Use hexiwear as a GPSIMU-AHRS for Nikon DSLR cameras
Dependencies: FXOS8700CQ FXAS21000 MBed_Adafruit-GPS-Library Hexi_OLED_SSD1351 Hexi_KW40Z Madgwick
Fork of Hexi_Blinky_Example by
main.cpp@16:2e42284011d9, 2016-08-18 (annotated)
- Committer:
- whatnick
- Date:
- Thu Aug 18 07:19:49 2016 +0000
- Revision:
- 16:2e42284011d9
- Parent:
- 15:b5a3e22d706b
- Child:
- 17:d30e11e60dba
Somewhat working OLED display (writing is flipped)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
dan | 0:7dec7e9ac085 | 1 | #include "mbed.h" |
whatnick | 14:9885c8536437 | 2 | #include "FXOS8700Q.h" |
whatnick | 15:b5a3e22d706b | 3 | #include "FXAS21000.h" |
whatnick | 15:b5a3e22d706b | 4 | #include "MBed_Adafruit_GPS.h" |
whatnick | 16:2e42284011d9 | 5 | #include "Adafruit_SSD1351.h" |
whatnick | 16:2e42284011d9 | 6 | //#include "NeatGUI.h" |
whatnick | 14:9885c8536437 | 7 | |
whatnick | 16:2e42284011d9 | 8 | DigitalOut myled(LED1); |
whatnick | 16:2e42284011d9 | 9 | DigitalOut BOOSTEN(PTC13); //oled power enable |
whatnick | 16:2e42284011d9 | 10 | |
whatnick | 14:9885c8536437 | 11 | Serial gps(PTD3,PTD2); |
whatnick | 14:9885c8536437 | 12 | Serial pc(USBTX, USBRX); |
dan | 0:7dec7e9ac085 | 13 | |
whatnick | 16:2e42284011d9 | 14 | //SSD1351_SPI OLED96(PTB22,PTB23,PTB21,PTB20,PTD15); //Hexiwear pins for SPI bus OLED (MOSI, MISO, SCK, CS, DC) |
whatnick | 16:2e42284011d9 | 15 | Adafruit_SSD1351 OLED96(PTB20,PTE6,PTD15,PTB21,PTB22); //Hexiwear pins for SPI bus OLED (CS, RS, DC, SCK, MOSI, MISO); |
whatnick | 16:2e42284011d9 | 16 | |
whatnick | 16:2e42284011d9 | 17 | //#define BLACK 0x000000 |
whatnick | 16:2e42284011d9 | 18 | //#define WHITE 0xFFFFFF |
whatnick | 16:2e42284011d9 | 19 | #define GREEN 0x00FF00 |
whatnick | 16:2e42284011d9 | 20 | #define RED 0xFF0000 |
whatnick | 16:2e42284011d9 | 21 | #define BLUE 0x0000FF |
whatnick | 15:b5a3e22d706b | 22 | |
whatnick | 14:9885c8536437 | 23 | FXOS8700Q_acc acc( PTC11, PTC10, FXOS8700CQ_SLAVE_ADDR0); // Proper Ports and I2C Address for Hexiwear |
whatnick | 14:9885c8536437 | 24 | FXOS8700Q_mag mag( PTC11, PTC10, FXOS8700CQ_SLAVE_ADDR0); // Proper Ports and I2C Address for Hexiwear |
whatnick | 14:9885c8536437 | 25 | MotionSensorDataUnits mag_data; |
whatnick | 14:9885c8536437 | 26 | MotionSensorDataUnits acc_data; |
whatnick | 14:9885c8536437 | 27 | |
whatnick | 14:9885c8536437 | 28 | MotionSensorDataCounts mag_raw; |
whatnick | 14:9885c8536437 | 29 | MotionSensorDataCounts acc_raw; |
dan | 0:7dec7e9ac085 | 30 | |
whatnick | 15:b5a3e22d706b | 31 | FXAS21000 gyro( PTC11, PTC10); // Proper Ports for Hexiwear |
whatnick | 15:b5a3e22d706b | 32 | |
dan | 0:7dec7e9ac085 | 33 | int main() { |
whatnick | 14:9885c8536437 | 34 | float faX, faY, faZ; |
whatnick | 14:9885c8536437 | 35 | float fmX, fmY, fmZ; |
whatnick | 14:9885c8536437 | 36 | int16_t raX, raY, raZ; |
whatnick | 14:9885c8536437 | 37 | int16_t rmX, rmY, rmZ; |
whatnick | 15:b5a3e22d706b | 38 | float gyro_data[3]; |
whatnick | 15:b5a3e22d706b | 39 | |
