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fix hd
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@gen2thomas
gen2thomas committed Apr 10, 2022
1 parent 49eb64b commit efbbd50
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Showing 2 changed files with 124 additions and 63 deletions.
65 changes: 45 additions & 20 deletions drivers/gpio/hd44780_driver.go
View file
Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@ package gpio
import (
"errors"
"fmt"
"sync"
"time"

"gobot.io/x/gobot"
Expand Down Expand Up @@ -73,12 +74,14 @@ type HD44780Driver struct {
busMode HD44780BusMode
pinRS *DirectPinDriver
pinEN *DirectPinDriver
pinRW *DirectPinDriver
pinDataBits []*DirectPinDriver
displayCtrl int
displayFunc int
displayMode int
connection gobot.Connection
gobot.Commander
mutex *sync.Mutex
}

// NewHD44780Driver return a new HD44780Driver
Expand All @@ -99,6 +102,7 @@ func NewHD44780Driver(a gobot.Connection, cols int, rows int, busMode HD44780Bus
pinEN: NewDirectPinDriver(a, pinEN),
connection: a,
Commander: gobot.NewCommander(),
mutex: &sync.Mutex{},
}

if h.busMode == HD44780_4BITMODE {
Expand Down Expand Up @@ -154,23 +158,27 @@ func (h *HD44780Driver) Start() (err error) {

time.Sleep(50 * time.Millisecond)

if err := h.activateWriteMode(); err != nil {
return err
}

if h.busMode == HD44780_4BITMODE {
if err := h.writeBits(0x03); err != nil {
if err := h.writeDataPins(0x03); err != nil {
return err
}
time.Sleep(5 * time.Millisecond)

if err := h.writeBits(0x03); err != nil {
if err := h.writeDataPins(0x03); err != nil {
return err
}
time.Sleep(100 * time.Microsecond)

if err := h.writeBits(0x03); err != nil {
if err := h.writeDataPins(0x03); err != nil {
return err
}
time.Sleep(100 * time.Microsecond)

if err := h.writeBits(0x02); err != nil {
if err := h.writeDataPins(0x02); err != nil {
return err
}
} else {
Expand Down Expand Up @@ -219,6 +227,11 @@ func (h *HD44780Driver) Start() (err error) {
return h.Clear()
}

// SetRWPin initializes the optional RW pin
func (h *HD44780Driver) SetRWPin(pinRW string) {
h.pinRW = NewDirectPinDriver(h.connection, pinRW)
}

// Write output text to the display
func (h *HD44780Driver) Write(message string) (err error) {
col := 0
Expand Down Expand Up @@ -329,30 +342,41 @@ func (h *HD44780Driver) RightToLeft() (err error) {

// SendCommand send control command
func (h *HD44780Driver) SendCommand(data int) (err error) {
h.mutex.Lock()
defer h.mutex.Unlock()
if err := h.activateWriteMode(); err != nil {
return err
}
if err := h.pinRS.Off(); err != nil {
return err
}
if h.busMode == HD44780_4BITMODE {
if err := h.writeBits(data >> 4); err != nil {
if err := h.writeDataPins(data >> 4); err != nil {
return err
}
}

return h.writeBits(data)
return h.writeDataPins(data)
}

// WriteChar output a character to the display
func (h *HD44780Driver) WriteChar(data int) (err error) {
h.mutex.Lock()
defer h.mutex.Unlock()
if err := h.activateWriteMode(); err != nil {
return err
}

if err := h.pinRS.On(); err != nil {
return err
}
if h.busMode == HD44780_4BITMODE {
if err := h.writeBits(data >> 4); err != nil {
if err := h.writeDataPins(data >> 4); err != nil {
return err
}
}

return h.writeBits(data)
return h.writeDataPins(data)
}

// CreateChar create custom character
Expand All @@ -374,8 +398,14 @@ func (h *HD44780Driver) CreateChar(pos int, charMap [8]byte) (err error) {
return nil
}

// WriteBits output data to data-pins
func (h *HD44780Driver) writeBits(data int) (err error) {
func (h *HD44780Driver) activateWriteMode() (err error) {
if h.pinRW == nil {
return
}
return h.pinRW.Off()
}

func (h *HD44780Driver) writeDataPins(data int) (err error) {
for i, pin := range h.pinDataBits {
if ((data >> i) & 0x01) == 0x01 {
if err := pin.On(); err != nil {
Expand All @@ -387,17 +417,11 @@ func (h *HD44780Driver) writeBits(data int) (err error) {
}
}
}

return h.triggerPulse()
return h.fallingEdge()
}

// triggerPulse trigger enable pulse
func (h *HD44780Driver) triggerPulse() (err error) {
if err := h.pinEN.Off(); err != nil {
return err
}
time.Sleep(1 * time.Microsecond)

