Tisham Dhar
Use hexiwear as a GPSIMU-AHRS for Nikon DSLR cameras
Dependencies: FXOS8700CQ FXAS21000 MBed_Adafruit-GPS-Library Hexi_OLED_SSD1351 Hexi_KW40Z Madgwick
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Hexi_Blinky_Example
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Hexiwear
Diff: main.cpp
- Revision:
- 22:e69bc54ca4c0
- Parent:
- 21:b165e847c5ba
- Child:
- 23:f170a1d72a84
--- a/main.cpp Mon Sep 19 04:34:11 2016 +0000
+++ b/main.cpp Mon Sep 19 04:59:45 2016 +0000
@@ -7,7 +7,15 @@
DigitalOut myled(LED1);
Serial gps(PTD3,PTD2);
+
+//#define DEBUG
+
+#ifdef DEBUG
Serial pc(USBTX, USBRX);
+#define LOG(args...) pc.printf(args)
+#else
+#define LOG(args...)
+#endif
/* Instantiate the SSD1351 OLED Driver */
SSD1351 oled(PTB22,PTB21,PTC13,PTB20,PTE6, PTD15); /* (MOSI,SCLK,POWER,CS,RST,DC) */
@@ -41,7 +49,7 @@
Adafruit_GPS myGPS(&gps);
char c; //when read via Adafruit_GPS::read(), the class returns single character stored here
- char text[30]; /* Text Buffer */
+ char text[30]; /* Text Buffer */
//Start timer
t.start();
@@ -59,11 +67,13 @@
myGPS.sendCommand(UBX_DISABLE_GSA);
+#ifdef DEBUG
pc.baud(115200);
+#endif
acc.enable();
- pc.printf("\r\n\nFXOS8700Q Who Am I= %X\r\n", acc.whoAmI());
- pc.printf("\r\n\nFXAS21000 Who Am I= %X\r\n", gyro.getWhoAmI());
+ LOG("\r\n\nFXOS8700Q Who Am I= %X\r\n", acc.whoAmI());
+ LOG("\r\n\nFXAS21000 Who Am I= %X\r\n", gyro.getWhoAmI());
/* Get OLED Class Default Text Properties */
oled_text_properties_t textProperties = {0};
@@ -82,27 +92,27 @@
/* Change font color to blue */
textProperties.fontColor = COLOR_BLUE;
oled.SetTextProperties(&textProperties);
-
-
- /* Display text at (x=1,y=10) MAG label*/
+
+
+ /* Display text at (x=1,y=15) MAG label*/
strcpy(text,"M:");
- oled.Label((uint8_t *)text,1,10);
-
- /* Display text at (x=1,y=25) ACC label*/
+ oled.Label((uint8_t *)text,1,15);
+
+ /* Display text at (x=1,y=30) ACC label*/
strcpy(text,"A:");
- oled.Label((uint8_t *)text,1,25);
-
- /* Display text at (x=1,y=40) GYRO label*/
+ oled.Label((uint8_t *)text,1,30);
+
+ /* Display text at (x=1,y=45) GYRO label*/
strcpy(text,"G:");
- oled.Label((uint8_t *)text,1,40);
+ oled.Label((uint8_t *)text,1,45);
- /* Display text at (x=1,y=55) Time label*/
+ /* Display text at (x=1,y=60) Time label*/
strcpy(text,"Timer(s):");
- oled.Label((uint8_t *)text,1,55);
-
- /* Display text at (x=1,y=70) Position label*/
+ oled.Label((uint8_t *)text,1,60);
+
+ /* Display text at (x=1,y=75) Position label*/
strcpy(text,"P:");
- oled.Label((uint8_t *)text,1,70);
+ oled.Label((uint8_t *)text,1,75);
/* Set text properties to white and right aligned for the dynamic text */
textProperties.fontColor = COLOR_WHITE;
@@ -128,66 +138,62 @@
acc.getAxis(acc_data);
mag.getAxis(mag_data);
gyro.ReadXYZ(gyro_data);
- pc.printf("FXOS8700Q ACC: X=%1.4f Y=%1.4f Z=%1.4f ", acc_data.x, acc_data.y, acc_data.z);
- pc.printf(" MAG: X=%4.1f Y=%4.1f Z=%4.1f\r\n", mag_data.x, mag_data.y, mag_data.z);
- pc.printf("FXAS21000 X=%4.2f Y=%4.2f Z=%4.1f\r\n", gyro_data[0], gyro_data[1], gyro_data[2]);
