This project combines a BNO055 IMU, a NEO-6 GPS, a NRF24 radio and a series of WS2812B LEDs into a stand-alone navigation unit built around the NUCLEO-L432KC development board.
The on-board GPS computes the local position, while the IMU computes the local (magnetic) heading. When the button is pressed, the local position is broadcast to the other nodes via the radio. When a position is received via the radio the heading and distance to this position is computed and shown interactively on a 360° WS2812 LED ring.
The behavior is such that the heading ring shows the distance through the LED "width" and the closer the target position, the wider the LEDs show it.
The LED position ring is configured for 24 LEDs, this can be changed in
src/tasks/ring.cpp. In addition, only the red channel is currently changed to
display both distance and heading. This can be changed in the same file.
Before you build: there exists a src/navimet.bin, which you can simply
drag-and-drop onto the NUCLEO USB mass storage device to program it.
If you want to change application code, you only need to call scons not
lbuild, since the generated modm and ublox libraries have checked into this
repo.
Otherwise, here are the steps to generate the libraries and compile the application from scratch:
- Install modm: https://modm.io/guide/installation/#macos
- Clone the repository recursively!
Or if you didn't clone recusively:
git clone --recurse-submodules --jobs 8 git@github.com:salkinium/navimet.gitgit submodule update --init --jobs 8 - Generate the libraries inside
srcfolder:cd src lbuild build - Build the application
scons - Program the dev board
scons program