Prusa-Firmware/Firmware/LiquidCrystal_Prusa.cpp

#include "LiquidCrystal_Prusa.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 it's in that state when a sketch starts (and the
// LiquidCrystal_Prusa constructor is called).

LiquidCrystal_Prusa::LiquidCrystal_Prusa(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_Prusa::LiquidCrystal_Prusa(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_Prusa::LiquidCrystal_Prusa(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_Prusa::LiquidCrystal_Prusa(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_Prusa::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_Prusa::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);  
  delayMicroseconds(60);
  // turn the display on with no cursor or blinking default
  _displaycontrol = LCD_DISPLAYON | LCD_CURSOROFF | LCD_BLINKOFF;  
  display();
  delayMicroseconds(60);
  // clear it off
  clear();
  delayMicroseconds(3000);
  // Initialize to default text direction (for romance languages)
  _displaymode = LCD_ENTRYLEFT | LCD_ENTRYSHIFTDECREMENT;
  // set the entry mode
  command(LCD_ENTRYMODESET | _displaymode);
  delayMicroseconds(60);

  _escape[0] = 0;

}



void LiquidCrystal_Prusa::begin_noclear(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);  
  delayMicroseconds(60);

  // turn the display on with no cursor or blinking default
  _displaycontrol = LCD_DISPLAYON | LCD_CURSOROFF | LCD_BLINKOFF;  
  display();
  delayMicroseconds(60);
  // clear it off
  //clear();

  home();
  delayMicroseconds(1600);
  // Initialize to default text direction (for romance languages)
  _displaymode = LCD_ENTRYLEFT | LCD_ENTRYSHIFTDECREMENT;
  // set the entry mode
  command(LCD_ENTRYMODESET | _displaymode);
  delayMicroseconds(60);

  setCursor(8,0);
  print("    ");
  setCursor(8,1);
  print("    ");
  setCursor(6,2);
  print("      ");


}




/********** high level commands, for the user! */
void LiquidCrystal_Prusa::clear()
{
  command(LCD_CLEARDISPLAY);  // clear display, set cursor position to zero
  delayMicroseconds(1600);  // this command takes a long time
  
}

void LiquidCrystal_Prusa::home()
{
  command(LCD_RETURNHOME);  // set cursor position to zero
  delayMicroseconds(1600);  // this command takes a long time!
  
}

void LiquidCrystal_Prusa::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
  }
  _currline = row;  
  command(LCD_SETDDRAMADDR | (col + row_offsets[row]));
}

// Turn the display on/off (quickly)
void LiquidCrystal_Prusa::noDisplay() {
  _displaycontrol &= ~LCD_DISPLAYON;
  command(LCD_DISPLAYCONTROL | _displaycontrol);
}
void LiquidCrystal_Prusa::display() {
  _displaycontrol |= LCD_DISPLAYON;
  command(LCD_DISPLAYCONTROL | _displaycontrol);
}

// Turns the underline cursor on/off
void LiquidCrystal_Prusa::noCursor() {
  _displaycontrol &= ~LCD_CURSORON;
  command(LCD_DISPLAYCONTROL | _displaycontrol);
}
void LiquidCrystal_Prusa::cursor() {
  _displaycontrol |= LCD_CURSORON;
  command(LCD_DISPLAYCONTROL | _displaycontrol);
}

// Turn on and off the blinking cursor
void LiquidCrystal_Prusa::noBlink() {
  _displaycontrol &= ~LCD_BLINKON;
  command(LCD_DISPLAYCONTROL | _displaycontrol);
}
void LiquidCrystal_Prusa::blink() {
  _displaycontrol |= LCD_BLINKON;
  command(LCD_DISPLAYCONTROL | _displaycontrol);
}

// These commands scroll the display without changing the RAM
void LiquidCrystal_Prusa::scrollDisplayLeft(void) {
  command(LCD_CURSORSHIFT | LCD_DISPLAYMOVE | LCD_MOVELEFT);
}
void LiquidCrystal_Prusa::scrollDisplayRight(void) {
  command(LCD_CURSORSHIFT | LCD_DISPLAYMOVE | LCD_MOVERIGHT);
}

// This is for text that flows Left to Right
void LiquidCrystal_Prusa::leftToRight(void) {
  _displaymode |= LCD_ENTRYLEFT;
  command(LCD_ENTRYMODESET | _displaymode);
}

// This is for text that flows Right to Left
void LiquidCrystal_Prusa::rightToLeft(void) {
  _displaymode &= ~LCD_ENTRYLEFT;
  command(LCD_ENTRYMODESET | _displaymode);
}

// This will 'right justify' text from the cursor
void LiquidCrystal_Prusa::autoscroll(void) {
  _displaymode |= LCD_ENTRYSHIFTINCREMENT;
  command(LCD_ENTRYMODESET | _displaymode);
}

// This will 'left justify' text from the cursor
void LiquidCrystal_Prusa::noAutoscroll(void) {
  _displaymode &= ~LCD_ENTRYSHIFTINCREMENT;
  command(LCD_ENTRYMODESET | _displaymode);
}

