->y_center); term.locate(0, column++); term.printf("width=%d height=%d yblock=%d EOI: %u]\nCC:", calc->width, calc->height, calc->yblock, calc->EOI_count); for(int i = 0; i < 16; i++) { term.printf(" %u", cam->report_cc_count[i]); } term.printf("]\nPS:"); for(int i = 0; i < 16; i++) { term.printf(" %u", cam->report_ps_cc_count[i]); } term.printf("]\n"); Thread::wait(150); led2 = !led2; } } }; #define KP 80 void QcamOrbitAF_Control(BaseUvc* cam, CalcCenter* calc) { Thread::wait(10*1000); int unit = 9; int cs = 1; struct PanTiltR { int16_t pan; int16_t tilt; } ptr = {0, 0}; while(1) { if (calc->x_center != (-1)) { ptr.pan = ((calc->width/16/2) - calc->x_center) * KP; int rc = cam->Control(SET_CUR, cs, unit<<8, reinterpret_cast<uint8_t*>(&ptr), sizeof(PanTiltR)); } Thread::wait(50); led4 = !led4; } } void no_memory () { error("Failed to allocate memory!\n"); } int main() { term.baud(921600); term.printf("%s\n", __FILE__); set_new_handler(no_memory); BaseUsbHost* UsbHost = new BaseUsbHost; ControlEp* ctlEp = new ControlEp; // root hub if (UsbHub::check(ctlEp)) { // hub? UsbHub* hub = new UsbHub(ctlEp); ctlEp = hub->search<UvcCam>(); } if (!UvcCam::check(ctlEp)) { error("UVC camera is not connected\n"); } cam = new UvcCam(UVC_MJPEG, UVC_160x120, _15FPS, ctlEp); calc = new CalcCenter(cam); calc->start(); display_Thread* display_th = new display_Thread; display_th->start(osPriorityBelowNormal); QcamOrbitAF_Control(cam, calc); //Thread::wait(osWaitForever); }
ExtensionUnitのテストプログラム
class ExtensionUnit : public RPC { public: ExtensionUnit(int cam, int UnitID = 9, const char* name = NULL):RPC(name), _UnitID(UnitID) { _cam = reinterpret_cast<BaseUvc*>(cam); } int PanTilt(int pan, int tilt) { struct PanTiltR { int16_t pan; int16_t tilt; } ptr; ptr.pan = pan; ptr.tilt = tilt; _cs = 1; return _cam->Control(SET_CUR, _cs, _UnitID<<8, reinterpret_cast<uint8_t*>(&ptr), sizeof(PanTiltR)); } int Reset(int pan, int tilt) { uint8_t param[1]; param[0] = 0x00; if (pan) { param[0] |= 0x01; } if (tilt) { param[0] |= 0x02; } _cs = 2; return _cam->Control(SET_CUR, _cs, _UnitID<<8, param, sizeof(param)); } void Control(Arguments *arg, Reply *r) { int unit = arg->getArg<int>(); int cs = arg->getArg<int>(); pc.printf("unit=%d cs=%d\n", unit, cs); uint8_t param[RPC_MAX_ARGS]; int size = arg->argc-2; for(int i = 0; i < size; i++) { param[i] = arg->getArg<int>(); pc.printf("param[%d]=%02X\n", i, param[i]); } int rc = _cam->Control(SET_CUR, cs, unit<<8, param, size); r->putData<int>(rc); } virtual const struct rpc_method *get_rpc_methods() { static const rpc_method rpc_methods[] = { {"PanTilt", rpc_method_caller<int, ExtensionUnit, int, int, &ExtensionUnit::PanTilt>}, {"Reset", rpc_method_caller<int, ExtensionUnit, int, int, &ExtensionUnit::Reset>}, {"Control", rpc_method_caller<ExtensionUnit, &ExtensionUnit::Control>}, RPC_METHOD_SUPER(RPC) }; return rpc_methods; } private: int _UnitID; int _cs; BaseUvc* _cam; };
