ROVER - OLED drivers, APPSTACLE logo bitmap, and more changes to the external gpio task regarding shutdown and buzzer implementations
Signed-off-by: Mustafa Ozcelikors <mozcelikors@gmail.com>
diff --git a/rover/src/RaspberryTest.cpp b/rover/src/RaspberryTest.cpp
index db2e4d4..7883328 100644
--- a/rover/src/RaspberryTest.cpp
+++ b/rover/src/RaspberryTest.cpp
@@ -163,6 +163,8 @@
int buzzer_status_shared;
pthread_mutex_t buzzer_status_shared_lock;
+int shutdown_hook_shared;
+
int main()
{
//Register all the entries as devices to cloud
@@ -191,6 +193,7 @@
driving_mode = MANUAL;
speed_shared = FULL_SPEED;
buzzer_status_shared = 0;
+ shutdown_hook_shared = 0;
//Initialize mutexes
pthread_mutex_init(&temperature_lock, NULL);
diff --git a/rover/src/drivers/oled_drivers/Adafruit_GFX.cpp b/rover/src/drivers/oled_drivers/Adafruit_GFX.cpp
new file mode 100644
index 0000000..e9fae91
--- /dev/null
+++ b/rover/src/drivers/oled_drivers/Adafruit_GFX.cpp
@@ -0,0 +1,646 @@
+/******************************************************************
+ This is the core graphics library for all our displays, providing
+ basic graphics primitives (points, lines, circles, etc.). It needs
+ to be paired with a hardware-specific library for each display
+ device we carry (handling the lower-level functions).
+
+ 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.
+ BSD license, check https://opensource.org/licenses/BSD-2-Clause for more information.
+ All text above must be included in any redistribution.
+
+02/18/2013 Charles-Henri Hallard (http://hallard.me)
+ Modified for compiling and use on Raspberry ArduiPi Board
+ LCD size and connection are now passed as arguments on
+ the command line (no more #define on compilation needed)
+ ArduiPi project documentation http://hallard.me/arduipi
+07/01/2013 Charles-Henri Hallard (http://hallard.me)
+ Created Draw Bargraph feature
+ Added printf feature
+
+ ******************************************************************/
+
+
+#include "Adafruit_GFX.h"
+#include "glcdfont.c"
+#include "connectivity_icons.c"
+
+
+void Adafruit_GFX::constructor (int16_t w, int16_t h)
+{
+ _width = WIDTH = w;
+ _height = HEIGHT = h;
+
+ rotation = 0;
+ cursor_y = cursor_x = 0;
+ textsize = 1;
+ textcolor = textbgcolor = 0xFFFF;
+ wrap = true;
+}
+
+// the printf function
+void Adafruit_GFX::printf (const char * format, ...)
+{
+ char buffer[64];
+ char * p = buffer;
+ int n;
+ va_list args;
+ va_start (args, format);
+ vsnprintf (buffer, sizeof(buffer)-1, format, args);
+ n = strlen(buffer);
+
+ while (*p != 0 && n-->0)
+ {
+ write ( (uint8_t) *p++);
+ }
+
+ va_end (args);
+}
+
+// the print function
+void Adafruit_GFX::print( const char * string)
+{
+ const char * p = string;
+ int n = strlen(string);
+
+ while (*p != 0 && n-->0)
+ {
+ write ( (uint8_t) *p++);
+ }
+}
+
+// the most basic function, set a single pixel
+void Adafruit_GFX::drawPixel(int16_t x, int16_t y, uint16_t color)
+{
+ uint8_t * p = poledbuff ;
+
+ if ((x < 0) || (x >= width()) || (y < 0) || (y >= height()))
+ return;
+
+ // check rotation, move pixel around if necessary
+ switch (getRotation())
+ {
+ case 1:
+ swap(x, y);
+ x = WIDTH - x - 1;
+ break;
+
+ case 2:
+ x = WIDTH - x - 1;
+ y = HEIGHT - y - 1;
+ break;
+
+ case 3:
+ swap(x, y);
+ y = HEIGHT - y - 1;
+ break;
+ }
+
+ // Get where to do the change in the buffer
+ p = poledbuff + (x + (y/8)*ssd1306_lcdwidth );
+
+ // x is which column
+ if (color == WHITE)
+ *p |= _BV((y%8));
+ else
+ *p &= ~_BV((y%8));
+}
+
+
+// draw a circle outline
+void Adafruit_GFX::drawCircle(int16_t x0, int16_t y0, int16_t r, uint16_t color)
+{
+ int16_t f = 1 - r;
+ int16_t ddF_x = 1;
+ int16_t ddF_y = -2 * r;
+ int16_t x = 0;
+ int16_t y = r;
+
+ drawPixel(x0, y0+r, color);
+ drawPixel(x0, y0-r, color);
+ drawPixel(x0+r, y0, color);
+ drawPixel(x0-r, y0, color);
+
+ while (x<y)
+ {
+ if (f >= 0)
+ {
+ y--;
+ ddF_y += 2;
+ f += ddF_y;
+ }
+
+ x++;
+ ddF_x += 2;
+ f += ddF_x;
+
+ drawPixel(x0 + x, y0 + y, color);
+ drawPixel(x0 - x, y0 + y, color);
+ drawPixel(x0 + x, y0 - y, color);
+ drawPixel(x0 - x, y0 - y, color);
+ drawPixel(x0 + y, y0 + x, color);
+ drawPixel(x0 - y, y0 + x, color);
+ drawPixel(x0 + y, y0 - x, color);
+ drawPixel(x0 - y, y0 - x, color);
+ }
+}
+
+void Adafruit_GFX::drawCircleHelper( int16_t x0, int16_t y0, int16_t r, uint8_t cornername, uint16_t color)
+{
+ int16_t f = 1 - r;
+ int16_t ddF_x = 1;
+ int16_t ddF_y = -2 * r;
+ int16_t x = 0;
+ int16_t y = r;
+
+ while (x<y)
+ {
+ if (f >= 0)
+ {
+ y--;
+ ddF_y += 2;
+ f += ddF_y;
+ }
+
+ x++;
+ ddF_x += 2;
+ f += ddF_x;
+ if (cornername & 0x4)
+ {
+ drawPixel(x0 + x, y0 + y, color);
+ drawPixel(x0 + y, y0 + x, color);
+ }
+ if (cornername & 0x2)
+ {
+ drawPixel(x0 + x, y0 - y, color);
+ drawPixel(x0 + y, y0 - x, color);
+ }
+ if (cornername & 0x8)
+ {
+ drawPixel(x0 - y, y0 + x, color);
+ drawPixel(x0 - x, y0 + y, color);
+ }
+ if (cornername & 0x1)
+ {
+ drawPixel(x0 - y, y0 - x, color);
+ drawPixel(x0 - x, y0 - y, color);
+ }
+ }
+}
+
+void Adafruit_GFX::fillCircle(int16_t x0, int16_t y0, int16_t r, uint16_t color)
+{
+ drawFastVLine(x0, y0-r, 2*r+1, color);
+ fillCircleHelper(x0, y0, r, 3, 0, color);
+}
+
+// used to do circles and roundrects!
+void Adafruit_GFX::fillCircleHelper(int16_t x0, int16_t y0, int16_t r, uint8_t cornername, int16_t delta, uint16_t color)
+{
+ int16_t f = 1 - r;
+ int16_t ddF_x = 1;
+ int16_t ddF_y = -2 * r;
+ int16_t x = 0;
+ int16_t y = r;
+
+ while (x<y)
+ {
+ if (f >= 0)
+ {
+ y--;
+ ddF_y += 2;
+ f += ddF_y;
+ }
+
+ x++;
+ ddF_x += 2;
+ f += ddF_x;
+
+ if (cornername & 0x1)
+ {
+ drawFastVLine(x0+x, y0-y, 2*y+1+delta, color);
+ drawFastVLine(x0+y, y0-x, 2*x+1+delta, color);
+ }
+
+ if (cornername & 0x2)
+ {
+ drawFastVLine(x0-x, y0-y, 2*y+1+delta, color);
+ drawFastVLine(x0-y, y0-x, 2*x+1+delta, color);
+ }
+ }
+}
+
+// bresenham's algorithm - thx wikpedia
+void Adafruit_GFX::drawLine(int16_t x0, int16_t y0, int16_t x1, int16_t y1, uint16_t color)
+{
+ int16_t steep = abs(y1 - y0) > abs(x1 - x0);
+
+ if (steep)
+ {
+ swap(x0, y0);
+ swap(x1, y1);
+ }
+
+ if (x0 > x1)
+ {
+ swap(x0, x1);
+ swap(y0, y1);
+ }
+
+ int16_t dx, dy;
+ dx = x1 - x0;
+ dy = abs(y1 - y0);
+
+ int16_t err = dx / 2;
+ int16_t ystep;
+
+ if (y0 < y1)
+ {
+ ystep = 1;
+ }
+ else
+ {
+ ystep = -1;
+ }
+
+ for (; x0<=x1; x0++)
+ {
+ if (steep)
+ {
+ drawPixel(y0, x0, color);
+ }
+ else
+ {
+ drawPixel(x0, y0, color);
+ }
+ err -= dy;
+
+ if (err < 0)
+ {
+ y0 += ystep;
+ err += dx;
+ }
+ }
+}
+
+
+// draw a rectangle
+void Adafruit_GFX::drawRect(int16_t x, int16_t y, int16_t w, int16_t h, uint16_t color)
+{
+ drawFastHLine(x, y, w, color);
+ drawFastHLine(x, y+h-1, w, color);
+ drawFastVLine(x, y, h, color);
+ drawFastVLine(x+w-1, y, h, color);
+}
+
+void Adafruit_GFX::drawFastVLine(int16_t x, int16_t y, int16_t h, uint16_t color)
+{
+ // stupidest version - update in subclasses if desired!
+ drawLine(x, y, x, y+h-1, color);
+}
+
+
+void Adafruit_GFX::drawFastHLine(int16_t x, int16_t y, int16_t w, uint16_t color)
+{
+ // stupidest version - update in subclasses if desired!
+ drawLine(x, y, x+w-1, y, color);
+}
+
+void Adafruit_GFX::fillRect(int16_t x, int16_t y, int16_t w, int16_t h, uint16_t color)
+{
+ // stupidest version - update in subclasses if desired!
+ for (int16_t i=x; i<x+w; i++)
+ {
+ drawFastVLine(i, y, h, color);
+ }
+}
+
+// draw a vertical bargraph and fill it with percent value (0%..100%)
+void Adafruit_GFX::drawVerticalBargraph(int16_t x, int16_t y, int16_t w, int16_t h, uint16_t color, uint16_t percent)
+{
+ uint16_t vsize;
+
+ // Create rectangle
+ drawRect(x,y, w, h, color) ;
+
+ // Do not do stupid job
+ if ( h>2 && w>2 )
+ {
+ // calculate pixel size of bargraph
+ vsize = ( ( h - 2) * percent ) / 100 ;
+
+ // Fill it from bottom (0%) to top (100%)
+ fillRect(x+1,y+1 + (( h-2)-vsize), w - 2, vsize, color);
+ }
+}
+
+// draw a horizontal bargraph and fill it with percent value (0%..100%)
+void Adafruit_GFX::drawHorizontalBargraph(int16_t x, int16_t y, int16_t w, int16_t h, uint16_t color, uint16_t percent)
+{
+ uint16_t hsize;
+
+ // Create rectangle
+ drawRect(x,y, w, h, color) ;
+
+ // Do not do stupid job
+ if ( h>2 && w>2 )
+ {
+ // calculate pixel size of bargraph
+ hsize = ( ( w - 2) * percent ) / 100 ;
+
+ // Fill it from left (0%) to right (100%)
+ fillRect(x+1 , y+1 , hsize, h - 2, color);
+ }
+}
+
+
+void Adafruit_GFX::fillScreen(uint16_t color)
+{
+ fillRect(0, 0, _width, _height, color);
+}
+
+// draw a rounded rectangle!
