File content as of revision 1:fd1fa09f69da:

#include "mbed.h"
//#include "Goldelox_Serial_4DLib.h"
#include "HIH6130.h"

#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
//#include "MPU6050.h"

#include "NeatGUI.h"
#include "MPL3115A2.h"

#define LENGHT 20//0.06 

#define WORK

#define PIN_SDA p28
#define PIN_SCL p27

const float M_PI = 3.14159265;

//Black_wire  On sf10 Laser Rangefinder - GND (Vss On Some Boards)
//Red_wire    On sf10 Laser Rangefinder - +5V (Vdd On Some Boards)
//Yellow_wire On sf10 Laser Rangefinder - Arduino RX Pin (14)
//Orange_wire On sf10 Laser Rangefinder - Arduino TX Pin (13)

InterruptIn Sen_1(p29);
InterruptIn Sen_2(p30);
InterruptIn MeasureF(p23);
InterruptIn mpuInt(p26);

DigitalOut RangeKey(p22);
DigitalIn Button(p21);

MPU6050 mpu;

Serial pc(USBTX, USBRX);
Serial RangeFinder(p13, p14);
Timer MainClock;
DigitalOut myled(LED1);
I2C i2c(p9, p10);
MPL3115A2 mpl(&i2c);
HIH6130 hih6130(p9, p10);
SSD1351_SPI OLED128(p5, p6, p7, p8, p12);
 
volatile int time_stamp1, time_stamp2, flag, m_flag;
volatile float speed;
float result_time;
float dist;                                                        // The Laser Range Finder Distance Variable
char sf10_string[16], c;                                               // Search the ASCII string from the sf10 using the second serial port
float humidity, temperature;

int   a_xBias, a_yBias;
int readings[3] = {0, 0, 0};
float x,y,z;
Altitude alt;
double LastAngleX;

double xAngle, yAngle;

void RdShRange(void);
void DrawTable(void);
void MovePoint(void);
short getRGB(char red, char green, char blue);


// MPU control/status vars
bool dmpReady = false;  // set true if DMP init was successful
uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU
uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount;     // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer

// orientation/motion vars
Quaternion q;           // [w, x, y, z]         quaternion container
VectorInt16 aa;         // [x, y, z]            accel sensor measurements
VectorInt16 aaReal;     // [x, y, z]            gravity-free accel sensor measurements
VectorInt16 aaWorld;    // [x, y, z]            world-frame accel sensor measurements
VectorFloat gravity;    // [x, y, z]            gravity vector
float euler[3];         // [psi, theta, phi]    Euler angle container
float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector


volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
    mpuInterrupt = true;
}

void Time1()
{
    if ((flag == 0)||(flag == -1))
    {
        time_stamp1 = MainClock.read_us();
        flag = 1;
    }
}

void Time2()
{
    if (flag == 1)
    {
        time_stamp2 = MainClock.read_us();
        flag = 2;
        result_time = (time_stamp2 - time_stamp1)*0.000001;
        speed = (LENGHT/result_time)*3.2808;
        //if (m_flag == 0) speed = (LENGHT/result_time)*3.2808; //fps
        // else  speed = (LENGHT/result_time); //m/s         
    }
}

void ChangeMF()
{
    if (m_flag == 0) m_flag = 1; else m_flag = 0;
}

int main() {
    char buf[30];
    flag = -1;
    m_flag = 0;
    speed = 0;
    RangeKey = 0;
    MainClock.start();
    
    Sen_1.rise(&Time1);
    Sen_2.rise(&Time2);
    MeasureF.rise(ChangeMF);
    RangeFinder.baud(19200);
    mpu.initialize();
    pc.printf("Testing device connections...\r\n");
    if (mpu.testConnection()) pc.printf("MPU6050 connection successful\r\n");
    else pc.printf("MPU6050 connection failed\r\n");
    mpl.init();
    mpl.setModeStandby();
    mpl.setModeAltimeter();
    mpl.setModeActive();
    OLED128.open();
    OLED128.state(Display::DISPLAY_ON);
    OLED128.drawCircle(10,10,5,0xff345463);
    
    // supply your own gyro offsets here, scaled for min sensitivity
    //mpu.setXGyroOffset(220);
    //mpu.setYGyroOffset(76);
    //mpu.setZGyroOffset(-85);
    //mpu.setZAccelOffset(1788); // 1688 factory default for my test chip
     devStatus = mpu.dmpInitialize();
    