// Allows us to fill the first 8 CGRAM locations
// with custom characters
void LiquidCrystal_Prusa::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++)
    send(charmap[i], HIGH);
}

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

inline void LiquidCrystal_Prusa::command(uint8_t value) {
  send(value, LOW);
}

inline size_t LiquidCrystal_Prusa::write(uint8_t value) {
  if (value == '\n')
  {
    if (_currline > 3) _currline = -1;
	setCursor(0, _currline + 1); // LF
	return 1;
  }
  if (_escape[0] || (value == 0x1b))
    return escape_write(value);
  send(value, HIGH);
  return 1; // assume sucess
}

//Supported VT100 escape codes:
//EraseScreen  "\x1b[2J"
//CursorHome   "\x1b[%d;%dH"
//CursorShow   "\x1b[?25h"
//CursorHide   "\x1b[?25l"

inline size_t LiquidCrystal_Prusa::escape_write(uint8_t chr)
{
#define escape_cnt (_escape[0])        //escape character counter
#define is_num_msk (_escape[1])        //numeric character bit mask
#define chr_is_num (is_num_msk & 0x01) //current character is numeric
#define e_2_is_num (is_num_msk & 0x04) //escape char 2 is numeric
#define e_3_is_num (is_num_msk & 0x08) //...
#define e_4_is_num (is_num_msk & 0x10)
#define e_5_is_num (is_num_msk & 0x20)
#define e_6_is_num (is_num_msk & 0x40)
#define e_7_is_num (is_num_msk & 0x80)
#define e2_num (_escape[2] - '0')      //number from character 2
#define e3_num (_escape[3] - '0')      //number from character 3
#define e23_num (10*e2_num+e3_num)     //number from characters 2 and 3
#define e4_num (_escape[4] - '0')      //number from character 4
#define e5_num (_escape[5] - '0')      //number from character 5
#define e45_num (10*e4_num+e5_num)     //number from characters 4 and 5
#define e6_num (_escape[6] - '0')      //number from character 6
#define e56_num (10*e5_num+e6_num)     //number from characters 5 and 6
	if (escape_cnt > 1) // escape length > 1 = "\x1b["
	{
		_escape[escape_cnt] = chr; // store current char
		if ((chr >= '0') && (chr <= '9')) // char is numeric
			is_num_msk |= (1 | (1 << escape_cnt)); //set mask
		else
			is_num_msk &= ~1; //clear mask
	}
	switch (escape_cnt++)
	{
	case 0:
		if (chr == 0x1b) return 1;  // escape = "\x1b"
		break;
	case 1:
		is_num_msk = 0x00; // reset 'is number' bit mask
		if (chr == '[') return 1; // escape = "\x1b["
		break;
	case 2:
		switch (chr)
		{
		case '2': return 1; // escape = "\x1b[2"
		case '?': return 1; // escape = "\x1b[?"
		default:
			if (chr_is_num) return 1; // escape = "\x1b[%1d"
		}
		break;
	case 3:
		switch (_escape[2])
		{
		case '?': // escape = "\x1b[?"
			if (chr == '2') return 1; // escape = "\x1b[?2"
			break;
		case '2':
			if (chr == 'J') // escape = "\x1b[2J"
				{ clear(); _currline = 0; break; } // EraseScreen
		default:
			if (e_2_is_num && // escape = "\x1b[%1d"
				((chr == ';') || // escape = "\x1b[%1d;"
				chr_is_num)) // escape = "\x1b[%2d"
				return 1;
		}
		break;
	case 4:
		switch (_escape[2])
		{
		case '?': // "\x1b[?"
			if ((_escape[3] == '2') && (chr == '5')) return 1; // escape = "\x1b[?25"
			break;
		default:
			if (e_2_is_num) // escape = "\x1b[%1d"
			{
				if ((_escape[3] == ';') && chr_is_num) return 1; // escape = "\x1b[%1d;%1d"
				else if (e_3_is_num && (chr == ';')) return 1; // escape = "\x1b[%2d;"
			}
		}
		break;
	case 5:
		switch (_escape[2])
		{
		case '?':
			if ((_escape[3] == '2') && (_escape[4] == '5')) // escape = "\x1b[?25"
				switch (chr)
				{
				case 'h': // escape = "\x1b[?25h"
  					void cursor(); // CursorShow
					break;
				case 'l': // escape = "\x1b[?25l"
					noCursor(); // CursorHide
					break;
				}
			break;
		default:
			if (e_2_is_num) // escape = "\x1b[%1d"
			{
				if ((_escape[3] == ';') && e_4_is_num) // escape = "\x1b%1d;%1dH"
				{
					if (chr == 'H') // escape = "\x1b%1d;%1dH"
						setCursor(e4_num, e2_num); // CursorHome
					else if (chr_is_num)
						return 1; // escape = "\x1b%1d;%2d"
				}
				else if (e_3_is_num && (_escape[4] == ';') && chr_is_num)
					return 1; // escape = "\x1b%2d;%1d"
			}
		}
		break;
	case 6:
		if (e_2_is_num) // escape = "\x1b[%1d"
		{
			if ((_escape[3] == ';') && e_4_is_num && e_5_is_num && (chr == 'H')) // escape = "\x1b%1d;%2dH"
				setCursor(e45_num, e2_num); // CursorHome
			else if (e_3_is_num && (_escape[4] == ';') && e_5_is_num) // escape = "\x1b%2d;%1d"
			{
				if (chr == 'H') // escape = "\x1b%2d;%1dH"
					setCursor(e5_num, e23_num); // CursorHome
				else if (chr_is_num) // "\x1b%2d;%2d"
					return 1;
			}
		}
		break;
	case 7:
		if (e_2_is_num && e_3_is_num && (_escape[4] == ';')) // "\x1b[%2d;"
			if (e_5_is_num && e_6_is_num && (chr == 'H')) // "\x1b[%2d;%2dH"
				setCursor(e56_num, e23_num); // CursorHome
		break;
	}
	escape_cnt = 0; // reset escape
end:
	return 1; // assume sucess
}


