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@25:6e43bbe76aec, 2016-09-24 (annotated)
- Committer:
- whatnick
- Date:
- Sat Sep 24 06:10:54 2016 +0000
- Revision:
- 25:6e43bbe76aec
- Parent:
- 24:cbdf0f7d33bd
- Child:
- 26:e35dd673fd13
Add BLE/haptic module as dependency and start threads properly.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
dan | 0:7dec7e9ac085 | 1 | #include "mbed.h" |
whatnick | 14:9885c8536437 | 2 | #include "FXOS8700Q.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 | 24:cbdf0f7d33bd | 6 | #include "sensor_fusion.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 | 14:9885c8536437 | 38 | FXOS8700Q_acc acc( PTC11, PTC10, FXOS8700CQ_SLAVE_ADDR0); // Proper Ports and I2C Address for Hexiwear |
whatnick | 14:9885c8536437 | 39 | FXOS8700Q_mag mag( PTC11, PTC10, FXOS8700CQ_SLAVE_ADDR0); // Proper Ports and I2C Address for Hexiwear |
whatnick | 14:9885c8536437 | 40 | MotionSensorDataUnits mag_data; |
whatnick | 14:9885c8536437 | 41 | MotionSensorDataUnits acc_data; |
whatnick | 14:9885c8536437 | 42 | |
whatnick | 14:9885c8536437 | 43 | MotionSensorDataCounts mag_raw; |
whatnick | 14:9885c8536437 | 44 | MotionSensorDataCounts acc_raw; |
dan | 0:7dec7e9ac085 | 45 | |
whatnick | 15:b5a3e22d706b | 46 | FXAS21000 gyro( PTC11, PTC10); // Proper Ports for Hexiwear |
whatnick | 15:b5a3e22d706b | 47 | |
whatnick | 23:f170a1d72a84 | 48 | float faX, faY, faZ; |
whatnick | 23:f170a1d72a84 | 49 | float fmX, fmY, fmZ; |
whatnick | 23:f170a1d72a84 | 50 | int16_t raX, raY, raZ; |
whatnick | 23:f170a1d72a84 | 51 | int16_t rmX, rmY, rmZ; |
whatnick | 23:f170a1d72a84 | 52 | float gyro_data[3]; |
whatnick | 23:f170a1d72a84 | 53 | |
whatnick | 21:b165e847c5ba | 54 | Timer t; |
whatnick | 15:b5a3e22d706b | 55 | |
whatnick | 25:6e43bbe76aec | 56 | //Worker threads |
whatnick | 25:6e43bbe76aec | 57 | Thread gps_t,imu_t; |
whatnick | 25:6e43bbe76aec | 58 | |
whatnick | 25:6e43bbe76aec | 59 | |
whatnick | 25:6e43bbe76aec | 60 | //GPS Reader worker task |
whatnick | 25:6e43bbe76aec | 61 | void gps_thread(void) |
whatnick | 23:f170a1d72a84 | 62 | { |
whatnick | 23:f170a1d72a84 | 63 | while (true) { |
whatnick | 23:f170a1d72a84 | 64 | c = myGPS.read(); //queries the GPS |
whatnick | 24:cbdf0f7d33bd | 65 | |
whatnick | 23:f170a1d72a84 | 66 | //check if we recieved a new message from GPS, if so, attempt to parse it, |
whatnick | 23:f170a1d72a84 | 67 | if ( myGPS.newNMEAreceived() ) { |
whatnick | 23:f170a1d72a84 | 68 | if ( !myGPS.parse(myGPS.lastNMEA()) ) { |
whatnick | 24:cbdf0f7d33bd | 69 | LOG(myGPS.lastNMEA()); |
whatnick | 23:f170a1d72a84 | 70 | continue; |
whatnick | 23:f170a1d72a84 | 71 | } |
whatnick | 23:f170a1d72a84 | 72 | } |
