Merge pull request #20 from ROBOTIS-GIT/develop

Merge for Release 1.0.1

arduino/opencr_arduino/libraries/OpenCR_ILI9341/OpenCR_ILI9341.h

@@ -0,0 +1,199 @@
+/***************************************************
+  This is our library for the Adafruit  ILI9341 Breakout and Shield
+  ----> http://www.adafruit.com/products/1651
+
+  Check out the links above for our tutorials and wiring diagrams
+  These displays use SPI to communicate, 4 or 5 pins are required to
+  interface (RST is optional)
+  Adafruit invests time and resources providing this open source code,
+  please support Adafruit and open-source hardware by purchasing
+  products from Adafruit!
+
+  Written by Limor Fried/Ladyada for Adafruit Industries.
+  MIT license, all text above must be included in any redistribution
+ ****************************************************/
+
+#ifndef _ADAFRUIT_ILI9341H_
+#define _ADAFRUIT_ILI9341H_
+
+#if ARDUINO >= 100
+ #include "Arduino.h"
+ #include "Print.h"
+#else
+ #include "WProgram.h"
+#endif
+#include <Adafruit_GFX.h>
+#ifdef __AVR
+  #include <avr/pgmspace.h>
+#elif defined(ESP8266)
+  #include <pgmspace.h>
+#endif
+
+#ifdef ARDUINO_STM32_FEATHER
+typedef volatile uint32 RwReg;
+#endif
+#ifdef __OPENCR__
+typedef uint32_t RwReg;
+#endif
+
+#if defined (__AVR__) || defined(TEENSYDUINO) || defined (__arm__) && !defined(__OPENCR__)
+#ifndef __OPENCR__
+#define USE_FAST_PINIO
+#endif
+#endif
+
+#define ILI9341_TFTWIDTH  240
+#define ILI9341_TFTHEIGHT 320
+
+#define ILI9341_NOP     0x00
+#define ILI9341_SWRESET 0x01
+#define ILI9341_RDDID   0x04
+#define ILI9341_RDDST   0x09
+
+#define ILI9341_SLPIN   0x10
+#define ILI9341_SLPOUT  0x11
+#define ILI9341_PTLON   0x12
+#define ILI9341_NORON   0x13
+
+#define ILI9341_RDMODE  0x0A
+#define ILI9341_RDMADCTL  0x0B
+#define ILI9341_RDPIXFMT  0x0C
+#define ILI9341_RDIMGFMT  0x0D
+#define ILI9341_RDSELFDIAG  0x0F
+
+#define ILI9341_INVOFF  0x20
+#define ILI9341_INVON   0x21
+#define ILI9341_GAMMASET 0x26
+#define ILI9341_DISPOFF 0x28
+#define ILI9341_DISPON  0x29
+
+#define ILI9341_CASET   0x2A
+#define ILI9341_PASET   0x2B
+#define ILI9341_RAMWR   0x2C
+#define ILI9341_RAMRD   0x2E
+
+#define ILI9341_PTLAR   0x30
+#define ILI9341_MADCTL  0x36
+#define ILI9341_PIXFMT  0x3A
+
+#define ILI9341_FRMCTR1 0xB1
+#define ILI9341_FRMCTR2 0xB2
+#define ILI9341_FRMCTR3 0xB3
+#define ILI9341_INVCTR  0xB4
+#define ILI9341_DFUNCTR 0xB6
+
+#define ILI9341_PWCTR1  0xC0
+#define ILI9341_PWCTR2  0xC1
+#define ILI9341_PWCTR3  0xC2
+#define ILI9341_PWCTR4  0xC3
+#define ILI9341_PWCTR5  0xC4
+#define ILI9341_VMCTR1  0xC5
+#define ILI9341_VMCTR2  0xC7
+
+#define ILI9341_RDID1   0xDA
+#define ILI9341_RDID2   0xDB
+#define ILI9341_RDID3   0xDC
+#define ILI9341_RDID4   0xDD
+
+#define ILI9341_GMCTRP1 0xE0
+#define ILI9341_GMCTRN1 0xE1
+/*
+#define ILI9341_PWCTR6  0xFC
+
+*/
+
+// Color definitions
+#define ILI9341_BLACK       0x0000      /*   0,   0,   0 */
+#define ILI9341_NAVY        0x000F      /*   0,   0, 128 */
+#define ILI9341_DARKGREEN   0x03E0      /*   0, 128,   0 */
+#define ILI9341_DARKCYAN    0x03EF      /*   0, 128, 128 */
+#define ILI9341_MAROON      0x7800      /* 128,   0,   0 */
+#define ILI9341_PURPLE      0x780F      /* 128,   0, 128 */
+#define ILI9341_OLIVE       0x7BE0      /* 128, 128,   0 */
+#define ILI9341_LIGHTGREY   0xC618      /* 192, 192, 192 */
