Subversion Repositories dashGPS

#include "main.h"

#include "libNMEA/nmea.h"

#include <cstring>

#include "libOLED/stm32_halDisplay.H"

#include "libOLED/fontclass.H"

#include "libOLED/displayDial.H"

#include "libLSM9DS1/LSM9DS1.h"

#include "libBMP280/bmp280.h"

#include "libSmallPrintf/small_printf.h"

#if defined USB_DEVICE

#include "usbd_cdc_if.h"

#endif

LSM9DS1Class IMU (&hi2c2);

namespace

{

  int const WIDTH = 128;

  int const HEIGHT = 64;

  int const DISPLAY_RAMWIDTH = 132;

}

float speedMPH = 0.0;

float speedAvg = 0.0;

double speedAvgTime = 0;    // sum of all deltaTime;

double speedAvgSum = 0.0;  // sum of deltaTime * speed for each second

double lastLocTime = 0.0; // last time there was a location

uint32_t nextPosTime = 0;

// convert knots to MPH

double const KNOTS_TO_MPH = 1.128;

int heading = 0;

Location loc;

uint32_t lastTick = 0;

int32_t temp32 = 0;

uint32_t pres32 = 0;

int32_t rslt;

int32_t rslt2; // result from read of second sensor

// second sensor

int32_t temp32_out = 0;

uint8_t displayBuffer[dataSize (WIDTH, HEIGHT)];

stm32_halDisplay_t display1 (WIDTH, HEIGHT, DISPLAY_RAMWIDTH, displayBuffer,

                             &hspi1,

                             SPI_CD_GPIO_Port,

                             SPI_CD_Pin,

                             SPI_RESET_GPIO_Port,

                             SPI_RESET_Pin,

                             SPI_NSS1_GPIO_Port,

                             SPI_NSS1_Pin);

displayDial_t dial (display1, 96, 32, 32, 180);

// debouncer for the button

char buttonState;

char buttonCount;

char rmc_flag = 0;

extern "C" uint8_t

rmc_callback (uint8_t *data, uint16_t length)

{

  rmc_flag = 1;

  HAL_GPIO_TogglePin (Green_LED_GPIO_Port, Green_LED_Pin);

  return CDC_Transmit_FS (data, length);

}

extern "C" void

cc_init ()

{

  display1.reset ();

  display1.init ();

  display1.clearDisplay ();

  dial.draw_scale (0, 360, 8, 1, 45);

  display1.display ();

  memset (loc.time, '-', 6);

  // every time we receive GPRMC, forward the text line to the USB driver

  setRmcCallback (&rmc_callback);

  // initialise IMU operations

  IMU.begin ();

}

char fontBuf[] = "01234567";

extern "C" void

cc_run (struct bmp280_dev *bmp, struct bmp280_dev *bmp2)

{

  bool stat = updateLocation (&loc, &uc1);

  // process button press : done by polling loop

  uint8_t const buttonLimit = 3;

  uint8_t newPush = HAL_GPIO_ReadPin ( encoder_push_GPIO_Port,

  encoder_push_Pin);

  if (newPush == buttonState)

    buttonCount = 0;

  else if (buttonCount < buttonLimit)

    buttonCount++;

  if (buttonCount == buttonLimit)

    {

      buttonState = newPush;

      buttonCount = 0;

      // if the button is held down , we set the average speed

      if (buttonState == GPIO_PIN_RESET)

        {

          speedAvgSum = 0.0;

          speedAvgTime = 0.0;

        }

    }

  if (rmc_flag)

    {

      // get the time from the RTC

      RTC_TimeTypeDef sTime;

      rmc_flag = 0;

      display1.clearDisplay ();

      dial.draw_scale (0, 360, 8, 1, 45);

      if (loc.good)

        {

          heading = loc.heading;

          // add in time * speed to give "distance"

          if (loc.valid == 'A')

            {

              sTime.Seconds = loc.tv.tm_sec;

              sTime.Minutes = loc.tv.tm_min;

              sTime.Hours = loc.tv.tm_hour;

              HAL_RTC_SetTime (&hrtc, &sTime, RTC_FORMAT_BIN);

              if (lastLocTime != 0)

                {

                  double delta = difftime (loc.utc, lastLocTime);

                  // believe the speed .

                  if (delta > 0 && delta < 2)

                    {

                      speedAvgSum += loc.speed * delta;

                      speedAvgTime += delta;

                      lastLocTime = loc.utc;

                    }

                  else

                    lastLocTime = loc.utc;

                }

              else

                {

                  lastLocTime = loc.utc;

                }

            }

        }

      else

        {

          HAL_RTC_GetTime (&hrtc, &sTime, RTC_FORMAT_BIN);

        }

      // slow down the output of ata

      if (speedAvgTime > 0)

        speedAvg = (speedAvgSum / speedAvgTime) * KNOTS_TO_MPH;

      else

        speedAvg = 0.0;

      // update the display once per second

      loc.time[0] = (sTime.Hours / 10) + '0';

      loc.time[1] = (sTime.Hours % 10) + '0';

      loc.time[2] = (sTime.Minutes / 10) + '0';

      loc.time[3] = (sTime.Minutes % 10) + '0';

      loc.time[4] = (sTime.Seconds / 10) + '0';

      loc.time[5] = (sTime.Seconds % 10) + '0';

