Anatoly Zimin / Mbed 2 deprecated mbed_rifletool

Rifletool

Dependencies:   Goldelox_SerialLCD HIH6130 MPL3115A2 MPU9150_DMP NeatGUI mbed

main.cpp@1:fd1fa09f69da, 2016-03-20 (annotated)

Committer:
Lockdog
Date:
Sun Mar 20 17:02:16 2016 +0000
Revision:
1:fd1fa09f69da
Parent:
0:399c828618ea 
Rifletool

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lockdog 0:399c828618ea 1 #include "mbed.h"
Lockdog 1:fd1fa09f69da 2 //#include "Goldelox_Serial_4DLib.h"
Lockdog 1:fd1fa09f69da 3 #include "HIH6130.h"
Lockdog 1:fd1fa09f69da 4
Lockdog 1:fd1fa09f69da 5 #include "I2Cdev.h"
Lockdog 1:fd1fa09f69da 6 #include "MPU6050_6Axis_MotionApps20.h"
Lockdog 1:fd1fa09f69da 7 //#include "MPU6050.h"
Lockdog 1:fd1fa09f69da 8
Lockdog 1:fd1fa09f69da 9 #include "NeatGUI.h"
Lockdog 1:fd1fa09f69da 10 #include "MPL3115A2.h"
Lockdog 1:fd1fa09f69da 11
Lockdog 1:fd1fa09f69da 12 #define LENGHT 20//0.06
Lockdog 1:fd1fa09f69da 13
Lockdog 1:fd1fa09f69da 14 #define WORK
Lockdog 1:fd1fa09f69da 15
Lockdog 1:fd1fa09f69da 16 #define PIN_SDA p28
Lockdog 1:fd1fa09f69da 17 #define PIN_SCL p27
Lockdog 1:fd1fa09f69da 18
Lockdog 1:fd1fa09f69da 19 const float M_PI = 3.14159265;
Lockdog 1:fd1fa09f69da 20
Lockdog 1:fd1fa09f69da 21 //Black_wire On sf10 Laser Rangefinder - GND (Vss On Some Boards)
Lockdog 1:fd1fa09f69da 22 //Red_wire On sf10 Laser Rangefinder - +5V (Vdd On Some Boards)
Lockdog 1:fd1fa09f69da 23 //Yellow_wire On sf10 Laser Rangefinder - Arduino RX Pin (14)
Lockdog 1:fd1fa09f69da 24 //Orange_wire On sf10 Laser Rangefinder - Arduino TX Pin (13)
Lockdog 1:fd1fa09f69da 25
Lockdog 1:fd1fa09f69da 26 InterruptIn Sen_1(p29);
Lockdog 1:fd1fa09f69da 27 InterruptIn Sen_2(p30);
Lockdog 1:fd1fa09f69da 28 InterruptIn MeasureF(p23);
Lockdog 1:fd1fa09f69da 29 InterruptIn mpuInt(p26);
Lockdog 1:fd1fa09f69da 30
Lockdog 1:fd1fa09f69da 31 DigitalOut RangeKey(p22);
Lockdog 1:fd1fa09f69da 32 DigitalIn Button(p21);
Lockdog 1:fd1fa09f69da 33
Lockdog 1:fd1fa09f69da 34 MPU6050 mpu;
Lockdog 1:fd1fa09f69da 35
Lockdog 1:fd1fa09f69da 36 Serial pc(USBTX, USBRX);
Lockdog 1:fd1fa09f69da 37 Serial RangeFinder(p13, p14);
Lockdog 1:fd1fa09f69da 38 Timer MainClock;
Lockdog 1:fd1fa09f69da 39 DigitalOut myled(LED1);
Lockdog 1:fd1fa09f69da 40 I2C i2c(p9, p10);
Lockdog 1:fd1fa09f69da 41 MPL3115A2 mpl(&i2c);
Lockdog 1:fd1fa09f69da 42 HIH6130 hih6130(p9, p10);
Lockdog 1:fd1fa09f69da 43 SSD1351_SPI OLED128(p5, p6, p7, p8, p12);
Lockdog 0:399c828618ea 44
Lockdog 1:fd1fa09f69da 45 volatile int time_stamp1, time_stamp2, flag, m_flag;
Lockdog 1:fd1fa09f69da 46 volatile float speed;
Lockdog 1:fd1fa09f69da 47 float result_time;
Lockdog 1:fd1fa09f69da 48 float dist; // The Laser Range Finder Distance Variable
Lockdog 1:fd1fa09f69da 49 char sf10_string[16], c; // Search the ASCII string from the sf10 using the second serial port
Lockdog 1:fd1fa09f69da 50 float humidity, temperature;
Lockdog 1:fd1fa09f69da 51
Lockdog 1:fd1fa09f69da 52 int a_xBias, a_yBias;
