Quentin Noiret / Mbed 2 deprecated LSM6DS3_interface_version_finale

Projet d'interfaçage - LSM6DS3 : Test de Stabilité Quentin NOIRET LP MECSE 2020 -------------------------------------------------- L’application réalisée permet de tester la stabilité d’un système (ex : drone) en affichant différents seuils d’inclinaison en fonction des valeurs de l’accéléromètre.

Dependencies:   Interfacage_MECSE_LSM6DS3 mbed LSM6DS3

main.cpp@7:e5f8936d11af, 2020-06-24 (annotated)

Committer:
raketitch
Date:
Wed Jun 24 21:34:53 2020 +0000
Revision:
7:e5f8936d11af
Parent:
6:16ba206a4253 
version finale

Who changed what in which revision?

UserRevisionLine numberNew contents of line
raketitch 7:e5f8936d11af 1 // Projet interfaçage : LSM6DS3 Demo
raketitch 7:e5f8936d11af 2 //Quentin NOIRET
raketitch 7:e5f8936d11af 3 //LP MECSE - IUT de CACHAN
raketitch 7:e5f8936d11af 4 //2020
beanmachine44 0:9632b831b6c1 5
raketitch 7:e5f8936d11af 6 //Bibliothèques
beanmachine44 0:9632b831b6c1 7 #include "mbed.h"
raketitch 6:16ba206a4253 8 #include "LSM6DS3.h" //sensor
raketitch 6:16ba206a4253 9 #include "LCD_DISCO_F746NG.h" //LCD Screen
raketitch 6:16ba206a4253 10 #include "TS_DISCO_F746NG.h" //Touch Screen
raketitch 7:e5f8936d11af 11 #include "logo.h" //logo IUT
raketitch 7:e5f8936d11af 12 #include "math.h" //nécessaire aux calculs d'angle
raketitch 7:e5f8936d11af 13 #include "F746_GUI.hpp" //bibliothèques d'interface
raketitch 6:16ba206a4253 14
raketitch 6:16ba206a4253 15
raketitch 6:16ba206a4253 16
raketitch 7:e5f8936d11af 17 //Constantes
raketitch 7:e5f8936d11af 18 #define REFRESH_TIME_MS 50
raketitch 7:e5f8936d11af 19 #define M_PI 3.141593
raketitch 7:e5f8936d11af 20 #define SEUIL_1 5
raketitch 7:e5f8936d11af 21 #define SEUIL_2 20
raketitch 7:e5f8936d11af 22 #define SEUIL_3 45
raketitch 7:e5f8936d11af 23
raketitch 7:e5f8936d11af 24 #define UP_PADDING 15
raketitch 7:e5f8936d11af 25 #define LEFT_PADDING 15
raketitch 7:e5f8936d11af 26
raketitch 7:e5f8936d11af 27
raketitch 7:e5f8936d11af 28 LSM6DS3 sensor(PB_9, PB_8); //instance du capteur : (PIN_SCL, PIN_SDA)
raketitch 7:e5f8936d11af 29 LCD_DISCO_F746NG lcd; //écran LCD
raketitch 7:e5f8936d11af 30 TS_DISCO_F746NG ts; //écran tactile
raketitch 7:e5f8936d11af 31 Serial pc(USBTX, USBRX); //liaison série
raketitch 7:e5f8936d11af 32
raketitch 7:e5f8936d11af 33 //Prototypes des fonctions
raketitch 7:e5f8936d11af 34
raketitch 7:e5f8936d11af 35 void setup(void); //initialisation du capteur
raketitch 7:e5f8936d11af 36 void readSensor(void); //lecture du capteur
raketitch 7:e5f8936d11af 37 void printSensor(void); //affichage des valeurs du capteur
raketitch 7:e5f8936d11af 38 void drawImageLogo(int offsetX, int offsetY); //affichage du logo de l'IUT
raketitch 7:e5f8936d11af 39
raketitch 7:e5f8936d11af 40 //Variables globales
raketitch 7:e5f8936d11af 41 char text[30];
raketitch 7:e5f8936d11af 42
raketitch 7:e5f8936d11af 43 float accelX, accelY, accelZ, // units m/s/s i.e. accelZ if often 9.8 (gravity)
