Arduino library errors on Teensy

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markvr

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I'm trying to use this - https://github.com/Seeed-Studio/Grove_LCD_RGB_Backlight - Arduino library on my Teensy. It drives a LCD display and works fine on an Arduino, but when trying to compile for the Teensy I get:

Code: 
 undefined reference to `vtable for rgb_lcd'

I think this is because the library "inherits" from the standard Arduino Print.h, which is different between Arduino and Teensy. The code of the various files is below. I'd really like this to work so I can use and LCD display I have on my Teensy.

Does any know how this could be fixe so it works on the Teensy? It could be something really simple! I've googled around a bit and think it's related to the:
Code: 
virtual size_t write
function in Print.h, but I don't know how the library could be changed so it works with the Teensy "Print" library...

thanks!

rgb_lcd.h
Code: 
#ifndef __RGB_LCD_H__
#define __RGB_LCD_H__

#include <inttypes.h>
#include "Print.h"

// Device I2C Arress
#define LCD_ADDRESS     (0x7c>>1)
#define RGB_ADDRESS     (0xc4>>1)


// color define 
#define WHITE           0
#define RED             1
#define GREEN           2
#define BLUE            3

#define REG_RED         0x04        // pwm2
#define REG_GREEN       0x03        // pwm1
#define REG_BLUE        0x02        // pwm0

#define REG_MODE1       0x00
#define REG_MODE2       0x01
#define REG_OUTPUT      0x08

// commands
#define LCD_CLEARDISPLAY 0x01
#define LCD_RETURNHOME 0x02
#define LCD_ENTRYMODESET 0x04
#define LCD_DISPLAYCONTROL 0x08
#define LCD_CURSORSHIFT 0x10
#define LCD_FUNCTIONSET 0x20
#define LCD_SETCGRAMADDR 0x40
#define LCD_SETDDRAMADDR 0x80

// flags for display entry mode
#define LCD_ENTRYRIGHT 0x00
#define LCD_ENTRYLEFT 0x02
#define LCD_ENTRYSHIFTINCREMENT 0x01
#define LCD_ENTRYSHIFTDECREMENT 0x00

// flags for display on/off control
#define LCD_DISPLAYON 0x04
#define LCD_DISPLAYOFF 0x00
#define LCD_CURSORON 0x02
#define LCD_CURSOROFF 0x00
#define LCD_BLINKON 0x01
#define LCD_BLINKOFF 0x00

// flags for display/cursor shift
#define LCD_DISPLAYMOVE 0x08
#define LCD_CURSORMOVE 0x00
#define LCD_MOVERIGHT 0x04
#define LCD_MOVELEFT 0x00

// flags for function set
#define LCD_8BITMODE 0x10
#define LCD_4BITMODE 0x00
#define LCD_2LINE 0x08
#define LCD_1LINE 0x00
#define LCD_5x10DOTS 0x04
#define LCD_5x8DOTS 0x00

class rgb_lcd : public Print 
{

public:

  void begin(uint8_t cols, uint8_t rows, uint8_t charsize = LCD_5x8DOTS);

  void clear();
  void home();

  void noDisplay();
  void display();
  void noBlink();
  void blink();
	  void noCursor();
	  void cursor();
  void scrollDisplayLeft();
  void scrollDisplayRight();
  void leftToRight();
  void rightToLeft();
  void autoscroll();
  void noAutoscroll();

  void createChar(uint8_t, uint8_t[]);
  void setCursor(uint8_t, uint8_t); 
  
  virtual size_t write(uint8_t);
  void command(uint8_t);
  
  // color control
  void setRGB(unsigned char r, unsigned char g, unsigned char b);               // set rgb
  void setPWM(unsigned char color, unsigned char pwm){setReg(color, pwm);}      // set pwm
  
  void setColor(unsigned char color);
  void setColorAll(){setRGB(0, 0, 0);}
  void setColorWhite(){setRGB(255, 255, 255);}
  
  using Print::write;
  
private:
  void send(uint8_t, uint8_t);
  void setReg(unsigned char addr, unsigned char dta);

  uint8_t _displayfunction;
  uint8_t _displaycontrol;
  uint8_t _displaymode;

  uint8_t _initialized;

  uint8_t _numlines,_currline;
};

#endif

rgb_lcd.cpp
Code: 
#include <Arduino.h>
#include <stdio.h>
#include <string.h>
#include <inttypes.h>
#include <Wire.h>