whatnick | 23:f170a1d72a84 | 73 | Thread::wait(1); |
whatnick | 23:f170a1d72a84 | 74 | } |
whatnick | 23:f170a1d72a84 | 75 | } |
whatnick | 23:f170a1d72a84 | 76 | |
whatnick | 25:6e43bbe76aec | 77 | //IMU reader and sensor fusion worker task |
whatnick | 25:6e43bbe76aec | 78 | void imu_thread(void) |
whatnick | 23:f170a1d72a84 | 79 | { |
whatnick | 23:f170a1d72a84 | 80 | while(true) { |
whatnick | 23:f170a1d72a84 | 81 | acc.getAxis(acc_data); |
whatnick | 23:f170a1d72a84 | 82 | mag.getAxis(mag_data); |
whatnick | 23:f170a1d72a84 | 83 | gyro.ReadXYZ(gyro_data); |
whatnick | 24:cbdf0f7d33bd | 84 | |
whatnick | 23:f170a1d72a84 | 85 | LOG("FXOS8700Q ACC: X=%1.4f Y=%1.4f Z=%1.4f ", acc_data.x, acc_data.y, acc_data.z); |
whatnick | 23:f170a1d72a84 | 86 | LOG(" MAG: X=%4.1f Y=%4.1f Z=%4.1f\r\n", mag_data.x, mag_data.y, mag_data.z); |
whatnick | 23:f170a1d72a84 | 87 | LOG("FXAS21000 X=%4.2f Y=%4.2f Z=%4.1f\r\n", gyro_data[0], gyro_data[1], gyro_data[2]); |
whatnick | 24:cbdf0f7d33bd | 88 | |
whatnick | 23:f170a1d72a84 | 89 | acc.getX(&faX); |
whatnick | 23:f170a1d72a84 | 90 | acc.getY(&faY); |
whatnick | 23:f170a1d72a84 | 91 | acc.getZ(&faZ); |
whatnick | 23:f170a1d72a84 | 92 | mag.getX(&fmX); |
whatnick | 23:f170a1d72a84 | 93 | mag.getY(&fmY); |
whatnick | 23:f170a1d72a84 | 94 | mag.getZ(&fmZ); |
whatnick | 24:cbdf0f7d33bd | 95 | |
whatnick | 23:f170a1d72a84 | 96 | LOG("FXOS8700Q ACC: X=%1.4f Y=%1.4f Z=%1.4f ", faX, faY, faZ); |
whatnick | 23:f170a1d72a84 | 97 | LOG(" MAG: X=%4.1f Y=%4.1f Z=%4.1f\r\n", fmX, fmY, fmZ); |
whatnick | 24:cbdf0f7d33bd | 98 | |
whatnick | 23:f170a1d72a84 | 99 | acc.getAxis(acc_raw); |
whatnick | 23:f170a1d72a84 | 100 | mag.getAxis(mag_raw); |
whatnick | 24:cbdf0f7d33bd | 101 | |
whatnick | 23:f170a1d72a84 | 102 | LOG("FXOS8700Q ACC: X=%d Y=%d Z=%d ", acc_raw.x, acc_raw.y, acc_raw.z); |
whatnick | 23:f170a1d72a84 | 103 | LOG(" MAG: X=%d Y=%d Z=%d\r\n", mag_raw.x, mag_raw.y, mag_raw.z); |
whatnick | 24:cbdf0f7d33bd | 104 | |
whatnick | 23:f170a1d72a84 | 105 | acc.getX(&raX); |
whatnick | 23:f170a1d72a84 | 106 | acc.getY(&raY); |
whatnick | 23:f170a1d72a84 | 107 | acc.getZ(&raZ); |
whatnick | 23:f170a1d72a84 | 108 | mag.getX(&rmX); |
whatnick | 23:f170a1d72a84 | 109 | mag.getY(&rmY); |
whatnick | 23:f170a1d72a84 | 110 | mag.getZ(&rmZ); |
whatnick | 24:cbdf0f7d33bd | 111 | |
whatnick | 23:f170a1d72a84 | 112 | LOG("FXOS8700Q ACC: X=%d Y=%d Z=%d ", raX, raY, raZ); |
whatnick | 23:f170a1d72a84 | 113 | LOG(" MAG: X=%d Y=%d Z=%d\r\n\n", rmX, rmY, rmZ); |
whatnick | 24:cbdf0f7d33bd | 114 | |
whatnick | 25:6e43bbe76aec | 115 | MadgwickQuaternionUpdate(faX,faY,faZ,gyro_data[0],gyro_data[1],gyro_data[2],fmX,fmY,fmZ); |
whatnick | 25:6e43bbe76aec | 116 | calcEuler(); |
