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Arduino/libraries/Robot_Control/Arduino_LCD.cpp
Cristian Maglie bd11079cd0 Added Arduino Robot libraries
2013-05-15 10:47:17 +02:00

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/***************************************************
This is a library for the Adafruit 1.8" SPI display.
This library works with the Adafruit 1.8" TFT Breakout w/SD card
----> http://www.adafruit.com/products/358
as well as Adafruit raw 1.8" TFT display
----> http://www.adafruit.com/products/618
Check out the links above for our tutorials and wiring diagrams
These displays use SPI to communicate, 4 or 5 pins are required to
interface (RST is optional)
Adafruit invests time and resources providing this open source code,
please support Adafruit and open-source hardware by purchasing
products from Adafruit!
Written by Limor Fried/Ladyada for Adafruit Industries.
MIT license, all text above must be included in any redistribution
****************************************************/
#include "Arduino_LCD.h"
//#include <avr/pgmspace.h>
#include <limits.h>
//#include "pins_arduino.h"
#include "wiring_private.h"
#include <SPI.h>
// Constructor when using software SPI. All output pins are configurable.
Arduino_LCD::Arduino_LCD(uint8_t cs, uint8_t rs, uint8_t sid,
uint8_t sclk, uint8_t rst) {
_cs = cs;
_rs = rs;
_sid = sid;
_sclk = sclk;
_rst = rst;
hwSPI = false;
}
// Constructor when using hardware SPI. Faster, but must use SPI pins
// specific to each board type (e.g. 11,13 for Uno, 51,52 for Mega, etc.)
Arduino_LCD::Arduino_LCD(uint8_t cs, uint8_t rs, uint8_t rst) {
_cs = cs;
_rs = rs;
_rst = rst;
hwSPI = true;
_sid = _sclk = 0;
}
inline void Arduino_LCD::spiwrite(uint8_t c) {
//Serial.println(c, HEX);
/* if (hwSPI) {
SPDR = c;
while(!(SPSR & _BV(SPIF)));
} else {
// Fast SPI bitbang swiped from LPD8806 library
for(uint8_t bit = 0x80; bit; bit >>= 1) {
if(c & bit) *dataport |= datapinmask;
else *dataport &= ~datapinmask;
*clkport |= clkpinmask;
*clkport &= ~clkpinmask;
}
}
*/
SPI.transfer(c);
}
void Arduino_LCD::writecommand(uint8_t c) {
// *rsport &= ~rspinmask;
// *csport &= ~cspinmask;
digitalWrite(_rs, LOW);
digitalWrite(_cs, LOW);
//Serial.print("C ");
spiwrite(c);
//SPI.transfer(c);
// *csport |= cspinmask;
digitalWrite(_cs, HIGH);
}
void Arduino_LCD::writedata(uint8_t c) {
// *rsport &= ~rspinmask;
// *csport &= ~cspinmask;
digitalWrite(_rs, HIGH);
digitalWrite(_cs, LOW);
//Serial.print("D ");
spiwrite(c);
//SPI.transfer(c);
// *csport |= cspinmask;
digitalWrite(_cs, HIGH);
}
// Rather than a bazillion writecommand() and writedata() calls, screen
// initialization commands and arguments are organized in these tables
// stored in PROGMEM. The table may look bulky, but that's mostly the
// formatting -- storage-wise this is hundreds of bytes more compact
// than the equivalent code. Companion function follows.