+void Adafruit_GFX::drawRoundRect(int16_t x, int16_t y, int16_t w, int16_t h, int16_t r, uint16_t color)
+{
+ // smarter version
+ drawFastHLine(x+r , y , w-2*r, color); // Top
+ drawFastHLine(x+r , y+h-1, w-2*r, color); // Bottom
+ drawFastVLine( x , y+r , h-2*r, color); // Left
+ drawFastVLine( x+w-1, y+r , h-2*r, color); // Right
+
+ // draw four corners
+ drawCircleHelper(x+r , y+r , r, 1, color);
+ drawCircleHelper(x+w-r-1, y+r , r, 2, color);
+ drawCircleHelper(x+w-r-1, y+h-r-1, r, 4, color);
+ drawCircleHelper(x+r , y+h-r-1, r, 8, color);
+}
+
+// fill a rounded rectangle!
+void Adafruit_GFX::fillRoundRect(int16_t x, int16_t y, int16_t w, int16_t h, int16_t r, uint16_t color)
+{
+ // smarter version
+ fillRect(x+r, y, w-2*r, h, color);
+
+ // draw four corners
+ fillCircleHelper(x+w-r-1, y+r, r, 1, h-2*r-1, color);
+ fillCircleHelper(x+r , y+r, r, 2, h-2*r-1, color);
+}
+
+// draw a triangle!
+void Adafruit_GFX::drawTriangle(int16_t x0, int16_t y0, int16_t x1, int16_t y1, int16_t x2, int16_t y2, uint16_t color)
+{
+ drawLine(x0, y0, x1, y1, color);
+ drawLine(x1, y1, x2, y2, color);
+ drawLine(x2, y2, x0, y0, color);
+}
+
+// fill a triangle!
+void Adafruit_GFX::fillTriangle ( int16_t x0, int16_t y0, int16_t x1, int16_t y1, int16_t x2, int16_t y2, uint16_t color)
+{
+ int16_t a, b, y, last;
+
+ // Sort coordinates by Y order (y2 >= y1 >= y0)
+ if (y0 > y1)
+ {
+ swap(y0, y1); swap(x0, x1);
+ }
+ if (y1 > y2)
+ {
+ swap(y2, y1); swap(x2, x1);
+ }
+ if (y0 > y1)
+ {
+ swap(y0, y1); swap(x0, x1);
+ }
+
+ if(y0 == y2)
+ { // Handle awkward all-on-same-line case as its own thing
+ a = b = x0;
+ if(x1 < a) a = x1;
+ else if(x1 > b) b = x1;
+ if(x2 < a) a = x2;
+ else if(x2 > b) b = x2;
+ drawFastHLine(a, y0, b-a+1, color);
+ return;
+ }
+
+ int16_t
+ dx01 = x1 - x0,
+ dy01 = y1 - y0,
+ dx02 = x2 - x0,
+ dy02 = y2 - y0,
+ dx12 = x2 - x1,
+ dy12 = y2 - y1,
+ sa = 0,
+ sb = 0;
+
+ // For upper part of triangle, find scanline crossings for segments
+ // 0-1 and 0-2. If y1=y2 (flat-bottomed triangle), the scanline y1
+ // is included here (and second loop will be skipped, avoiding a /0
+ // error there), otherwise scanline y1 is skipped here and handled
+ // in the second loop...which also avoids a /0 error here if y0=y1
+ // (flat-topped triangle).
+ if(y1 == y2)
+ last = y1; // Include y1 scanline
+ else
+ last = y1-1; // Skip it
+
+ for(y=y0; y<=last; y++)
+ {
+ a = x0 + sa / dy01;
+ b = x0 + sb / dy02;
+ sa += dx01;
+ sb += dx02;
+ /* longhand:
+ a = x0 + (x1 - x0) * (y - y0) / (y1 - y0);
+ b = x0 + (x2 - x0) * (y - y0) / (y2 - y0);
+ */
+ if(a > b)
+ swap(a,b);
+
+ drawFastHLine(a, y, b-a+1, color);
+ }
+
+ // For lower part of triangle, find scanline crossings for segments
+ // 0-2 and 1-2. This loop is skipped if y1=y2.
+ sa = dx12 * (y - y1);
+ sb = dx02 * (y - y0);
+ for(; y<=y2; y++)
+ {
+ a = x1 + sa / dy12;
+ b = x0 + sb / dy02;
+ sa += dx12;
+ sb += dx02;
+ /* longhand:
+ a = x1 + (x2 - x1) * (y - y1) / (y2 - y1);
+ b = x0 + (x2 - x0) * (y - y0) / (y2 - y0);
+ */
+ if(a > b)
+ swap(a,b);
+
+ drawFastHLine(a, y, b-a+1, color);
+ }
+}
+
+void Adafruit_GFX::drawBitmap(int16_t x, int16_t y, const uint8_t *bitmap, int16_t w, int16_t h, uint16_t color)
+{
+ int16_t i, j, byteWidth = (w + 7) / 8;
+
+ for(j=0; j<h; j++)
+ {
+ for(i=0; i<w; i++ )
+ {
+ if( *(bitmap + j * byteWidth + i / 8) & (128 >> (i & 7)))
+ {
+ drawPixel(x+i, y+j, color);
+ }
+ }
+ }
+}
+
+
+size_t Adafruit_GFX::write(uint8_t c)
+{
+ if (c == '\n')
+ {
+ cursor_y += textsize*8;
+ cursor_x = 0;
+ }
+ else if (c == '\r')
+ {
+ // skip em
+ }
+ else
+ {
+ drawChar(cursor_x, cursor_y, c, textcolor, textbgcolor, textsize);
+ cursor_x += textsize*6;
+
+ if (wrap && (cursor_x > (_width - textsize*6)))
+ {
+ cursor_y += textsize*8;
+ cursor_x = 0;
+ }
+ }
+ return 1;
+}
+
+// draw a character
+void Adafruit_GFX::drawChar(int16_t x, int16_t y, unsigned char c, uint16_t color, uint16_t bg, uint8_t size)
+{
+ if ((x >= _width) || // Clip right
+ (y >= _height) || // Clip bottom
+ ((x + 5 * size - 1) < 0) || // Clip left
+ ((y + 8 * size - 1) < 0)) // Clip top
+ return;
+
+ for (int8_t i=0; i<6; i++ )
+ {
+ uint8_t line;
+ if (i == 5)
+ line = 0x0;
+ else
+ //line = pgm_read_byte(font+(c*5)+i);
+ line = font[(c*5)+i];
+ for (int8_t j = 0; j<8; j++)
+ {
+ if (line & 0x1)
+ {
+ if (size == 1) // default size
+ drawPixel(x+i, y+j, color);
+ else
+ { // big size
+ fillRect(x+(i*size), y+(j*size), size, size, color);
+ }
+ }
+ else if (bg != color)
+ {
+ if (size == 1) // default size
+ drawPixel(x+i, y+j, bg);
+ else
+ { // big size
+ fillRect(x+i*size, y+j*size, size, size, bg);
+ }
+ }
+
+ line >>= 1;
+ }
+ }
+}
+
+void Adafruit_GFX::setCursor(int16_t x, int16_t y)
+{
+ cursor_x = x;
+ cursor_y = y;
+}
+
+
+void Adafruit_GFX::setTextSize(uint8_t s)
+{
+ textsize = (s > 0) ? s : 1;
+}
+
+
+void Adafruit_GFX::setTextColor(uint16_t c)
+{
+ textcolor = c;
+ textbgcolor = c;
+ // for 'transparent' background, we'll set the bg
+ // to the same as fg instead of using a flag
+}
+
+void Adafruit_GFX::setTextColor(uint16_t c, uint16_t b)
+{
+ textcolor = c;
+ textbgcolor = b;
+ }
+
+void Adafruit_GFX::setTextWrap(boolean w)
+{
+ wrap = w;
+}
+
+uint8_t Adafruit_GFX::getRotation(void)
+{
+ rotation %= 4;
+ return rotation;
+}
+
+void Adafruit_GFX::setRotation(uint8_t x)
+{
+ x %= 4; // cant be higher than 3
+ rotation = x;
+ switch (x)
+ {
+ case 0:
+ case 2:
+ _width = WIDTH;
+ _height = HEIGHT;
+ break;
+
+ case 1:
+ case 3:
+ _width = HEIGHT;
+ _height = WIDTH;
+ break;
+ }
+}
+
+void Adafruit_GFX::invertDisplay(boolean i)
+{
+ // do nothing, can be subclassed
+}
+
+
+// return the size of the display which depends on the rotation!
+int16_t Adafruit_GFX::width(void)
+{
+ return _width;
+}
+
+int16_t Adafruit_GFX::height(void)
+{
+ return _height;
+}
diff --git a/rover/src/drivers/oled_drivers/Adafruit_GFX.h b/rover/src/drivers/oled_drivers/Adafruit_GFX.h
new file mode 100644
index 0000000..ced80cc
--- /dev/null
+++ b/rover/src/drivers/oled_drivers/Adafruit_GFX.h
@@ -0,0 +1,116 @@
+/******************************************************************
+ This is the core graphics library for all our displays, providing
+ basic graphics primitives (points, lines, circles, etc.). It needs
+ to be paired with a hardware-specific library for each display
+ device we carry (handling the lower-level functions).
+
+ 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.
+ BSD license, check https://opensource.org/licenses/BSD-2-Clause for more information.
+ All text above must be included in any redistribution.
+
+02/18/2013 Charles-Henri Hallard (http://hallard.me)
+ Modified for compiling and use on Raspberry ArduiPi Board
+ LCD size and connection are now passed as arguments on
+ the command line (no more #define on compilation needed)
+ ArduiPi project documentation http://hallard.me/arduipi
+
+ ******************************************************************/
+
+#ifndef _ADAFRUIT_GFX_H
+#define _ADAFRUIT_GFX_H
+
+#include "ArduiPi_SSD1306.h"
+
+#define BLACK 0
+#define WHITE 1
+
+#define swap(a, b) { int16_t t = a; a = b; b = t; }
+
+//class Adafruit_GFX : public Print {
+class Adafruit_GFX {
+ public:
+
+ //Adafruit_GFX();
+ // i have no idea why we have to formally call the constructor. kinda sux
+ void constructor(int16_t w, int16_t h);
+
+ // this must be defined by the subclass
+ void drawPixel(int16_t x, int16_t y, uint16_t color);
+ void invertDisplay(boolean i) ;
+
+ // the printf function
+ void printf( const char * format, ...);
+ void print( const char * string) ;
+
+
+ // these are 'generic' drawing functions, so we can share them!
