Darren Ulrich
Works
Dependencies: BMP180 BNO055_fusion Fonts GPSISR HTU21D SDFileSystem UniGraphic mbed uGUI
Fork of
Bicycl_Computer_NUCLEO-F411RE
by 
Darren Ulrich
main.cpp
- Committer:
- trevieze
- Date:
- 2018-05-25
- Revision:
- 16:e81bd672196b
- Parent:
- 15:b174ec6e3ca0
File content as of revision 16:e81bd672196b:
/* mbed main.cpp to test adafruit 2.8" TFT LCD shiled w Touchscreen
* Copyright (c) 2014, 2015 Motoo Tanaka @ Design Methodology Lab
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
/*
* Note: This program is derived from the SeeeStudioTFTv2 program.
* Although both program share same ILI9341 TFT driver,
* the touch sensor was not same with the Display I purchased from Akizuki.
* http://akizukidenshi.com/catalog/g/gM-07747/
* The touch sensor on the display is STMPE610,
* so I hacked the minimum spi driver for it (polling mode only).
*/
#include "mbed.h"
#include <math.h>
#include "ILI9341.h"
//#include "TFT.h"
// Graphics GUI Library
#include "ugui.h"
#include "SeeedStudioTFTv2.h"
#include "BNO055.h"
#include "HTU21D.h"
#include "BMP180.h"
#include "SDFileSystem.h"
#include "GPSISR.h"
#include "nav.h"
#include "ArialR16x17.h"
#include "Arial24x23i.h"
#include "Arial28x28.h"
#include "Neu44x36.h"
#include "SCProSB31x55.h"
#include "Arial12x12.h"
#include "ArialR20x20.h"
//#define PIN_CS_TSC PA_9
//#define PIN_TSC_INTR PA_8
#define PIN_RESET_TFT PC_13 /* place holder */
//ILI9341 SPI PINS
#define PIN_XP A3
#define PIN_XM A1
#define PIN_YP A2
#define PIN_YM A0
#define PIN_MOSI_SPI1 D11 //SPI 1 MOSI
#define PIN_MISO_SPI1 D12 //SPI 1 MISO
#define PIN_SCLK_SPI1 D13 //SPI 1 SLCK
#define PIN_CS_SPI1 D5 // SPI CS D10 Was D5
#define PIN_DC_TFT D6
#define PIN_CS_SD D4
#define PIN_RESET D7
// SD Card on GPS shield PINS
#define PIN_MOSI_SPI3 PB_15 //SPI 1 MOSI
#define PIN_MISO_SPI3 PB_14 //SPI 1 MISO
#define PIN_SCLK_SPI3 PB_13 //SPI 1 SLCK
#define PIN_CS_SPI3 D2 // SPI CS
#define PIN_RX_GPS PA_12 //GPS Shield RX pin
#define PIN_TX_GPS PA_11 //GPS Shield TX pin
#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
#define TARGET_NECLEO_F411RE
#endif
//DigitalOut backlight(PB_3) ;
// DigitalOut tsc_cs(PA_9, 1) ;
// DigitalOut tft_cs(PB_6, 1) ;
/** Height of display using default orientation */
#define ILI9341_DEFAULT_HEIGHT 240
/** Width of display using default orientation */
#define ILI9341_DEFAULT_WIDTH 320
/** Height of display using swapped X/Y orientation */
#define ILI9341_SWITCH_XY_HEIGHT 320
/** Width of display using swapped X/Y orientation */
#define ILI9341_SWITCH_XY_WIDTH 240
Serial pc(USBTX, USBRX);
// Display
ILI9341 TFT(SPI_8, 20000000,
PIN_MOSI_SPI1, PIN_MISO_SPI1, PIN_SCLK_SPI1,
PIN_CS_SPI1, PIN_RESET_TFT, PIN_DC_TFT, "Adafruit2.8");
// TouchScreen
TouchScreen TOUCH(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
// Humidity and Temperature
HTU21D humid(I2C_SDA, I2C_SCL);
// Pressure
BMP180 bmp180(I2C_SDA, I2C_SCL);
// SD Card Reader On Adafruit GPS Shield
SDFileSystem sd(PIN_MOSI_SPI3, PIN_MISO_SPI3, PIN_SCLK_SPI3, PIN_CS_SPI3, "sd"); // the pinout on the mbed Cool Components workshop board
// Set up serial interrupe service handler for gps characters.
GPS MyGPS(PIN_TX_GPS,PIN_RX_GPS, 9600);
//Navigation Class.
