Darren Ulrich
Works
Dependencies: BMP180 BNO055_fusion Fonts GPSISR HTU21D SDFileSystem UniGraphic mbed uGUI
Fork of
Bicycl_Computer_NUCLEO-F411RE
by 
Darren Ulrich
Diff: main.cpp
- Revision:
- 11:869a102dd31c
- Parent:
- 10:a3cb458d7b1c
- Child:
- 12:49600de70963
diff -r a3cb458d7b1c -r 869a102dd31c main.cpp
--- a/main.cpp Mon Feb 20 19:10:30 2017 +0000
+++ b/main.cpp Mon Feb 27 22:37:44 2017 +0000
@@ -30,10 +30,13 @@
#include "GPSISR.h"
+#include "ArialR16x17.h"
+#include "Arial24x23i.h"
+#include "Arial28x28.h"
+#include "Neu44x36.h"
+#include "SCProSB31x55.h"
#include "Arial12x12.h"
-#include "Arial24x23.h"
-#include "Arial28x28.h"
-#include "Arial43x48_numb.h"
+#include "ArialR20x20.h"
//#define PIN_CS_TSC PA_9
//#define PIN_TSC_INTR PA_8
@@ -58,6 +61,8 @@
#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;
@@ -90,7 +95,7 @@
BNO055 imu(I2C_SDA, I2C_SCL, PIN_RESET); // Reset =D7, addr = BNO055_G_CHIP_ADDR, mode = MODE_NDOF <- as default
// Humidity and Temperature
-HTU21D temphumid(I2C_SDA, I2C_SCL);
+HTU21D humid(I2C_SDA, I2C_SCL);
// Pressure
BMP180 bmp180(I2C_SDA, I2C_SCL);
@@ -101,145 +106,13 @@
// Set up serial interrupe service handler for gps characters.
GPS MyGPS(PIN_TX_GPS,PIN_RX_GPS, 9600);
-
-int page = 0 ;
-int numPage = 2 ;
-
-void initTFT(void)
-{
- //Configure the display driver
- TFT.BusEnable(true) ;
- TFT.FastWindow(true) ;
- TFT.background(Black);
- TFT.foreground(White);
- wait(0.01) ;
- TFT.cls();
- TFT.BusEnable(false) ;
-}
-
-void screen1(void) // Welcome Screen
-{
- TFT.BusEnable(true) ;
- //backlight = 0 ;
- TFT.background(White) ;
- wait(0.1) ;
- TFT.cls() ;
- wait(0.1) ;
-
- TFT.set_font((unsigned char*) Arial24x23);
- TFT.foreground(Red) ;
- TFT.locate(80, 40) ;
- TFT.printf("MBED") ;
- TFT.foreground(Blue);
- TFT.locate(60, 80) ;
- TFT.printf("2.8\"TFT") ;
- TFT.locate(40, 120) ;
- TFT.printf("with touch") ;
- TFT.foreground(Black);
- TFT.set_font((unsigned char*) Arial12x12);
- TFT.foreground(Blue) ;
- TFT.locate(30, 180) ;
- TFT.printf("This program is running on") ;
- TFT.locate(30, 200) ;
- TFT.printf("ST Nucleo F411RE with") ;
- TFT.locate(30, 220) ;
- TFT.printf("a program developed in mbed") ;
- TFT.foreground(Green) ;
- TFT.locate(30, 260) ;
- TFT.printf("To advance demo page, touch") ;
- TFT.locate(30, 280) ;
- TFT.printf("and hold right side of screen") ;
- TFT.locate(30, 300) ;
- TFT.printf("until the next screen starts") ;
- TFT.BusEnable(false) ;
- //backlight = 1 ;
-}
+void Draw_Compass_Rose(void);
+void arrow(int x2, int y2, int x1, int y1, int alength, int awidth, int colour);
-void screen2(void) // Graphics
-{
- //Draw some graphics
- int i, x[2], y[2] ;
- //backlight = 0 ;
- TFT.BusEnable(true) ;
- TFT.background(Black);
- wait(0.1) ;
- TFT.foreground(White);
- wait(0.1) ;
- TFT.cls() ;
- wait(0.1) ;
- TFT.set_font((unsigned char*) Arial12x12);
- TFT.locate(90,0);
- TFT.printf("Graphics");
-
- x[0] = 25 ; x[1] = 224 ;
- y[0] = 20 ; y[1] = 219 ;
- for (i = 20 ; i < 220 ; i += 10) {
- TFT.line(i+5, y[0], i+5, y[1], Blue) ;
- TFT.line(x[0], i, x[1], i, Blue) ;