whatnick | 25:6e43bbe76aec | 117 | |
whatnick | 25:6e43bbe76aec | 118 | LOG("EULER: Y=%f R=%f P=%f\n", yaw,roll,pitch); |
whatnick | 25:6e43bbe76aec | 119 | |
whatnick | 25:6e43bbe76aec | 120 | Thread::wait(10); |
whatnick | 23:f170a1d72a84 | 121 | } |
whatnick | 23:f170a1d72a84 | 122 | } |
whatnick | 23:f170a1d72a84 | 123 | |
whatnick | 21:b165e847c5ba | 124 | int main() |
whatnick | 21:b165e847c5ba | 125 | { |
whatnick | 22:e69bc54ca4c0 | 126 | char text[30]; /* Text Buffer */ |
whatnick | 21:b165e847c5ba | 127 | |
whatnick | 21:b165e847c5ba | 128 | //Start timer |
whatnick | 21:b165e847c5ba | 129 | t.start(); |
whatnick | 21:b165e847c5ba | 130 | |
whatnick | 21:b165e847c5ba | 131 | myGPS.begin(9600); |
whatnick | 15:b5a3e22d706b | 132 | //Turn off all sentences except GGA and RMC |
whatnick | 15:b5a3e22d706b | 133 | //For MTK GPS |
whatnick | 21:b165e847c5ba | 134 | myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA); |
whatnick | 15:b5a3e22d706b | 135 | |
whatnick | 15:b5a3e22d706b | 136 | //FOR UBLOX GPS |
whatnick | 21:b165e847c5ba | 137 | myGPS.sendCommand(UBX_DISABLE_ZDA); |
whatnick | 21:b165e847c5ba | 138 | myGPS.sendCommand(UBX_DISABLE_GLL); |
whatnick | 21:b165e847c5ba | 139 | myGPS.sendCommand(UBX_DISABLE_VTG); |
whatnick | 21:b165e847c5ba | 140 | myGPS.sendCommand(UBX_DISABLE_GSV); |
whatnick | 21:b165e847c5ba | 141 | myGPS.sendCommand(UBX_DISABLE_GSA); |
whatnick | 15:b5a3e22d706b | 142 | |
whatnick | 15:b5a3e22d706b | 143 | |
whatnick | 22:e69bc54ca4c0 | 144 | #ifdef DEBUG |
whatnick | 21:b165e847c5ba | 145 | pc.baud(115200); |
whatnick | 22:e69bc54ca4c0 | 146 | #endif |
whatnick | 21:b165e847c5ba | 147 | |
whatnick | 25:6e43bbe76aec | 148 | //Connect to Nikon D800 UART at 4800baud |
whatnick | 25:6e43bbe76aec | 149 | camera.baud(4800); |
whatnick | 25:6e43bbe76aec | 150 | |
whatnick | 21:b165e847c5ba | 151 | acc.enable(); |
whatnick | 22:e69bc54ca4c0 | 152 | LOG("\r\n\nFXOS8700Q Who Am I= %X\r\n", acc.whoAmI()); |
whatnick | 22:e69bc54ca4c0 | 153 | LOG("\r\n\nFXAS21000 Who Am I= %X\r\n", gyro.getWhoAmI()); |
whatnick | 21:b165e847c5ba | 154 | |
whatnick | 21:b165e847c5ba | 155 | /* Get OLED Class Default Text Properties */ |
whatnick | 21:b165e847c5ba | 156 | oled_text_properties_t textProperties = {0}; |
whatnick | 21:b165e847c5ba | 157 | oled.GetTextProperties(&textProperties); |
whatnick | 15:b5a3e22d706b | 158 | |
whatnick | 21:b165e847c5ba | 159 | /* Turn on the backlight of the OLED Display */ |
whatnick | 21:b165e847c5ba | 160 | oled.DimScreenON(); |
whatnick | 15:b5a3e22d706b | 161 | |
whatnick | 21:b165e847c5ba | 162 | /* Fills the screen with solid black */ |
whatnick | 21:b165e847c5ba | 163 | oled.FillScreen(COLOR_BLACK); |
