void loop() {
// in case you are not using the interrupt above, you'll
// need to 'hand query' the GPS, not suggested :(
/*
if (! usingInterrupt) {
// read data from the GPS in the 'main loop'
char c = GPS.read();
// if you want to debug, this is a good time to do it!
if (GPSECHO)
if (c) Serial.print(c);
}
*/
// if a sentence is received, we can check the checksum, parse it...
if (GPS.newNMEAreceived()) {
// a tricky thing here is if we print the NMEA sentence, or data
// we end up not listening and catching other sentences!
// so be very wary if using OUTPUT_ALLDATA and trytng to print out data
//Serial.println(GPS.lastNMEA()); // this also sets the newNMEAreceived() flag to false
if (!GPS.parse(GPS.lastNMEA())) // this also sets the newNMEAreceived() flag to false
return; // we can fail to parse a sentence in which case we should just wait for another
}
if (timer > millis()) timer = millis();
if (millis() - timer > 1000) {
timer = millis();
if (1) {//(GPS.fix) {
Serial.print("(123,");
Serial.print(GPS.latitudeDegrees, 6);
Serial.print(", ");
Serial.print(GPS.longitudeDegrees, 6);
Serial.print(",");
Serial.print(GPS.speed);
Serial.print(",");
Serial.print((int)GPS.fixquality);
Serial.println(")");
}
}
sensors_event_t event;
mma.getEvent(&event);
Serial.print("(456,");
Serial.print(event.acceleration.x); Serial.print(",");
Serial.print(event.acceleration.y); Serial.print(",");
Serial.print(event.acceleration.z); Serial.print(")");
Serial.println();
delay(1000/100);
/*
delay(50); // Wait 50ms between pings (about 20 pings/sec). 29ms should be the shortest delay between pings.
Serial.print("('ping', ");
Serial.print(sonar.ping_cm()); // Send ping, get distance in cm and print result (0 = outside set distance range)
Serial.println(")");
*/
}
/*
Gibt die aktuelle Position als Längen- und Breitengrad, die Höhe über dem Meeresspiegel und ob eine Satellitenverbindung besteht zurück.
Parameters:
ReturnValue: gps_data.longitude; //Längengrad
gps_data.latitude; //Breitengrad
gps_data.altitude; //Höhe über mittlerem Meeresspiegel
gps_data.fix; // Satellitenverbindung vorhanden
*/
struct gps_data get_position_GPS(){
short data_received = 0;
char c;
struct gps_data output;
char * nmeaSentence = NULL;
int loop_count=0;
#if DEBUG_GPS
int debug_nmea_count=0;
#endif
/*Der Aufruf von read() muss in einer Schleife erfolgen. Durch die Festlegung der Aktualisierungsrate während der Initialisierung wird die Rate festgelegt, mit der neue Daten zur Verfügung stehen. Der Aufruf von read() muss solange wiederholt werden, bis ein vollständiger Datensatz vorgefunden wird. Es werden auch NMEA empfangen die Statusinformationen enthalten. Beispielsweise die verwendete Firmware Version. Die Variable data_received wird dann zu eins, wenn eine NMEA empfangen wurde, der eine gültige Position enthält. Ist kein fix vorhanden, kommt es zu einer Endlosschleife. Mit Loopcount wird der Vorgang abgebrochen, wenn kein fix vorhanden ist und die vorgegebene Zyklenzahl überschritten wird.*/
while(data_received == 0 && loop_count < LCGETGPS ){
loop_count++;
c = GPS.read();
/* newNMEAreceived() wertet ein Flag aus, welches indiziert, ob ein neues NMEA empfangen wurde.*/
if (GPS.newNMEAreceived()) {
/*lastNMEA() liefert den letzten empfangenen NMEA Satz zurück.*/
nmeaSentence = GPS.lastNMEA();
#if DEBUG_GPS
