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CodeExamples/Doly/include/Gpio.h

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+#pragma once
+#include <stdint.h>
+
+enum GpioType :uint8_t
+{
+	GPIO_INPUT = 0,
+	GPIO_OUTPUT = 1,
+	GPIO_PWM = 2
+};
+
+enum GpioState :bool
+{
+	LOW = false,
+	HIGH = true,
+};
+
+enum PinId :uint8_t
+{
+	// >= 50 GPIO_CHIP2
+	Pin_Servo_Left_Enable = 56,
+	Pin_Servo_Right_Enable = 57,
+};
+
+enum PwmId :uint8_t
+{
+	Pwm_Led_Left_B = 6,
+	Pwm_Led_Left_G = 7,
+	Pwm_Led_Left_R = 8,
+	Pwm_Led_Right_B = 9,
+	Pwm_Led_Right_G = 10,
+	Pwm_Led_Right_R = 11,
+};
+
+namespace GPIO
+{
+	// Initialize IO pin
+	// state is optional for GPIO
+	// return 0 = success
+	// return -1 = initialized failed
+	// return -2 = wrong type
+	int8_t init(PinId id, GpioType type, GpioState state = GpioState::LOW);
+
+	// Initialize PWM pin
+	// return 0 = success
+	// return -1 = initialized failed
+	int8_t init(PwmId id);
+
+	// return 0 success
+// return -1 write failed
+// return -2 undefined id
+	int8_t writePin(PinId id, GpioState state);
+
+	// return 0 success
+	// return -1 write failed
+	// return -2 undefined id
+	int8_t writePwm(PwmId id, uint16_t value);
+
+};

CodeExamples/Doly/include/LcdControl.h

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+#pragma once
+#include <stdint.h>
+#include <vector>
+
+#define LCD_WIDTH 240
+#define LCD_HEIGHT 240
+
+enum LcdColorDepth :uint8_t
+{
+	// 0x06 = 18 bit,  0x03 = 12 bit
+	LCD_12BIT = 0x03,
+	LCD_18BIT = 0x06,
+};
+
+enum LcdSide :uint8_t
+{
+	LcdLeft = 0,
+	LcdRight = 1,
+};
+
+struct LcdData
+{
+	uint8_t side;
+	uint8_t* buffer;
+};
+
+namespace LcdControl
+{
+	// Initialize lcd
+	// return 0 success
+	// return 1 already initialized
+	// return -1 open device failed
+	// return -2 ioctl failed
+	int8_t init(LcdColorDepth depth = LCD_12BIT);
+
+	// release file descriptor and deinitialize
+	// return 0 success
+	// return 1 already closed or not opened
+	int8_t release();
+
+	// retuns state of lcds
+	// return true initialized
+	// return false not initialized
+	bool isActive();
+
+	// fill lcd with RGB
+	void LcdColorFill(LcdSide side, uint8_t R, uint8_t G, uint8_t B);
+
+	// write buffer data to lcd
+	// return 0 success
+	// return -1 ioct error
+	// return -2 not active
+	int8_t writeLcd(LcdData* frame_data);
+
+	//return lcd buffer size
+	// pixel count * Color data byte size
+	// ex. 240*240*3 
+	int getBufferSize();
+
+	// returns lcd color depth
+	LcdColorDepth getColorDepth();
+
+	// brightness value min = 0, max = 10
+	int8_t setBrightness(uint8_t value);
+
+	//converts 24 bit image to lcd image depth
+	void LcdBufferFrom24Bit(uint8_t* output, uint8_t* input);
+};
+

CodeExamples/Doly/include/ServoMotor.h

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+#pragma once
+#include <stdint.h>
+
+// just for information, ignored if used more than defined (220 degree)
+// Arm servos can not rotate more than that.
+#define SERVO_ARM_MAX_ANGLE 220
+
+enum ServoChannel : uint8_t
+{
+	SERVO_LEFT,
+	SERVO_RIGHT,
+	SERVO_0,
+	SERVO_1,
+};
+
+namespace ServoMotor
+{
+	// initialize all motors
+	void Init();
+
+	//return true if module ready
+	bool isActive();
+
+	// setup servo default values
+	// 'min_us, max_us' depends on your servo and effects angle of movement
+	// most PWM range them between (500us - 2500us)
+	// 'angle' ignored for SERVO_LEFT & SERVO_RIGHT,
+	// return 0 success
+	// return -1 frequency interval error
+	// return -2 angle error
+	int8_t setup(ServoChannel channel, uint16_t min_us, uint16_t max_us, uint16_t angle, bool invert);
+
+	// sets servo position
+	// return 0 success
+	// return -1 max angle exceed error
+	// return -2 speed range error (0-100)
+	// return -3 undefined channel
+	int8_t set(ServoChannel channel, float angle, uint8_t speed);
+
+	// stops servo
+	// return 0 success
+	// return -1 undefined servo
+	int8_t stop(ServoChannel channel);
+};
+

CodeExamples/LcdExample/README.md

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+
+
+# LcdControl Example program
+
+### Compile example program
+This example needs some static libraries and header files located under '/Doly/libs' & '/Doly/include'
+Make sure you have already copy '/Doly' folder under your root directory.
+
+```bash
+g++ -L../Doly/libs -I../Doly/include -Wall -o test main.cpp -lLcdControl
+```
+
+

