File content as of revision 7:e5f8936d11af:

// Projet interfaçage : LSM6DS3 Demo
//Quentin NOIRET
//LP MECSE - IUT de CACHAN
//2020

//Bibliothèques
#include "mbed.h"
#include "LSM6DS3.h"            //sensor 
#include "LCD_DISCO_F746NG.h"   //LCD Screen
#include "TS_DISCO_F746NG.h"    //Touch Screen
#include "logo.h"               //logo IUT
#include "math.h"               //nécessaire aux calculs d'angle
#include "F746_GUI.hpp"         //bibliothèques d'interface



//Constantes
#define REFRESH_TIME_MS 50
#define M_PI 3.141593
#define SEUIL_1 5
#define SEUIL_2 20
#define SEUIL_3 45

#define UP_PADDING 15
#define LEFT_PADDING 15


LSM6DS3 sensor(PB_9, PB_8); //instance du capteur : (PIN_SCL, PIN_SDA)
LCD_DISCO_F746NG lcd;       //écran LCD
TS_DISCO_F746NG ts;         //écran tactile
Serial pc(USBTX, USBRX);    //liaison série

//Prototypes des fonctions

void setup(void);                               //initialisation du capteur
void readSensor(void);                          //lecture du capteur
void printSensor(void);                         //affichage des valeurs du capteur
void drawImageLogo(int offsetX, int offsetY);   //affichage du logo de l'IUT

//Variables globales
char text[30];

float accelX,            accelY,             accelZ,            // units m/s/s i.e. accelZ if often 9.8 (gravity)
      gyroX,             gyroY,              gyroZ,             // units dps (degrees per second)
      accRoll=-1,           accPitch=-1;            // units degrees (roll and pitch noisy, yaw not possible)


int etat1=0, etat2=0; //variable d'etat

using namespace std;

//--------------------------------------------------------------------//
//--------------------------- MAIN -----------------------------------//
//--------------------------------------------------------------------//

int main()
{
    //Variables locales
    TS_StateTypeDef TS_State; //Etat de l'écran tactile
    uint16_t touch, oldTouch; //pour détecter les front montant d'un double appui
    bool touchFlag = false; //flag qui s'active quand on réalise un double appui
       
    //------------------------------------------------------//
    //------------------ INITIALISATION --------------------//
    //------------------------------------------------------//
    setup();
    
    //------------------------------------------------------//
    //--------------- DEMARRAGE INTERFACE ------------------//
    //------------------------------------------------------//
    
    //------------------------------------------------------//
    //---------------------- ECRAN 1 -----------------------//
    //------------------------------------------------------//
    BSP_LCD_Clear(LCD_COLOR_WHITE);
    BSP_LCD_SetFont(&LCD_DEFAULT_FONT);
    BSP_LCD_SetBackColor(LCD_COLOR_WHITE);
    BSP_LCD_SetTextColor(LCD_COLOR_BLACK);

    BSP_LCD_DisplayStringAt(0, 1, (uint8_t *)"PROJET INTERFACAGE", CENTER_MODE);
    drawImageLogo(150,150);
    HAL_Delay(2000);
    
    //------------------------------------------------------//
    //---------------------- ECRAN 2 -----------------------//
    //------------------------------------------------------//
    
    BSP_LCD_Clear(LCD_COLOR_BLACK);
    BSP_LCD_DisplayStringAt(0, 1, (uint8_t *)"Toucher pour commencer", CENTER_MODE);
    
    //Attend que l'utilisateur touche l'écra,
    do
    {
        ts.GetState(&TS_State);
        
    }while(!TS_State.touchDetected);
    HAL_Delay(50);
    
    //------------------------------------------------------//
    //----------- DECLARATIONS OBJETS INTERFACE  -----------//
    //------------------------------------------------------//
    
    Button btnStart(LEFT_PADDING, UP_PADDING+35, 100, 75, "Start");
    Button btnStop(LEFT_PADDING+100+5, UP_PADDING+35, 100, 75, "Stop");
    Button btnDebug_On(LEFT_PADDING+200+10, UP_PADDING+35, 100, 75, "Afficher Val");
    Button btnDebug_Off(LEFT_PADDING+300+15, UP_PADDING+35, 100, 75, "Masquer Val");
    Button btnReset(480-LEFT_PADDING-100, 272-UP_PADDING-50, 100, 50, "Reset");
    
