display: Add initial support for LCD screens attached to an MCU

Add support for displaying basic status information on ST7920 and
HD44780 based LCDs that are attached directly to a micro-controller.

Signed-off-by: Marcio Teixeira <marcio@alephobjects.com>
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

3 files changed, 503 insertions, 0 deletions

diff --git a/klippy/extras/display.py b/klippy/extras/display.py
new file mode 100644
index 00000000..da878861
--- /dev/null
+++ b/klippy/extras/display.py
@@ -0,0 +1,496 @@
+# Basic LCD display support
+#
+# Copyright (C) 2018  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2018  Aleph Objects, Inc <marcio@alephobjects.com>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import logging
+
+BACKGROUND_PRIORITY_CLOCK = 0x7fffffff00000000
+
+
+######################################################################
+# HD44780 (20x4 text) lcd chip
+######################################################################
+
+HD44780_DELAY = .000037
+
+class HD44780:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        # pin config
+        ppins = self.printer.lookup_object('pins')
+        pins = [ppins.lookup_pin('digital_out', config.get(name + '_pin'))
+                for name in ['rs', 'e', 'd4', 'd5', 'd6', 'd7']]
+        mcu = None
+        for pin_params in pins:
+            if mcu is not None and pin_params['chip'] != mcu:
+                raise ppins.error("hd44780 all pins must be on same mcu")
+            mcu = pin_params['chip']
+            if pin_params['invert']:
+                raise ppins.error("hd44780 can not invert pin")
+        self.pins = [pin_params['pin'] for pin_params in pins]
+        self.mcu = mcu
+        self.oid = self.mcu.create_oid()
+        self.mcu.add_config_object(self)
+        self.send_data_cmd = self.send_cmds_cmd = None
+        # framebuffers
+        self.text_framebuffer = (bytearray(' '*80), bytearray('~'*80), 0x80)
+        self.glyph_framebuffer = (bytearray(64), bytearray('~'*64), 0x40)
+        self.framebuffers = [self.text_framebuffer, self.glyph_framebuffer]
+    def build_config(self):
+        self.mcu.add_config_cmd(
+            "config_hd44780 oid=%d rs_pin=%s e_pin=%s"
+            " d4_pin=%s d5_pin=%s d6_pin=%s d7_pin=%s delay_ticks=%d" % (
+                self.oid, self.pins[0], self.pins[1],
+                self.pins[2], self.pins[3], self.pins[4], self.pins[5],
+                self.mcu.seconds_to_clock(HD44780_DELAY)))
+        cmd_queue = self.mcu.alloc_command_queue()
+        self.send_cmds_cmd = self.mcu.lookup_command(
+            "hd44780_send_cmds oid=%c cmds=%*s", cq=cmd_queue)
+        self.send_data_cmd = self.mcu.lookup_command(
+            "hd44780_send_data oid=%c data=%*s", cq=cmd_queue)
+    def send(self, cmds, is_data=False):
+        cmd_type = self.send_cmds_cmd
+        if is_data:
+            cmd_type = self.send_data_cmd
+        cmd_type.send([self.oid, cmds], reqclock=BACKGROUND_PRIORITY_CLOCK)
+        #logging.debug("hd44780 %d %s", is_data, repr(cmds))
+    def flush(self):
+        # Find all differences in the framebuffers and send them to the chip
+        for new_data, old_data, fb_id in self.framebuffers:
+            if new_data == old_data:
+                continue
+            # Find the position of all changed bytes in this framebuffer
+            diffs = [[i, 1] for i, (nd, od) in enumerate(zip(new_data, old_data))
+                     if nd != od]
+            # Batch together changes that are close to each other
+            for i in range(len(diffs)-2, -1, -1):
+                pos, count = diffs[i]
+                nextpos, nextcount = diffs[i+1]
+                if pos + 4 >= nextpos and nextcount < 16:
+                    diffs[i][1] = nextcount + (nextpos - pos)
+                    del diffs[i+1]
+            # Transmit changes
+            for pos, count in diffs:
+                chip_pos = pos
+                if fb_id == 0x80 and pos >= 40:
+                    chip_pos += 0x40 - 40
+                self.send([fb_id + chip_pos])
+                self.send(new_data[pos:pos+count], is_data=True)
