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@15:b5a3e22d706b, 2016-08-15 (annotated)
- Committer:
- whatnick
- Date:
- Mon Aug 15 06:42:19 2016 +0000
- Revision:
- 15:b5a3e22d706b
- Parent:
- 14:9885c8536437
- Child:
- 16:2e42284011d9
Added GPS and OLED libraries
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 | 15:b5a3e22d706b | 5 | #include "NeatGUI.h" |
whatnick | 14:9885c8536437 | 6 | |
whatnick | 14:9885c8536437 | 7 | DigitalOut myled(LED3); |
whatnick | 14:9885c8536437 | 8 | Serial gps(PTD3,PTD2); |
whatnick | 14:9885c8536437 | 9 | Serial pc(USBTX, USBRX); |
dan | 0:7dec7e9ac085 | 10 | |
whatnick | 15:b5a3e22d706b | 11 | SSD1351_SPI OLED128(PTB22,PTB23,PTB21,PTB20,PTD15); //Hexiwear pins for SPI bus OLED (MOSI, MISO, SCK, CS, DC) |
whatnick | 15:b5a3e22d706b | 12 | |
whatnick | 14:9885c8536437 | 13 | FXOS8700Q_acc acc( PTC11, PTC10, FXOS8700CQ_SLAVE_ADDR0); // Proper Ports and I2C Address for Hexiwear |
whatnick | 14:9885c8536437 | 14 | FXOS8700Q_mag mag( PTC11, PTC10, FXOS8700CQ_SLAVE_ADDR0); // Proper Ports and I2C Address for Hexiwear |
whatnick | 14:9885c8536437 | 15 | MotionSensorDataUnits mag_data; |
whatnick | 14:9885c8536437 | 16 | MotionSensorDataUnits acc_data; |
whatnick | 14:9885c8536437 | 17 | |
whatnick | 14:9885c8536437 | 18 | MotionSensorDataCounts mag_raw; |
whatnick | 14:9885c8536437 | 19 | MotionSensorDataCounts acc_raw; |
dan | 0:7dec7e9ac085 | 20 | |
whatnick | 15:b5a3e22d706b | 21 | FXAS21000 gyro( PTC11, PTC10); // Proper Ports for Hexiwear |
whatnick | 15:b5a3e22d706b | 22 | |
dan | 0:7dec7e9ac085 | 23 | int main() { |
whatnick | 14:9885c8536437 | 24 | float faX, faY, faZ; |
whatnick | 14:9885c8536437 | 25 | float fmX, fmY, fmZ; |
whatnick | 14:9885c8536437 | 26 | int16_t raX, raY, raZ; |
whatnick | 14:9885c8536437 | 27 | int16_t rmX, rmY, rmZ; |
whatnick | 15:b5a3e22d706b | 28 | float gyro_data[3]; |
whatnick | 15:b5a3e22d706b | 29 | |
whatnick | 15:b5a3e22d706b | 30 | Adafruit_GPS myGPS(&gps); |
whatnick | 15:b5a3e22d706b | 31 | char c; //when read via Adafruit_GPS::read(), the class returns single character stored here |
whatnick | 15:b5a3e22d706b | 32 | myGPS.begin(115200); |
whatnick | 15:b5a3e22d706b | 33 | //Turn off all sentences except GGA and RMC |
whatnick | 15:b5a3e22d706b | 34 | //For MTK GPS |
whatnick | 15:b5a3e22d706b | 35 | myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA); |
whatnick | 15:b5a3e22d706b | 36 | |
whatnick | 15:b5a3e22d706b | 37 | //FOR UBLOX GPS |
whatnick | 15:b5a3e22d706b | 38 | myGPS.sendCommand(UBX_DISABLE_ZDA); |
whatnick | 15:b5a3e22d706b | 39 | myGPS.sendCommand(UBX_DISABLE_GLL); |
whatnick | 15:b5a3e22d706b | 40 | myGPS.sendCommand(UBX_DISABLE_VTG); |
whatnick | 15:b5a3e22d706b | 41 | myGPS.sendCommand(UBX_DISABLE_GSV); |
whatnick | 15:b5a3e22d706b | 42 | myGPS.sendCommand(UBX_DISABLE_GSA); |
whatnick | 15:b5a3e22d706b | 43 | |
whatnick | 15:b5a3e22d706b | 44 | |
whatnick | 15:b5a3e22d706b | 45 | |
whatnick | 15:b5a3e22d706b | 46 | pc.baud(115200); |
whatnick | 15:b5a3e22d706b | 47 | |
whatnick | 14:9885c8536437 | 48 | acc.enable(); |
whatnick | 14:9885c8536437 | 49 | pc.printf("\r\n\nFXOS8700Q Who Am I= %X\r\n", acc.whoAmI()); |
whatnick | 15:b5a3e22d706b | 50 | pc.printf("\r\n\nFXAS21000 Who Am I= %X\r\n", gyro.getWhoAmI()); |
whatnick | 15:b5a3e22d706b | 51 | |
