Use hexiwear as a GPSIMU-AHRS for Nikon DSLR cameras
Dependencies: FXOS8700CQ FXAS21000 MBed_Adafruit-GPS-Library Hexi_OLED_SSD1351 Hexi_KW40Z Madgwick
Fork of Hexi_Blinky_Example by
main.cpp@27:8c84611a4ca5, 2017-03-08 (annotated)
- Committer:
- whatnick
- Date:
- Wed Mar 08 02:44:15 2017 +0000
- Revision:
- 27:8c84611a4ca5
- Parent:
- 26:e35dd673fd13
Updated standard OLED and FXOS
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
dan | 0:7dec7e9ac085 | 1 | #include "mbed.h" |
whatnick | 26:e35dd673fd13 | 2 | #include "FXOS8700CQ.h" |
whatnick | 15:b5a3e22d706b | 3 | #include "FXAS21000.h" |
whatnick | 15:b5a3e22d706b | 4 | #include "MBed_Adafruit_GPS.h" |
whatnick | 21:b165e847c5ba | 5 | #include "Hexi_OLED_SSD1351.h" |
whatnick | 26:e35dd673fd13 | 6 | #include "MadgwickAHRS.h" |
whatnick | 23:f170a1d72a84 | 7 | #include "images.h" |
whatnick | 24:cbdf0f7d33bd | 8 | |
whatnick | 23:f170a1d72a84 | 9 | #include "rtos.h" |
whatnick | 14:9885c8536437 | 10 | |
whatnick | 24:cbdf0f7d33bd | 11 | |
whatnick | 16:2e42284011d9 | 12 | DigitalOut myled(LED1); |
whatnick | 16:2e42284011d9 | 13 | |
whatnick | 14:9885c8536437 | 14 | Serial gps(PTD3,PTD2); |
whatnick | 25:6e43bbe76aec | 15 | Serial camera(PTC17,PTC16); |
whatnick | 25:6e43bbe76aec | 16 | |
whatnick | 23:f170a1d72a84 | 17 | Adafruit_GPS myGPS(&gps); |
whatnick | 23:f170a1d72a84 | 18 | char c; //when read via Adafruit_GPS::read(), the class returns single character stored here |
whatnick | 22:e69bc54ca4c0 | 19 | |
whatnick | 23:f170a1d72a84 | 20 | #define DEBUG |
whatnick | 22:e69bc54ca4c0 | 21 | |
whatnick | 22:e69bc54ca4c0 | 22 | #ifdef DEBUG |
whatnick | 14:9885c8536437 | 23 | Serial pc(USBTX, USBRX); |
whatnick | 22:e69bc54ca4c0 | 24 | #define LOG(args...) pc.printf(args) |
whatnick | 22:e69bc54ca4c0 | 25 | #else |
whatnick | 22:e69bc54ca4c0 | 26 | #define LOG(args...) |
whatnick | 22:e69bc54ca4c0 | 27 | #endif |
dan | 0:7dec7e9ac085 | 28 | |
whatnick | 21:b165e847c5ba | 29 | /* Instantiate the SSD1351 OLED Driver */ |
whatnick | 21:b165e847c5ba | 30 | SSD1351 oled(PTB22,PTB21,PTC13,PTB20,PTE6, PTD15); /* (MOSI,SCLK,POWER,CS,RST,DC) */ |
whatnick | 16:2e42284011d9 | 31 | |
whatnick | 16:2e42284011d9 | 32 | //#define BLACK 0x000000 |
whatnick | 16:2e42284011d9 | 33 | //#define WHITE 0xFFFFFF |
whatnick | 16:2e42284011d9 | 34 | #define GREEN 0x00FF00 |
whatnick | 16:2e42284011d9 | 35 | #define RED 0xFF0000 |
whatnick | 16:2e42284011d9 | 36 | #define BLUE 0x0000FF |
whatnick | 15:b5a3e22d706b | 37 | |
whatnick | 26:e35dd673fd13 | 38 | FXOS8700CQ combo( PTC11, PTC10); // Proper Ports and I2C Address for Hexiwear |
dan | 0:7dec7e9ac085 | 39 | |
whatnick | 15:b5a3e22d706b | 40 | FXAS21000 gyro( PTC11, PTC10); // Proper Ports for Hexiwear |
whatnick | 15:b5a3e22d706b | 41 | |
whatnick | 26:e35dd673fd13 | 42 | Data combo_data; |
whatnick | 23:f170a1d72a84 | 43 | float gyro_data[3]; |
whatnick | 23:f170a1d72a84 | 44 | |