- }
- TFT.line(125, y[0], 125, y[1], Green) ;
- TFT.line(x[0], 120, x[1], 120, Green) ;
- TFT.rect(x[0],y[0], x[1], y[1], Green) ;
- TFT.locate(10, 20) ;
- TFT.printf("V") ;
- TFT.locate(0, 115) ;
- TFT.printf("0.0") ;
- TFT.locate(115, 225) ;
- TFT.printf("0.0") ;
- TFT.locate(215, 225) ;
- TFT.printf("T") ;
+const int centreX = 120;
+const int centreY = 150;
+const int radius = 40;
- double s;
- for (int i = x[0]; i < 225; i++) {
- s = 40 * sin((long double)i / 20);
- TFT.pixel(i, 120 + (int)s, White);
- }
-
- TFT.fillrect(10, 240, 229, 309, White) ;
- TFT.rect(10, 240, 229, 309, Red) ;
- TFT.rect(11, 241, 228, 308, Red) ;
-
- TFT.background(White) ;
- TFT.foreground(Black) ;
- TFT.locate(20, 250) ;
- TFT.printf("With QVGA resolution") ;
- TFT.locate(20, 270) ;
- TFT.printf("simple graphics drawing") ;
- TFT.locate(20, 290) ;
- TFT.printf("capability is provided") ;
- TFT.BusEnable(false) ;
- //backlight = 1 ;
-}
-
-double clip(double src)
-{
- double value ;
- value = src ;
- if (value < 0.0) {
- value = 0.0 ;
- } else if (value > 2.0) {
- value = 2.0 ;
- }
- return( value ) ;
-}
-
-void incPage(void)
-{
- page++ ;
- if (page >= numPage) {
- page = 0 ;
- }
-}
-
-void decPage(void)
-{
- page-- ;
- if (page < 0) {
- page = numPage - 1 ;
- }
-}
-
-
int main()
{
TFT.BusEnable(true) ;
@@ -251,90 +124,161 @@
const int refresh_Time = 2000; //refresh time in ms
refresh_Timer.start(); //starts the clock on the timer
//backlight = 0 ;
- TFT.set_font((unsigned char*) Arial24x23);
+ TFT.set_font((unsigned char*) Arial24x23i);
TFT.fillrect(2, 2, 237, 317, White);
TFT.foreground(Blue);
TFT.background(White);
wait(0.1);
-
+ Draw_Compass_Rose();
+
while (1) {
- //check if we recieved a new message from GPS, if so, attempt to parse it,
+
+ TFT.set_font((unsigned char*) ArialR20x20);
+ //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();
+ 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");
+ }
+ //pc.printf("Temperature is : %f", temp);
+ TFT.locate(4, 26) ;
+ TFT.printf("%.1fF", ((temp* 9.0) / 5.0 + 32));
+ }
+ int ftemp = humid.sample_ftemp();
+ int humidity = humid.sample_humid();
+ TFT.locate(140, 26) ;
+ TFT.printf("%d%%RH",humidity);
+ //pc.printf("HTU21D Temp: %d",ftemp);
+ //pc.printf("HTU21D Humidity: %d",humidity);
+
+
+ if (imu.chip_ready() == 0){
+ pc.printf("Bosch BNO055 is NOT avirable!!\r\n");
+ } else {
+ printf("Cal %d", imu.read_calib_status());
+ 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);
+ imu.get_quaternion(&quaternion);
+ TFT.locate(4, 260) ;
+ TFT.printf("%.1f",euler_angles.h);
+ //pc.printf("H %.1f",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");
+ }
+ }
+
+ float last_dx;
+ float last_dy;
+ float angle = int(euler_angles.h * 180/PI); // Convert radians to degrees for more a more usual result
+ // For the screen -X = up and +X = down and -Y = left and +Y = right, so does not follow coordinate conventions
+ float dx = (0.7*radius * cos((angle-90)*PI/180)) + centreX; // calculate X position for the screen coordinates - can be confusing!