raketitch 7:e5f8936d11af 44 gyroX, gyroY, gyroZ, // units dps (degrees per second)
raketitch 7:e5f8936d11af 45 accRoll=-1, accPitch=-1; // units degrees (roll and pitch noisy, yaw not possible)
raketitch 7:e5f8936d11af 46
raketitch 7:e5f8936d11af 47
raketitch 7:e5f8936d11af 48 int etat1=0, etat2=0; //variable d'etat
raketitch 7:e5f8936d11af 49
raketitch 6:16ba206a4253 50 using namespace std;
raketitch 6:16ba206a4253 51
raketitch 7:e5f8936d11af 52 //--------------------------------------------------------------------//
raketitch 7:e5f8936d11af 53 //--------------------------- MAIN -----------------------------------//
raketitch 7:e5f8936d11af 54 //--------------------------------------------------------------------//
raketitch 7:e5f8936d11af 55
raketitch 6:16ba206a4253 56 int main()
raketitch 6:16ba206a4253 57 {
raketitch 7:e5f8936d11af 58 //Variables locales
raketitch 7:e5f8936d11af 59 TS_StateTypeDef TS_State; //Etat de l'écran tactile
raketitch 7:e5f8936d11af 60 uint16_t touch, oldTouch; //pour détecter les front montant d'un double appui
raketitch 7:e5f8936d11af 61 bool touchFlag = false; //flag qui s'active quand on réalise un double appui
raketitch 7:e5f8936d11af 62
raketitch 7:e5f8936d11af 63 //------------------------------------------------------//
raketitch 7:e5f8936d11af 64 //------------------ INITIALISATION --------------------//
raketitch 7:e5f8936d11af 65 //------------------------------------------------------//
raketitch 7:e5f8936d11af 66 setup();
raketitch 7:e5f8936d11af 67
raketitch 7:e5f8936d11af 68 //------------------------------------------------------//
raketitch 7:e5f8936d11af 69 //--------------- DEMARRAGE INTERFACE ------------------//
raketitch 7:e5f8936d11af 70 //------------------------------------------------------//
raketitch 7:e5f8936d11af 71
raketitch 7:e5f8936d11af 72 //------------------------------------------------------//
raketitch 7:e5f8936d11af 73 //---------------------- ECRAN 1 -----------------------//
raketitch 7:e5f8936d11af 74 //------------------------------------------------------//
raketitch 7:e5f8936d11af 75 BSP_LCD_Clear(LCD_COLOR_WHITE);
raketitch 7:e5f8936d11af 76 BSP_LCD_SetFont(&LCD_DEFAULT_FONT);
raketitch 7:e5f8936d11af 77 BSP_LCD_SetBackColor(LCD_COLOR_WHITE);
raketitch 7:e5f8936d11af 78 BSP_LCD_SetTextColor(LCD_COLOR_BLACK);
raketitch 7:e5f8936d11af 79
raketitch 7:e5f8936d11af 80 BSP_LCD_DisplayStringAt(0, 1, (uint8_t *)"PROJET INTERFACAGE", CENTER_MODE);
raketitch 7:e5f8936d11af 81 drawImageLogo(150,150);
raketitch 7:e5f8936d11af 82 HAL_Delay(2000);
raketitch 7:e5f8936d11af 83
raketitch 7:e5f8936d11af 84 //------------------------------------------------------//
raketitch 7:e5f8936d11af 85 //---------------------- ECRAN 2 -----------------------//
raketitch 7:e5f8936d11af 86 //------------------------------------------------------//
raketitch 7:e5f8936d11af 87
raketitch 7:e5f8936d11af 88 BSP_LCD_Clear(LCD_COLOR_BLACK);