NAV nav;
double plat = 42.826420;
double plon = -84.219413;
void Draw_Compass_Rose(void);
void arrow(int x2, int y2, int x1, int y1, int alength, int awidth, int colour);
void ili9341_pset(UG_S16 ul_x,UG_S16 ul_y, UG_COLOR ul_color);
void window_1_callback( UG_MESSAGE* msg );
void window_2_callback( UG_MESSAGE* msg );
void window_3_callback( UG_MESSAGE* msg );
void cb1(void);
const int centreX = 120;
const int centreY = 150;
const int radius = 40;
float last_dx;
float last_dy;
int pageid = 1;
bool pageinit = 0;
#define PAGE1 1
#define PAGE2 2
#define PAGE3 3
UG_GUI gui;
//Ticker to1;
int main()
{
//to1.attach(&cb1, 2.0);
TFT.BusEnable(true) ;
TFT.FastWindow(true) ;
wait(0.1);
TFT.cls();
wait(0.1);
UG_Init(&gui,ili9341_pset,ILI9341_DEFAULT_HEIGHT,ILI9341_DEFAULT_WIDTH);
Timer refresh_Timer; //sets up a timer for use in loop; how often do we print GPS info?
const int refresh_Time = 2000; //refresh time in ms
refresh_Timer.start(); //starts the clock on the timer
//backlight = 0 ;
wait(0.1);
// Draw_Compass_Rose();
/* Window 1 Bike Computer */
#define MAX_OBJECTS 10
UG_WINDOW window_1 ; /* Window */
UG_BUTTON button_1; /* Button container */
UG_BUTTON button_2; /* Button container */
UG_OBJECT obj_buff_wnd_1 [MAX_OBJECTS] ; /* Object buffer */
UG_WindowCreate ( &window_1 , obj_buff_wnd_1 , MAX_OBJECTS, window_1_callback);
UG_WindowSetTitleTextFont ( &window_1 , &FONT_8X8 ) ;
UG_WindowSetTitleText ( &window_1 , "Bike Computer" ) ;
UG_WindowSetBackColor( &window_1 , C_GRAY ) ;
UG_ButtonCreate (&window_1, &button_1, BTN_ID_0, 10 , 230 , 115 , 290 );
UG_ButtonCreate (&window_1, &button_2, BTN_ID_1, 125 , 230 , 225 , 290 );
UG_ButtonSetBackColor (&window_1 ,BTN_ID_0 , C_BLUE ) ;
UG_ButtonSetForeColor (&window_1 ,BTN_ID_0 , C_WHITE ) ;
UG_ButtonSetBackColor (&window_1 ,BTN_ID_1 , C_BLUE ) ;
UG_ButtonSetForeColor (&window_1 ,BTN_ID_1 , C_WHITE ) ;
UG_ButtonSetFont (&window_1 , BTN_ID_0 , &FONT_8X8) ;
UG_ButtonSetFont (&window_1 , BTN_ID_1 , &FONT_8X8) ;
UG_ButtonSetText (&window_1 , BTN_ID_0 , "Prev" );
UG_ButtonSetText (&window_1 , BTN_ID_1 , "Next" );
/* Window 2 e-Compass */
UG_WINDOW window_2 ; /* Window */
UG_BUTTON button_3; /* Button container */
UG_BUTTON button_4; /* Button container */
UG_OBJECT obj_buff_wnd_2 [MAX_OBJECTS] ; /* Object buffer */
UG_WindowCreate ( &window_2 , obj_buff_wnd_2 , MAX_OBJECTS, window_2_callback);
UG_WindowSetTitleTextFont ( &window_2 , &FONT_8X8 ) ;
UG_WindowSetTitleText ( &window_2 , "e-Compass" ) ;
UG_WindowSetBackColor( &window_2 , C_GRAY ) ;
UG_ButtonCreate (&window_2, &button_3, BTN_ID_2, 10 , 230 , 115 , 290 );
UG_ButtonCreate (&window_2, &button_4, BTN_ID_3, 125 , 230 , 225 , 290 );
UG_ButtonSetBackColor (&window_2 ,BTN_ID_2 , C_BLUE ) ;
UG_ButtonSetForeColor (&window_2 ,BTN_ID_2 , C_WHITE ) ;
UG_ButtonSetBackColor (&window_2 ,BTN_ID_3 , C_BLUE ) ;
UG_ButtonSetForeColor (&window_2 ,BTN_ID_3 , C_WHITE ) ;
UG_ButtonSetFont (&window_2 , BTN_ID_2 , &FONT_8X8) ;
UG_ButtonSetFont (&window_2 , BTN_ID_3 , &FONT_8X8) ;
UG_ButtonSetText (&window_2 , BTN_ID_2 , "Prev" );
UG_ButtonSetText (&window_2 , BTN_ID_3 , "Next" );
/* Window 3 GSP */
UG_WINDOW window_3 ; /* Window */
UG_BUTTON button_5; /* Button container */
UG_BUTTON button_6; /* Button container */
UG_OBJECT obj_buff_wnd_3 [MAX_OBJECTS] ; /* Object buffer */
UG_WindowCreate ( &window_3 , obj_buff_wnd_3 , MAX_OBJECTS, window_3_callback);
UG_WindowSetTitleTextFont ( &window_3 , &FONT_8X8 ) ;
