introduce adafruit1109 2x16 LCD with 5 keys

classicvalues · Apr 17, 2022 · 4565cc3 · 4565cc3
1 parent cac6338
commit 4565cc3
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Showing 6 changed files with 490 additions and 26 deletions.
diff --git a/drivers/gpio/hd44780_driver.go b/drivers/gpio/hd44780_driver.go
@@ -2,8 +2,11 @@ package gpio
 
 import (
 	"errors"
-	"gobot.io/x/gobot"
+	"fmt"
+	"sync"
 	"time"
+
+	"gobot.io/x/gobot"
 )
 
 const (
@@ -71,12 +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
@@ -97,6 +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 {
@@ -152,23 +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 {
@@ -217,6 +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
@@ -264,7 +279,7 @@ func (h *HD44780Driver) Home() (err error) {
 // SetCursor move the cursor to the specified position
 func (h *HD44780Driver) SetCursor(col int, row int) (err error) {
 	if col < 0 || row < 0 || col >= h.cols || row >= h.rows {
-		return errors.New("Invalid position value")
+		return fmt.Errorf("Invalid position value (%d, %d), range (%d, %d)", col, row, h.cols-1, h.rows-1)
 	}
 
 	return h.SendCommand(HD44780_SETDDRAMADDR | col + h.rowOffsets[row])
@@ -327,30 +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
@@ -372,8 +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 {
@@ -385,17 +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
 	}
@@ -404,7 +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
 }
diff --git a/drivers/gpio/hd44780_driver_test.go b/drivers/gpio/hd44780_driver_test.go
@@ -157,10 +157,10 @@ func TestHD44780DriverSetCursor(t *testing.T) {
 func TestHD44780DriverSetCursorInvalid(t *testing.T) {
 	d := initTestHD44780Driver()
 	d.Start()
-	gobottest.Assert(t, d.SetCursor(-1, 3), errors.New("Invalid position value"))
-	gobottest.Assert(t, d.SetCursor(2, 3), errors.New("Invalid position value"))
-	gobottest.Assert(t, d.SetCursor(0, -1), errors.New("Invalid position value"))
-	gobottest.Assert(t, d.SetCursor(0, 16), errors.New("Invalid position value"))
+	gobottest.Assert(t, d.SetCursor(-1, 3), errors.New("Invalid position value (-1, 3), range (1, 15)"))
+	gobottest.Assert(t, d.SetCursor(2, 3), errors.New("Invalid position value (2, 3), range (1, 15)"))
+	gobottest.Assert(t, d.SetCursor(0, -1), errors.New("Invalid position value (0, -1), range (1, 15)"))
+	gobottest.Assert(t, d.SetCursor(0, 16), errors.New("Invalid position value (0, 16), range (1, 15)"))
 }
 
 func TestHD44780DriverDisplayOn(t *testing.T) {

diff --git a/drivers/i2c/README.md b/drivers/i2c/README.md
@@ -12,6 +12,7 @@ go get -d -u gobot.io/x/gobot/...
 ## Hardware Support
 Gobot has a extensible system for connecting to hardware devices. The following i2c devices are currently supported:
 
+- Adafruit 2x16 RGB-LCD with 5 keys
 - Adafruit Motor Hat
 - ADS1015 Analog to Digital Converter
 - ADS1115 Analog to Digital Converter