#include "rgb_lcd.h"

void i2c_send_byte(unsigned char dta)
{
    Wire.beginTransmission(LCD_ADDRESS);        // transmit to device #4
    Wire.write(dta);                            // sends five bytes
    Wire.endTransmission();                     // stop transmitting
}

void i2c_send_byteS(unsigned char *dta, unsigned char len)
{
    Wire.beginTransmission(LCD_ADDRESS);        // transmit to device #4
    for(int i=0; i<len; i++)
    {
        Wire.write(dta[i]);
    }
    Wire.endTransmission();                     // stop transmitting
}

void rgb_lcd::begin(uint8_t cols, uint8_t lines, uint8_t dotsize) 
{

    Wire.begin();
    
    if (lines > 1) {
        _displayfunction |= LCD_2LINE;
    }
    _numlines = lines;
    _currline = 0;

    // for some 1 line displays you can select a 10 pixel high font
    if ((dotsize != 0) && (lines == 1)) {
        _displayfunction |= LCD_5x10DOTS;
    }

    // SEE PAGE 45/46 FOR INITIALIZATION SPECIFICATION!
    // according to datasheet, we need at least 40ms after power rises above 2.7V
    // before sending commands. Arduino can turn on way befer 4.5V so we'll wait 50
    delayMicroseconds(50000);


    // this is according to the hitachi HD44780 datasheet
    // page 45 figure 23

    // Send function set command sequence
    command(LCD_FUNCTIONSET | _displayfunction);
    delayMicroseconds(4500);  // wait more than 4.1ms

    // second try
    command(LCD_FUNCTIONSET | _displayfunction);
    delayMicroseconds(150);

    // third go
    command(LCD_FUNCTIONSET | _displayfunction);


    // finally, set # lines, font size, etc.
    command(LCD_FUNCTIONSET | _displayfunction);

    // turn the display on with no cursor or blinking default
    _displaycontrol = LCD_DISPLAYON | LCD_CURSOROFF | LCD_BLINKOFF;
    display();

    // clear it off
    clear();

    // Initialize to default text direction (for romance languages)
    _displaymode = LCD_ENTRYLEFT | LCD_ENTRYSHIFTDECREMENT;
    // set the entry mode
    command(LCD_ENTRYMODESET | _displaymode);
    
    
    // backlight init
    setReg(0, 0);
    setReg(1, 0);
    setReg(0x08, 0xAA);     // all led control by pwm
    
    setColorWhite();

}

/********** high level commands, for the user! */
void rgb_lcd::clear()
{
    command(LCD_CLEARDISPLAY);        // clear display, set cursor position to zero
    delayMicroseconds(2000);          // this command takes a long time!
}

void rgb_lcd::home()
{
    command(LCD_RETURNHOME);        // set cursor position to zero
    delayMicroseconds(2000);        // this command takes a long time!
}

void rgb_lcd::setCursor(uint8_t col, uint8_t row)
{

    col = (row == 0 ? col|0x80 : col|0xc0);
    unsigned char dta[2] = {0x80, col};

    i2c_send_byteS(dta, 2);

}

// Turn the display on/off (quickly)
void rgb_lcd::noDisplay()
{
    _displaycontrol &= ~LCD_DISPLAYON;
    command(LCD_DISPLAYCONTROL | _displaycontrol);
}

void rgb_lcd::display() {
    _displaycontrol |= LCD_DISPLAYON;
    command(LCD_DISPLAYCONTROL | _displaycontrol);
}

// Turns the underline cursor on/off
void rgb_lcd::noCursor()
{
    _displaycontrol &= ~LCD_CURSORON;
    command(LCD_DISPLAYCONTROL | _displaycontrol);
}

void rgb_lcd::cursor() {
    _displaycontrol |= LCD_CURSORON;
    command(LCD_DISPLAYCONTROL | _displaycontrol);
}

// Turn on and off the blinking cursor
void rgb_lcd::noBlink()
{
    _displaycontrol &= ~LCD_BLINKON;
    command(LCD_DISPLAYCONTROL | _displaycontrol);
}
void rgb_lcd::blink()
{
    _displaycontrol |= LCD_BLINKON;
    command(LCD_DISPLAYCONTROL | _displaycontrol);
}