UG_WindowSetTitleText ( &window_3 , "GPS Waypoints" ) ;
UG_WindowSetBackColor( &window_3 , C_GRAY ) ;
UG_ButtonCreate (&window_3, &button_5, BTN_ID_4, 10 , 230 , 115 , 290 );
UG_ButtonCreate (&window_3, &button_6, BTN_ID_5, 125 , 230 , 225 , 290 );
UG_ButtonSetBackColor (&window_3 ,BTN_ID_4 , C_BLUE ) ;
UG_ButtonSetForeColor (&window_3 ,BTN_ID_4 , C_WHITE ) ;
UG_ButtonSetBackColor (&window_3 ,BTN_ID_5 , C_BLUE ) ;
UG_ButtonSetForeColor (&window_3 ,BTN_ID_5 , C_WHITE ) ;
UG_ButtonSetFont (&window_3 , BTN_ID_4 , &FONT_8X8) ;
UG_ButtonSetFont (&window_3 , BTN_ID_5 , &FONT_8X8) ;
UG_ButtonSetText (&window_3 , BTN_ID_4 , "Prev" );
UG_ButtonSetText (&window_3 , BTN_ID_5 , "Next" );
/* Finally , show the window */
//UG_WindowShow(&window_1) ;
//UG_WindowHide(&window_2);
//UG_WindowHide(&window_3);
//UG_Update();
while (1) {
cb1();
TFT.set_font((unsigned char*) ArialR20x20);
TFT.foreground(White);
TFT.background(UG_WindowGetBackColor(&window_1));
//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();
switch ( pageid )
{
case PAGE1:
{
if (!pageinit) {
UG_WindowHide(&window_2);
UG_WindowHide(&window_3);
UG_WindowShow(&window_1);
UG_Update();
}
pageinit = 1;
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");
}
TFT.locate(10, 50) ;
TFT.printf("%.1fF", ((temp* 9.0) / 5.0 + 32));
}
int ftemp = humid.sample_ftemp();
int humidity = humid.sample_humid();
TFT.locate(10, 72) ;
TFT.printf("%d%%RH",humidity);
if (MyGPS.dataready()) {
MyGPS.read();
TFT.locate(10, 26) ;
TFT.foreground(UG_WindowGetBackColor(&window_1));
TFT.printf("No GPS Data");
TFT.foreground(White);
TFT.locate(10, 26) ;
TFT.printf("%d:%d:%d", MyGPS.buffer.hours, MyGPS.buffer.minutes, MyGPS.buffer.seconds);
TFT.locate(100, 26) ;
TFT.printf("%d-%d-%d", MyGPS.buffer.month, MyGPS.buffer.day, MyGPS.buffer.year);
TFT.set_font((unsigned char*) SCProSB31x55);
TFT.locate(130, 180) ;
TFT.printf("%.1f", MyGPS.buffer.speed);
TFT.locate(10, 180) ;
TFT.printf("%.1f", MyGPS.buffer.speed); //Cadence
TFT.set_font((unsigned char*) ArialR20x20);
//TFT.locate(10, 50) ;
//double waypoint = nav.CalculateDistance(MyGPS.buffer.latitude,MyGPS.buffer.longitude,plat,plon)/double(1609.344);
//TFT.printf("%.1fMI From Perry", waypoint);
}
else {
TFT.locate(10, 26) ;
TFT.printf("No GPS Data");
//pc.printf("NMEA has no valid data");
}
break;
}
case PAGE2:
{
if (!pageinit) {
UG_WindowHide(&window_1);
UG_WindowHide(&window_3);
UG_WindowShow(&window_2);
UG_Update();
}
pageinit = 1;
break;
}
case PAGE3:
{
if (!pageinit) {
UG_WindowHide(&window_1);
UG_WindowHide(&window_2);
UG_WindowShow(&window_3);
UG_Update();
}
pageinit = 1;
break;
}
}
}
/*
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);
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) ;
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);
//pc.printf("Dist to Perry %.4f ", nav.CalculateDistance(MyGPS.buffer.latitude,MyGPS.buffer.longitude,plat,plon));
}
if (imu.chip_ready() == 0){
pc.printf("Bosch BNO055 is NOT avirable!!\r\n");
} else {
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);
TFT.locate(4, 260) ;
TFT.printf("%.1f @ %.1f",euler_angles.h, euler_angles.p);
//pc.printf("H %d",(int)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");
}
}
float angle = euler_angles.h; // 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 = (radius * cos((angle-90)*PI/180)) + centreX; // calculate X position for the screen coordinates - can be confusing!