whatnick | 15:b5a3e22d706b | 52 | OLED128.open(); |
whatnick | 15:b5a3e22d706b | 53 | OLED128.state(Display::DISPLAY_ON); |
whatnick | 15:b5a3e22d706b | 54 | OLED128.drawCircle(10,10,5,0xff345463); |
whatnick | 15:b5a3e22d706b | 55 | OLED128.flush(); |
whatnick | 15:b5a3e22d706b | 56 | |
whatnick | 14:9885c8536437 | 57 | while (true) { |
whatnick | 14:9885c8536437 | 58 | acc.getAxis(acc_data); |
whatnick | 14:9885c8536437 | 59 | mag.getAxis(mag_data); |
whatnick | 15:b5a3e22d706b | 60 | gyro.ReadXYZ(gyro_data); |
whatnick | 14:9885c8536437 | 61 | pc.printf("FXOS8700Q ACC: X=%1.4f Y=%1.4f Z=%1.4f ", acc_data.x, acc_data.y, acc_data.z); |
whatnick | 14:9885c8536437 | 62 | pc.printf(" MAG: X=%4.1f Y=%4.1f Z=%4.1f\r\n", mag_data.x, mag_data.y, mag_data.z); |
whatnick | 15:b5a3e22d706b | 63 | pc.printf("FXAS21000 X=%4.2f Y=%4.2f Z=%4.1f\r\n", gyro_data[0], gyro_data[1], gyro_data[2]); |
whatnick | 14:9885c8536437 | 64 | acc.getX(&faX); |
whatnick | 14:9885c8536437 | 65 | acc.getY(&faY); |
whatnick | 14:9885c8536437 | 66 | acc.getZ(&faZ); |
whatnick | 14:9885c8536437 | 67 | mag.getX(&fmX); |
whatnick | 14:9885c8536437 | 68 | mag.getY(&fmY); |
whatnick | 14:9885c8536437 | 69 | mag.getZ(&fmZ); |
whatnick | 14:9885c8536437 | 70 | pc.printf("FXOS8700Q ACC: X=%1.4f Y=%1.4f Z=%1.4f ", faX, faY, faZ); |
whatnick | 14:9885c8536437 | 71 | pc.printf(" MAG: X=%4.1f Y=%4.1f Z=%4.1f\r\n", fmX, fmY, fmZ); |
whatnick | 14:9885c8536437 | 72 | acc.getAxis(acc_raw); |
whatnick | 14:9885c8536437 | 73 | mag.getAxis(mag_raw); |
whatnick | 14:9885c8536437 | 74 | pc.printf("FXOS8700Q ACC: X=%d Y=%d Z=%d ", acc_raw.x, acc_raw.y, acc_raw.z); |
whatnick | 14:9885c8536437 | 75 | pc.printf(" MAG: X=%d Y=%d Z=%d\r\n", mag_raw.x, mag_raw.y, mag_raw.z); |
whatnick | 14:9885c8536437 | 76 | acc.getX(&raX); |
whatnick | 14:9885c8536437 | 77 | acc.getY(&raY); |
whatnick | 14:9885c8536437 | 78 | acc.getZ(&raZ); |
whatnick | 14:9885c8536437 | 79 | mag.getX(&rmX); |
whatnick | 14:9885c8536437 | 80 | mag.getY(&rmY); |
whatnick | 14:9885c8536437 | 81 | mag.getZ(&rmZ); |
whatnick | 14:9885c8536437 | 82 | pc.printf("FXOS8700Q ACC: X=%d Y=%d Z=%d ", raX, raY, raZ); |
whatnick | 15:b5a3e22d706b | 83 | pc.printf(" MAG: X=%d Y=%d Z=%d\r\n\n", rmX, rmY, rmZ); |
whatnick | 15:b5a3e22d706b | 84 | |
whatnick | 15:b5a3e22d706b | 85 | while(gps.readable()) |
whatnick | 15:b5a3e22d706b | 86 | { |
whatnick | 15:b5a3e22d706b | 87 | c = myGPS.read(); //queries the GPS |
whatnick | 15:b5a3e22d706b | 88 | |
whatnick | 15:b5a3e22d706b | 89 | if (c) { |
whatnick | 15:b5a3e22d706b | 90 | pc.printf("%c", c); //this line will echo the GPS data if not paused |
whatnick | 15:b5a3e22d706b | 91 | } |
whatnick | 15:b5a3e22d706b | 92 | } |
whatnick | 15:b5a3e22d706b | 93 | |
whatnick | 15:b5a3e22d706b | 94 | //check if we recieved a new message from GPS, if so, attempt to parse it, |
whatnick | 15:b5a3e22d706b | 95 | if ( myGPS.newNMEAreceived() ) { |
whatnick | 15:b5a3e22d706b | 96 | if ( !myGPS.parse(myGPS.lastNMEA()) ) { |
whatnick | 15:b5a3e22d706b | 97 | continue; |
whatnick | 15:b5a3e22d706b | 98 | } |
whatnick | 15:b5a3e22d706b | 99 | } |
whatnick | 15:b5a3e22d706b | 100 | |
whatnick | 15:b5a3e22d706b | 101 | wait(0.1); |
stevep | 4:81cea7a352b0 | 102 | } |
dan | 0:7dec7e9ac085 | 103 | } |