whatnick | 21:b165e847c5ba | 45 | Timer t; |
whatnick | 15:b5a3e22d706b | 46 | |
whatnick | 25:6e43bbe76aec | 47 | //Worker threads |
whatnick | 25:6e43bbe76aec | 48 | Thread gps_t,imu_t; |
whatnick | 25:6e43bbe76aec | 49 | |
whatnick | 25:6e43bbe76aec | 50 | |
whatnick | 25:6e43bbe76aec | 51 | //GPS Reader worker task |
whatnick | 25:6e43bbe76aec | 52 | void gps_thread(void) |
whatnick | 23:f170a1d72a84 | 53 | { |
whatnick | 23:f170a1d72a84 | 54 | while (true) { |
whatnick | 23:f170a1d72a84 | 55 | c = myGPS.read(); //queries the GPS |
whatnick | 24:cbdf0f7d33bd | 56 | |
whatnick | 23:f170a1d72a84 | 57 | //check if we recieved a new message from GPS, if so, attempt to parse it, |
whatnick | 23:f170a1d72a84 | 58 | if ( myGPS.newNMEAreceived() ) { |
whatnick | 23:f170a1d72a84 | 59 | if ( !myGPS.parse(myGPS.lastNMEA()) ) { |
whatnick | 24:cbdf0f7d33bd | 60 | LOG(myGPS.lastNMEA()); |
whatnick | 23:f170a1d72a84 | 61 | continue; |
whatnick | 23:f170a1d72a84 | 62 | } |
whatnick | 23:f170a1d72a84 | 63 | } |
whatnick | 23:f170a1d72a84 | 64 | Thread::wait(1); |
whatnick | 23:f170a1d72a84 | 65 | } |
whatnick | 23:f170a1d72a84 | 66 | } |
whatnick | 23:f170a1d72a84 | 67 | |
whatnick | 25:6e43bbe76aec | 68 | //IMU reader and sensor fusion worker task |
whatnick | 25:6e43bbe76aec | 69 | void imu_thread(void) |
whatnick | 23:f170a1d72a84 | 70 | { |
whatnick | 23:f170a1d72a84 | 71 | while(true) { |
whatnick | 23:f170a1d72a84 | 72 | gyro.ReadXYZ(gyro_data); |
whatnick | 26:e35dd673fd13 | 73 | combo_data = combo.get_values(); |
whatnick | 25:6e43bbe76aec | 74 | Thread::wait(10); |
whatnick | 23:f170a1d72a84 | 75 | } |
whatnick | 23:f170a1d72a84 | 76 | } |
whatnick | 23:f170a1d72a84 | 77 | |
whatnick | 21:b165e847c5ba | 78 | int main() |
whatnick | 21:b165e847c5ba | 79 | { |
whatnick | 22:e69bc54ca4c0 | 80 | char text[30]; /* Text Buffer */ |
whatnick | 21:b165e847c5ba | 81 | |
whatnick | 21:b165e847c5ba | 82 | //Start timer |
whatnick | 21:b165e847c5ba | 83 | t.start(); |
whatnick | 21:b165e847c5ba | 84 | |
whatnick | 21:b165e847c5ba | 85 | myGPS.begin(9600); |
whatnick | 15:b5a3e22d706b | 86 | //Turn off all sentences except GGA and RMC |
whatnick | 15:b5a3e22d706b | 87 | //For MTK GPS |
whatnick | 21:b165e847c5ba | 88 | myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA); |
whatnick | 15:b5a3e22d706b | 89 | |
whatnick | 15:b5a3e22d706b | 90 | //FOR UBLOX GPS |
whatnick | 21:b165e847c5ba | 91 | myGPS.sendCommand(UBX_DISABLE_ZDA); |
whatnick | 21:b165e847c5ba | 92 | myGPS.sendCommand(UBX_DISABLE_GLL); |
whatnick | 21:b165e847c5ba | 93 | myGPS.sendCommand(UBX_DISABLE_VTG); |
whatnick | 21:b165e847c5ba | 94 | myGPS.sendCommand(UBX_DISABLE_GSV); |
whatnick | 21:b165e847c5ba | 95 | myGPS.sendCommand(UBX_DISABLE_GSA); |
whatnick | 15:b5a3e22d706b | 96 | |
whatnick | 15:b5a3e22d706b | 97 | |
whatnick | 22:e69bc54ca4c0 | 98 | #ifdef DEBUG |
whatnick | 21:b165e847c5ba | 99 | pc.baud(115200); |
