File content as of revision 18:50520438c129:

/* mbed main.cpp to test adafruit 2.8" TFT LCD shiled w Touchscreen
 * Copyright (c) 2014, 2015 Motoo Tanaka @ Design Methodology Lab
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */

/*
 * Note: This program is derived from the SeeeStudioTFTv2 program.
 * Although both program share same ILI9341 TFT driver,
 * the touch sensor was not same with the Display I purchased from Akizuki.
 * http://akizukidenshi.com/catalog/g/gM-07747/
 * The touch sensor on the display is STMPE610,
 * so I hacked the minimum spi driver for it (polling mode only).
 */

#include "mbed.h"
#include <math.h>
#include "ILI9341.h"
//#include "TFT.h"
// Graphics GUI Library
#include    "ugui.h"

#include "SeeedStudioTFTv2.h"
#include "BNO055.h"
#include "HTU21D.h"
#include "BMP180.h"
#include "GPSISR.h"
#include "nav.h"

#include "ArialR16x17.h"
#include "Arial24x23i.h"
#include "Arial28x28.h"
#include "Neu44x36.h"
#include "SCProSB31x55.h"
#include "Arial12x12.h"
#include "ArialR20x20.h"
#include "compass.h"

//#define PIN_CS_TSC      PA_9
//#define PIN_TSC_INTR    PA_8
#define PIN_RESET_TFT   PC_13 /* place holder */
//ILI9341 SPI PINS
#define PIN_XP          A3
#define PIN_XM          A1
#define PIN_YP          A2
#define PIN_YM          A0
#define PIN_MOSI_SPI1   D11 //SPI 1 MOSI
#define PIN_MISO_SPI1   D12 //SPI 1 MISO
#define PIN_SCLK_SPI1   D13 //SPI 1 SLCK
#define PIN_CS_SPI1     D5 // SPI CS D10 Was D5
#define PIN_DC_TFT      D6
#define PIN_CS_SD       D4
#define PIN_RESET       D7
// SD Card on GPS shield PINS
#define PIN_MOSI_SPI3   PB_15 //SPI 1 MOSI
#define PIN_MISO_SPI3   PB_14 //SPI 1 MISO
#define PIN_SCLK_SPI3   PB_13 //SPI 1 SLCK
#define PIN_CS_SPI3     D2 // SPI CS
#define PIN_RX_GPS      PA_12 //GPS Shield RX pin
#define PIN_TX_GPS      PA_11 //GPS Shield TX pin

#define PI                  3.14159265358979f
BNO055_ID_INF_TypeDef       bno055_id_inf;
BNO055_EULER_TypeDef        euler_angles;
BNO055_QUATERNION_TypeDef   quaternion;
BNO055_LIN_ACC_TypeDef      linear_acc;
BNO055_GRAVITY_TypeDef      gravity;
BNO055_TEMPERATURE_TypeDef  chip_temp;

#define DEVICE_NAME     "F411RE"

#ifndef TARGET_NECLEO_F411RE
#define TARGET_NECLEO_F411RE
#endif

//DigitalOut backlight(PB_3) ;
// DigitalOut tsc_cs(PA_9, 1) ;
// DigitalOut tft_cs(PB_6, 1) ;

/** Height of display using default orientation */
#define ILI9341_DEFAULT_HEIGHT   240

/** Width of display using default orientation */
#define ILI9341_DEFAULT_WIDTH    320

/** Height of display using swapped X/Y orientation */
#define ILI9341_SWITCH_XY_HEIGHT 320

/** Width of display using swapped X/Y orientation */
#define ILI9341_SWITCH_XY_WIDTH  240

Serial pc(USBTX, USBRX);

// Display
ILI9341 TFT(SPI_8, 20000000,
            PIN_MOSI_SPI1, PIN_MISO_SPI1,  PIN_SCLK_SPI1,
            PIN_CS_SPI1, PIN_RESET_TFT, PIN_DC_TFT, "Adafruit2.8") ;