Lockdog 1:fd1fa09f69da 53 int readings[3] = {0, 0, 0};
Lockdog 1:fd1fa09f69da 54 float x,y,z;
Lockdog 1:fd1fa09f69da 55 Altitude alt;
Lockdog 1:fd1fa09f69da 56 double LastAngleX;
Lockdog 1:fd1fa09f69da 57
Lockdog 1:fd1fa09f69da 58 double xAngle, yAngle;
Lockdog 1:fd1fa09f69da 59
Lockdog 1:fd1fa09f69da 60 void RdShRange(void);
Lockdog 1:fd1fa09f69da 61 void DrawTable(void);
Lockdog 1:fd1fa09f69da 62 void MovePoint(void);
Lockdog 1:fd1fa09f69da 63 short getRGB(char red, char green, char blue);
Lockdog 1:fd1fa09f69da 64
Lockdog 1:fd1fa09f69da 65
Lockdog 1:fd1fa09f69da 66 // MPU control/status vars
Lockdog 1:fd1fa09f69da 67 bool dmpReady = false; // set true if DMP init was successful
Lockdog 1:fd1fa09f69da 68 uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
Lockdog 1:fd1fa09f69da 69 uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
Lockdog 1:fd1fa09f69da 70 uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
Lockdog 1:fd1fa09f69da 71 uint16_t fifoCount; // count of all bytes currently in FIFO
Lockdog 1:fd1fa09f69da 72 uint8_t fifoBuffer[64]; // FIFO storage buffer
Lockdog 1:fd1fa09f69da 73
Lockdog 1:fd1fa09f69da 74 // orientation/motion vars
Lockdog 1:fd1fa09f69da 75 Quaternion q; // [w, x, y, z] quaternion container
Lockdog 1:fd1fa09f69da 76 VectorInt16 aa; // [x, y, z] accel sensor measurements
Lockdog 1:fd1fa09f69da 77 VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
Lockdog 1:fd1fa09f69da 78 VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
Lockdog 1:fd1fa09f69da 79 VectorFloat gravity; // [x, y, z] gravity vector
Lockdog 1:fd1fa09f69da 80 float euler[3]; // [psi, theta, phi] Euler angle container
Lockdog 1:fd1fa09f69da 81 float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
Lockdog 0:399c828618ea 82
Lockdog 0:399c828618ea 83
Lockdog 1:fd1fa09f69da 84 volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
Lockdog 1:fd1fa09f69da 85 void dmpDataReady() {
Lockdog 1:fd1fa09f69da 86 mpuInterrupt = true;
Lockdog 1:fd1fa09f69da 87 }
Lockdog 1:fd1fa09f69da 88
Lockdog 1:fd1fa09f69da 89 void Time1()
Lockdog 1:fd1fa09f69da 90 {
Lockdog 1:fd1fa09f69da 91 if ((flag == 0)||(flag == -1))
Lockdog 1:fd1fa09f69da 92 {
Lockdog 1:fd1fa09f69da 93 time_stamp1 = MainClock.read_us();
Lockdog 1:fd1fa09f69da 94 flag = 1;
Lockdog 1:fd1fa09f69da 95 }
Lockdog 1:fd1fa09f69da 96 }
Lockdog 0:399c828618ea 97
Lockdog 1:fd1fa09f69da 98 void Time2()
Lockdog 1:fd1fa09f69da 99 {
Lockdog 1:fd1fa09f69da 100 if (flag == 1)
Lockdog 1:fd1fa09f69da 101 {
Lockdog 1:fd1fa09f69da 102 time_stamp2 = MainClock.read_us();
Lockdog 1:fd1fa09f69da 103 flag = 2;
Lockdog 1:fd1fa09f69da 104 result_time = (time_stamp2 - time_stamp1)*0.000001;
Lockdog 1:fd1fa09f69da 105 speed = (LENGHT/result_time)*3.2808;
Lockdog 1:fd1fa09f69da 106 //if (m_flag == 0) speed = (LENGHT/result_time)*3.2808; //fps
Lockdog 1:fd1fa09f69da 107 // else speed = (LENGHT/result_time); //m/s
Lockdog 1:fd1fa09f69da 108 }
Lockdog 1:fd1fa09f69da 109 }
