Tisham Dhar / Mbed OS Hexi_GPSIMU_Hotshoe

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 Hexiwear

/media/uploads/whatnick/hexiwear_docking_station_numbers.jpg

main.cpp@23:f170a1d72a84, 2016-09-19 (annotated)

Committer:
whatnick
Date:
Mon Sep 19 16:27:18 2016 +0000
Revision:
23:f170a1d72a84
Parent:
22:e69bc54ca4c0
Child:
24:cbdf0f7d33bd
Threaded GPS and IMU reading

Who changed what in which revision?

UserRevisionLine numberNew 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 21:b165e847c5ba 5 #include "Hexi_OLED_SSD1351.h"
whatnick 23:f170a1d72a84 6 #include "images.h"
whatnick 23:f170a1d72a84 7 #include "rtos.h"
whatnick 14:9885c8536437 8
whatnick 16:2e42284011d9 9 DigitalOut myled(LED1);
whatnick 16:2e42284011d9 10
whatnick 14:9885c8536437 11 Serial gps(PTD3,PTD2);
whatnick 23:f170a1d72a84 12 Adafruit_GPS myGPS(&gps);
whatnick 23:f170a1d72a84 13 char c; //when read via Adafruit_GPS::read(), the class returns single character stored here
whatnick 22:e69bc54ca4c0 14
whatnick 23:f170a1d72a84 15 #define DEBUG
whatnick 22:e69bc54ca4c0 16
whatnick 22:e69bc54ca4c0 17 #ifdef DEBUG
whatnick 14:9885c8536437 18 Serial pc(USBTX, USBRX);
whatnick 22:e69bc54ca4c0 19 #define LOG(args...) pc.printf(args)
whatnick 22:e69bc54ca4c0 20 #else
whatnick 22:e69bc54ca4c0 21 #define LOG(args...)
whatnick 22:e69bc54ca4c0 22 #endif
dan 0:7dec7e9ac085 23
whatnick 21:b165e847c5ba 24 /* Instantiate the SSD1351 OLED Driver */
whatnick 21:b165e847c5ba 25 SSD1351 oled(PTB22,PTB21,PTC13,PTB20,PTE6, PTD15); /* (MOSI,SCLK,POWER,CS,RST,DC) */
whatnick 16:2e42284011d9 26
whatnick 16:2e42284011d9 27 //#define BLACK 0x000000
whatnick 16:2e42284011d9 28 //#define WHITE 0xFFFFFF
whatnick 16:2e42284011d9 29 #define GREEN 0x00FF00
whatnick 16:2e42284011d9 30 #define RED 0xFF0000
whatnick 16:2e42284011d9 31 #define BLUE 0x0000FF
whatnick 15:b5a3e22d706b 32
whatnick 14:9885c8536437 33 FXOS8700Q_acc acc( PTC11, PTC10, FXOS8700CQ_SLAVE_ADDR0); // Proper Ports and I2C Address for Hexiwear
whatnick 14:9885c8536437 34 FXOS8700Q_mag mag( PTC11, PTC10, FXOS8700CQ_SLAVE_ADDR0); // Proper Ports and I2C Address for Hexiwear
whatnick 14:9885c8536437 35 MotionSensorDataUnits mag_data;
whatnick 14:9885c8536437 36 MotionSensorDataUnits acc_data;
whatnick 14:9885c8536437 37
whatnick 14:9885c8536437 38 MotionSensorDataCounts mag_raw;
whatnick 14:9885c8536437 39 MotionSensorDataCounts acc_raw;
dan 0:7dec7e9ac085 40
whatnick 15:b5a3e22d706b 41 FXAS21000 gyro( PTC11, PTC10); // Proper Ports for Hexiwear
whatnick 15:b5a3e22d706b 42
whatnick 23:f170a1d72a84 43 float faX, faY, faZ;
whatnick 23:f170a1d72a84 44 float fmX, fmY, fmZ;
whatnick 23:f170a1d72a84 45 int16_t raX, raY, raZ;
whatnick 23:f170a1d72a84 46 int16_t rmX, rmY, rmZ;
whatnick 23:f170a1d72a84 47 float gyro_data[3];
whatnick 23:f170a1d72a84 48
whatnick 21:b165e847c5ba 49 Timer t;
whatnick 21:b165e847c5ba 50 int lastUpdate;
whatnick 15:b5a3e22d706b 51
whatnick 23:f170a1d72a84 52 void gps_thread(void const *args)
whatnick 23:f170a1d72a84 53 {
whatnick 23:f170a1d72a84 54 while (true) {
whatnick 23:f170a1d72a84 55 c = myGPS.read(); //queries the GPS
whatnick 23:f170a1d72a84 56 if (c) {
