Colony

/**

 * Copyright (c) 2007 Colony Project

 *

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 *

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 *

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file lcd.c

 * @brief LCD

 *

 * Implementation of functions for using the LCD.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#include <avr/io.h>

#include <avr/pgmspace.h>

#include "lcd.h"

#include "time.h"

//LCD defines

#define RST _BV(4)  // pd4 (GPIO)

#define SCE _BV(0)  // pb0 (~SS)

#define D_C _BV(5)  // pd5 (GPIO?)

#define SDI _BV(2)  // pb2 (MOSI)

#define SCK _BV(1) // pb1 (SCK)

#define LCDPORT PORTB

#define LCDDDR DDRB

#define LCDRESETPORT PORTD

#define LCDRESETDDR DDRD

void lcd_putbyte(unsigned char b);

//**************************************Old shit below!*****************

/*

  FontLookup - a lookup table for all characters

*/

static const unsigned char FontLookup [][5] PROGMEM =

  {

    { 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

  };

/**

 * @defgroup lcd LCD

 * @brief Functions for the LCD

 * Functions for writing to the LCD.

 * All functions may be found in lcd.h.

 *

 * @{

 **/

/**

 * Initializes the LCD. Must be called before any other

 * LCD functions.

 **/

void lcd_init(void) {

  LCDDDR |= (SCE | SDI | SCK);

  LCDRESETDDR |= (RST|D_C);

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

  LCDRESETPORT &=~(D_C);

  SPCR |= 0x50;//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.

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

  lcd_clear_screen();

}

/**

 * Clears the LCD screen. lcd_init must be called first.

 *

 * @see lcd_init

 **/

void lcd_clear_screen( void ) {

  int i;

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

    lcd_putbyte(0x0);

  lcd_gotoxy(0,0);

}

/**

 * Prints a character on the LCD screen. lcd_init

 * must be called before this function may be used.

 *

 * Note: pgm_read_byte() is untested

 *

 * @param c the character to print

 *

 * @see lcd_init

 **/

void lcd_putc(char c) {

  int i;

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

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

  lcd_putbyte(0);

}

/*

  print an entire string to the lcd

*/

void lcd_puts(char *s) {

  char *t = s;

  while (*t != 0) {

    lcd_putc(*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

*/

/**

 * Move the current cursor position to the one specified.

 * lcd_init must be called before this function may be used.

 *

 * @param x The x coordinate of the new position

 * @param y The y coordinate of the new position

 *

 * @see lcd_init

 **/

void lcd_gotoxy(int x, int y) {

  LCDRESETPORT &= ~(D_C);

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

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

  LCDRESETPORT |= D_C;

}

/*

  prints an int to the lcd

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

*/

/**

 * Print an integer to the LCD screen.

 * lcd_init must be called before this function may be used.

 *

 * @param value the integer to print

 *

 * @see lcd_init

 **/

void lcd_puti(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_putc('-');

    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_putc(lcd_data[position]);

  return;

}

/** @} **/ //end defgroup

void lcd_putbyte(unsigned char b) {

  SPDR = b;

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

}