Tcl dIMU Code
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Overview
Comment:Initial GUI design. Still need to design the configuration tab.
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SHA3-256:199f0f198cc122f6b59ce9323c5577d6ddc4836d21f9e9c39d5040a6f253a6d4
User & Date: gwlester 2018-02-01 00:35:41
Context
2018-02-02
01:58
Corrected typos. check-in: 519803a9b5 user: gwlester tags: trunk
2018-02-01
00:35
Initial GUI design. Still need to design the configuration tab. check-in: 199f0f198c user: gwlester tags: trunk
2018-01-31
21:26
Removed Komodo project. check-in: 14968c8081 user: gwlester tags: trunk
Changes
Hide Diffs Unified Diffs Ignore Whitespace Patch

Changes to Multisensor_Example.tcl. 

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##
## It utilizes the low leve bno055 package.
##

lappend atuo_path [file dirname [info script]] [pwd]
::tcl::tm::path add [file dirname [info script]] [pwd]

package require dimu

##
## These bytes set the full scale range of the gyroscope.
## it is important to define full_scale_range.  Values are:
##      0x00 - 250 dps.  Full scale range.
##      0x10 - 500 dps.  Full scale range.
##      0x30 - 2000 dps.  Full scale range.
................................................................................
}

set i2cbus 1
set dIMUaddress 0x28
set range 2000dps



set CurrentValue(x) {0}
set CurrentValue(y) {0}
set CurrentValue(z) {0}


proc StartGyro {handle range} {
    global GyroValues

    ##
    ## Place the dIMU in configuration mode
    ##
................................................................................
    return;
}

##
## Gyro: gets a full axis reading, scaled to the full scale reading.  Returns
## in degrees per second.
##
proc GryoAxisGeading {axis oldValue} {
    global GyroValues

    set handle $GyroValues(handle)
    set intValue [bno055 readRegister $handle gyr,data,$axis]
    set digits $GyroValues(digits)
    set decimals $GyroValues(decimals)
    incr digits $decimals
................................................................................
    set newValue [format "%${digits}.${decimals}f" [expr {$intValue / $GyroValues(divisor)}]]
    if {$newValue != $oldValue && abs($newValue - $oldValue) < $GyroValues(minChange)} {
        set newValue $oldValue
    }
    return $newValue
}

proc ClearHistory {} {
    global CurrentValue

    set CurrentValue(history) {}
}

proc ReadGyro {} {
    global GyroValues CurrentValue

    if {[info exists GyroValues(afterId)]} {
        after cancel $GyroValues(afterId)
    }
    set GyroValues(afterId) [after [expr {$GyroValues(rate) * 10}] ReadGyro]

    ##
    ## Read the GYROSCOPE
    ##
    set x [GryoAxisGeading x $CurrentValue(x)]
    set y [GryoAxisGeading y $CurrentValue(y)]
    set z [GryoAxisGeading z $CurrentValue(z)]
    if {$x != $CurrentValue(x) ||
        $y != $CurrentValue(y) ||
        $z != $CurrentValue(z)
    } {
        LogValues $x $y $z
    }

................................................................................
    set CurrentValue(x) $x
    set CurrentValue(y) $y
    set CurrentValue(z) $z

    return
}

proc LogValues {x y z} {

    global GyroValues CurrentValue

    #if {[info exists GyroValues(logId)]} {
    #    after cancel $GyroValues(logId)
    #}
    #set GyroValues(logId) [after [expr {$GyroValues(freq) * 100}] LogValues]

    set timeStamp [clock format [clock seconds]]



    .main.history.data insert {} end -values [list $timeStamp $x $y $z]
}

proc StartReading {} {
    global i2cbus dIMUaddress range GyroValues

    if {$dIMUaddress eq {}} {
        return
................................................................................
    ttk::frame .main.prh
    .main add .main.prh -text {Pitch, Roll and Heading}

