mirror of
https://gitlab.dit.htwk-leipzig.de/phillip.kuehne/dezibot.git
synced 2025-08-24 02:38:37 +02:00
Merge branch display into release
This commit is contained in:
Anina Morgner
@@ -3,7 +3,11 @@
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//
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#define SDA_PIN 1
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#define SCL_PIN 2
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#include "Dezibot.h"
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<<<<<<< HEAD
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#include <SPI.h>
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#include <Adafruit_NeoPixel.h>
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@@ -14,10 +18,27 @@
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#define GPIO_LED 48
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void Dezibot::begin(void) {
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=======
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#include <Wire.h>
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Dezibot::Dezibot():multiColorLight(){};
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void Dezibot::begin(void) {
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Wire.begin(SDA_PIN,SCL_PIN);
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infraredLight.begin();
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lightDetection.begin();
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>>>>>>> remotes/origin/feature/#9-display
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motion.begin();
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lightDetection.begin();
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colorDetection.begin();
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multiColorLight.begin();
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<<<<<<< HEAD
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motionDetection.begin();
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infraredLight.begin();
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}
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=======
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display.begin();
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};
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>>>>>>> remotes/origin/feature/#9-display
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@@ -17,6 +17,7 @@
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#include "multiColorLight/MultiColorLight.h"
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#include "motionDetection/MotionDetection.h"
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#include "infraredLight/InfraredLight.h"
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#include "display/Display.h"
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class Dezibot {
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@@ -29,6 +30,7 @@ public:
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MultiColorLight multiColorLight;
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MotionDetection motionDetection;
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InfraredLight infraredLight;
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Display display;
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void begin(void);
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/*
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Display display
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147
src/display/CharTable.h
Normal file
147
src/display/CharTable.h
Normal file
@@ -0,0 +1,147 @@
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/**
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* @file CharTable.h
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* @author Hans Haupt (hans.haupt@dezibot.de)
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* @brief LookUpTable for 8x8 Pixel Characters for an SSD1306 Display
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* @version 0.1
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* @date 2024-05-24
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*
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* @copyright Copyright (c) 2024
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*
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*/
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/**
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* @brief First index specifies the index, where index equals the ascii encoding
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* unprintable characters are encode as all zero
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* the first byte in an entry is the cmd_byte for SSD1306 and therefore not printed
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* Encoding is colum wise, so first byte is the first column of the char and so on
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*
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*/
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const char font8x8_colwise[128][9] = {{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+0()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+1()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+2()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+3()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+4()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+5()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+6()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+7()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+8()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+9()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+a()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+b()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+c()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+d()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+e()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+f()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+10()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+11()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+12()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+13()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+14()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+15()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+16()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+17()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+18()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+19()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+1a()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+1b()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+1c()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+1d()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+1e()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+1f()
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{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // U+20( )
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{ 0x40,0x00,0x00,0x06,0x5f,0x5f,0x06,0x00,0x00}, // U+21(!)
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{ 0x40,0x00,0x03,0x03,0x00,0x03,0x03,0x00,0x00}, // U+22(")
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{ 0x40,0x14,0x7f,0x7f,0x14,0x7f,0x7f,0x14,0x00}, // U+23(#)
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{ 0x40,0x24,0x2e,0x6b,0x6b,0x3a,0x12,0x00,0x00}, // U+24($)
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{ 0x40,0x46,0x66,0x30,0x18,0x0c,0x66,0x62,0x00}, // U+25(%)
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{ 0x40,0x30,0x7a,0x4f,0x5d,0x37,0x7a,0x48,0x00}, // U+26(&)
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{ 0x40,0x04,0x07,0x03,0x00,0x00,0x00,0x00,0x00}, // U+27(')
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{ 0x40,0x00,0x1c,0x3e,0x63,0x41,0x00,0x00,0x00}, // U+28(()
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{ 0x40,0x00,0x41,0x63,0x3e,0x1c,0x00,0x00,0x00}, // U+29())
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{ 0x40,0x08,0x2a,0x3e,0x1c,0x1c,0x3e,0x2a,0x08}, // U+2a(*)
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{ 0x40,0x08,0x08,0x3e,0x3e,0x08,0x08,0x00,0x00}, // U+2b(+)
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{ 0x40,0x00,0x80,0xe0,0x60,0x00,0x00,0x00,0x00}, // U+2c(,)
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{ 0x40,0x08,0x08,0x08,0x08,0x08,0x08,0x00,0x00}, // U+2d(-)
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{ 0x40,0x00,0x00,0x60,0x60,0x00,0x00,0x00,0x00}, // U+2e(.)
