// QST5883L compass and SSD1306 OLED display
// 3 Axis Magnetometer Tilt compensation using ADXl345
//
// Coords x ahead, y right - follows aircraft convention.
//
// Copyright John Main - Free for non commercial use.
//
#include "Wire.h" ;# For 5883
#include <SPI.h>  ;# For SSD1306 board.
#include <EEPROM.h>
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>
#include "I2Cdev.h"
#include "math.h"
#include "ADXL345.h"

#define OLED_MOSI  11
#define OLED_CLK   13       // LED_BUILTIN
#define OLED_DC     9
#define OLED_CS     8
#define OLED_RESET 10

#define BUTTON_CAL  2
#define BUTTON_TEST 5
#define LED  4 // LED_BUILTIN pin 13 is also SPICLK SCK

#define EEADDR 98 //66 // Start location to write EEPROM data.
#define CALTIME 10000  // In ms.
#define SMOOTH_ACCELL 20

#define SCREEN_HEIGHT 128 // The screen is rotated in sw.
#define SCREEN_WIDTH   64 // This is default height.

ADXL345 accel;

static 经过 te stat,ovfl,skipped;
static 在t minx,maxx,miny,maxy,minz,maxz;
static 在t offx=0,offy=0,offz=0;

static 在t degTest=0,updateSpeed=1000;
static 经过 te showMT=0;

const 在t radius = SCREEN_WIDTH / 2;
const 在t midx   = radius;  // Middle of compass rose.
const 在t midy   = radius;  // Middle of compass rose.

Adafruit_SSD1306 display(OLED_DC., OLED_RESET., OLED_CS.); // hw spi

/////////////////////////////////////////////////////////////
// Generic I2C write to I2C device with address, i2cAddr
// Write to address regaddr within device
// Write the byte d
void I2C_write_AddrDev_AddrReg_Byte(经过 te i2cAddr, 经过 te regaddr, 经过 te d ) {
   Wire.beginTransmission(i2cAddr);
   Wire.write(regaddr);
   Wire.write(d);
   Wire.endTransmission();
}

/////////////////////////////////////////////////////////////
void calc_offsets(void)  {
   offx = (maxx+minx)/2;   // maxx/2 - minx/2 + 2minx/2
   offy = (maxy+miny)/2;
   offz = (maxz+minz)/2;
}

/////////////////////////////////////////////////////////////
经过 te magnetometerReady(void) {
   // Data ready?
   Wire.beginTransmission(0x0d); // Read from status reg
   Wire.write(0x06);
   在t num = Wire.requestFrom((经过 te)0x0d, (经过 te)1);
   stat = Wire.read(); // DOR Data out Ready (SKIPPED).
   Wire.endTransmission();

   ovfl    = stat & 0x02;
   skipped = stat & 0x04;

   return (stat && 0x01);  // 0x01 is the DRDY Data Ready flag
}

/////////////////////////////////////////////////////////////
// If data is not ready x,y,z are not changed.
// raw data is aligned to HMC5883 coords
经过 te getMagnetometerRaw(在t16_t *x, 在t16_t *y, 在t16_t *z) {

   if ( !magnetometerReady() ) return 0;

   Wire.beginTransmission(0x0d);
   Wire.write(0x00);     // read from address zero = x,y,z registers.
   在t err = Wire.endTransmission();

   if (!err) {
      Wire.requestFrom((经过 te)0x0d, (经过 te)6); //Blocking?
      while(Wire.available()<6); //Wait if above blocking then this not needed.
      *x  = (在t16_t)(Wire.read() | Wire.read() << 8);
      *y  = (在t16_t)(Wire.read() | Wire.read() << 8);
      *z  = (在t16_t)(Wire.read() | Wire.read() << 8);
   }
   return 1;
}

/////////////////////////////////////////////////////////////
// Orient to board coordinates
void getMagnetometer(在t16_t *x, 在t16_t *y, 在t16_t *z) {

   if ( !getMagnetometerRaw(x, y, z) ) return;

   // modify for accel board orientation (board x = up, y to left).
   *y = -(*y);
}

/////////////////////////////////////////////////////////////
float getMagnetometerBearing(在t16_t x, 在t16_t y, 在t16_t z) {

   float atan2val = 180/M_PI * atan2((float)y,(float)x); // NEW coords.
   在t b = (在t)(-atan2val + 360 ) % 360;
   return b;
}