raketitch 7:e5f8936d11af 89 BSP_LCD_DisplayStringAt(0, 1, (uint8_t *)"Toucher pour commencer", CENTER_MODE);
raketitch 7:e5f8936d11af 90
raketitch 7:e5f8936d11af 91 //Attend que l'utilisateur touche l'écra,
raketitch 7:e5f8936d11af 92 do
raketitch 7:e5f8936d11af 93 {
raketitch 7:e5f8936d11af 94 ts.GetState(&TS_State);
raketitch 7:e5f8936d11af 95
raketitch 7:e5f8936d11af 96 }while(!TS_State.touchDetected);
raketitch 7:e5f8936d11af 97 HAL_Delay(50);
raketitch 7:e5f8936d11af 98
raketitch 7:e5f8936d11af 99 //------------------------------------------------------//
raketitch 7:e5f8936d11af 100 //----------- DECLARATIONS OBJETS INTERFACE -----------//
raketitch 7:e5f8936d11af 101 //------------------------------------------------------//
raketitch 6:16ba206a4253 102
raketitch 7:e5f8936d11af 103 Button btnStart(LEFT_PADDING, UP_PADDING+35, 100, 75, "Start");
raketitch 7:e5f8936d11af 104 Button btnStop(LEFT_PADDING+100+5, UP_PADDING+35, 100, 75, "Stop");
raketitch 7:e5f8936d11af 105 Button btnDebug_On(LEFT_PADDING+200+10, UP_PADDING+35, 100, 75, "Afficher Val");
raketitch 7:e5f8936d11af 106 Button btnDebug_Off(LEFT_PADDING+300+15, UP_PADDING+35, 100, 75, "Masquer Val");
raketitch 7:e5f8936d11af 107 Button btnReset(480-LEFT_PADDING-100, 272-UP_PADDING-50, 100, 50, "Reset");
raketitch 7:e5f8936d11af 108
raketitch 7:e5f8936d11af 109 Label lbTitre(240, 2, "Test de Stabilite", Label::CENTER, Font16);
raketitch 7:e5f8936d11af 110 Label lbInfo(240, 20, "Poser 2 doigts sur l'ecran pour afficher/masquer le menu", Label::CENTER);
raketitch 7:e5f8936d11af 111 Label lbSystem(260, 180, "", Label::CENTER, Font24);
raketitch 7:e5f8936d11af 112
raketitch 7:e5f8936d11af 113 NumericLabel<float> lbl_ax(LEFT_PADDING, 150, "ax : %4.2f", accelX, Label::LEFT, Font12, LCD_COLOR_WHITE, LCD_COLOR_BLACK);//, Font12, Label::LCD_COLOR_BLACK, Label::LCD_COLOR_BLACK);
raketitch 7:e5f8936d11af 114 NumericLabel<float> lbl_ay(LEFT_PADDING, 160, "ay : %4.2f", accelY, Label::LEFT, Font12, LCD_COLOR_WHITE, LCD_COLOR_BLACK);
raketitch 7:e5f8936d11af 115 NumericLabel<float> lbl_az(LEFT_PADDING, 170, "az : %4.2f", accelZ, Label::LEFT, Font12, LCD_COLOR_WHITE, LCD_COLOR_BLACK);
raketitch 7:e5f8936d11af 116
raketitch 7:e5f8936d11af 117 NumericLabel<float> lbl_roll(LEFT_PADDING, 180, "Roll : %4.2f", accRoll, Label::LEFT, Font12, LCD_COLOR_WHITE, LCD_COLOR_BLACK);
raketitch 7:e5f8936d11af 118 NumericLabel<float> lbl_pitch(LEFT_PADDING, 190, "Pitch: %4.2f", accPitch, Label::LEFT, Font12, LCD_COLOR_WHITE, LCD_COLOR_BLACK);
raketitch 7:e5f8936d11af 119
raketitch 7:e5f8936d11af 120 //NumericLabel<int> lbl_etat1(LEFT_PADDING, 200, "etat1: %d", etat1, Label::LEFT, Font12, LCD_COLOR_WHITE, LCD_COLOR_BLACK);
raketitch 7:e5f8936d11af 121 //NumericLabel<int> lbl_etat2(LEFT_PADDING, 210, "etat2: %d", etat2, Label::LEFT, Font12, LCD_COLOR_WHITE, LCD_COLOR_BLACK);
raketitch 7:e5f8936d11af 122
raketitch 7:e5f8936d11af 123 //------------------------------------------------------//