    Label lbTitre(240, 2, "Test de Stabilite", Label::CENTER, Font16);
    Label lbInfo(240, 20, "Poser 2 doigts sur l'ecran pour afficher/masquer le menu", Label::CENTER);
    Label lbSystem(260, 180, "", Label::CENTER, Font24);
    
    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);
    NumericLabel<float> lbl_ay(LEFT_PADDING, 160, "ay   : %4.2f", accelY, Label::LEFT, Font12, LCD_COLOR_WHITE, LCD_COLOR_BLACK);
    NumericLabel<float> lbl_az(LEFT_PADDING, 170, "az   : %4.2f", accelZ, Label::LEFT, Font12, LCD_COLOR_WHITE, LCD_COLOR_BLACK);
    
    NumericLabel<float> lbl_roll(LEFT_PADDING, 180, "Roll : %4.2f", accRoll, Label::LEFT, Font12, LCD_COLOR_WHITE, LCD_COLOR_BLACK);
    NumericLabel<float> lbl_pitch(LEFT_PADDING, 190, "Pitch: %4.2f", accPitch, Label::LEFT, Font12, LCD_COLOR_WHITE, LCD_COLOR_BLACK);
    
    //NumericLabel<int> lbl_etat1(LEFT_PADDING, 200, "etat1: %d", etat1, Label::LEFT, Font12, LCD_COLOR_WHITE, LCD_COLOR_BLACK);
    //NumericLabel<int> lbl_etat2(LEFT_PADDING, 210, "etat2: %d", etat2, Label::LEFT, Font12, LCD_COLOR_WHITE, LCD_COLOR_BLACK);
    
    //------------------------------------------------------//
    //---------- INITIALISATION OBJETS INTERFACE  ----------//
    //------------------------------------------------------//
    
    btnStart.Erase();
    btnStop.Erase();
    btnDebug_On.Erase();
    btnDebug_Off.Erase();
    btnReset.Erase();
    
    btnStart.Activate();
    btnStop.Inactivate();
    btnDebug_On.Inactivate();
    btnDebug_Off.Inactivate();
    btnReset.Inactivate();
    
    lbl_ax.Redraw(LCD_COLOR_BLACK);
    lbl_ay.Redraw(LCD_COLOR_BLACK);
    lbl_az.Redraw(LCD_COLOR_BLACK);

    lbl_roll.Redraw(LCD_COLOR_BLACK);
    lbl_pitch.Redraw(LCD_COLOR_BLACK);

    //lbl_etat1.Redraw(LCD_COLOR_BLACK);
    //lbl_etat2.Redraw(LCD_COLOR_BLACK);
    
    HAL_Delay(500);
    
    btnReset.Activate();
    
    //BOUCLE INFINI
    while (true)
    {
        ts.GetState(&TS_State);//lecture ecran
        touch = TS_State.touchDetected;
        
        //gestion interface        
        switch (etat1)
        {
            case 0: //idle
                if(btnStart.Touched())
                {
                    etat1 = 1;
                    btnStart.Inactivate();
                    btnStop.Activate();
                    btnDebug_On.Activate();
                }
                break;
                
            case 1://started masquer valeurs
                readSensor();
                accRoll = atan2(accelY, accelZ) * 180/M_PI;
                accPitch = atan2(-accelX, sqrt(accelY*accelY + accelZ*accelZ)) * 180/M_PI;
                if (btnDebug_On.Touched())
                {
                    btnDebug_On.Inactivate();
                    btnDebug_Off.Activate();
                    
                    etat1 = 2;
                }
                if(btnStop.Touched())
                {
                    etat1 = 0;
                    btnStart.Activate();
                    btnStop.Inactivate();
                    btnDebug_On.Inactivate();
                    btnDebug_Off.Inactivate();
                }
                
                break;
                
            case 2 ://Afficher valeurs
                readSensor();
                accRoll = atan2(accelY, accelZ) * 180/M_PI;
                accPitch = atan2(-accelX, sqrt(accelY*accelY + accelZ*accelZ)) * 180/M_PI;
                lbl_ax.Draw(accelX);
                lbl_ay.Draw(accelY);
                lbl_az.Draw(accelZ);
        
                lbl_roll.Draw(accRoll);
                lbl_pitch.Draw(accPitch);
        
