Merged 1.0.5

1 files changed, 279 insertions, 0 deletions

diff --git a/libraries/Robot_Control/lcd.cpp b/libraries/Robot_Control/lcd.cpp
new file mode 100644
index 0000000..1f9f2ce
--- /dev/null
+++ b/libraries/Robot_Control/lcd.cpp
@@ -0,0 +1,279 @@
+#include "ArduinoRobot.h"
+#include "Wire.h"
+
+#define BUFFPIXEL 20
+
+bool cmp(char* str1, char* str2, uint8_t len);
+uint16_t read16(Fat16& f);
+uint32_t read32(Fat16& f);
+//uint16_t color565(uint8_t r, uint8_t g, uint8_t b);
+
+void RobotControl::beginTFT(uint16_t foreGround, uint16_t backGround){
+	//TFT initialization
+	Arduino_LCD::initB();
+	Arduino_LCD::fillScreen(backGround);
+	Arduino_LCD::setTextColor(foreGround);
+	Arduino_LCD::setTextSize(1);
+	this->foreGround=foreGround;
+	this->backGround=backGround;
+}
+void RobotControl::_enableLCD(){
+	DDRB = DDRB & 0xEF; //pinMode(CS_SD,INPUT);
+	DDRB = DDRB | 0x20; //pinMode(CS_LCD,OUTPUT);
+}
+/*void RobotControl::_setErase(uint8_t posX, uint8_t posY){
+	Arduino_LCD::setCursor(posX,posY);
+	Arduino_LCD::setTextColor(backGround);
+	Arduino_LCD::setTextSize(1);
+}
+void RobotControl::_setWrite(uint8_t posX, uint8_t posY){
+	Arduino_LCD::setCursor(posX,posY);
+	Arduino_LCD::setTextColor(foreGround);
+	Arduino_LCD::setTextSize(1);
+}*/
+/*
+void RobotControl::text(int value, uint8_t posX, uint8_t posY, bool EW){
+	if(EW)
+		_setWrite(posX,posY);
+	else 
+		_setErase(posX,posY);
+	Arduino_LCD::print(value);
+}
+void RobotControl::text(long value, uint8_t posX, uint8_t posY, bool EW){
+	if(EW)
+		_setWrite(posX,posY);
+	else 
+		_setErase(posX,posY);
+	Arduino_LCD::print(value);
+}
+void RobotControl::text(char* value, uint8_t posX, uint8_t posY, bool EW){
+	if(EW)
+		_setWrite(posX,posY);
+	else 
+		_setErase(posX,posY);
+	Arduino_LCD::print(value);
+}
+void RobotControl::text(char value, uint8_t posX, uint8_t posY, bool EW){
+	if(EW)
+		_setWrite(posX,posY);
+	else 
+		_setErase(posX,posY);
+	Arduino_LCD::print(value);
+}
+*/
+
+void RobotControl::debugPrint(long value, uint8_t x, uint8_t y){
+	static long oldVal=0;
+	Arduino_LCD::stroke(backGround);
+	text(oldVal,x,y);
+	Arduino_LCD::stroke(foreGround);
+	text(value,x,y);
+	oldVal=value;
+}
+
+void RobotControl::clearScreen(){
+	Arduino_LCD::fillScreen(backGround);
+}
+
+void RobotControl::drawBMP(char* filename, uint8_t x, uint8_t y){
+	/*for(int j=0;j<NUM_EEPROM_BMP;j++){
+		Serial.println(_eeprom_bmp[j].name);
+		Serial.print(" ");
+		Serial.print(_eeprom_bmp[j].address);
+		Serial.print(" ");
+		Serial.print(_eeprom_bmp[j].width);
+		Serial.print(" ");
+		Serial.println(_eeprom_bmp[j].height);
+	}
+	Serial.println();*/
+	if(_isEEPROM_BMP_Allocated){
+		for(int i=0;i<NUM_EEPROM_BMP;i++){
+			if(cmp(_eeprom_bmp[i].name,filename,7)){
+				/*Serial.println(_eeprom_bmp[i].name);
+				Serial.print(" ");
+				Serial.print(_eeprom_bmp[i].address);
+				Serial.print(" ");
+				Serial.print(_eeprom_bmp[i].width);
+				Serial.print(" ");
