Fragments of a BOB-4 control program used in the University of Michigan's
2007 Continuum Solar Car project. Runs on Microchip's PIC18F series MCU.


Jeff Rogers added the following comments on 10/8/2007:

"Regarding the example application code, I had to make a few revisions to
it. The BobClearScreen(BOB_CLEAR_ALL); command was giving unexpected results.
Even though I restricted the drawing area with
BobSetWindowPxStr("30;43;195;267"); the screen clear was effecting areas to
the right of and below of the active drawing area. Instead, I now set the
drawing window, move the cursor to 0,0 and then overwrite the desired text,
using write space characters ' ' to erase anything extra."




Example use:

void UpdateCruise(float cspeed)
{
    int speed = cspeed*36.0;
    BobSetFont(BOB_FONT_DEFAULT);
    BobSetAttribute("70");
    BobSetWindowPxStr("30;43;195;267");
    BobClearScreen(BOB_CLEAR_ALL);
    BobSend('C');
    BobSend(' ');
    if(speed < 0) {
        BobWriteRom("OFF");
    } else {
        BobWriteRam(itoa(speed / 10, tmpbuf));
        BobSend('.');
        BobSend((speed%10) + '0');
    }
}




/************************************
University of Michigan Solar Car Team
          Continuum 2007

Written by:
Jeffrey B. Rogers - jbrogers@mich.edu
Steven Hechtman - shechtman@umich.edu
************************************/

#include "bob.h"
#include <stdlib.h>

char tmpbuf[32];

void BobMoveCursor(char x, char y)
{
	SendCSI();
	BobWriteRam(itoa(y, tmpbuf));
	BobSend(';');
	BobWriteRam(itoa(x, tmpbuf));
	BobSend('H');
}

void BobMoveCursorRelative(char distance, char direction)
{
	SendCSI();
	BobWriteRam(itoa(distance, tmpbuf));
	BobSend(direction);
}

void BobClearScreen(char type)
{
	SendCSI();
	BobSend(type);
	BobSend('J');
}

void BobClearLine(char type)
{
	SendCSI();
	BobSend(type);
	BobSend('K');
}

void BobInsertLines(char number)
{
	SendCSI();
	BobWriteRam(itoa(number, tmpbuf));
	BobSend('L');
}
void BobDeleteLines(char number)
{
	SendCSI();
	BobWriteRam(itoa(number, tmpbuf));
	BobSend('M');
}
void BobClearAttributes(void)
{
	SendCSI();
	BobSend('0');
	BobSend('m');
}
void BobSetAttribute(const rom char* attribute)
{
	SendCSI();
	BobWriteRom(attribute);
	BobSend('m');
}

void BobSetWindow(char top, char bottom, char left, char right)
{
	SendCSI();
	BobWriteRam(itoa(top, tmpbuf));
	BobSend(';');
	BobWriteRam(itoa(bottom, tmpbuf));
	BobSend(';');
	BobWriteRam(itoa(left, tmpbuf));
	BobSend(';');
	BobWriteRam(itoa(right, tmpbuf));

	BobSend('q');
}

void BobSetWindowPx(int top, int bottom, int left, int right)
{
	SendCSI();
	BobWriteRam(itoa(top, tmpbuf));
	BobSend(';');
	BobWriteRam(itoa(bottom, tmpbuf));
	BobSend(';');
	BobWriteRam(itoa(left, tmpbuf));
	BobSend(';');
	BobWriteRam(itoa(right, tmpbuf));
	BobSend('.');
	BobSend('q');
}
void BobSetWindowPxStr(const rom char* str)
{
	SendCSI();
	BobWriteRom(str);
	BobSend('.');
	BobSend('q');
}

void BobSaveCursor(void)
{
	SendCSI();
	BobSend('s');
}
void BobRestoreCursor(void)
{
	SendCSI();
	BobSend('u');
}
void BobFormFeed(void)
{
	SendCSI();
	BobSend('U');
}

void BobSetConfig(const rom char* setting, char value)
{
	SendCSI();
	BobWriteRom(setting);
	BobSend(';');
	BobSend(value);
	BobSend('v');
}

void BobEraseAfter(char number)
{
	SendCSI();
	BobWriteRam(itoa(number, tmpbuf));
	BobSend('X');

}

void BobSetFont(char font)
{
	SendCSI();
	BobSend(font);
	BobSend('z');
}

void BobEnableTimingSignal(void)
{
	SendCSI();
	BobSend('9');
	BobSend(';');
	BobSend('1');
	BobSend('|');
}

void BobWriteRom(const rom char* msg)
{	
	for( ; *msg != '\0'; msg++) {
		UARTIntPutChar(*msg);
	}
}

void BobWriteRam(const char* msg)
{
	
	for( ; *msg != '\0'; msg++) {
		UARTIntPutChar(*msg);
	}
}

/************************************
University of Michigan Solar Car Team
          Continuum 2007

Written by:
Jeffrey B. Rogers - jbrogers@mich.edu
Steven Hechtman - shechtman@umich.edu
************************************/

#ifndef BOB_H_
#define BOB_H_

#include "UARTIntC.h"

#define SendCSI() 	UARTIntPutChar(0x1B);\
					UARTIntPutChar(0x5B)
#define SendESC() 	UARTIntPutChar(0x1B)
#define BobSend(x)  UARTIntPutChar(x)

#define BOB_CLEAR_AFTER		'0'
#define BOB_CLEAR_BEFORE	'1'
#define BOB_CLEAR_ALL		'2'

#define BOB_MOVE_UP			'A'
#define BOB_MOVE_DOWN		'B'
#define BOB_MOVE_RIGHT		'C'
#define BOB_MOVE_LEFT		'D'

#define BOB_BOLD			"1"
#define BOB_FAINT			"2"	
#define BOB_BLINK			"5"
#define BOB_REVERSE			"7"
#define BOB_NO_BOLD			"22"
#define BOB_NO_FAINT		"22"
#define BOB_NO_BLINK		"25"
#define BOB_NO_REVERSE		"27"
#define BOB_TEXT_WHITE			"64"
#define BOB_TEXT_WHITE_BLACK	"69"

#define BOB_FONT_DEFAULT	'0'
#define BOB_FONT_8X13		'1'
#define BOB_FONT_TARGET		'2'
#define BOB_FONT_MISC		'3'
#define BOB_FONT_6X10		'4'
#define BOB_FONT_13X34		'5'
#define BOB_FONT_20X40		'6'
#define BOB_FONT_BOB4		'7'


#define BOB_CONFIG_HIGH_RATE			"20"
#define BOB_CONFIG_RESTRICT_AREA		"21"
#define BOB_CONFIG_BLINK_ENABLE			"32"

#define BOB_TRUE			'1'
#define BOB_FALSE			'0'

void BobMoveCursor(char x, char y);
void BobMoveCursorRelative(char distance, char direction);
void BobClearScreen(char type);
void BobClearLine(char type);
void BobInsertLines(char number);
void BobDeleteLines(char number);
void BobClearAttributes(void);
void BobSetAttribute(const rom char*);

void BobSetWindow(char top, char bottom, char left, char right);
void BobSetWindowPx(int top, int bottom, int left, int right);
void BobSetWindowPxStr(const rom char* str);
void BobSaveCursor(void);
void BobRestoreCursor(void);
void BobFormFeed(void);
void BobSetConfig(const rom char* setting, char value);
void BobEraseAfter(char number);
void BobSetFont(char font);
void BobEnableTimingSignal(void);


void BobWriteRom(const rom char* msg);
void BobWriteRam(const char* msg);

#endif