whatnick | 21:b165e847c5ba | 164 | |
whatnick | 23:f170a1d72a84 | 165 | /* Adding full screen splash */ |
whatnick | 23:f170a1d72a84 | 166 | const uint8_t *image = NXP_whole_bmp; |
whatnick | 23:f170a1d72a84 | 167 | /* Draws the image on the Screen starting at (x=0,y=0) */ |
whatnick | 23:f170a1d72a84 | 168 | oled.DrawImage(image,0,0); |
whatnick | 23:f170a1d72a84 | 169 | |
whatnick | 23:f170a1d72a84 | 170 | Thread::wait(1000); |
whatnick | 23:f170a1d72a84 | 171 | |
whatnick | 23:f170a1d72a84 | 172 | /* Fills the screen with solid black */ |
whatnick | 23:f170a1d72a84 | 173 | oled.FillScreen(COLOR_BLACK); |
whatnick | 23:f170a1d72a84 | 174 | |
whatnick | 21:b165e847c5ba | 175 | /* Display Text at (x=7,y=0) */ |
whatnick | 21:b165e847c5ba | 176 | strcpy((char *) text,"AERO GPS-AHRS"); |
whatnick | 21:b165e847c5ba | 177 | oled.Label((uint8_t *)text,7,0); |
whatnick | 16:2e42284011d9 | 178 | |
whatnick | 21:b165e847c5ba | 179 | /* Change font color to blue */ |
whatnick | 21:b165e847c5ba | 180 | textProperties.fontColor = COLOR_BLUE; |
whatnick | 21:b165e847c5ba | 181 | oled.SetTextProperties(&textProperties); |
whatnick | 22:e69bc54ca4c0 | 182 | |
whatnick | 22:e69bc54ca4c0 | 183 | |
whatnick | 22:e69bc54ca4c0 | 184 | /* Display text at (x=1,y=15) MAG label*/ |
whatnick | 21:b165e847c5ba | 185 | strcpy(text,"M:"); |
whatnick | 22:e69bc54ca4c0 | 186 | oled.Label((uint8_t *)text,1,15); |
whatnick | 22:e69bc54ca4c0 | 187 | |
whatnick | 22:e69bc54ca4c0 | 188 | /* Display text at (x=1,y=30) ACC label*/ |
whatnick | 21:b165e847c5ba | 189 | strcpy(text,"A:"); |
whatnick | 22:e69bc54ca4c0 | 190 | oled.Label((uint8_t *)text,1,30); |
whatnick | 22:e69bc54ca4c0 | 191 | |
whatnick | 22:e69bc54ca4c0 | 192 | /* Display text at (x=1,y=45) GYRO label*/ |
whatnick | 21:b165e847c5ba | 193 | strcpy(text,"G:"); |
whatnick | 22:e69bc54ca4c0 | 194 | oled.Label((uint8_t *)text,1,45); |
whatnick | 21:b165e847c5ba | 195 | |
whatnick | 22:e69bc54ca4c0 | 196 | /* Display text at (x=1,y=60) Time label*/ |
whatnick | 21:b165e847c5ba | 197 | strcpy(text,"Timer(s):"); |
whatnick | 22:e69bc54ca4c0 | 198 | oled.Label((uint8_t *)text,1,60); |
whatnick | 22:e69bc54ca4c0 | 199 | |
whatnick | 22:e69bc54ca4c0 | 200 | /* Display text at (x=1,y=75) Position label*/ |
whatnick | 21:b165e847c5ba | 201 | strcpy(text,"P:"); |
whatnick | 22:e69bc54ca4c0 | 202 | oled.Label((uint8_t *)text,1,75); |
whatnick | 21:b165e847c5ba | 203 | |
whatnick | 21:b165e847c5ba | 204 | /* Set text properties to white and right aligned for the dynamic text */ |
whatnick | 21:b165e847c5ba | 205 | textProperties.fontColor = COLOR_WHITE; |
whatnick | 21:b165e847c5ba | 206 | textProperties.alignParam = OLED_TEXT_ALIGN_RIGHT; |