whatnick 23:f170a1d72a84 57 LOG("%c", c); //this line will echo the GPS data if not paused
whatnick 23:f170a1d72a84 58 }
whatnick 23:f170a1d72a84 59 //check if we recieved a new message from GPS, if so, attempt to parse it,
whatnick 23:f170a1d72a84 60 if ( myGPS.newNMEAreceived() ) {
whatnick 23:f170a1d72a84 61 if ( !myGPS.parse(myGPS.lastNMEA()) ) {
whatnick 23:f170a1d72a84 62 continue;
whatnick 23:f170a1d72a84 63 }
whatnick 23:f170a1d72a84 64 }
whatnick 23:f170a1d72a84 65 Thread::wait(1);
whatnick 23:f170a1d72a84 66 }
whatnick 23:f170a1d72a84 67 }
whatnick 23:f170a1d72a84 68
whatnick 23:f170a1d72a84 69 void imu_thread(void const *args)
whatnick 23:f170a1d72a84 70 {
whatnick 23:f170a1d72a84 71 while(true) {
whatnick 23:f170a1d72a84 72 acc.getAxis(acc_data);
whatnick 23:f170a1d72a84 73 mag.getAxis(mag_data);
whatnick 23:f170a1d72a84 74 gyro.ReadXYZ(gyro_data);
whatnick 23:f170a1d72a84 75 /*
whatnick 23:f170a1d72a84 76 LOG("FXOS8700Q ACC: X=%1.4f Y=%1.4f Z=%1.4f ", acc_data.x, acc_data.y, acc_data.z);
whatnick 23:f170a1d72a84 77 LOG(" MAG: X=%4.1f Y=%4.1f Z=%4.1f\r\n", mag_data.x, mag_data.y, mag_data.z);
whatnick 23:f170a1d72a84 78 LOG("FXAS21000 X=%4.2f Y=%4.2f Z=%4.1f\r\n", gyro_data[0], gyro_data[1], gyro_data[2]);
whatnick 23:f170a1d72a84 79 */
whatnick 23:f170a1d72a84 80 acc.getX(&faX);
whatnick 23:f170a1d72a84 81 acc.getY(&faY);
whatnick 23:f170a1d72a84 82 acc.getZ(&faZ);
whatnick 23:f170a1d72a84 83 mag.getX(&fmX);
whatnick 23:f170a1d72a84 84 mag.getY(&fmY);
whatnick 23:f170a1d72a84 85 mag.getZ(&fmZ);
whatnick 23:f170a1d72a84 86 /*
whatnick 23:f170a1d72a84 87 LOG("FXOS8700Q ACC: X=%1.4f Y=%1.4f Z=%1.4f ", faX, faY, faZ);
whatnick 23:f170a1d72a84 88 LOG(" MAG: X=%4.1f Y=%4.1f Z=%4.1f\r\n", fmX, fmY, fmZ);
whatnick 23:f170a1d72a84 89 */
whatnick 23:f170a1d72a84 90 acc.getAxis(acc_raw);
whatnick 23:f170a1d72a84 91 mag.getAxis(mag_raw);
whatnick 23:f170a1d72a84 92 /*
whatnick 23:f170a1d72a84 93 LOG("FXOS8700Q ACC: X=%d Y=%d Z=%d ", acc_raw.x, acc_raw.y, acc_raw.z);
whatnick 23:f170a1d72a84 94 LOG(" MAG: X=%d Y=%d Z=%d\r\n", mag_raw.x, mag_raw.y, mag_raw.z);
whatnick 23:f170a1d72a84 95 */
whatnick 23:f170a1d72a84 96 acc.getX(&raX);
whatnick 23:f170a1d72a84 97 acc.getY(&raY);
whatnick 23:f170a1d72a84 98 acc.getZ(&raZ);
whatnick 23:f170a1d72a84 99 mag.getX(&rmX);
whatnick 23:f170a1d72a84 100 mag.getY(&rmY);
whatnick 23:f170a1d72a84 101 mag.getZ(&rmZ);
whatnick 23:f170a1d72a84 102 /*
whatnick 23:f170a1d72a84 103 LOG("FXOS8700Q ACC: X=%d Y=%d Z=%d ", raX, raY, raZ);
whatnick 23:f170a1d72a84 104 LOG(" MAG: X=%d Y=%d Z=%d\r\n\n", rmX, rmY, rmZ);
whatnick 23:f170a1d72a84 105 */
whatnick 23:f170a1d72a84 106 Thread::wait(100);
whatnick 23:f170a1d72a84 107 }
whatnick 23:f170a1d72a84 108 }
whatnick 23:f170a1d72a84 109
whatnick 21:b165e847c5ba 110 int main()
whatnick 21:b165e847c5ba 111 {
whatnick 22:e69bc54ca4c0 112 char text[30]; /* Text Buffer */
whatnick 21:b165e847c5ba 113
whatnick 21:b165e847c5ba 114 //Start timer
whatnick 21:b165e847c5ba 115 t.start();
whatnick 21:b165e847c5ba 116
whatnick 21:b165e847c5ba 117 myGPS.begin(9600);
whatnick 15:b5a3e22d706b 118 //Turn off all sentences except GGA and RMC