// fallingEdge creates falling edge to trigger data transmission
func (h *HD44780Driver) fallingEdge() (err error) {
if err := h.pinEN.On(); err != nil {
return err
}
Expand All @@ -406,7 +430,8 @@ func (h *HD44780Driver) triggerPulse() (err error) {
if err := h.pinEN.Off(); err != nil {
return err
}
time.Sleep(1 * time.Microsecond)
// fastest write operation at 190kHz mode takes 53 us
time.Sleep(60 * time.Microsecond)

return nil
}
122 changes: 79 additions & 43 deletions drivers/i2c/adafruit1109_driver.go
View file
Original file line number Diff line number Diff line change
Expand Up @@ -21,15 +21,21 @@ type adafruit1109PortPin struct {
type Adafruit1109Driver struct {
name string
*MCP23017Driver
redpin adafruit1109PortPin
greenpin adafruit1109PortPin
bluepin adafruit1109PortPin
selectpin adafruit1109PortPin
uppin adafruit1109PortPin
downpin adafruit1109PortPin
leftpin adafruit1109PortPin
rightpin adafruit1109PortPin
rwpin adafruit1109PortPin
redPin adafruit1109PortPin
greenPin adafruit1109PortPin
bluePin adafruit1109PortPin
selectPin adafruit1109PortPin
upPin adafruit1109PortPin
downPin adafruit1109PortPin
leftPin adafruit1109PortPin
rightPin adafruit1109PortPin
rwPin adafruit1109PortPin
rsPin adafruit1109PortPin
enPin adafruit1109PortPin
dataPinD4 adafruit1109PortPin
dataPinD5 adafruit1109PortPin
dataPinD6 adafruit1109PortPin
dataPinD7 adafruit1109PortPin
*gpio.HD44780Driver
}

Expand All @@ -47,31 +53,37 @@ func NewAdafruit1109Driver(a Connector, options ...func(Config)) *Adafruit1109Dr
m := &Adafruit1109Driver{
name: gobot.DefaultName("Adafruit1109"),
MCP23017Driver: mcp,
redpin: adafruit1109PortPin{"A", 6},
greenpin: adafruit1109PortPin{"A", 7},
bluepin: adafruit1109PortPin{"B", 0},
selectpin: adafruit1109PortPin{"A", 0},
uppin: adafruit1109PortPin{"A", 3},
downpin: adafruit1109PortPin{"A", 2},
leftpin: adafruit1109PortPin{"A", 4},
rightpin: adafruit1109PortPin{"A", 1},
rwpin: adafruit1109PortPin{"B", 6},
redPin: adafruit1109PortPin{"A", 6},
greenPin: adafruit1109PortPin{"A", 7},
bluePin: adafruit1109PortPin{"B", 0},
selectPin: adafruit1109PortPin{"A", 0},
upPin: adafruit1109PortPin{"A", 3},
downPin: adafruit1109PortPin{"A", 2},
leftPin: adafruit1109PortPin{"A", 4},
rightPin: adafruit1109PortPin{"A", 1},
rwPin: adafruit1109PortPin{"B", 6},
rsPin: adafruit1109PortPin{"B", 7},
enPin: adafruit1109PortPin{"B", 5},
dataPinD4: adafruit1109PortPin{"B", 4},
dataPinD5: adafruit1109PortPin{"B", 3},
dataPinD6: adafruit1109PortPin{"B", 2},
dataPinD7: adafruit1109PortPin{"B", 1},
}
// mapping for HD44780 to MCP23017 port and IO, 4-Bit data
dataPins := gpio.HD44780DataPin{
D4: "B_4",
D5: "B_3",
D6: "B_2",
D7: "B_1",
D4: m.dataPinD4.String(),
D5: m.dataPinD5.String(),
D6: m.dataPinD6.String(),
D7: m.dataPinD7.String(),
}
rsPin := "B_7"
enPin := "B_5"

//rwPin := "B_6" not mapped in HD44780 driver
// at test initialization, there seems rows and columns be switched
// but inside the driver the row is used as row and col as column
rows := 2
columns := 16
lcd := gpio.NewHD44780Driver(m, columns, rows, gpio.HD44780_4BITMODE, rsPin, enPin, dataPins)
lcd := gpio.NewHD44780Driver(m, columns, rows, gpio.HD44780_4BITMODE, m.rsPin.String(), m.enPin.String(), dataPins)
lcd.SetRWPin(m.rwPin.String())
m.HD44780Driver = lcd
return m
}
Expand Down Expand Up @@ -105,19 +117,19 @@ func (m *Adafruit1109Driver) Start() (err error) {
}

