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@@ -0,0 +1,467 @@
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+#include "all-headers.h"
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+
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+
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+#include <stddef.h>
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+#include <stdbool.h>
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+
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+
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+// http://esd.cs.ucr.edu/labs/interface/interface.html
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+
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+// PORT CONFIGURATION *
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+// LCD D4 : Teensy D16
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+// LCD D5 : Teensy D15
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+// LCD D6 : Teensy D14
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+// LCD D7 : Teensy D19
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+// LCD RS : Teensy D18
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+// LCD E : Teensy D17
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+
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+static const DigitalPort LCD_D4 = DigitalPort::D16 ;
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+
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+static const DigitalPort LCD_D5 = DigitalPort::D15 ;
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+
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+static const DigitalPort LCD_D6 = DigitalPort::D14 ;
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+
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+static const DigitalPort LCD_D7 = DigitalPort::D19 ;
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+
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+static const DigitalPort LCD_RS = DigitalPort::D18 ;
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+
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+static const DigitalPort LCD_E = DigitalPort::D17 ;
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+
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+// UTILITY ROUTINES — ANY MODE *
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+
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+static void driveHighE (void) {
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+ digitalWrite (LCD_E, true) ;
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+}
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+
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+
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+static void driveLowE (void) {
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+ digitalWrite (LCD_E, false) ;
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+}
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+
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+
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+static void driveHighRS (void) {
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+ digitalWrite (LCD_RS, true) ;
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+}
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+
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+
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+static void driveLowRS (void) {
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+ digitalWrite (LCD_RS, false) ;
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+}
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+
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+
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+static void setD4 (const bool inValue) {
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+ digitalWrite (LCD_D4, inValue) ;
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+}
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+
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+
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+static void setD5 (const bool inValue) {
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+ digitalWrite (LCD_D5, inValue) ;
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+}
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+
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+
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+static void setD6 (const bool inValue) {
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+ digitalWrite (LCD_D6, inValue) ;
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+}
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+
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+
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+static void setD7 (const bool inValue) {
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+ digitalWrite (LCD_D7, inValue) ;
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+}
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+
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+
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+static void programLcd4BitDataBusOutput (const uint8_t inValue) {
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+ setD4 ((inValue & 0x01) != 0) ;
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+ setD5 ((inValue & 0x02) != 0) ;
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+ setD6 ((inValue & 0x04) != 0) ;
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+ setD7 ((inValue & 0x08) != 0) ;
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+}
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+
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+// UTILITY ROUTINES — INIT_MODE
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+
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+static void write4BitCommand_initMode (INIT_MODE_ const uint8_t inCommand) {
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+ busyWaitDuring_initMode (MODE_ 1) ;
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+ driveLowRS () ;
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+ programLcd4BitDataBusOutput (inCommand) ;
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+ driveHighE () ;
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+ busyWaitDuring_initMode (MODE_ 1) ;
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+ driveLowE () ;
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+}
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+
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+
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+static void write8bitCommand_initMode (INIT_MODE_ const uint8_t inCommand) {