#define DELAY 0x80
//PROGMEM static prog_uchar
/*uint8_t
Bcmd[] = { // Initialization commands for 7735B screens
18, // 18 commands in list:
ILI9163C_SWRESET, DELAY, // 1: Software reset, no args, w/delay
50, // 50 ms delay
ILI9163C_SLPOUT , DELAY, // 2: Out of sleep mode, no args, w/delay
255, // 255 = 500 ms delay
ILI9163C_COLMOD , 1+DELAY, // 3: Set color mode, 1 arg + delay: // I THINK THERE WAS SOMETHING HERE BECAUSE THE COMMAND IS CALLED 3A on Adafruits
0x05, // 16-bit color
10, // 10 ms delay
ILI9163C_FRMCTR1, 3+DELAY, // 4: Frame rate control, 3 args + delay:
0x00, // fastest refresh
0x06, // 6 lines front porch
0x03, // 3 lines back porch
10, // 10 ms delay
ILI9163C_MADCTL , 1 , // 5: Memory access ctrl (directions), 1 arg:
0x08, // Row addr/col addr, bottom to top refresh
ILI9163C_DISSET5, 2 , // 6: Display settings #5, 2 args, no delay:
0x15, // 1 clk cycle nonoverlap, 2 cycle gate
// rise, 3 cycle osc equalize
0x02, // Fix on VTL
ILI9163C_INVCTR , 1 , // 7: Display inversion control, 1 arg:
0x0, // Line inversion
ILI9163C_PWCTR1 , 2+DELAY, // 8: Power control, 2 args + delay:
0x02, // GVDD = 4.7V
0x70, // 1.0uA
10, // 10 ms delay
ILI9163C_PWCTR2 , 1 , // 9: Power control, 1 arg, no delay:
0x05, // VGH = 14.7V, VGL = -7.35V
ILI9163C_PWCTR3 , 2 , // 10: Power control, 2 args, no delay:
0x01, // Opamp current small
0x02, // Boost frequency
ILI9163C_VMCTR1 , 2+DELAY, // 11: Power control, 2 args + delay:
0x3C, // VCOMH = 4V
0x38, // VCOML = -1.1V
10, // 10 ms delay
ILI9163C_PWCTR6 , 2 , // 12: Power control, 2 args, no delay:
0x11, 0x15,
ILI9163C_GMCTRP1,16 , // 13: Magical unicorn dust, 16 args, no delay:
0x09, 0x16, 0x09, 0x20, // (seriously though, not sure what
0x21, 0x1B, 0x13, 0x19, // these config values represent)
0x17, 0x15, 0x1E, 0x2B,
0x04, 0x05, 0x02, 0x0E,
ILI9163C_GMCTRN1,16+DELAY, // 14: Sparkles and rainbows, 16 args + delay:
0x0B, 0x14, 0x08, 0x1E, // (ditto)
0x22, 0x1D, 0x18, 0x1E,
0x1B, 0x1A, 0x24, 0x2B,
0x06, 0x06, 0x02, 0x0F,
10, // 10 ms delay
ILI9163C_CASET , 4 , // 15: Column addr set, 4 args, no delay:
0x00, 0x02, // XSTART = 2
0x00, 0x81, // XEND = 129
ILI9163C_RASET , 4 , // 16: Row addr set, 4 args, no delay:
0x00, 0x02, // XSTART = 1
0x00, 0x81, // XEND = 160
ILI9163C_NORON , DELAY, // 17: Normal display on, no args, w/delay
10, // 10 ms delay
ILI9163C_DISPON , DELAY, // 18: Main screen turn on, no args, w/delay
255 }, // 255 = 500 ms delay
*/
uint8_t
Bcmd[] = { // Initialization commands for 7735B screens
19, // 19 commands in list:
ILI9163C_SWRESET, DELAY, // 1: Software reset, no args, w/delay
50, // 50 ms delay
0x11 , DELAY, // 2: Out of sleep mode, no args, w/delay
100, // 255 = 500 ms delay
0x26 , 1, // 3: Set default gamma
0x04, // 16-bit color
0xb1, 2, // 4: Frame Rate
0x0b,
0x14,
0xc0, 2, // 5: VRH1[4:0] & VC[2:0]
0x08,
0x00,
0xc1, 1, // 6: BT[2:0]
0x05,
0xc5, 2, // 7: VMH[6:0] & VML[6:0]
0x41,
0x30,
0xc7, 1, // 8: LCD Driving control
0xc1,
0xEC, 1, // 9: Set pumping color freq
0x1b,
0x3a , 1 + DELAY, // 10: Set color format
0x55, // 16-bit color
100,
0x2a, 4, // 11: Set Column Address
0x00,
0x00,
0x00,
0x7f,
0x2b, 4, // 12: Set Page Address
0x00,
0x00,
0x00,
0x9f,
0x36, 1, // 12+1: Set Scanning Direction
0xc8,
0xb7, 1, // 14: Set Source Output Direciton
0x00,
0xf2, 1, // 15: Enable Gamma bit
0x01,
0xe0, 15 + DELAY, // 16: magic