+#define ILI9341_DARKGREY    0x7BEF      /* 128, 128, 128 */
+#define ILI9341_BLUE        0x001F      /*   0,   0, 255 */
+#define ILI9341_GREEN       0x07E0      /*   0, 255,   0 */
+#define ILI9341_CYAN        0x07FF      /*   0, 255, 255 */
+#define ILI9341_RED         0xF800      /* 255,   0,   0 */
+#define ILI9341_MAGENTA     0xF81F      /* 255,   0, 255 */
+#define ILI9341_YELLOW      0xFFE0      /* 255, 255,   0 */
+#define ILI9341_WHITE       0xFFFF      /* 255, 255, 255 */
+#define ILI9341_ORANGE      0xFD20      /* 255, 165,   0 */
+#define ILI9341_GREENYELLOW 0xAFE5      /* 173, 255,  47 */
+#define ILI9341_PINK        0xF81F
+
+class Adafruit_ILI9341 : public Adafruit_GFX {
+
+ public:
+
+  Adafruit_ILI9341(int8_t _CS, int8_t _DC, int8_t _MOSI, int8_t _SCLK,
+		   int8_t _RST, int8_t _MISO);
+  Adafruit_ILI9341(int8_t _CS, int8_t _DC, int8_t _RST = -1);
+
+  void     begin(void),
+           setAddrWindow(uint16_t x0, uint16_t y0, uint16_t x1, uint16_t y1),
+           pushColor(uint16_t color),
+           fillScreen(uint16_t color),
+           drawPixel(int16_t x, int16_t y, uint16_t color),
+           drawFastVLine(int16_t x, int16_t y, int16_t h, uint16_t color),
+           drawFastHLine(int16_t x, int16_t y, int16_t w, uint16_t color),
+           fillRect(int16_t x, int16_t y, int16_t w, int16_t h,
+             uint16_t color),
+           setRotation(uint8_t r),
+           invertDisplay(boolean i);
+  uint16_t color565(uint8_t r, uint8_t g, uint8_t b);
+  uint16_t readID(void) { return _lcd_ID; };
+  void vertScroll(int16_t top, int16_t scrollines, int16_t offset);
+
+  /* These are not for current use, 8-bit protocol only! */
+  uint8_t  readdata(void),
+    readcommand8(uint8_t reg, uint8_t index = 0);
+  /*
+  uint16_t readcommand16(uint8_t);
+  uint32_t readcommand32(uint8_t);
+  void     dummyclock(void);
+  */
+
+  void     spiwrite(uint8_t),
+    writecommand(uint8_t c),
+    writedata(uint8_t d),
+    commandList(uint8_t *addr);
+  void WriteCmdParamN(uint16_t cmd, int8_t N, uint8_t * block);
+  uint8_t  spiread(void);
+  void     spiwrite16(uint16_t c);
+  void WriteCmdData(uint16_t cmd, uint16_t dat);
+
+  void WriteCmd(uint16_t x)  { digitalWrite(_dc, LOW); spiwrite16(x); };
+  void WriteData(uint16_t x) { digitalWrite(_dc, HIGH); spiwrite16(x); };
+ private:
+  uint8_t  tabcolor;
+
+
+
+  boolean  hwSPI;
+#if defined (__AVR__) || defined(TEENSYDUINO)
+  uint8_t mySPCR;
+  volatile uint8_t *mosiport, *clkport, *dcport, *rsport, *csport;
+  int8_t  _cs, _dc, _rst, _mosi, _miso, _sclk;
+  uint8_t  mosipinmask, clkpinmask, cspinmask, dcpinmask;
+////This def is for the Arduino.ORG M0!!!
+//#elif defined(ARDUINO_SAM_ZERO)
+//    volatile PORT_OUT_Type *mosiport, *clkport, *dcport, *rsport, *csport;
+//    int32_t  _cs, _dc, _rst, _mosi, _miso, _sclk;
+//    PORT_OUT_Type  mosipinmask, clkpinmask, cspinmask, dcpinmask;
+#elif defined (__arm__)
+    volatile RwReg *mosiport, *clkport, *dcport, *rsport, *csport;
+    int32_t  _cs, _dc, _rst, _mosi, _miso, _sclk;
+    uint32_t  mosipinmask, clkpinmask, cspinmask, dcpinmask;
+#elif defined (ESP8266)
+    int32_t  _cs, _dc, _rst, _mosi, _miso, _sclk;
+#else
+    int8_t  _cs, _dc, _rst, _mosi, _miso, _sclk;
+#endif
+
+  uint16_t _lcd_ID, _lcd_rev, _lcd_madctl, _lcd_drivOut, _MC, _MP, _MW, _SC, _EC, _SP, _EP;
+  uint16_t  _lcd_xor, _lcd_capable;
+};
+
+#endif