+ void drawLine(int16_t x0, int16_t y0, int16_t x1, int16_t y1, uint16_t color);
+ void drawFastVLine(int16_t x, int16_t y, int16_t h, uint16_t color);
+ void drawFastHLine(int16_t x, int16_t y, int16_t w, uint16_t color);
+ void drawRect(int16_t x, int16_t y, int16_t w, int16_t h,
+ uint16_t color);
+ void fillRect(int16_t x, int16_t y, int16_t w, int16_t h,
+ uint16_t color);
+
+ void drawVerticalBargraph(int16_t x, int16_t y, int16_t w, int16_t h, uint16_t color, uint16_t percent) ;
+ void drawHorizontalBargraph(int16_t x, int16_t y, int16_t w, int16_t h, uint16_t color, uint16_t percent) ;
+
+
+ void fillScreen(uint16_t color);
+
+ void drawCircle(int16_t x0, int16_t y0, int16_t r, uint16_t color);
+ void drawCircleHelper(int16_t x0, int16_t y0,
+ int16_t r, uint8_t cornername, uint16_t color);
+ void fillCircle(int16_t x0, int16_t y0, int16_t r, uint16_t color);
+ void fillCircleHelper(int16_t x0, int16_t y0, int16_t r,
+ uint8_t cornername, int16_t delta, uint16_t color);
+
+ void drawTriangle(int16_t x0, int16_t y0, int16_t x1, int16_t y1,
+ int16_t x2, int16_t y2, uint16_t color);
+ void fillTriangle(int16_t x0, int16_t y0, int16_t x1, int16_t y1,
+ int16_t x2, int16_t y2, uint16_t color);
+ void drawRoundRect(int16_t x0, int16_t y0, int16_t w, int16_t h,
+ int16_t radius, uint16_t color);
+ void fillRoundRect(int16_t x0, int16_t y0, int16_t w, int16_t h,
+ int16_t radius, uint16_t color);
+
+ void drawBitmap(int16_t x, int16_t y,
+ const uint8_t *bitmap, int16_t w, int16_t h,
+ uint16_t color);
+ void drawChar(int16_t x, int16_t y, unsigned char c,
+ uint16_t color, uint16_t bg, uint8_t size);
+ size_t write(uint8_t);
+
+ void setCursor(int16_t x, int16_t y);
+ void setTextColor(uint16_t c);
+ void setTextColor(uint16_t c, uint16_t bg);
+ void setTextSize(uint8_t s);
+ void setTextWrap(boolean w);
+
+ int16_t height(void);
+ int16_t width(void);
+
+ void setRotation(uint8_t r);
+ uint8_t getRotation(void);
+
+ protected:
+ uint8_t *poledbuff; // Pointer to OLED data buffer in memory
+ int8_t _i2c_addr, dc, rst, cs;
+ int16_t ssd1306_lcdwidth, ssd1306_lcdheight;
+ uint8_t vcc_type;
+
+ protected:
+ int16_t WIDTH, HEIGHT; // this is the 'raw' display w/h - never changes
+ int16_t _width, _height; // dependent on rotation
+ int16_t cursor_x, cursor_y;
+ uint16_t textcolor, textbgcolor;
+ uint8_t textsize;
+ uint8_t rotation;
+ boolean wrap; // If set, 'wrap' text at right edge of display
+};
+
+#endif
diff --git a/rover/src/drivers/oled_drivers/Adafruit_SSD1306.cpp b/rover/src/drivers/oled_drivers/Adafruit_SSD1306.cpp
new file mode 100644
index 0000000..f3264df
--- /dev/null
+++ b/rover/src/drivers/oled_drivers/Adafruit_SSD1306.cpp
@@ -0,0 +1,559 @@
+/*********************************************************************
+This is a library for our Monochrome OLEDs based on SSD1306 drivers
+
+ Pick one up today in the adafruit shop!
+ ------> http://www.adafruit.com/category/63_98
+
+These displays use SPI to communicate, 4 or 5 pins are required to
+interface
+
+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.
+BSD license, check https://opensource.org/licenses/BSD-2-Clause for more information
+All text above, and the splash screen below must be included in any redistribution
+
+02/18/2013 Charles-Henri Hallard (http://hallard.me)
+ Modified for compiling and use on Raspberry ArduiPi Board
+ LCD size and connection are now passed as arguments on
+ the command line (no more #define on compilation needed)
+ ArduiPi project documentation http://hallard.me/arduipi
+07/01/2013 Charles-Henri Hallard
+ Reduced code size removed the Adafruit Logo (sorry guys)
+ Buffer for OLED is now dynamic to LCD size
+ Added support of Seeed OLED 64x64 Display
+
+*********************************************************************/
+
+#include "ArduiPi_SSD1306.h"
+#include "Adafruit_GFX.h"
+#include "Adafruit_SSD1306.h"
+
+
+inline boolean Adafruit_SSD1306::isSPI(void) {
+ return (cs != -1 ? true : false);
+}
+inline boolean Adafruit_SSD1306::isI2C(void) {
+ return (cs == -1 ? true : false);
+}
+// Low level I2C and SPI Write function
+inline void Adafruit_SSD1306::fastSPIwrite(uint8_t d) {
+ bcm2835_spi_transfer(d);
+}
+inline void Adafruit_SSD1306::fastI2Cwrite(uint8_t d) {
+ bcm2835_spi_transfer(d);
+}
+inline void Adafruit_SSD1306::fastSPIwrite(char* tbuf, uint32_t len) {
+ bcm2835_spi_writenb(tbuf, len);
+}
+inline void Adafruit_SSD1306::fastI2Cwrite(char* tbuf, uint32_t len) {
+ bcm2835_i2c_write(tbuf, len);
+}
+
+
+// Display instantiation
+Adafruit_SSD1306::Adafruit_SSD1306()
+{
+ // Init all var, and clean
+ // Command I/O
+ rst = 0 ;
+ dc = 0 ;
+ cs = 0 ;
+
+ // Lcd size
+ ssd1306_lcdwidth = 0;
+ ssd1306_lcdheight = 0;
+
+ // Empty pointer to OLED buffer
+ poledbuff = NULL;
+}
+
+
+// When not initialized program using this library may
+// know protocol for correct init call, he could just know
+// oled number in driver list
+boolean Adafruit_SSD1306::oled_is_spi_proto(uint8_t OLED_TYPE)
+{
+ switch (OLED_TYPE)
+ {
+ case OLED_ADAFRUIT_SPI_128x32:
+ case OLED_ADAFRUIT_SPI_128x64:
+ return true;
+ break;
+ }
+
+ // default
+ return false;
+
+}
+
+// initializer for OLED Type
+boolean Adafruit_SSD1306::select_oled(uint8_t OLED_TYPE)
+{
+ // Default type
+ ssd1306_lcdwidth = 128;
+ ssd1306_lcdheight = 64;
+ _i2c_addr = 0x00;
+
+ // default OLED are using internal boost VCC converter
+ vcc_type = SSD_Internal_Vcc;
+
+ // Oled supported display
+ // Setup size and I2C address
+ switch (OLED_TYPE)
+ {
+ case OLED_ADAFRUIT_SPI_128x32:
+ ssd1306_lcdheight = 32;
+ break;
+
+ case OLED_ADAFRUIT_SPI_128x64:
+ ;
+ break;
+
+ case OLED_ADAFRUIT_I2C_128x32:
+ ssd1306_lcdheight = 32;
+ _i2c_addr = ADAFRUIT_I2C_ADDRESS;
+ break;
+
+ case OLED_ADAFRUIT_I2C_128x64:
+ _i2c_addr = ADAFRUIT_I2C_ADDRESS;
+ break;
+
+ case OLED_SEEED_I2C_128x64:
+ _i2c_addr = SEEEED_I2C_ADDRESS ;
+ vcc_type = SSD_External_Vcc;
+ break;
+
+ case OLED_SEEED_I2C_96x96:
+ ssd1306_lcdwidth = 96;
+ ssd1306_lcdheight = 96;
+ _i2c_addr = SEEEED_I2C_ADDRESS ;
+ break;
+
+ // houston, we have a problem
+ default:
+ return false;
+ break;
+ }
+
+ // De-Allocate memory for OLED buffer if any
+ if (poledbuff)
+ free(poledbuff);
+
+ // Allocate memory for OLED buffer
+ poledbuff = (uint8_t *) malloc ( (ssd1306_lcdwidth * ssd1306_lcdheight / 8 ));
+ if (!poledbuff)
+ return false;
+
+ // Init Raspberry PI GPIO
+ if (!bcm2835_init())
+ return false;
+
+ return true;
+
+}
+
+// initializer for SPI - we indicate the pins used and OLED type
+//
+boolean Adafruit_SSD1306::init(int8_t DC, int8_t RST, int8_t CS, uint8_t OLED_TYPE)
+{
+ rst = RST; // Reset Pin
+ dc = DC; // Data / command Pin
+ cs = CS ; // Raspberry SPI chip Enable (may be CE0 or CE1)
+
+ // Select OLED parameters
+ if (!select_oled(OLED_TYPE))
+ return false;
+
+ // Init & Configure Raspberry PI SPI
+ bcm2835_spi_begin(cs);
+ bcm2835_spi_setBitOrder(BCM2835_SPI_BIT_ORDER_MSBFIRST);
+ bcm2835_spi_setDataMode(BCM2835_SPI_MODE0);
+
+ // 16 MHz SPI bus, but Worked at 62 MHz also
+ bcm2835_spi_setClockDivider(BCM2835_SPI_CLOCK_DIVIDER_16);
+
+ // Set the pin that will control DC as output
+ bcm2835_gpio_fsel(dc, BCM2835_GPIO_FSEL_OUTP);
+
+ // Setup reset pin direction as output
+ bcm2835_gpio_fsel(rst, BCM2835_GPIO_FSEL_OUTP);
+
+ return ( true);
+}
+
+// initializer for I2C - we only indicate the reset pin and OLED type !