raketitch 7:e5f8936d11af 124 //---------- INITIALISATION OBJETS INTERFACE ----------//
raketitch 7:e5f8936d11af 125 //------------------------------------------------------//
raketitch 6:16ba206a4253 126
raketitch 7:e5f8936d11af 127 btnStart.Erase();
raketitch 7:e5f8936d11af 128 btnStop.Erase();
raketitch 7:e5f8936d11af 129 btnDebug_On.Erase();
raketitch 7:e5f8936d11af 130 btnDebug_Off.Erase();
raketitch 7:e5f8936d11af 131 btnReset.Erase();
raketitch 7:e5f8936d11af 132
raketitch 7:e5f8936d11af 133 btnStart.Activate();
raketitch 7:e5f8936d11af 134 btnStop.Inactivate();
raketitch 7:e5f8936d11af 135 btnDebug_On.Inactivate();
raketitch 7:e5f8936d11af 136 btnDebug_Off.Inactivate();
raketitch 7:e5f8936d11af 137 btnReset.Inactivate();
raketitch 7:e5f8936d11af 138
raketitch 7:e5f8936d11af 139 lbl_ax.Redraw(LCD_COLOR_BLACK);
raketitch 7:e5f8936d11af 140 lbl_ay.Redraw(LCD_COLOR_BLACK);
raketitch 7:e5f8936d11af 141 lbl_az.Redraw(LCD_COLOR_BLACK);
beanmachine44 0:9632b831b6c1 142
raketitch 7:e5f8936d11af 143 lbl_roll.Redraw(LCD_COLOR_BLACK);
raketitch 7:e5f8936d11af 144 lbl_pitch.Redraw(LCD_COLOR_BLACK);
raketitch 7:e5f8936d11af 145
raketitch 7:e5f8936d11af 146 //lbl_etat1.Redraw(LCD_COLOR_BLACK);
raketitch 7:e5f8936d11af 147 //lbl_etat2.Redraw(LCD_COLOR_BLACK);
raketitch 7:e5f8936d11af 148
raketitch 7:e5f8936d11af 149 HAL_Delay(500);
raketitch 7:e5f8936d11af 150
raketitch 7:e5f8936d11af 151 btnReset.Activate();
raketitch 7:e5f8936d11af 152
raketitch 7:e5f8936d11af 153 //BOUCLE INFINI
raketitch 6:16ba206a4253 154 while (true)
raketitch 6:16ba206a4253 155 {
raketitch 7:e5f8936d11af 156 ts.GetState(&TS_State);//lecture ecran
raketitch 7:e5f8936d11af 157 touch = TS_State.touchDetected;
raketitch 6:16ba206a4253 158
raketitch 7:e5f8936d11af 159 //gestion interface
raketitch 7:e5f8936d11af 160 switch (etat1)
raketitch 7:e5f8936d11af 161 {
raketitch 7:e5f8936d11af 162 case 0: //idle
raketitch 7:e5f8936d11af 163 if(btnStart.Touched())
raketitch 7:e5f8936d11af 164 {
raketitch 7:e5f8936d11af 165 etat1 = 1;
raketitch 7:e5f8936d11af 166 btnStart.Inactivate();
raketitch 7:e5f8936d11af 167 btnStop.Activate();
raketitch 7:e5f8936d11af 168 btnDebug_On.Activate();
raketitch 7:e5f8936d11af 169 }
raketitch 7:e5f8936d11af 170 break;
raketitch 7:e5f8936d11af 171
raketitch 7:e5f8936d11af 172 case 1://started masquer valeurs
raketitch 7:e5f8936d11af 173 readSensor();
raketitch 7:e5f8936d11af 174 accRoll = atan2(accelY, accelZ) * 180/M_PI;
raketitch 7:e5f8936d11af 175 accPitch = atan2(-accelX, sqrt(accelY*accelY + accelZ*accelZ)) * 180/M_PI;
raketitch 7:e5f8936d11af 176 if (btnDebug_On.Touched())
raketitch 7:e5f8936d11af 177 {
raketitch 7:e5f8936d11af 178 btnDebug_On.Inactivate();
raketitch 7:e5f8936d11af 179 btnDebug_Off.Activate();
raketitch 7:e5f8936d11af 180
raketitch 7:e5f8936d11af 181 etat1 = 2;
raketitch 7:e5f8936d11af 182 }
raketitch 7:e5f8936d11af 183 if(btnStop.Touched())
raketitch 7:e5f8936d11af 184 {