whatnick | 22:e69bc54ca4c0 | 100 | #endif |
whatnick | 21:b165e847c5ba | 101 | |
whatnick | 25:6e43bbe76aec | 102 | //Connect to Nikon D800 UART at 4800baud |
whatnick | 25:6e43bbe76aec | 103 | camera.baud(4800); |
whatnick | 25:6e43bbe76aec | 104 | |
whatnick | 26:e35dd673fd13 | 105 | //Initialise gyro |
whatnick | 26:e35dd673fd13 | 106 | char whoami = gyro.getWhoAmI(); |
whatnick | 26:e35dd673fd13 | 107 | //Initialise combo (acc&mag) |
whatnick | 26:e35dd673fd13 | 108 | combo.init(); |
whatnick | 21:b165e847c5ba | 109 | |
whatnick | 21:b165e847c5ba | 110 | /* Get OLED Class Default Text Properties */ |
whatnick | 21:b165e847c5ba | 111 | oled_text_properties_t textProperties = {0}; |
whatnick | 21:b165e847c5ba | 112 | oled.GetTextProperties(&textProperties); |
whatnick | 15:b5a3e22d706b | 113 | |
whatnick | 21:b165e847c5ba | 114 | /* Turn on the backlight of the OLED Display */ |
whatnick | 21:b165e847c5ba | 115 | oled.DimScreenON(); |
whatnick | 15:b5a3e22d706b | 116 | |
whatnick | 21:b165e847c5ba | 117 | /* Fills the screen with solid black */ |
whatnick | 21:b165e847c5ba | 118 | oled.FillScreen(COLOR_BLACK); |
whatnick | 21:b165e847c5ba | 119 | |
whatnick | 23:f170a1d72a84 | 120 | /* Adding full screen splash */ |
whatnick | 23:f170a1d72a84 | 121 | const uint8_t *image = NXP_whole_bmp; |
whatnick | 23:f170a1d72a84 | 122 | /* Draws the image on the Screen starting at (x=0,y=0) */ |
whatnick | 23:f170a1d72a84 | 123 | oled.DrawImage(image,0,0); |
whatnick | 23:f170a1d72a84 | 124 | |
whatnick | 23:f170a1d72a84 | 125 | Thread::wait(1000); |
whatnick | 23:f170a1d72a84 | 126 | |
whatnick | 23:f170a1d72a84 | 127 | /* Fills the screen with solid black */ |
whatnick | 23:f170a1d72a84 | 128 | oled.FillScreen(COLOR_BLACK); |
whatnick | 23:f170a1d72a84 | 129 | |
whatnick | 21:b165e847c5ba | 130 | /* Display Text at (x=7,y=0) */ |
whatnick | 21:b165e847c5ba | 131 | strcpy((char *) text,"AERO GPS-AHRS"); |
whatnick | 21:b165e847c5ba | 132 | oled.Label((uint8_t *)text,7,0); |
whatnick | 16:2e42284011d9 | 133 | |
whatnick | 21:b165e847c5ba | 134 | /* Change font color to blue */ |
whatnick | 21:b165e847c5ba | 135 | textProperties.fontColor = COLOR_BLUE; |
whatnick | 21:b165e847c5ba | 136 | oled.SetTextProperties(&textProperties); |
whatnick | 22:e69bc54ca4c0 | 137 | |
whatnick | 22:e69bc54ca4c0 | 138 | |
whatnick | 22:e69bc54ca4c0 | 139 | /* Display text at (x=1,y=15) MAG label*/ |
whatnick | 21:b165e847c5ba | 140 | strcpy(text,"M:"); |
whatnick | 22:e69bc54ca4c0 | 141 | oled.Label((uint8_t *)text,1,15); |
whatnick | 22:e69bc54ca4c0 | 142 | |
whatnick | 22:e69bc54ca4c0 | 143 | /* Display text at (x=1,y=30) ACC label*/ |
whatnick | 21:b165e847c5ba | 144 | strcpy(text,"A:"); |
whatnick | 22:e69bc54ca4c0 | 145 | oled.Label((uint8_t *)text,1,30); |
whatnick | 22:e69bc54ca4c0 | 146 | |
whatnick | 22:e69bc54ca4c0 | 147 | /* Display text at (x=1,y=45) GYRO label*/ |