// TouchScreen
TouchScreen TSC(PIN_XP, PIN_XM, PIN_YP, PIN_YM);

// 3 Axis IMU
BNO055 imu(I2C_SDA, I2C_SCL, PIN_RESET);  // Reset =D7, addr = BNO055_G_CHIP_ADDR, mode = MODE_NDOF <- as default
// Humidity and Temperature
HTU21D humid(I2C_SDA, I2C_SCL);

// Pressure
BMP180 bmp180(I2C_SDA, I2C_SCL);

// Set up serial interrupe service handler for gps characters.
GPS MyGPS(PIN_TX_GPS,PIN_RX_GPS, 9600);

//Navigation Class.
NAV nav;
double plat = 42.826420;
double plon = -84.219413;

void Draw_Compass_Rose(void);
void arrow(int x2, int y2, int x1, int y1, int alength, int awidth, int colour);
void ili9341_pset(UG_S16 ul_x,UG_S16 ul_y, UG_COLOR ul_color);
void window_1_callback( UG_MESSAGE* msg );
void window_2_callback( UG_MESSAGE* msg );
void window_3_callback( UG_MESSAGE* msg );
void cb1(void);

const int centreX = 120;
const int centreY = 136;
const int radius  = 104;
float last_dx;
float last_dy;

int pageid = 1;
bool pageinit = 0;
#define PAGE1       1
#define PAGE2       2
#define PAGE3       3

UG_GUI   gui;

//Ticker to1;

int main()
{
    //to1.attach(&cb1, 2.0);
    TFT.BusEnable(true) ;
    TFT.FastWindow(true) ;
    wait(0.1);
    TFT.cls();
    wait(0.1);

    UG_Init(&gui,ili9341_pset,ILI9341_DEFAULT_HEIGHT,ILI9341_DEFAULT_WIDTH);

    Timer refresh_Timer; //sets up a timer for use in loop; how often do we print GPS info?
    const int refresh_Time = 2000; //refresh time in ms
    refresh_Timer.start();  //starts the clock on the timer
    //backlight = 0 ;
    wait(0.1);

    // Draw_Compass_Rose();
    /* Window 1 Bike Computer */
#define MAX_OBJECTS 10
    UG_WINDOW window_1 ; /* Window */
    UG_BUTTON button_1; /* Button container */
    UG_BUTTON button_2; /* Button container */
    UG_OBJECT obj_buff_wnd_1 [MAX_OBJECTS] ; /* Object buffer */
    UG_WindowCreate ( &window_1 , obj_buff_wnd_1 , MAX_OBJECTS, window_1_callback);
    UG_WindowSetTitleTextFont ( &window_1 , &FONT_8X8 ) ;
    UG_WindowSetTitleText ( &window_1 , "Bike Computer" ) ;
    UG_WindowSetBackColor( &window_1 , C_GRAY ) ;
    UG_ButtonCreate (&window_1, &button_1, BTN_ID_0, 10 , 230 , 115 , 290 );
    UG_ButtonCreate (&window_1, &button_2, BTN_ID_1, 125 , 230 , 225 , 290 );
    UG_ButtonSetBackColor (&window_1 ,BTN_ID_0 , C_BLUE ) ;
    UG_ButtonSetForeColor (&window_1 ,BTN_ID_0 , C_WHITE ) ;
    UG_ButtonSetBackColor (&window_1 ,BTN_ID_1 , C_BLUE ) ;
    UG_ButtonSetForeColor (&window_1 ,BTN_ID_1 , C_WHITE ) ;
    UG_ButtonSetFont (&window_1 , BTN_ID_0 , &FONT_8X8) ;
    UG_ButtonSetFont (&window_1 , BTN_ID_1 , &FONT_8X8) ;
    UG_ButtonSetText (&window_1 , BTN_ID_0 , "Prev" );
    UG_ButtonSetText (&window_1 , BTN_ID_1 , "Next" );