/////////////////////////////////////////////////////////////
// Blocking: Waits in this function for reading to be ready.
void readMagnetometer(在t16_t *x, 在t16_t *y,在t16_t *z) {
   while( !magnetometerReady() );
   getMagnetometer(x, y, z);  // Note: Addresses of pointers passed.
}

///////////////////////////////////////////////////////////////
float getMagnetometerTiltCompensatedBearing(在t x, 在t y, 在t z) {
float r, p, mx, my, mz;

   getRollPitch(&r, &p);

   // Convert back to radians
   在t rdeg = r;
   在t pdeg = p;
   r = (M_PI/180)*r;
   p = (M_PI/180)*p;

   mx = (float)x;
   my = (float)y;
   mz = (float)z;

   在t cx = (在t)( mx*cos(p) + my*sin(r)*sin(p) - mz*cos(r)*sin(p) );
   在t cy = (在t)( my*cos(r) + mz*sin(r) );
   // Also diffrerent here:
   // //web.archive.org/web/20130624074336/http://www.loveelectronics.co.uk:80/Tutorials/13/tilt-compensated-compass-arduino-tutorial
   // Same as 1st!!!

   在t tx=cx,ty=cy,tz=z; // Done offx,y above
   float atan2val = 180/M_PI * atan2((float)(ty),(float)(tx));

   在t tb = (在t)(-atan2val + 360 ) % 360;

   return tb;
}


///////////////////////////////////////////////////////////////
// Returns angle calculated from z, y, z accelerometers.
//
void getRollPitchRawFloat(float *roll, float *pitch) {
float r,x,y,z;
在t16_t ax, ay, az;

  // Datasheet: OPERATION AT VOLTAGES OTHER THAN 2.5 V
  // 3v3 X,Y 25mg too high, z 20mg too low
  // 3V3 lsb value 265/g c  (g/265)=0.03698
  // 2V5 lsb value 256/g   (g/256)=0.03828 z axis unaffected by voltage supply.
  #define ADXL345_LSBVAL_3V3 3.698E-3
  #define ADXL345_LSBVAL_2V5 3.828E-3

  accel.getAcceleration(&ax, &ay, &az);
  x = (float)ax*ADXL345_LSBVAL_3V3 - 25E-3;
  y = (float)ay*ADXL345_LSBVAL_3V3 - 25E-3;
  z = (float)az*ADXL345_LSBVAL_2V5 + 20e-3;

  r = sqrt(x*x+y*y+z*z);

  // modify for accel board orientation (board x = up, y to left).
  y = -y;
  *pitch  = 180/M_PI * asin(x/r);
  *roll   = 180/M_PI * -asin(y/r);
}

///////////////////////////////////////////////////////////////
void getRollPitch(float *roll, float *pitch) {
static float avg_r[SMOOTH_ACCELL], avg_p[SMOOTH_ACCELL];
static 经过 te idx=0;
float r,p;

   getRollPitchRawFloat(roll, pitch);

   avg_r[idx] = *roll;                 // Smooth.
   avg_p[idx] = *pitch;
   idx++;
   if (idx>=SMOOTH_ACCELL) idx = 0;

   r = p = 0;
   for (在t i=0; i<SMOOTH_ACCELL; i++) {
      r += avg_r[i];
      p += avg_p[i];
   }
   r /= SMOOTH_ACCELL;
   p /= SMOOTH_ACCELL;

   *roll  = r;
   *pitch = p;
}

/////////////////////////////////////////////////////////////
void setup() {

   pinMode(LED,OUTPUT);

   pinMode(BUTTON_CAL,INPUT_PULLUP);
   pinMode(BUTTON_TEST,INPUT_PULLUP);

   Wire.begin(); // Start I2C
   Wire.setClock(100000); // Test at high speed

   display.begin(SSD1306_SWITCHCAPVCC);
   display.clearDisplay();
   display.setTextSize(1);
//   display.setTextColor(WHITE);       // Does NOT erase background.
   display.setTextColor(WHITE, BLACK);  // Does erase background.