    CreateConfigurationFrame .main.configuration
    CreateGyroFrame .main.gyroscope
    CreateAccelerometerFrame .main.accelerometer
    CreateMagnetometerFrame .main.magnetometer
    CreateGravityFrame .main.
    CreateLinearAccelerationFrame .main.
    CreateQuaternionFrame .main.
    CreatePitchRollHeadingFrame .main.
}

proc CreateControlFrame {w} {
    ttk::label $w.busLbl \
        -text {I2C Bus:}
    ttk::combobox $w.busCMB \
        -textvariable ::i2cbus \
        -values [list 1] \
        -state readonly
    ttk::label $w.addrLbl \
................................................................................
        -width 6 \
        -command StartReading
    ttk::button $w.buttons.stop \
        -state disabled \
        -text {Stop} \
        -width 6 \
        -command StopReading
    ttk::button $w.buttons.reset \
        -text {Clear Log} \
        -width 10 \
        -command {.main.history.data delete [.main.history.data children {}]}
    
    $w.minChangeEnt set $::GyroValues(minChange)
        
    grid configure $w.busLbl $w.busCMB $w.addrLbl $w.addrEnt $w.rangeLbl $w.rangeCMB x -padx 2 -sticky ew
    grid configure $w.rateLbl1 $w.rateEnt $w.rateLbl2 x x x x -padx 2 -sticky ew
    grid configure $w.numDigitsLbl $w.numDigitsCMB $w.numDecimalsLbl $w.numDecimalsCMB x x x -padx 2 -sticky ew
    grid configure $w.minChangeLbl1 $w.minChangeEnt $w.minChangeLbl2 x x x x -padx 2 -sticky ew
    grid configure $w.buttons -columnspan 7 -sticky ew -pady 3
    grid configure x $w.buttons.start x  $w.buttons.stop x  $w.buttons.reset x -sticky ew
    grid columnconfigure $w.buttons {0 2 4 6} -weight 1
    grid columnconfigure $w 6 -weight 1
        
}

proc CreateCurrentReadingsFrame {w} {
    ttk::label $w.xLabel \
        -text {X:}
    ttk::entry $w.xValue \
        -textvariable ::CurrentValue(x) \
        -state readonly












    ttk::label $w.yLabel \


        -text {Y:}
    ttk::entry $w.yValue \
        -textvariable ::CurrentValue(y) \
        -state readonly













    ttk::label $w.zLabel \


        -text {Z:}
    ttk::entry $w.zValue \
        -textvariable ::CurrentValue(z) \
        -state readonly
    grid configure $w.xLabel $w.xValue $w.yLabel $w.yValue $w.zLabel $w.zValue x -sticky ew -padx 2 -pady 1








    grid columnconfigure $w [list $w.xLabel $w.yLabel $w.zLabel] -uniform labels -weight 0
















    grid columnconfigure $w [list $w.xValue $w.yValue $w.zValue] -uniform values -weight 0
















    grid columnconfigure $w 6 -weight 1
}













proc CreateHistoryFrame {w} {
























    ttk::treeview $w.data \
        -xscrollcommand [list $w.hsb set] \
        -yscrollcommand [list $w.vsb set] \
        -columns {timestamp xaxis yaxis zaxis} \
        -displaycolumns  {timestamp xaxis yaxis zaxis} \
        -show headings \
        -selectmode none
    ttk::scrollbar $w.vsb \
        -orient vertical \
        -command [list $w.data yview]
    ttk::scrollbar $w.hsb \
        -orient horizontal \
        -command [list $w.data xview]






    
    foreach column {timestamp xaxis yaxis zaxis} heading {"Time Stamp" "X Axis" "Y Axis" "Z Axis"} {

        $w.data column $column \
            -anchor w \
            -stretch yes
        $w.data heading $column \
            -anchor center \
            -text $heading
    }
    $w.data column timestamp \
            -anchor e

    grid configure $w.data $w.vsb -sticky nsew
    grid configure $w.hsb -sticky ew

    grid columnconfigure $w $w.data -weight 1
    grid rowconfigure $w $w.data -weight 1



