whatnick | 15:b5a3e22d706b | 40 | Adafruit_GPS myGPS(&gps); |
whatnick | 15:b5a3e22d706b | 41 | char c; //when read via Adafruit_GPS::read(), the class returns single character stored here |
whatnick | 15:b5a3e22d706b | 42 | myGPS.begin(115200); |
whatnick | 15:b5a3e22d706b | 43 | //Turn off all sentences except GGA and RMC |
whatnick | 15:b5a3e22d706b | 44 | //For MTK GPS |
whatnick | 15:b5a3e22d706b | 45 | myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA); |
whatnick | 15:b5a3e22d706b | 46 | |
whatnick | 15:b5a3e22d706b | 47 | //FOR UBLOX GPS |
whatnick | 15:b5a3e22d706b | 48 | myGPS.sendCommand(UBX_DISABLE_ZDA); |
whatnick | 15:b5a3e22d706b | 49 | myGPS.sendCommand(UBX_DISABLE_GLL); |
whatnick | 15:b5a3e22d706b | 50 | myGPS.sendCommand(UBX_DISABLE_VTG); |
whatnick | 15:b5a3e22d706b | 51 | myGPS.sendCommand(UBX_DISABLE_GSV); |
whatnick | 15:b5a3e22d706b | 52 | myGPS.sendCommand(UBX_DISABLE_GSA); |
whatnick | 15:b5a3e22d706b | 53 | |
whatnick | 15:b5a3e22d706b | 54 | |
whatnick | 16:2e42284011d9 | 55 | pc.baud(9600); |
whatnick | 15:b5a3e22d706b | 56 | |
whatnick | 14:9885c8536437 | 57 | acc.enable(); |
whatnick | 14:9885c8536437 | 58 | pc.printf("\r\n\nFXOS8700Q Who Am I= %X\r\n", acc.whoAmI()); |
whatnick | 15:b5a3e22d706b | 59 | pc.printf("\r\n\nFXAS21000 Who Am I= %X\r\n", gyro.getWhoAmI()); |
whatnick | 15:b5a3e22d706b | 60 | |
whatnick | 16:2e42284011d9 | 61 | BOOSTEN = 1; |
whatnick | 16:2e42284011d9 | 62 | |
whatnick | 16:2e42284011d9 | 63 | OLED96.begin(); |
whatnick | 16:2e42284011d9 | 64 | //OLED96.invert(true); |
whatnick | 16:2e42284011d9 | 65 | OLED96.setRotation(0); |
whatnick | 16:2e42284011d9 | 66 | OLED96.setTextColor(OLED96.Color565(0,255,0)); |
whatnick | 16:2e42284011d9 | 67 | OLED96.setTextWrap(true); |
whatnick | 16:2e42284011d9 | 68 | OLED96.on(); |
whatnick | 16:2e42284011d9 | 69 | OLED96.fillScreen(BLACK); |
whatnick | 16:2e42284011d9 | 70 | wait(0.5); |
whatnick | 16:2e42284011d9 | 71 | OLED96.printf(" Hello from Hexi"); |
whatnick | 16:2e42284011d9 | 72 | OLED96.drawPixel(0,0,GREEN); |
whatnick | 16:2e42284011d9 | 73 | OLED96.drawPixel(64,64,RED); |
whatnick | 16:2e42284011d9 | 74 | OLED96.drawPixel(0,64,BLUE); |
whatnick | 16:2e42284011d9 | 75 | OLED96.drawPixel(64,0,WHITE); |
whatnick | 16:2e42284011d9 | 76 | wait(0.5); |
whatnick | 16:2e42284011d9 | 77 | |
whatnick | 16:2e42284011d9 | 78 | /* |
whatnick | 16:2e42284011d9 | 79 | OLED96.open(); |
whatnick | 16:2e42284011d9 | 80 | OLED96.state(Display::DISPLAY_ON); |
whatnick | 16:2e42284011d9 | 81 | OLED96.drawCircle(10,10,5,0xFFFFFFFF); |
whatnick | 16:2e42284011d9 | 82 | OLED96.flush(); |
whatnick | 16:2e42284011d9 | 83 | wait(2.0); |
whatnick | 16:2e42284011d9 | 84 | */ |
whatnick | 16:2e42284011d9 | 85 | //OLED128.state(Display::DISPLAY_OFF); |
whatnick | 16:2e42284011d9 | 86 | |
whatnick | 16:2e42284011d9 | 87 | //BOOSTEN = 0; |
whatnick | 15:b5a3e22d706b | 88 | |
whatnick | 14:9885c8536437 | 89 | while (true) { |
whatnick | 16:2e42284011d9 | 90 | |
whatnick | 14:9885c8536437 | 91 | acc.getAxis(acc_data); |