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{ 0x40,0x60,0x30,0x18,0x0c,0x06,0x03,0x01,0x00}, // U+2f(/)
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{ 0x40,0x3e,0x7f,0x71,0x59,0x4d,0x7f,0x3e,0x00}, // U+30(0)
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{ 0x40,0x40,0x42,0x7f,0x7f,0x40,0x40,0x00,0x00}, // U+31(1)
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{ 0x40,0x62,0x73,0x59,0x49,0x6f,0x66,0x00,0x00}, // U+32(2)
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{ 0x40,0x22,0x63,0x49,0x49,0x7f,0x36,0x00,0x00}, // U+33(3)
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{ 0x40,0x18,0x1c,0x16,0x53,0x7f,0x7f,0x50,0x00}, // U+34(4)
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{ 0x40,0x27,0x67,0x45,0x45,0x7d,0x39,0x00,0x00}, // U+35(5)
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{ 0x40,0x3c,0x7e,0x4b,0x49,0x79,0x30,0x00,0x00}, // U+36(6)
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{ 0x40,0x03,0x03,0x71,0x79,0x0f,0x07,0x00,0x00}, // U+37(7)
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{ 0x40,0x36,0x7f,0x49,0x49,0x7f,0x36,0x00,0x00}, // U+38(8)
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{ 0x40,0x06,0x4f,0x49,0x69,0x3f,0x1e,0x00,0x00}, // U+39(9)
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{ 0x40,0x00,0x00,0x66,0x66,0x00,0x00,0x00,0x00}, // U+3a(:)
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{ 0x40,0x00,0x80,0xe6,0x66,0x00,0x00,0x00,0x00}, // U+3b(;)
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{ 0x40,0x08,0x1c,0x36,0x63,0x41,0x00,0x00,0x00}, // U+3c(<)
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{ 0x40,0x24,0x24,0x24,0x24,0x24,0x24,0x00,0x00}, // U+3d(=)
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{ 0x40,0x00,0x41,0x63,0x36,0x1c,0x08,0x00,0x00}, // U+3e(>)
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{ 0x40,0x02,0x03,0x51,0x59,0x0f,0x06,0x00,0x00}, // U+3f(?)
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{ 0x40,0x3e,0x7f,0x41,0x5d,0x5d,0x1f,0x1e,0x00}, // U+40(@)
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{ 0x40,0x7c,0x7e,0x13,0x13,0x7e,0x7c,0x00,0x00}, // U+41(A)
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{ 0x40,0x41,0x7f,0x7f,0x49,0x49,0x7f,0x36,0x00}, // U+42(B)
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{ 0x40,0x1c,0x3e,0x63,0x41,0x41,0x63,0x22,0x00}, // U+43(C)
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{ 0x40,0x41,0x7f,0x7f,0x41,0x63,0x3e,0x1c,0x00}, // U+44(D)
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{ 0x40,0x41,0x7f,0x7f,0x49,0x5d,0x41,0x63,0x00}, // U+45(E)
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{ 0x40,0x41,0x7f,0x7f,0x49,0x1d,0x01,0x03,0x00}, // U+46(F)
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{ 0x40,0x1c,0x3e,0x63,0x41,0x51,0x73,0x72,0x00}, // U+47(G)
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{ 0x40,0x7f,0x7f,0x08,0x08,0x7f,0x7f,0x00,0x00}, // U+48(H)
