Tisham Dhar
This program is designed to run on a set of Xadow M0 modules to create a Hotshoe IMU which outputs GPS and Orientation data to Nikon cameras, as well as triggering the camera at set intervals.
Dependencies: MBed_Adafruit-GPS-Library SC16IS750 SDFileSystem SSD1308_128x64_I2C USBDevice mbed BMP085
Fork of
MPU9150AHRS
by 
Kris Winer
Diff: main.cpp
- Revision:
- 7:37bd00805530
- Parent:
- 5:81bba9f0f92b
- Child:
- 9:b7062c55d36c
--- a/main.cpp Mon May 25 02:54:44 2015 +0000
+++ b/main.cpp Thu Jul 16 07:38:13 2015 +0000
@@ -41,12 +41,15 @@
SSD1308 oled = SSD1308(i2c, SSD1308_SA0);
//Use Serial expander for extra UART
-SC16IS750_I2C serial_i2c(&i2c, SC16IS750_SA5);
+SPI spi(P0_9,P0_8,P0_10); //MOSI, MISO, SCK
+DigitalOut CS(P0_15); //CS
+SC16IS752_SPI serial_spi_nikon(&spi,P0_15,NC,SC16IS750::Channel_B);
+SC16IS752_SPI serial_spi_ble(&spi,P0_15,NC,SC16IS750::Channel_A);
//Use BMP085 Temperature,Pressure
BMP085 bmp(i2c);
-SDFileSystem sd(P0_21, P0_22, P1_15, P1_19, "sd", P0_20, SDFileSystem::SWITCH_POS_NC); // the pinout on the mbed Cool Components workshop board
+SDFileSystem sd(P0_21, P0_22, P1_15, P1_19, "sd", P0_20, SDFileSystem::SWITCH_POS_NC); // Pin-out on Xadow SD board attached to 1st SPI
float sum = 0;
uint32_t sumCount = 0, mcount = 0;
@@ -84,6 +87,12 @@
//Set up I2C
i2c.frequency(400000); // use fast (400 kHz) I2C
+
+ //Set up SPI
+ spi.format(8, 0);;
+// spi.frequency(100000);
+// spi.frequency(500000);
+ spi.frequency(1000000);
//Set up GPS
Adafruit_GPS myGPS(&gps);
@@ -106,15 +115,25 @@
myGPS.sendCommand(UBX_DISABLE_GSA);
wait(1);
- //Set Serial I2C Baudrate
- serial_i2c.baud(4800);
+ //Set Serial I2C Baudrate for Nikon
+ serial_spi_nikon.baud(4800);
+ wait(1);
+
+ //Set Serial SPI Baudrate for BLE
+ serial_spi_ble.baud(2400);
wait(1);
+ //Set BLE Baud rate
+ //serial_spi_ble.printf("AT+BAUD2");
+ //wait(1);
+ //serial_spi_ble.baud(19200);
+ //wait(1);
+
//Set output pins for trigggering camera
- serial_i2c.ioSetDirection(0x3);
+ serial_spi_nikon.ioSetDirection(0xFF); // All outputs
+ serial_spi_nikon.ioSetState(0xFF); // All On
- //Set BLE Baud rate
- //serial_i2c.printf("AT+BAUD6");
+
oled.fillDisplay(0xAA);
oled.setDisplayOff();
@@ -225,28 +244,28 @@
sprintf(buffer,"PRS:%5.2f",pres);
oled.writeString(6,0,buffer);
- serial_i2c.printf("$GPRMC,000002.000,A,3456.9076,S,13831.2800,E,0.00,65.44,240215,,,D*49\r\n");
- serial_i2c.printf("$PTNTHPR,105.0,N,-21.4,N,0.9,N,A*79\r\n");
+ serial_spi_nikon.printf("$GPRMC,000002.000,A,3456.9076,S,13831.2800,E,0.00,65.44,240215,,,D*49\r\n");
+ serial_spi_nikon.printf("$PTNTHPR,105.0,N,-21.4,N,0.9,N,A*79\r\n");
wait(0.1);
- //serial_i2c.printf("$GPVTG,65.44,T,,M,0.00,N,0.00,K,D*0B");
+ //serial_spi_nikon.printf("$GPVTG,65.44,T,,M,0.00,N,0.00,K,D*0B");