+            old_data[:] = new_data
+    def init(self):
+        curtime = self.printer.get_reactor().monotonic()
+        print_time = self.mcu.estimated_print_time(curtime)
+        # Program 4bit / 2-line mode and then issue 0x02 "Home" command
+        init = [[0x33], [0x33], [0x33, 0x22, 0x28, 0x02]]
+        # Reset (set positive direction ; enable display and hide cursor)
+        init.append([0x06, 0x0c])
+        for i, cmds in enumerate(init):
+            minclock = self.mcu.print_time_to_clock(print_time + i * .100)
+            self.send_cmds_cmd.send([self.oid, cmds], minclock=minclock)
+        self.flush()
+    def load_glyph(self, glyph_id, data, alt_text):
+        return alt_text
+    def write_text(self, x, y, data):
+        if x + len(data) > 20:
+            data = data[:20 - min(x, 20)]
+        pos = [0, 40, 20, 60][y] + x
+        self.text_framebuffer[0][pos:pos+len(data)] = data
+    def write_graphics(self, x, y, row, data):
+        pass
+    def clear(self):
+        self.text_framebuffer[0][:] = ' '*80
+
+
+######################################################################
+# ST7920 (128x64 graphics) lcd chip
+######################################################################
+
+ST7920_DELAY = .000020 # Spec says 72us, but faster is possible in practice
+
+class ST7920:
+    def __init__(self, config):
+        printer = config.get_printer()
+        # pin config
+        ppins = printer.lookup_object('pins')
+        pins = [ppins.lookup_pin('digital_out', config.get(name + '_pin'))
+                for name in ['cs', 'sclk', 'sid']]
+        mcu = None
+        for pin_params in pins:
+            if mcu is not None and pin_params['chip'] != mcu:
+                raise ppins.error("st7920 all pins must be on same mcu")
+            mcu = pin_params['chip']
+            if pin_params['invert']:
+                raise ppins.error("st7920 can not invert pin")
+        self.pins = [pin_params['pin'] for pin_params in pins]
+        self.mcu = mcu
+        self.oid = self.mcu.create_oid()
+        self.mcu.add_config_object(self)
+        self.send_data_cmd = self.send_cmds_cmd = None
+        self.is_extended = False
+        # framebuffers
+        self.text_framebuffer = (bytearray(' '*64), bytearray('~'*64), 0x80)
+        self.glyph_framebuffer = (bytearray(128), bytearray('~'*128), 0x40)
+        self.graphics_framebuffers = [(bytearray(32), bytearray('~'*32), i)
+                                      for i in range(32)]
+        self.framebuffers = ([self.text_framebuffer, self.glyph_framebuffer]
+                             + self.graphics_framebuffers)
+    def build_config(self):
+        self.mcu.add_config_cmd(
+            "config_st7920 oid=%u cs_pin=%s sclk_pin=%s sid_pin=%s"
+            " delay_ticks=%d" % (
+                self.oid, self.pins[0], self.pins[1], self.pins[2],
+                self.mcu.seconds_to_clock(ST7920_DELAY)))
+        cmd_queue = self.mcu.alloc_command_queue()
+        self.send_cmds_cmd = self.mcu.lookup_command(
+            "st7920_send_cmds oid=%c cmds=%*s", cq=cmd_queue)
+        self.send_data_cmd = self.mcu.lookup_command(
+            "st7920_send_data oid=%c data=%*s", cq=cmd_queue)
+    def send(self, cmds, is_data=False, is_extended=False):
+        cmd_type = self.send_cmds_cmd
+        if is_data:
+            cmd_type = self.send_data_cmd
+        elif self.is_extended != is_extended:
+            add_cmd = 0x22
+            if is_extended:
+                add_cmd = 0x26
+            cmds = [add_cmd] + cmds
+            self.is_extended = is_extended
+        cmd_type.send([self.oid, cmds], reqclock=BACKGROUND_PRIORITY_CLOCK)
+        #logging.debug("st7920 %d %s", is_data, repr(cmds))
+    def flush(self):
+        # Find all differences in the framebuffers and send them to the chip
+        for new_data, old_data, fb_id in self.framebuffers:
+            if new_data == old_data:
+                continue
+            # Find the position of all changed bytes in this framebuffer
+            diffs = [[i, 1] for i, (nd, od) in enumerate(zip(new_data, old_data))