whatnick | 21:b165e847c5ba | 207 | oled.SetTextProperties(&textProperties); |
whatnick | 20:5a4e47822d79 | 208 | |
whatnick | 24:cbdf0f7d33bd | 209 | //Start read and update threads |
whatnick | 25:6e43bbe76aec | 210 | gps_t.start(gps_thread); |
whatnick | 25:6e43bbe76aec | 211 | imu_t.start(imu_thread); |
whatnick | 16:2e42284011d9 | 212 | |
whatnick | 23:f170a1d72a84 | 213 | while (true) { |
whatnick | 23:f170a1d72a84 | 214 | /* Format the MAG reading */ |
whatnick | 23:f170a1d72a84 | 215 | sprintf(text,"%.1f %.1f %.1f",fmX,fmY,fmZ); |
whatnick | 23:f170a1d72a84 | 216 | /* Display Mag readings to 1 decimal */ |
whatnick | 23:f170a1d72a84 | 217 | oled.TextBox((uint8_t *)text,15,15,80,15); /*Expand textbox for more digits*/ |
whatnick | 15:b5a3e22d706b | 218 | |
whatnick | 23:f170a1d72a84 | 219 | /* Format the ACC reading */ |
whatnick | 23:f170a1d72a84 | 220 | sprintf(text,"%.2f %.2f %.2f",faX,faY,faZ); |
whatnick | 23:f170a1d72a84 | 221 | /* Display acceleration to 2 decimal */ |
whatnick | 23:f170a1d72a84 | 222 | oled.TextBox((uint8_t *)text,15,30,80,15); /*Expand textbox for more digits*/ |
whatnick | 20:5a4e47822d79 | 223 | |
whatnick | 23:f170a1d72a84 | 224 | /* Format the GYRO reading */ |
whatnick | 23:f170a1d72a84 | 225 | sprintf(text,"%.2f %.2f %.2f",gyro_data[0],gyro_data[1],gyro_data[2]); |
whatnick | 23:f170a1d72a84 | 226 | /* Display gyro to 2 decimal */ |
whatnick | 23:f170a1d72a84 | 227 | oled.TextBox((uint8_t *)text,15,45,80,15); /*Expand textbox for more digits*/ |
whatnick | 23:f170a1d72a84 | 228 | |
whatnick | 23:f170a1d72a84 | 229 | |
whatnick | 23:f170a1d72a84 | 230 | /* Format the time reading */ |
whatnick | 23:f170a1d72a84 | 231 | sprintf(text,"%.2f",t.read()); |
whatnick | 23:f170a1d72a84 | 232 | |
whatnick | 23:f170a1d72a84 | 233 | /* Display time reading */ |
whatnick | 23:f170a1d72a84 | 234 | oled.TextBox((uint8_t *)text,55,60,35,15); /*Expand textbox for more digits*/ |
whatnick | 23:f170a1d72a84 | 235 | |
whatnick | 23:f170a1d72a84 | 236 | if(myGPS.fix) { |
whatnick | 23:f170a1d72a84 | 237 | LOG(myGPS.lastNMEA()); |
whatnick | 23:f170a1d72a84 | 238 | sprintf(text,"%.2f%c %.2f%c",myGPS.longitude/100.0f,myGPS.lat,myGPS.latitude/100.0f,myGPS.lon); |
whatnick | 23:f170a1d72a84 | 239 | } else { |
whatnick | 23:f170a1d72a84 | 240 | sprintf(text,"No GPS"); |
whatnick | 15:b5a3e22d706b | 241 | } |
whatnick | 21:b165e847c5ba | 242 | |
whatnick | 23:f170a1d72a84 | 243 | /* Display GPS location or lock status */ |
whatnick | 23:f170a1d72a84 | 244 | oled.TextBox((uint8_t *)text,15,75,80,15); /*Expand textbox for more digits*/ |
whatnick | 23:f170a1d72a84 | 245 | Thread::wait(1000); |
stevep | 4:81cea7a352b0 | 246 | } |
dan | 0:7dec7e9ac085 | 247 | } |