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st7789_lcd.c
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st7789_lcd.c
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/**
* Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
*
* SPDX-License-Identifier: BSD-3-Clause
*/
#include <stdio.h>
#include <math.h>
#include "pico/stdlib.h"
#include "hardware/pio.h"
#include "hardware/gpio.h"
#include "hardware/interp.h"
#include "st7789_lcd.pio.h"
#include "raspberry_256x256_rgb565.h"
// Tested with Waveshare 1.3 inch LCD Display Module only
#define IMAGE_SIZE 256
#define LOG_IMAGE_SIZE 8
#define SCREEN_WIDTH 240
#define SCREEN_HEIGHT 240
// LCD Module Pins (hardwired)
#define PIN_DC 8
#define PIN_CS 9
#define PIN_CLK 10
#define PIN_DIN 11
#define PIN_RESET 12
#define PIN_BL 13
#define KEY_A 15
#define KEY_B 17
#define KEY_X 19
#define KEY_Y 21
#define JOY_UP 2
#define JOY_DOWN 18
#define JOY_LEFT 16
#define JOY_RIGHT 20
#define JOY_CENTRE 3
// Sitronix ST7789VW Commands
#define NOP 0x00 // No Operation
#define SWRESET 0x01 // Software Reset
#define SLPOUT 0x11 // Sleep Out
#define NORON 0x13 // Normal Display Mode On
#define INVOFF 0x20 // Display Inversion Off
#define INVON 0x21 // Display Inversion On
#define DISPOFF 0x28 // Display Off
#define DISPON 0x29 // Display On
#define CASET 0x2A // Column Address Set
#define RASET 0x2B // Row Address Set
#define RAMWR 0x2C // RAM Write
#define RAMRD 0x2E // RAM Read
#define TEOFF 0x34 // Line Tearing Effect Off
#define TEON 0x35 // Line Tearing Effect On
#define MADCTL 0x36 // Memory Data Access Control
#define IDMOFF 0x38 // Idle Mode Off
#define IDMON 0x39 // Idle Mode On
#define COLMOD 0x3A // Interface Pixel Format
#define WRMEMC 0x3C // Write Memory Continue
#define WRDISBV 0x51 // Write Display Brightness
#define SERIAL_CLK_DIV 1.f
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
// Format: cmd length (including cmd byte), post delay in units of 5 ms, then command payload.
// Simplified initialisation using power-on / swreset default values, including CASET and RASET.
static const uint8_t st7789_init_seq[] = {
1, 2, NOP, // No Operation - 10ms power on delay
1, 2, SWRESET, // Software reset, 10ms stability delay
1, 2, SLPOUT, // Exit sleep mode, 10ms stability delay
2, 0, COLMOD, 0x55, // Set interface colour mode to 16 bits/pixel
2, 0, MADCTL, 0x70, // Set MADCTL for LCD 90° physical hardware orientation
1, 0, INVON, // Colour inversion on (positive image with supplied data)
1, 1, DISPON, // Main screen display on, 5ms guard time
0 // Terminate initialisation command list
} ;
static inline void lcd_set_dc_cs(bool dc, bool cs) {
sleep_us(1);
gpio_put_masked((1u << PIN_DC) | (1u << PIN_CS), !!dc << PIN_DC | !!cs << PIN_CS);
sleep_us(1);
}
static inline void lcd_write_cmd(PIO pio, uint sm, const uint8_t *cmd, size_t count) {
st7789_lcd_wait_idle(pio, sm);
lcd_set_dc_cs(0, 0);
st7789_lcd_put(pio, sm, *cmd++);
if (count >= 2) {
st7789_lcd_wait_idle(pio, sm);
lcd_set_dc_cs(1, 0);
for (size_t i = 0; i < count - 1; ++i)
st7789_lcd_put(pio, sm, *cmd++);
}
st7789_lcd_wait_idle(pio, sm);
lcd_set_dc_cs(1, 1);
}
static inline void st7789_lcd_init(PIO pio, uint sm, const uint8_t *init_seq) {
const uint8_t *cmd = init_seq;
while (*cmd) {
lcd_write_cmd(pio, sm, cmd + 2, *cmd);
sleep_ms(*(cmd + 1) * 5);
cmd += *cmd + 2;
}
}
static inline void st7789_start_pixels(PIO pio, uint sm) {
uint8_t cmd = RAMWR;
lcd_write_cmd(pio, sm, &cmd, 1);
lcd_set_dc_cs(1, 0);
}
static inline void set_panel_gpio(uint gpio_pin_number) {
gpio_init(gpio_pin_number);
gpio_pull_up(gpio_pin_number);
gpio_set_dir(gpio_pin_number, GPIO_IN);
}
static inline float get_theta_rot(float theta_rot, float theta_max, float theta_inc) {