0x28, 0x24, 0x22, 0x31,
0x2b, 0x0e, 0x53, 0xa5,
0x42, 0x16, 0x18, 0x12,
0x1a, 0x14, 0x03,
50,
0xe1, 15 + DELAY, // 17: more magic
0x17, 0x1b, 0x1d, 0x0e,
0x14, 0x11, 0x2c, 0xa5,
0x3d, 0x09, 0x27, 0x2d,
0x25, 0x2b, 0x3c,
50,
ILI9163C_NORON , DELAY, // 18: Normal display on, no args, w/delay
10, // 10 ms delay
ILI9163C_DISPON , DELAY, // 19: Main screen turn on, no args w/delay
100 }, // 100 ms delay
Rcmd1[] = { // Init for 7735R, part 1 (red or green tab)
15, // 15 commands in list:
ILI9163C_SWRESET, DELAY, // 1: Software reset, 0 args, w/delay
150, // 150 ms delay
ILI9163C_SLPOUT , DELAY, // 2: Out of sleep mode, 0 args, w/delay
255, // 500 ms delay
ILI9163C_FRMCTR1, 3 , // 3: Frame rate ctrl - normal mode, 3 args:
0x01, 0x2C, 0x2D, // Rate = fosc/(1x2+40) * (LINE+2C+2D)
ILI9163C_FRMCTR2, 3 , // 4: Frame rate control - idle mode, 3 args:
0x01, 0x2C, 0x2D, // Rate = fosc/(1x2+40) * (LINE+2C+2D)
ILI9163C_FRMCTR3, 6 , // 5: Frame rate ctrl - partial mode, 6 args:
0x01, 0x2C, 0x2D, // Dot inversion mode
0x01, 0x2C, 0x2D, // Line inversion mode
ILI9163C_INVCTR , 1 , // 6: Display inversion ctrl, 1 arg, no delay:
0x07, // No inversion
ILI9163C_PWCTR1 , 3 , // 7: Power control, 3 args, no delay:
0xA2,
0x02, // -4.6V
0x84, // AUTO mode
ILI9163C_PWCTR2 , 1 , // 8: Power control, 1 arg, no delay:
0xC5, // VGH25 = 2.4C VGSEL = -10 VGH = 3 * AVDD
ILI9163C_PWCTR3 , 2 , // 9: Power control, 2 args, no delay:
0x0A, // Opamp current small
0x00, // Boost frequency
ILI9163C_PWCTR4 , 2 , // 10: Power control, 2 args, no delay:
0x8A, // BCLK/2, Opamp current small & Medium low
0x2A,
ILI9163C_PWCTR5 , 2 , // 11: Power control, 2 args, no delay:
0x8A, 0xEE,
ILI9163C_VMCTR1 , 1 , // 12: Power control, 1 arg, no delay:
0x0E,
ILI9163C_INVOFF , 0 , // 13: Don't invert display, no args, no delay
ILI9163C_MADCTL , 1 , // 14: Memory access control (directions), 1 arg:
0xC8, // row addr/col addr, bottom to top refresh
ILI9163C_COLMOD , 1 , // 15: set color mode, 1 arg, no delay:
0x05 }, // 16-bit color
Rcmd2green[] = { // Init for 7735R, part 2 (green tab only)
2, // 2 commands in list:
ILI9163C_CASET , 4 , // 1: Column addr set, 4 args, no delay:
0x00, 0x02, // XSTART = 0
0x00, 0x7F+0x02, // XEND = 127
ILI9163C_RASET , 4 , // 2: Row addr set, 4 args, no delay:
0x00, 0x01, // XSTART = 0
0x00, 0x9F+0x01 }, // XEND = 159
Rcmd2red[] = { // Init for 7735R, part 2 (red tab only)
2, // 2 commands in list:
ILI9163C_CASET , 4 , // 1: Column addr set, 4 args, no delay:
0x00, 0x00, // XSTART = 0
0x00, 0x7F, // XEND = 127
ILI9163C_RASET , 4 , // 2: Row addr set, 4 args, no delay:
0x00, 0x00, // XSTART = 0
0x00, 0x9F }, // XEND = 159
Rcmd3[] = { // Init for 7735R, part 3 (red or green tab)
4, // 4 commands in list:
ILI9163C_GMCTRP1, 16 , // 1: Magical unicorn dust, 16 args, no delay:
0x02, 0x1c, 0x07, 0x12,
0x37, 0x32, 0x29, 0x2d,
0x29, 0x25, 0x2B, 0x39,
0x00, 0x01, 0x03, 0x10,
ILI9163C_GMCTRN1, 16 , // 2: Sparkles and rainbows, 16 args, no delay:
0x03, 0x1d, 0x07, 0x06,
0x2E, 0x2C, 0x29, 0x2D,
0x2E, 0x2E, 0x37, 0x3F,
0x00, 0x00, 0x02, 0x10,
ILI9163C_NORON , DELAY, // 3: Normal display on, no args, w/delay
10, // 10 ms delay
ILI9163C_DISPON , DELAY, // 4: Main screen turn on, no args w/delay
100 }; // 100 ms delay
// Companion code to the above tables. Reads and issues
// a series of LCD commands stored in PROGMEM byte array.