whatnick 15:b5a3e22d706b 119 //For MTK GPS
whatnick 21:b165e847c5ba 120 myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA);
whatnick 15:b5a3e22d706b 121
whatnick 15:b5a3e22d706b 122 //FOR UBLOX GPS
whatnick 21:b165e847c5ba 123 myGPS.sendCommand(UBX_DISABLE_ZDA);
whatnick 21:b165e847c5ba 124 myGPS.sendCommand(UBX_DISABLE_GLL);
whatnick 21:b165e847c5ba 125 myGPS.sendCommand(UBX_DISABLE_VTG);
whatnick 21:b165e847c5ba 126 myGPS.sendCommand(UBX_DISABLE_GSV);
whatnick 21:b165e847c5ba 127 myGPS.sendCommand(UBX_DISABLE_GSA);
whatnick 15:b5a3e22d706b 128
whatnick 15:b5a3e22d706b 129
whatnick 22:e69bc54ca4c0 130 #ifdef DEBUG
whatnick 21:b165e847c5ba 131 pc.baud(115200);
whatnick 22:e69bc54ca4c0 132 #endif
whatnick 21:b165e847c5ba 133
whatnick 23:f170a1d72a84 134 Thread gps_t(gps_thread);
whatnick 23:f170a1d72a84 135 Thread imu_t(imu_thread);
whatnick 23:f170a1d72a84 136
whatnick 21:b165e847c5ba 137 acc.enable();
whatnick 22:e69bc54ca4c0 138 LOG("\r\n\nFXOS8700Q Who Am I= %X\r\n", acc.whoAmI());
whatnick 22:e69bc54ca4c0 139 LOG("\r\n\nFXAS21000 Who Am I= %X\r\n", gyro.getWhoAmI());
whatnick 21:b165e847c5ba 140
whatnick 21:b165e847c5ba 141 /* Get OLED Class Default Text Properties */
whatnick 21:b165e847c5ba 142 oled_text_properties_t textProperties = {0};
whatnick 21:b165e847c5ba 143 oled.GetTextProperties(&textProperties);
whatnick 15:b5a3e22d706b 144
whatnick 21:b165e847c5ba 145 /* Turn on the backlight of the OLED Display */
whatnick 21:b165e847c5ba 146 oled.DimScreenON();
whatnick 15:b5a3e22d706b 147
whatnick 21:b165e847c5ba 148 /* Fills the screen with solid black */
whatnick 21:b165e847c5ba 149 oled.FillScreen(COLOR_BLACK);
whatnick 21:b165e847c5ba 150
whatnick 23:f170a1d72a84 151 /* Adding full screen splash */
whatnick 23:f170a1d72a84 152 const uint8_t *image = NXP_whole_bmp;
whatnick 23:f170a1d72a84 153 /* Draws the image on the Screen starting at (x=0,y=0) */
whatnick 23:f170a1d72a84 154 oled.DrawImage(image,0,0);
whatnick 23:f170a1d72a84 155
whatnick 23:f170a1d72a84 156 Thread::wait(1000);
whatnick 23:f170a1d72a84 157
whatnick 23:f170a1d72a84 158 /* Fills the screen with solid black */
whatnick 23:f170a1d72a84 159 oled.FillScreen(COLOR_BLACK);
whatnick 23:f170a1d72a84 160
whatnick 21:b165e847c5ba 161 /* Display Text at (x=7,y=0) */
whatnick 21:b165e847c5ba 162 strcpy((char *) text,"AERO GPS-AHRS");
whatnick 21:b165e847c5ba 163 oled.Label((uint8_t *)text,7,0);
whatnick 16:2e42284011d9 164
whatnick 21:b165e847c5ba 165 /* Change font color to blue */
whatnick 21:b165e847c5ba 166 textProperties.fontColor = COLOR_BLUE;
whatnick 21:b165e847c5ba 167 oled.SetTextProperties(&textProperties);
whatnick 22:e69bc54ca4c0 168
whatnick 22:e69bc54ca4c0 169
whatnick 22:e69bc54ca4c0 170 /* Display text at (x=1,y=15) MAG label*/
whatnick 21:b165e847c5ba 171 strcpy(text,"M:");
whatnick 22:e69bc54ca4c0 172 oled.Label((uint8_t *)text,1,15);
whatnick 22:e69bc54ca4c0 173
whatnick 22:e69bc54ca4c0 174 /* Display text at (x=1,y=30) ACC label*/
whatnick 21:b165e847c5ba 175 strcpy(text,"A:");
whatnick 22:e69bc54ca4c0 176 oled.Label((uint8_t *)text,1,30);