      // print out the GMT time at the top of the screen

      display1.gotoxy (0, 0);

      display1.printString (small_font, &loc.time[0], 2, WHITE);

      display1.printString (small_font, ":", 1, WHITE);

      display1.printString (small_font, &loc.time[2], 2, WHITE);

      display1.printString (small_font, ":", 1, WHITE);

      display1.printString (small_font, &loc.time[4], 2, WHITE);

      int dial_ang = heading + 180;

      dial.draw_needle (dial_ang);

      display1.gotoxy (70, 25);

      if (loc.valid == 'A')

        {

          if (heading < 100)

            display1.moveby (2, 0);

          if (heading < 10)

            display1.moveby (2, 0);

          display1.fontDigits (large_font, 3, -1, heading);

        }

      else

        display1.printString (large_font, "GPS?", 4, WHITE);

      if (loc.valid == 'A')

        speedMPH = loc.speed * KNOTS_TO_MPH;

      else

        speedMPH = 0.0;

      display1.gotoxy (0, 8);

      display1.fontDigits (large_font, 4, 1, speedMPH * 10);

      display1.printString (small_font, "c", 2, WHITE);

      display1.gotoxy (0, 24);

      display1.fontDigits (large_font, 4, 1, speedAvg * 10);

      display1.printString (small_font, "av", 2, WHITE);

      float x, y, z;

      if (IMU.magneticFieldAvailable ())

        {

          IMU.readMagneticField (x, y, z);

        }

      if (IMU.accelerationAvailable ())

        {

          IMU.readAcceleration (x, y, z);

        }

      struct bmp280_uncomp_data ucomp_data, ucomp_data2;

      if (HAL_GetTick () - lastTick > 200)

        {

          lastTick = HAL_GetTick ();

          /* Reading the raw data from sensor */

          rslt = bmp280_get_uncomp_data (&ucomp_data, bmp);

          /* Check to see if the second BMP is online */

          if (pollBmp2State ())

            {

              /* reading the raw data from the second sensor */

              rslt2 = bmp280_get_uncomp_data (&ucomp_data2, bmp2);

              if (rslt2 == BMP280_OK)

                {

                  rslt2 = bmp280_get_comp_temp_32bit (&temp32_out,

                                                      ucomp_data2.uncomp_temp,

                                                      bmp2);

                }

              // if it returns 128,0,0 for both temperature and pressure at the same time,  then this ends up as the value 524288 which is broken ..

              if (rslt2 != BMP280_OK

                  || (ucomp_data2.uncomp_temp == 524288

                      && ucomp_data2.uncomp_press == 524288))

                {

                  /// try to reset the device, its playing up

                  resetBmp2 ();

                }

            }

          if (rslt == BMP280_OK)

            {

              /* Getting the 32 bit compensated temperature */

              rslt = bmp280_get_comp_temp_32bit (&temp32,

                                                 ucomp_data.uncomp_temp, bmp);

              rslt = bmp280_get_comp_pres_32bit (&pres32,

                                                 ucomp_data.uncomp_press, bmp);

#if defined USB_DEVICE

                /*

                 *  $--XDR,a,x.x,a,c--c, ..... *hh<CR><LF> \\

              Field Number:

                 1) Transducer Type

                 2) Measurement Data

                 3) Units of measurement

                 4) Name of transducer

                 x) More of the same

                 n) Checksum

                 Example:

                 $IIXDR,C,19.52,C,TempAir*19

                 $IIXDR,P,1.02481,B,Barometer*29

                 Currently, OpenCPN recognizes the following transducers:

                 Measured Value | Transducer Type | Measured Data   | Unit of measure | Transducer Name

                 ------------------------------------------------------------------------------------------------------

                 barometric     | "P" pressure    | 0.8..1.1 or 800..1100           | "B" bar         | "Barometer"

                 air temperature| "C" temperature |   2 decimals                    | "C" celsius     | "TempAir" or "ENV_OUTAIR_T"

                 pitch          | "A" angle       |-180..0 nose down 0..180 nose up | "D" degrees     | "PTCH" or "PITCH"

                 rolling        | "A" angle       |-180..0 L         0..180 R       | "D" degrees     | "ROLL"

                 water temp     | "C" temperature |   2 decimals                    | "C" celsius     | "ENV_WATER_T"

                 */

                // compile a logger message over USB

                char buffer[200];

                int cnt = small_sprintf(buffer,"$MJXDR,C,%ld.%02ld,C,AirTemp,P,%01ld.%05ld,B,AirPres",temp32/100,temp32%100,pres32/100000,pres32%100000);

                uint8_t sum=0;

                for(int i=1; i<cnt; i++)

                sum += buffer[i];

                cnt+= small_sprintf(buffer+cnt,"*%02X\n",sum);

                CDC_Transmit_FS(reinterpret_cast<uint8_t*>(&buffer[0]),cnt);

#endif

            }

        }

      display1.gotoxy (0, 40);

      display1.fontDigits (large_font, 4, 1, temp32_out / 10, WHITE);

      display1.printString (small_font, "°", 1, WHITE);

      display1.gotoxy (0, 56);

      display1.fontDigits (small_font, 3, 1, temp32 / 10, WHITE);

      display1.printString (small_font, "° ", 2, WHITE);

      display1.fontDigits (small_font, 4, -1, pres32 / 100, WHITE);

      display1.printString (small_font, "mb", 2, WHITE);

      display1.display ();

    }

  HAL_Delay (10);

}