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ECE 4180 Lab 2 Part 3 Extra Credit
Dependencies: 4DGL-uLCD-SE LSM9DS1_Library_cal mbed
Fork of uLCD144G2_demo by
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
--- /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
--- 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); } } - - -
--- 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