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+ busyWaitDuring_initMode (MODE_ 1) ;
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+ driveLowRS () ;
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+ programLcd4BitDataBusOutput ((uint8_t) (inCommand >> 4)) ;
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+ driveHighE () ;
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+ busyWaitDuring_initMode (MODE_ 1) ;
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+ driveLowE () ;
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+ busyWaitDuring_initMode (MODE_ 1) ;
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+ programLcd4BitDataBusOutput (inCommand) ;
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+ driveHighE () ;
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+ busyWaitDuring_initMode (MODE_ 1) ;
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+ driveLowE () ;
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+}
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+
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+// LCD INIT
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+
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+static void setupLCD (INIT_MODE) {
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+ // Step 1: Configure ports
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+ pinMode (LCD_D4, DigitalMode::OUTPUT) ;
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+ pinMode (LCD_D5, DigitalMode::OUTPUT) ;
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+ pinMode (LCD_D6, DigitalMode::OUTPUT) ;
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+ pinMode (LCD_D7, DigitalMode::OUTPUT) ;
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+ pinMode (LCD_RS, DigitalMode::OUTPUT) ;
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+ pinMode (LCD_E, DigitalMode::OUTPUT) ;
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+ // Step 2: wait for 15 ms
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+ busyWaitDuring_initMode (MODE_ 15) ;
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+ // Step 3: write command 0x30
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+ write4BitCommand_initMode (MODE_ 0x3) ;
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+ // Step 4: wait for 4,1 ms (actually 5 ms)
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+ busyWaitDuring_initMode (MODE_ 5) ;
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+ // Step 5: write command 0x30 again
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+ write4BitCommand_initMode (MODE_ 0x3) ;
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+ // Step 6: wait for 100 µs (actually 1 ms)
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+ busyWaitDuring_initMode (MODE_ 1) ;
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+ // Step 7: write command 0x30 (third)
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+ write4BitCommand_initMode (MODE_ 0x3) ;
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+ // Step 8: write command 0x20 (4-bit mode)
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+ write4BitCommand_initMode (MODE_ 0x2) ;
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+ // Step 9: write command 'Set Interface Length' : 0 0 1 DL N F * *
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+ // DL : Data interface length : 0 (4 bits)
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+ // N : Number of Display lines : 1 (2 lines)
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+ // F : Character Font : 0 (5x7)
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+ write8bitCommand_initMode (MODE_ 0x28) ;
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+ // Step 10: write command 'Display Off'
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+ write8bitCommand_initMode (MODE_ 0x08) ;
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+ // Step 11: write command 'Clear Display'
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+ write8bitCommand_initMode (MODE_ 0x01) ;
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+ // Step 12: write command 'Set Cursor Move Direction' : 0 0 0 0 0 1 ID S
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+ // ID : Increment Cursor after Each Byte Written to Display : 1 (yes)
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+ // S : Shift Display When Byte Written : 0 (no)
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+ write8bitCommand_initMode (MODE_ 0x06) ;
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+ // Step 13: write command 'Move Cursor / Shift Display' : 0 0 0 1 SC RL * *
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+ // SC : Display Shift On : 1 (oui)
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+ // RL : Direction of Shift : 1 (to right)
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+ write8bitCommand_initMode (MODE_ 0x1C) ;
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+ // Step 14: write command 'Return Cursor and LCD to Home Position'
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+ write8bitCommand_initMode (MODE_ 0x02) ;
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+ // Step 15: write command 'Enable Display / Cursor' : 0 0 0 0 1 D C B
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+ // D : Turn Display On : 1 (yes)
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+ // C : Turn Cursor On : 0 (no)
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+ // B : Cursor Blink On : 0 (no)
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+ write8bitCommand_initMode (MODE_ 0x0C) ;
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+}
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+
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+
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+MACRO_INIT_ROUTINE (setupLCD) ;
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+
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+// UTILITY ROUTINES — USER MODE
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+
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+static void write8bitCommand (USER_MODE_ const uint8_t inCommand) {
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+ busyWaitDuring (MODE_ 1) ;
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+ driveLowRS () ;
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+ programLcd4BitDataBusOutput ((uint8_t) (inCommand >> 4)) ;
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+ driveHighE () ;
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+ busyWaitDuring (MODE_ 1) ;
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+ driveLowE () ;
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+ busyWaitDuring (MODE_ 1) ;
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+ programLcd4BitDataBusOutput (inCommand) ;