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{ 0x40,0x00,0x41,0x7f,0x7f,0x41,0x00,0x00,0x00}, // U+49(I)
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{ 0x40,0x30,0x70,0x40,0x41,0x7f,0x3f,0x01,0x00}, // U+4a(J)
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{ 0x40,0x41,0x7f,0x7f,0x08,0x1c,0x77,0x63,0x00}, // U+4b(K)
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{ 0x40,0x41,0x7f,0x7f,0x41,0x40,0x60,0x70,0x00}, // U+4c(L)
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{ 0x40,0x7f,0x7f,0x0e,0x1c,0x0e,0x7f,0x7f,0x00}, // U+4d(M)
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{ 0x40,0x7f,0x7f,0x06,0x0c,0x18,0x7f,0x7f,0x00}, // U+4e(N)
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{ 0x40,0x1c,0x3e,0x63,0x41,0x63,0x3e,0x1c,0x00}, // U+4f(O)
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{ 0x40,0x41,0x7f,0x7f,0x49,0x09,0x0f,0x06,0x00}, // U+50(P)
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{ 0x40,0x1e,0x3f,0x21,0x71,0x7f,0x5e,0x00,0x00}, // U+51(Q)
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{ 0x40,0x41,0x7f,0x7f,0x09,0x19,0x7f,0x66,0x00}, // U+52(R)
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{ 0x40,0x26,0x6f,0x4d,0x59,0x73,0x32,0x00,0x00}, // U+53(S)
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{ 0x40,0x03,0x41,0x7f,0x7f,0x41,0x03,0x00,0x00}, // U+54(T)
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{ 0x40,0x7f,0x7f,0x40,0x40,0x7f,0x7f,0x00,0x00}, // U+55(U)
|
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{ 0x40,0x1f,0x3f,0x60,0x60,0x3f,0x1f,0x00,0x00}, // U+56(V)
|
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{ 0x40,0x7f,0x7f,0x30,0x18,0x30,0x7f,0x7f,0x00}, // U+57(W)
|
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{ 0x40,0x43,0x67,0x3c,0x18,0x3c,0x67,0x43,0x00}, // U+58(X)
|
||||
{ 0x40,0x07,0x4f,0x78,0x78,0x4f,0x07,0x00,0x00}, // U+59(Y)
|
||||
{ 0x40,0x47,0x63,0x71,0x59,0x4d,0x67,0x73,0x00}, // U+5a(Z)
|
||||
{ 0x40,0x00,0x7f,0x7f,0x41,0x41,0x00,0x00,0x00}, // U+5b([)
|
||||
{ 0x40,0x01,0x03,0x06,0x0c,0x18,0x30,0x60,0x00}, // U+5c(\)
|
||||
{ 0x40,0x00,0x41,0x41,0x7f,0x7f,0x00,0x00,0x00}, // U+5d(])
|
||||
{ 0x40,0x08,0x0c,0x06,0x03,0x06,0x0c,0x08,0x00}, // U+5e(^)
|
||||
{ 0x40,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80}, // U+5f(_)
|
||||
{ 0x40,0x00,0x00,0x03,0x07,0x04,0x00,0x00,0x00}, // U+60(`)
|
||||
{ 0x40,0x20,0x74,0x54,0x54,0x3c,0x78,0x40,0x00}, // U+61(a)
|
||||
{ 0x40,0x41,0x7f,0x3f,0x48,0x48,0x78,0x30,0x00}, // U+62(b)
|
||||
{ 0x40,0x38,0x7c,0x44,0x44,0x6c,0x28,0x00,0x00}, // U+63(c)
|
||||
{ 0x40,0x30,0x78,0x48,0x49,0x3f,0x7f,0x40,0x00}, // U+64(d)
|
||||
{ 0x40,0x38,0x7c,0x54,0x54,0x5c,0x18,0x00,0x00}, // U+65(e)
|
||||
{ 0x40,0x48,0x7e,0x7f,0x49,0x03,0x02,0x00,0x00}, // U+66(f)
|
||||
{ 0x40,0x98,0xbc,0xa4,0xa4,0xf8,0x7c,0x04,0x00}, // U+67(g)
|
||||
{ 0x40,0x41,0x7f,0x7f,0x08,0x04,0x7c,0x78,0x00}, // U+68(h)
|
