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313 lines
8.7 KiB
313 lines
8.7 KiB
#include "LCrystal.h" |
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#include <stdio.h> |
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#include <string.h> |
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#include <inttypes.h> |
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#include <AP_HAL.h> |
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extern const AP_HAL::HAL& hal; |
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// When the display powers up, it is configured as follows: |
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// |
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// 1. Display clear |
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// 2. Function set: |
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// DL = 1; 8-bit interface data |
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// N = 0; 1-line display |
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// F = 0; 5x8 dot character font |
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// 3. Display on/off control: |
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// D = 0; Display off |
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// C = 0; Cursor off |
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// B = 0; Blinking off |
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// 4. Entry mode set: |
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// I/D = 1; Increment by 1 |
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// S = 0; No shift |
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// |
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// Note, however, that resetting the Arduino doesn't reset the LCD, so we |
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// can't assume that its in that state when a sketch starts (and the |
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// LiquidCrystal constructor is called). |
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LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable, |
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uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3, |
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uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7) |
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{ |
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init(0, rs, rw, enable, d0, d1, d2, d3, d4, d5, d6, d7); |
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} |
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LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t enable, |
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uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3, |
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uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7) |
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{ |
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init(0, rs, 255, enable, d0, d1, d2, d3, d4, d5, d6, d7); |
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} |
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LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable, |
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uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3) |
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{ |
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init(1, rs, rw, enable, d0, d1, d2, d3, 0, 0, 0, 0); |
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} |
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LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t enable, |
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uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3) |
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{ |
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init(1, rs, 255, enable, d0, d1, d2, d3, 0, 0, 0, 0); |
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} |
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void LiquidCrystal::init(uint8_t fourbitmode, uint8_t rs, uint8_t rw, uint8_t enable, |
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uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3, |
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uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7) |
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{ |
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_rs_pin = rs; |
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_rw_pin = rw; |
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_enable_pin = enable; |
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_data_pins[0] = d0; |
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_data_pins[1] = d1; |
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_data_pins[2] = d2; |
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_data_pins[3] = d3; |
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_data_pins[4] = d4; |
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_data_pins[5] = d5; |
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_data_pins[6] = d6; |
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_data_pins[7] = d7; |
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hal.gpio->pinMode(_rs_pin, HAL_GPIO_OUTPUT); |
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// we can save 1 pin by not using RW. Indicate by passing 255 instead of pin# |
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if (_rw_pin != 255) { |
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hal.gpio->pinMode(_rw_pin, HAL_GPIO_OUTPUT); |
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} |
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hal.gpio->pinMode(_enable_pin, HAL_GPIO_OUTPUT); |
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if (fourbitmode) |
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_displayfunction = LCD_4BITMODE | LCD_1LINE | LCD_5x8DOTS; |
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else |
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_displayfunction = LCD_8BITMODE | LCD_1LINE | LCD_5x8DOTS; |
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begin(16, 1); |
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} |
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void LiquidCrystal::begin(uint8_t cols, uint8_t lines, uint8_t dotsize) { |
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if (lines > 1) { |
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_displayfunction |= LCD_2LINE; |
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} |
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_numlines = lines; |
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_currline = 0; |
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// for some 1 line displays you can select a 10 pixel high font |
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if ((dotsize != 0) && (lines == 1)) { |
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_displayfunction |= LCD_5x10DOTS; |
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} |
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// SEE PAGE 45/46 FOR INITIALIZATION SPECIFICATION! |
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// according to datasheet, we need at least 40ms after power rises above 2.7V |
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// before sending commands. Arduino can turn on way befer 4.5V so we'll wait 50 |