+ float dy = (0.7*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,White); // Erase last arrow
+ arrow(dx,dy, centreX, centreY, 2, 2,Blue); // Draw arrow in new position
+ last_dx = dx;
+ last_dy = dy;
+
+
if (MyGPS.dataready()) {
MyGPS.read();
- pc.printf("NMEA has valid data");
- pc.printf("Sats : %d \n", MyGPS.buffer.satellites);
- pc.printf("%d-%d-%d\n", MyGPS.buffer.month, MyGPS.buffer.day, MyGPS.buffer.year);
- pc.printf("%d:%d:%d\n", MyGPS.buffer.hours, MyGPS.buffer.minutes, MyGPS.buffer.seconds);
+ //pc.printf("NMEA has valid data");
+ //pc.printf("Sats : %d \n", MyGPS.buffer.satellites);
+ //pc.printf("%d-%d-%d\n", MyGPS.buffer.month, MyGPS.buffer.day, MyGPS.buffer.year);
+ //pc.printf("%d:%d:%d\n", MyGPS.buffer.hours, MyGPS.buffer.minutes, MyGPS.buffer.seconds);
-
- TFT.locate(2, 2) ;
+ TFT.foreground(White);
+ TFT.locate(4, 2) ;
+ TFT.printf("No Data");
+ TFT.foreground(Blue);
+ TFT.locate(4, 2) ;
TFT.printf("%d-%d-%d", MyGPS.buffer.month, MyGPS.buffer.day, MyGPS.buffer.year);
- TFT.locate(2, 26) ;
+ TFT.locate(140, 2) ;
TFT.printf("%d:%d:%d", MyGPS.buffer.hours, MyGPS.buffer.minutes, MyGPS.buffer.seconds);
+ TFT.locate(140, 260) ;
+ TFT.printf("%.1fft", MyGPS.buffer.altitude/0.3048);
+ TFT.locate(4, 280) ;
+ int degree;
+ int minutes;
+ int seconds;
+ degree = (int)MyGPS.buffer.longitude;
+ minutes = (int) ( (MyGPS.buffer.longitude - (double)degree) * 60.0);
+ seconds = (int) ( (MyGPS.buffer.longitude - (double)degree - (double)minutes / 60.0) * 60.0 * 60.0 );
+ TFT.printf("%d %d' %d\"lon", degree, minutes,seconds);
+ TFT.locate(4, 300) ;
+ degree = (int)MyGPS.buffer.latitude;
+ minutes = (int) ( (MyGPS.buffer.latitude - (double)degree) * 60.0);
+ seconds = (int) ( (MyGPS.buffer.latitude - (double)degree - (double)minutes / 60.0) * 60.0 * 60.0 );
+ TFT.printf("%d %d' %d\"lat", degree, minutes,seconds);
+ TFT.set_font((unsigned char*) SCProSB31x55);
+ TFT.locate(120, 200) ;
+ TFT.printf("%.1f", MyGPS.buffer.speed);
}
else {
- pc.printf("NMEA has no valid data");
+ TFT.locate(4, 2) ;
+ TFT.printf("No Data");
+ //pc.printf("NMEA has no valid data");
}
-
}
}
-
- // uint16_t x, y, z ;
- int prevPage = 99 ;
- bool waitTouch = false ;
- point p;
-
- printf("Hello World\n") ;
-
- // screen0() ;
-
- printf("Program Started!\n\r") ;
-
- for(;;) {
-// printf("TFT width = %d, height = %d\n\r", TFT.width(), TFT.height()) ;
- // tft_cs = 0 ;
- switch(page) {
- case 0:
- if (prevPage != page) {
- screen1() ;
- }
- waitTouch = true ;
- break ;
- case 1:
- if (prevPage != page) {
- screen2() ;
- }
- waitTouch = true ;
- break ;
- default:
- page = 0 ;
- break ;
- }
- prevPage = page ;
+}
+
+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.line(x1, y1, x2, y2, colour);
+ TFT.line(x1, y1, dx, dy, colour);
+ TFT.line(x3, y3, x4, y4, colour);
+ TFT.line(x3, y3, x2, y2, colour);
+ TFT.line(x2, y2, x4, y4, colour);
+}
- // tft_cs = 1 ;
- do {
- TSC.getTouch(p);
- //printf("Touched X %d\n\r", p.x) ;
- //printf("Touched Y %d\n\r", p.y) ;
- //printf("Touched Z %d\n\r", p.z) ;
- wait(3) ;
- if (p.z > __PRESURE) {
- if (p.y < 30000) { // left
- decPage() ;
- } else if (p.y > 90000) { // right
- incPage() ;
- }
- waitTouch = false ;
- }
- //tsc_cs = 1 ;
- }
- while(waitTouch != false) ;
- //wait(1) ;
- }
+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");
}
\ No newline at end of file