raketitch 7:e5f8936d11af 185 etat1 = 0;
raketitch 7:e5f8936d11af 186 btnStart.Activate();
raketitch 7:e5f8936d11af 187 btnStop.Inactivate();
raketitch 7:e5f8936d11af 188 btnDebug_On.Inactivate();
raketitch 7:e5f8936d11af 189 btnDebug_Off.Inactivate();
raketitch 7:e5f8936d11af 190 }
raketitch 7:e5f8936d11af 191
raketitch 7:e5f8936d11af 192 break;
raketitch 7:e5f8936d11af 193
raketitch 7:e5f8936d11af 194 case 2 ://Afficher valeurs
raketitch 7:e5f8936d11af 195 readSensor();
raketitch 7:e5f8936d11af 196 accRoll = atan2(accelY, accelZ) * 180/M_PI;
raketitch 7:e5f8936d11af 197 accPitch = atan2(-accelX, sqrt(accelY*accelY + accelZ*accelZ)) * 180/M_PI;
raketitch 7:e5f8936d11af 198 lbl_ax.Draw(accelX);
raketitch 7:e5f8936d11af 199 lbl_ay.Draw(accelY);
raketitch 7:e5f8936d11af 200 lbl_az.Draw(accelZ);
raketitch 6:16ba206a4253 201
raketitch 7:e5f8936d11af 202 lbl_roll.Draw(accRoll);
raketitch 7:e5f8936d11af 203 lbl_pitch.Draw(accPitch);
raketitch 7:e5f8936d11af 204
raketitch 7:e5f8936d11af 205 //lbl_etat1.Draw(etat1);
raketitch 7:e5f8936d11af 206 //lbl_etat2.Draw(etat2);
raketitch 7:e5f8936d11af 207
raketitch 7:e5f8936d11af 208 if(btnDebug_Off.Touched())
raketitch 7:e5f8936d11af 209 {
raketitch 7:e5f8936d11af 210 etat1 = 1;
raketitch 7:e5f8936d11af 211 btnDebug_Off.Inactivate();
raketitch 7:e5f8936d11af 212 btnDebug_On.Activate();
raketitch 7:e5f8936d11af 213
raketitch 7:e5f8936d11af 214 lbl_ax.Redraw(LCD_COLOR_BLACK);
raketitch 7:e5f8936d11af 215 lbl_ay.Redraw(LCD_COLOR_BLACK);
raketitch 7:e5f8936d11af 216 lbl_az.Redraw(LCD_COLOR_BLACK);
raketitch 7:e5f8936d11af 217
raketitch 7:e5f8936d11af 218 lbl_roll.Redraw(LCD_COLOR_BLACK);
raketitch 7:e5f8936d11af 219 lbl_pitch.Redraw(LCD_COLOR_BLACK);
raketitch 6:16ba206a4253 220
raketitch 7:e5f8936d11af 221 //lbl_etat1.Redraw(LCD_COLOR_BLACK);
raketitch 7:e5f8936d11af 222 //lbl_etat2.Redraw(LCD_COLOR_BLACK);
raketitch 7:e5f8936d11af 223 }
raketitch 7:e5f8936d11af 224 if(btnStop.Touched())
raketitch 7:e5f8936d11af 225 {
raketitch 7:e5f8936d11af 226 etat1 = 0;
raketitch 7:e5f8936d11af 227 btnStart.Activate();
raketitch 7:e5f8936d11af 228 btnStop.Inactivate();
raketitch 7:e5f8936d11af 229 btnDebug_On.Inactivate();
raketitch 7:e5f8936d11af 230 btnDebug_Off.Inactivate();
raketitch 7:e5f8936d11af 231
raketitch 7:e5f8936d11af 232 lbl_ax.Redraw(LCD_COLOR_BLACK);
raketitch 7:e5f8936d11af 233 lbl_ay.Redraw(LCD_COLOR_BLACK);
raketitch 7:e5f8936d11af 234 lbl_az.Redraw(LCD_COLOR_BLACK);
raketitch 6:16ba206a4253 235
raketitch 7:e5f8936d11af 236 lbl_roll.Redraw(LCD_COLOR_BLACK);
raketitch 7:e5f8936d11af 237 lbl_pitch.Redraw(LCD_COLOR_BLACK);
raketitch 7:e5f8936d11af 238
raketitch 7:e5f8936d11af 239 //lbl_etat1.Redraw(LCD_COLOR_BLACK);
raketitch 7:e5f8936d11af 240 //lbl_etat2.Redraw(LCD_COLOR_BLACK);
raketitch 7:e5f8936d11af 241 }
raketitch 7:e5f8936d11af 242 break;
raketitch 7:e5f8936d11af 243
raketitch 6:16ba206a4253 244 }
raketitch 6:16ba206a4253 245
raketitch 7:e5f8936d11af 246 switch(etat2)