   // Datasheet suggests this for chip startup HMC5883L.
   // Set reset register.Datasheet suggests this as 0x01.
   I2C_write_AddrDev_AddrReg_Byte(0x0d,0x0b,1);
   // Control reg : Mode:continuous, ODR:10Hz, RNG:2G, OSR:512 (over sample)
//   I2C_write_AddrDev_AddrReg_Byte(0x0d,0x09,B00000001);
   // In lab gauss > 2G so need higher range.
   I2C_write_AddrDev_AddrReg_Byte(0x0d,0x09,B00010001);

   // Read EEPROM
   在t EEAddr = EEADDR;
   EEPROM.get(EEAddr,minx); EEAddr +=sizeof(minx);
   EEPROM.get(EEAddr,maxx); EEAddr +=sizeof(maxx);
   EEPROM.get(EEAddr,miny); EEAddr +=sizeof(miny);
   EEPROM.get(EEAddr,maxy); EEAddr +=sizeof(maxy);
   EEPROM.get(EEAddr,minz); EEAddr +=sizeof(minz);
   EEPROM.get(EEAddr,maxz); EEAddr +=sizeof(maxz);
   calc_offsets();

   display.setRotation(3);

   Serial.begin(115200);
   Serial.println("Compass hmc5883L");

   accel.在itialize();
   Serial.println(F("Testing device connections..."));
   Serial.print(F("ADXL345 connection "));
   Serial.println(accel.testConnection() ? F("successful") : F("failed") );

   accel.setFullResolution(ADXL345_RANGE_2G);
   accel.setRate(ADXL345_RATE_100);  // This is default but shows the value.

   accel.setFullResolution(1); // 0 => 10 bit mode.
   accel.setLowPowerEnabled(0);
   accel.setRange(0); // 0 => 2g, 3 => 16g
}

/////////////////////////////////////////////////////////////
// Normalized line drawing (0,0) = bot left
void drawLine (在t x1, 在t y1, 在t x2, 在t y2) {
    display.drawLine(x1, SCREEN_HEIGHT-y1, x2, SCREEN_HEIGHT-y2, 1);
}

/////////////////////////////////////////////////////////////
// Normalized line drawing (0,0) = bot left
void drawCircle (在t x, 在t y, 在t radius) {
   display.drawCircle(x, SCREEN_HEIGHT-y, radius-1,1);
}

/////////////////////////////////////////////////////////////
void drawBearing(float bearing, 在t midx, 在t midy, 在t radius) {
   bearing += 90; // Rotate arctan2 to vertical
   在t opp = sin(bearing*M_PI/180)*radius;
   在t adj = cos(bearing*M_PI/180)*radius;
   // Screen +y is down but drawLine adjusts it up.
   drawLine(midx, midy, midx+adj, midy+opp);
}

/////////////////////////////////////////////////////////////
// Can choose whether to write to EEPROM for testing.
void calibrate(boolean eeprom_write, 经过 te xy_or_z) {
   unsigned long calTimeWas = millis();

   在t x,y,z;
   float deg=0,deg2=0;

   readMagnetometer(&x, &y, &z);

   maxx = minx = x; // Set initial values to current magnetometer readings.
   maxy = miny = y;
   maxz = minz = z;

   delay(300); // Allow button release.

   while(1) {  // Calibration loop.

      if (digitalRead(BUTTON_CAL)==0 || digitalRead(BUTTON_TEST)==0) {
         delay(300); // Allow button release.
         return; // Abort
      }

      if ( magnetometerReady() ) getMagnetometer(&x, &y, &z);
      if (x>maxx) maxx = x;
      if (x<minx) minx = x;
      if (y>maxy) maxy = y;
      if (y<miny) miny = y;
      if (z>maxz) maxz = z;
      if (z<minz) minz = z;

      display.clearDisplay();

      display.setTextSize(2);
      display.setCursor(0,0);

      if(eeprom_write) display.print("CALIB");
      else             display.print("TEST");

      display.setCursor(0,16);
      if (!xy_or_z) display.print("XY"); else
          display.print("Z");

      在t secmillis  = millis()-calTimeWas;
      if (secmillis>CALTIME) break;                    // Exit after time up.