||||
{ 0x40,0x00,0x44,0x7d,0x7d,0x40,0x00,0x00,0x00}, // U+69(i)
|
||||
{ 0x40,0x60,0xe0,0x80,0x80,0xfd,0x7d,0x00,0x00}, // U+6a(j)
|
||||
{ 0x40,0x41,0x7f,0x7f,0x10,0x38,0x6c,0x44,0x00}, // U+6b(k)
|
||||
{ 0x40,0x00,0x41,0x7f,0x7f,0x40,0x00,0x00,0x00}, // U+6c(l)
|
||||
{ 0x40,0x7c,0x7c,0x18,0x38,0x1c,0x7c,0x78,0x00}, // U+6d(m)
|
||||
{ 0x40,0x7c,0x7c,0x04,0x04,0x7c,0x78,0x00,0x00}, // U+6e(n)
|
||||
{ 0x40,0x38,0x7c,0x44,0x44,0x7c,0x38,0x00,0x00}, // U+6f(o)
|
||||
{ 0x40,0x84,0xfc,0xf8,0xa4,0x24,0x3c,0x18,0x00}, // U+70(p)
|
||||
{ 0x40,0x18,0x3c,0x24,0xa4,0xf8,0xfc,0x84,0x00}, // U+71(q)
|
||||
{ 0x40,0x44,0x7c,0x78,0x4c,0x04,0x1c,0x18,0x00}, // U+72(r)
|
||||
{ 0x40,0x48,0x5c,0x54,0x54,0x74,0x24,0x00,0x00}, // U+73(s)
|
||||
{ 0x40,0x00,0x04,0x3e,0x7f,0x44,0x24,0x00,0x00}, // U+74(t)
|
||||
{ 0x40,0x3c,0x7c,0x40,0x40,0x3c,0x7c,0x40,0x00}, // U+75(u)
|
||||
{ 0x40,0x1c,0x3c,0x60,0x60,0x3c,0x1c,0x00,0x00}, // U+76(v)
|
||||
{ 0x40,0x3c,0x7c,0x70,0x38,0x70,0x7c,0x3c,0x00}, // U+77(w)
|
||||
{ 0x40,0x44,0x6c,0x38,0x10,0x38,0x6c,0x44,0x00}, // U+78(x)
|
||||
{ 0x40,0x9c,0xbc,0xa0,0xa0,0xfc,0x7c,0x00,0x00}, // U+79(y)
|
||||
{ 0x40,0x4c,0x64,0x74,0x5c,0x4c,0x64,0x00,0x00}, // U+7a(z)
|
||||
{ 0x40,0x08,0x08,0x3e,0x77,0x41,0x41,0x00,0x00}, // U+7b({)
|
||||
{ 0x40,0x00,0x00,0x00,0x77,0x77,0x00,0x00,0x00}, // U+7c(|)
|
||||
{ 0x40,0x41,0x41,0x77,0x3e,0x08,0x08,0x00,0x00}, // U+7d(})
|
||||
{ 0x40,0x02,0x03,0x01,0x03,0x02,0x03,0x01,0x00}, // U+7e(~)
|
||||
{ 0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}}; // U+7f(°)
|
||||
138
src/display/Display.cpp
Normal file
138
src/display/Display.cpp
Normal file
@@ -0,0 +1,138 @@
|
||||
/**
|
||||
* @file Display.cpp
|
||||
* @author Hans Haupt (hans.haupt@dezibot.de)
|
||||
* @brief Adds the ability to print to the display of the robot.
|
||||
* @version 0.1
|
||||
* @date 2024-06-05
|
||||
*
|
||||
* @copyright Copyright (c) 2024
|
||||
*/
|
||||
|
||||
#include "Display.h"
|
||||
#include "CharTable.h"
|
||||
#include "Wire.h"
|
||||
|
||||
|
||||
void Display::begin(void){
|
||||
//set Mux Ratio
|
||||
sendDisplayCMD(muxRatio);
|
||||
sendDisplayCMD(0x3f);
|
||||
sendDisplayCMD(setOffset);
|
||||
sendDisplayCMD(0x00);
|
||||
sendDisplayCMD(setStartLine);
|
||||
sendDisplayCMD(stopCompleteOn);
|
||||
/*which pixels are bright: normal = 1s are bright, inverese= 0s are bright*/
|
||||
sendDisplayCMD( setNormalMode);
|
||||
|
||||
sendDisplayCMD( setOscFreq);
|
||||
sendDisplayCMD(0x80);
|
||||
|
||||
sendDisplayCMD(setChargePump);
|
||||
sendDisplayCMD(0x14);
|
||||
sendDisplayCMD(activateDisplay);
|
||||
this->clear();
|
||||
return;
|
||||
};
|
||||
|
||||
void Display::sendDisplayCMD(uint8_t cmd){
|
||||
Wire.beginTransmission(DisplayAdress);
|
||||
Wire.write(cmd_byte);
|
||||
Wire.write(cmd);
|
||||
Wire.endTransmission();
|
||||
};
|
||||
|
||||
void Display::clear(void){
|
||||
sendDisplayCMD(addressingMode);
|
||||
