Quadrotor

#include "LiquidCrystal.h"

#include <stdio.h>

#include <string.h>

#include <inttypes.h>

#include "Arduino.h"

// When the display powers up, it is configured as follows:

//

// 1. Display clear

// 2. Function set: 

//    DL = 1; 8-bit interface data 

//    N = 0; 1-line display 

//    F = 0; 5x8 dot character font 

// 3. Display on/off control: 

//    D = 0; Display off 

//    C = 0; Cursor off 

//    B = 0; Blinking off 

// 4. Entry mode set: 

//    I/D = 1; Increment by 1 

//    S = 0; No shift 

//

// Note, however, that resetting the Arduino doesn't reset the LCD, so we

// can't assume that its in that state when a sketch starts (and the

// LiquidCrystal constructor is called).

LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable,

                             uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3,

                             uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7)

{

  init(0, rs, rw, enable, d0, d1, d2, d3, d4, d5, d6, d7);

}

LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t enable,

                             uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3,

                             uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7)

{

  init(0, rs, 255, enable, d0, d1, d2, d3, d4, d5, d6, d7);

}

LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable,

                             uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3)

{

  init(1, rs, rw, enable, d0, d1, d2, d3, 0, 0, 0, 0);

}

LiquidCrystal::LiquidCrystal(uint8_t rs,  uint8_t enable,

                             uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3)

{

  init(1, rs, 255, enable, d0, d1, d2, d3, 0, 0, 0, 0);

}

void LiquidCrystal::init(uint8_t fourbitmode, uint8_t rs, uint8_t rw, uint8_t enable,

                         uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3,

                         uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7)

{

  _rs_pin = rs;

  _rw_pin = rw;

  _enable_pin = enable;

  _data_pins[0] = d0;

  _data_pins[1] = d1;

  _data_pins[2] = d2;

  _data_pins[3] = d3; 

  _data_pins[4] = d4;

  _data_pins[5] = d5;

  _data_pins[6] = d6;

  _data_pins[7] = d7; 

  pinMode(_rs_pin, OUTPUT);

  // we can save 1 pin by not using RW. Indicate by passing 255 instead of pin#

  if (_rw_pin != 255) { 

    pinMode(_rw_pin, OUTPUT);

  }

  pinMode(_enable_pin, OUTPUT);

  if (fourbitmode)

    _displayfunction = LCD_4BITMODE | LCD_1LINE | LCD_5x8DOTS;

  else 

    _displayfunction = LCD_8BITMODE | LCD_1LINE | LCD_5x8DOTS;

  begin(16, 1);  

}

void LiquidCrystal::begin(uint8_t cols, uint8_t lines, uint8_t dotsize) {

  if (lines > 1) {

    _displayfunction |= LCD_2LINE;

  }

  _numlines = lines;

  _currline = 0;

  // for some 1 line displays you can select a 10 pixel high font

  if ((dotsize != 0) && (lines == 1)) {

    _displayfunction |= LCD_5x10DOTS;

  }

  // SEE PAGE 45/46 FOR INITIALIZATION SPECIFICATION!

  // according to datasheet, we need at least 40ms after power rises above 2.7V

  // before sending commands. Arduino can turn on way befer 4.5V so we'll wait 50

  delayMicroseconds(50000); 

  // Now we pull both RS and R/W low to begin commands

  digitalWrite(_rs_pin, LOW);

  digitalWrite(_enable_pin, LOW);

  if (_rw_pin != 255) { 

    digitalWrite(_rw_pin, LOW);

  }

  //put the LCD into 4 bit or 8 bit mode

  if (! (_displayfunction & LCD_8BITMODE)) {

    // this is according to the hitachi HD44780 datasheet

    // figure 24, pg 46

    // we start in 8bit mode, try to set 4 bit mode

    write4bits(0x03);

    delayMicroseconds(4500); // wait min 4.1ms

    // second try

    write4bits(0x03);

    delayMicroseconds(4500); // wait min 4.1ms

    // third go!

    write4bits(0x03); 

    delayMicroseconds(150);

    // finally, set to 4-bit interface

    write4bits(0x02); 

  } else {

    // this is according to the hitachi HD44780 datasheet

    // page 45 figure 23

    // Send function set command sequence

    command(LCD_FUNCTIONSET | _displayfunction);

    delayMicroseconds(4500);  // wait more than 4.1ms

    // second try

    command(LCD_FUNCTIONSET | _displayfunction);

    delayMicroseconds(150);

    // third go

    command(LCD_FUNCTIONSET | _displayfunction);

  }

  // finally, set # lines, font size, etc.

  command(LCD_FUNCTIONSET | _displayfunction);  

  // turn the display on with no cursor or blinking default

  _displaycontrol = LCD_DISPLAYON | LCD_CURSOROFF | LCD_BLINKOFF;  

  display();

  // clear it off

  clear();

  // Initialize to default text direction (for romance languages)

  _displaymode = LCD_ENTRYLEFT | LCD_ENTRYSHIFTDECREMENT;

  // set the entry mode

  command(LCD_ENTRYMODESET | _displaymode);

}

/********** high level commands, for the user! */

void LiquidCrystal::clear()

{

  command(LCD_CLEARDISPLAY);  // clear display, set cursor position to zero

  delayMicroseconds(2000);  // this command takes a long time!

