static void PrintString(RPi.I2C.Net.I2CBus bus, char[] text)
{
int positionInLine = 0;
int dram;
int i;
for (i = 0; text[i] != '\0'; i++)
{
// byte_to_binary(string[i]);
if (positionInLine == rowNumber)
{
dram = 0xC0 | LCD_DDRAMADDRESS;
WriteLCD(bus, PCF_ADDR, (byte)dram, (byte)LCD_COMMAND_MODE); //jump to next line
positionInLine = 0;
}
if (text[i] == '\n')
{
dram = 0xC0 | LCD_DDRAMADDRESS;
WriteLCD(bus, PCF_ADDR, (byte)dram, (byte)LCD_COMMAND_MODE);
positionInLine = 0;
}
else
{
WriteLCD(bus, PCF_ADDR, (byte)text[i], (byte)LCD_CHARACTER_MODE);
positionInLine = positionInLine + 1;
}
}
}
static void WriteLCD(RPi.I2C.Net.I2CBus bus, int address, byte reg, int mode)
{
gpio_reg |= mode << PIN_RS;
bus.WriteByte(PCF_ADDR, (byte)gpio_reg);
Thread.Sleep(1);
gpio_reg = gpio_reg | (reg >> 4) << 4;
Pulse(bus);
gpio_reg = gpio_reg & (0xff - (0xf0));
gpio_reg = gpio_reg | (reg & 0x0f) << 4;
Pulse(bus);
gpio_reg = gpio_reg & (0xff - (1 << PIN_RS) - (0xf0));
}
static void Pulse(RPi.I2C.Net.I2CBus bus)
{
Thread.Sleep(1);
gpio_reg &= (0xff - (1 << PIN_ENABLE));
bus.WriteByte(PCF_ADDR, (byte)gpio_reg);
Thread.Sleep(1);
gpio_reg |= 1 << PIN_ENABLE;
bus.WriteByte(PCF_ADDR, (byte)gpio_reg);
Thread.Sleep(1);
gpio_reg &= (0xff - (1 << PIN_ENABLE));
bus.WriteByte(PCF_ADDR, (byte)gpio_reg);
Thread.Sleep(1);
}
static void CursorBlink(RPi.I2C.Net.I2CBus bus, bool state)
{
if (state)
{
displayControl =
(displayControl | LCD_DISPLAYON | LCD_DISPLAYCONTROL | LCD_CURSORBLINKON);
}
else
{
displayControl =
(displayControl | LCD_DISPLAYON | LCD_DISPLAYCONTROL | LCD_CURSORBLINKOFF) & ~LCD_CURSORBLINKON;
}
WriteLCD(bus, PCF_ADDR, (byte)displayControl, (byte)LCD_COMMAND_MODE);
}
static void MoveCursor(RPi.I2C.Net.I2CBus bus, int movement)
{
if (movement == CURSOR_RIGHT)
{
WriteLCD(bus, PCF_ADDR, (byte)0x14, (byte)LCD_COMMAND_MODE);
}
else if (movement == CURSOR_LEFT)
{
WriteLCD(bus, PCF_ADDR, (byte)0x10, (byte)LCD_COMMAND_MODE);
}
else
{
WriteLCD(bus, PCF_ADDR, (byte)0x02, (byte)LCD_COMMAND_MODE);
}
}
static void CursorControl(RPi.I2C.Net.I2CBus bus, bool state)
{
if (state)
{
displayControl =
(displayControl | LCD_DISPLAYON | LCD_DISPLAYCONTROL | LCD_SHOWCURSOR);
}
else
{
displayControl =
(displayControl | LCD_DISPLAYON | LCD_DISPLAYCONTROL | LCD_HIDECURSOR) &
~LCD_SHOWCURSOR;
}
WriteLCD(bus, PCF_ADDR, (byte)displayControl, (byte)LCD_COMMAND_MODE);
}
static void InitialiseLCD(RPi.I2C.Net.I2CBus bus)
{
colNumber = 2;
rowNumber = 16;
gpio_reg = 0;
gpio_reg = gpio_reg | (1 << PIN_BACKLIGHT);
bus.WriteByte(PCF_ADDR, (byte)gpio_reg);
WriteLCD(bus, PCF_ADDR, (byte)0x33, (byte)LCD_COMMAND_MODE);