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hal.scheduler->delay_microseconds(50000); |
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// Now we pull both RS and R/W low to begin commands |
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hal.gpio->write(_rs_pin, 0); |
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hal.gpio->write(_enable_pin, 0); |
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if (_rw_pin != 255) { |
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hal.gpio->write(_rw_pin, 0); |
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} |
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//put the LCD into 4 bit or 8 bit mode |
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if (! (_displayfunction & LCD_8BITMODE)) { |
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// this is according to the hitachi HD44780 datasheet |
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// figure 24, pg 46 |
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// we start in 8bit mode, try to set 4 bit mode |
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write4bits(0x03); |
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hal.scheduler->delay_microseconds(4500); // wait min 4.1ms |
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// second try |
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write4bits(0x03); |
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hal.scheduler->delay_microseconds(4500); // wait min 4.1ms |
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// third go! |
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write4bits(0x03); |
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hal.scheduler->delay_microseconds(150); |
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// finally, set to 4-bit interface |
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write4bits(0x02); |
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} else { |
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// this is according to the hitachi HD44780 datasheet |
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// page 45 figure 23 |
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// Send function set command sequence |
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command(LCD_FUNCTIONSET | _displayfunction); |
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hal.scheduler->delay_microseconds(4500); // wait more than 4.1ms |
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// second try |
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command(LCD_FUNCTIONSET | _displayfunction); |
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hal.scheduler->delay_microseconds(150); |
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// third go |
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command(LCD_FUNCTIONSET | _displayfunction); |
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} |
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// finally, set # lines, font size, etc. |
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command(LCD_FUNCTIONSET | _displayfunction); |
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// turn the display on with no cursor or blinking default |
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_displaycontrol = LCD_DISPLAYON | LCD_CURSOROFF | LCD_BLINKOFF; |
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display(); |
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// clear it off |
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clear(); |
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// Initialize to default text direction (for romance languages) |
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_displaymode = LCD_ENTRYLEFT | LCD_ENTRYSHIFTDECREMENT; |
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// set the entry mode |
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command(LCD_ENTRYMODESET | _displaymode); |
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} |
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/********** high level commands, for the user! */ |
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void LiquidCrystal::clear() |
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{ |
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command(LCD_CLEARDISPLAY); // clear display, set cursor position to zero |
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hal.scheduler->delay_microseconds(2000); // this command takes a long time! |
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} |
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void LiquidCrystal::home() |
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{ |
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command(LCD_RETURNHOME); // set cursor position to zero |
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hal.scheduler->delay_microseconds(2000); // this command takes a long time! |
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} |
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void LiquidCrystal::setCursor(uint8_t col, uint8_t row) |
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{ |
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int row_offsets[] = { 0x00, 0x40, 0x14, 0x54 }; |
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if ( row >= _numlines ) { |
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row = _numlines-1; // we count rows starting w/0 |
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} |
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command(LCD_SETDDRAMADDR | (col + row_offsets[row])); |
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} |
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// Turn the display on/off (quickly) |
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void LiquidCrystal::noDisplay() { |
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_displaycontrol &= ~LCD_DISPLAYON; |
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command(LCD_DISPLAYCONTROL | _displaycontrol); |
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} |
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void LiquidCrystal::display() { |
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_displaycontrol |= LCD_DISPLAYON; |
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command(LCD_DISPLAYCONTROL | _displaycontrol); |
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} |
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// Turns the underline cursor on/off |
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void LiquidCrystal::noCursor() { |
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_displaycontrol &= ~LCD_CURSORON; |
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command(LCD_DISPLAYCONTROL | _displaycontrol); |
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} |
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void LiquidCrystal::cursor() { |
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_displaycontrol |= LCD_CURSORON; |
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command(LCD_DISPLAYCONTROL | _displaycontrol); |
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} |
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// Turn on and off the blinking cursor |
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void LiquidCrystal::noBlink() { |
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_displaycontrol &= ~LCD_BLINKON; |