}

void LiquidCrystal::home()

{

  command(LCD_RETURNHOME);  // set cursor position to zero

  delayMicroseconds(2000);  // this command takes a long time!

}

void LiquidCrystal::setCursor(uint8_t col, uint8_t row)

{

  int row_offsets[] = { 0x00, 0x40, 0x14, 0x54 };

  if ( row >= _numlines ) {

    row = _numlines-1;    // we count rows starting w/0

  }

  command(LCD_SETDDRAMADDR | (col + row_offsets[row]));

}

// Turn the display on/off (quickly)

void LiquidCrystal::noDisplay() {

  _displaycontrol &= ~LCD_DISPLAYON;

  command(LCD_DISPLAYCONTROL | _displaycontrol);

}

void LiquidCrystal::display() {

  _displaycontrol |= LCD_DISPLAYON;

  command(LCD_DISPLAYCONTROL | _displaycontrol);

}

// Turns the underline cursor on/off

void LiquidCrystal::noCursor() {

  _displaycontrol &= ~LCD_CURSORON;

  command(LCD_DISPLAYCONTROL | _displaycontrol);

}

void LiquidCrystal::cursor() {

  _displaycontrol |= LCD_CURSORON;

  command(LCD_DISPLAYCONTROL | _displaycontrol);

}

// Turn on and off the blinking cursor

void LiquidCrystal::noBlink() {

  _displaycontrol &= ~LCD_BLINKON;

  command(LCD_DISPLAYCONTROL | _displaycontrol);

}

void LiquidCrystal::blink() {

  _displaycontrol |= LCD_BLINKON;

  command(LCD_DISPLAYCONTROL | _displaycontrol);

}

// These commands scroll the display without changing the RAM

void LiquidCrystal::scrollDisplayLeft(void) {

  command(LCD_CURSORSHIFT | LCD_DISPLAYMOVE | LCD_MOVELEFT);

}

void LiquidCrystal::scrollDisplayRight(void) {

  command(LCD_CURSORSHIFT | LCD_DISPLAYMOVE | LCD_MOVERIGHT);

}

// This is for text that flows Left to Right

void LiquidCrystal::leftToRight(void) {

  _displaymode |= LCD_ENTRYLEFT;

  command(LCD_ENTRYMODESET | _displaymode);

}

// This is for text that flows Right to Left

void LiquidCrystal::rightToLeft(void) {

  _displaymode &= ~LCD_ENTRYLEFT;

  command(LCD_ENTRYMODESET | _displaymode);

}

// This will 'right justify' text from the cursor

void LiquidCrystal::autoscroll(void) {

  _displaymode |= LCD_ENTRYSHIFTINCREMENT;

  command(LCD_ENTRYMODESET | _displaymode);

}

// This will 'left justify' text from the cursor

void LiquidCrystal::noAutoscroll(void) {

  _displaymode &= ~LCD_ENTRYSHIFTINCREMENT;

  command(LCD_ENTRYMODESET | _displaymode);

}

// Allows us to fill the first 8 CGRAM locations

// with custom characters

void LiquidCrystal::createChar(uint8_t location, uint8_t charmap[]) {

  location &= 0x7; // we only have 8 locations 0-7

  command(LCD_SETCGRAMADDR | (location << 3));

  for (int i=0; i<8; i++) {

    write(charmap[i]);

  }

}

/*********** mid level commands, for sending data/cmds */

inline void LiquidCrystal::command(uint8_t value) {

  send(value, LOW);

}

inline size_t LiquidCrystal::write(uint8_t value) {

  send(value, HIGH);

  return 1; // assume sucess

}

/************ low level data pushing commands **********/

// write either command or data, with automatic 4/8-bit selection

void LiquidCrystal::send(uint8_t value, uint8_t mode) {

  digitalWrite(_rs_pin, mode);

  // if there is a RW pin indicated, set it low to Write

  if (_rw_pin != 255) { 

    digitalWrite(_rw_pin, LOW);

  }

  if (_displayfunction & LCD_8BITMODE) {

    write8bits(value); 

  } else {

    write4bits(value>>4);

    write4bits(value);

  }

}

void LiquidCrystal::pulseEnable(void) {

  digitalWrite(_enable_pin, LOW);

  delayMicroseconds(1);    

  digitalWrite(_enable_pin, HIGH);

  delayMicroseconds(1);    // enable pulse must be >450ns

  digitalWrite(_enable_pin, LOW);

  delayMicroseconds(100);   // commands need > 37us to settle

}

void LiquidCrystal::write4bits(uint8_t value) {

  for (int i = 0; i < 4; i++) {

    pinMode(_data_pins[i], OUTPUT);

    digitalWrite(_data_pins[i], (value >> i) & 0x01);

  }

  pulseEnable();

}

void LiquidCrystal::write8bits(uint8_t value) {

  for (int i = 0; i < 8; i++) {

    pinMode(_data_pins[i], OUTPUT);

    digitalWrite(_data_pins[i], (value >> i) & 0x01);

  }

  pulseEnable();

}