}

CreateGui









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##
## It utilizes the low leve bno055 package.
##

lappend atuo_path [file dirname [info script]] [pwd]
::tcl::tm::path add [file dirname [info script]] [pwd]

#package require dimu

##
## These bytes set the full scale range of the gyroscope.
## it is important to define full_scale_range.  Values are:
##      0x00 - 250 dps.  Full scale range.
##      0x10 - 500 dps.  Full scale range.
##      0x30 - 2000 dps.  Full scale range.
................................................................................
}

set i2cbus 1
set dIMUaddress 0x28
set range 2000dps


foreach type {gyroscope accelerometer magnetometer gravity linearAcceleration quaternion prh} {
    set CurrentValue($type,x) {0}
    set CurrentValue($type,y) {0}
    set CurrentValue($type,z) {0}
}

proc StartGyro {handle range} {
    global GyroValues

    ##
    ## Place the dIMU in configuration mode
    ##
................................................................................
    return;
}

##
## Gyro: gets a full axis reading, scaled to the full scale reading.  Returns
## in degrees per second.
##
proc GryoAxisReading {axis oldValue} {
    global GyroValues

    set handle $GyroValues(handle)
    set intValue [bno055 readRegister $handle gyr,data,$axis]
    set digits $GyroValues(digits)
    set decimals $GyroValues(decimals)
    incr digits $decimals
................................................................................
    set newValue [format "%${digits}.${decimals}f" [expr {$intValue / $GyroValues(divisor)}]]
    if {$newValue != $oldValue && abs($newValue - $oldValue) < $GyroValues(minChange)} {
        set newValue $oldValue
    }
    return $newValue
}







proc ReadGyro {} {
    global GyroValues CurrentValue

    if {[info exists GyroValues(afterId)]} {
        after cancel $GyroValues(afterId)
    }
    set GyroValues(afterId) [after [expr {$GyroValues(rate) * 10}] ReadGyro]

    ##
    ## Read the GYROSCOPE
    ##
    set x [GryoAxisReading x $CurrentValue(x)]
    set y [GryoAxisReading y $CurrentValue(y)]
    set z [GryoAxisReading z $CurrentValue(z)]
    if {$x != $CurrentValue(x) ||
        $y != $CurrentValue(y) ||
        $z != $CurrentValue(z)
    } {
        LogValues $x $y $z
    }

................................................................................
    set CurrentValue(x) $x
    set CurrentValue(y) $y
    set CurrentValue(z) $z

    return
}

proc LogValues {type} {
    variable WidgetData
    variable CurrentValue

    #if {[info exists GyroValues(logId)]} {
    #    after cancel $GyroValues(logId)
    #}
    #set GyroValues(logId) [after [expr {$GyroValues(freq) * 100}] LogValues]

    set timeStamp [clock format [clock seconds]]
    set x $CurrentValue($type,x)
    set y $CurrentValue($type,y)
    set z $CurrentValue($type,z)
    $WidgetData($type,history) insert {} end -values [list $timeStamp $x $y $z]
}

proc StartReading {} {
    global i2cbus dIMUaddress range GyroValues

    if {$dIMUaddress eq {}} {
        return
................................................................................
    ttk::frame .main.prh
    .main add .main.prh -text {Pitch, Roll and Heading}

    CreateConfigurationFrame .main.configuration
    CreateGyroFrame .main.gyroscope
    CreateAccelerometerFrame .main.accelerometer
    CreateMagnetometerFrame .main.magnetometer
    CreateGravityFrame .main.gravity
    CreateLinearAccelerationFrame .main.linearAcceleration
    CreateQuaternionFrame .main.quaternion
    CreatePitchRollHeadingFrame .main.prh
}

proc CreateConfigurationFrame {w} {
    ttk::label $w.busLbl \
        -text {I2C Bus:}
    ttk::combobox $w.busCMB \
        -textvariable ::i2cbus \
        -values [list 1] \
        -state readonly
    ttk::label $w.addrLbl \
................................................................................
        -width 6 \
        -command StartReading
    ttk::button $w.buttons.stop \
        -state disabled \
        -text {Stop} \
        -width 6 \
        -command StopReading