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command(LCD_DISPLAYCONTROL | _displaycontrol); |
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} |
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void LiquidCrystal::blink() { |
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_displaycontrol |= LCD_BLINKON; |
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command(LCD_DISPLAYCONTROL | _displaycontrol); |
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} |
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// These commands scroll the display without changing the RAM |
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void LiquidCrystal::scrollDisplayLeft(void) { |
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command(LCD_CURSORSHIFT | LCD_DISPLAYMOVE | LCD_MOVELEFT); |
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} |
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void LiquidCrystal::scrollDisplayRight(void) { |
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command(LCD_CURSORSHIFT | LCD_DISPLAYMOVE | LCD_MOVERIGHT); |
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} |
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// This is for text that flows Left to Right |
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void LiquidCrystal::leftToRight(void) { |
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_displaymode |= LCD_ENTRYLEFT; |
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command(LCD_ENTRYMODESET | _displaymode); |
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} |
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// This is for text that flows Right to Left |
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void LiquidCrystal::rightToLeft(void) { |
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_displaymode &= ~LCD_ENTRYLEFT; |
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command(LCD_ENTRYMODESET | _displaymode); |
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} |
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// This will 'right justify' text from the cursor |
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void LiquidCrystal::autoscroll(void) { |
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_displaymode |= LCD_ENTRYSHIFTINCREMENT; |
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command(LCD_ENTRYMODESET | _displaymode); |
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} |
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// This will 'left justify' text from the cursor |
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void LiquidCrystal::noAutoscroll(void) { |
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_displaymode &= ~LCD_ENTRYSHIFTINCREMENT; |
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command(LCD_ENTRYMODESET | _displaymode); |
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} |
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// Allows us to fill the first 8 CGRAM locations |
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// with custom characters |
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void LiquidCrystal::createChar(uint8_t location, uint8_t charmap[]) { |
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location &= 0x7; // we only have 8 locations 0-7 |
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command(LCD_SETCGRAMADDR | (location << 3)); |
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for (int i=0; i<8; i++) { |
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write(charmap[i]); |
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} |
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} |
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/*********** mid level commands, for sending data/cmds */ |
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inline void LiquidCrystal::command(uint8_t value) { |
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send(value, 0); |
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} |
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inline size_t LiquidCrystal::write(uint8_t value) { |
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send(value, 1); |
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return 1; // assume sucess |
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} |
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/************ low level data pushing commands **********/ |
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// write either command or data, with automatic 4/8-bit selection |
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void LiquidCrystal::send(uint8_t value, uint8_t mode) { |
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hal.gpio->write(_rs_pin, mode); |
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// if there is a RW pin indicated, set it low to Write |
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if (_rw_pin != 255) { |
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hal.gpio->write(_rw_pin, 0); |
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} |
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if (_displayfunction & LCD_8BITMODE) { |
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write8bits(value); |
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} else { |
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write4bits(value>>4); |
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write4bits(value); |
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} |
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} |
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void LiquidCrystal::pulseEnable(void) { |
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hal.gpio->write(_enable_pin, 0); |
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hal.scheduler->delay_microseconds(1); |
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hal.gpio->write(_enable_pin, 1); |
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hal.scheduler->delay_microseconds(1); // enable pulse must be >450ns |
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hal.gpio->write(_enable_pin, 0); |
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hal.scheduler->delay_microseconds(100); // commands need > 37us to settle |
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} |
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void LiquidCrystal::write4bits(uint8_t value) { |
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for (int i = 0; i < 4; i++) { |
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hal.gpio->pinMode(_data_pins[i], HAL_GPIO_OUTPUT); |
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hal.gpio->write(_data_pins[i], (value >> i) & 0x01); |
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} |
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pulseEnable(); |
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} |
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void LiquidCrystal::write8bits(uint8_t value) { |
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for (int i = 0; i < 8; i++) { |
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hal.gpio->pinMode(_data_pins[i], HAL_GPIO_OUTPUT); |
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hal.gpio->write(_data_pins[i], (value >> i) & 0x01); |
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} |
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pulseEnable(); |
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}
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