WriteLCD(bus, PCF_ADDR, (byte)0x30, (byte)LCD_COMMAND_MODE);
WriteLCD(bus, PCF_ADDR, (byte)0x06, (byte)LCD_COMMAND_MODE);
displayControl =
(displayControl | LCD_DISPLAYCONTROL) | LCD_DISPLAYON;
WriteLCD(bus, PCF_ADDR, (byte)displayControl, (byte)LCD_COMMAND_MODE);
}
static void PrintInt32(RPi.I2C.Net.I2CBus bus, int val)
{
int dram;
int i;
for (i = 0; i < 32; i++)
{
if (i == rowNumber)
{
dram = 0xC0 | LCD_DDRAMADDRESS;
WriteLCD(bus, PCF_ADDR, (byte)dram, (byte)LCD_COMMAND_MODE); //jump to next line
}
if (((val >> i) & 0x01) == 1)
{
WriteLCD(bus, PCF_ADDR, (byte)0x31, (byte)LCD_CHARACTER_MODE);
}
else
{
WriteLCD(bus, PCF_ADDR, (byte)0x30, (byte)LCD_CHARACTER_MODE);
}
}
}
public void TestAllCommands(RPi.I2C.Net.I2CBus incomingBus)
{
Console.WriteLine("****************************************");
Console.WriteLine("* Performing all commands test *");
Console.WriteLine("****************************************");
Console.WriteLine();
Console.WriteLine("Testing COMMAND_ALL_OFF");
incomingBus.WriteByte(_TBORG_ADDRESS, 0x14);
Console.WriteLine("Reading response: " + ParseBytes(incomingBus.ReadBytes(_TBORG_ADDRESS, 6)));
Console.WriteLine();
Console.WriteLine("Testing COMMAND_SET_A_FWD");
incomingBus.WriteBytes(_TBORG_ADDRESS, new byte[] { 0x08, 0x80 });
Console.WriteLine("Response: " + ParseBytes(incomingBus.ReadBytes(_TBORG_ADDRESS, 6)));
Console.WriteLine();
System.Threading.Thread.Sleep(2000);
Console.WriteLine("Testing COMMAND_ALL_OFF");
incomingBus.WriteByte(_TBORG_ADDRESS, 0x0E);
Console.WriteLine("Reading response: " + ParseBytes(incomingBus.ReadBytes(_TBORG_ADDRESS, 6)));
Console.WriteLine();
System.Threading.Thread.Sleep(2000);
Console.WriteLine("Testing COMMAND_SET_B_REV");
incomingBus.WriteBytes(_TBORG_ADDRESS, new byte[] { 12, 0x80 });
Console.WriteLine("Response: " + ParseBytes(incomingBus.ReadBytes(_TBORG_ADDRESS, 6)));
Console.WriteLine();
System.Threading.Thread.Sleep(2000);
Console.WriteLine("Testing COMMAND_SET_LED1");
incomingBus.WriteBytes(_TBORG_ADDRESS, new byte[] { 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF });
Console.WriteLine("Response: " + ParseBytes(incomingBus.ReadBytes(_TBORG_ADDRESS, 6)));
Console.WriteLine();
Console.WriteLine("Testing COMMAND_GET_LED1");
incomingBus.WriteByte(_TBORG_ADDRESS, 0x02);
Console.WriteLine("Reading response: " + ParseBytes(incomingBus.ReadBytes(_TBORG_ADDRESS, 6)));
Console.WriteLine();
Console.WriteLine("Testing COMMAND_SET_LED2");
incomingBus.WriteBytes(_TBORG_ADDRESS, new byte[] { 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF });
Console.WriteLine("Response: " + ParseBytes(incomingBus.ReadBytes(_TBORG_ADDRESS, 6)));
