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:
- 14:4f0ebc5a4f00
- Parent:
- 13:1a9c0f9d7128
- Child:
- 15:b174ec6e3ca0
--- a/main.cpp Wed Mar 01 03:39:33 2017 +0000
+++ b/main.cpp Fri Mar 03 02:56:25 2017 +0000
@@ -64,14 +64,6 @@
#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
@@ -93,7 +85,7 @@
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
+BNO055 imu(I2C_SDA, I2C_SCL); // New Library Adafruit
// Humidity and Temperature
HTU21D humid(I2C_SDA, I2C_SCL);
@@ -142,58 +134,58 @@
while (1) {
- TFT.set_font((unsigned char*) ArialR20x20);
- //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 (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");
+ if (imu.check() == 0){
+ pc.printf("Bosch BNO055 is NOT avirable!!\r\n");
+ } else {
+ //printf("Cal %d", imu.read_calib_status());
+ imu.get_calib();
+ if (imu.cal.system > 0x0){
+ TFT.foreground(White);
+ TFT.locate(4, 260) ;
+ TFT.printf("No Data");
+ TFT.foreground(Blue);
+ imu.get_angles();
+ TFT.locate(4, 260) ;
+ TFT.printf("%.1f",imu.euler.yaw);
+ //pc.printf("H %.1f",euler_angles.h);
+ //pc.printf("R %.1f",euler_angles.r);
+ //pc.printf("P %.1f",euler_angles.p);
+
} 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");
- }
- }
+ TFT.locate(4, 260) ;
+ TFT.printf("No Data");
+ }
+ }
- 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 angle = int(imu.euler.yaw); // * 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
@@ -207,45 +199,42 @@
//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.foreground(White);
- TFT.locate(4, 2) ;
- TFT.printf("No Data");
+ 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(4, 50) ;
- double waypoint = nav.CalculateDistance(MyGPS.buffer.latitude,MyGPS.buffer.longitude,plat,plon)/double(1609.344);
- TFT.printf("%.1fMI From Perry", waypoint);
+ TFT.locate(4, 50) ;
+ double waypoint = nav.CalculateDistance(MyGPS.buffer.latitude,MyGPS.buffer.longitude,plat,plon)/double(1609.344);
+ TFT.printf("%.1fMI From Perry", waypoint);
TFT.locate(140, 2) ;
TFT.printf("%d:%d:%d", MyGPS.buffer.hours, MyGPS.buffer.minutes, MyGPS.buffer.seconds);
- TFT.locate(140, 260) ;
+ 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);
+ 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) ;
+ 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);
- TFT.set_font((unsigned char*) SCProSB31x55);
+ TFT.set_font((unsigned char*) SCProSB31x55);
TFT.locate(120, 200) ;
TFT.printf("%.1f", MyGPS.buffer.speed);
-
-
-
- //pc.printf("Dist to Perry %.4f ", nav.CalculateDistance(MyGPS.buffer.latitude,MyGPS.buffer.longitude,plat,plon));
+
+ //pc.printf("Dist to Perry %.4f ", nav.CalculateDistance(MyGPS.buffer.latitude,MyGPS.buffer.longitude,plat,plon));
}
else {
- TFT.locate(4, 2) ;
- TFT.printf("No Data");
+ TFT.locate(4, 2) ;
+ TFT.printf("No Data");
//pc.printf("NMEA has no valid data");
}
}