Revision 10:a35b7bd001ba, committed 2018-10-09

Comitter:

abraha2d

Date:

Tue Oct 09 00:47:47 2018 +0000

Parent:

9:f20983c914aa

Commit message:

Save point

Changed in this revision

diff -r f20983c914aa -r a35b7bd001ba LSM9DS1_Library_cal.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM9DS1_Library_cal.lib	Tue Oct 09 00:47:47 2018 +0000
@@ -0,0 +1,1 @@
+https://developer.mbed.org/users/4180_1/code/LSM9DS1_Library_cal/#36abf8e18ade

diff -r f20983c914aa -r a35b7bd001ba main.cpp
--- a/main.cpp	Wed Oct 28 15:06:56 2015 +0000
+++ b/main.cpp	Tue Oct 09 00:47:47 2018 +0000
@@ -1,171 +1,79 @@
-// uLCD-144-G2 demo program for uLCD-4GL LCD driver library
-//
 #include "mbed.h"
+#include "LSM9DS1.h"
 #include "uLCD_4DGL.h"
 
+#define PI 3.14159
+
+// Earth's magnetic field varies by location. Add or subtract
+// a declination to get a more accurate heading. Calculate
+// your's here:
+// http://www.ngdc.noaa.gov/geomag-web/#declination
+#define DECLINATION -4.94 // Declination (degrees) in Atlanta,GA.
+
+Serial pc(USBTX, USBRX);
 uLCD_4DGL uLCD(p9,p10,p11); // serial tx, serial rx, reset pin;
 
+// Calculate heading.
+// Heading calculations taken from this app note:
+// http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/Magnetic__Literature_Application_notes-documents/AN203_Compass_Heading_Using_Magnetometers.pdf
+float calcHeading(float mx, float my, float mz)
+{
+    mx = -mx;
+    float heading;
+    if (my == 0.0)
+        heading = (mx < 0.0) ? 180.0 : 0.0;
+    else
+        heading = atan2(mx, my) * 360.0 / (2.0 * PI);
+    heading -= DECLINATION;
+    if (heading > 180.0) heading = heading - 360.0;
+    else if (heading < -180.0) heading = 360.0 + heading;
+    else if (heading < 0.0) heading = 360.0 + heading;
+    return heading;
+}
+
+float rotate_point_x(float x, float y, float a)
+{
+    return x * cos(a * PI/180.0) - y * sin(a * PI/180.0);
+}
+
+float rotate_point_y(float x, float y, float a)
+{
+    return y * cos(a * PI/180.0) + x * sin(a * PI/180.0);
+}
+
 int main()
 {
-    // basic printf demo = 16 by 18 characters on screen
-    uLCD.printf("\nHello uLCD World\n"); //Default Green on black text
-    uLCD.printf("\n  Starting Demo...");
-    uLCD.text_width(4); //4X size text
-    uLCD.text_height(4);
-    uLCD.color(RED);
-    for (int i=10; i>=0; --i) {
-        uLCD.locate(1,2);
-        uLCD.printf("%2D",i);
-        wait(.5);
-    }
     uLCD.cls();
-    uLCD.printf("Change baudrate......");
-    uLCD.baudrate(3000000); //jack up baud rate to max for fast display
-    //if demo hangs here - try lower baud rates
-    //
-    // printf text only full screen mode demo
-    uLCD.background_color(BLUE);
-    uLCD.cls();
-    uLCD.locate(0,0);
-    uLCD.color(WHITE);
-    uLCD.textbackground_color(BLUE);
-    uLCD.set_font(FONT_7X8);
-    uLCD.text_mode(OPAQUE);
-    int i=0;
-    while(i<64) {
-        if(i%16==0) uLCD.cls();
-        uLCD.printf("TxtLine %2D Page %D\n",i%16,i/16 );
-        i++; //16 lines with 18 charaters per line
+    uLCD.printf("Baud rate: 3000000");
+    uLCD.baudrate(3000000);
+
+    uLCD.printf("Calibrating IMU...\n");
+    LSM9DS1 IMU(p28, p27, 0xD6, 0x3C);
+    bool success = IMU.begin();
+    if (!success) {
+        uLCD.printf("Failed to communicate with LSM9DS1.\n");
     }
-    wait(0.5);
-    //demo graphics commands
-    uLCD.background_color(BLACK);
-    uLCD.cls();
-    uLCD.background_color(DGREY);
-    uLCD.filled_circle(60, 50, 30, 0xFF00FF);
-    uLCD.triangle(120, 100, 40, 40, 10, 100, 0x0000FF);
-    uLCD.line(0, 0, 80, 60, 0xFF0000);
-    uLCD.filled_rectangle(50, 50, 100, 90, 0x00FF00);
-    uLCD.pixel(60, 60, BLACK);
-    uLCD.read_pixel(120, 70);
-    uLCD.circle(120, 60, 10, BLACK);
-    uLCD.set_font(FONT_7X8);
-    uLCD.text_mode(TRANSPARENT);
-    uLCD.text_bold(ON);
-    uLCD.text_char('B', 9, 8, BLACK);
-    uLCD.text_char('I',10, 8, BLACK);
-    uLCD.text_char('G',11, 8, BLACK);
-    uLCD.text_italic(ON);
-    uLCD.text_string("This is a test of string", 1, 4, FONT_7X8, WHITE);
-    wait(2);
+    IMU.calibrate(1);
+    IMU.calibrateMag(0);
 
