Integrate BNO055 sensor code to Touchgfx compass UI

[Prajyot1]

Hello , 
i am using STM32h750B-dk . i took compass image (PNG file) as texture mapper and i want to rotate the compass image according to BNO055 sensor which is magnetometer. this is connected through I2C4 (for I2C4 , STmod+ is used). i have share the codes. Thank you!
#Model.cpp:

#include <gui/model/Model.hpp>
#include <gui/model/ModelListener.hpp>
#include <cstdint>
#include "stm32h7xx_hal.h"
#include <math.h>


#define BNO055_I2C_ADDR (0x28 << 1) // Shifted for STM32 HAL
#define BNO055_MAG_DATA_X_LSB_ADDR 0x0E


extern I2C_HandleTypeDef hi2c4;

Model::Model() : modelListener(0)
{

}

void Model::tick()
{
	static uint32_t lastUpdateTime = 0;
	uint32_t currentTime = HAL_GetTick();
	if ((currentTime - lastUpdateTime) >= 1000) // Check if 1 second has passed
	 {
	 lastUpdateTime = currentTime;

	 if (modelListener)
	 {
	 int heading = getHeading();
	 modelListener->updateHeading(heading);
	 }
	 }
}
int Model::getHeading()
{
 uint8_t buffer[6];
 int16_t mag_data[3];

 // Read magnetometer data
 HAL_I2C_Mem_Read(&hi2c4, BNO055_I2C_ADDR, BNO055_MAG_DATA_X_LSB_ADDR, I2C_MEMADD_SIZE_8BIT, buffer, 6, HAL_MAX_DELAY);

 // Convert to signed 16-bit values
 mag_data[0] = (int16_t)((buffer[1] << 8) | buffer[0]); // X-axis
 mag_data[1] = (int16_t)((buffer[3] << 8) | buffer[2]); // Y-axis
 mag_data[2] = (int16_t)((buffer[5] << 8) | buffer[4]); // Z-axis

 // Calculate heading angle (in degrees)
 float heading = atan2((float)mag_data[1], (float)mag_data[0]) * (180.0f / 3.14159265359f);

 if (heading < 0)
 heading += 360; // Normalize to 0-360°

 return (int)heading;
}

#Screen1Presenter.cpp:

#include <gui/screen1_screen/Screen1View.hpp>
#include <gui/screen1_screen/Screen1Presenter.hpp>

Screen1Presenter::Screen1Presenter(Screen1View& v)
 : view(v)
{

}

void Screen1Presenter::activate()
{

}

void Screen1Presenter::deactivate()
{

}
void Screen1Presenter::updateHeading(int heading)
{
 view.updateCompass(heading); // Send heading to the UI for display

}

#Screen1View.cpp:

#include <gui/screen1_screen/Screen1View.hpp>

Screen1View::Screen1View()
{

}

void Screen1View::setupScreen()
{
 Screen1ViewBase::setupScreen();
}

void Screen1View::tearDownScreen()
{
 Screen1ViewBase::tearDownScreen();
}

void Screen1View::updateCompass(int heading)
{
 float angleRadians = heading * 3.14159265359f / 180.0f;
 textureMapper1.setAngles(0,0,angleRadians);
 textureMapper1.invalidate();
}

 

 

[Andrew Neil]

---

@Prajyot1 wrote:

i have share the codes.

---

Is there a problem with it, or are you just sharing it for  the benefit of anyone who might be interested?

[Prajyot1]

Actually there is problem with rotation . the image is not rotating according to the sensor value.. i am not getting the  how can i resolve this issue.. video of testing 

[GaetanGodart]

Hello @Prajyot1 ,

 

Can you debug to check that you enter the functions

If you do reach "updateCompass", please check the value that it receive.

 

Regards,

[Prajyot1]

Hello @GaetanGodart,
i have debugged code .. the values i got are
heading            int        225
angleRadians  float     3.92699075
it still not rotating..

 

[Andrew Neil]

Have you debugged your sensor interface code?

Is that getting correct readings from the sensor?

[Kai_Satone]

@Prajyot1 
Try using a Queue to send sensor data from a sensor to Model.cpp and then process it using Model::tick().

Here's what I assume:

1. You'll have a producer (sensor) that collects data and pushes it to a queue.

2. The consumer (Model.cpp) will pull data from the queue inside Model::tick().

3. We’ll use std::queue with a mutex and condition_variable for thread safety.

void Model::tick() {
#ifndef SIMULATOR
 BNO055_Data sensorData;
 // Check for new data without waiting (timeout 0)
 if (osMessageQueueGet(mid_BNO055MsgQueue, &sensorData, nullptr, 0) == osOK) {
 currentHeading = sensorData.heading;
 printf("Model tick: Updated heading from queue: %.2f\n", currentHeading);
 }
#endif

 if (modelListener) {
 printf("Model tick: Sending heading %.2f to presenter\n", currentHeading);
 modelListener->updateHeading(currentHeading);
 }
}

and also there could be some error like Embedded-specific declarations for that you can use 

extern "C" {
}
#endif

[Prajyot1]

i have able to rotate the compass texture mapper. but the wildcard is not updating the value .
here is the video  ->Compass.MOV - Google Drive 

[GaetanGodart]

Hello @Prajyot1 ,

 

The wildcard show question marks because you have to add the characters that can be in your wildcard. We do that to ensure that we don't add characters that are not used because they take memory space.

To add characters, go to your typography (the one you use for that textArea) and add characters to the wildcard range (here I put 0-9 to be able to use all the numbers but you can put any char you want). :

 

Regards,