    /* Window 2 e-Compass */
    UG_WINDOW window_2 ; /* Window */
    UG_BUTTON button_3; /* Button container */
    UG_BUTTON button_4; /* Button container */
    UG_OBJECT obj_buff_wnd_2 [MAX_OBJECTS] ; /* Object buffer */
    UG_WindowCreate ( &window_2 , obj_buff_wnd_2 , MAX_OBJECTS, window_2_callback);
    UG_WindowSetTitleTextFont ( &window_2 , &FONT_8X8 ) ;
    UG_WindowSetTitleText ( &window_2 , "e-Compass" ) ;
    UG_WindowSetBackColor( &window_2 , C_GRAY ) ;
    UG_ButtonCreate (&window_2, &button_3, BTN_ID_2, 10 , 230 , 115 , 290 );
    UG_ButtonCreate (&window_2, &button_4, BTN_ID_3, 125 , 230 , 225 , 290 );
    UG_ButtonSetBackColor (&window_2 ,BTN_ID_2 , C_BLUE ) ;
    UG_ButtonSetForeColor (&window_2 ,BTN_ID_2 , C_WHITE ) ;
    UG_ButtonSetBackColor (&window_2 ,BTN_ID_3 , C_BLUE ) ;
    UG_ButtonSetForeColor (&window_2 ,BTN_ID_3 , C_WHITE ) ;
    UG_ButtonSetFont (&window_2 , BTN_ID_2 , &FONT_8X8) ;
    UG_ButtonSetFont (&window_2 , BTN_ID_3 , &FONT_8X8) ;
    UG_ButtonSetText (&window_2 , BTN_ID_2 , "Prev" );
    UG_ButtonSetText (&window_2 , BTN_ID_3 , "Next" );
    /*Create the image */
    //UG_IMAGE image_1;
    //UG_ImageCreate(&window_2 ,&image_1 ,IMG_ID_0 ,(UG_WindowGetInnerWidth(&
    //      window_2)>>1) - (compass.width>>1) ,10 ,0 ,0) ;
    //UG_ImageSetBMP(&window_2, IMG_ID_0 ,&compass) ;


    /* Window 3 GSP */
    UG_WINDOW window_3 ; /* Window */
    UG_BUTTON button_5; /* Button container */
    UG_BUTTON button_6; /* Button container */
    UG_OBJECT obj_buff_wnd_3 [MAX_OBJECTS] ; /* Object buffer */
    UG_WindowCreate ( &window_3 , obj_buff_wnd_3 , MAX_OBJECTS, window_3_callback);
    UG_WindowSetTitleTextFont ( &window_3 , &FONT_8X8 ) ;
    UG_WindowSetTitleText ( &window_3 , "GPS Waypoints" ) ;
    UG_WindowSetBackColor( &window_3 , C_GRAY ) ;
    UG_ButtonCreate (&window_3, &button_5, BTN_ID_4, 10 , 230 , 115 , 290 );
    UG_ButtonCreate (&window_3, &button_6, BTN_ID_5, 125 , 230 , 225 , 290 );
    UG_ButtonSetBackColor (&window_3 ,BTN_ID_4 , C_BLUE ) ;
    UG_ButtonSetForeColor (&window_3 ,BTN_ID_4 , C_WHITE ) ;
    UG_ButtonSetBackColor (&window_3 ,BTN_ID_5 , C_BLUE ) ;
    UG_ButtonSetForeColor (&window_3 ,BTN_ID_5 , C_WHITE ) ;
    UG_ButtonSetFont (&window_3 , BTN_ID_4 , &FONT_8X8) ;
    UG_ButtonSetFont (&window_3 , BTN_ID_5 , &FONT_8X8) ;
    UG_ButtonSetText (&window_3 , BTN_ID_4 , "Prev" );
    UG_ButtonSetText (&window_3 , BTN_ID_5 , "Next" );
  
    while (1) {

        cb1();