Lockdog 1:fd1fa09f69da 110
Lockdog 1:fd1fa09f69da 111 void ChangeMF()
Lockdog 1:fd1fa09f69da 112 {
Lockdog 1:fd1fa09f69da 113 if (m_flag == 0) m_flag = 1; else m_flag = 0;
Lockdog 1:fd1fa09f69da 114 }
Lockdog 0:399c828618ea 115
Lockdog 0:399c828618ea 116 int main() {
Lockdog 1:fd1fa09f69da 117 char buf[30];
Lockdog 1:fd1fa09f69da 118 flag = -1;
Lockdog 1:fd1fa09f69da 119 m_flag = 0;
Lockdog 1:fd1fa09f69da 120 speed = 0;
Lockdog 1:fd1fa09f69da 121 RangeKey = 0;
Lockdog 1:fd1fa09f69da 122 MainClock.start();
Lockdog 1:fd1fa09f69da 123
Lockdog 1:fd1fa09f69da 124 Sen_1.rise(&Time1);
Lockdog 1:fd1fa09f69da 125 Sen_2.rise(&Time2);
Lockdog 1:fd1fa09f69da 126 MeasureF.rise(ChangeMF);
Lockdog 1:fd1fa09f69da 127 RangeFinder.baud(19200);
Lockdog 1:fd1fa09f69da 128 mpu.initialize();
Lockdog 1:fd1fa09f69da 129 pc.printf("Testing device connections...\r\n");
Lockdog 1:fd1fa09f69da 130 if (mpu.testConnection()) pc.printf("MPU6050 connection successful\r\n");
Lockdog 1:fd1fa09f69da 131 else pc.printf("MPU6050 connection failed\r\n");
Lockdog 1:fd1fa09f69da 132 mpl.init();
Lockdog 1:fd1fa09f69da 133 mpl.setModeStandby();
Lockdog 1:fd1fa09f69da 134 mpl.setModeAltimeter();
Lockdog 1:fd1fa09f69da 135 mpl.setModeActive();
Lockdog 1:fd1fa09f69da 136 OLED128.open();
Lockdog 1:fd1fa09f69da 137 OLED128.state(Display::DISPLAY_ON);
Lockdog 1:fd1fa09f69da 138 OLED128.drawCircle(10,10,5,0xff345463);
Lockdog 1:fd1fa09f69da 139
Lockdog 1:fd1fa09f69da 140 // supply your own gyro offsets here, scaled for min sensitivity
Lockdog 1:fd1fa09f69da 141 //mpu.setXGyroOffset(220);
Lockdog 1:fd1fa09f69da 142 //mpu.setYGyroOffset(76);
Lockdog 1:fd1fa09f69da 143 //mpu.setZGyroOffset(-85);
Lockdog 1:fd1fa09f69da 144 //mpu.setZAccelOffset(1788); // 1688 factory default for my test chip
Lockdog 1:fd1fa09f69da 145 devStatus = mpu.dmpInitialize();
Lockdog 1:fd1fa09f69da 146
Lockdog 1:fd1fa09f69da 147 // make sure it worked (returns 0 if so)
Lockdog 1:fd1fa09f69da 148 if (devStatus == 0) {
Lockdog 1:fd1fa09f69da 149 // turn on the DMP, now that it's ready
Lockdog 1:fd1fa09f69da 150 pc.printf("Enabling DMP...\r\n");
Lockdog 1:fd1fa09f69da 151 mpu.setDMPEnabled(true);
Lockdog 1:fd1fa09f69da 152
Lockdog 1:fd1fa09f69da 153 // enable Arduino interrupt detection
Lockdog 1:fd1fa09f69da 154 pc.printf("Enabling interrupt detection...\r\n");
Lockdog 1:fd1fa09f69da 155 mpuInt.rise(&dmpDataReady);
Lockdog 1:fd1fa09f69da 156 mpuIntStatus = mpu.getIntStatus();
Lockdog 1:fd1fa09f69da 157 // set our DMP Ready flag so the main loop() function knows it's okay to use it
Lockdog 1:fd1fa09f69da 158 pc.printf("DMP ready! Waiting for first interrupt...\r\n");
Lockdog 1:fd1fa09f69da 159 dmpReady = true;
Lockdog 1:fd1fa09f69da 160
Lockdog 1:fd1fa09f69da 161 // get expected DMP packet size for later comparison
Lockdog 1:fd1fa09f69da 162 packetSize = mpu.dmpGetFIFOPacketSize();
Lockdog 1:fd1fa09f69da 163 } else {
Lockdog 1:fd1fa09f69da 164 // ERROR!
