Colony

#ifdef FFPP

#include "firefly+_lib.h"

/******************************************************************************/

/*  OLED example.   8 bit mode                                           */

/*      Spark Fun Electronics   5/3/06   OSO                                 */

/******************************************************************************/

/*                                                                            */

/*    STOLEN and hacked to work with SPI, AVR                                             */

/******************************************************************************/

// data bus for LCD, pins on port 0

//#define D0 16

//#define D1 17

//#define D2 18

//#define D3 19

//#define D4 20

//#define D5 21

//#define D6 22

//#define D7 23

// OLED data port

//#define LCD_DATA 0x00FF0000

// other OLED pins

//#define LCD_RW    0x00000080

#define LCD_RS    PB4 // Command/Data

//#define LCD_RD    0x00008000

#define LCD_RSTB  PE2 // reset line

#define LCD_CS    PB0

void drawcircle(char col, char row, char radius, int lcolor,  int fcolor) {

        write_c(0x86);

        write_d(col);

        write_d(row);

        write_d(radius);

        write_d(lcolor>>8);

        write_d(lcolor&0xf);

        write_d(fcolor>>8);

        write_d(fcolor&0xf);

}

void drawrect(char scol, char srow, char ecol, char erow, int lcolor,  int fcolor) {

        write_c(0x84);

        write_d((ecol>scol)?scol:ecol);

        write_d((erow>srow)?srow:erow);

        write_d((ecol<scol)?scol:ecol);

        write_d((erow<srow)?srow:erow);

        write_d(lcolor>>8);

        write_d(lcolor&0xf);

        write_d(fcolor>>8);

        write_d(fcolor&0xf);

}

void drawline(char scol, char srow, char ecol, char erow, int lcolor) {

        write_c(0x83);

        write_d(scol);

        write_d(srow);

        write_d(ecol);

        write_d(erow);

        write_d(lcolor>>8);

        write_d(lcolor&0xf);

}

void drawcopy(char scol, char srow, char ecol, char erow, char ncol, char nrow) {

        write_c(0x8A);

        write_d((ecol>scol)?scol:ecol);

        write_d((erow>srow)?srow:erow);

        write_d((ecol<scol)?scol:ecol);

        write_d((erow<srow)?srow:erow);

        write_d(ncol);

        write_d(nrow);

}

void drawfill(char fill) {

        write_c(0x92);    // fill enable command

        write_d(0x01&fill); 

}

void drawclearwindow(char scol, char srow, char ecol, char erow) {

        write_c(0x8e);    // clear window command

        write_d(scol);

        write_d(srow);

        write_d(ecol);

        write_d(erow);

}

inline void drawclear(void) {

        drawclearwindow(0,0,130,130);

}

void drawscroll(char hoff, char srow, char rows, char speed) {

        write_c(0x96);

        write_d(hoff);

        write_d(srow);

        write_d((srow+rows>132)?132:rows);

        write_d(0x00);

        write_d(speed&0x3);

}

inline void drawscrollstart(void) {

        write_c(0x9F);

}

inline void drawscrollstop(void) {

        write_c(0x9E);

}

#define ROBOSIZE 4

#include "rangefinder.h"

void drawIR(void) {

/*        char d;

        enable_IR();

        drawclear();

        delay_ms(500);

        drawfill(1);

        delay_ms(10);

        drawcircle(64,64-ROBOSIZE,ROBOSIZE,C_BLUE,C_BLUE);

        delay_ms(20);

        drawcircle(64,64+ROBOSIZE,ROBOSIZE,C_BLUE,C_BLUE);

        delay_ms(20);

        drawrect(64-ROBOSIZE,64-ROBOSIZE,64+ROBOSIZE,64+ROBOSIZE,C_BLUE,C_BLUE);

        delay_ms(20);

        while(1){

                d=(convert_IR_distance(read_IR_val(1))-100)>>4;

                if(d>63-ROBOSIZE*2){

                        d=0;//63-ROBOSIZE*2;

                }

//                delay_ms(100);        

                drawclearwindow(63, 0, 65, 63-ROBOSIZE*2);

                drawline(64,63-ROBOSIZE*2-d,64,63-ROBOSIZE*2,C_RED);

                delay_ms(5);

                d=(convert_IR_distance(read_IR_val(0))-100)/11;

                if(d>62-ROBOSIZE){

                        d=0;//64-ROBOSIZE*2;

                }

//                delay_ms(100);        

                drawclearwindow(0, 0, 63-ROBOSIZE, 63-ROBOSIZE);

                delay_ms(5);        

                drawline(63-ROBOSIZE-d,63-ROBOSIZE-d,63-ROBOSIZE,63-ROBOSIZE,C_RED);

                //delay_ms(25);        

                delay_ms(5);

//                d=(convert_IR_distance(read_IR_val(2))-100)/11;

//                if(d>64){

//                        d=0;//64-ROBOSIZE*2;

//                }

//                delay_ms(100);        

//                drawclearwindow(65+ROBOSIZE,0, 128,128);

//                delay_ms(5);        

//                drawline(128-(65+ROBOSIZE+d),128-(65+ROBOSIZE-d),65+ROBOSIZE,(65-ROBOSIZE),C_RED);

//                drawline(64,64-d,64+d,64,C_RED);

                //delay_ms(25);        

//                delay_ms(5);

                d=(convert_IR_distance(read_IR_val(4))-100)>>4;

                if(d>64-ROBOSIZE){

                        d=0;//64-ROBOSIZE;