+                     if nd != od]
+            # Batch together changes that are close to each other
+            for i in range(len(diffs)-2, -1, -1):
+                pos, count = diffs[i]
+                nextpos, nextcount = diffs[i+1]
+                if pos + 5 >= nextpos and nextcount < 16:
+                    diffs[i][1] = nextcount + (nextpos - pos)
+                    del diffs[i+1]
+            # Transmit changes
+            for pos, count in diffs:
+                count += pos & 0x01
+                count += count & 0x01
+                pos = pos & ~0x01
+                chip_pos = pos >> 1
+                if fb_id < 0x40:
+                    # Graphics framebuffer update
+                    self.send([0x80 + fb_id, 0x80 + chip_pos], is_extended=True)
+                else:
+                    self.send([fb_id + chip_pos])
+                self.send(new_data[pos:pos+count], is_data=True)
+            old_data[:] = new_data
+    def init(self):
+        cmds = [0x24, # Enter extended mode
+                0x40, # Clear vertical scroll address
+                0x02, # Enable CGRAM access
+                0x26, # Enable graphics
+                0x22, # Leave extended mode
+                0x02, # Home the display
+                0x06, # Set positive update direction
+                0x0c] # Enable display and hide cursor
+        self.send(cmds)
+        self.flush()
+    def load_glyph(self, glyph_id, data, alt_text):
+        if len(data) > 32:
+            data = data[:32]
+        pos = min(glyph_id * 32, 96)
+        self.glyph_framebuffer[0][pos:pos+len(data)] = data
+        return (0x00, glyph_id * 2)
+    def write_text(self, x, y, data):
+        if x + len(data) > 16:
+            data = data[:16 - min(x, 16)]
+        pos = [0, 32, 16, 48][y] + x
+        self.text_framebuffer[0][pos:pos+len(data)] = data
+    def write_graphics(self, x, y, row, data):
+        if x + len(data) > 16:
+            data = data[:16 - min(x, 16)]
+        gfx_fb = y * 16 + row
+        if gfx_fb >= 32:
+            gfx_fb -= 32
+            x += 16
+        self.graphics_framebuffers[gfx_fb][0][x:x+len(data)] = data
+    def clear(self):
+        self.text_framebuffer[0][:] = ' '*64
+        zeros = bytearray(32)
+        for new_data, old_data, fb_id in self.graphics_framebuffers:
+            new_data[:] = zeros
+
+
+######################################################################
+# Icons
+######################################################################
+
+nozzle_icon = [
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000111111110000,
+    0b0001111111111000,
+    0b0001111111111000,
+    0b0001111111111000,
+    0b0000111111110000,
+    0b0000111111110000,
+    0b0001111111111000,
+    0b0001111111111000,
+    0b0001111111111000,
+    0b0000011111100000,
+    0b0000001111000000,
+    0b0000000110000000,
+    0b0000000000000000,
+    0b0000000000000000
+];
+
+bed_icon = [
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0111111111111110,
+    0b0111111111111110,
+    0b0000000000000000,
+    0b0000000000000000
+];
+
+heat1_icon = [
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0010001000100000,
+    0b0001000100010000,
+    0b0000100010001000,
+    0b0000100010001000,
+    0b0001000100010000,
+    0b0010001000100000,
+    0b0010001000100000,
+    0b0001000100010000,
+    0b0000100010001000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000
+];
+
+heat2_icon = [
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000100010001000,
+    0b0000100010001000,
+    0b0001000100010000,
+    0b0010001000100000,
+    0b0010001000100000,
+    0b0001000100010000,
+    0b0000100010001000,
+    0b0000100010001000,
+    0b0001000100010000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000,
+    0b0000000000000000
+];
+
+fan1_icon = [
+    0b0000000000000000,
+    0b0111111111111110,
+    0b0111000000001110,
+    0b0110001111000110,
+    0b0100001111000010,
+    0b0100000110000010,
+    0b0101100000011010,
+    0b0101110110111010,
+    0b0101100000011010,
+    0b0100000110000010,
+    0b0100001111000010,
+    0b0110001111000110,
+    0b0111000000001110,
