Colony

/*

lcd-ar2.c - implementation for lcd functions

Author: CMU Robotics Club, Colony Project

This uses SPI.

lcd_init MUST be called before anything can be used.

*/

#include <avr/io.h>

#include "lcd.h"

#include "time.h"

/*

FontLookup - a lookup table for all characters

*/

static const unsigned char FontLookup [][5] =

{

    { 0x00, 0x00, 0x00, 0x00, 0x00 },  // sp

    { 0x00, 0x00, 0x5f, 0x00, 0x00 },   // !

    { 0x00, 0x07, 0x00, 0x07, 0x00 },   // "

    { 0x14, 0x7f, 0x14, 0x7f, 0x14 },   // #

    { 0x24, 0x2a, 0x7f, 0x2a, 0x12 },   // $

        { 0x23, 0x13, 0x08, 0x64, 0x62 },   // %

    { 0x36, 0x49, 0x55, 0x22, 0x50 },   // &

    { 0x00, 0x05, 0x03, 0x00, 0x00 },   // '

    { 0x00, 0x1c, 0x22, 0x41, 0x00 },   // (

    { 0x00, 0x41, 0x22, 0x1c, 0x00 },   // )

    { 0x14, 0x08, 0x3E, 0x08, 0x14 },   // *

    { 0x08, 0x08, 0x3E, 0x08, 0x08 },   // +

    { 0x00, 0x00, 0x50, 0x30, 0x00 },   // ,

    { 0x10, 0x10, 0x10, 0x10, 0x10 },   // -

    { 0x00, 0x60, 0x60, 0x00, 0x00 },   // .

    { 0x20, 0x10, 0x08, 0x04, 0x02 },   // /

    { 0x3E, 0x51, 0x49, 0x45, 0x3E },   // 0

    { 0x00, 0x42, 0x7F, 0x40, 0x00 },   // 1

    { 0x42, 0x61, 0x51, 0x49, 0x46 },   // 2

    { 0x21, 0x41, 0x45, 0x4B, 0x31 },   // 3

    { 0x18, 0x14, 0x12, 0x7F, 0x10 },   // 4

    { 0x27, 0x45, 0x45, 0x45, 0x39 },   // 5

    { 0x3C, 0x4A, 0x49, 0x49, 0x30 },   // 6

    { 0x01, 0x71, 0x09, 0x05, 0x03 },   // 7

    { 0x36, 0x49, 0x49, 0x49, 0x36 },   // 8

    { 0x06, 0x49, 0x49, 0x29, 0x1E },   // 9

    { 0x00, 0x36, 0x36, 0x00, 0x00 },   // :

    { 0x00, 0x56, 0x36, 0x00, 0x00 },   // ;

    { 0x08, 0x14, 0x22, 0x41, 0x00 },   // <

    { 0x14, 0x14, 0x14, 0x14, 0x14 },   // =

    { 0x00, 0x41, 0x22, 0x14, 0x08 },   // >

    { 0x02, 0x01, 0x51, 0x09, 0x06 },   // ?

    { 0x32, 0x49, 0x59, 0x51, 0x3E },   // @

    { 0x7E, 0x11, 0x11, 0x11, 0x7E },   // A

    { 0x7F, 0x49, 0x49, 0x49, 0x36 },   // B

    { 0x3E, 0x41, 0x41, 0x41, 0x22 },   // C

    { 0x7F, 0x41, 0x41, 0x22, 0x1C },   // D

    { 0x7F, 0x49, 0x49, 0x49, 0x41 },   // E

    { 0x7F, 0x09, 0x09, 0x09, 0x01 },   // F

    { 0x3E, 0x41, 0x49, 0x49, 0x7A },   // G

    { 0x7F, 0x08, 0x08, 0x08, 0x7F },   // H

    { 0x00, 0x41, 0x7F, 0x41, 0x00 },   // I

    { 0x20, 0x40, 0x41, 0x3F, 0x01 },   // J

    { 0x7F, 0x08, 0x14, 0x22, 0x41 },   // K

    { 0x7F, 0x40, 0x40, 0x40, 0x40 },   // L

    { 0x7F, 0x02, 0x0C, 0x02, 0x7F },   // M

    { 0x7F, 0x04, 0x08, 0x10, 0x7F },   // N

    { 0x3E, 0x41, 0x41, 0x41, 0x3E },   // O

    { 0x7F, 0x09, 0x09, 0x09, 0x06 },   // P

    { 0x3E, 0x41, 0x51, 0x21, 0x5E },   // Q

    { 0x7F, 0x09, 0x19, 0x29, 0x46 },   // R

    { 0x46, 0x49, 0x49, 0x49, 0x31 },   // S

    { 0x01, 0x01, 0x7F, 0x01, 0x01 },   // T

    { 0x3F, 0x40, 0x40, 0x40, 0x3F },   // U

    { 0x1F, 0x20, 0x40, 0x20, 0x1F },   // V

    { 0x3F, 0x40, 0x38, 0x40, 0x3F },   // W

    { 0x63, 0x14, 0x08, 0x14, 0x63 },   // X

    { 0x07, 0x08, 0x70, 0x08, 0x07 },   // Y

    { 0x61, 0x51, 0x49, 0x45, 0x43 },   // Z

    { 0x00, 0x7F, 0x41, 0x41, 0x00 },   // [

    { 0x02, 0x04, 0x08, 0x10, 0x20 },   // backslash

    { 0x00, 0x41, 0x41, 0x7F, 0x00 },   // ]

    { 0x04, 0x02, 0x01, 0x02, 0x04 },   // ^

    { 0x40, 0x40, 0x40, 0x40, 0x40 },   // _

    { 0x00, 0x01, 0x02, 0x04, 0x00 },   // '

