Diff: main.cpp

Revision:

15:b5a3e22d706b

Parent:

14:9885c8536437

Child:

16:2e42284011d9

--- a/main.cpp	Sat Aug 13 23:08:18 2016 +0000
+++ b/main.cpp	Mon Aug 15 06:42:19 2016 +0000
@@ -1,10 +1,15 @@
 #include "mbed.h"
 #include "FXOS8700Q.h"
+#include "FXAS21000.h"
+#include "MBed_Adafruit_GPS.h"
+#include "NeatGUI.h"
 
 DigitalOut myled(LED3);
 Serial gps(PTD3,PTD2);
 Serial pc(USBTX, USBRX);
 
+SSD1351_SPI OLED128(PTB22,PTB23,PTB21,PTB20,PTD15); //Hexiwear pins for SPI bus OLED (MOSI, MISO, SCK, CS, DC)
+
 FXOS8700Q_acc acc( PTC11, PTC10, FXOS8700CQ_SLAVE_ADDR0); // Proper Ports and I2C Address for Hexiwear
 FXOS8700Q_mag mag( PTC11, PTC10, FXOS8700CQ_SLAVE_ADDR0); // Proper Ports and I2C Address for Hexiwear
 MotionSensorDataUnits mag_data;
@@ -13,18 +18,49 @@
 MotionSensorDataCounts mag_raw;
 MotionSensorDataCounts acc_raw;
 
+FXAS21000 gyro( PTC11, PTC10); // Proper Ports for Hexiwear
+
 int main() {
 float faX, faY, faZ;
 float fmX, fmY, fmZ;
 int16_t raX, raY, raZ;
 int16_t rmX, rmY, rmZ;
+float gyro_data[3];
+
+Adafruit_GPS myGPS(&gps);
+char c; //when read via Adafruit_GPS::read(), the class returns single character stored here
+myGPS.begin(115200);
+//Turn off all sentences except GGA and RMC
+//For MTK GPS
+myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA);
+
+//FOR UBLOX GPS
+myGPS.sendCommand(UBX_DISABLE_ZDA);
+myGPS.sendCommand(UBX_DISABLE_GLL);
+myGPS.sendCommand(UBX_DISABLE_VTG);
+myGPS.sendCommand(UBX_DISABLE_GSV);
+myGPS.sendCommand(UBX_DISABLE_GSA);
+
+
+
+pc.baud(115200);
+
 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());
+
+OLED128.open();
+OLED128.state(Display::DISPLAY_ON);
+OLED128.drawCircle(10,10,5,0xff345463);
+OLED128.flush();
+
     while (true) {
         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]);
         acc.getX(&faX);
         acc.getY(&faY);
         acc.getZ(&faZ);
@@ -44,7 +80,24 @@
         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);    
-        wait(1.0);
+        pc.printf("    MAG: X=%d Y=%d Z=%d\r\n\n", rmX, rmY, rmZ);
+        
+        while(gps.readable())
+        { 
+            c = myGPS.read();   //queries the GPS
+    
+            if (c) {
+                pc.printf("%c", c);    //this line will echo the GPS data if not paused
+            }
+        }
+
+        //check if we recieved a new message from GPS, if so, attempt to parse it,
+        if ( myGPS.newNMEAreceived() ) {
+            if ( !myGPS.parse(myGPS.lastNMEA()) ) {
+                continue;
+            }
+        }
+        
+        wait(0.1);
     }
 }