                //lbl_etat1.Draw(etat1);
                //lbl_etat2.Draw(etat2);
                
                if(btnDebug_Off.Touched())
                {
                    etat1 = 1;
                    btnDebug_Off.Inactivate();
                    btnDebug_On.Activate();
                    
                    lbl_ax.Redraw(LCD_COLOR_BLACK);
                    lbl_ay.Redraw(LCD_COLOR_BLACK);
                    lbl_az.Redraw(LCD_COLOR_BLACK);
        
                    lbl_roll.Redraw(LCD_COLOR_BLACK);
                    lbl_pitch.Redraw(LCD_COLOR_BLACK);
        
                    //lbl_etat1.Redraw(LCD_COLOR_BLACK);
                    //lbl_etat2.Redraw(LCD_COLOR_BLACK);
                }
                if(btnStop.Touched())
                {
                    etat1 = 0;
                    btnStart.Activate();
                    btnStop.Inactivate();
                    btnDebug_On.Inactivate();
                    btnDebug_Off.Inactivate();
                    
                    lbl_ax.Redraw(LCD_COLOR_BLACK);
                    lbl_ay.Redraw(LCD_COLOR_BLACK);
                    lbl_az.Redraw(LCD_COLOR_BLACK);
        
                    lbl_roll.Redraw(LCD_COLOR_BLACK);
                    lbl_pitch.Redraw(LCD_COLOR_BLACK);
        
                    //lbl_etat1.Redraw(LCD_COLOR_BLACK);
                    //lbl_etat2.Redraw(LCD_COLOR_BLACK);
                }
                break;
                
        }
        
        switch(etat2)
        {
            case 0:
            //ecran bleu
                if((abs(accRoll)>SEUIL_1) || (abs(accPitch)>SEUIL_1))
                {
                    etat2 = 1;
                    BSP_LCD_Clear(LCD_COLOR_YELLOW);
                    touchFlag = true;
                    lbSystem.Draw("legerement incline");
                    
                }
            break;
            
            case 1: //attention ecran jaune
                if((abs(accRoll)<SEUIL_1) && (abs(accPitch)<SEUIL_1))
                {
                    etat2 = 0;
                    BSP_LCD_Clear(LCD_COLOR_GREEN);
                    touchFlag = true;
                    lbSystem.Draw("plat");
                }
                if((abs(accRoll)>SEUIL_2) || (abs(accPitch)>SEUIL_2))
                {
                    etat2 = 2;
                    BSP_LCD_Clear(LCD_COLOR_ORANGE);
                    touchFlag = true;
                    lbSystem.Draw("incline");
                }
            break;
            
            case 2: //orange
                if((abs(accRoll)<SEUIL_2) && (abs(accPitch)<SEUIL_2))
                {
                    etat2 = 1;
                    BSP_LCD_Clear(LCD_COLOR_YELLOW);
                    touchFlag = true;
                    lbSystem.Draw("legerement incline");
                }
                if((abs(accRoll)>SEUIL_3) || (abs(accPitch)>SEUIL_3))
                {
                    etat2 = 3;
                    BSP_LCD_Clear(LCD_COLOR_RED);
                    touchFlag = true;
                    lbSystem.Draw("tres incline");
                }
                //danger ecran rouge + clignotement
                break;
                
            case 3: //rouge
                if((abs(accRoll)<SEUIL_3) && (abs(accPitch)<SEUIL_3))
                {
                    etat2 = 2;
                    BSP_LCD_Clear(LCD_COLOR_ORANGE);
                    touchFlag = true;
                    lbSystem.Draw("incline");
                }
                //danger ecran rouge + clignotement
                break;
            