arduino/opencr_arduino/libraries/OpenCR_ILI9341/README.txt

@@ -0,0 +1,21 @@
+This is a library for the Adafruit ILI9341 display products
+
+This library works with the Adafruit 2.8" Touch Shield V2 (SPI)
+  ----> http://www.adafruit.com/products/1651
+
+Check out the links above for our tutorials and wiring diagrams.
+These displays use SPI to communicate, 4 or 5 pins are required
+to interface (RST is optional).
+
+Adafruit invests time and resources providing this open source code,
+please support Adafruit and open-source hardware by purchasing
+products from Adafruit!
+
+Written by Limor Fried/Ladyada for Adafruit Industries.
+MIT license, all text above must be included in any redistribution
+
+To download. click the DOWNLOADS button in the top right corner, rename the uncompressed folder Adafruit_ILI9341. Check that the Adafruit_ILI9341 folder contains Adafruit_ILI9341.cpp and Adafruit_ILI9341.
+
+Place the Adafruit_ILI9341 library folder your arduinosketchfolder/libraries/ folder. You may need to create the libraries subfolder if its your first library. Restart the IDE
+
+Also requires the Adafruit_GFX library for Arduino.

arduino/opencr_arduino/libraries/OpenCR_ILI9341/examples/dxl_ollo/dxl_ollo.ino

@@ -0,0 +1,156 @@
+
+#include <Adafruit_GFX.h>    // Core graphics library
+#include "OpenCR_ILI9341.h" // Hardware-specific library
+#include <SPI.h>
+#include <SD.h>
+#include <IMU.h>
+#include <Dynamixel.h>
+#include <OLLO.h>
+
+OLLO      myOLLO;
+Dynamixel Dxl;
+cIMU      IMU;
+
+
+// TFT display and SD card will share the hardware SPI interface.
+// Hardware SPI pins are specific to the Arduino board type and
+// cannot be remapped to alternate pins.  For Arduino Uno,
+// Duemilanove, etc., pin 11 = MOSI, pin 12 = MISO, pin 13 = SCK.
+
+#define TFT_DC    6
+#define TFT_CS    7
+#define TFT_MOSI  3
+#define TFT_MISO  2
+#define TFT_CLK   4
+#define TFT_RST   5
+
+// Use hardware SPI (on Uno, #13, #12, #11) and the above for CS/DC
+//Adafruit_ILI9341 tft = Adafruit_ILI9341(TFT_CS, TFT_DC);
+// If using the breakout, change pins as desired
+Adafruit_ILI9341 tft = Adafruit_ILI9341(TFT_CS, TFT_DC, TFT_MOSI, TFT_CLK, TFT_RST, TFT_MISO);
+
+#define BLACK   0x0000
+#define BLUE    0x001F
+#define RED     0xF800
+#define GREEN   0x07E0
+#define CYAN    0x07FF
+#define MAGENTA 0xF81F
+#define YELLOW  0xFFE0
+#define WHITE   0xFFFF
+
+// work in line numbers.  Font height in ht
+int16_t ht = 16, top = 0, line, lines = 19, scroll;
+
+