// These commands scroll the display without changing the RAM
void rgb_lcd::scrollDisplayLeft(void)
{
    command(LCD_CURSORSHIFT | LCD_DISPLAYMOVE | LCD_MOVELEFT);
}
void rgb_lcd::scrollDisplayRight(void)
{
    command(LCD_CURSORSHIFT | LCD_DISPLAYMOVE | LCD_MOVERIGHT);
}

// This is for text that flows Left to Right
void rgb_lcd::leftToRight(void)
{
    _displaymode |= LCD_ENTRYLEFT;
    command(LCD_ENTRYMODESET | _displaymode);
}

// This is for text that flows Right to Left
void rgb_lcd::rightToLeft(void)
{
    _displaymode &= ~LCD_ENTRYLEFT;
    command(LCD_ENTRYMODESET | _displaymode);
}

// This will 'right justify' text from the cursor
void rgb_lcd::autoscroll(void)
{
    _displaymode |= LCD_ENTRYSHIFTINCREMENT;
    command(LCD_ENTRYMODESET | _displaymode);
}

// This will 'left justify' text from the cursor
void rgb_lcd::noAutoscroll(void)
{
    _displaymode &= ~LCD_ENTRYSHIFTINCREMENT;
    command(LCD_ENTRYMODESET | _displaymode);
}

// Allows us to fill the first 8 CGRAM locations
// with custom characters
void rgb_lcd::createChar(uint8_t location, uint8_t charmap[])
{

    location &= 0x7; // we only have 8 locations 0-7
    command(LCD_SETCGRAMADDR | (location << 3));
    
    
    unsigned char dta[9];
    dta[0] = 0x40;
    for(int i=0; i<8; i++)
    {
        dta[i+1] = charmap[i];
    }
    i2c_send_byteS(dta, 9);
}

/*********** mid level commands, for sending data/cmds */

// send command
inline void rgb_lcd::command(uint8_t value)
{
    unsigned char dta[2] = {0x80, value};
    i2c_send_byteS(dta, 2);
}

// send data
inline size_t rgb_lcd::write(uint8_t value)
{

    unsigned char dta[2] = {0x40, value};
    i2c_send_byteS(dta, 2);
    return 1; // assume sucess
}

void rgb_lcd::setReg(unsigned char addr, unsigned char dta)
{
    Wire.beginTransmission(RGB_ADDRESS); // transmit to device #4
    Wire.write(addr);
    Wire.write(dta);
    Wire.endTransmission();    // stop transmitting
}

void rgb_lcd::setRGB(unsigned char r, unsigned char g, unsigned char b)
{
    setReg(REG_RED, r);
    setReg(REG_GREEN, g);
    setReg(REG_BLUE, b);
}

const unsigned char color_define[4][3] = 
{
    {255, 255, 255},            // white
    {255, 0, 0},                // red
    {0, 255, 0},                // green
    {0, 0, 255},                // blue
};

void rgb_lcd::setColor(unsigned char color)
{
    if(color > 3)return ;
    setRGB(color_define[color][0], color_define[color][1], color_define[color][2]);
}

Arduino "Print.h"
Code: 
#ifndef Print_h
#define Print_h

#include <inttypes.h>
#include <stdio.h> // for size_t

#include "WString.h"
#include "Printable.h"

#define DEC 10
#define HEX 16
#define OCT 8
#define BIN 2

class Print
{
  private:
    int write_error;
    size_t printNumber(unsigned long, uint8_t);
    size_t printFloat(double, uint8_t);
  protected:
    void setWriteError(int err = 1) { write_error = err; }
  public:
    Print() : write_error(0) {}
  
    int getWriteError() { return write_error; }
    void clearWriteError() { setWriteError(0); }
  
    virtual size_t write(uint8_t) = 0;
    size_t write(const char *str) {
      if (str == NULL) return 0;
      return write((const uint8_t *)str, strlen(str));
    }
    virtual size_t write(const uint8_t *buffer, size_t size);
    
    size_t print(const __FlashStringHelper *);
    size_t print(const String &);
    size_t print(const char[]);
    size_t print(char);
    size_t print(unsigned char, int = DEC);
    size_t print(int, int = DEC);
    size_t print(unsigned int, int = DEC);
    size_t print(long, int = DEC);
    size_t print(unsigned long, int = DEC);
    size_t print(double, int = 2);
    size_t print(const Printable&);

    size_t println(const __FlashStringHelper *);
    size_t println(const String &s);
    size_t println(const char[]);
    size_t println(char);
    size_t println(unsigned char, int = DEC);
    size_t println(int, int = DEC);
    size_t println(unsigned int, int = DEC);
    size_t println(long, int = DEC);
    size_t println(unsigned long, int = DEC);
    size_t println(double, int = 2);
    size_t println(const Printable&);
    size_t println(void);
};

