Jim Carver / Mbed 2 deprecated K64F_eCompass_LCD

This is an example of a tilt compensated eCompass running on a K64F Freedom Platform using the on board FXOS8700 6 axis sensor and Freescale's eCompass software library in a linkable object library compiled for a FPU enabled Cortex M4. This version also used the LCD in an App Shield to display navigation data.

Dependencies:   C12832 FXOS8700Q eCompass_FPU_Lib mbed-rtos mbed

Fork of K64F_eCompass by Jim Carver

Diff: main.cpp

Revision:
2:770f77c92bab
Parent:
0:32e37c82ef4a
diff -r 788e16551392 -r 770f77c92bab main.cpp
--- a/main.cpp	Mon Apr 14 17:17:00 2014 +0000
+++ b/main.cpp	Mon Apr 21 23:13:22 2014 +0000
@@ -2,13 +2,17 @@
 #include "FXOS8700Q.h"
 #include "eCompass_Lib.h"
 #include "rtos.h"
-
+#include "C12832.h"
 
-
+// Using Arduino pin notation
+C12832 lcd(D11, D13, D12, D7, D10); // App shield LCD
 FXOS8700Q combo1( PTE25, PTE24, FXOS8700CQ_SLAVE_ADDR1);
 Serial pc(USBTX, USBRX);
 DigitalOut gpo(D0);
-DigitalOut led(LED_RED);
+DigitalOut red(LED_RED);
+DigitalOut led(D5);
+DigitalOut green(LED_GREEN);
+DigitalOut blue(LED_BLUE);
 eCompass compass;
 
 extern axis6_t axis6;
@@ -46,6 +50,45 @@
     printf("Quaternion: Q0= %1.4f Q1= %1.4f Q2= %1.4f Q3= %1.4f\r\n\r\n", axis6.q0, axis6.q1, axis6.q2, axis6.q3); 
 }
 
+void doRGB(void)
+{
+    int16_t h;
+    h = axis6.yaw;
+    if((h >= 358) || (h <= 2)) {
+        red = 1;
+        green = 0;
+        blue = 1;
+        return;
+        }
+    if((h >= 353) || (h <= 7)) {
+        red = 1;
+        green = 0;
+        blue = 0;
+        return;
+        }
+    if((h >=  85) && (h <=  95)) {
+        red = 0;
+        green = 1;
+        blue = 1;
+        return;
+        }
+    if((h >= 265) && (h <= 275)) {
+        red = 0;
+        green = 1;
+        blue = 1;
+        return;
+        }
+    if((h >= 175) && (h <= 185)) {
+        red = 0;
+        green = 1;
+        blue = 0;
+        return;
+        }
+    red = 1;
+    green = 1;
+    blue = 1;
+}
+    
 
 void compass_thread(void const *argument) {
     static int16_t acc_raw[3], mag_raw[3];
@@ -53,12 +96,14 @@
     combo1.AccXYZraw( acc_raw);
     combo1.MagXYZraw( mag_raw);
     if(tcount) compass.run( acc_raw, mag_raw); // calculate the eCompass
+    if(!l)      led = 0;
+        else    led = 1;
+    doRGB();
     if(l++ >= 50) { // take car of business once a second
         seconds++;
         debug_print();
         compass.calibrate(); // re-calibrate the eCompass every second
         l = 0;
-        led = !led;
         }
     tcount++;
 }
@@ -68,7 +113,13 @@
 uint8_t d[2];
 int16_t acc_raw[3], mag_raw[3];
 d[0] = 0;
+red = 1;
+green = 1;
+blue = 1;
 //cdebug = 1;  // uncomment to disable compass
+lcd.cls();
+lcd.locate(0,1);
+lcd.printf("K64F eCompass");
 printf("\r\n\n\n\n\n\n\n");
 combo1.enable();
 combo1.readRegs( FXOS8700Q_STATUS, d, 1);
@@ -89,5 +140,11 @@
 
 RtosTimer compass_timer(compass_thread, osTimerPeriodic);
 compass_timer.start(20); // Run the Compass every 20ms
-Thread::wait(osWaitForever);  
+while(1) {
+    lcd.locate(0,11);
+    lcd.printf("Seconds: %04d Heading: %03d", seconds, axis6.yaw);
+    lcd.locate(0,22);
+    lcd.printf("Roll   : %03d  Pitch: %02d", axis6.roll, axis6.pitch);
+    wait(0.1);
+    }
 }