+    0b0111111111111110,
+    0b0000000000000000,
+    0b0000000000000000
+];
+
+fan2_icon = [
+    0b0000000000000000,
+    0b0111111111111110,
+    0b0111000000001110,
+    0b0110010000100110,
+    0b0100111001110010,
+    0b0101111001111010,
+    0b0100110000110010,
+    0b0100000110000010,
+    0b0100110000110010,
+    0b0101111001111010,
+    0b0100111001110010,
+    0b0110010000100110,
+    0b0111000000001110,
+    0b0111111111111110,
+    0b0000000000000000,
+    0b0000000000000000
+];
+
+feedrate_icon = [
+    0b0000000000000000,
+    0b0111111000000000,
+    0b0100000000000000,
+    0b0100000000000000,
+    0b0100000000000000,
+    0b0111111011111000,
+    0b0100000010000100,
+    0b0100000010000100,
+    0b0100000010000100,
+    0b0100000011111000,
+    0b0000000010001000,
+    0b0000000010000100,
+    0b0000000010000100,
+    0b0000000010000010,
+    0b0000000000000000,
+    0b0000000000000000
+];
+
+
+######################################################################
+# LCD screen updates
+######################################################################
+
+LCD_chips = { 'st7920': ST7920, 'hd44780': HD44780 }
+
+class PrinterLCD:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        self.lcd_chip = config.getchoice('lcd_type', LCD_chips)(config)
+        # work timer
+        self.reactor = self.printer.get_reactor()
+        self.work_timer = self.reactor.register_timer(self.work_event)
+        # glyphs
+        self.fan_glyphs = self.heat_glyphs = None
+        # printer objects
+        self.gcode = self.toolhead = self.sdcard = None
+        self.fan = self.extruder0 = self.extruder1 = self.heater_bed = None
+    # Initialization
+    def printer_state(self, state):
+        if state == 'ready':
+            self.lcd_chip.init()
+            # Load printer objects
+            self.gcode = self.printer.lookup_object('gcode')
+            self.toolhead = self.printer.lookup_object('toolhead')
+            self.sdcard = self.printer.lookup_object('virtual_sdcard', None)
+            self.fan = self.printer.lookup_object('fan', None)
+            self.extruder0 = self.printer.lookup_object('extruder0', None)
+            self.extruder1 = self.printer.lookup_object('extruder1', None)
+            self.heater_bed = self.printer.lookup_object('heater_bed', None)
+            # Load glyphs
+            self.fan_glyphs = [self.load_glyph(0, fan1_icon, "f*"),
+                               self.load_glyph(1, fan2_icon, "f+")]
+            self.heat_glyphs = [self.load_glyph(2, heat1_icon, "b_"),
+                                self.load_glyph(3, heat2_icon, "b-")]
+            # Start screen update timer
+            self.reactor.update_timer(self.work_timer, self.reactor.NOW)
+    # Glyphs
+    def load_glyph(self, glyph_id, data, alt_text):
+        glyph = [0x00] * (len(data) * 2)
+        for i, bits in enumerate(data):
+            glyph[i*2] = (bits >> 8) & 0xff
+            glyph[i*2 + 1] = bits & 0xff
+        return self.lcd_chip.load_glyph(glyph_id, glyph, alt_text)
+    def animate_glyphs(self, eventtime, x, y, glyphs, do_animate):
+        frame = do_animate and int(eventtime) & 1
+        self.lcd_chip.write_text(x, y, glyphs[frame])
+    # Graphics drawing
+    def draw_icon(self, x, y, data):
+        for i, bits in enumerate(data):
+            self.lcd_chip.write_graphics(
+                x, y, i, [(bits >> 8) & 0xff, bits & 0xff])
+    def draw_progress_bar(self, x, y, width, value):
+        data = [0x00] * width
+        char_pcnt = int(100/width)
+        for i in range(width):
+            if (i+1)*char_pcnt <= value:
+                # Draw completely filled bytes
+                data[i] |= 0xFF
+            elif (i*char_pcnt) < value:
+                # Draw partially filled bytes
+                data[i] |= (-1 << 8-((value % char_pcnt)*8/char_pcnt)) & 0xff
+        data[0] |= 0x80
+        data[-1] |= 0x01
+        self.lcd_chip.write_graphics(x, y, 0, [0xff]*width)
+        for i in range(1, 15):
+            self.lcd_chip.write_graphics(x, y, i, data)
+        self.lcd_chip.write_graphics(x, y, 15, [0xff]*width)