sprintf(buffer+1,"GPGGA,000002.000,3456.9076,S,13831.2800,E,2,07,0.94,%5.2f,M,-0.5,M,,",baroAlt);
int checkS = checkSum(buffer+1,strlen(buffer+1));
buffer[0] = '$';
- serial_i2c.printf(buffer);
- serial_i2c.printf("*%02X\r\n",checkS);
+ serial_spi_nikon.printf(buffer);
+ serial_spi_nikon.printf("*%02X\r\n",checkS);
wait(0.1);
- serial_i2c.printf("$GPGSA,A,3,13,15,24,06,12,02,28,,,,,,1.32,0.94,0.92*09\r\n");
- serial_i2c.printf("$GPGLL,3456.9076,S,13831.2800,E,000002.000,A,D*4D\r\n");
- serial_i2c.printf("$NKGCS,WGS 84*11\r\n");
+ serial_spi_nikon.printf("$GPGSA,A,3,13,15,24,06,12,02,28,,,,,,1.32,0.94,0.92*09\r\n");
+ serial_spi_nikon.printf("$GPGLL,3456.9076,S,13831.2800,E,000002.000,A,D*4D\r\n");
+ serial_spi_nikon.printf("$NKGCS,WGS 84*11\r\n");
if(up)
{
- serial_i2c.ioSetState(0x0);
+ serial_spi_nikon.ioSetState(0x0);
up = false;
}
else
{
- serial_i2c.ioSetState(0x3);
+ serial_spi_nikon.ioSetState(0x3);
up = true;
}
lastUpdate = Now;
@@ -269,10 +288,10 @@
c = myGPS.read(); //queries the GPS
if (c) {
LOG("%c", c); //this line will echo the GPS data if not paused
- //serial_i2c.putc(c);
- //serial_i2c.printf("$GPGGA,154850.00,3452.12190,S,13836.65170,E,1,04,1.64,123.5,M,0.0,M,,*7F\r\n");
+ //serial_spi_nikon.putc(c);
+ //serial_spi_nikon.printf("$GPGGA,154850.00,3452.12190,S,13836.65170,E,1,04,1.64,123.5,M,0.0,M,,*7F\r\n");
//$GPGGA,160202.00,3452.14414,S,13836.63059,E,1,04,2.60,45.4,M,-3.4,M,,*6B
- //serial_i2c.printf("$GPRMC,154850.00,A,3452.12190,S,13836.65170,E,0.510,,110215,,,A*63\r\n");
+ //serial_spi_nikon.printf("$GPRMC,154850.00,A,3452.12190,S,13836.65170,E,0.510,,110215,,,A*63\r\n");
//$GPRMC,160203.00,A,3452.14414,S,13836.63079,E,0.332,,110215,,,A*6F
}
@@ -308,7 +327,7 @@
c = myGPS.read(); //queries the GPS
if (c) {
LOG("%c", c); //this line will echo the GPS data if not paused
- //serial_i2c.putc(c);
+ //serial_spi_nikon.putc(c);
}
//check if we recieved a new message from GPS, if so, attempt to parse it,
@@ -319,8 +338,12 @@
else
{
- serial_i2c.printf(myGPS.lastNMEA());
- serial_i2c.printf("\n\r");
+ serial_spi_nikon.printf(myGPS.lastNMEA());
+ serial_spi_nikon.printf("\n\r");
+
+ serial_spi_ble.printf(myGPS.lastNMEA());
+ serial_spi_ble.printf("\n\r");
+
if(myGPS.fix && fp!=NULL) {
fprintf(fp,myGPS.lastNMEA());
fprintf(fp,"\r\n");
@@ -397,8 +420,12 @@
sprintf(buffer+1,"PTNTHPR,%3.1f,N,%3.1f,N,%3.1f,N,A",yaw,pitch,roll);
int checkS = checkSum(buffer+1,strlen(buffer+1));
buffer[0] = '$';
- serial_i2c.printf(buffer);
- serial_i2c.printf("*%02X\r\n",checkS);
+ serial_spi_nikon.printf(buffer);
+ serial_spi_nikon.printf("*%02X\r\n",checkS);
+
+ serial_spi_ble.printf(buffer);
+ serial_spi_ble.printf("*%02X\r\n",checkS);
+
if(fp != NULL) {
fprintf(fp,"%s%02X\r\n",buffer,checkS);
if(fflush(fp)==EOF) {