+boolean Adafruit_SSD1306::init(int8_t RST, uint8_t OLED_TYPE)
+{
+ dc = cs = -1; // DC and chip Select do not exist in I2C
+ rst = RST;
+
+ // Select OLED parameters
+ if (!select_oled(OLED_TYPE))
+ return false;
+
+ // Init & Configure Raspberry PI I2C
+ if (bcm2835_i2c_begin()==0)
+ return false;
+
+ bcm2835_i2c_setSlaveAddress(_i2c_addr) ;
+
+ // Set clock to 400 KHz
+ // does not seem to work, will check this later
+ // bcm2835_i2c_set_baudrate(400000);
+
+ // Setup reset pin direction as output
+ bcm2835_gpio_fsel(rst, BCM2835_GPIO_FSEL_OUTP);
+
+ return ( true);
+}
+
+void Adafruit_SSD1306::close(void)
+{
+ // De-Allocate memory for OLED buffer if any
+ if (poledbuff)
+ free(poledbuff);
+
+ poledbuff = NULL;
+
+ // Release Raspberry SPI
+ if ( isSPI() )
+ bcm2835_spi_end();
+
+ // Release Raspberry I2C
+ if ( isI2C() )
+ bcm2835_i2c_end();
+
+ // Release Raspberry I/O control
+ bcm2835_close();
+}
+
+
+void Adafruit_SSD1306::begin( void )
+{
+ uint8_t multiplex;
+ uint8_t chargepump;
+ uint8_t compins;
+ uint8_t contrast;
+ uint8_t precharge;
+
+ constructor(ssd1306_lcdwidth, ssd1306_lcdheight);
+
+ // Setup reset pin direction (used by both SPI and I2C)
+ bcm2835_gpio_fsel(rst, BCM2835_GPIO_FSEL_OUTP);
+ bcm2835_gpio_write(rst, HIGH);
+
+ // VDD (3.3V) goes high at start, lets just chill for a ms
+ usleep(1000);
+
+ // bring reset low
+ bcm2835_gpio_write(rst, LOW);
+
+ // wait 10ms
+ usleep(10000);
+
+ // bring out of reset
+ bcm2835_gpio_write(rst, HIGH);
+
+ // depends on OLED type configuration
+ if (ssd1306_lcdheight == 32)
+ {
+ multiplex = 0x1F;
+ compins = 0x02;
+ contrast = 0x8F;
+ }
+ else
+ {
+ multiplex = 0x3F;
+ compins = 0x12;
+ contrast = (vcc_type==SSD_External_Vcc?0x9F:0xCF);
+ }
+
+ if (vcc_type == SSD_External_Vcc)
+ {
+ chargepump = 0x10;
+ precharge = 0x22;
+ }
+ else
+ {
+ chargepump = 0x14;
+ precharge = 0xF1;
+ }
+
+ ssd1306_command(SSD_Display_Off); // 0xAE
+ ssd1306_command(SSD1306_SETDISPLAYCLOCKDIV, 0x80); // 0xD5 + the suggested ratio 0x80
+ ssd1306_command(SSD1306_SETMULTIPLEX, multiplex);
+ ssd1306_command(SSD1306_SETDISPLAYOFFSET, 0x00); // 0xD3 + no offset
+ ssd1306_command(SSD1306_SETSTARTLINE | 0x0); // line #0
+ ssd1306_command(SSD1306_CHARGEPUMP, chargepump);
+ ssd1306_command(SSD1306_MEMORYMODE, 0x00); // 0x20 0x0 act like ks0108
+ ssd1306_command(SSD1306_SEGREMAP | 0x1);
+ ssd1306_command(SSD1306_COMSCANDEC);
+ ssd1306_command(SSD1306_SETCOMPINS, compins); // 0xDA
+ ssd1306_command(SSD_Set_ContrastLevel, contrast);
+ ssd1306_command(SSD1306_SETPRECHARGE, precharge); // 0xd9
+ ssd1306_command(SSD1306_SETVCOMDETECT, 0x40); // 0xDB
+ ssd1306_command(SSD1306_DISPLAYALLON_RESUME); // 0xA4
+ ssd1306_command(SSD1306_Normal_Display); // 0xA6
+
+ // Reset to default value in case of
+ // no reset pin available on OLED
+ ssd1306_command( 0x21, 0, 127 );
+ ssd1306_command( 0x22, 0, 7 );
+ stopscroll();
+
+ // Empty uninitialized buffer
+ clearDisplay();
+ ssd1306_command(SSD_Display_On); //--turn on oled panel
+}
+
+
+void Adafruit_SSD1306::invertDisplay(uint8_t i)
+{
+ if (i)
+ ssd1306_command(SSD_Inverse_Display);
+ else
+ ssd1306_command(SSD1306_Normal_Display);
+}
+
+void Adafruit_SSD1306::ssd1306_command(uint8_t c)
+{
+ // Is SPI
+ if (isSPI())
+ {
+ // Setup D/C line to low to switch to command mode
+ bcm2835_gpio_write(dc, LOW);
+
+ // Write Data on SPI
+ fastSPIwrite(c);
+ }
+ // so I2C
+ else
+ {
+ char buff[2] ;
+
+ // Clear D/C to switch to command mode
+ buff[0] = SSD_Command_Mode ;
+ buff[1] = c;
+
+ // Write Data on I2C
+ fastI2Cwrite(buff, sizeof(buff)) ;
+ }
+}
+
+void Adafruit_SSD1306::ssd1306_command(uint8_t c0, uint8_t c1)
+{
+ char buff[3] ;
+ buff[1] = c0;
+ buff[2] = c1;
+
+ // Is SPI
+ if (isSPI())
+ {
+ // Setup D/C line to low to switch to command mode
+ bcm2835_gpio_write(dc, LOW);
+
+ // Write Data
+ fastSPIwrite(&buff[1], 2);
+ }
+ // I2C
+ else
+ {
+ // Clear D/C to switch to command mode
+ buff[0] = SSD_Command_Mode ;
+
+ // Write Data on I2C
+ fastI2Cwrite(buff, 3);
+ }
+}
+
+void Adafruit_SSD1306::ssd1306_command(uint8_t c0, uint8_t c1, uint8_t c2)
+{
+ char buff[4] ;
+
+ buff[1] = c0;
+ buff[2] = c1;
+ buff[3] = c2;
+
+ // Is SPI
+ if (isSPI())
+ {
+ // Setup D/C line to low to switch to command mode
+ bcm2835_gpio_write(dc, LOW);
+
+ // Write Data
+ fastSPIwrite(&buff[1], 3);
+ }
+ // I2C
+ else
+ {
+ // Clear D/C to switch to command mode
+ buff[0] = SSD_Command_Mode;
+
+ // Write Data on I2C
+ fastI2Cwrite(buff, sizeof(buff));
+ }
+}
+
+
+// startscrollright
+// Activate a right handed scroll for rows start through stop
+// Hint, the display is 16 rows tall. To scroll the whole display, run:
+// display.scrollright(0x00, 0x0F)
+void Adafruit_SSD1306::startscrollright(uint8_t start, uint8_t stop)
+{
+ ssd1306_command(SSD1306_RIGHT_HORIZONTAL_SCROLL);
+ ssd1306_command(0X00);
+ ssd1306_command(start);
+ ssd1306_command(0X00);
+ ssd1306_command(stop);
+ ssd1306_command(0X01);
+ ssd1306_command(0XFF);
+ ssd1306_command(SSD_Activate_Scroll);
+}
+
+// startscrollleft
+// Activate a right handed scroll for rows start through stop
+// Hint, the display is 16 rows tall. To scroll the whole display, run:
+// display.scrollright(0x00, 0x0F)
+void Adafruit_SSD1306::startscrollleft(uint8_t start, uint8_t stop)
+{
+ ssd1306_command(SSD1306_LEFT_HORIZONTAL_SCROLL);
+ ssd1306_command(0X00);
+ ssd1306_command(start);
+ ssd1306_command(0X00);
+ ssd1306_command(stop);
+ ssd1306_command(0X01);
+ ssd1306_command(0XFF);
+ ssd1306_command(SSD_Activate_Scroll);
+}
+
+// startscrolldiagright
+// Activate a diagonal scroll for rows start through stop
+// Hint, the display is 16 rows tall. To scroll the whole display, run:
+// display.scrollright(0x00, 0x0F)
+void Adafruit_SSD1306::startscrolldiagright(uint8_t start, uint8_t stop)
+{
+ ssd1306_command(SSD1306_SET_VERTICAL_SCROLL_AREA);
+ ssd1306_command(0X00);
+ ssd1306_command(ssd1306_lcdheight);
+ ssd1306_command(SSD1306_VERTICAL_AND_RIGHT_HORIZONTAL_SCROLL);
+ ssd1306_command(0X00);
+ ssd1306_command(start);
+ ssd1306_command(0X00);
+ ssd1306_command(stop);
+ ssd1306_command(0X01);
+ ssd1306_command(SSD_Activate_Scroll);
+}
+
+// startscrolldiagleft
+// Activate a diagonal scroll for rows start through stop
+// Hint, the display is 16 rows tall. To scroll the whole display, run:
+// display.scrollright(0x00, 0x0F)
+void Adafruit_SSD1306::startscrolldiagleft(uint8_t start, uint8_t stop)
+{
+ ssd1306_command(SSD1306_SET_VERTICAL_SCROLL_AREA);
+ ssd1306_command(0X00);
+ ssd1306_command(ssd1306_lcdheight);
+ ssd1306_command(SSD1306_VERTICAL_AND_LEFT_HORIZONTAL_SCROLL);
+ ssd1306_command(0X00);
+ ssd1306_command(start);
+ ssd1306_command(0X00);
+ ssd1306_command(stop);
+ ssd1306_command(0X01);
+ ssd1306_command(SSD_Activate_Scroll);
+}
+
+void Adafruit_SSD1306::stopscroll(void)
+{
+ ssd1306_command(SSD_Deactivate_Scroll);
+}
+
+void Adafruit_SSD1306::ssd1306_data(uint8_t c)
+{
+ // SPI
+ if ( isSPI())
+ {
+ // SPI
+ // Setup D/C line to high to switch to data mode
+ bcm2835_gpio_write(dc, HIGH);
+
+ // write value
+ fastSPIwrite(c);
+ }
+ // I2C
+ else
+ {
+ char buff[2] ;
+
+ // Setup D/C to switch to data mode
+ buff[0] = SSD_Data_Mode;
+ buff[1] = c;
+
+ // Write on i2c
+ fastI2Cwrite( buff, sizeof(buff)) ;
+ }
+}
+
+void Adafruit_SSD1306::display(void)
+{
+ ssd1306_command(SSD1306_SETLOWCOLUMN | 0x0); // low col = 0
+ ssd1306_command(SSD1306_SETHIGHCOLUMN | 0x0); // hi col = 0
+ ssd1306_command(SSD1306_SETSTARTLINE | 0x0); // line #0
+
+ uint16_t i=0 ;
+
+ // pointer to OLED data buffer
+ uint8_t * p = poledbuff;
+
+ // SPI
+ if ( isSPI())
+ {
+ // Setup D/C line to high to switch to data mode
+ bcm2835_gpio_write(dc, HIGH);
+
+ // Send all data to OLED
+ for ( i=0; i<(ssd1306_lcdwidth*ssd1306_lcdheight/8); i++)
+ {
+ fastSPIwrite(*p++);
+ }
+
+ // i wonder why we have to do this (check datasheet)
+ if (ssd1306_lcdheight == 32)
+ {
+ for (uint16_t i=0; i<(ssd1306_lcdwidth*ssd1306_lcdheight/8); i++)
+ {
+ fastSPIwrite(0);
+ }
+ }
+
+ }
+ // I2C
+ else
+ {
+ char buff[17] ;
+ uint8_t x ;
+
+ // Setup D/C to switch to data mode
+ buff[0] = SSD_Data_Mode;
+
+ // loop trough all OLED buffer and
+ // send a bunch of 16 data byte in one xmission
+ for ( i=0; i<(ssd1306_lcdwidth*ssd1306_lcdheight/8); i+=16 )
+ {
+ for (x=1; x<=16; x++)
+ buff[x] = *p++;
+
+ fastI2Cwrite( buff, 17);
+ }
+ }
+}
+
+// clear everything (in the buffer)
+void Adafruit_SSD1306::clearDisplay(void)
+{
+ memset(poledbuff, 0, (ssd1306_lcdwidth*ssd1306_lcdheight/8));
+}
+
diff --git a/rover/src/drivers/oled_drivers/Adafruit_SSD1306.h b/rover/src/drivers/oled_drivers/Adafruit_SSD1306.h
new file mode 100644
index 0000000..bd2eae1
--- /dev/null
+++ b/rover/src/drivers/oled_drivers/Adafruit_SSD1306.h
@@ -0,0 +1,171 @@
+/*********************************************************************
+This is a library for our Monochrome OLEDs based on SSD1306 drivers
+
+ Pick one up today in the adafruit shop!
+ ------> http://www.adafruit.com/category/63_98
+
+These displays use SPI to communicate, 4 or 5 pins are required to
+interface
+
+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.