    
    $w.minChangeEnt set $::GyroValues(minChange)
        
    grid configure $w.busLbl $w.busCMB $w.addrLbl $w.addrEnt $w.rangeLbl $w.rangeCMB x -padx 2 -sticky ew
    grid configure $w.rateLbl1 $w.rateEnt $w.rateLbl2 x x x x -padx 2 -sticky ew
    grid configure $w.numDigitsLbl $w.numDigitsCMB $w.numDecimalsLbl $w.numDecimalsCMB x x x -padx 2 -sticky ew
    grid configure $w.minChangeLbl1 $w.minChangeEnt $w.minChangeLbl2 x x x x -padx 2 -sticky ew
    grid configure $w.buttons -columnspan 7 -sticky ew -pady 3
    grid configure x $w.buttons.start x  $w.buttons.stop x  -sticky ew
    grid columnconfigure $w.buttons {0 2 4} -weight 1
    grid columnconfigure $w 4 -weight 1
        
}

proc CreateGyroFrame {w} {
    ttk::labelframe $w.readings \
        -text {Current Readings}
    ttk::labelframe $w.history \
        -text {Change History}
    grid configure $w.readings -sticky ew
    grid configure $w.history -sticky nsew
    grid rowconfigure $w $w.history -weight 1
    grid columnconfigure $w $w.history -weight 1
    
    CreateReadingsFrame $w.readings gyroscope
    CreateHistoryFrame $w.history gyroscope
    
    grid columnconfigure $w 6 -weight 1
}

proc CreateAccelerometerFrame {w} {

    ttk::labelframe $w.readings \
        -text {Current Readings}
    ttk::labelframe $w.history \
        -text {Change History}



    grid configure $w.readings -sticky ew
    grid configure $w.history -sticky nsew
    grid rowconfigure $w $w.history -weight 1
    grid columnconfigure $w $w.history -weight 1

    CreateReadingsFrame $w.readings accelerometer
    CreateHistoryFrame $w.history accelerometer

    grid columnconfigure $w 6 -weight 1
}

proc CreateMagnetometerFrame {w} {

    ttk::labelframe $w.readings \
        -text {Current Readings}
    ttk::labelframe $w.history \
        -text {Change History}




    grid configure $w.readings -sticky ew
    grid configure $w.history -sticky nsew
    grid rowconfigure $w $w.history -weight 1
    grid columnconfigure $w $w.history -weight 1

    CreateReadingsFrame $w.readings magnetometer
    CreateHistoryFrame $w.history magnetometer

    grid columnconfigure $w 6 -weight 1
}

proc CreateGravityFrame {w} {

    ttk::labelframe $w.readings \
        -text {Current Readings}
    ttk::labelframe $w.history \
        -text {Change History}
    grid configure $w.readings -sticky ew
    grid configure $w.history -sticky nsew
    grid rowconfigure $w $w.history -weight 1
    grid columnconfigure $w $w.history -weight 1

    CreateReadingsFrame $w.readings gravity
    CreateHistoryFrame $w.history gravity

    grid columnconfigure $w 6 -weight 1
}

proc CreateLinearAccelerationFrame {w} {

    ttk::labelframe $w.readings \
        -text {Current Readings}
    ttk::labelframe $w.history \
        -text {Change History}
    grid configure $w.readings -sticky ew
    grid configure $w.history -sticky nsew
    grid rowconfigure $w $w.history -weight 1
    grid columnconfigure $w $w.history -weight 1