//void Arduino_LCD::commandList(prog_uchar *addr) {
void Arduino_LCD::commandList(uint8_t *addr) {
uint8_t numCommands, numArgs;
uint16_t ms;
numCommands = *addr++; // Number of commands to follow
while(numCommands--) { // For each command...
writecommand(*addr++); // Read, issue command
numArgs = *addr++; // Number of args to follow
ms = numArgs & DELAY; // If hibit set, delay follows args
numArgs &= ~DELAY; // Mask out delay bit
while(numArgs--) { // For each argument...
writedata(*addr++); // Read, issue argument
}
if(ms) {
ms = *addr++; // Read post-command delay time (ms)
if(ms == 255) ms = 500; // If 255, delay for 500 ms
delay(ms);
}
}
}
// Initialization code common to both 'B' and 'R' type displays
//void Arduino_LCD::commonInit(prog_uchar *cmdList) {
void Arduino_LCD::commonInit(uint8_t *cmdList) {
constructor(ILI9163C_TFTWIDTH, ILI9163C_TFTHEIGHT);
colstart = rowstart = 0; // May be overridden in init func
pinMode(_rs, OUTPUT);
pinMode(_cs, OUTPUT);
/*
csport = portOutputRegister(digitalPinToPort(_cs));
cspinmask = digitalPinToBitMask(_cs);
rsport = portOutputRegister(digitalPinToPort(_rs));
rspinmask = digitalPinToBitMask(_rs);
*/
// if(hwSPI) { // Using hardware SPI
SPI.begin();
SPI.setClockDivider(21); // 4 MHz (half speed)
// SPI.setClockDivider(SPI_CLOCK_DIV4); // 4 MHz (half speed)
// SPI.setBitOrder(MSBFIRST);
// there is no setBitOrder on the SPI library for the Due
SPI.setDataMode(SPI_MODE0);
/*
} else {
pinMode(_sclk, OUTPUT);
pinMode(_sid , OUTPUT);
clkport = portOutputRegister(digitalPinToPort(_sclk));
clkpinmask = digitalPinToBitMask(_sclk);
dataport = portOutputRegister(digitalPinToPort(_sid));
datapinmask = digitalPinToBitMask(_sid);
*clkport &= ~clkpinmask;
*dataport &= ~datapinmask;
}
*/
// toggle RST low to reset; CS low so it'll listen to us
// *csport &= ~cspinmask;
digitalWrite(_cs, LOW);
if (_rst) {
pinMode(_rst, OUTPUT);
digitalWrite(_rst, HIGH);
delay(500);
digitalWrite(_rst, LOW);
delay(500);
digitalWrite(_rst, HIGH);
delay(500);
}
if(cmdList) commandList(cmdList);
}
// Initialization for ST7735B screens
void Arduino_LCD::initB(void) {
commonInit(Bcmd);
commandList(Rcmd3);
}
// Initialization for ST7735R screens (green or red tabs)
void Arduino_LCD::initR(uint8_t options) {
commonInit(Rcmd1);
if(options == INITR_GREENTAB) {
commandList(Rcmd2green);
colstart = 2;
rowstart = 1;
} else {
// colstart, rowstart left at default '0' values
commandList(Rcmd2red);
}
commandList(Rcmd3);
}
void Arduino_LCD::setAddrWindow(uint8_t x0, uint8_t y0, uint8_t x1,
uint8_t y1) {
writecommand(ILI9163C_CASET); // Column addr set
writedata(0x00);