Serial.println(nmeaSentence); Serial.print("\n");
#endif
/*parse() extrahiert die Informationen und macht diese im GPS Objekt verfügbar.*/
GPS.parse(nmeaSentence);
/* Es muss sichergestellt werden, dass der Empfangene NMEA-Satz auch Positionsdaten
enthält. Weiterhin muss abgefragt werden, ob die Positionsdaten gültig sind.(fix vorhanden)*/
if(strstr(nmeaSentence,"GPGGA") != NULL && (short)GPS.fix == 1){
data_received=1;
}
#if DEBUG_GPS
debug_nmea_count++;
#endif
}
if((short)GPS.fix == 1){
output.longitude = GPS.longitude;
output.latitude = GPS.latitude;
output.fix = (short)GPS.fix;
output.altitude = GPS.altitude;
}
else{
output.longitude = 0.0f;
output.latitude = 0.0f;
output.fix = 0;
output.altitude = 0.0f;
}
}
#if DEBUG_GPS
Serial.print("Anzahl read() : "); Serial.print(loop_count); Serial.print("\n");
Serial.print("Anzahl empfangene NMAEA: "); Serial.print(debug_nmea_count); Serial.print("\n");
#endif
return output;
}
void AssetTracker::updateGPS(){
char c = gps.read();
// if a sentence is received, we can check the checksum, parse it...
if (gps.newNMEAreceived()) {
// a tricky thing here is if we print the NMEA sentence, or data
// we end up not listening and catching other sentences!
// so be very wary if using OUTPUT_ALLDATA and trytng to print out data
//Serial.println(gps.lastNMEA()); // this also sets the newNMEAreceived() flag to false
if (!gps.parse(gps.lastNMEA())) {
// this also sets the newNMEAreceived() flag to false
return; // we can fail to parse a sentence in which case we should just wait for another
}
}
}
bool GpsSensor::GetData(float array[])
{
// in case you are not using the interrupt above, you'll
// need to 'hand query' the GPS, not suggested :(
if (!usingInterrupt) {
// read data from the GPS in the 'main loop'
char c = GPS.read();
// if you want to debug, this is a good time to do it!
/*if (GPSECHO)
if (c) Serial.print(c);*/
}
// if a sentence is received, we can check the checksum, parse it...
if (GPS.newNMEAreceived()) {
// a tricky thing here is if we print the NMEA sentence, or data
// we end up not listening and catching other sentences!
// so be very wary if using OUTPUT_ALLDATA and trytng to print out data
//Serial.println(GPS.lastNMEA()); // this also sets the newNMEAreceived() flag to false
if (!GPS.parse(GPS.lastNMEA())) // this also sets the newNMEAreceived() flag to false
return 0; // we can fail to parse a sentence in which case we should just wait for another
}
array[0] = millis();
array[1] = GPS.fix;
array[2] = GPS.fixquality;
if (GPS.fix)
{
array[3] = GPS.latitude;
array[4] = GPS.longitude;
array[5] = GPS.satellites;
array[6] = GPS.altitude;
array[7] = GPS.angle;
array[8] = GPS.speed;
}
else
{
//if no fix, then set the values to 0
array[3] = 0;
array[4] = 0;
array[5] = 0;
array[6] = 0;
array[7] = 0;
array[8] = 0;
}
return 1;
}
Coordinate Navigation::getCurrentLocation()
{
Coordinate coord;
GPS.read();
if (GPS.newNMEAreceived()) {
if (!GPS.parse(GPS.lastNMEA()));
}
if (GPS.fix) {
coord.latitude = GPS.latitudeDegrees;
coord.longitude = GPS.longitudeDegrees;
} else {
coord.latitude = 0.000;
coord.longitude = 0.000;
}
return coord;
}
void loop()
{
// if a sentence is received, we can check the checksum, parse it...
if (GPS.newNMEAreceived()) {
// a tricky thing here is if we print the NMEA sentence, or data
// we end up not listening and catching other sentences!