Lockdog 1:fd1fa09f69da 165 // 1 = initial memory load failed
Lockdog 1:fd1fa09f69da 166 // 2 = DMP configuration updates failed
Lockdog 1:fd1fa09f69da 167 // (if it's going to break, usually the code will be 1)
Lockdog 1:fd1fa09f69da 168
Lockdog 1:fd1fa09f69da 169 pc.printf("DDMP Initialization failed (code ");
Lockdog 1:fd1fa09f69da 170 pc.printf("%d", devStatus);
Lockdog 1:fd1fa09f69da 171 pc.printf(")\r\n");
Lockdog 1:fd1fa09f69da 172 }
Lockdog 1:fd1fa09f69da 173 // get expected DMP packet size for later comparison
Lockdog 1:fd1fa09f69da 174 pc.printf("Ready\r\n");
Lockdog 0:399c828618ea 175 while(1) {
Lockdog 1:fd1fa09f69da 176 // while (!mpuInterrupt && fifoCount < packetSize) {
Lockdog 1:fd1fa09f69da 177 if (flag == 2)
Lockdog 1:fd1fa09f69da 178 {
Lockdog 1:fd1fa09f69da 179 pc.printf("Speed: %.0f fps\r\n",speed);
Lockdog 1:fd1fa09f69da 180 flag = 0;
Lockdog 1:fd1fa09f69da 181
Lockdog 1:fd1fa09f69da 182 }
Lockdog 1:fd1fa09f69da 183 /*
Lockdog 1:fd1fa09f69da 184 if (flag != -1)
Lockdog 1:fd1fa09f69da 185 {
Lockdog 1:fd1fa09f69da 186 if (m_flag == 0) speed = (LENGHT/result_time)*3.2808; //fps
Lockdog 1:fd1fa09f69da 187 else speed = (LENGHT/result_time); //m/s
Lockdog 1:fd1fa09f69da 188 sprintf(buf,"%4.0f\r\n",speed);
Lockdog 1:fd1fa09f69da 189 }*/
Lockdog 1:fd1fa09f69da 190 //RdShRange();
Lockdog 1:fd1fa09f69da 191 //hih6130.ReadData(&temperature, &humidity);
Lockdog 1:fd1fa09f69da 192 //mpl.readAltitude(&alt);
Lockdog 1:fd1fa09f69da 193
Lockdog 1:fd1fa09f69da 194 memset(buf,0,30);
Lockdog 1:fd1fa09f69da 195 if (m_flag==0) sprintf(buf,"%.1f yd ",dist*1.0936); //yards
Lockdog 1:fd1fa09f69da 196 else sprintf(buf,"%.1f m ",dist); //meters
Lockdog 1:fd1fa09f69da 197
Lockdog 1:fd1fa09f69da 198 wait(0.4);
Lockdog 1:fd1fa09f69da 199 // }
Lockdog 1:fd1fa09f69da 200 mpuInterrupt = false;
Lockdog 1:fd1fa09f69da 201 mpuIntStatus = mpu.getIntStatus();
Lockdog 1:fd1fa09f69da 202
Lockdog 1:fd1fa09f69da 203 // get current FIFO count
Lockdog 1:fd1fa09f69da 204 fifoCount = mpu.getFIFOCount();
Lockdog 1:fd1fa09f69da 205
Lockdog 1:fd1fa09f69da 206 // check for overflow (this should never happen unless our code is too inefficient)
Lockdog 1:fd1fa09f69da 207 if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
Lockdog 1:fd1fa09f69da 208 // reset so we can continue cleanly
Lockdog 1:fd1fa09f69da 209 mpu.resetFIFO();
Lockdog 1:fd1fa09f69da 210
Lockdog 1:fd1fa09f69da 211 // otherwise, check for DMP data ready interrupt (this should happen frequently)
Lockdog 1:fd1fa09f69da 212 } else if (mpuIntStatus & 0x02) {
Lockdog 1:fd1fa09f69da 213 // wait for correct available data length, should be a VERY short wait
Lockdog 1:fd1fa09f69da 214 while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
Lockdog 1:fd1fa09f69da 215