// button pins are inputs, has inverse logic and needs pull up
if err := m.adafruit1109InitButton(m.selectpin); err != nil {
if err := m.adafruit1109InitButton(m.selectPin); err != nil {
return err
}
if err := m.adafruit1109InitButton(m.uppin); err != nil {
if err := m.adafruit1109InitButton(m.upPin); err != nil {
return err
}
if err := m.adafruit1109InitButton(m.downpin); err != nil {
if err := m.adafruit1109InitButton(m.downPin); err != nil {
return err
}
if err := m.adafruit1109InitButton(m.leftpin); err != nil {
if err := m.adafruit1109InitButton(m.leftPin); err != nil {
return err
}
if err := m.adafruit1109InitButton(m.rightpin); err != nil {
if err := m.adafruit1109InitButton(m.rightPin); err != nil {
return err
}

Expand All @@ -126,7 +138,7 @@ func (m *Adafruit1109Driver) Start() (err error) {
return err
}
// set rw pin to write
if err := m.WriteGPIO(m.rwpin.pin, 0x00, m.rwpin.port); err != nil {
if err := m.writePin(m.rwPin, 0x00); err != nil {
return err
}
if adafruit1109Debug {
Expand All @@ -140,7 +152,19 @@ func (m *Adafruit1109Driver) Start() (err error) {
// The given id is the same as defined in dataPins and has the syntax "<port>_<pin>".
func (m *Adafruit1109Driver) DigitalWrite(id string, val byte) (err error) {
portio := adafruit1109ParseId(id)
return m.WriteGPIO(portio.pin, val, portio.port)
return m.writePin(portio, val)
}

// DigitalReader interface
// This is called by HD44780 driver to read one gpio input. We redirect the call to the i2c driver MCP23017.
// The given id is the same as defined in dataPins and has the syntax "<port>_<pin>".
func (m *Adafruit1109Driver) DigitalRead(id string) (val int, err error) {
portio := adafruit1109ParseId(id)
uval, err := m.readPin(portio)
if err != nil {
return 0, err
}
return int(uval), err
}

// Connector interface, haven't found any adaptor which implements this with more content
Expand All @@ -153,9 +177,9 @@ func (m *Adafruit1109Driver) SetRGB(r, g, b bool) error {
if adafruit1109Debug {
log.Printf("## SetRGB %t, %t, %t ##", r, g, b)
}
rio := m.redpin
gio := m.greenpin
bio := m.bluepin
rio := m.redPin
gio := m.greenPin
bio := m.bluePin
rval := uint8(0x1)
gval := uint8(0x1)
bval := uint8(0x1)
Expand All @@ -169,38 +193,50 @@ func (m *Adafruit1109Driver) SetRGB(r, g, b bool) error {
bval = 0x00
}

if err := m.WriteGPIO(rio.pin, rval, rio.port); err != nil {
if err := m.writePin(rio, rval); err != nil {
return err
}

if err := m.WriteGPIO(gio.pin, gval, gio.port); err != nil {
if err := m.writePin(gio, gval); err != nil {
return err
}

if err := m.WriteGPIO(bio.pin, bval, bio.port); err != nil {
if err := m.writePin(bio, bval); err != nil {
return err
}
return nil
}

func (m *Adafruit1109Driver) SelectButton() (uint8, error) {
return m.ReadGPIO(m.selectpin.pin, m.selectpin.port)
return m.readPin(m.selectPin)
}

func (m *Adafruit1109Driver) UpButton() (uint8, error) {
return m.ReadGPIO(m.uppin.pin, m.uppin.port)
return m.readPin(m.upPin)
}

func (m *Adafruit1109Driver) DownButton() (uint8, error) {
return m.ReadGPIO(m.downpin.pin, m.downpin.port)
return m.readPin(m.downPin)
}

func (m *Adafruit1109Driver) LeftButton() (uint8, error) {
return m.ReadGPIO(m.leftpin.pin, m.leftpin.port)
return m.readPin(m.leftPin)
}

func (m *Adafruit1109Driver) RightButton() (uint8, error) {
return m.ReadGPIO(m.rightpin.pin, m.rightpin.port)
return m.readPin(m.rightPin)
}

func (m *Adafruit1109Driver) writePin(ap adafruit1109PortPin, val uint8) (err error) {
return m.WriteGPIO(ap.pin, val, ap.port)
}

func (m *Adafruit1109Driver) readPin(ap adafruit1109PortPin) (uint8, error) {
return m.ReadGPIO(ap.pin, ap.port)
}

func (ap *adafruit1109PortPin) String() string {
return fmt.Sprintf("%s_%d", ap.port, ap.pin)
}

func adafruit1109ParseId(id string) adafruit1109PortPin {
Expand Down

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