+BSD license, check https://opensource.org/licenses/BSD-2-Clause for more information
+All text above, and the splash screen must be included in any redistribution
+
+02/18/2013 Charles-Henri Hallard (http://hallard.me)
+ Modified for compiling and use on Raspberry ArduiPi Board
+ LCD size and connection are now passed as arguments on
+ the command line (no more #define on compilation needed)
+ ArduiPi project documentation http://hallard.me/arduipi
+
+*********************************************************************/
+
+#include "Adafruit_GFX.h"
+
+#define BLACK 0
+#define WHITE 1
+
+
+/*=========================================================================
+ SSDxxxx Common Displays
+ -----------------------------------------------------------------------
+ Common values to all displays
+=========================================================================*/
+
+//#define SSD_Command_Mode 0x80 /* DC bit is 0 */ Seeed set C0 to 1 why ?
+#define SSD_Command_Mode 0x00 /* C0 and DC bit are 0 */
+#define SSD_Data_Mode 0x40 /* C0 bit is 0 and DC bit is 1 */
+
+#define SSD_Inverse_Display 0xA7
+
+#define SSD_Display_Off 0xAE
+#define SSD_Display_On 0xAF
+
+#define SSD_Set_ContrastLevel 0x81
+
+#define SSD_External_Vcc 0x01
+#define SSD_Internal_Vcc 0x02
+
+
+#define SSD_Activate_Scroll 0x2F
+#define SSD_Deactivate_Scroll 0x2E
+
+#define Scroll_Left 0x00
+#define Scroll_Right 0x01
+
+#define Scroll_2Frames 0x07
+#define Scroll_3Frames 0x04
+#define Scroll_4Frames 0x05
+#define Scroll_5Frames 0x00
+#define Scroll_25Frames 0x06
+#define Scroll_64Frames 0x01
+#define Scroll_128Frames 0x02
+#define Scroll_256Frames 0x03
+
+#define VERTICAL_MODE 01
+#define PAGE_MODE 01
+#define HORIZONTAL_MODE 02
+
+
+/*=========================================================================
+ SSD1306 Displays
+ -----------------------------------------------------------------------
+ The driver is used in multiple displays (128x64, 128x32, etc.).
+=========================================================================*/
+#define SSD1306_DISPLAYALLON_RESUME 0xA4
+#define SSD1306_DISPLAYALLON 0xA5
+
+#define SSD1306_Normal_Display 0xA6
+
+#define SSD1306_SETDISPLAYOFFSET 0xD3
+#define SSD1306_SETCOMPINS 0xDA
+#define SSD1306_SETVCOMDETECT 0xDB
+#define SSD1306_SETDISPLAYCLOCKDIV 0xD5
+#define SSD1306_SETPRECHARGE 0xD9
+#define SSD1306_SETMULTIPLEX 0xA8
+#define SSD1306_SETLOWCOLUMN 0x00
+#define SSD1306_SETHIGHCOLUMN 0x10
+#define SSD1306_SETSTARTLINE 0x40
+#define SSD1306_MEMORYMODE 0x20
+#define SSD1306_COMSCANINC 0xC0
+#define SSD1306_COMSCANDEC 0xC8
+#define SSD1306_SEGREMAP 0xA0
+#define SSD1306_CHARGEPUMP 0x8D
+
+// Scrolling #defines
+#define SSD1306_SET_VERTICAL_SCROLL_AREA 0xA3
+#define SSD1306_RIGHT_HORIZONTAL_SCROLL 0x26
+#define SSD1306_LEFT_HORIZONTAL_SCROLL 0x27
+#define SSD1306_VERTICAL_AND_RIGHT_HORIZONTAL_SCROLL 0x29
+#define SSD1306_VERTICAL_AND_LEFT_HORIZONTAL_SCROLL 0x2A
+
+/*=========================================================================
+ SSD1308 Displays
+ -----------------------------------------------------------------------
+ The driver is used in multiple displays (128x64, 128x32, etc.).
+=========================================================================*/
+#define SSD1308_Normal_Display 0xA6
+
+/*=========================================================================
+ SSD1327 Displays
+ -----------------------------------------------------------------------
+ The driver is used in Seeed 96x96 display
+=========================================================================*/
+#define SSD1327_Normal_Display 0xA4
+
+
+class Adafruit_SSD1306 : public Adafruit_GFX
+{
+ public:
+ Adafruit_SSD1306();
+
+ // SPI Init
+ boolean init(int8_t DC, int8_t RST, int8_t CS, uint8_t OLED_TYPE);
+
+ // I2C Init
+ boolean init(int8_t RST, uint8_t OLED_TYPE);
+
+ boolean oled_is_spi_proto(uint8_t OLED_TYPE); /* to know protocol before init */
+ boolean select_oled(uint8_t OLED_TYPE) ;
+
+ void begin(void);
+ void close(void);
+
+ void ssd1306_command(uint8_t c);
+ void ssd1306_command(uint8_t c0, uint8_t c1);
+ void ssd1306_command(uint8_t c0, uint8_t c1, uint8_t c2);
+ void ssd1306_data(uint8_t c);
+
+ void clearDisplay(void);
+ void invertDisplay(uint8_t i);
+ void display();
+
+ void startscrollright(uint8_t start, uint8_t stop);
+ void startscrollleft(uint8_t start, uint8_t stop);
+
+ void startscrolldiagright(uint8_t start, uint8_t stop);
+ void startscrolldiagleft(uint8_t start, uint8_t stop);
+ void stopscroll(void);
+
+ void drawPixel(int16_t x, int16_t y, uint16_t color);
+
+ /*private:
+ uint8_t *poledbuff; // Pointer to OLED data buffer in memory
+ int8_t _i2c_addr, dc, rst, cs;
+ int16_t ssd1306_lcdwidth, ssd1306_lcdheight;
+ uint8_t vcc_type;*/
+ private:
+ inline boolean isI2C(void);
+ inline boolean isSPI(void);
+ void fastSPIwrite(uint8_t c);
+ void fastSPIwrite(char* tbuf, uint32_t len);
+ void fastI2Cwrite(uint8_t c);
+ void fastI2Cwrite(char* tbuf, uint32_t len);
+ void slowSPIwrite(uint8_t c);
+
+ //volatile uint8_t *dcport;
+ //uint8_t dcpinmask;
+};
diff --git a/rover/src/drivers/oled_drivers/ArduiPi_SSD1306.h b/rover/src/drivers/oled_drivers/ArduiPi_SSD1306.h
new file mode 100644
index 0000000..c5c2aaf
--- /dev/null
+++ b/rover/src/drivers/oled_drivers/ArduiPi_SSD1306.h
@@ -0,0 +1,72 @@
+/******************************************************************
+ This is the common ArduiPi include file for ArduiPi board
+
+02/18/2013 Charles-Henri Hallard (http://hallard.me)
+ Modified for compiling and use on Raspberry ArduiPi Board
+ LCD size and connection are now passed as arguments on
+ the command line (no more #define on compilation needed)
+ ArduiPi project documentation http://hallard.me/arduipi
+
+ Written by Charles-Henri Hallard for Fun .
+ All text above must be included in any redistribution.
+
+ ******************************************************************/
+
+#ifndef _ArduiPi_SSD1306_H
+#define _ArduiPi_SSD1306_H
+
+#include <stdio.h>
+#include <stdarg.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+
+#include "bcm2835.h"
+
+// Configuration Pin for ArduiPi board
+#define OLED_SPI_RESET RPI_V2_GPIO_P1_22 /* GPIO 25 pin 22 */
+#define OLED_SPI_DC RPI_V2_GPIO_P1_18 /* GPIO 24 pin 18 */
+#define OLED_SPI_CS0 BCM2835_SPI_CS0 /* Chip Select CE0 */
+#define OLED_SPI_CS1 BCM2835_SPI_CS1 /* Chip Select CE1 */
+#define OLED_SPI_CS BCM2835_SPI_CS1 /* Default Chip Select */
+#define OLED_I2C_RESET RPI_V2_GPIO_P1_22 /* GPIO 25 pin 12 */
+
+// OLED type I2C Address
+#define ADAFRUIT_I2C_ADDRESS 0x3C /* 011110+SA0+RW - 0x3C or 0x3D */
+// Address for 128x32 is 0x3C
+// Address for 128x32 is 0x3D (default) or 0x3C (if SA0 is grounded)
+
+#define SEEEED_I2C_ADDRESS 0x3C /* 011110+SA0+RW - 0x3C or 0x3D */
+
+// Oled supported display
+#define OLED_ADAFRUIT_SPI_128x32 0
+#define OLED_ADAFRUIT_SPI_128x64 1
+#define OLED_ADAFRUIT_I2C_128x32 2
+#define OLED_ADAFRUIT_I2C_128x64 3
+#define OLED_SEEED_I2C_128x64 4
+#define OLED_SEEED_I2C_96x96 5
+
+#define OLED_LAST_OLED 6 /* always last type, used in code to end array */
+
+
+static const char * oled_type_str[] = {
+ "Adafruit SPI 128x32",
+ "Adafruit SPI 128x64",
+ "Adafruit I2C 128x32",
+ "Adafruit I2C 128x64",
+ "Seeed I2C 128x64",
+ "Seeed I2C 96x96"
+};
+
+// Arduino Compatible type
+typedef uint8_t boolean;
+typedef uint8_t byte;
+
+// Arduino Compatible Macro
+#define _BV(bit) (1 << (bit))
+
+// GCC Missing
+#define max(a,b) (a>b?a:b)
+#define min(a,b) (a<b?a:b)
+
+#endif
diff --git a/rover/src/drivers/oled_drivers/appstacle_logo.c b/rover/src/drivers/oled_drivers/appstacle_logo.c
new file mode 100644
index 0000000..711dce1
--- /dev/null
+++ b/rover/src/drivers/oled_drivers/appstacle_logo.c
@@ -0,0 +1,86 @@
+/*
+ * Copyright (c) 2017 FH Dortmund and others
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Description:
+ * APPSTACLE bitmap logo
+ *
+ * Contributors:
+ * M.Ozcelikors <mozcelikors@gmail.com>, created 08.10.2017
+ *
+ */
+
+#ifndef APPSTACLE_LOGO_
+#define APPSTACLE_LOGO_
+
+static unsigned char appstacle_logo [] = { // 128x64
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0F, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0xFF, 0xFF, 0xF0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0F, 0xFF, 0xFF, 0xFE, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xC0, 0x00, 0xFF, 0xC0, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0xFE, 0x00, 0x00, 0x1F, 0xF0, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0xF8, 0x00, 0x00, 0x07, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x0F, 0xE0, 0x3F, 0xFF, 0x01, 0xFC, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x1F, 0x81, 0xFF, 0xFF, 0xE0, 0xFE, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x0F, 0x07, 0xFF, 0xFF, 0xF8, 0x3C, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x0F, 0xFF, 0xFF, 0xFE, 0x18, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xE0, 0x01, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x7F, 0x00, 0x00, 0x3F, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFE, 0x00, 0x00, 0x0F, 0xC0, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x78, 0x1F, 0xFE, 0x07, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x30, 0x7F, 0xFF, 0x83, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x01, 0xFF, 0xFF, 0xE0, 0x18, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x0F, 0x03, 0xFF, 0xFF, 0xF0, 0x3C, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x1F, 0x07, 0xF0, 0x07, 0xF8, 0x3C, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x1F, 0x03, 0xC0, 0x00, 0xF0, 0x3E, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x1F, 0x01, 0x80, 0x00, 0x60, 0x3E, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x3E, 0x00, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x3C, 0x00, 0x07, 0xF0, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x3C, 0x00, 0x3F, 0xFF, 0x80, 0x0F, 0x80, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x7C, 0x03, 0xFF, 0xFF, 0xF8, 0x0F, 0x80, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x78, 0x3F, 0xFE, 0x1F, 0xFF, 0x07, 0x80, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x7F, 0xFF, 0xFC, 0x0F, 0xFF, 0xFF, 0x80, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xF8, 0x07, 0xFF, 0xFF, 0xC0, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xF0, 0x03, 0xFF, 0xFF, 0xC0, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xE0, 0x01, 0xFF, 0xFF, 0xC0, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xE0, 0x01, 0xFF, 0xFF, 0xC0, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xE0, 0x01, 0xFF, 0xFF, 0xC0, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xE0, 0x01, 0xFF, 0xFF, 0xC0, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0xF8, 0x0F, 0xF0, 0x03, 0xFE, 0x07, 0xC0, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0xF8, 0x03, 0xF8, 0x07, 0xF0, 0x07, 0xC0, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x78, 0x01, 0xFC, 0x0F, 0xE0, 0x07, 0x80, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x78, 0x00, 0xFE, 0x1F, 0x80, 0x0F, 0x80, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x7C, 0x00, 0x3F, 0xFF, 0x80, 0x0F, 0x80, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x3C, 0x00, 0x3F, 0xFF, 0x00, 0x0F, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x3E, 0x00, 0x1F, 0xFE, 0x00, 0x0F, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x3E, 0x00, 0x1F, 0xFE, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x0F, 0xFC, 0x00, 0x3E, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x0F, 0xFC, 0x00, 0x3E, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x0F, 0x80, 0x07, 0xFC, 0x00, 0x7C, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x0F, 0xC0, 0x07, 0xF8, 0x00, 0xFC, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0xE0, 0x07, 0xF8, 0x01, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0xF0, 0x07, 0xF8, 0x03, 0xF0, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0xF8, 0x07, 0xF8, 0x07, 0xE0, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0xFE, 0x07, 0xF8, 0x1F, 0xC0, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x7F, 0x07, 0xF8, 0x3F, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xE7, 0xF9, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1F, 0xFF, 0xFF, 0xFE, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0xFF, 0xFF, 0xE0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xFF, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
+};
+
+#endif
diff --git a/rover/src/drivers/oled_drivers/glcdfont.c b/rover/src/drivers/oled_drivers/glcdfont.c
new file mode 100644
index 0000000..5f8f0d6
--- /dev/null
+++ b/rover/src/drivers/oled_drivers/glcdfont.c
@@ -0,0 +1,267 @@
+/* Written by Limor Fried/Ladyada for Adafruit Industries.