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+ driveHighE () ;
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+ busyWaitDuring (MODE_ 1) ;
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+ driveLowE () ;
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+}
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+
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+
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+static void writeData (USER_MODE_ const uint8_t inData) {
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+ busyWaitDuring (MODE_ 1) ;
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+ driveHighRS () ;
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+ programLcd4BitDataBusOutput (inData >> 4) ;
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+ driveHighE () ;
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+ busyWaitDuring (MODE_ 1) ;
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+ driveLowE () ;
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+ busyWaitDuring (MODE_ 1) ;
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+ programLcd4BitDataBusOutput (inData) ;
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+ driveHighE () ;
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+ busyWaitDuring (MODE_ 1) ;
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+ driveLowE () ;
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+}
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+
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+// PRINT ROUTINES — USER MODE
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+
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+void clearScreen (USER_MODE) {
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+ write8bitCommand (MODE_ 0x01) ;
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+}
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+
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+// Line 0 : 00 -> 19
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+// Line 1 : 64 -> 83
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+// Line 2 : 20 -> 39
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+// Line 3 : 84 -> 103
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+
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+void gotoLineColumn (USER_MODE_ const uint32_t inLine, const uint32_t inColumn) {
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+ static const uint8_t tab [4] = {0, 64, 20, 84} ;
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+ if ((inLine < 4) && (inColumn < 20)) {
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+ write8bitCommand (MODE_ tab [inLine] + inColumn + 0x80U) ;
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+ }
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+}
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+
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+
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+void printString (USER_MODE_ const char * inString) {
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+ if (NULL != inString) {
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+ while ('\0' != *inString) {
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+ writeData (MODE_ *inString) ;
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+ inString ++ ;
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+ }
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+ }
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+}
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+
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+
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+void printChar (USER_MODE_ const char inChar) {
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+ writeData (MODE_ inChar) ;
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+}
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+
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+
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+void printSpaces (USER_MODE_ const uint32_t inCount) {
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+ uint32_t count = inCount ;
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+ while (count > 0) {
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+ printChar (MODE_ ' ') ;
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+ count -- ;
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+ }
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+}
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+
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+
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+void printUnsigned (USER_MODE_ const uint32_t inValue) {
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+ uint32_t divisor = 1000 * 1000 * 1000 ; // 10**9
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+ uint32_t value = inValue ;
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+ bool isPrinting = false ;
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+ while (divisor > 0) {
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+ if (isPrinting || (value >= divisor)) {
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+ printChar (MODE_ '0' + value / divisor) ;
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+ value %= divisor ;
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+ isPrinting = true ;
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+ }
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+ divisor /= 10 ;
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+ }
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+ if (!isPrinting) {
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+ printChar (MODE_ '0') ;
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+ }
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+}
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+
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+
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+void printUnsigned64 (USER_MODE_ const uint64_t inValue) {
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+ char buffer [20] ;
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+ buffer [19] = '\0' ;
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+ buffer [18] = (inValue % 10) + '0' ;
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+ uint32_t idx = 18 ;
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+ uint64_t v = inValue / 10 ;
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+ while (v != 0) {
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+ idx -- ;
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+ buffer [idx] = (v % 10) + '0' ;
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+ v /= 10 ;