    CreateReadingsFrame $w.readings linearAcceleration
    CreateHistoryFrame $w.history linearAcceleration

    grid columnconfigure $w 6 -weight 1
}

proc CreateQuaternionFrame {w} {

    ttk::labelframe $w.readings \
        -text {Current Readings}
    ttk::labelframe $w.history \
        -text {Change History}
    grid configure $w.readings -sticky ew
    grid configure $w.history -sticky nsew
    grid rowconfigure $w $w.history -weight 1
    grid columnconfigure $w $w.history -weight 1

    CreateReadingsFrame $w.readings quaternion
    CreateHistoryFrame $w.history quaternion

    grid columnconfigure $w 6 -weight 1
}

proc CreatePitchRollHeadingFrame {w} {

    ttk::labelframe $w.readings \
        -text {Current Readings}
    ttk::labelframe $w.history \
        -text {Change History}
    grid configure $w.readings -sticky ew
    grid configure $w.history -sticky nsew
    grid rowconfigure $w $w.history -weight 1
    grid columnconfigure $w $w.history -weight 1

    CreateReadingsFrame $w.readings prh {roll pitch heading} {"Roll:" "Pitch:" "Heading:"}
    CreateHistoryFrame $w.history prh {timestamp roll pitch heading} {"Timestamp" "Roll" "Pitch" "Heading"}

    grid columnconfigure $w 6 -weight 1
}

proc CreateHistoryFrame {w type {columns {timestamp xaxis yaxis zaxis}} {labels {"Time Stamp" "X Axis" "Y Axis" "Z Axis"}}} {
    variable WidgetData

    ttk::treeview $w.data \
        -xscrollcommand [list $w.hsb set] \
        -yscrollcommand [list $w.vsb set] \
        -columns $columns \
        -displaycolumns  $columns \
        -show headings \
        -selectmode none
    ttk::scrollbar $w.vsb \
        -orient vertical \
        -command [list $w.data yview]
    ttk::scrollbar $w.hsb \
        -orient horizontal \
        -command [list $w.data xview]
    ttk::frame $w.buttons
    ttk::button $w.buttons.reset \
        -text {Clear Log} \
        -width 10 \
        -command [format {%1$s delete [%1$s children {}]; LogValues %2$s} $w.data $type]
    set WidgetData($type,history) $w.data
    

    foreach column $columns heading $labels {
        $w.data column $column \
            -anchor w \
            -stretch yes
        $w.data heading $column \
            -anchor center \
            -text $heading
    }
    $w.data column timestamp \
            -anchor e

    grid configure $w.data $w.vsb -sticky nsew
    grid configure $w.hsb -sticky ew
    grid configure $w.buttons - -sticky ew
    grid columnconfigure $w $w.data -weight 1
    grid rowconfigure $w $w.data -weight 1
    
    grid configure x $w.buttons.reset x -sticky ew
    grid columnconfigure $w.buttons {0 2} -weight 1
}

proc CreateReadingsFrame {w type {columns {x y z}} {labels {"X:" "Y:" "Z:"}}} {
    lassign $columns x y z
    lassign $labels xl yl zl
    
    ttk::label $w.xLabel \
        -text $xl
    ttk::entry $w.xValue \
        -textvariable ::CurrentValue($type,$x) \
        -state readonly
    ttk::label $w.yLabel \
        -text $yl
    ttk::entry $w.yValue \
        -textvariable ::CurrentValue($type,$y) \
        -state readonly
    ttk::label $w.zLabel \
        -text $zl
    ttk::entry $w.zValue \
        -textvariable ::CurrentValue($type,$z) \
        -state readonly
    grid configure $w.xLabel $w.xValue $w.yLabel $w.yValue $w.zLabel $w.zValue x -sticky ew -padx 2 -pady 1
    grid columnconfigure $w [list $w.xLabel $w.yLabel $w.zLabel] -uniform labels -weight 0
    grid columnconfigure $w [list $w.xValue $w.yValue $w.zValue] -uniform values -weight 0
}

CreateGui

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