      在t secs = (在t)((CALTIME-secmillis+1000)/1000);
      display.setCursor(0,32);  display.print("--> "); display.print((在t)((CALTIME-secmillis)/1000));

      drawBearing((在t)deg2, midx, midy , radius);
      drawBearing((在t)deg, midx, midy , radius);

      deg = (360.0/CALTIME)*secmillis; // Rotate a line for countdown duration.

      deg2 += deg; // Rotate a line for countdown duration. Fun.
      deg = fmod(deg,360);

      for(在t i=0;i<360;i+=45)   // 45 Degree spokes (rotating)
        drawBearing(i + (45/secs)*10, midx, midy, radius-7);

      display.display();  // Update display.
      delay(10);
   } // while cal

   if (xy_or_z==0) {
      offx = ((maxx-minx)/2)+minx;
      offy = ((maxy-miny)/2)+miny;
   } else
        offz = ((maxz-minz)/2)+minz;

   if(eeprom_write) {
      在t EEAddr = EEADDR;

      if (xy_or_z==0) {
         在t EEAddr = EEADDR;
         EEPROM.put(EEAddr,minx); EEAddr +=sizeof(minx);
         EEPROM.put(EEAddr,maxx); EEAddr +=sizeof(maxx);
         EEPROM.put(EEAddr,miny); EEAddr +=sizeof(miny);
         EEPROM.put(EEAddr,maxy); EEAddr +=sizeof(maxy);
      } else {
         在t EEAddr = EEADDR+4*sizeof(minx);
         EEPROM.put(EEAddr,minz); EEAddr +=sizeof(minz);
         EEPROM.put(EEAddr,maxz); EEAddr +=sizeof(maxz);
      }
   }

   unsigned long dispExitTimeWas = millis();

   while(1) {

      display.clearDisplay();

      display.setTextSize(2);
      display.setCursor(0,0);

      // Make sure this does not repeat endlessly!
      if(eeprom_write) display.print("EEPROM Written");
      else             display.print("TEST DMY Write");
      if (millis()- dispExitTimeWas>2000) break;

      display.display();  // Update display.
      delay(10);
   }
   calc_offsets();
}

/////////////////////////////////////////////////////////////
void draw(在t Mx, 在t My, 在t bearing, 在t tbearing) {
在t lineH, lineNum;

   // SSD1306 init.
   display.clearDisplay();

   // display fancy stuff
   drawCircle(midx, midy, radius-1);    // -1 as circle is 1 bigger
   drawCircle(midx, midy, (radius-1)/2);

   for(在t i=0;i<360;i+=45)   // 45 Degree spokes
     drawBearing(i , midx, midy, radius-7);

   drawBearing(bearing, midx, midy, radius);
   drawBearing(0, midx, midy, radius);       // North

   display.setTextSize(2);
    lineH = 16;

   lineNum=0;
   // Bearing
   display.setCursor(15,lineH*lineNum);  display.print(bearing);
   display.print((char)247);
   lineNum++;  // Next line

   // Tilt Bearing
   display.setCursor(15,lineH*lineNum);  display.print(tbearing);
   display.print((char)247);
   lineNum++;  // Next line

   drawBearing(tbearing, midx, midy, radius-10);

   if(Mx>maxy || Mx<minx || My>maxy || My<miny) {
      display.setCursor(0,lineH*lineNum++);  display.print("*CAL*");
   }

   display.setTextSize(1);
   lineH = 8;
   lineNum=0;

   // Roll Pitch
   float r,p;
   getRollPitch(&r,&p);


   display.setCursor(0,120);  display.print(r,1);
   display.print((char)247);

   display.setCursor(40,120);  display.print(p,1);
   display.print((char)247);


   display.display();  // Update display.
}

/////////////////////////////////////////////////////////////
void loop(void) {
static unsigned long BLTimeWas=millis();
在t x,y,z; // Raw compass output values.
在t bearing,i;

   if (digitalRead(BUTTON_CAL)==0)  { calibrate(1,0); calibrate(1,1); }
   if (digitalRead(BUTTON_TEST)==0) { calibrate(0,0); calibrate(0,1); }

   getMagnetometer(&x,&y,&z);

   bearing = (在t)getMagnetometerBearing(x-offx, y-offy, z-offz);

   在t tbearing = getMagnetometerTiltCompensatedBearing(x-offx, y-offy, z-offz);

   draw(x,y,bearing,tbearing);

   if (millis()-BLTimeWas>400) { // LED toggle
      BLTimeWas = millis();
      static 经过 te togLED=0;
      togLED = !togLED;
      if(togLED) digitalWrite(LED,HIGH); else digitalWrite(LED,LOW);
   }
}

// End of QST5883L OLED compass - 
// 3 axis magnetometer tilt compensation example.