whatnick 22:e69bc54ca4c0 177
whatnick 22:e69bc54ca4c0 178 /* Display text at (x=1,y=45) GYRO label*/
whatnick 21:b165e847c5ba 179 strcpy(text,"G:");
whatnick 22:e69bc54ca4c0 180 oled.Label((uint8_t *)text,1,45);
whatnick 21:b165e847c5ba 181
whatnick 22:e69bc54ca4c0 182 /* Display text at (x=1,y=60) Time label*/
whatnick 21:b165e847c5ba 183 strcpy(text,"Timer(s):");
whatnick 22:e69bc54ca4c0 184 oled.Label((uint8_t *)text,1,60);
whatnick 22:e69bc54ca4c0 185
whatnick 22:e69bc54ca4c0 186 /* Display text at (x=1,y=75) Position label*/
whatnick 21:b165e847c5ba 187 strcpy(text,"P:");
whatnick 22:e69bc54ca4c0 188 oled.Label((uint8_t *)text,1,75);
whatnick 21:b165e847c5ba 189
whatnick 21:b165e847c5ba 190 /* Set text properties to white and right aligned for the dynamic text */
whatnick 21:b165e847c5ba 191 textProperties.fontColor = COLOR_WHITE;
whatnick 21:b165e847c5ba 192 textProperties.alignParam = OLED_TEXT_ALIGN_RIGHT;
whatnick 21:b165e847c5ba 193 oled.SetTextProperties(&textProperties);
whatnick 20:5a4e47822d79 194
whatnick 16:2e42284011d9 195
whatnick 23:f170a1d72a84 196 while (true) {
whatnick 23:f170a1d72a84 197 /* Format the MAG reading */
whatnick 23:f170a1d72a84 198 sprintf(text,"%.1f %.1f %.1f",fmX,fmY,fmZ);
whatnick 23:f170a1d72a84 199 /* Display Mag readings to 1 decimal */
whatnick 23:f170a1d72a84 200 oled.TextBox((uint8_t *)text,15,15,80,15); /*Expand textbox for more digits*/
whatnick 15:b5a3e22d706b 201
whatnick 23:f170a1d72a84 202 /* Format the ACC reading */
whatnick 23:f170a1d72a84 203 sprintf(text,"%.2f %.2f %.2f",faX,faY,faZ);
whatnick 23:f170a1d72a84 204 /* Display acceleration to 2 decimal */
whatnick 23:f170a1d72a84 205 oled.TextBox((uint8_t *)text,15,30,80,15); /*Expand textbox for more digits*/
whatnick 20:5a4e47822d79 206
whatnick 23:f170a1d72a84 207 /* Format the GYRO reading */
whatnick 23:f170a1d72a84 208 sprintf(text,"%.2f %.2f %.2f",gyro_data[0],gyro_data[1],gyro_data[2]);
whatnick 23:f170a1d72a84 209 /* Display gyro to 2 decimal */
whatnick 23:f170a1d72a84 210 oled.TextBox((uint8_t *)text,15,45,80,15); /*Expand textbox for more digits*/
whatnick 23:f170a1d72a84 211
whatnick 23:f170a1d72a84 212
whatnick 23:f170a1d72a84 213 /* Format the time reading */
whatnick 23:f170a1d72a84 214 sprintf(text,"%.2f",t.read());
whatnick 23:f170a1d72a84 215
whatnick 23:f170a1d72a84 216 /* Display time reading */
whatnick 23:f170a1d72a84 217 oled.TextBox((uint8_t *)text,55,60,35,15); /*Expand textbox for more digits*/
whatnick 23:f170a1d72a84 218
whatnick 23:f170a1d72a84 219 if(myGPS.fix) {
whatnick 23:f170a1d72a84 220 LOG(myGPS.lastNMEA());
whatnick 23:f170a1d72a84 221 sprintf(text,"%.2f%c %.2f%c",myGPS.longitude/100.0f,myGPS.lat,myGPS.latitude/100.0f,myGPS.lon);
whatnick 23:f170a1d72a84 222 } else {
whatnick 23:f170a1d72a84 223 sprintf(text,"No GPS");
whatnick 15:b5a3e22d706b 224 }
whatnick 21:b165e847c5ba 225
whatnick 23:f170a1d72a84 226 /* Display GPS location or lock status */
whatnick 23:f170a1d72a84 227 oled.TextBox((uint8_t *)text,15,75,80,15); /*Expand textbox for more digits*/
whatnick 23:f170a1d72a84 228 Thread::wait(1000);
stevep 4:81cea7a352b0 229 }
dan 0:7dec7e9ac085 230 }