writedata(x0+colstart); // XSTART
writedata(0x00);
writedata(x1+colstart); // XEND
writecommand(ILI9163C_RASET); // Row addr set
writedata(0x00);
writedata(y0+rowstart); // YSTART
writedata(0x00);
writedata(y1+rowstart); // YEND
writecommand(ILI9163C_RAMWR); // write to RAM
}
void Arduino_LCD::fillScreen(uint16_t color) {
uint8_t x, y, hi = color >> 8, lo = color;
setAddrWindow(0, 0, _width-1, _height-1);
// *rsport |= rspinmask;
// *csport &= ~cspinmask;
digitalWrite(_rs, HIGH);
digitalWrite(_cs, LOW);
for(y=_height; y>0; y--) {
for(x=_width; x>0; x--) {
//SPI.transfer(hi);
//SPI.transfer(lo);
spiwrite(hi);
spiwrite(lo);
}
}
// *csport |= cspinmask;
digitalWrite(_cs, HIGH);
}
void Arduino_LCD::pushColor(uint16_t color) {
// *rsport |= rspinmask;
// *csport &= ~cspinmask;
digitalWrite(_rs, HIGH);
digitalWrite(_cs, LOW);
spiwrite(color >> 8);
spiwrite(color);
//SPI.transfer(color>>8);
//SPI.transfer(color);
// *csport |= cspinmask;
digitalWrite(_cs, HIGH);
}
void Arduino_LCD::drawPixel(int16_t x, int16_t y, uint16_t color) {
if((x < 0) ||(x >= _width) || (y < 0) || (y >= _height)) return;
setAddrWindow(x,y,x+1,y+1);
// *rsport |= rspinmask;
// *csport &= ~cspinmask;
digitalWrite(_rs, HIGH);
digitalWrite(_cs, LOW);
spiwrite(color >> 8);
spiwrite(color);
//SPI.transfer(color>>8);
//SPI.transfer(color);
// *csport |= cspinmask;
digitalWrite(_cs, HIGH);
}
void Arduino_LCD::drawFastVLine(int16_t x, int16_t y, int16_t h,
uint16_t color) {
// Rudimentary clipping
if((x >= _width) || (y >= _height)) return;
if((y+h-1) >= _height) h = _height-y;
setAddrWindow(x, y, x, y+h-1);
uint8_t hi = color >> 8, lo = color;
// *rsport |= rspinmask;
// *csport &= ~cspinmask;
digitalWrite(_rs, HIGH);
digitalWrite(_cs, LOW);
while (h--) {
spiwrite(hi);
spiwrite(lo);
//SPI.transfer(hi);
//SPI.transfer(lo);
}
// *csport |= cspinmask;
digitalWrite(_cs, HIGH);
}
void Arduino_LCD::drawFastHLine(int16_t x, int16_t y, int16_t w,
uint16_t color) {
// Rudimentary clipping
if((x >= _width) || (y >= _height)) return;
if((x+w-1) >= _width) w = _width-x;
setAddrWindow(x, y, x+w-1, y);
uint8_t hi = color >> 8, lo = color;
// *rsport |= rspinmask;
// *csport &= ~cspinmask;
digitalWrite(_rs, HIGH);
digitalWrite(_cs, LOW);
while (w--) {
spiwrite(hi);
spiwrite(lo);
//SPI.transfer(hi);
//SPI.transfer(lo);
}
// *csport |= cspinmask;
digitalWrite(_cs, HIGH);
}
// fill a rectangle
void Arduino_LCD::fillRect(int16_t x, int16_t y, int16_t w, int16_t h,
uint16_t color) {
// rudimentary clipping (drawChar w/big text requires this)
if((x >= _width) || (y >= _height)) return;
if((x + w - 1) >= _width) w = _width - x;