+ BSD license, check https://opensource.org/licenses/BSD-2-Clause for more information.
+ All text above must be included in any redistribution. */
+
+#ifndef FONT5X7_H
+#define FONT5X7_H
+
+// standard ascii 5x7 font
+
+static unsigned char font[] = {
+ 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x3E, 0x5B, 0x4F, 0x5B, 0x3E,
+ 0x3E, 0x6B, 0x4F, 0x6B, 0x3E,
+ 0x1C, 0x3E, 0x7C, 0x3E, 0x1C,
+ 0x18, 0x3C, 0x7E, 0x3C, 0x18,
+ 0x1C, 0x57, 0x7D, 0x57, 0x1C,
+ 0x1C, 0x5E, 0x7F, 0x5E, 0x1C,
+ 0x00, 0x18, 0x3C, 0x18, 0x00,
+ 0xFF, 0xE7, 0xC3, 0xE7, 0xFF,
+ 0x00, 0x18, 0x24, 0x18, 0x00,
+ 0xFF, 0xE7, 0xDB, 0xE7, 0xFF,
+ 0x30, 0x48, 0x3A, 0x06, 0x0E,
+ 0x26, 0x29, 0x79, 0x29, 0x26,
+ 0x40, 0x7F, 0x05, 0x05, 0x07,
+ 0x40, 0x7F, 0x05, 0x25, 0x3F,
+ 0x5A, 0x3C, 0xE7, 0x3C, 0x5A,
+ 0x7F, 0x3E, 0x1C, 0x1C, 0x08,
+ 0x08, 0x1C, 0x1C, 0x3E, 0x7F,
+ 0x14, 0x22, 0x7F, 0x22, 0x14,
+ 0x5F, 0x5F, 0x00, 0x5F, 0x5F,
+ 0x06, 0x09, 0x7F, 0x01, 0x7F,
+ 0x00, 0x66, 0x89, 0x95, 0x6A,
+ 0x60, 0x60, 0x60, 0x60, 0x60,
+ 0x94, 0xA2, 0xFF, 0xA2, 0x94,
+ 0x08, 0x04, 0x7E, 0x04, 0x08,
+ 0x10, 0x20, 0x7E, 0x20, 0x10,
+ 0x08, 0x08, 0x2A, 0x1C, 0x08,
+ 0x08, 0x1C, 0x2A, 0x08, 0x08,
+ 0x1E, 0x10, 0x10, 0x10, 0x10,
+ 0x0C, 0x1E, 0x0C, 0x1E, 0x0C,
+ 0x30, 0x38, 0x3E, 0x38, 0x30,
+ 0x06, 0x0E, 0x3E, 0x0E, 0x06,
+ 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x5F, 0x00, 0x00,
+ 0x00, 0x07, 0x00, 0x07, 0x00,
+ 0x14, 0x7F, 0x14, 0x7F, 0x14,
+ 0x24, 0x2A, 0x7F, 0x2A, 0x12,
+ 0x23, 0x13, 0x08, 0x64, 0x62,
+ 0x36, 0x49, 0x56, 0x20, 0x50,
+ 0x00, 0x08, 0x07, 0x03, 0x00,
+ 0x00, 0x1C, 0x22, 0x41, 0x00,
+ 0x00, 0x41, 0x22, 0x1C, 0x00,
+ 0x2A, 0x1C, 0x7F, 0x1C, 0x2A,
+ 0x08, 0x08, 0x3E, 0x08, 0x08,
+ 0x00, 0x80, 0x70, 0x30, 0x00,
+ 0x08, 0x08, 0x08, 0x08, 0x08,
+ 0x00, 0x00, 0x60, 0x60, 0x00,
+ 0x20, 0x10, 0x08, 0x04, 0x02,
+ 0x3E, 0x51, 0x49, 0x45, 0x3E,
+ 0x00, 0x42, 0x7F, 0x40, 0x00,
+ 0x72, 0x49, 0x49, 0x49, 0x46,
+ 0x21, 0x41, 0x49, 0x4D, 0x33,
+ 0x18, 0x14, 0x12, 0x7F, 0x10,
+ 0x27, 0x45, 0x45, 0x45, 0x39,
+ 0x3C, 0x4A, 0x49, 0x49, 0x31,
+ 0x41, 0x21, 0x11, 0x09, 0x07,
+ 0x36, 0x49, 0x49, 0x49, 0x36,
+ 0x46, 0x49, 0x49, 0x29, 0x1E,
+ 0x00, 0x00, 0x14, 0x00, 0x00,
+ 0x00, 0x40, 0x34, 0x00, 0x00,
+ 0x00, 0x08, 0x14, 0x22, 0x41,
+ 0x14, 0x14, 0x14, 0x14, 0x14,
+ 0x00, 0x41, 0x22, 0x14, 0x08,
+ 0x02, 0x01, 0x59, 0x09, 0x06,
+ 0x3E, 0x41, 0x5D, 0x59, 0x4E,
+ 0x7C, 0x12, 0x11, 0x12, 0x7C,
+ 0x7F, 0x49, 0x49, 0x49, 0x36,
+ 0x3E, 0x41, 0x41, 0x41, 0x22,
+ 0x7F, 0x41, 0x41, 0x41, 0x3E,
+ 0x7F, 0x49, 0x49, 0x49, 0x41,
+ 0x7F, 0x09, 0x09, 0x09, 0x01,
+ 0x3E, 0x41, 0x41, 0x51, 0x73,
+ 0x7F, 0x08, 0x08, 0x08, 0x7F,
+ 0x00, 0x41, 0x7F, 0x41, 0x00,
+ 0x20, 0x40, 0x41, 0x3F, 0x01,
+ 0x7F, 0x08, 0x14, 0x22, 0x41,
+ 0x7F, 0x40, 0x40, 0x40, 0x40,
+ 0x7F, 0x02, 0x1C, 0x02, 0x7F,
+ 0x7F, 0x04, 0x08, 0x10, 0x7F,
+ 0x3E, 0x41, 0x41, 0x41, 0x3E,
+ 0x7F, 0x09, 0x09, 0x09, 0x06,
+ 0x3E, 0x41, 0x51, 0x21, 0x5E,
+ 0x7F, 0x09, 0x19, 0x29, 0x46,
+ 0x26, 0x49, 0x49, 0x49, 0x32,
+ 0x03, 0x01, 0x7F, 0x01, 0x03,
+ 0x3F, 0x40, 0x40, 0x40, 0x3F,
+ 0x1F, 0x20, 0x40, 0x20, 0x1F,
+ 0x3F, 0x40, 0x38, 0x40, 0x3F,
+ 0x63, 0x14, 0x08, 0x14, 0x63,
+ 0x03, 0x04, 0x78, 0x04, 0x03,
+ 0x61, 0x59, 0x49, 0x4D, 0x43,
+ 0x00, 0x7F, 0x41, 0x41, 0x41,
+ 0x02, 0x04, 0x08, 0x10, 0x20,
+ 0x00, 0x41, 0x41, 0x41, 0x7F,
+ 0x04, 0x02, 0x01, 0x02, 0x04,
+ 0x40, 0x40, 0x40, 0x40, 0x40,
+ 0x00, 0x03, 0x07, 0x08, 0x00,
+ 0x20, 0x54, 0x54, 0x78, 0x40,
+ 0x7F, 0x28, 0x44, 0x44, 0x38,
+ 0x38, 0x44, 0x44, 0x44, 0x28,
+ 0x38, 0x44, 0x44, 0x28, 0x7F,
+ 0x38, 0x54, 0x54, 0x54, 0x18,
+ 0x00, 0x08, 0x7E, 0x09, 0x02,
+ 0x18, 0xA4, 0xA4, 0x9C, 0x78,
+ 0x7F, 0x08, 0x04, 0x04, 0x78,
+ 0x00, 0x44, 0x7D, 0x40, 0x00,
+ 0x20, 0x40, 0x40, 0x3D, 0x00,
+ 0x7F, 0x10, 0x28, 0x44, 0x00,
+ 0x00, 0x41, 0x7F, 0x40, 0x00,
+ 0x7C, 0x04, 0x78, 0x04, 0x78,
+ 0x7C, 0x08, 0x04, 0x04, 0x78,
+ 0x38, 0x44, 0x44, 0x44, 0x38,
+ 0xFC, 0x18, 0x24, 0x24, 0x18,
+ 0x18, 0x24, 0x24, 0x18, 0xFC,
+ 0x7C, 0x08, 0x04, 0x04, 0x08,
+ 0x48, 0x54, 0x54, 0x54, 0x24,
+ 0x04, 0x04, 0x3F, 0x44, 0x24,
+ 0x3C, 0x40, 0x40, 0x20, 0x7C,
+ 0x1C, 0x20, 0x40, 0x20, 0x1C,
+ 0x3C, 0x40, 0x30, 0x40, 0x3C,
+ 0x44, 0x28, 0x10, 0x28, 0x44,
+ 0x4C, 0x90, 0x90, 0x90, 0x7C,
+ 0x44, 0x64, 0x54, 0x4C, 0x44,
+ 0x00, 0x08, 0x36, 0x41, 0x00,
+ 0x00, 0x00, 0x77, 0x00, 0x00,
+ 0x00, 0x41, 0x36, 0x08, 0x00,
+ 0x02, 0x01, 0x02, 0x04, 0x02,
+ 0x3C, 0x26, 0x23, 0x26, 0x3C,
+ 0x1E, 0xA1, 0xA1, 0x61, 0x12,
+ 0x3A, 0x40, 0x40, 0x20, 0x7A,
+ 0x38, 0x54, 0x54, 0x55, 0x59,