        }
        
        
        //lcd_print(250, 10, "etat1 : %0.0f", (float) etat1);
        //lcd_print(250, 11, "etat2 : %0.0f", (float) etat2);
        //lcd_print(250, 12, "touchstate : %0.0f", (float) touch);
        //---------------------------- DEBUG ------------------------------//
        if(touch == 2 && oldTouch != touch)
        {            
            if(touchFlag)
            {
                pc.printf("touchflag true / etat1 : %d\r\n", etat1);
                btnStart.Draw();
                btnStop.Draw();
                btnDebug_On.Draw();
                btnDebug_Off.Draw();
                btnReset.Draw();
                if(etat1 == 0)
                {
                    btnStart.Activate();
                    btnStop.Inactivate();
                    btnDebug_On.Inactivate();
                    btnDebug_Off.Inactivate();
                }
                else if(etat1 == 1)
                {
                    btnStart.Inactivate();
                    btnDebug_Off.Inactivate();
                }
                else
                {
                    btnStart.Inactivate();
                    btnDebug_On.Inactivate();
                }    
            }   
            else
            {
                pc.printf("touchflag false / etat1 : %d\r\n", etat1);
                btnStart.Erase();
                btnStop.Erase();
                btnDebug_On.Erase();
                btnDebug_Off.Erase();
            }
            touchFlag ^= 1;
        }
        
        if(btnReset.Touched())
        {
            NVIC_SystemReset();
        }
        
        
        oldTouch = TS_State.touchDetected;
        lbTitre.Draw();
        lbInfo.Draw();
        wait_ms(REFRESH_TIME_MS);
    }
}

//------------------- FONCTIONS ------------------------------------//

void setup()
{
    pc.printf("\r\n------ LSM6DS3 Demo -----------\r\n");
    pc.printf("LDSM6DS3 Init\r\n");
    uint16_t status = sensor.begin(sensor.G_SCALE_245DPS,   //plage de mesure minimale du gyroscope : jusqu'à +/- 245 deg/s (déjà assez rapide)
                                sensor.A_SCALE_2G,          //plage de mesure minimale de l'accéléromètre : +/- 2G (accélération relativement faible)
                                sensor.G_ODR_1660,          //fréquence d'échantillonage des valeurs du gyroscope max à 1,66 kEch/s (précision max)
                                sensor.A_ODR_6660);         //fréquence d'échantillonage des valeurs de l'accéléromètre à 6.66 kEch/s (précision max)
                        
    pc.printf("LSM6DS3 WHO_AM_I's returned: 0x%X\r\n", status); //renvoie l'adresse i2c du capteur
    pc.printf("Should be 0x69\r\n");

    pc.printf("LCD Init size(%d, %d)\r\n", BSP_LCD_GetXSize(), BSP_LCD_GetYSize());

}

void readSensor()
{
    sensor.readTemp(); //température en °C

    sensor.readAccel();//accélération en x, y, z en G(environ 9 m/s²)
    accelX = sensor.ax;
    accelY = sensor.ay;
    accelZ = sensor.az;
        
    sensor.readGyro();//vitesse de rotation en x, y, z en deg/s
    gyroX = sensor.gx;
    gyroY = sensor.gy;
    gyroZ = sensor.gz;

}
void printSensor()
{
    pc.printf("accelX : %3.2f\n\r", accelX);
    pc.printf("accelY : %3.2f\n\r", accelY);
    pc.printf("accelZ : %3.2f\n\r", accelZ);
    
    pc.printf("accRoll : %3.2f\n\r", accRoll);
    pc.printf("accPitch : %3.2f\n\r", accPitch);
}


void drawImageLogo(int offsetX, int offsetY)
{
    int x = 0;
    int y = 0;
    uint32_t* dataPtr = (uint32_t*)logo.data;
    while(y < logo.height) {
        while(x < logo.width) {
            BSP_LCD_DrawPixel(x + offsetX, y + offsetY, *dataPtr);
            dataPtr++;
            x++;
        }
        x = 0;
        y++;
    }
}