if((y + h - 1) >= _height) h = _height - y;
setAddrWindow(x, y, x+w-1, y+h-1);
uint8_t hi = color >> 8, lo = color;
// *rsport |= rspinmask;
// *csport &= ~cspinmask;
digitalWrite(_rs, HIGH);
digitalWrite(_cs, LOW);
for(y=h; y>0; y--) {
for(x=w; x>0; x--) {
spiwrite(hi);
spiwrite(lo);
//SPI.transfer(hi);
//SPI.transfer(lo);
}
}
// *csport |= cspinmask;
digitalWrite(_cs, HIGH);
}
// Pass 8-bit (each) R,G,B, get back 16-bit packed color
uint16_t Arduino_LCD::Color565(uint8_t r, uint8_t g, uint8_t b) {
return ((r & 0xF8) << 8) | ((g & 0xFC) << 3) | (b >> 3);
}
#define MADCTL_MY 0x80
#define MADCTL_MX 0x40
#define MADCTL_MV 0x20
#define MADCTL_ML 0x10
#define MADCTL_RGB 0x08
#define MADCTL_MH 0x04
void Arduino_LCD::setRotation(uint8_t m) {
writecommand(ILI9163C_MADCTL);
rotation = m % 4; // can't be higher than 3
switch (rotation) {
case 0:
writedata(MADCTL_MX | MADCTL_MY | MADCTL_RGB);
_width = ILI9163C_TFTWIDTH;
_height = ILI9163C_TFTHEIGHT;
break;
case 1:
writedata(MADCTL_MY | MADCTL_MV | MADCTL_RGB);
_width = ILI9163C_TFTHEIGHT;
_height = ILI9163C_TFTWIDTH;
break;
case 2:
writedata(MADCTL_RGB);
_width = ILI9163C_TFTWIDTH;
_height = ILI9163C_TFTHEIGHT;
break;
case 3:
writedata(MADCTL_MX | MADCTL_MV | MADCTL_RGB);
_width = ILI9163C_TFTHEIGHT;
_height = ILI9163C_TFTWIDTH;
break;
}
}
void Arduino_LCD::invertDisplay(boolean i) {
writecommand(i ? ILI9163C_INVON : ILI9163C_INVOFF);
}
/*
18, // there are 17 commands
ILI9163C_SWRESET, DELAY, // 1: Software reset, no args, w/delay
50, // 50 ms delay
0x11, //Exit Sleep
DELAY,50,
0x26, //Set Default Gamma
0x104,
//0xF2, //E0h & E1h Enable/Disable
//0x100,
0xB1,
0x10C,
0x114,
0xC0, //Set VRH1[4:0] & VC[2:0] for VCI1 & GVDD
0x10C,
0x105,
0xC1, //Set BT[2:0] for AVDD & VCL & VGH & VGL
0x102,
0xC5, //Set VMH[6:0] & VML[6:0] for VOMH & VCOML
0x129,
0x143,
0xC7,
0x140,
0x3a, //Set Color Format
0x105,
0x2A, //Set Column Address
0x100,
0x100,
0x100,
0x17F,
0x2B, //Set Page Address
0x100,
0x100,
0x100,
0x19F,
0x36, //Set Scanning Direction, RGB
0x1C0,
0xB7, //Set Source Output Direction
0x100,
0xf2, //Enable Gamma bit
0x101,
0xE0,
0x136,//p1
0x129,//p2
0x112,//p3
0x122,//p4
0x11C,//p5
0x115,//p6
0x142,//p7
0x1B7,//p8
0x12F,//p9
0x113,//p10
0x112,//p11
0x10A,//p12
0x111,//p13
0x10B,//p14
0x106,//p15
0xE1,
0x109,//p1
0x116,//p2
0x12D,//p3
0x10D,//p4
0x113,//p5
0x115,//p6
0x140,//p7
0x148,//p8
0x153,//p9
0x10C,//p10
0x11D,//p11
0x125,//p12
0x12E,//p13
0x134,//p14
0x139,//p15
0x33, // scroll setup
0x100,
0x100,
0x100,
0x1C1,
0x100,
0x100,
0x29, // Display On
0x2C}, // write gram
*/
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