    { 0x20, 0x54, 0x54, 0x54, 0x78 },   // a

    { 0x7F, 0x48, 0x44, 0x44, 0x38 },   // b

    { 0x38, 0x44, 0x44, 0x44, 0x20 },   // c

    { 0x38, 0x44, 0x44, 0x48, 0x7F },   // d

    { 0x38, 0x54, 0x54, 0x54, 0x18 },   // e

    { 0x08, 0x7E, 0x09, 0x01, 0x02 },   // f

    { 0x0C, 0x52, 0x52, 0x52, 0x3E },   // g

    { 0x7F, 0x08, 0x04, 0x04, 0x78 },   // h

    { 0x00, 0x44, 0x7D, 0x40, 0x00 },   // i

    { 0x20, 0x40, 0x44, 0x3D, 0x00 },   // j

    { 0x7F, 0x10, 0x28, 0x44, 0x00 },   // k

    { 0x00, 0x41, 0x7F, 0x40, 0x00 },   // l

    { 0x7C, 0x04, 0x18, 0x04, 0x78 },   // m

    { 0x7C, 0x08, 0x04, 0x04, 0x78 },   // n

    { 0x38, 0x44, 0x44, 0x44, 0x38 },   // o

    { 0x7C, 0x14, 0x14, 0x14, 0x08 },   // p

    { 0x08, 0x14, 0x14, 0x18, 0x7C },   // q

    { 0x7C, 0x08, 0x04, 0x04, 0x08 },   // r

    { 0x48, 0x54, 0x54, 0x54, 0x20 },   // s

    { 0x04, 0x3F, 0x44, 0x40, 0x20 },   // t

    { 0x3C, 0x40, 0x40, 0x20, 0x7C },   // u

    { 0x1C, 0x20, 0x40, 0x20, 0x1C },   // v

    { 0x3C, 0x40, 0x30, 0x40, 0x3C },   // w

    { 0x44, 0x28, 0x10, 0x28, 0x44 },   // x

    { 0x0C, 0x50, 0x50, 0x50, 0x3C },   // y

    { 0x44, 0x64, 0x54, 0x4C, 0x44 },    // z

    { 0x00, 0x08, 0x36, 0x41, 0x41 },   // {

    { 0x00, 0x00, 0x7F, 0x00, 0x00 },   // |

    { 0x41, 0x41, 0x36, 0x08, 0x00 },   // }

    { 0x02, 0x01, 0x01, 0x02, 0x01 },   // ~

    { 0x55, 0x2A, 0x55, 0x2A, 0x55 },   // del

};

/*

initializes the LCD

*/

void lcd_init(void)

{

        LCDDDR |= (D_C | SCE | SDI | SCK);

        LCDRESETDDR |= RST;

        LCDPORT &= ~(D_C | SCE | SDI | SCK);

        SPCR |= 0b01010000; // no SPI int, SPI en, Master, sample on rising edge, fosc/2

        SPSR |= 0x01;       // a continuation of the above

        LCDRESETPORT |= RST;

        delay_ms(10);

        LCDRESETPORT &= (~RST);

        delay_ms(100);

        LCDRESETPORT |= RST;

    lcd_putbyte( 0x21 );  // LCD Extended Commands.

    lcd_putbyte( 0xC8 );  // Set LCD Vop (Contrast).

    lcd_putbyte( 0x06 );  // Set Temp coefficent.

    lcd_putbyte( 0x13 );  // LCD bias mode 1:48.

    lcd_putbyte( 0x20 );  // LCD Standard Commands, Horizontal addressing mode.

    lcd_putbyte( 0x0C );  // LCD in normal mode.

        LCDPORT |= D_C;                //put it in init instead of main

        lcd_clear_screen();

}

/*

clear the lcd screen

*/

void lcd_clear_screen( void ) {

        int i;

        for (i = 0; i < 504; i++)

                        lcd_putbyte(0x0);

        lcd_gotoxy(0,0);

}

/*

print a byte on the lcd screen

*/

void lcd_putbyte(unsigned char b)

{

        SPDR = b;

        while (!(SPSR & 0x80)); /* Wait until SPI transaction is complete */

}

/*

print a character on the lcd

*/

void lcd_putchar(char c)

{

        int i;

        for (i = 0; i < 5; i++)

                lcd_putbyte(FontLookup[c-32][i]);

        lcd_putbyte(0);

}

/*

print an entire string to the lcd

*/

void lcd_putstr(char *s)

{

        char *t = s;

        while (*t != 0)

        {

                lcd_putchar(*t);

                t++;

        }

}

/*

go to coordinate x, y

y: vertically - 1 char

x: horizontally - 1 pixel

multiply x by 6 if want to move 1 entire character

origin (0,0) is at top left corner of lcd screen

*/

void lcd_gotoxy(int x, int y)

{

  LCDPORT &= ~(D_C);

  lcd_putbyte(0x40 | (y & 0x07));

  lcd_putbyte(0x80 | (x & 0x7f));

  LCDPORT |= D_C;

}

/*

prints an int to the lcd

code adapted from Chris Efstathiou's code (hendrix@otenet.gr)

*/

void lcd_putint(int value ) {

        unsigned char lcd_data[6]={'0','0','0','0','0','0' }, position=sizeof(lcd_data), radix=10; 

        /* convert int to ascii  */ 

        if(value<0) { lcd_putchar('-'); value=-value; }    

        do { position--; *(lcd_data+position)=(value%radix)+'0'; value/=radix;  } while(value); 

        /* start displaying the number */

        for(;position<=(sizeof(lcd_data)-1);position++)

          {

            lcd_putchar(lcd_data[position]);

          }

return;

}