// so be very wary if using OUTPUT_ALLDATA and trytng to print out data
//SerialUSB.println(GPS.lastNMEA()); // this also sets the newNMEAreceived() flag to false
if (!GPS.parse(GPS.lastNMEA())) { // this also sets the newNMEAreceived() flag to false
SerialUSB.println("parsed: FAILED");
return;// continue; // we can fail to parse a sentence in which case we should just wait for another
}
else {
SerialUSB.print("\nTime: ");
SerialUSB.print(GPS.hour, DEC); SerialUSB.print(':');
SerialUSB.print(GPS.minute, DEC); SerialUSB.print(':');
SerialUSB.print(GPS.seconds, DEC); SerialUSB.print('.');
SerialUSB.println(GPS.milliseconds);
SerialUSB.print("Date: ");
SerialUSB.print(GPS.day, DEC); SerialUSB.print('/');
SerialUSB.print(GPS.month, DEC); SerialUSB.print('/');
SerialUSB.print("20"); SerialUSB.println(GPS.year, DEC);
SerialUSB.print("Fix: "); SerialUSB.print((int)GPS.fix);
SerialUSB.print(" quality: "); SerialUSB.println((int)GPS.fixquality);
if (GPS.fix) {
SerialUSB.print("Location: ");
SerialUSB.print(GPS.latitude, 4); SerialUSB.print(GPS.lat);
SerialUSB.print(", ");
SerialUSB.print(GPS.longitude, 4); SerialUSB.println(GPS.lon);
SerialUSB.print("Speed (knots): "); SerialUSB.println(GPS.speed);
SerialUSB.print("Angle: "); SerialUSB.println(GPS.angle);
SerialUSB.print("Altitude: "); SerialUSB.println(GPS.altitude);
SerialUSB.print("Satellites: "); SerialUSB.println((int)GPS.satellites);
}
}
}
else {
SerialUSB.println("!GPS.newNMEAreceived()");
}
}
void Communicator::getSerialDataFromGPS() {
while (GPS_SERIAL.available()) {
nmeaBuf[nmeaBufInd] = GPS_SERIAL.read();
//DEBUG_PRINT(nmeaBuf[nmeaBufInd]);
if (nmeaBuf[nmeaBufInd++] == '\n') { // Increment index after checking if current character signifies the end of a string
nmeaBuf[nmeaBufInd - 1] = '\0'; // Add null terminating character (note: -1 is because nmeaBufInd is incremented in if statement)
newParsedData = GPS.parse(nmeaBuf); // This parses the string, and updates the values of GPS.lattitude, GPS.longitude etc.
nmeaBufInd = 0; // Regardless of it parsing sucessful, we want to reset position back to zero
}
if (nmeaBufInd >= MAXLINELENGTH) { // Should never happen. Means a corrupted packed and the newline was missed. Good to have just in case
nmeaBufInd = 0; // Note the next packet will then have been corrupted as well. Can't really recover until the next-next packet
}
//DEBUG_PRINTLN("");
}
}
void GPS_loop() // run over and over again
{
if (! usingInterrupt) {
char c = GPS.read();
if (GPSECHO)
if (c) Serial.print(c);
}
if (GPS.newNMEAreceived()) {
if (!GPS.parse(GPS.lastNMEA())) // this also sets the newNMEAreceived() flag to false
return; // we can fail to parse a sentence in which case we should just wait for another
}
if (timer > millis()) timer = millis();
if (millis() - timer > 2000) {
timer = millis(); // reset the timer
if (1){//(GPS.fix) {
Serial.print("(-1,");
Serial.print(GPS.latitudeDegrees, 5);
Serial.print(", ");
Serial.print(GPS.longitudeDegrees, 5);
Serial.println(")");
}
}
}
void loop()
{
//// Using this, instead of timer_interrupt
//if (Serial1.available()) {
//GPS.read();
//}
// if a sentence is received, we can check the checksum, parse it...
if (GPS.newNMEAreceived()) {
// a tricky thing here is if we print the NMEA sentence, or data
// we end up not listening and catching other sentences!