+ LOG("FXOS8700Q ACC: X=%1.4f Y=%1.4f Z=%1.4f ", acc_data.x, acc_data.y, acc_data.z);
+ LOG(" MAG: X=%4.1f Y=%4.1f Z=%4.1f\r\n", mag_data.x, mag_data.y, mag_data.z);
+ LOG("FXAS21000 X=%4.2f Y=%4.2f Z=%4.1f\r\n", gyro_data[0], gyro_data[1], gyro_data[2]);
acc.getX(&faX);
acc.getY(&faY);
acc.getZ(&faZ);
mag.getX(&fmX);
mag.getY(&fmY);
mag.getZ(&fmZ);
- pc.printf("FXOS8700Q ACC: X=%1.4f Y=%1.4f Z=%1.4f ", faX, faY, faZ);
- pc.printf(" MAG: X=%4.1f Y=%4.1f Z=%4.1f\r\n", fmX, fmY, fmZ);
+ LOG("FXOS8700Q ACC: X=%1.4f Y=%1.4f Z=%1.4f ", faX, faY, faZ);
+ LOG(" MAG: X=%4.1f Y=%4.1f Z=%4.1f\r\n", fmX, fmY, fmZ);
acc.getAxis(acc_raw);
mag.getAxis(mag_raw);
- pc.printf("FXOS8700Q ACC: X=%d Y=%d Z=%d ", acc_raw.x, acc_raw.y, acc_raw.z);
- pc.printf(" MAG: X=%d Y=%d Z=%d\r\n", mag_raw.x, mag_raw.y, mag_raw.z);
+ LOG("FXOS8700Q ACC: X=%d Y=%d Z=%d ", acc_raw.x, acc_raw.y, acc_raw.z);
+ LOG(" MAG: X=%d Y=%d Z=%d\r\n", mag_raw.x, mag_raw.y, mag_raw.z);
acc.getX(&raX);
acc.getY(&raY);
acc.getZ(&raZ);
mag.getX(&rmX);
mag.getY(&rmY);
mag.getZ(&rmZ);
- pc.printf("FXOS8700Q ACC: X=%d Y=%d Z=%d ", raX, raY, raZ);
- pc.printf(" MAG: X=%d Y=%d Z=%d\r\n\n", rmX, rmY, rmZ);
-
+ LOG("FXOS8700Q ACC: X=%d Y=%d Z=%d ", raX, raY, raZ);
+ LOG(" MAG: X=%d Y=%d Z=%d\r\n\n", rmX, rmY, rmZ);
+
/* Format the MAG reading */
sprintf(text,"%.1f %.1f %.1f",fmX,fmY,fmZ);
/* Display Mag readings to 1 decimal */
- oled.TextBox((uint8_t *)text,15,10,80,15); /*Expand textbox for more digits*/
-
+ oled.TextBox((uint8_t *)text,15,15,80,15); /*Expand textbox for more digits*/
+
/* Format the ACC reading */
sprintf(text,"%.2f %.2f %.2f",faX,faY,faZ);
/* Display acceleration to 2 decimal */
- oled.TextBox((uint8_t *)text,15,25,80,15); /*Expand textbox for more digits*/
-
+ oled.TextBox((uint8_t *)text,15,30,80,15); /*Expand textbox for more digits*/
+
/* Format the GYRO reading */
sprintf(text,"%.2f %.2f %.2f",gyro_data[0],gyro_data[1],gyro_data[2]);
/* Display gyro to 2 decimal */
- oled.TextBox((uint8_t *)text,15,40,80,15); /*Expand textbox for more digits*/
-
-
+ oled.TextBox((uint8_t *)text,15,45,80,15); /*Expand textbox for more digits*/
+
+
/* Format the time reading */
sprintf(text,"%.2f",t.read());
-
- /* Display time reading in 35px by 15px textbox at(x=55, y=55) */
- oled.TextBox((uint8_t *)text,55,55,35,15); /*Expand textbox for more digits*/
-
+
+ /* Display time reading */
+ oled.TextBox((uint8_t *)text,55,60,35,15); /*Expand textbox for more digits*/
+
if(myGPS.fix) {
- pc.printf(myGPS.lastNMEA());
+ LOG(myGPS.lastNMEA());
sprintf(text,"%.2f %.2f %.2f",myGPS.longitude,myGPS.longitude,myGPS.altitude);
- /* Display GPS location to 2 decimal */
- oled.TextBox((uint8_t *)text,15,70,80,15); /*Expand textbox for more digits*/
- }
- else
- {
+ } else {
sprintf(text,"No GPS");
- /* Display lock status */
- oled.TextBox((uint8_t *)text,15,70,80,15); /*Expand textbox for more digits*/
}
-
+ /* Display GPS location or lock status */
+ oled.TextBox((uint8_t *)text,15,75,80,15); /*Expand textbox for more digits*/
+
lastUpdate = t.read_ms();
}
}