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+ }
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+ printString (MODE_ & buffer [idx]) ;
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+}
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+
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+
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+void printSigned (USER_MODE_ const int32_t inValue) {
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+ if (inValue < 0) {
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+ printChar (MODE_ '-') ;
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+ printUnsigned (MODE_ (uint32_t) -inValue) ;
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+ }else{
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+ printUnsigned (MODE_ (uint32_t) inValue) ;
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+ }
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+}
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+
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+
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+void printHex1 (USER_MODE_ const uint32_t inValue) {
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+ const uint32_t v = inValue & 0xF ;
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+ if (v < 10) {
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+ printChar (MODE_ '0' + v) ;
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+ }else{
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+ printChar (MODE_ 'A' + v - 10) ;
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+ }
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+}
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+
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+
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+void printHex2 (USER_MODE_ const uint32_t inValue) {
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+ printHex1 (MODE_ inValue >> 4) ;
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+ printHex1 (MODE_ inValue) ;
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+}
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+
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+
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+void printHex4 (USER_MODE_ const uint32_t inValue) {
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+ printHex2 (MODE_ inValue >> 8) ;
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+ printHex2 (MODE_ inValue) ;
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+}
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+
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+
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+void printHex8 (USER_MODE_ const uint32_t inValue) {
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+ printHex4 (MODE_ inValue >> 16) ;
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+ printHex4 (MODE_ inValue) ;
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+}
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+
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+
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+void printHex16 (USER_MODE_ const uint64_t inValue) {
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+ printHex8 (MODE_ (uint32_t) (inValue >> 32)) ;
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+ printHex8 (MODE_ (uint32_t) inValue) ;
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+}
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+
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+// FAULT MODE
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+
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+static void write4BitCommand_faultMode (FAULT_MODE_ const uint8_t inCommand) {
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+ busyWaitDuring_faultMode (MODE_ 1) ;
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+ driveLowRS () ;
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+ programLcd4BitDataBusOutput (inCommand) ;
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+ driveHighE () ;
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+ busyWaitDuring_faultMode (MODE_ 1) ;
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+ driveLowE () ;
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+}
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+
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+
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+static void write8bitCommand_faultMode (FAULT_MODE_ const uint8_t inCommand) {
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+ busyWaitDuring_faultMode (MODE_ 1) ;
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+ driveLowRS () ;
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+ programLcd4BitDataBusOutput ((uint8_t) (inCommand >> 4)) ;
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+ driveHighE () ;
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+ busyWaitDuring_faultMode (MODE_ 1) ;
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+ driveLowE () ;
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+ busyWaitDuring_faultMode (MODE_ 1) ;
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+ programLcd4BitDataBusOutput (inCommand) ;
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+ driveHighE () ;
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+ busyWaitDuring_faultMode (MODE_ 1) ;
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+ driveLowE () ;
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+}
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+
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+
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+void initScreen_faultMode (FAULT_MODE) {
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+ // Step 1: Configure ports
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+ pinMode (LCD_D4, DigitalMode::OUTPUT) ;
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+ pinMode (LCD_D5, DigitalMode::OUTPUT) ;
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+ pinMode (LCD_D6, DigitalMode::OUTPUT) ;
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+ pinMode (LCD_D7, DigitalMode::OUTPUT) ;
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+ pinMode (LCD_RS, DigitalMode::OUTPUT) ;
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+ pinMode (LCD_E, DigitalMode::OUTPUT) ;
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+ // Step 2: wait for 15 ms
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+ busyWaitDuring_faultMode (MODE_ 15) ;
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+ // Step 3: write command 0x30
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+ write4BitCommand_faultMode (MODE_ 0x3) ;