// so be very wary if using OUTPUT_ALLDATA and trytng to print out data
//SerialUSB.println(GPS.lastNMEA()); // this also sets the newNMEAreceived() flag to false
if (!GPS.parse(GPS.lastNMEA())) { // this also sets the newNMEAreceived() flag to false
SerialUSB.println("parsed: FAILED");
return;// continue; // we can fail to parse a sentence in which case we should just wait for another
}
else {
// Format the data
crim::GPSData gps_data;
gps_data.set_time(GPS.hour, GPS.minute, GPS.seconds, GPS.milliseconds);
gps_data.set_date(GPS.year, GPS.month, GPS.day);
gps_data.set_pose(GPS.latitude, GPS.lat, GPS.longitude, GPS.lon, GPS.altitude);
gps_data.set_misc(GPS.speed, GPS.angle);
gps_data.set_note(GPS.fix, GPS.fixquality, GPS.satellites);
crim::FlymaplePacketHandler packet_handler("Serial1", SERIAL1_BAUD_RATE);
packet_handler.wrap(gps_data);
packet_handler.send();
}
}
else {
SerialUSB.println("!GPS.newNMEAreceived()");
}
}
void GpsController::process()
{
// in case you are not using the interrupt above, you'll
// need to 'hand query' the GPS, not suggested :(
if (! usingInterrupt) {
// read data from the GPS in the 'main loop'
char c = GPS.read();
// if you want to debug, this is a good time to do it!
if (GPSECHO)
if (c) Serial.print(c);
}
// if a sentence is received, we can check the checksum, parse it...
if (GPS.newNMEAreceived()) {
// a tricky thing here is if we print the NMEA sentence, or data
// we end up not listening and catching other sentences!
// so be very wary if using OUTPUT_ALLDATA and trytng to print out data
//Serial.println(GPS.lastNMEA()); // this also sets the newNMEAreceived() flag to false
if (!GPS.parse(GPS.lastNMEA())) // this also sets the newNMEAreceived() flag to false
return; // we can fail to parse a sentence in which case we should just wait for another
}
// if millis() or timer wraps around, we'll just reset it
if (timer > millis()) timer = millis();
// approximately every 2 seconds or so, print out the current stats
if (millis() - timer > 2000) {
timer = millis(); // reset the timer
Serial.print("\nTime: ");
Serial.print(GPS.hour, DEC);
Serial.print(':');
Serial.print(GPS.minute, DEC);
Serial.print(':');
Serial.print(GPS.seconds, DEC);
Serial.print('.');
Serial.println(GPS.milliseconds);
Serial.print("Date: ");
Serial.print(GPS.day, DEC);
Serial.print('/');
Serial.print(GPS.month, DEC);
Serial.print("/20");
Serial.println(GPS.year, DEC);
Serial.print("Fix: ");
Serial.print((int)GPS.fix);
Serial.print(" quality: ");
Serial.println((int)GPS.fixquality);
if (GPS.fix) {
Serial.print("Location: ");
Serial.print(GPS.latitude, 4);
Serial.print(GPS.lat);
Serial.print(", ");
Serial.print(GPS.longitude, 4);
Serial.println(GPS.lon);
Serial.print("Location (in degrees, works with Google Maps): ");
Serial.print(GPS.latitudeDegrees, 4);
Serial.print(", ");
Serial.println(GPS.longitudeDegrees, 4);
Serial.print("Speed (knots): ");
Serial.println(GPS.speed);
Serial.print("Angle: ");
Serial.println(GPS.angle);
Serial.print("Altitude: ");
Serial.println(GPS.altitude);
Serial.print("Satellites: ");
Serial.println((int)GPS.satellites);
}
}
}