sendDisplayCMD(0x00); //horizontal
|
||||
sendDisplayCMD(colRange);
|
||||
sendDisplayCMD(0x00);
|
||||
sendDisplayCMD(0x7f);
|
||||
sendDisplayCMD(pageRange);
|
||||
sendDisplayCMD(0x00);
|
||||
sendDisplayCMD(0x07);
|
||||
for (int j=0;j<64;j++){
|
||||
Wire.beginTransmission(DisplayAdress);
|
||||
Wire.write(data_byte);
|
||||
for(int i = 0;i<16;i++){
|
||||
Wire.write(0x00);
|
||||
}
|
||||
Wire.endTransmission();
|
||||
}
|
||||
this -> charsOnCurrLine = 0;
|
||||
this -> currLine = 0;
|
||||
return;
|
||||
};
|
||||
|
||||
void Display::updateLine(uint charAmount)
|
||||
{
|
||||
if(charAmount+this->charsOnCurrLine>16)
|
||||
{
|
||||
this->currLine = (this->currLine+((charAmount+this->charsOnCurrLine)/16))%8;
|
||||
this->charsOnCurrLine = (charAmount+this->charsOnCurrLine)%17; //there can be 0-16 chars on one line, so the 17th char is on next line
|
||||
}
|
||||
else
|
||||
{
|
||||
this->charsOnCurrLine = charAmount+this->charsOnCurrLine;
|
||||
}
|
||||
};
|
||||
|
||||
void Display::print(char *value){
|
||||
char *nextchar;
|
||||
/* write data to the buffer */
|
||||
while(value && *value != '\0') //check if pointer is still valid and string is not terminated
|
||||
{
|
||||
//check if next character is a linebreak
|
||||
if(*value=='\n')
|
||||
{
|
||||
//fill the current line with blanks
|
||||
while(this->charsOnCurrLine<16)
|
||||
{
|
||||
updateLine(1);
|
||||
Wire.beginTransmission(DisplayAdress);
|
||||
for(int i = 0;i<9;i++){
|
||||
Wire.write(font8x8_colwise[0][i]);
|
||||
}
|
||||
Wire.endTransmission();
|
||||
}
|
||||
//make the linebreak
|
||||
this->currLine=currLine+1;
|
||||
this->charsOnCurrLine=0;
|
||||
}
|
||||
else
|
||||
{
|
||||
updateLine(1);
|
||||
Wire.beginTransmission(DisplayAdress);
|
||||
//print the character
|
||||
for(int i = 0;i<9;i++){
|
||||
Wire.write(font8x8_colwise[*value][i]);
|
||||
}
|
||||
Wire.endTransmission();
|
||||
}
|
||||
value++;
|
||||
}
|
||||
};
|
||||
|
||||
void Display::println(char *value){
|
||||
this ->print(value);
|
||||
this->print("\n");
|
||||
};
|
||||
|
||||
void Display::flipOrientation(void){
|
||||
if(this->orientationFlipped){
|
||||
sendDisplayCMD(setComDirectionNormal);
|
||||
sendDisplayCMD(setSegmentMap);
|
||||
} else{
|
||||
sendDisplayCMD(setComDirectionFlipped);
|
||||
sendDisplayCMD(setSegmentReMap);
|
||||
}
|
||||
this->orientationFlipped = !this->orientationFlipped;
|
||||
};
|
||||
|
||||
void Display::invertColor(void){
|
||||
if(this->colorInverted){
|
||||
sendDisplayCMD(setNormalMode);
|
||||
} else {
|
||||
sendDisplayCMD(setInverseMode);
|
||||
}
|
||||
this->colorInverted = !this->colorInverted;
|
||||
};
|
||||
89
src/display/Display.h
Normal file
89
src/display/Display.h
Normal file
@@ -0,0 +1,89 @@
|
||||
/**
|
||||
* @file InfraredLight.h
|
||||
* @author Hans Haupt (hans.haupt@dezibot.de)
|
||||
* @brief Adds the ability to print to the display of the robot.