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

// write either command or data, with automatic 4/8-bit selection
void LiquidCrystal_Prusa::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_Prusa::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_Prusa::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_Prusa::write8bits(uint8_t value) {
  for (int i = 0; i < 8; i++) {
    pinMode(_data_pins[i], OUTPUT);
    digitalWrite(_data_pins[i], (value >> i) & 0x01);
  }
  
  pulseEnable();
}

void LiquidCrystal_Prusa::print(const char* s)
{
	while (*s) write(*(s++));
}

void LiquidCrystal_Prusa::print(char c, int base)
{
  print((long) c, base);
}

void LiquidCrystal_Prusa::print(unsigned char b, int base)
{
  print((unsigned long) b, base);
}

void LiquidCrystal_Prusa::print(int n, int base)
{
  print((long) n, base);
}

void LiquidCrystal_Prusa::print(unsigned int n, int base)
{
  print((unsigned long) n, base);
}

void LiquidCrystal_Prusa::print(long n, int base)
{
  if (base == 0) {
    write(n);
  } else if (base == 10) {
    if (n < 0) {
      print('-');
      n = -n;
    }
    printNumber(n, 10);
  } else {
    printNumber(n, base);
  }
}

void LiquidCrystal_Prusa::print(unsigned long n, int base)
{
  if (base == 0) write(n);
  else printNumber(n, base);
}

void LiquidCrystal_Prusa::print(double n, int digits)
{
  printFloat(n, digits);
}

void LiquidCrystal_Prusa::println(void)
{
  print('\r');
  print('\n');  
}

/*void LiquidCrystal_Prusa::println(const String &s)
{
  print(s);
  println();
}*/

void LiquidCrystal_Prusa::println(const char c[])
{
  print(c);
  println();
}

void LiquidCrystal_Prusa::println(char c, int base)
{
  print(c, base);
  println();
}

void LiquidCrystal_Prusa::println(unsigned char b, int base)
{
  print(b, base);
  println();
}

void LiquidCrystal_Prusa::println(int n, int base)
{
  print(n, base);
  println();
}

void LiquidCrystal_Prusa::println(unsigned int n, int base)
{
  print(n, base);
  println();
}

void LiquidCrystal_Prusa::println(long n, int base)
{
  print(n, base);
  println();
}

void LiquidCrystal_Prusa::println(unsigned long n, int base)
{
  print(n, base);
  println();
}

void LiquidCrystal_Prusa::println(double n, int digits)
{
  print(n, digits);
  println();
}

void LiquidCrystal_Prusa::printNumber(unsigned long n, uint8_t base)
{
  unsigned char buf[8 * sizeof(long)]; // Assumes 8-bit chars. 
  unsigned long i = 0;

  if (n == 0) {
    print('0');
    return;
  } 

  while (n > 0) {
    buf[i++] = n % base;
    n /= base;
  }

  for (; i > 0; i--)
    print((char) (buf[i - 1] < 10 ?
      '0' + buf[i - 1] :
      'A' + buf[i - 1] - 10));
}

void LiquidCrystal_Prusa::printFloat(double number, uint8_t digits) 
{ 
  // Handle negative numbers
  if (number < 0.0)
  {
     print('-');
     number = -number;
  }

  // Round correctly so that print(1.999, 2) prints as "2.00"
  double rounding = 0.5;
  for (uint8_t i=0; i<digits; ++i)
    rounding /= 10.0;
  
  number += rounding;

  // Extract the integer part of the number and print it
  unsigned long int_part = (unsigned long)number;
  double remainder = number - (double)int_part;
  print(int_part);

  // Print the decimal point, but only if there are digits beyond
  if (digits > 0)
    print("."); 

  // Extract digits from the remainder one at a time
  while (digits-- > 0)
  {
    remainder *= 10.0;
    int toPrint = int(remainder);
    print(toPrint);
    remainder -= toPrint; 
  } 
}