CodeExamples/LcdExample/main.cpp

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+#include "LcdControl.h"
+#include <string.h>
+#include <stdio.h>
+#include <thread>
+
+/// <summary>
+/// This program demonstrates how to setup and control servos,
+/// Also this program requires LcdControl library
+/// LcdControl is part of Project Doly, libararies and headers are located under '/Doly'
+/// Do not forget to Copy and Link related libraries.
+/// </summary>
+
+int FillBufferExample();
+
+int main()
+{
+	// initialize Lcd 
+	// default Color depth is 12 Bit (4096 color)
+	LcdControl::init(LCD_12BIT);
+
+	LcdColorDepth depth = LcdControl::getColorDepth();
+
+	// Fill with buffer example
+	FillBufferExample();
+
+	// wait 2 seconds
+	std::this_thread::sleep_for(std::chrono::milliseconds(2000));
+
+	// fill with color example
+	LcdControl::LcdColorFill(LcdLeft, 0, 0, 255);
+	LcdControl::LcdColorFill(LcdRight, 255, 0, 0);
+
+	return 0;
+}
+
+int FillBufferExample()
+{
+	// get LCD buffer size 
+	// buffer size depends on color depth
+	// ex. Color depth 12 Bit frame size = 240px * 240px * 1.5
+	// Color depth 18 Bit frame size = 240px * 240px * 3
+	int buffer_size = LcdControl::getBufferSize();
+
+	// allocate & clear buffer
+	uint8_t buf[buffer_size];
+	memset(&buf, 0xFF, buffer_size);
+
+	// create data for each side
+	LcdData frame_left;
+	frame_left.buffer = buf;
+	frame_left.side = LcdLeft;
+
+	LcdData frame_right;
+	frame_right.buffer = buf;
+	frame_right.side = LcdRight;
+
+	int retval = 0;
+	// write buffer to LCD
+	if (LcdControl::writeLcd(&frame_left) < 0)
+	{
+		printf("Left Lcd write failed! \n");
+		retval = -1;
+	}
+	// write buffer to LCD
+	if (LcdControl::writeLcd(&frame_right) < 0)
+	{
+		printf("Right Lcd write failed! \n");
+		retval = -1;
+	}
+
+	return retval;
+}

CodeExamples/ServoExample/README.md

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+
+
+# LcdControl Example program
+
+### Compile example program
+This example needs some static libraries and header files located under '/Doly/libs' & '/Doly/include'
+Make sure you have already copy '/Doly' folder under your root directory.
+
+```bash
+g++ -L../Doly/libs -I../Doly/include -Wall -o test main.cpp -lServoMotor -lTimer -lGpio -lpthread
+```
+
+

CodeExamples/ServoExample/main.cpp

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+#include "ServoMotor.h"
+#include "Gpio.h"
+#include <thread>
+
+/// <summary>
+/// This program demonstrates how to setup and control servos,
+/// Also this program requires pthread, ServoMotor, Gpio, Timer libraries
+/// ServoMotor, Gpio, Timer are part of Project Doly, libararies and headers are located under '/Doly'
+/// Do not forget to Copy and Link related libraries.
+/// </summary>
+
+int main()
+{
+	// Setup Servo power control GPIO as output and set HIGH as a default value
+	GPIO::init(Pin_Servo_Left_Enable, GPIO_OUTPUT, HIGH);
+	GPIO::init(Pin_Servo_Right_Enable, GPIO_OUTPUT, HIGH);
+
+	// Initialize and configure servo motors
+	ServoMotor::Init();
+	// Setup needs channel, bandwitdh range, max angle and working direction parameters
+	// Setup ignores the 'max angle' parameter for both arm servos, however they are already defined internally.
+	ServoMotor::setup(SERVO_LEFT, 500, 2500, SERVO_ARM_MAX_ANGLE, false);
+	ServoMotor::setup(SERVO_RIGHT, 500, 2500, SERVO_ARM_MAX_ANGLE, true);
+
+	// Sets servo zero positions
+	// The 'speed' paramater range between 1-100
+	ServoMotor::set(SERVO_LEFT, 0, 100);
+	ServoMotor::set(SERVO_RIGHT, 0, 100);
+
+	// wait to get zero position
+	std::this_thread::sleep_for(std::chrono::milliseconds(3000));
+
+
+	// Sets servo positions
+	// The 'speed' paramater range between 1-100
+	ServoMotor::set(SERVO_LEFT, 90, 1);
+	ServoMotor::set(SERVO_RIGHT, 90, 1);
+
+	// wait
+	std::this_thread::sleep_for(std::chrono::milliseconds(5000));
+
+	ServoMotor::set(SERVO_LEFT, SERVO_ARM_MAX_ANGLE, 100);
+	ServoMotor::set(SERVO_RIGHT, SERVO_ARM_MAX_ANGLE, 100);
+
+	// wait servo
+	std::this_thread::sleep_for(std::chrono::milliseconds(3000));
+
+	// disable servo power
+	GPIO::writePin(Pin_Servo_Left_Enable, LOW);
+	GPIO::writePin(Pin_Servo_Right_Enable, LOW);
+
+	return 0;
+}