Lockdog 1:fd1fa09f69da 216 // read a packet from FIFO
Lockdog 1:fd1fa09f69da 217 mpu.getFIFOBytes(fifoBuffer, packetSize);
Lockdog 1:fd1fa09f69da 218
Lockdog 1:fd1fa09f69da 219 // track FIFO count here in case there is > 1 packet available
Lockdog 1:fd1fa09f69da 220 // (this lets us immediately read more without waiting for an interrupt)
Lockdog 1:fd1fa09f69da 221 fifoCount -= packetSize;
Lockdog 1:fd1fa09f69da 222
Lockdog 1:fd1fa09f69da 223 // display Euler angles in degrees
Lockdog 1:fd1fa09f69da 224 mpu.dmpGetQuaternion(&q, fifoBuffer);
Lockdog 1:fd1fa09f69da 225 mpu.dmpGetGravity(&gravity, &q);
Lockdog 1:fd1fa09f69da 226 mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
Lockdog 1:fd1fa09f69da 227 }
Lockdog 1:fd1fa09f69da 228
Lockdog 1:fd1fa09f69da 229 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);
Lockdog 0:399c828618ea 230 }
Lockdog 0:399c828618ea 231 }
Lockdog 1:fd1fa09f69da 232
Lockdog 1:fd1fa09f69da 233 void RdShRange(void)
Lockdog 1:fd1fa09f69da 234 {
Lockdog 1:fd1fa09f69da 235 RangeFinder.putc('d'); // Send "D" trigger to receive data back from sensor
Lockdog 1:fd1fa09f69da 236 while (!RangeFinder.readable()); // Wait until the next distance measurement is ready
Lockdog 1:fd1fa09f69da 237 // Prepare to read the serial port...
Lockdog 1:fd1fa09f69da 238 int i=0; // indexer for the string storage variable
Lockdog 1:fd1fa09f69da 239 int c=0; // c holds the latest ASCII character from the sf10
Lockdog 1:fd1fa09f69da 240
Lockdog 1:fd1fa09f69da 241 while(c != 10) // Read the ASCII string from the sf10 until a line feed character (\n) is detected
Lockdog 1:fd1fa09f69da 242 {
Lockdog 1:fd1fa09f69da 243 while (!RangeFinder.readable()); // Wait here for the next character
Lockdog 1:fd1fa09f69da 244 c = RangeFinder.getc(); // store the values in c
Lockdog 1:fd1fa09f69da 245 sf10_string[i] = c; // Add the character to the existing string from the sf10
Lockdog 1:fd1fa09f69da 246 i++; // Add the next character, until full string is captured
Lockdog 1:fd1fa09f69da 247 } // Once the string has been captured..
Lockdog 1:fd1fa09f69da 248 sf10_string[i-2] = 0; // Create a null terminated string and remove the \r\n characters from the end
Lockdog 1:fd1fa09f69da 249 dist = atof(sf10_string); // Convert the ASCII string to distance in meters
Lockdog 1:fd1fa09f69da 250 }
Lockdog 1:fd1fa09f69da 251
Lockdog 1:fd1fa09f69da 252
Lockdog 1:fd1fa09f69da 253
Lockdog 1:fd1fa09f69da 254 short getRGB(char red, char green, char blue) {
Lockdog 1:fd1fa09f69da 255 int outR = ((red * 31) / 255);
Lockdog 1:fd1fa09f69da 256 int outG = ((green * 63) / 255);
Lockdog 1:fd1fa09f69da 257 int outB = ((blue * 31) / 255);
Lockdog 1:fd1fa09f69da 258
Lockdog 1:fd1fa09f69da 259 return (outR << 11) | (outG << 5) | outB;
Lockdog 1:fd1fa09f69da 260 }