+    # Screen updating
+    def format_temperature(self, info):
+        temperature, target = info['temperature'], info['target']
+        if target and abs(temperature - target) > 2.:
+            return "%3d/%-3d" % (temperature, target)
+        return "%3d" % (temperature)
+    def work_event(self, eventtime):
+        self.lcd_chip.clear()
+        write_text = self.lcd_chip.write_text
+        # Heaters
+        if self.extruder0 is not None:
+            info = self.extruder0.get_heater().get_status(eventtime)
+            self.draw_icon(0, 0, nozzle_icon)
+            write_text(2, 0, self.format_temperature(info))
+        extruder_count = 1
+        if self.extruder1 is not None:
+            info = self.extruder1.get_heater().get_status(eventtime)
+            self.draw_icon(0, 1, nozzle_icon)
+            write_text(2, 1, self.format_temperature(info))
+            extruder_count = 2
+        if self.heater_bed is not None:
+            info = self.heater_bed.get_status(eventtime)
+            self.draw_icon(0, extruder_count, bed_icon)
+            if info['target']:
+                self.animate_glyphs(eventtime, 0, extruder_count,
+                                    self.heat_glyphs, True)
+            write_text(2, extruder_count, self.format_temperature(info))
+        # Fan speed
+        if self.fan is not None:
+            info = self.fan.get_status(eventtime)
+            self.animate_glyphs(eventtime, 10, 0, self.fan_glyphs,
+                                info['speed'] != 0.)
+            write_text(12, 0, "%3d%%" % (info['speed'] * 100.,))
+        # SD card print progress
+        if self.sdcard is not None:
+            info = self.sdcard.get_status(eventtime)
+            progress = int(info['progress'] * 100.)
+            if extruder_count == 1:
+                write_text(0, 2, " {:^9}".format(str(progress)+'%'))
+                self.draw_progress_bar(0, 2, 10, progress)
+            else:
+                write_text(10, 1, " {:^5}".format(str(progress)+'%'))
+                self.draw_progress_bar(10, 1, 6, progress)
+        # G-Code speed factor
+        gcode_info = self.gcode.get_status(eventtime)
+        if extruder_count == 1:
+            self.draw_icon(10, 1, feedrate_icon)
+            write_text(12, 1, "%3d%%" % (gcode_info['speed_factor'] * 100.,))
+        # Printing time
+        toolhead_info = self.toolhead.get_status(eventtime)
+        printing_time = int(toolhead_info['printing_time'])
+        write_text(10, 2, " %02d:%02d" % (
+            printing_time // (60 * 60), (printing_time // 60) % 60))
+        # Printer status
+        status = toolhead_info['status']
+        if status == 'Printing' or gcode_info['busy']:
+            pos = self.toolhead.get_position()
+            status = "X%-4dY%-4dZ%-5.2f" % (pos[0], pos[1], pos[2])
+        write_text(0, 3, status)
+        self.lcd_chip.flush()
+        return eventtime + .500
+
+def load_config(config):
+    return PrinterLCD(config)
diff --git a/klippy/extras/fan.py b/klippy/extras/fan.py
index cbfdd678..86572971 100644
--- a/klippy/extras/fan.py
+++ b/klippy/extras/fan.py
@@ -32,6 +32,8 @@ class PrinterFan:
         self.mcu_fan.set_pwm(print_time, value)
         self.last_fan_time = print_time
         self.last_fan_value = value
+    def get_status(self, eventtime):
+        return {'speed': self.last_fan_value}
 
 def load_config(config):
     return PrinterFan(config)
diff --git a/klippy/extras/virtual_sdcard.py b/klippy/extras/virtual_sdcard.py
index ad435786..79e57c13 100644
--- a/klippy/extras/virtual_sdcard.py
+++ b/klippy/extras/virtual_sdcard.py
@@ -35,6 +35,11 @@ class VirtualSD:
         except:
             logging.exception("virtual_sdcard get_file_list")
             raise self.gcode.error("Unable to get file list")
+    def get_status(self, eventtime):
+        progress = 0.
+        if self.work_timer is not None and self.file_size:
+            progress = float(self.file_position) / self.file_size
+        return {'progress': progress}
     # G-Code commands
     def cmd_error(self, params):
         raise self.gcode.error("SD write not supported")