    // make sure it worked (returns 0 if so)
    if (devStatus == 0) {
        // turn on the DMP, now that it's ready
        pc.printf("Enabling DMP...\r\n");
        mpu.setDMPEnabled(true);
 
        // enable Arduino interrupt detection
        pc.printf("Enabling interrupt detection...\r\n");
        mpuInt.rise(&dmpDataReady);
        mpuIntStatus = mpu.getIntStatus();
        // set our DMP Ready flag so the main loop() function knows it's okay to use it
        pc.printf("DMP ready! Waiting for first interrupt...\r\n");
        dmpReady = true;
 
        // get expected DMP packet size for later comparison
        packetSize = mpu.dmpGetFIFOPacketSize();
    } else {
        // ERROR!
        // 1 = initial memory load failed
        // 2 = DMP configuration updates failed
        // (if it's going to break, usually the code will be 1)
        
        pc.printf("DDMP Initialization failed (code ");
        pc.printf("%d", devStatus);
        pc.printf(")\r\n");
    }
    // get expected DMP packet size for later comparison
    pc.printf("Ready\r\n");
    while(1) {
       // while (!mpuInterrupt && fifoCount < packetSize) {
        if (flag == 2)
        {        
            pc.printf("Speed: %.0f fps\r\n",speed);
            flag = 0;

        }
        /*
        if (flag != -1)
        {
            if (m_flag == 0) speed = (LENGHT/result_time)*3.2808; //fps
            else  speed = (LENGHT/result_time); //m/s  
            sprintf(buf,"%4.0f\r\n",speed);
        }*/
    //RdShRange();
    //hih6130.ReadData(&temperature, &humidity);
    //mpl.readAltitude(&alt);
        
    memset(buf,0,30);
    if (m_flag==0) sprintf(buf,"%.1f yd     ",dist*1.0936); //yards
    else sprintf(buf,"%.1f m      ",dist); //meters
         
    wait(0.4);      
    // }
    mpuInterrupt = false;
    mpuIntStatus = mpu.getIntStatus();

    // get current FIFO count
    fifoCount = mpu.getFIFOCount();

    // check for overflow (this should never happen unless our code is too inefficient)
    if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
        // reset so we can continue cleanly
        mpu.resetFIFO();

    // otherwise, check for DMP data ready interrupt (this should happen frequently)
    } else if (mpuIntStatus & 0x02) {
        // wait for correct available data length, should be a VERY short wait
        while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();

        // read a packet from FIFO
        mpu.getFIFOBytes(fifoBuffer, packetSize);
        
        // track FIFO count here in case there is > 1 packet available
        // (this lets us immediately read more without waiting for an interrupt)
        fifoCount -= packetSize;

            // display Euler angles in degrees
            mpu.dmpGetQuaternion(&q, fifoBuffer);
            mpu.dmpGetGravity(&gravity, &q);
            mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
       } 
        
    pc.printf("Distance: %.1fyd;  Temperature is: %.1fC, X:%.1f, Y:%.1f, Altitude:%s Feet, Humidity:%.1f\r\n", dist*1.0936, temperature, ypr[0] * 180/M_PI, ypr[1] * 180/M_PI, alt.print(), humidity);//xAngle+4, yAngle-7);     
    }
}

void RdShRange(void)
{
    RangeFinder.putc('d');   // Send "D" trigger to receive data back from sensor
  while (!RangeFinder.readable());    // Wait until the next distance measurement is ready
                                                                        // Prepare to read the serial port...
  int i=0;                                                              // indexer for the string storage variable
  int c=0;                                                              // c holds the latest ASCII character from the sf10
  
  while(c != 10)    // Read the ASCII string from the sf10 until a line feed character (\n) is detected
  {
    while (!RangeFinder.readable());       // Wait here for the next character
    c = RangeFinder.getc();                                             // store the values in c
    sf10_string[i] = c;                                                 // Add the character to the existing string from the sf10
    i++;                                                                // Add the next character, until full string is captured
  }                                                                     // Once the string has been captured..
  sf10_string[i-2] = 0;                                                 // Create a null terminated string and remove the \r\n characters from the end 
  dist = atof(sf10_string);   // Convert the ASCII string to distance in meters                                    
}



short getRGB(char red, char green, char blue) {
    int outR = ((red * 31) / 255);
    int outG = ((green * 63) / 255);
    int outB = ((blue * 31) / 255);
    
    return (outR << 11) | (outG << 5) | outB;
}