raketitch 7:e5f8936d11af 247 {
raketitch 7:e5f8936d11af 248 case 0:
raketitch 7:e5f8936d11af 249 //ecran bleu
raketitch 7:e5f8936d11af 250 if((abs(accRoll)>SEUIL_1) || (abs(accPitch)>SEUIL_1))
raketitch 7:e5f8936d11af 251 {
raketitch 7:e5f8936d11af 252 etat2 = 1;
raketitch 7:e5f8936d11af 253 BSP_LCD_Clear(LCD_COLOR_YELLOW);
raketitch 7:e5f8936d11af 254 touchFlag = true;
raketitch 7:e5f8936d11af 255 lbSystem.Draw("legerement incline");
raketitch 7:e5f8936d11af 256
raketitch 7:e5f8936d11af 257 }
raketitch 7:e5f8936d11af 258 break;
raketitch 7:e5f8936d11af 259
raketitch 7:e5f8936d11af 260 case 1: //attention ecran jaune
raketitch 7:e5f8936d11af 261 if((abs(accRoll)<SEUIL_1) && (abs(accPitch)<SEUIL_1))
raketitch 7:e5f8936d11af 262 {
raketitch 7:e5f8936d11af 263 etat2 = 0;
raketitch 7:e5f8936d11af 264 BSP_LCD_Clear(LCD_COLOR_GREEN);
raketitch 7:e5f8936d11af 265 touchFlag = true;
raketitch 7:e5f8936d11af 266 lbSystem.Draw("plat");
raketitch 7:e5f8936d11af 267 }
raketitch 7:e5f8936d11af 268 if((abs(accRoll)>SEUIL_2) || (abs(accPitch)>SEUIL_2))
raketitch 7:e5f8936d11af 269 {
raketitch 7:e5f8936d11af 270 etat2 = 2;
raketitch 7:e5f8936d11af 271 BSP_LCD_Clear(LCD_COLOR_ORANGE);
raketitch 7:e5f8936d11af 272 touchFlag = true;
raketitch 7:e5f8936d11af 273 lbSystem.Draw("incline");
raketitch 7:e5f8936d11af 274 }
raketitch 7:e5f8936d11af 275 break;
raketitch 7:e5f8936d11af 276
raketitch 7:e5f8936d11af 277 case 2: //orange
raketitch 7:e5f8936d11af 278 if((abs(accRoll)<SEUIL_2) && (abs(accPitch)<SEUIL_2))
raketitch 7:e5f8936d11af 279 {
raketitch 7:e5f8936d11af 280 etat2 = 1;
raketitch 7:e5f8936d11af 281 BSP_LCD_Clear(LCD_COLOR_YELLOW);
raketitch 7:e5f8936d11af 282 touchFlag = true;
raketitch 7:e5f8936d11af 283 lbSystem.Draw("legerement incline");
raketitch 7:e5f8936d11af 284 }
raketitch 7:e5f8936d11af 285 if((abs(accRoll)>SEUIL_3) || (abs(accPitch)>SEUIL_3))
raketitch 7:e5f8936d11af 286 {
raketitch 7:e5f8936d11af 287 etat2 = 3;
raketitch 7:e5f8936d11af 288 BSP_LCD_Clear(LCD_COLOR_RED);
raketitch 7:e5f8936d11af 289 touchFlag = true;
raketitch 7:e5f8936d11af 290 lbSystem.Draw("tres incline");
raketitch 7:e5f8936d11af 291 }
raketitch 7:e5f8936d11af 292 //danger ecran rouge + clignotement
raketitch 7:e5f8936d11af 293 break;
raketitch 7:e5f8936d11af 294
raketitch 7:e5f8936d11af 295 case 3: //rouge
raketitch 7:e5f8936d11af 296 if((abs(accRoll)<SEUIL_3) && (abs(accPitch)<SEUIL_3))
raketitch 7:e5f8936d11af 297 {
raketitch 7:e5f8936d11af 298 etat2 = 2;
raketitch 7:e5f8936d11af 299 BSP_LCD_Clear(LCD_COLOR_ORANGE);
raketitch 7:e5f8936d11af 300 touchFlag = true;
raketitch 7:e5f8936d11af 301 lbSystem.Draw("incline");
raketitch 7:e5f8936d11af 302 }
raketitch 7:e5f8936d11af 303 //danger ecran rouge + clignotement
raketitch 7:e5f8936d11af 304 break;
raketitch 7:e5f8936d11af 305
raketitch 7:e5f8936d11af 306 }
raketitch 7:e5f8936d11af 307
raketitch 7:e5f8936d11af 308
raketitch 7:e5f8936d11af 309 //lcd_print(250, 10, "etat1 : %0.0f", (float) etat1);