+				Serial.println(_eeprom_bmp[i].height);*/
+				_drawBMP(_eeprom_bmp[i].address,x,y,_eeprom_bmp[i].width,_eeprom_bmp[i].height);
+				return;
+			}
+		}
+	}else{
+		_drawBMP(filename,x,y);//goes to SD
+	}
+}
+bool cmp(char* str1, char* str2, uint8_t len){
+  for(uint8_t i=0;i<len;i++){
+	if(str1[i]==' ')break;
+    if(str1[i]!=str2[i])return false;
+  }
+  return true;
+}
+
+void RobotControl::_drawBMP(uint32_t iconOffset, uint8_t x, uint8_t y, uint8_t width, uint8_t height){
+	uint8_t screenWidth=Arduino_LCD::width();
+	uint8_t screenHeight=Arduino_LCD::height();
+	if((x >= screenWidth) || (y >= screenHeight)) return;
+
+	// Crop area to be loaded
+	if((x+width-1) >= screenWidth)  width = screenWidth  - x;
+	if((y+height-1) >= screenHeight) height = screenHeight - y;
+
+	// Set TFT address window to clipped image bounds
+	Arduino_LCD::setAddrWindow(x, y, x+width-1, y+height-1);
+
+	// launch the reading command
+	_drawBMP_EEPROM(iconOffset, width, height);
+}
+
+//  Draw BMP from SD card through the filename
+void RobotControl::_drawBMP(char* filename, uint8_t posX, uint8_t posY){
+	uint8_t  bmpWidth, bmpHeight;   // W+H in pixels
+	uint8_t  bmpDepth;              // Bit depth (currently must be 24)
+	uint32_t bmpImageoffset;        // Start of image data in file
+	uint32_t rowSize;               // Not always = bmpWidth; may have padding
+	uint8_t  sdbuffer[3*BUFFPIXEL]; // pixel buffer (R+G+B per pixel)
+	uint8_t  buffidx = sizeof(sdbuffer); // Current position in sdbuffer
+	bool  goodBmp = false;       // Set to true on valid header parse
+	bool  flip    = true;        // BMP is stored bottom-to-top
+	uint8_t  w, h, row, col;
+	uint8_t  r, g, b;
+	uint32_t pos = 0;
+
+	// Open requested file on SD card
+	if ((file.open(filename,O_READ)) == NULL) {
+		return;
+	}
+
+	// Parse BMP header
+	if(read16(file) == 0x4D42) { // BMP signature
+		read32(file);//uint32_t aux = read32(file);
+		(void)read32(file); // Read & ignore creator bytes
+		bmpImageoffset = read32(file); // Start of image data
+		
+		// Read DIB header
+		(void)read32(file);//aux = read32(file);
+		bmpWidth  = read32(file);
+		bmpHeight = read32(file);
+		
+		if(read16(file) == 1) { // # planes -- must be '1'
+			bmpDepth = read16(file); // bits per pixel
+			if((bmpDepth == 24) && (read32(file) == 0)) { // 0 = uncompressed
+				goodBmp = true; // Supported BMP format -- proceed!
+
+				// BMP rows are padded (if needed) to 4-byte boundary
+				rowSize = (bmpWidth * 3 + 3) & ~3;
+
+				// If bmpHeight is negative, image is in top-down order.
+				// This is not canon but has been observed in the wild.
+				if(bmpHeight < 0) {
+					bmpHeight = -bmpHeight;
+					flip      = false;
+				}
+
+				// Crop area to be loaded
+				w = bmpWidth;
+				h = bmpHeight;
+
+				//  Start drawing
+				//_enableLCD();
+				Arduino_LCD::setAddrWindow(posX, posY, posX+bmpWidth-1, posY+bmpHeight-1);  
+
+				for (row=0; row<h; row++) { // For each scanline...