        TFT.set_font((unsigned char*) ArialR20x20);
        TFT.foreground(White);
        TFT.background(UG_WindowGetBackColor(&window_1));
        //check if we recieved a new message from GPS, if so, attempt to parse it,
        if (refresh_Timer.read_ms() >= refresh_Time) {
            refresh_Timer.reset();

            switch ( pageid ) {
                case PAGE1: {
                    if (!pageinit) {
                        UG_WindowHide(&window_2);
                        UG_WindowHide(&window_3);
                        UG_WindowShow(&window_1);
                        UG_Update();
                    }
                    pageinit = 1;
                    if (bmp180.init() != 0) {
                        //pc.printf("Error communicating with BMP180\n");
                    } else {
                        //pc.printf("Initialized BMP180\n");
                        bmp180.startTemperature();
                        wait(0.1);     // Wait for conversion to complete
                        float temp;
                        if(bmp180.getTemperature(&temp) != 0) {
                            //pc.printf("Error getting temperature\n");
                        }
                        TFT.set_font((unsigned char*) Arial12x12);
                        TFT.locate(10, 65) ;
                        TFT.printf("Temperature");
                        TFT.set_font((unsigned char*) ArialR20x20);
                        TFT.locate(10, 80);
                        TFT.printf("%.1f*", ((temp* 9.0) / 5.0 + 32));
                    }
                    int ftemp = humid.sample_ftemp();
                    int humidity = humid.sample_humid();
                    TFT.set_font((unsigned char*) Arial12x12);
                    TFT.locate(150, 65) ;
                    TFT.printf("Humidity");
                    TFT.set_font((unsigned char*) ArialR20x20);
                    TFT.locate(150, 80) ;
                    TFT.printf("%d%%",humidity);
                    if (MyGPS.dataready()) {
                        MyGPS.read();
                        TFT.locate(10, 40) ;
                        TFT.foreground(UG_WindowGetBackColor(&window_1));
                        TFT.printf("No GPS Data");
                        TFT.foreground(White);
                        TFT.set_font((unsigned char*) Arial12x12);
                        TFT.locate(12, 25) ;
                        TFT.printf("Time");
                        TFT.locate(150, 25) ;
                        TFT.printf("Date");
                        TFT.set_font((unsigned char*) ArialR20x20);
                        TFT.locate(10, 40) ;
                        TFT.printf("%d:%d:%d", MyGPS.buffer.hours, MyGPS.buffer.minutes, MyGPS.buffer.seconds);
                        TFT.set_font((unsigned char*) ArialR20x20);
                        TFT.locate(150, 40) ;
                        TFT.printf("%d-%d-%d", MyGPS.buffer.month, MyGPS.buffer.day, MyGPS.buffer.year);
                        TFT.set_font((unsigned char*) SCProSB31x55);
                        TFT.locate(125, 180) ;
                        TFT.printf("%.1f", MyGPS.buffer.speed);
                        TFT.locate(10, 180);
                        TFT.printf("%d", 6); //Cadence
                        TFT.set_font((unsigned char*) Arial12x12);
                        TFT.locate(45, 212) ;
                        TFT.printf("rpm");
                        TFT.locate(10, 170) ;
                        TFT.printf("Cadence");
                        TFT.locate(207, 212) ;
                        TFT.printf("mph");
                        TFT.locate(125, 170) ;
                        TFT.printf("Speed");
                        TFT.set_font((unsigned char*) ArialR20x20);
                        //TFT.locate(10, 50) ;
                        //double waypoint = nav.CalculateDistance(MyGPS.buffer.latitude,MyGPS.buffer.longitude,plat,plon)/double(1609.344);
                        //TFT.printf("%.1fMI From Perry", waypoint);
                    } else {
                        TFT.locate(10, 40) ;
                        TFT.printf("No GPS Data     ");
                        //pc.printf("NMEA has no valid data");
                    }
                    break;
                }
                case PAGE2: {
                    if (!pageinit) {
                        UG_WindowHide(&window_1);
                        UG_WindowHide(&window_3);
                        UG_WindowShow(&window_2);
                        UG_Update();
                                                TFT.drawXBitmap(20,35,compass,compass_width,compass_height,C_WHITE);
                                        }
                                        pageinit = 1;   
                    if (imu.read_calib_status() > 0x0) {
                      imu.get_Euler_Angles(&euler_angles);      
                                            float angle = euler_angles.h; // Convert radians to degrees for more a more usual result
                                            