raketitch 7:e5f8936d11af 310 //lcd_print(250, 11, "etat2 : %0.0f", (float) etat2);
raketitch 7:e5f8936d11af 311 //lcd_print(250, 12, "touchstate : %0.0f", (float) touch);
raketitch 7:e5f8936d11af 312 //---------------------------- DEBUG ------------------------------//
raketitch 7:e5f8936d11af 313 if(touch == 2 && oldTouch != touch)
raketitch 7:e5f8936d11af 314 {
raketitch 7:e5f8936d11af 315 if(touchFlag)
raketitch 7:e5f8936d11af 316 {
raketitch 7:e5f8936d11af 317 pc.printf("touchflag true / etat1 : %d\r\n", etat1);
raketitch 7:e5f8936d11af 318 btnStart.Draw();
raketitch 7:e5f8936d11af 319 btnStop.Draw();
raketitch 7:e5f8936d11af 320 btnDebug_On.Draw();
raketitch 7:e5f8936d11af 321 btnDebug_Off.Draw();
raketitch 7:e5f8936d11af 322 btnReset.Draw();
raketitch 7:e5f8936d11af 323 if(etat1 == 0)
raketitch 7:e5f8936d11af 324 {
raketitch 7:e5f8936d11af 325 btnStart.Activate();
raketitch 7:e5f8936d11af 326 btnStop.Inactivate();
raketitch 7:e5f8936d11af 327 btnDebug_On.Inactivate();
raketitch 7:e5f8936d11af 328 btnDebug_Off.Inactivate();
raketitch 7:e5f8936d11af 329 }
raketitch 7:e5f8936d11af 330 else if(etat1 == 1)
raketitch 7:e5f8936d11af 331 {
raketitch 7:e5f8936d11af 332 btnStart.Inactivate();
raketitch 7:e5f8936d11af 333 btnDebug_Off.Inactivate();
raketitch 7:e5f8936d11af 334 }
raketitch 7:e5f8936d11af 335 else
raketitch 7:e5f8936d11af 336 {
raketitch 7:e5f8936d11af 337 btnStart.Inactivate();
raketitch 7:e5f8936d11af 338 btnDebug_On.Inactivate();
raketitch 7:e5f8936d11af 339 }
raketitch 7:e5f8936d11af 340 }
raketitch 7:e5f8936d11af 341 else
raketitch 7:e5f8936d11af 342 {
raketitch 7:e5f8936d11af 343 pc.printf("touchflag false / etat1 : %d\r\n", etat1);
raketitch 7:e5f8936d11af 344 btnStart.Erase();
raketitch 7:e5f8936d11af 345 btnStop.Erase();
raketitch 7:e5f8936d11af 346 btnDebug_On.Erase();
raketitch 7:e5f8936d11af 347 btnDebug_Off.Erase();
raketitch 7:e5f8936d11af 348 }
raketitch 7:e5f8936d11af 349 touchFlag ^= 1;
raketitch 7:e5f8936d11af 350 }
raketitch 7:e5f8936d11af 351
raketitch 7:e5f8936d11af 352 if(btnReset.Touched())
raketitch 7:e5f8936d11af 353 {
raketitch 7:e5f8936d11af 354 NVIC_SystemReset();
raketitch 7:e5f8936d11af 355 }
raketitch 7:e5f8936d11af 356
raketitch 7:e5f8936d11af 357
raketitch 7:e5f8936d11af 358 oldTouch = TS_State.touchDetected;
raketitch 7:e5f8936d11af 359 lbTitre.Draw();
raketitch 7:e5f8936d11af 360 lbInfo.Draw();
raketitch 6:16ba206a4253 361 wait_ms(REFRESH_TIME_MS);
raketitch 6:16ba206a4253 362 }
raketitch 6:16ba206a4253 363 }
raketitch 6:16ba206a4253 364
raketitch 7:e5f8936d11af 365 //------------------- FONCTIONS ------------------------------------//
raketitch 7:e5f8936d11af 366
beanmachine44 0:9632b831b6c1 367 void setup()
beanmachine44 0:9632b831b6c1 368 {
raketitch 7:e5f8936d11af 369 pc.printf("\r\n------ LSM6DS3 Demo -----------\r\n");
raketitch 7:e5f8936d11af 370 pc.printf("LDSM6DS3 Init\r\n");