+int motor_id = 1;
+
+void setup()
+{
+  Serial.begin(115200);
+
+  uint16_t id = tft.readID();
+  tft.begin();
+  tft.setRotation(0);     //Portrait
+  tft.fillScreen(BLACK);
+  tft.setTextColor(WHITE, BLACK);
+  tft.setTextSize(2);     // System font is 8 pixels.  ht = 8*2=16
+  tft.setCursor(100, 0);
+  tft.print("ID = 0x");
+  tft.println(id, HEX);
+
+  lines = tft.height();
+
+  tft.setCursor(0, 0);
+  tft.fillScreen(BLACK);
+
+  IMU.begin();
+
+
+  myOLLO.begin(1, IR_SENSOR);
+
+  Dxl.begin(3);
+  Dxl.writeByte(motor_id, 64, 1 );      
+}
+
+uint8_t line_x_buf[320];
+uint8_t line_y_buf[320];
+uint8_t line_z_buf[320];
+
+void loop()
+{
+    static int x = 0;
+    static int y = 0;
+    static int z = 0;
+    static uint32_t tTime[2];
+    static uint32_t MotorIndex;
+
+  if( millis()-tTime[0] > 5 )
+  {
+    tTime[0] = millis();
+
+    tft.setCursor(0, (scroll + top) * 1);
+    //tft.setCursor(0,lines );
+    if (++scroll >= lines) scroll = 0;
+    //tft.vertScroll(top*ht, lines * ht, (scroll) * ht);
+    //tft.drawPixel( x, (scroll + top) * 1, YELLOW);    
+    //tft.vertScroll(top, lines, scroll*1);
+
+    tft.drawPixel( line_x_buf[scroll], scroll, BLACK);    
+    tft.drawPixel( line_y_buf[scroll], scroll, BLACK);    
+    //tft.drawPixel( line_z_buf[scroll], scroll, BLACK);    
+
+    tft.drawPixel( x, scroll, YELLOW);    
+    tft.drawPixel( y, scroll, RED);    
+    //tft.drawPixel( z, scroll, RED);    
+
+    line_x_buf[scroll] = x;
+    line_y_buf[scroll] = y;
+    //line_z_buf[scroll] = z;
+
+    tft.vertScroll(top, lines, scroll);
+
+    line++;
+  }
+
+  IMU.update();
+
+  x = map(Dxl.readWord(motor_id, 132),0, 4096, -100, 100) + tft.width()/2+40;
+  y = map(myOLLO.read(1, IR_SENSOR), 0, 1023, 0, -100) + tft.width()/2;
+  //z = IMU.angle[2]    + tft.width()/2;
+
+  if( millis()-tTime[1] > 1000 )
+  {
+    tTime[1] = millis();
+
+    if( MotorIndex == 0 )
+    {
+      Dxl.writeDword(motor_id, 116, get_pos(0) );
+    }
+    else
+    {
+      Dxl.writeDword(motor_id, 116, get_pos(90) );
+    }
+
+    MotorIndex ^= 1;
+  }
+
+
+  if( Serial.available() )
+  {
+    uint8_t ch;
+
+    ch = Serial.read();
+
+    if( ch == '1' ) Dxl.writeByte(motor_id, 64, 1 );
+    if( ch == '2' ) Dxl.writeByte(motor_id, 64, 0 );
+    if( ch == '3' ) Dxl.writeDword(motor_id, 116, get_pos(0) );
+    if( ch == '4' ) Dxl.writeDword(motor_id, 116, get_pos(90) );
+
+  }    
+}
+
+uint32_t get_pos( int pos )
+{
+  return map( pos, -180, 180, 0, 4095);
+}
+