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+ // Step 4: wait for 4,1 ms (actually 5 ms)
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+ busyWaitDuring_faultMode (MODE_ 5) ;
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+ // Step 5: write command 0x30 again
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+ write4BitCommand_faultMode (MODE_ 0x3) ;
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+ // Step 6: wait for 100 µs (actually 1 ms)
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+ busyWaitDuring_faultMode (MODE_ 1) ;
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+ // Step 7: write command 0x30 (third)
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+ write4BitCommand_faultMode (MODE_ 0x3) ;
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+ // Step 8: write command 0x20 (4-bit mode)
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+ write4BitCommand_faultMode (MODE_ 0x2) ;
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+ // Step 9: write command 'Set Interface Length' : 0 0 1 DL N F * *
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+ // DL : Data interface length : 0 (4 bits)
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+ // N : Number of Display lines : 1 (2 lines)
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+ // F : Character Font : 0 (5x7)
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+ write8bitCommand_faultMode (MODE_ 0x28) ;
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+ // Step 10: write command 'Display Off'
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+ write8bitCommand_faultMode (MODE_ 0x08) ;
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+ // Step 11: write command 'Clear Display'
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+ write8bitCommand_faultMode (MODE_ 0x01) ;
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+ // Step 12: write command 'Set Cursor Move Direction' : 0 0 0 0 0 1 ID S
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+ // ID : Increment Cursor after Each Byte Written to Display : 1 (yes)
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+ // S : Shift Display When Byte Written : 0 (no)
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+ write8bitCommand_faultMode (MODE_ 0x06) ;
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+ // Step 13: write command 'Move Cursor / Shift Display' : 0 0 0 1 SC RL * *
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+ // SC : Display Shift On : 1 (oui)
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+ // RL : Direction of Shift : 1 (to right)
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+ write8bitCommand_faultMode (MODE_ 0x1C) ;
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+ // Step 14: write command 'Return Cursor and LCD to Home Position'
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+ write8bitCommand_faultMode (MODE_ 0x02) ;
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+ // Step 15: write command 'Enable Display / Cursor' : 0 0 0 0 1 D C B
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+ // D : Turn Display On : 1 (yes)
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+ // C : Turn Cursor On : 0 (no)
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+ // B : Cursor Blink On : 0 (no)
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+ write8bitCommand_faultMode (MODE_ 0x0C) ;
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+}
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+
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+
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+void gotoLineColumn_faultMode (FAULT_MODE_ const uint32_t inLine, const uint32_t inColumn) {
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+ static const uint8_t tab [4] = {0, 64, 20, 84} ;
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+ if ((inLine < 4) && (inColumn < 20)) {
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+ write8bitCommand_faultMode (MODE_ tab [inLine] + inColumn + 0x80U) ;
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+ }
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+}
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+
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+
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+static void writeData_faultMode (FAULT_MODE_ const uint8_t inData) {
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+ busyWaitDuring_faultMode (MODE_ 1) ;
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+ driveHighRS () ;
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+ programLcd4BitDataBusOutput (inData >> 4) ;
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+ driveHighE () ;
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+ busyWaitDuring_faultMode (MODE_ 1) ;
|
|
|
+ driveLowE () ;
|
|
|
+ busyWaitDuring_faultMode (MODE_ 1) ;
|
|
|
+ programLcd4BitDataBusOutput (inData) ;
|
|
|
+ driveHighE () ;
|
|
|
+ busyWaitDuring_faultMode (MODE_ 1) ;
|
|
|
+ driveLowE () ;
|
|
|
+}
|
|
|
+
|
|
|
+
|
|
|
+void printString_faultMode (FAULT_MODE_ const char * inString) {
|
|
|
+ if (NULL != inString) {
|
|
|
+ while ('\0' != *inString) {
|
|
|
+ writeData_faultMode (MODE_ *inString) ;
|
|
|
+ inString ++ ;
|
|
|
+ }
|
|
|
+ }
|
|
|
+}
|
|
|
+
|
|
|
+
|
|
|
+void printChar_faultMode (FAULT_MODE_ const char inChar) {
|
|
|
+ writeData_faultMode (MODE_ inChar) ;
|
|
|
+}
|
|
|
+
|
|
|
+
|
|
|
+void printUnsigned_faultMode (FAULT_MODE_ const uint32_t inValue) {
|
|
|
+ uint32_t divisor = 1000 * 1000 * 1000 ; // 10**9
|
|
|
+ uint32_t value = inValue ;
|
|
|
+ bool isPrinting = false ;
|
|
|
+ while (divisor > 0) {
|
|
|
+ if (isPrinting || (value >= divisor)) {
|
|
|
+ printChar_faultMode (MODE_ '0' + value / divisor) ;
|
|
|
+ value %= divisor ;
|
|
|
+ isPrinting = true ;
|
|
|
+ }
|
|
|
+ divisor /= 10 ;
|
|
|
+ }
|
|
|
+ if (!isPrinting) {
|
|
|
+ printChar_faultMode (MODE_ '0') ;
|
|
|
+ }
|
|
|
+}
|
|
|
+
|
|
|
+
|
|
|
+static void printHex1_faultMode (FAULT_MODE_ const uint32_t inValue) {
|
|
|
+ const uint32_t v = inValue & 0xF ;
|
|
|
+ if (v < 10) {
|
|
|
+ printChar_faultMode (MODE_ '0' + v) ;
|
|
|
+ }else{
|
|
|
+ printChar_faultMode (MODE_ 'A' + v - 10) ;
|
|
|
+ }
|
|
|
+}
|
|
|
+
|
|
|
+
|
|
|
+void printHex2_faultMode (FAULT_MODE_ const uint32_t inValue) {
|
|
|
+ printHex1_faultMode (MODE_ inValue >> 4) ;
|
|
|
+ printHex1_faultMode (MODE_ inValue) ;
|
|
|
+}
|
|
|
+
|
|
|
+
|
|
|
+void printHex4_faultMode (FAULT_MODE_ const uint32_t inValue) {
|
|
|
+ printHex2_faultMode (MODE_ inValue >> 8) ;
|
|
|
+ printHex2_faultMode (MODE_ inValue) ;
|
|
|
+}
|
|
|
+
|
|
|
+
|
|
|
+void printHex8_faultMode (FAULT_MODE_ const uint32_t inValue) {
|
|
|
+ printHex4_faultMode (MODE_ inValue >> 16) ;
|
|
|
+ printHex4_faultMode (MODE_ inValue) ;
|
|
|
+}
|
|
|
+
|
|
|
+
|