raketitch 7:e5f8936d11af 371 uint16_t status = sensor.begin(sensor.G_SCALE_245DPS, //plage de mesure minimale du gyroscope : jusqu'à +/- 245 deg/s (déjà assez rapide)
raketitch 7:e5f8936d11af 372 sensor.A_SCALE_2G, //plage de mesure minimale de l'accéléromètre : +/- 2G (accélération relativement faible)
raketitch 7:e5f8936d11af 373 sensor.G_ODR_1660, //fréquence d'échantillonage des valeurs du gyroscope max à 1,66 kEch/s (précision max)
raketitch 7:e5f8936d11af 374 sensor.A_ODR_6660); //fréquence d'échantillonage des valeurs de l'accéléromètre à 6.66 kEch/s (précision max)
raketitch 7:e5f8936d11af 375
raketitch 7:e5f8936d11af 376 pc.printf("LSM6DS3 WHO_AM_I's returned: 0x%X\r\n", status); //renvoie l'adresse i2c du capteur
5hel2l2y 1:acf696b18c52 377 pc.printf("Should be 0x69\r\n");
raketitch 7:e5f8936d11af 378
raketitch 7:e5f8936d11af 379 pc.printf("LCD Init size(%d, %d)\r\n", BSP_LCD_GetXSize(), BSP_LCD_GetYSize());
raketitch 7:e5f8936d11af 380
beanmachine44 0:9632b831b6c1 381 }
beanmachine44 0:9632b831b6c1 382
raketitch 7:e5f8936d11af 383 void readSensor()
beanmachine44 0:9632b831b6c1 384 {
raketitch 7:e5f8936d11af 385 sensor.readTemp(); //température en °C
raketitch 7:e5f8936d11af 386
raketitch 7:e5f8936d11af 387 sensor.readAccel();//accélération en x, y, z en G(environ 9 m/s²)
raketitch 7:e5f8936d11af 388 accelX = sensor.ax;
raketitch 7:e5f8936d11af 389 accelY = sensor.ay;
raketitch 7:e5f8936d11af 390 accelZ = sensor.az;
raketitch 7:e5f8936d11af 391
raketitch 7:e5f8936d11af 392 sensor.readGyro();//vitesse de rotation en x, y, z en deg/s
raketitch 7:e5f8936d11af 393 gyroX = sensor.gx;
raketitch 7:e5f8936d11af 394 gyroY = sensor.gy;
raketitch 7:e5f8936d11af 395 gyroZ = sensor.gz;
raketitch 7:e5f8936d11af 396
raketitch 7:e5f8936d11af 397 }
raketitch 7:e5f8936d11af 398 void printSensor()
raketitch 7:e5f8936d11af 399 {
raketitch 7:e5f8936d11af 400 pc.printf("accelX : %3.2f\n\r", accelX);
raketitch 7:e5f8936d11af 401 pc.printf("accelY : %3.2f\n\r", accelY);
raketitch 7:e5f8936d11af 402 pc.printf("accelZ : %3.2f\n\r", accelZ);
raketitch 7:e5f8936d11af 403
raketitch 7:e5f8936d11af 404 pc.printf("accRoll : %3.2f\n\r", accRoll);
raketitch 7:e5f8936d11af 405 pc.printf("accPitch : %3.2f\n\r", accPitch);
raketitch 6:16ba206a4253 406 }
beanmachine44 0:9632b831b6c1 407
raketitch 7:e5f8936d11af 408
raketitch 7:e5f8936d11af 409 void drawImageLogo(int offsetX, int offsetY)
raketitch 6:16ba206a4253 410 {
raketitch 7:e5f8936d11af 411 int x = 0;
raketitch 7:e5f8936d11af 412 int y = 0;
raketitch 7:e5f8936d11af 413 uint32_t* dataPtr = (uint32_t*)logo.data;
raketitch 7:e5f8936d11af 414 while(y < logo.height) {
raketitch 7:e5f8936d11af 415 while(x < logo.width) {
raketitch 7:e5f8936d11af 416 BSP_LCD_DrawPixel(x + offsetX, y + offsetY, *dataPtr);
raketitch 7:e5f8936d11af 417 dataPtr++;
raketitch 7:e5f8936d11af 418 x++;
raketitch 7:e5f8936d11af 419 }
raketitch 7:e5f8936d11af 420 x = 0;
raketitch 7:e5f8936d11af 421 y++;
raketitch 7:e5f8936d11af 422 }
raketitch 7:e5f8936d11af 423 }