-//Bouncing Ball Demo
-    float fx=50.0,fy=21.0,vx=1.0,vy=0.4;
-    int x=50,y=21,radius=4;
-    uLCD.background_color(BLACK);
-    uLCD.cls();
-    //draw walls
-    uLCD.line(0, 0, 127, 0, WHITE);
-    uLCD.line(127, 0, 127, 127, WHITE);
-    uLCD.line(127, 127, 0, 127, WHITE);
-    uLCD.line(0, 127, 0, 0, WHITE);
-    for (int i=0; i<1500; i++) {
-        //draw ball
-        uLCD.filled_circle(x, y, radius, RED);
-        //bounce off edge walls and slow down a bit?
-        if ((x<=radius+1) || (x>=126-radius)) vx = -.90*vx;
-        if ((y<=radius+1) || (y>=126-radius)) vy = -.90*vy;
-        //erase old ball location
-        uLCD.filled_circle(x, y, radius, BLACK);
-        //move ball
-        fx=fx+vx;
-        fy=fy+vy;
-        x=(int)fx;
-        y=(int)fy;
-    }
     wait(0.5);
-//draw an image pixel by pixel
-    int pixelcolors[50][50];
-    uLCD.background_color(BLACK);
     uLCD.cls();
-//compute Mandelbrot set image for display
-//image size in pixels
-    const unsigned ImageHeight=128;
-    const unsigned ImageWidth=128;
-    //"c" region to display
-    double MinRe = -0.75104;
-    double MaxRe = -0.7408;
-    double MinIm = 0.10511;
-    double MaxIm = MinIm+(MaxRe-MinRe)*ImageHeight/ImageWidth;
-    double Re_factor = (MaxRe-MinRe)/(ImageWidth-1);
-    double Im_factor = (MaxIm-MinIm)/(ImageHeight-1);
-    unsigned MaxIterations = 2048;
-    for(unsigned y=0; y<ImageHeight; ++y) {
-        double c_im = MaxIm - y*Im_factor;
-        for(unsigned x=0; x<ImageWidth; ++x) {
-            double c_re = MinRe + x*Re_factor;
-            double Z_re = c_re, Z_im = c_im;
-            int niterations=0;
-            for(unsigned n=0; n<MaxIterations; ++n) {
-                double Z_re2 = Z_re*Z_re, Z_im2 = Z_im*Z_im;
-                if(Z_re2 + Z_im2 > 4) {
-                    niterations = n;
-                    break;
-                }
-                Z_im = 2*Z_re*Z_im + c_im;
-                Z_re = Z_re2 - Z_im2 + c_re;
-            }
-            if (niterations!=(MaxIterations-1))
-                uLCD.pixel(x,y,((niterations & 0xF00)<<12)+((niterations & 0xF0)<<8)+((niterations & 0x0F)<<4) );
-        }
-    }
-    wait(5);
-// PLASMA wave BLIT animation
-//draw an image using BLIT (Block Image Transfer) fastest way to transfer pixel data
-    uLCD.cls();
-    int num_cols=50;
-    int num_rows=50;
-    int frame=0;
-    double a,b,c=0.0;
-    while(frame<75) {
-        for (int k=0; k<num_cols; k++) {
-            b= (1+sin(3.14159*k*0.75/(num_cols-1.0)+c))*0.5;
-            for (int i=0; i<num_rows; i++) {
-                a= (1+sin(3.14159*i*0.75/(num_rows-1.0)+c))*0.5;
-                // a and b will be a sine wave output between 0 and 1