whatnick | 14:9885c8536437 | 92 | mag.getAxis(mag_data); |
whatnick | 15:b5a3e22d706b | 93 | gyro.ReadXYZ(gyro_data); |
whatnick | 14:9885c8536437 | 94 | pc.printf("FXOS8700Q ACC: X=%1.4f Y=%1.4f Z=%1.4f ", acc_data.x, acc_data.y, acc_data.z); |
whatnick | 14:9885c8536437 | 95 | pc.printf(" MAG: X=%4.1f Y=%4.1f Z=%4.1f\r\n", mag_data.x, mag_data.y, mag_data.z); |
whatnick | 15:b5a3e22d706b | 96 | pc.printf("FXAS21000 X=%4.2f Y=%4.2f Z=%4.1f\r\n", gyro_data[0], gyro_data[1], gyro_data[2]); |
whatnick | 14:9885c8536437 | 97 | acc.getX(&faX); |
whatnick | 14:9885c8536437 | 98 | acc.getY(&faY); |
whatnick | 14:9885c8536437 | 99 | acc.getZ(&faZ); |
whatnick | 14:9885c8536437 | 100 | mag.getX(&fmX); |
whatnick | 14:9885c8536437 | 101 | mag.getY(&fmY); |
whatnick | 14:9885c8536437 | 102 | mag.getZ(&fmZ); |
whatnick | 14:9885c8536437 | 103 | pc.printf("FXOS8700Q ACC: X=%1.4f Y=%1.4f Z=%1.4f ", faX, faY, faZ); |
whatnick | 14:9885c8536437 | 104 | pc.printf(" MAG: X=%4.1f Y=%4.1f Z=%4.1f\r\n", fmX, fmY, fmZ); |
whatnick | 14:9885c8536437 | 105 | acc.getAxis(acc_raw); |
whatnick | 14:9885c8536437 | 106 | mag.getAxis(mag_raw); |
whatnick | 14:9885c8536437 | 107 | pc.printf("FXOS8700Q ACC: X=%d Y=%d Z=%d ", acc_raw.x, acc_raw.y, acc_raw.z); |
whatnick | 14:9885c8536437 | 108 | pc.printf(" MAG: X=%d Y=%d Z=%d\r\n", mag_raw.x, mag_raw.y, mag_raw.z); |
whatnick | 14:9885c8536437 | 109 | acc.getX(&raX); |
whatnick | 14:9885c8536437 | 110 | acc.getY(&raY); |
whatnick | 14:9885c8536437 | 111 | acc.getZ(&raZ); |
whatnick | 14:9885c8536437 | 112 | mag.getX(&rmX); |
whatnick | 14:9885c8536437 | 113 | mag.getY(&rmY); |
whatnick | 14:9885c8536437 | 114 | mag.getZ(&rmZ); |
whatnick | 14:9885c8536437 | 115 | pc.printf("FXOS8700Q ACC: X=%d Y=%d Z=%d ", raX, raY, raZ); |
whatnick | 15:b5a3e22d706b | 116 | pc.printf(" MAG: X=%d Y=%d Z=%d\r\n\n", rmX, rmY, rmZ); |
whatnick | 15:b5a3e22d706b | 117 | |
whatnick | 16:2e42284011d9 | 118 | /* |
whatnick | 15:b5a3e22d706b | 119 | while(gps.readable()) |
whatnick | 15:b5a3e22d706b | 120 | { |
whatnick | 15:b5a3e22d706b | 121 | c = myGPS.read(); //queries the GPS |
whatnick | 15:b5a3e22d706b | 122 | |
whatnick | 15:b5a3e22d706b | 123 | if (c) { |
whatnick | 15:b5a3e22d706b | 124 | pc.printf("%c", c); //this line will echo the GPS data if not paused |
whatnick | 15:b5a3e22d706b | 125 | } |
whatnick | 15:b5a3e22d706b | 126 | } |
whatnick | 15:b5a3e22d706b | 127 | |
whatnick | 15:b5a3e22d706b | 128 | //check if we recieved a new message from GPS, if so, attempt to parse it, |
whatnick | 15:b5a3e22d706b | 129 | if ( myGPS.newNMEAreceived() ) { |
whatnick | 15:b5a3e22d706b | 130 | if ( !myGPS.parse(myGPS.lastNMEA()) ) { |
whatnick | 15:b5a3e22d706b | 131 | continue; |
whatnick | 15:b5a3e22d706b | 132 | } |
whatnick | 15:b5a3e22d706b | 133 | } |
whatnick | 16:2e42284011d9 | 134 | */ |
whatnick | 15:b5a3e22d706b | 135 | |
whatnick | 15:b5a3e22d706b | 136 | wait(0.1); |
stevep | 4:81cea7a352b0 | 137 | } |
dan | 0:7dec7e9ac085 | 138 | } |