float dy = (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
last_dx = dx;
last_dy = dy;
}
*/
}
}
void arrow(int x2, int y2, int x1, int y1, int alength, int awidth, int colour) {
float distance;
int dx, dy, x2o,y2o,x3,y3,x4,y4,k;
distance = sqrt(pow((double)(x1 - x2),2) + pow((double)(y1 - y2), 2));
dx = x2 + (x1 - x2) * alength / distance;
dy = y2 + (y1 - y2) * alength / distance;
k = awidth / alength;
x2o = x2 - dx;
y2o = dy - y2;
x3 = y2o * k + dx;
y3 = x2o * k + dy;
x4 = dx - y2o * k;
y4 = dy - x2o * k;
TFT.line(x1, y1, x2, y2, colour);
TFT.line(x1, y1, dx, dy, colour);
TFT.line(x3, y3, x4, y4, colour);
TFT.line(x3, y3, x2, y2, colour);
TFT.line(x2, y2, x4, y4, colour);
TFT.set_font((unsigned char*) Arial12x12);
TFT.foreground(Blue);
TFT.background(White);
TFT.locate((centreX-2),(centreY-24));
TFT.printf("N");
TFT.locate((centreX-2),(centreY+17));
TFT.printf("S");
TFT.locate((centreX+19),(centreY-3));
TFT.printf("E");
TFT.locate((centreX-23),(centreY-3));
TFT.printf("W");
TFT.set_font((unsigned char*) ArialR20x20);
}
void Draw_Compass_Rose(void) {
int dxo, dyo, dxi, dyi;
TFT.circle(centreX,centreY,radius,Blue); // Draw compass circle
for (float i = 0; i <360; i = i + 22.5) {
dxo = radius * cos(i*3.14/180);
dyo = radius * sin(i*3.14/180);
dxi = dxo * 0.95;
dyi = dyo * 0.95;
TFT.line(dxi+centreX,dyi+centreY,dxo+centreX,dyo+centreY,Blue);
}
TFT.set_font((unsigned char*) Arial12x12);
TFT.foreground(Blue);
TFT.background(White);
TFT.locate((centreX-2),(centreY-24));
TFT.printf("N");
TFT.locate((centreX-2),(centreY+17));
TFT.printf("S");
TFT.locate((centreX+19),(centreY-3));
TFT.printf("E");
TFT.locate((centreX-23),(centreY-3));
TFT.printf("W");
}
void ili9341_pset(UG_S16 ul_x,UG_S16 ul_y, UG_COLOR ul_color)
{
TFT.pixel(ul_x, ul_y, ul_color);
}
void window_1_callback( UG_MESSAGE* msg )
{
if ( msg->type == MSG_TYPE_OBJECT )
{
if ( msg->id == OBJ_TYPE_BUTTON )
{
switch ( msg->sub_id )
{
case BTN_ID_0:
{
pageid--;
if (pageid < 1) {
pageid = 3;
}
pageinit = 0;
break;
}
case BTN_ID_1:
{
pageid++;
if (pageid > 3) {
pageid = 1;
}
pageinit = 0;
break;
}
}
}
}
}
void window_2_callback( UG_MESSAGE* msg )
{
if ( msg->type == MSG_TYPE_OBJECT )
{
if ( msg->id == OBJ_TYPE_BUTTON )
{
switch ( msg->sub_id )
{
case BTN_ID_2:
{
pageid--;
if (pageid < 1) {
pageid = 3;
}
pageinit = 0;
break;
}
case BTN_ID_3:
{
pageid++;
if (pageid > 3) {
pageid = 1;
}
pageinit = 0;
break;
}
}
}
}
}
void window_3_callback( UG_MESSAGE* msg )
{
if ( msg->type == MSG_TYPE_OBJECT )
{
if ( msg->id == OBJ_TYPE_BUTTON )
{
switch ( msg->sub_id )
{
case BTN_ID_4:
{
pageid--;
if (pageid < 1) {
pageid = 3;
}
pageinit = 0;
break;
}
case BTN_ID_5:
{
pageid++;
if (pageid > 3) {
pageid = 1;
}
pageinit = 0;
break;
}
}
}
}
}
void cb1(void) {
point p;
TOUCH.getTouch(p);
if (p.z > __PRESURE)
{
UG_TouchUpdate ( p.x, p.y, TOUCH_STATE_PRESSED ) ;
}
else
{
UG_TouchUpdate (-1, -1, TOUCH_STATE_RELEASED ) ;
}
UG_Update();
}