                }

//                delay_ms(100);        

                drawclearwindow(0, 63+ROBOSIZE, 63-ROBOSIZE, 65+ROBOSIZE);

                drawline(64-ROBOSIZE-d,64+ROBOSIZE,63-ROBOSIZE,64+ROBOSIZE,C_RED);

                delay_ms(5);

                d=(convert_IR_distance(read_IR_val(3))-100)>>4;

                if(d>128-65-ROBOSIZE){

                        d=0;//128-65-ROBOSIZE;

                }

//                delay_ms(100);        

                drawclearwindow(65+ROBOSIZE, 63+ROBOSIZE, 127, 65+ROBOSIZE);

                drawline(65+ROBOSIZE,64+ROBOSIZE,65+ROBOSIZE+d,64+ROBOSIZE,C_RED);

                delay_ms(5);

        }

*/

}

void crazycircle (void) {

  int i;

  // draw 100 random circles

  for(i = 0;i < 100;i++){

/*      write_c(0x86);    // draw circle command

      write_d(rand() % 130);

      write_d(rand() % 130);

      write_d(rand() % 64);

      write_d(rand());

      write_d(rand());

      write_d(rand());

      write_d(rand());

          */

          drawcircle(rand() % 130,rand() % 130,rand() %64, rand(),rand());

      delay_ms(10);

  }

}

void crazyrect (void) {

  int i;

  // draw 100 random circles

  for(i = 0;i < 100;i++){

          drawrect(rand() % 130,rand() % 130,rand() % 130,rand() % 130, rand(),rand());

      delay_ms(10);

  }

}

void OLEDtest (void) {

  //int   i = 0;

  // Initialize

  //Initialize();

  OLED_init();

  delay_ms(120);

  drawclear();

 delay_ms(100);

  drawfill(1);

  delay_ms(10);

//  crazycircle();

//  delay_ms(500);

 // drawscroll(1,0,50,1);

  //drawscrollstart();

  //delay_ms(1000);

  //drawscrollstop();

  //drawcopy(0,0,100,100,50,50);

 // delay_ms(100);

//  drawfill(0);

  //drawcircle(64,64,16,C_RED,C_GREEN);

//  drawcircle(64,64,15,C_RED,C_GREEN);

//  drawcircle(64,64,14,C_RED,C_GREEN);

  drawIR();

/*

  // write directly to ram,  this fills up bottom 1/3 of display with color pattern

  write_c(0x5c);

  for (i = 0; i < 2000; i++){

  write_c(0x5c);  

   write_d(i);

   write_d(i);

   write_d(i);

  }

  */

} 

/**********************************************************

                      Initialize

**********************************************************/

void OLED_init(void)

{

  // Setup SPI here

  SPCR = 0x5D; //  enable SPI, master, SPI mode 3

  DDRB |= 0x06; // enable MOSI and SCK as outputs

  LCD_out(0);

  DC(0);

  CS(0);

  Reset_SSD1339();

  write_c(0xa0); // Set Re-map / Color Depth

  write_d(0x34);//0xb4); // 262K 8bit R->G->B

  write_c(0xa1); // Set display start line

  write_d(0x00); // 00h start

  //write_c(0xa2); // Set display offset

  //write_d(0x80); // 80h start

  write_c(0xA6); // Normal display

  write_c(0xad); // Set Master Configuration

  write_d(0x8e); // DC-DC off & external VcomH voltage & external pre-charge voltage

  write_c(0xb0); // Power saving mode

  write_d(0x05);

  write_c(0xb1); // Set pre & dis_charge

  write_d(0x11); // pre=1h dis=1h

  write_c(0xb3); // clock & frequency

  write_d(0xf0); // clock=Divser+1 frequency=fh

  write_c(0xbb); // Set pre-charge voltage of color A B C

  write_d(0xff); // color A  was 1c

  write_d(0xff); // color B  was 1c

  write_d(0xff); // color C  was 1c

  write_c(0xbe); // Set VcomH

  write_d(0x1f); //

  write_c(0xc1); // Set contrast current for A B C

  write_d(0xCa); // Color A was AA

  write_d(0xD4); // Color B was B4

  write_d(0xF8); // Color C was C8

  write_c(0xc7); // Set master contrast

  write_d(0x0f); // no change

  write_c(0xca); // Duty

  write_d(0x7f); // 127+1

  write_c(0xaf); // Display on

}

void Reset_SSD1339(void)

{

  RES(0);

  delay_ms(100);

  RES(1);

}

void write_c(unsigned char out_command)

{

  DC(0);CS(0);

  //delay_ms(1);

  LCD_out(out_command);

 // delay_ms(1);

  DC(1);

  // potentially add NOP

  CS(1);

}

void write_d(unsigned char out_data)

{

  DC(1);CS(0);

 // delay_ms(1);

  LCD_out(out_data);

 // delay_ms(1);

  DC(1);

  //potentially add NOP

  CS(1);

}

// these functions set / clear pins for LCD control lines.  they accecpt a 0 or 1 

void DC(char stat)

{

        DDRB |= _BV(LCD_RS);                                // RS is P0.30, set to output

        if (stat)        

                PORTB |= _BV(LCD_RS);

        else

                PORTB &= ~(_BV(LCD_RS));

}

void RES(char stat)

{

        DDRE |= _BV(LCD_RSTB);                                // RSTB is P0.7, set to output

        if (stat)        

                PORTE |= _BV(LCD_RSTB);

        else

                PORTE &= ~(_BV(LCD_RSTB));

}

void CS(char stat)

{

        DDRB |= _BV(LCD_CS);                                // RSTB is P0.7, set to output

        if (stat)        

                PORTB |= _BV(LCD_CS);

        else

                PORTB &= ~(_BV(LCD_CS));

}

// send to the LCD

void LCD_out(unsigned char cmd)

{

        SPDR = cmd;

    // could also do this via interrupts

        loop_until_bit_is_set(SPSR, SPIF);

}

#endif