|
||||
* @version 0.1
|
||||
* @date 2024-05-24
|
||||
*
|
||||
* @copyright Copyright (c) 2024
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef Display_h
|
||||
#define Display_h
|
||||
#include <stdint.h>
|
||||
#include <Arduino.h>
|
||||
#include "DisplayCMDs.h"
|
||||
|
||||
class Display{
|
||||
protected:
|
||||
//how many chars are on current line
|
||||
uint8_t charsOnCurrLine = 0;
|
||||
|
||||
//on which line are we currently printing
|
||||
uint8_t currLine = 0;
|
||||
|
||||
//flag that marks if the y-orientation is currently flipped
|
||||
bool orientationFlipped = false;
|
||||
|
||||
//flag thats marks if the color is currently inverted
|
||||
bool colorInverted = false;
|
||||
|
||||
/**
|
||||
* @brief sends the passed cmd to the display, cmd_byte is added as prefix by the function
|
||||
*
|
||||
* @param cmd the byte instruction that shold by sent
|
||||
*/
|
||||
void sendDisplayCMD(uint8_t cmd);
|
||||
|
||||
/**
|
||||
* @brief should be called whenever characters where printed to the display.
|
||||
* Updates the data of the class to handle linebreaks correctly
|
||||
* @param charAmount How many characters where added to the screen
|
||||
*/
|
||||
void updateLine(uint charAmount);
|
||||
|
||||
public:
|
||||
|
||||
/**
|
||||
* @brief initializes the display datastructures and sents the required cmds to start the display. Should only be called once.
|
||||
* @warning doesn't initalize the I²C bus itself, therefore wire.begin(1,2) must be called elsewhere, before this method.
|
||||
*/
|
||||
void begin(void);
|
||||
|
||||
/**
|
||||
* @brief delets all content from the display, resets the linecounter, new print will start at the top left.
|
||||
* Orientationflip is not resetted
|
||||
*/
|
||||
void clear(void);
|
||||
|
||||
/**
|
||||
* @brief prints the passed string right behind the current displaycontent
|
||||
* the sequence "\n" can be used to make a linebreak on the display
|
||||
*
|
||||
* @param value the string "xyz" that should be printed to the display
|
||||
*/
|
||||
void print(char *value);
|
||||
|
||||
/**
|
||||
* @brief same as the print method, but after the string a line break is inserted
|
||||
*
|
||||
* @param value the string that should be printed
|
||||
*/
|
||||
void println(char *value);
|
||||
|
||||
/**
|
||||
* @brief flips the horizontal orientation of all content on the display
|
||||
*/
|
||||
void flipOrientation(void);
|
||||
|
||||
/**
|
||||
* @brief inverts the pixelcolors, so pixels on will be set to off and currently off pixels will be turned off.
|
||||
* affects already printed content as well as future prints.
|
||||
*
|
||||
*/
|
||||
void invertColor(void);
|
||||
};
|
||||
|
||||
|
||||
#endif //Display_h
|
||||
24
src/display/DisplayCMDs.h
Normal file
24
src/display/DisplayCMDs.h
Normal file
@@ -0,0 +1,24 @@
|
||||
#define cmd_byte 0x80
|
||||
#define data_byte 0x40
|
||||
#define muxRatio 0xa8 //needs second argument ranging from 16-63
|
||||
#define setOffset 0xd3 //needs second argument ranging from 0-63
|
||||
#define setStartLine 0x40
|
||||
#define setSegmentMap 0xa0
|
||||
#define setSegmentReMap 0xa1
|
||||
#define setComDirectionNormal 0xc0
|
||||
#define setComDirectionFlipped 0xc8
|
||||
#define setComHardwareConfig 0xda //needs second arg