whatnick | 21:b165e847c5ba | 148 | strcpy(text,"G:"); |
whatnick | 22:e69bc54ca4c0 | 149 | oled.Label((uint8_t *)text,1,45); |
whatnick | 21:b165e847c5ba | 150 | |
whatnick | 22:e69bc54ca4c0 | 151 | /* Display text at (x=1,y=60) Time label*/ |
whatnick | 21:b165e847c5ba | 152 | strcpy(text,"Timer(s):"); |
whatnick | 22:e69bc54ca4c0 | 153 | oled.Label((uint8_t *)text,1,60); |
whatnick | 22:e69bc54ca4c0 | 154 | |
whatnick | 22:e69bc54ca4c0 | 155 | /* Display text at (x=1,y=75) Position label*/ |
whatnick | 21:b165e847c5ba | 156 | strcpy(text,"P:"); |
whatnick | 22:e69bc54ca4c0 | 157 | oled.Label((uint8_t *)text,1,75); |
whatnick | 21:b165e847c5ba | 158 | |
whatnick | 21:b165e847c5ba | 159 | /* Set text properties to white and right aligned for the dynamic text */ |
whatnick | 21:b165e847c5ba | 160 | textProperties.fontColor = COLOR_WHITE; |
whatnick | 21:b165e847c5ba | 161 | textProperties.alignParam = OLED_TEXT_ALIGN_RIGHT; |
whatnick | 21:b165e847c5ba | 162 | oled.SetTextProperties(&textProperties); |
whatnick | 20:5a4e47822d79 | 163 | |
whatnick | 24:cbdf0f7d33bd | 164 | //Start read and update threads |
whatnick | 25:6e43bbe76aec | 165 | gps_t.start(gps_thread); |
whatnick | 25:6e43bbe76aec | 166 | imu_t.start(imu_thread); |
whatnick | 16:2e42284011d9 | 167 | |
whatnick | 23:f170a1d72a84 | 168 | while (true) { |
whatnick | 23:f170a1d72a84 | 169 | /* Format the GYRO reading */ |
whatnick | 23:f170a1d72a84 | 170 | sprintf(text,"%.2f %.2f %.2f",gyro_data[0],gyro_data[1],gyro_data[2]); |
whatnick | 23:f170a1d72a84 | 171 | /* Display gyro to 2 decimal */ |
whatnick | 23:f170a1d72a84 | 172 | oled.TextBox((uint8_t *)text,15,45,80,15); /*Expand textbox for more digits*/ |
whatnick | 23:f170a1d72a84 | 173 | |
whatnick | 23:f170a1d72a84 | 174 | |
whatnick | 23:f170a1d72a84 | 175 | /* Format the time reading */ |
whatnick | 23:f170a1d72a84 | 176 | sprintf(text,"%.2f",t.read()); |
whatnick | 23:f170a1d72a84 | 177 | |
whatnick | 23:f170a1d72a84 | 178 | /* Display time reading */ |
whatnick | 23:f170a1d72a84 | 179 | oled.TextBox((uint8_t *)text,55,60,35,15); /*Expand textbox for more digits*/ |
whatnick | 23:f170a1d72a84 | 180 | |
whatnick | 23:f170a1d72a84 | 181 | if(myGPS.fix) { |
whatnick | 23:f170a1d72a84 | 182 | LOG(myGPS.lastNMEA()); |
whatnick | 23:f170a1d72a84 | 183 | sprintf(text,"%.2f%c %.2f%c",myGPS.longitude/100.0f,myGPS.lat,myGPS.latitude/100.0f,myGPS.lon); |
whatnick | 23:f170a1d72a84 | 184 | } else { |
whatnick | 23:f170a1d72a84 | 185 | sprintf(text,"No GPS"); |
whatnick | 15:b5a3e22d706b | 186 | } |
whatnick | 21:b165e847c5ba | 187 | |
whatnick | 23:f170a1d72a84 | 188 | /* Display GPS location or lock status */ |
whatnick | 23:f170a1d72a84 | 189 | oled.TextBox((uint8_t *)text,15,75,80,15); /*Expand textbox for more digits*/ |
whatnick | 23:f170a1d72a84 | 190 | Thread::wait(1000); |
stevep | 4:81cea7a352b0 | 191 | } |
dan | 0:7dec7e9ac085 | 192 | } |