#endif

Teensy Print.h
Code: 
#ifndef Print_h
#define Print_h

#include <inttypes.h>
#include <stdio.h> // for size_t - gives sprintf and other stuff to all sketches & libs
#include "core_id.h"
#include "WString.h"
#include "Printable.h"

#define DEC 10
#define HEX 16
#define OCT 8
#define BIN 2
#define BYTE 0

class __FlashStringHelper;

class Print
{
  public:
	Print() : write_error(0) {}
	virtual size_t write(uint8_t b) = 0;
	size_t write(const char *str)			{ return write((const uint8_t *)str, strlen(str)); }
	virtual size_t write(const uint8_t *buffer, size_t size) ;
	size_t print(const String &s);
	size_t print(char c)				{ return write((uint8_t)c); }
	size_t print(const char s[])			{ return write(s); }
	size_t print(const __FlashStringHelper *f)	{ return write((const char *)f); }

	size_t print(uint8_t b)				{ return printNumber(b, 10, 0); }
	size_t print(int n)				{ return print((long)n); }
	size_t print(unsigned int n)			{ return printNumber(n, 10, 0); }
	size_t print(long n);
	size_t print(unsigned long n)			{ return printNumber(n, 10, 0); }

	size_t print(unsigned char n, int base)		{ return printNumber(n, base, 0); }
	size_t print(int n, int base)			{ return (base == 10) ? print(n) : printNumber(n, base, 0); }
	size_t print(unsigned int n, int base)		{ return printNumber(n, base, 0); }
	size_t print(long n, int base)			{ return (base == 10) ? print(n) : printNumber(n, base, 0); }
	size_t print(unsigned long n, int base)		{ return printNumber(n, base, 0); }

	size_t print(double n, int digits = 2)		{ return printFloat(n, digits); }
	size_t print(const Printable &obj)		{ return obj.printTo(*this); }
	size_t println(void);
	size_t println(const String &s)			{ return print(s) + println(); }
	size_t println(char c)				{ return print(c) + println(); }
	size_t println(const char s[])			{ return print(s) + println(); }
	size_t println(const __FlashStringHelper *f)	{ return print(f) + println(); }

	size_t println(uint8_t b)			{ return print(b) + println(); }
	size_t println(int n)				{ return print(n) + println(); }
	size_t println(unsigned int n)			{ return print(n) + println(); }
	size_t println(long n)				{ return print(n) + println(); }
	size_t println(unsigned long n)			{ return print(n) + println(); }

	size_t println(unsigned char n, int base)	{ return print(n, base) + println(); }
	size_t println(int n, int base)			{ return print(n, base) + println(); }
	size_t println(unsigned int n, int base)	{ return print(n, base) + println(); }
	size_t println(long n, int base)		{ return print(n, base) + println(); }
	size_t println(unsigned long n, int base)	{ return print(n, base) + println(); }

	size_t println(double n, int digits = 2)	{ return print(n, digits) + println(); }
	size_t println(const Printable &obj)		{ return obj.printTo(*this) + println(); }
	int getWriteError() { return write_error; }
	void clearWriteError() { setWriteError(0); }
	size_t printNumber(unsigned long n, uint8_t base, uint8_t sign);
  protected:
	void setWriteError(int err = 1) { write_error = err; }
  private:
	char write_error;
	size_t printFloat(double n, uint8_t digits);
};


#endif
 
Due to my awesome coding skills* I've got this to compile by removing the dependence on Print.h entirely, and copying the functions that were used directly into the rgb_lcd.* files.

The display doesn't work on the Teensy yet, but I think that's likely because I've used 10k pullups (don't have any 4.7k resistors), and don't have a level shifter. Will get those and try again.

* i.e. guesswork, trial and error.
 
Ace thanks Paul!

Incidentally for anyone else, it was this display and once I checked my wiring (doh!) I got it to work on my Teensy without any level shifters (and using 10k pullups). This is with short (~10cm) wires.
 
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