|
||||
#define setContrast 0x81 //needs second arg
|
||||
#define completeOn 0xa5
|
||||
#define stopCompleteOn 0xa4
|
||||
#define setNormalMode 0xa6
|
||||
#define setInverseMode 0xa7
|
||||
#define setOscFreq 0xd5 //needs second arg
|
||||
#define setChargePump 0x8d//needs second arg 0x14 for enable
|
||||
#define activateDisplay 0xaf
|
||||
#define disableDisplay 0xae
|
||||
#define addressingMode 0x20
|
||||
#define colRange 0x21
|
||||
#define pageRange 0x22
|
||||
|
||||
#define DisplayAdress 0x3C
|
||||
@@ -16,7 +16,7 @@ void InfraredLED::begin(void){
|
||||
.speed_mode = pwmSpeedMode,
|
||||
.duty_resolution = LEDC_TIMER_10_BIT,
|
||||
.timer_num = this->timer,
|
||||
.freq_hz = 1,
|
||||
.freq_hz = 800,
|
||||
.clk_cfg = LEDC_AUTO_CLK
|
||||
};
|
||||
ledc_timer_config(&pwmTimer);
|
||||
@@ -53,7 +53,7 @@ void InfraredLED::setState(bool state){
|
||||
};
|
||||
|
||||
void InfraredLED::sendFrequency(uint16_t frequency){
|
||||
ledc_set_freq(pwmSpeedMode,timer,frequency);
|
||||
// ledc_set_freq(pwmSpeedMode,timer,frequency);
|
||||
ledc_set_duty(pwmSpeedMode,channel,512);
|
||||
ledc_update_duty(pwmSpeedMode,channel);
|
||||
};
|
||||
@@ -26,7 +26,6 @@ class InfraredLED{
|
||||
/**
|
||||
* @brief enables selected LED
|
||||
*
|
||||
* @param led
|
||||
*/
|
||||
void turnOn(void);
|
||||
/**
|
||||
|
||||
@@ -52,6 +52,7 @@ photoTransistors LightDetection::getBrightest(ptType type){
|
||||
};
|
||||
|
||||
uint32_t LightDetection::getAverageValue(photoTransistors sensor, uint32_t measurments, uint32_t timeBetween){
|
||||
|
||||
TickType_t xLastWakeTime = xTaskGetTickCount();
|
||||
TickType_t frequency = timeBetween / portTICK_PERIOD_MS;
|
||||
uint64_t cumulatedResult = 0;
|
||||
@@ -63,6 +64,7 @@ uint32_t LightDetection::getAverageValue(photoTransistors sensor, uint32_t measu
|
||||
};
|
||||
|
||||
void LightDetection::beginInfrared(void){
|
||||
digitalWrite(IR_PT_ENABLE,true);
|
||||
pinMode(IR_PT_ENABLE, OUTPUT);
|
||||
pinMode(IR_PT_FRONT_ADC, INPUT);
|
||||
pinMode(IR_PT_LEFT_ADC, INPUT);
|
||||
@@ -71,13 +73,14 @@ void LightDetection::beginInfrared(void){
|
||||
};
|
||||
|
||||
void LightDetection::beginDaylight(void){
|
||||
digitalWrite(DL_PT_ENABLE,true);
|
||||
pinMode(DL_PT_ENABLE, OUTPUT);
|
||||
pinMode(DL_PT_BOTTOM_ADC, INPUT);
|
||||
pinMode(DL_PT_FRONT_ADC, INPUT );
|
||||
};
|
||||
|
||||
uint16_t LightDetection::readIRPT(photoTransistors sensor){
|
||||
digitalWrite(IR_PT_ENABLE,HIGH);
|
||||
//digitalWrite(IR_PT_ENABLE,HIGH);
|
||||
uint16_t result = 0;
|
||||
switch (sensor)
|
||||
{
|
||||
@@ -96,7 +99,7 @@ uint16_t LightDetection::readIRPT(photoTransistors sensor){
|
||||
default:
|
||||
break;
|
||||
}
|
||||
digitalWrite(IR_PT_ENABLE,LOW);
|
||||
//digitalWrite(IR_PT_ENABLE,LOW);
|
||||
return result;
|
||||
};
|
||||
|
||||
|
||||
@@ -91,13 +91,7 @@ protected:
|
||||
static void beginInfrared(void);
|
||||
static void beginDaylight(void);
|
||||
static uint16_t readIRPT(photoTransistors sensor);
|
||||
static uint16_t readDLPT(photoTransistors sensor);
|
||||
|
||||
static void averageMeasurmentTask(void * args);
|
||||
|
||||
|
||||
|
||||
|
||||
static uint16_t readDLPT(photoTransistors sensor);
|
||||
|
||||
};
|
||||
#endif //LightDetection_h
|
||||
Reference in New Issue
Block a user