if(theta_rot > theta_max)
return 0.00f;
if(!gpio_get(JOY_UP))
return theta_max * 0.00f;
if(!gpio_get(JOY_DOWN))
return theta_max * 0.50f;
if(!gpio_get(JOY_LEFT))
return theta_max * 0.25f;
if(!gpio_get(JOY_RIGHT))
return theta_max * 0.75f;
if(!gpio_get(JOY_CENTRE))
return theta_max * 1.00f;
return theta_rot + theta_inc;
}
static inline float get_theta_inc(float theta_inc) {
if (!gpio_get(KEY_A) && (theta_inc <= +1.0f))
return theta_inc - 0.0002f;
if (!gpio_get(KEY_B) && (theta_inc >= -1.0f))
return theta_inc + 0.0002f;
if (!gpio_get(KEY_X))
return 0.0f;
if (!gpio_get(KEY_Y)) {
while (!gpio_get(KEY_Y));
return -theta_inc;
}
if(!gpio_get(JOY_CENTRE))
return -0.02f;
return theta_inc;
}
static inline float get_theta_old(float theta_old, float theta_max, float theta_rot) {
if (fabs(theta_rot - theta_old) > theta_max / 12) {
gpio_put(PICO_DEFAULT_LED_PIN,!gpio_get(PICO_DEFAULT_LED_PIN));
return theta_rot; }
else
return theta_old;
}
static inline void st7789_panel_init() {
// Waveshare 1.3 inch LCD Display Module, Joypad and 4 buttons
set_panel_gpio(KEY_A);
set_panel_gpio(KEY_B);
set_panel_gpio(KEY_X);
set_panel_gpio(KEY_Y);
set_panel_gpio(JOY_UP);
set_panel_gpio(JOY_DOWN);
set_panel_gpio(JOY_LEFT);
set_panel_gpio(JOY_RIGHT);
set_panel_gpio(JOY_CENTRE);
gpio_init(PIN_BL);
gpio_init(PIN_CS);
gpio_init(PIN_DC);
gpio_init(PIN_RESET);
gpio_init(PICO_DEFAULT_LED_PIN);
gpio_set_dir(PIN_BL, GPIO_OUT);
gpio_set_dir(PIN_CS, GPIO_OUT);
gpio_set_dir(PIN_DC, GPIO_OUT);
gpio_set_dir(PIN_RESET, GPIO_OUT);
gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT);
gpio_put(PIN_BL, 1);
gpio_put(PIN_CS, 1);
gpio_put(PIN_RESET, 1);
gpio_put(PICO_DEFAULT_LED_PIN,1);
}
int main() {
stdio_init_all();
PIO pio = pio0;
uint sm = 0;
uint offset = pio_add_program(pio, &st7789_lcd_program);
st7789_lcd_program_init(pio, sm, offset, PIN_DIN, PIN_CLK, SERIAL_CLK_DIV);
st7789_panel_init();
st7789_lcd_init(pio, sm, st7789_init_seq);
// Lane 0 will be u coords (bits 8:1 of addr offset), lane 1 will be v
// coords (bits 16:9 of addr offset), and we'll represent coords with
// 16.16 fixed point. ACCUM0,1 will contain current coord, BASE0/1 will
// contain increment vector, and BASE2 will contain image base pointer
#define UNIT_LSB 16
interp_config lane0_cfg = interp_default_config();
interp_config_set_shift(&lane0_cfg, UNIT_LSB - 1); // -1 because 2 bytes per pixel
interp_config_set_mask(&lane0_cfg, 1, 1 + (LOG_IMAGE_SIZE - 1));
interp_config_set_add_raw(&lane0_cfg, true); // Add full accumulator to base with each POP
interp_config lane1_cfg = interp_default_config();
interp_config_set_shift(&lane1_cfg, UNIT_LSB - (1 + LOG_IMAGE_SIZE));
interp_config_set_mask(&lane1_cfg, 1 + LOG_IMAGE_SIZE, 1 + (2 * LOG_IMAGE_SIZE - 1));
interp_config_set_add_raw(&lane1_cfg, true);
interp_set_config(interp0, 0, &lane0_cfg);
interp_set_config(interp0, 1, &lane1_cfg);
interp0->base[2] = (uint32_t) raspberry_256x256;
uint32_t colour;
int32_t theta_sin;
int32_t theta_cos;
float theta_rot = 0.0f;
float theta_inc = 0.0f;
float theta_max = 2.0f * (float) M_PI;
float theta_old = theta_max + 1 ;
while (1) {
theta_inc = get_theta_inc(theta_inc);
theta_rot = get_theta_rot(theta_rot, theta_max, theta_inc);
theta_old = get_theta_old(theta_old, theta_max, theta_rot);
theta_sin = sinf(theta_rot) * (1 << UNIT_LSB);
theta_cos = cosf(theta_rot) * (1 << UNIT_LSB);
interp0->base[0] = theta_cos;
interp0->base[1] = theta_sin;
st7789_start_pixels(pio, sm);
for (int y = 0; y < SCREEN_HEIGHT; ++y) {
interp0->accum[0] = -theta_sin * y;
interp0->accum[1] = +theta_cos * y;
for (int x = 0; x < SCREEN_WIDTH; ++x) {
colour = *(uint16_t *) interp0->pop[2];
st7789_lcd_put(pio, sm, colour >> 8);
st7789_lcd_put(pio, sm, colour & 0xFF);
}
}
}
}