+					if(flip) // Bitmap is stored bottom-to-top order (normal BMP)
+						pos = bmpImageoffset + (bmpHeight - 1 - row) * rowSize;
+					else     // Bitmap is stored top-to-bottom
+						pos = bmpImageoffset + row * rowSize;
+						
+					if(file.curPosition() != pos) { // Need seek?
+						//_enableSD();
+						file.seekSet(pos);
+						buffidx = sizeof(sdbuffer); // Force buffer reload
+						//_enableLCD();
+					}
+					for (col=0; col<w; col++) { // For each pixel...
+						// Time to read more pixel data?
+						if (buffidx >= sizeof(sdbuffer)) { // Indeed
+							//_enableSD();
+							file.read(sdbuffer, sizeof(sdbuffer));
+							buffidx = 0; // Set index to beginning
+							//_enableLCD();
+						}
+						// Convert pixel from BMP to TFT format, push to display
+						b = sdbuffer[buffidx++];
+						g = sdbuffer[buffidx++];
+						r = sdbuffer[buffidx++];
+
+						int  color = Arduino_LCD::Color565(r,g,b);
+						
+						Arduino_LCD::pushColor(color);
+					} // end pixel
+				} // end scanline
+				//_enableSD();
+			} // end goodBmp*/
+		}
+	}
+	file.close();
+	//_enableLCD();
+}
+uint16_t read16(Fat16& f) {
+  uint16_t result;
+  f.read(&result,sizeof(result));
+  return result;
+}
+uint32_t read32(Fat16& f) {
+  uint32_t result;
+  f.read(&result,sizeof(result));
+  return result;
+}
+/*
+uint16_t color565(uint8_t r, uint8_t g, uint8_t b) {
+  return ((r & 0xF8) << 8) | ((g & 0xFC) << 3) | (b >> 3);
+}*/
+
+
+void RobotControl::_drawBMP_EEPROM(uint16_t address, uint8_t width, uint8_t height){
+	uint16_t u16retVal = 0;
+	EEPROM_I2C::_beginTransmission(address);
+	EEPROM_I2C::_endTransmission();
+	/*Wire.beginTransmission(DEVICEADDRESS);
+	Wire.write( (address >> 8) & 0xFF );
+	Wire.write( (address >> 0) & 0xFF );
+	Wire.endTransmission();*/
+
+	long s = width * height ;
+	for(long j = 0; j < (long) s >> 4; j++) { // divided by 32, times 2
+		Wire.requestFrom(DEVICEADDRESS, 32);
+		for(int i = 0; i < 32; i+=2) {
+			u16retVal = Wire.read();
+			u16retVal = (u16retVal << 8) + Wire.read();
+			Arduino_LCD::pushColor(u16retVal);
+		}
+	}
+
+}
+void RobotControl::beginBMPFromEEPROM(){
+	_eeprom_bmp=(EEPROM_BMP*)malloc(NUM_EEPROM_BMP*sizeof(EEPROM_BMP));
+	EEPROM_I2C::_beginTransmission(0);
+	EEPROM_I2C::_endTransmission();
+	
+	for(uint8_t j=0;j<NUM_EEPROM_BMP;j++){
+		Wire.requestFrom(DEVICEADDRESS, sizeof(EEPROM_BMP));
+		for(uint8_t i=0;i<8;i++){
+			_eeprom_bmp[j].name[i]=Wire.read();//name
+		}
+		_eeprom_bmp[j].width=Wire.read();//width
+		_eeprom_bmp[j].height=Wire.read();//height
+		
+		_eeprom_bmp[j].address=Wire.read();
+		_eeprom_bmp[j].address=_eeprom_bmp[j].address + (Wire.read() << 8);//address
+	}
+	_isEEPROM_BMP_Allocated=true;
+	
+}
+void RobotControl::endBMPFromEEPROM(){
+	free(_eeprom_bmp);
+	_isEEPROM_BMP_Allocated=false;
+}