                                            TFT.set_font((unsigned char*) ArialR20x20);     
                                            TFT.foreground(White);
                                            TFT.background(UG_WindowGetBackColor(&window_1));
                                            TFT.locate(10, 224) ;
                                            TFT.printf("%.1f*", euler_angles.h);
                                                    
                      // For the screen -X = up and +X = down and -Y = left and +Y = right, so does not follow coordinate conventions
                      float dx = (radius * cos((angle-90)*PI/180)) + centreX;  // calculate X position for the screen coordinates - can be confusing!
                      float dy = (radius * sin((angle-90)*PI/180)) + centreY;  // calculate Y position for the screen coordinates - can be confusing!
                      arrow(last_dx,last_dy, centreX, centreY, 2,2,UG_WindowGetBackColor(&window_2));      // Erase last arrow
                      arrow(dx,dy, centreX, centreY, 2, 2,C_WHITE);               // Draw arrow in new position
                      last_dx = dx;
                      last_dy = dy;
                    }
                    
                    
                    break;
                }
                case PAGE3: {
                    if (!pageinit) {
                        UG_WindowHide(&window_1);
                        UG_WindowHide(&window_2);
                        UG_WindowShow(&window_3);
                        UG_Update();
                    }
                    pageinit = 1;
                    break;
                }
            }
        }
        /*
            TFT.locate(140, 260) ;
        TFT.printf("%.1fft", MyGPS.buffer.altitude/0.3048);
            TFT.locate(4, 280) ;
            int degree;
            int minutes;
            int seconds;
            degree = (int)abs(MyGPS.buffer.longitude);
        minutes = (int) ( (abs(MyGPS.buffer.longitude) - (double)degree) * 60.0);
        seconds = (int) ( (abs(MyGPS.buffer.longitude) - (double)degree - (double)minutes / 60.0) * 60.0 * 60.0 );
        TFT.printf("%d %d' %d\" %c lon", degree, minutes,seconds, MyGPS.buffer.lonc);
            TFT.locate(4, 300) ;
            TFT.locate(4, 300) ;
        degree = (int)abs(MyGPS.buffer.latitude);
        minutes = (int) ( (abs(MyGPS.buffer.latitude) - (double)degree) * 60.0);
        seconds = (int) ( (abs(MyGPS.buffer.latitude) - (double)degree - (double)minutes / 60.0) * 60.0 * 60.0 );
        TFT.printf("%d %d' %d\" %c lat", degree, minutes,seconds, MyGPS.buffer.latc);



            //pc.printf("Dist to Perry %.4f ", nav.CalculateDistance(MyGPS.buffer.latitude,MyGPS.buffer.longitude,plat,plon));


        }


        if (imu.chip_ready() == 0){
        pc.printf("Bosch BNO055 is NOT avirable!!\r\n");
        } else {

        if (imu.read_calib_status() > 0x0){
            TFT.foreground(White);
            TFT.locate(4, 260) ;
            TFT.printf("No Data");
            TFT.foreground(Blue);
            imu.get_Euler_Angles(&euler_angles);
            TFT.locate(4, 260) ;
            TFT.printf("%.1f @ %.1f",euler_angles.h, euler_angles.p);
            //pc.printf("H %d",(int)euler_angles.h);
            //pc.printf("R %.1f",euler_angles.r);
            //pc.printf("P %.1f",euler_angles.p);

        } else {
                TFT.locate(4, 260) ;
                TFT.printf("No Data");
        }
        }