-                // sine wave was scaled for nice effect across array
-                // uses a and b to compute pixel colors based on rol and col location in array
-                // also keeps colors at the same brightness level
-                if ((a+b) <.667)
-                    pixelcolors[i][k] =  (255-(int(254.0*((a+b)/0.667)))<<16) | (int(254.0*((a+b)/0.667))<<8) | 0;
-                else if ((a+b)<1.333)
-                    pixelcolors[i][k] = (0 <<16) | (255-(int (254.0*((a+b-0.667)/0.667)))<<8) | int(254.0*((a+b-0.667)/0.667));
-                else
-                    pixelcolors[i][k] = (int(255*((a+b-1.333)/0.667))<<16) | (0<<8)  | (255-(int (254.0*((a+b-1.333)/0.667))));
-            }
-        }
-        uLCD.BLIT(39, 39, 50, 50, &pixelcolors[0][0]);
-        c = c + 0.0314159*3.0;
-        if (c > 6.2831) c = 0.0;
-        frame++;
-    }
-    //Load Image Demo
-    uLCD.cls();
-    //SD card needed with image and video files for last two demos
-    uLCD.cls();
-    uLCD.media_init();
-    uLCD.printf("\n\nAn SD card is needed for image and video data");
-    uLCD.set_sector_address(0x001D, 0x4C01);
-    uLCD.display_image(0,0);
-    wait(10);
-    //Play video demo
     while(1) {
-        uLCD.cls();
-        uLCD.media_init();
-        uLCD.set_sector_address(0x001D, 0x4C42);
-        uLCD.display_video(0,0);
+        while(!IMU.magAvailable(X_AXIS));
+        IMU.readMag();
+        float heading = calcHeading(IMU.calcMag(IMU.mx), IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz));
+        pc.printf("%f                                                                      ", heading);
+        uLCD.circle(64, 64, 48, WHITE);
+        uLCD.triangle(
+            64 + rotate_point_x(-5, 10, heading), 64 + rotate_point_y(-5, 10, heading),
+            64 + rotate_point_x(5, 10, heading), 64 + rotate_point_y(5, 10, heading),
+            64 + rotate_point_x(0, -15, heading), 64 + rotate_point_y(0, -15, heading),
+            RED);
+        wait(0.05);
+        uLCD.triangle(
+            64 + rotate_point_x(-5, 10, heading), 64 + rotate_point_y(-5, 10, heading),
+            64 + rotate_point_x(5, 10, heading), 64 + rotate_point_y(5, 10, heading),
+            64 + rotate_point_x(0, -15, heading), 64 + rotate_point_y(0, -15, heading),
+            BLACK);
     }
 }
-
-
-

diff -r f20983c914aa -r a35b7bd001ba mbed.bld
--- a/mbed.bld	Wed Oct 28 15:06:56 2015 +0000
+++ b/mbed.bld	Tue Oct 09 00:47:47 2018 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/mbed_official/code/mbed/builds/34e6b704fe68
\ No newline at end of file
+https://os.mbed.com/users/mbed_official/code/mbed/builds/e95d10626187
\ No newline at end of file