Diff: main.cpp

Revision:

7:e5f8936d11af

Parent:

6:16ba206a4253

diff -r 16ba206a4253 -r e5f8936d11af main.cpp
--- a/main.cpp	Thu Jun 04 15:24:30 2020 +0000
+++ b/main.cpp	Wed Jun 24 21:34:53 2020 +0000
@@ -1,112 +1,423 @@
-// LSM6DS3 Demo
+// 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
-
-// refresh time. set to 500 for part 2 and 50 for part 4
-#define REFRESH_TIME_MS 500
-
-// Verify that the pin assignments below match your breadboard
-LSM6DS3 sensor(PB_9, PB_8); //SCL, SDA
-LCD_DISCO_F746NG lcd;
-TS_DISCO_F746NG ts;
-Serial pc(USBTX, USBRX); // tx, rx
-
-//prototypes
-void setup();
-void lcd_print(uint16_t x, uint16_t y, char* text);
-void lcd_print(uint16_t x, uint16_t y, char* text, float data);
-
-//Global Data
-char text[30];
+#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()
 {
-    //Init Serial port and LSM6DS3 chip
-    setup(); 
-    pc.printf("\r\n------ LSM6DS3 Demo -----------\r\n");
+    //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  -----------//
+    //------------------------------------------------------//
     
-    TS_StateTypeDef TS_State;
+    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  ----------//
+    //------------------------------------------------------//
     
-    uint16_t i;
+    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)
     {
-        i = 0;
-        //lcd.Clear(LCD_COLOR_BLACK);
-        
-        sensor.readTemp();
-        
-        lcd_print(0, i, "temperature : %0.3f", sensor.temperature_c);
-        i++;
-        
-        sensor.readAccel();
+        ts.GetState(&TS_State);//lecture ecran
+        touch = TS_State.touchDetected;
         
-        lcd_print(0, i, "acc X : %0.3f", sensor.ax);
-        i++;
-        lcd_print(0, i, "acc Y : %0.3f", sensor.ay);
-        i++;
-        lcd_print(0, i, "acc Z : %0.3f", sensor.az);
-        i++;
-
-        sensor.readGyro();
+        //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);
         
-        lcd_print(0, i, "gyro X : %0.3f", sensor.gx);
-        i++;
-        lcd_print(0, i, "gyro Y : %0.3f", sensor.gy);
-        i++;
-        lcd_print(0, i, "gyro Z : %0.3f", sensor.gz);
+                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);
         
-        ts.GetState(&TS_State);
+                    //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);
         
-        if(TS_State.touchDetected)
-        {
-            pc.printf("touched");
+                    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()
 {
-    // HIGHEST
-    uint16_t status = sensor.begin(sensor.G_SCALE_2000DPS, sensor.A_SCALE_8G,
-                                sensor.G_ODR_1660, sensor.A_ODR_6660);
-
-    //Make sure communication is working
-    pc.printf("LSM6DS3 WHO_AM_I's returned: 0x%X\r\n", status);
+    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");
-    
-    lcd.SetBackColor(LCD_COLOR_BLACK);
-    lcd.SetTextColor(LCD_COLOR_WHITE);
-    lcd.SetFont(&Font12);
-    
-    pc.printf("LDSM6DS3 Init\r\n");
-    lcd_print(0, 0, "Init LSM6DS3");
-    
-    pc.printf("LCD Init\r\n");
-    lcd_print(0, 1, "LCD init");
-    
-    
+
+    pc.printf("LCD Init size(%d, %d)\r\n", BSP_LCD_GetXSize(), BSP_LCD_GetYSize());
+
 }
 
-void lcd_print(uint16_t x, uint16_t y, char* toto)
+void readSensor()
 {
-    char txt[30];
-    sprintf((char*)txt, (const char*) toto);
-    lcd.DisplayStringAt(x, LINE(y), (uint8_t *)&txt, LEFT_MODE);
+    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 lcd_print(uint16_t x, uint16_t y, char* toto, float data)
+
+void drawImageLogo(int offsetX, int offsetY)
 {
-    char txt[30];
-    sprintf((char*)txt, (const char*) toto, data);
-    lcd.DisplayStringAt(x, LINE(y), (uint8_t *)&txt, LEFT_MODE);
-}
+    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++;
+    }
+}
\ No newline at end of file