+ 0x21, 0x55, 0x55, 0x79, 0x41,
+ 0x21, 0x54, 0x54, 0x78, 0x41,
+ 0x21, 0x55, 0x54, 0x78, 0x40,
+ 0x20, 0x54, 0x55, 0x79, 0x40,
+ 0x0C, 0x1E, 0x52, 0x72, 0x12,
+ 0x39, 0x55, 0x55, 0x55, 0x59,
+ 0x39, 0x54, 0x54, 0x54, 0x59,
+ 0x39, 0x55, 0x54, 0x54, 0x58,
+ 0x00, 0x00, 0x45, 0x7C, 0x41,
+ 0x00, 0x02, 0x45, 0x7D, 0x42,
+ 0x00, 0x01, 0x45, 0x7C, 0x40,
+ 0xF0, 0x29, 0x24, 0x29, 0xF0,
+ 0xF0, 0x28, 0x25, 0x28, 0xF0,
+ 0x7C, 0x54, 0x55, 0x45, 0x00,
+ 0x20, 0x54, 0x54, 0x7C, 0x54,
+ 0x7C, 0x0A, 0x09, 0x7F, 0x49,
+ 0x32, 0x49, 0x49, 0x49, 0x32,
+ 0x32, 0x48, 0x48, 0x48, 0x32,
+ 0x32, 0x4A, 0x48, 0x48, 0x30,
+ 0x3A, 0x41, 0x41, 0x21, 0x7A,
+ 0x3A, 0x42, 0x40, 0x20, 0x78,
+ 0x00, 0x9D, 0xA0, 0xA0, 0x7D,
+ 0x39, 0x44, 0x44, 0x44, 0x39,
+ 0x3D, 0x40, 0x40, 0x40, 0x3D,
+ 0x3C, 0x24, 0xFF, 0x24, 0x24,
+ 0x48, 0x7E, 0x49, 0x43, 0x66,
+ 0x2B, 0x2F, 0xFC, 0x2F, 0x2B,
+ 0xFF, 0x09, 0x29, 0xF6, 0x20,
+ 0xC0, 0x88, 0x7E, 0x09, 0x03,
+ 0x20, 0x54, 0x54, 0x79, 0x41,
+ 0x00, 0x00, 0x44, 0x7D, 0x41,
+ 0x30, 0x48, 0x48, 0x4A, 0x32,
+ 0x38, 0x40, 0x40, 0x22, 0x7A,
+ 0x00, 0x7A, 0x0A, 0x0A, 0x72,
+ 0x7D, 0x0D, 0x19, 0x31, 0x7D,
+ 0x26, 0x29, 0x29, 0x2F, 0x28,
+ 0x26, 0x29, 0x29, 0x29, 0x26,
+ 0x30, 0x48, 0x4D, 0x40, 0x20,
+ 0x38, 0x08, 0x08, 0x08, 0x08,
+ 0x08, 0x08, 0x08, 0x08, 0x38,
+ 0x2F, 0x10, 0xC8, 0xAC, 0xBA,
+ 0x2F, 0x10, 0x28, 0x34, 0xFA,
+ 0x00, 0x00, 0x7B, 0x00, 0x00,
+ 0x08, 0x14, 0x2A, 0x14, 0x22,
+ 0x22, 0x14, 0x2A, 0x14, 0x08,
+ 0xAA, 0x00, 0x55, 0x00, 0xAA,
+ 0xAA, 0x55, 0xAA, 0x55, 0xAA,
+ 0x00, 0x00, 0x00, 0xFF, 0x00,
+ 0x10, 0x10, 0x10, 0xFF, 0x00,
+ 0x14, 0x14, 0x14, 0xFF, 0x00,
+ 0x10, 0x10, 0xFF, 0x00, 0xFF,
+ 0x10, 0x10, 0xF0, 0x10, 0xF0,
+ 0x14, 0x14, 0x14, 0xFC, 0x00,
+ 0x14, 0x14, 0xF7, 0x00, 0xFF,
+ 0x00, 0x00, 0xFF, 0x00, 0xFF,
+ 0x14, 0x14, 0xF4, 0x04, 0xFC,
+ 0x14, 0x14, 0x17, 0x10, 0x1F,
+ 0x10, 0x10, 0x1F, 0x10, 0x1F,
+ 0x14, 0x14, 0x14, 0x1F, 0x00,
+ 0x10, 0x10, 0x10, 0xF0, 0x00,
+ 0x00, 0x00, 0x00, 0x1F, 0x10,
+ 0x10, 0x10, 0x10, 0x1F, 0x10,
+ 0x10, 0x10, 0x10, 0xF0, 0x10,
+ 0x00, 0x00, 0x00, 0xFF, 0x10,
+ 0x10, 0x10, 0x10, 0x10, 0x10,
+ 0x10, 0x10, 0x10, 0xFF, 0x10,
+ 0x00, 0x00, 0x00, 0xFF, 0x14,
+ 0x00, 0x00, 0xFF, 0x00, 0xFF,
+ 0x00, 0x00, 0x1F, 0x10, 0x17,
+ 0x00, 0x00, 0xFC, 0x04, 0xF4,
+ 0x14, 0x14, 0x17, 0x10, 0x17,
+ 0x14, 0x14, 0xF4, 0x04, 0xF4,
+ 0x00, 0x00, 0xFF, 0x00, 0xF7,
+ 0x14, 0x14, 0x14, 0x14, 0x14,
+ 0x14, 0x14, 0xF7, 0x00, 0xF7,
+ 0x14, 0x14, 0x14, 0x17, 0x14,
+ 0x10, 0x10, 0x1F, 0x10, 0x1F,
+ 0x14, 0x14, 0x14, 0xF4, 0x14,
+ 0x10, 0x10, 0xF0, 0x10, 0xF0,
+ 0x00, 0x00, 0x1F, 0x10, 0x1F,
+ 0x00, 0x00, 0x00, 0x1F, 0x14,
+ 0x00, 0x00, 0x00, 0xFC, 0x14,
+ 0x00, 0x00, 0xF0, 0x10, 0xF0,
+ 0x10, 0x10, 0xFF, 0x10, 0xFF,
+ 0x14, 0x14, 0x14, 0xFF, 0x14,
+ 0x10, 0x10, 0x10, 0x1F, 0x00,
+ 0x00, 0x00, 0x00, 0xF0, 0x10,
+ 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+ 0xF0, 0xF0, 0xF0, 0xF0, 0xF0,
+ 0xFF, 0xFF, 0xFF, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0xFF, 0xFF,
+ 0x0F, 0x0F, 0x0F, 0x0F, 0x0F,
+ 0x38, 0x44, 0x44, 0x38, 0x44,
+ 0x7C, 0x2A, 0x2A, 0x3E, 0x14,
+ 0x7E, 0x02, 0x02, 0x06, 0x06,
+ 0x02, 0x7E, 0x02, 0x7E, 0x02,
+ 0x63, 0x55, 0x49, 0x41, 0x63,
+ 0x38, 0x44, 0x44, 0x3C, 0x04,
+ 0x40, 0x7E, 0x20, 0x1E, 0x20,
+ 0x06, 0x02, 0x7E, 0x02, 0x02,
+ 0x99, 0xA5, 0xE7, 0xA5, 0x99,
+ 0x1C, 0x2A, 0x49, 0x2A, 0x1C,
+ 0x4C, 0x72, 0x01, 0x72, 0x4C,
+ 0x30, 0x4A, 0x4D, 0x4D, 0x30,
+ 0x30, 0x48, 0x78, 0x48, 0x30,
+ 0xBC, 0x62, 0x5A, 0x46, 0x3D,
+ 0x3E, 0x49, 0x49, 0x49, 0x00,
+ 0x7E, 0x01, 0x01, 0x01, 0x7E,
+ 0x2A, 0x2A, 0x2A, 0x2A, 0x2A,
+ 0x44, 0x44, 0x5F, 0x44, 0x44,
+ 0x40, 0x51, 0x4A, 0x44, 0x40,
+ 0x40, 0x44, 0x4A, 0x51, 0x40,
+ 0x00, 0x00, 0xFF, 0x01, 0x03,
+ 0xE0, 0x80, 0xFF, 0x00, 0x00,
+ 0x08, 0x08, 0x6B, 0x6B, 0x08,
+ 0x36, 0x12, 0x36, 0x24, 0x36,
+ 0x06, 0x0F, 0x09, 0x0F, 0x06,
+ 0x00, 0x00, 0x18, 0x18, 0x00,
+ 0x00, 0x00, 0x10, 0x10, 0x00,
+ 0x30, 0x40, 0xFF, 0x01, 0x01,
+ 0x00, 0x1F, 0x01, 0x01, 0x1E,
+ 0x00, 0x19, 0x1D, 0x17, 0x12,
+ 0x00, 0x3C, 0x3C, 0x3C, 0x3C,
+ 0x00, 0x00, 0x00, 0x00, 0x00,
+};
+#endif
diff --git a/rover/src/drivers/oled_drivers/readme.txt b/rover/src/drivers/oled_drivers/readme.txt
new file mode 100644
index 0000000..87109be
--- /dev/null
+++ b/rover/src/drivers/oled_drivers/readme.txt
@@ -0,0 +1,5 @@
+Please note that in order to use OLED SSD1306 with I2C,
+one has to download bcm2835.c, bcm2835.h, and has access to current <linux/i2c-dev.h>.
+In case the compiler complains, please also download the newest i2c-dev.h and put it in this folder.