        }
        */
    }
}

void arrow(int x2, int y2, int x1, int y1, int alength, int awidth, int colour)
{
    float distance;
    int dx, dy, x2o,y2o,x3,y3,x4,y4,k;
    distance = sqrt(pow((double)(x1 - x2),2) + pow((double)(y1 - y2), 2));
    dx = x2 + (x1 - x2) * alength / distance;
    dy = y2 + (y1 - y2) * alength / distance;
    k = awidth / alength;
    x2o = x2 - dx;
    y2o = dy - y2;
    x3 = y2o * k + dx;
    y3 = x2o * k + dy;
    x4 = dx - y2o * k;
    y4 = dy - x2o * k;
    TFT.fillcircle(x3,y3,2,colour);
    TFT.set_font((unsigned char*) ArialR20x20);
}

void Draw_Compass_Rose(void)
{
    int dxo, dyo, dxi, dyi;
    TFT.circle(centreX,centreY,radius,Blue);  // Draw compass circle
    for (float i = 0; i <360; i = i + 22.5) {
        dxo = radius * cos(i*3.14/180);
        dyo = radius * sin(i*3.14/180);
        dxi = dxo * 0.95;
        dyi = dyo * 0.95;
        TFT.line(dxi+centreX,dyi+centreY,dxo+centreX,dyo+centreY,Blue);
    }
    TFT.set_font((unsigned char*) Arial12x12);
    TFT.foreground(Blue);
    TFT.background(White);
    TFT.locate((centreX-2),(centreY-24));
    TFT.printf("N");
    TFT.locate((centreX-2),(centreY+17));
    TFT.printf("S");
    TFT.locate((centreX+19),(centreY-3));
    TFT.printf("E");
    TFT.locate((centreX-23),(centreY-3));
    TFT.printf("W");
}

void ili9341_pset(UG_S16 ul_x,UG_S16 ul_y, UG_COLOR ul_color)
{
    TFT.pixel(ul_x, ul_y, ul_color);
}

void window_1_callback( UG_MESSAGE* msg )
{
    if ( msg->type == MSG_TYPE_OBJECT ) {
        if ( msg->id == OBJ_TYPE_BUTTON ) {
            switch ( msg->sub_id ) {
                case BTN_ID_0: {
                    pageid--;
                    if (pageid < 1) {
                        pageid = 3;
                    }
                    pageinit = 0;
                    break;
                }
                case BTN_ID_1: {
                    pageid++;
                    if (pageid > 3) {
                        pageid = 1;
                    }
                    pageinit = 0;
                    break;
                }
            }
        }
    }
}

void window_2_callback( UG_MESSAGE* msg )
{
    if ( msg->type == MSG_TYPE_OBJECT ) {
        if ( msg->id == OBJ_TYPE_BUTTON ) {
            switch ( msg->sub_id ) {
                case BTN_ID_2: {
                    pageid--;
                    if (pageid < 1) {
                        pageid = 3;
                    }
                    pageinit = 0;
                    break;
                }
                case BTN_ID_3: {
                    pageid++;
                    if (pageid > 3) {
                        pageid = 1;
                    }
                    pageinit = 0;
                    break;
                }
            }
        }
    }
}

void window_3_callback( UG_MESSAGE* msg )
{
    if ( msg->type == MSG_TYPE_OBJECT ) {
        if ( msg->id == OBJ_TYPE_BUTTON ) {
            switch ( msg->sub_id ) {
                case BTN_ID_4: {
                    pageid--;
                    if (pageid < 1) {
                        pageid = 3;
                    }
                    pageinit = 0;
                    break;
                }
                case BTN_ID_5: {
                    pageid++;
                    if (pageid > 3) {
                        pageid = 1;
                    }
                    pageinit = 0;
                    break;
                }
            }
        }
    }
}

void cb1(void)
{
    point p;
    TSC.getTouch(p);
    if (p.z > __PRESURE) {
        UG_TouchUpdate ( p.x, p.y, TOUCH_STATE_PRESSED ) ;
    } else {
        UG_TouchUpdate (-1, -1, TOUCH_STATE_RELEASED ) ;
    }
    UG_Update();
}