Console.WriteLine();
Console.WriteLine("Testing COMMAND_GET_LED2");
incomingBus.WriteByte(_TBORG_ADDRESS, 0x04);
Console.WriteLine("Reading response: " + ParseBytes(incomingBus.ReadBytes(_TBORG_ADDRESS, 6)));
Console.WriteLine();
Console.WriteLine("Testing COMMAND_SET_LEDS");
incomingBus.WriteBytes(_TBORG_ADDRESS, new byte[] { 0x05, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF });
Console.WriteLine("Response: " + ParseBytes(incomingBus.ReadBytes(_TBORG_ADDRESS, 6)));
Console.WriteLine();
Console.WriteLine("Testing COMMAND_SET_A_FWD");
incomingBus.WriteBytes(_TBORG_ADDRESS, new byte[] { 0x08, 0x80 });
Console.WriteLine("Response: " + ParseBytes(incomingBus.ReadBytes(_TBORG_ADDRESS, 6)));
Console.WriteLine();
Console.WriteLine("Testing COMMAND_SET_B_REV");
incomingBus.WriteBytes(_TBORG_ADDRESS, new byte[] { 0x0C, 0x80 });
Console.WriteLine("Response: " + ParseBytes(incomingBus.ReadBytes(_TBORG_ADDRESS, 6)));
Console.WriteLine();
Console.WriteLine("Testing COMMAND_GET_DRIVE_A_FAULT");
incomingBus.WriteByte(_TBORG_ADDRESS, 0x0E);
Console.WriteLine("Reading response: " + ParseBytes(incomingBus.ReadBytes(_TBORG_ADDRESS, 6)));
Console.WriteLine();
Console.WriteLine("Testing COMMAND_GET_DRIVE_B_FAULT");
incomingBus.WriteByte(_TBORG_ADDRESS, 0x0F);
Console.WriteLine("Reading response: " + ParseBytes(incomingBus.ReadBytes(_TBORG_ADDRESS, 6)));
Console.WriteLine();
Console.WriteLine("Testing COMMAND_SET_FAILSAFE");
incomingBus.WriteBytes(_TBORG_ADDRESS, new byte[] { 0x13, 0x01 });
Console.WriteLine("Reading response: " + ParseBytes(incomingBus.ReadBytes(_TBORG_ADDRESS, 6)));
Console.WriteLine();
Console.WriteLine("Waiting for a few seconds...");
System.Threading.Thread.Sleep(5000);
Console.WriteLine("Testing COMMAND_SET_FAILSAFE");
incomingBus.WriteBytes(_TBORG_ADDRESS, new byte[] { 0x13, 0x00 });
Console.WriteLine("Reading response: " + ParseBytes(incomingBus.ReadBytes(_TBORG_ADDRESS, 6)));
Console.WriteLine();
Console.WriteLine("Testing COMMAND_GET_BATT_VOLT");
incomingBus.WriteByte(_TBORG_ADDRESS, 21);
Console.WriteLine("Response: " + ParseBytes(incomingBus.ReadBytes(_TBORG_ADDRESS, 6)));
Console.WriteLine("Testing COMMAND_ALL_OFF");
incomingBus.WriteByte(_TBORG_ADDRESS, 0x14);
Console.WriteLine("Reading response: " + ParseBytes(incomingBus.ReadBytes(_TBORG_ADDRESS, 6)));
Console.WriteLine();
}
static void SetPrintPosn(RPi.I2C.Net.I2CBus bus, int offset)
{
int posn = LCD_DDRAMADDRESS | offset;
WriteLCD(bus, PCF_ADDR, (byte)posn, (byte)LCD_COMMAND_MODE);
}
static void ClearDisplay(RPi.I2C.Net.I2CBus bus)
{
WriteLCD(bus, PCF_ADDR, (byte)LCD_CLEARDISPLAY, (byte)LCD_COMMAND_MODE);
}