+Download i2c-dev.h from: https://www.kernel.org/pub/linux/
+Download bcm2835.c and bcm2835.h from: https://github.com/hallard/ArduiPi_SSD1306
\ No newline at end of file
diff --git a/rover/src/interfaces.h b/rover/src/interfaces.h
index 3fc5937..5a96d7a 100644
--- a/rover/src/interfaces.h
+++ b/rover/src/interfaces.h
@@ -142,5 +142,7 @@
extern int buzzer_status_shared;
extern pthread_mutex_t buzzer_status_shared_lock;
+extern int shutdown_hook_shared;
+
#endif /* INTERFACES_H_ */
diff --git a/rover/src/tasks/external_gpio_task.cpp b/rover/src/tasks/external_gpio_task.cpp
index dee9559..12bd57e 100644
--- a/rover/src/tasks/external_gpio_task.cpp
+++ b/rover/src/tasks/external_gpio_task.cpp
@@ -53,6 +53,20 @@
pthread_mutex_unlock(&buzzer_status_shared_lock);
}
+void playShutdownTone (void)
+{
+ softToneWrite (BUZZER_PIN, BUZZER_SHUTDOWN_FREQ);
+ delay(2000);
+ softToneWrite (BUZZER_PIN, BUZZER_OFF_FREQ);
+}
+
+void playOnTone (void)
+{
+ softToneWrite (BUZZER_PIN, BUZZER_ON_FREQ);
+ delay(1000);
+ softToneWrite (BUZZER_PIN, BUZZER_OFF_FREQ);
+}
+
void turnBuzzerOff (void)
{
pthread_mutex_lock(&buzzer_status_shared_lock);
@@ -60,6 +74,13 @@
pthread_mutex_unlock(&buzzer_status_shared_lock);
}
+/* Simply shuts down the operating system, preferrably after
+ * OLED is done showing the indicator */
+void shutdownOS (void)
+{
+ system("halt");
+}
+
void *External_GPIO_Task(void *arg)
{
timing extgpio_task_tmr;
diff --git a/rover/src/tasks/external_gpio_task.h b/rover/src/tasks/external_gpio_task.h
index 822ecd3..ea3e3f1 100644
--- a/rover/src/tasks/external_gpio_task.h
+++ b/rover/src/tasks/external_gpio_task.h
@@ -24,6 +24,7 @@
/* Buzzer */
#define BUZZER_PIN 28 //BCM-20, wiringpi 28
#define BUZZER_ON_FREQ 200
+#define BUZZER_SHUTDOWN_FREQ 300
#define BUZZER_OFF_FREQ 0
/* Shutdown Button */
@@ -36,5 +37,8 @@
void *External_GPIO_Task(void * arg);
void turnBuzzerOn (void);
void turnBuzzerOff (void);
+void playShutdownTone (void);
+void playOffTone (void);
+void shutdownOS (void);
#endif /* TASKS_EXTERNAL_GPIO_TASK_H_ */
diff --git a/rover/src/tasks/oled_task.cpp b/rover/src/tasks/oled_task.cpp
index 2a0b1d7..a292e3a 100644
--- a/rover/src/tasks/oled_task.cpp
+++ b/rover/src/tasks/oled_task.cpp
@@ -49,6 +49,7 @@
#include "../interfaces.h"
#include <pthread.h>
#include "../RaspberryTest.h"
+#include "external_gpio_task.h"
#include "../pthread_monitoring/collect_thread_name.h"
@@ -106,178 +107,209 @@
//Task content starts here -----------------------------------------------
- /* Our internal control-timer actions */
- switch (counter_500ms)
+ if ( shutdown_hook_shared == 0)
{
- /* If counter hits counter_500ms * 0.5 sec */
- /* Display APPSTACLE logo in between */
- case 0:
- case 5:
- case 10:
- case 15:
- case 20:
- /* Prepare APPSTACLE logo*/
- display.clearDisplay();
+ /* Our internal control-timer actions */
+ switch (counter_500ms)
+ {
+ /* If counter hits counter_500ms * 0.5 sec */
+ /* Display APPSTACLE logo in between */
+ case 0:
+ case 5:
+ case 10:
+ case 15:
+ case 20:
+ /* Prepare APPSTACLE logo*/
+ display.clearDisplay();
- /* Black logo */
- //display.fillRect (0, 0, 128, 64, WHITE);
- //display.drawBitmap (0, 0, appstacle_logo, 128, 64, BLACK);
+ /* Black logo */
+ //display.fillRect (0, 0, 128, 64, WHITE);
+ //display.drawBitmap (0, 0, appstacle_logo, 128, 64, BLACK);
- /* White logo */
- display.drawBitmap (0, 0, appstacle_logo, 128, 64, WHITE);
+ /* White logo */
+ display.drawBitmap (0, 0, appstacle_logo, 128, 64, WHITE);
- break;
+ break;
- case 1: /* If counter hits counter_500ms * 0.5 sec */
- /* Prepare WLAN availability */
- display.clearDisplay();
+ case 1: /* If counter hits counter_500ms * 0.5 sec */
+ /* Prepare WLAN availability */
+ display.clearDisplay();
- //display.drawRect(0, 0, display.width(), display.height(), WHITE);
- //display.drawRect(2, 2, display.width()-4, display.height()-4, WHITE);
+ //display.drawRect(0, 0, display.width(), display.height(), WHITE);
+ //display.drawRect(2, 2, display.width()-4, display.height()-4, WHITE);
- display.setTextSize(2);
- display.setTextColor(WHITE);
+ display.setTextSize(2);
+ display.setTextColor(WHITE);
- display.setCursor(45,10);
- display.print("WLAN:");
+ display.setCursor(45,10);
+ display.print("WLAN:");
- display.setTextSize(3);
- display.setTextColor(WHITE);
+ display.setTextSize(3);
+ display.setTextColor(WHITE);
- if (retrieveWLANStatus() == 1)
- {
- display.setCursor(50,32);
- display.print("ON");
- }
- else
- {
- display.setCursor(43,32);
- display.print("OFF");
- }
+ if (retrieveWLANStatus() == 1)
+ {
+ display.setCursor(50,32);
+ display.print("ON");
+ }
+ else
+ {
+ display.setCursor(43,32);
+ display.print("OFF");
+ }
- break;
+ break;
- case 6: /* If counter hits counter_500ms * 0.5 sec */
- /* Prepare Ethernet availability*/
- display.clearDisplay();
+ case 6: /* If counter hits counter_500ms * 0.5 sec */
+ /* Prepare Ethernet availability*/
+ display.clearDisplay();
- //display.drawRect(0, 0, display.width(), display.height(), WHITE);
- //display.drawRect(2, 2, display.width()-4, display.height()-4, WHITE);
+ //display.drawRect(0, 0, display.width(), display.height(), WHITE);
+ //display.drawRect(2, 2, display.width()-4, display.height()-4, WHITE);
- display.setTextSize(2);
- display.setTextColor(WHITE);
+ display.setTextSize(2);
+ display.setTextColor(WHITE);
- display.setCursor(48,10);
- display.print("ETH:");
+ display.setCursor(48,10);
+ display.print("ETH:");
- display.setTextSize(3);
- display.setTextColor(WHITE);
+ display.setTextSize(3);
+ display.setTextColor(WHITE);
- if (retrieveETHStatus() == 1)
- {
- display.setCursor(50,32);
- display.print("ON");
- }
- else
- {
- display.setCursor(43,32);
- display.print("OFF");
- }
+ if (retrieveETHStatus() == 1)
+ {
+ display.setCursor(50,32);
+ display.print("ON");
+ }
+ else
+ {
+ display.setCursor(43,32);
+ display.print("OFF");
+ }
- break;
+ break;
- case 11: /* If counter hits counter_500ms * 0.5 sec */
- /* Prepare Internet availability */
- display.clearDisplay();
+ case 11: /* If counter hits counter_500ms * 0.5 sec */
+ /* Prepare Internet availability */
+ display.clearDisplay();
- //display.drawRect(0, 0, display.width(), display.height(), WHITE);
- //display.drawRect(2, 2, display.width()-4, display.height()-4, WHITE);
+ //display.drawRect(0, 0, display.width(), display.height(), WHITE);
+ //display.drawRect(2, 2, display.width()-4, display.height()-4, WHITE);
- display.setTextSize(2);
- display.setTextColor(WHITE);
+ display.setTextSize(2);
+ display.setTextColor(WHITE);
- display.setCursor(12,10);
- display.print("INTERNET:");
+ display.setCursor(12,10);
+ display.print("INTERNET:");
- display.setTextSize(3);
- display.setTextColor(WHITE);
+ display.setTextSize(3);
+ display.setTextColor(WHITE);
- if (retrieveINTERNETStatus() == 1)
- {
- display.setCursor(50,32);
- display.print("ON");
- }
- else
- {
- display.setCursor(43,32);
- display.print("OFF");
- }
+ if (retrieveINTERNETStatus() == 1)
+ {
+ display.setCursor(50,32);
+ display.print("ON");
+ }
+ else
+ {
+ display.setCursor(43,32);
+ display.print("OFF");
+ }
- break;
+ break;
- case 16: /* If counter hits counter_500ms * 0.5 sec */
- /* Prepare Bluetooth availability */
- display.clearDisplay();
+ case 16: /* If counter hits counter_500ms * 0.5 sec */
+ /* Prepare Bluetooth availability */
+ display.clearDisplay();
- //display.drawRect(0, 0, display.width(), display.height(), WHITE);
- //display.drawRect(2, 2, display.width()-4, display.height()-4, WHITE);
+ //display.drawRect(0, 0, display.width(), display.height(), WHITE);
+ //display.drawRect(2, 2, display.width()-4, display.height()-4, WHITE);
- display.setTextSize(2);
- display.setTextColor(WHITE);
+ display.setTextSize(2);
+ display.setTextColor(WHITE);
- display.setCursor(8,10);
- display.print("BLUETOOTH:");
+ display.setCursor(8,10);
+ display.print("BLUETOOTH:");
- display.setTextSize(3);
- display.setTextColor(WHITE);
+ display.setTextSize(3);
+ display.setTextColor(WHITE);
- if (retrieveBLUETOOTHStatus() == 1)
- {
- display.setCursor(50,32);
- display.print("ON");
- }
- else
- {
- display.setCursor(43,32);
- display.print("OFF");
- }
+ if (retrieveBLUETOOTHStatus() == 1)
+ {
+ display.setCursor(50,32);
+ display.print("ON");
+ }
+ else
+ {
+ display.setCursor(43,32);
+ display.print("OFF");
+ }
- break;
+ break;
- case 21: /* If counter hits counter_500ms * 0.5 sec */
- /* Prepare Hono Instance (Cloud) availability */
- display.clearDisplay();
+ case 21: /* If counter hits counter_500ms * 0.5 sec */
+ /* Prepare Hono Instance (Cloud) availability */
+ display.clearDisplay();
- //display.drawRect(0, 0, display.width(), display.height(), WHITE);
- //display.drawRect(2, 2, display.width()-4, display.height()-4, WHITE);
+ //display.drawRect(0, 0, display.width(), display.height(), WHITE);
+ //display.drawRect(2, 2, display.width()-4, display.height()-4, WHITE);
- display.setTextSize(2);
- display.setTextColor(WHITE);
+ display.setTextSize(2);
+ display.setTextColor(WHITE);
- display.setCursor(45,10);
- display.print("HONO:");
+ display.setCursor(45,10);
+ display.print("HONO:");
- display.setTextSize(3);
- display.setTextColor(WHITE);
+ display.setTextSize(3);
+ display.setTextColor(WHITE);
- if (retrieveHONOStatus() == 1)
- {
- display.setCursor(50,32);
- display.print("ON");
- }
- else
- {
- display.setCursor(43,32);
- display.print("OFF");
- }
+ if (retrieveHONOStatus() == 1)
+ {
+ display.setCursor(50,32);
+ display.print("ON");
+ }
+ else
+ {
+ display.setCursor(43,32);
+ display.print("OFF");
+ }
- break;
+ break;
- default: /* None of the above */
- // Wait
- break;
+ default: /* None of the above */
+ // Wait
+ break;
- } /* switch-end */
+ } /* switch-end */
+ }
+ else
+ {
+ /* Prepare "Shutting Down..." */
+ display.clearDisplay();
+
+ display.setTextSize(2);
+ display.setTextColor(WHITE);
+
+ display.setCursor(20,10);
+ display.print("Shutting");
+
+ display.setTextColor(WHITE);
+
+ display.setCursor(20,32);
+ display.print("Down...");
+
+ /* Display everything earlier this time*/
+ display.display();
+
+ /* Play the shutdown tone..*/
+ playShutdownTone();
+
+ /* Here we're shutting Raspberry Pi down.. */
+ shutdownOS();
+
+ /* Abort the application for safety reasons */
+ abort();
+ }
/* Display the stuff NOW */
display.display();
