178 lines
7.5 KiB
C++
178 lines
7.5 KiB
C++
// Test code for Ultimate GPS Using Hardware Serial (e.g. GPS Flora or FeatherWing)
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//
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// This code is similar to GPS_HardwareSerial_Parsing, except for the additional
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// elements to keep track of how long it has been since time and fix data have been
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// received. This approach lets you keep an up to date clock based on GPS time at
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// any time in between GPS fixes.
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//
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// It also shows how to take advantage of the build() function to generate test sentences.
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// The additional code is within #ifdef NMEA_EXTENSIONS and #endif tags.
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//
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// This code shows how to listen to the GPS module via polling. Best used with
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// Feathers or Flora where you have hardware Serial and no interrupt
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//
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// Tested and works great with the Adafruit GPS FeatherWing
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// ------> https://www.adafruit.com/products/3133
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// or Flora GPS
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// ------> https://www.adafruit.com/products/1059
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// but also works with the shield, breakout
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// ------> https://www.adafruit.com/products/1272
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// ------> https://www.adafruit.com/products/746
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//
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// Pick one up today at the Adafruit electronics shop
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// and help support open source hardware & software! -ada
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#include <Adafruit_GPS.h>
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// what's the name of the hardware serial port?
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#define GPSSerial Serial1
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// Connect to the GPS on the hardware port
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Adafruit_GPS GPS(&GPSSerial);
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#ifdef NMEA_EXTENSIONS
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// Create another GPS object to hold the state of the boat, with no communications,
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// so don't call Boat.begin() in setup.
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// We will build some fake sentences from the Boat data to feed to GPS for testing.
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Adafruit_GPS Boat(&GPSSerial);
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#endif
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// Set GPSECHO to 'false' to turn off echoing the GPS data to the Serial console
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// Set to 'true' if you want to debug and listen to the raw GPS sentences
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#define GPSECHO true
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uint32_t timer = millis();
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void setup()
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{
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//while (!Serial); // uncomment to have the sketch wait until Serial is ready
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// connect at 115200 so we can read the GPS fast enough and echo without dropping chars
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// also spit it out
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Serial.begin(115200);
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Serial.println("Adafruit GPS library basic test!");
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// 9600 NMEA is the default baud rate for Adafruit MTK GPS's- some use 4800
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GPS.begin(9600);
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// uncomment this line to turn on RMC (recommended minimum) and GGA (fix data) including altitude
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GPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA);
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// uncomment this line to turn on only the "minimum recommended" data
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//GPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY);
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// For parsing data, we don't suggest using anything but either RMC only or RMC+GGA since
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// the parser doesn't care about other sentences at this time
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// Set the update rate (uncomment the one you want.)
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//GPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ); // 1 Hz update rate
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//GPS.sendCommand(PMTK_SET_NMEA_UPDATE_200_MILLIHERTZ); // 5 second update time
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GPS.sendCommand(PMTK_SET_NMEA_UPDATE_100_MILLIHERTZ); // 10 second update time
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// For the parsing code to work nicely and have time to sort thru the data, and
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// print it out we don't suggest using anything higher than 1 Hz
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// Request updates on antenna status, comment out to keep quiet
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GPS.sendCommand(PGCMD_ANTENNA);
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delay(1000);
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// Ask for firmware version
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GPSSerial.println(PMTK_Q_RELEASE);
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}
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void loop() // run over and over again
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{
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// read data from the GPS in the 'main loop'
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char c = GPS.read();
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// if you want to debug, this is a good time to do it!
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if (GPSECHO)
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if (c) Serial.print(c);
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// if a sentence is received, we can check the checksum, parse it...
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if (GPS.newNMEAreceived()) {
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// a tricky thing here is if we print the NMEA sentence, or data
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// we end up not listening and catching other sentences!
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// so be very wary if using OUTPUT_ALLDATA and trytng to print out data
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//Serial.println(GPS.lastNMEA()); // this also sets the newNMEAreceived() flag to false
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if (!GPS.parse(GPS.lastNMEA())) // this also sets the newNMEAreceived() flag to false
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return; // we can fail to parse a sentence in which case we should just wait for another
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}
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// if millis() or timer wraps around, we'll just reset it
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if (timer > millis()) timer = millis();
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// approximately every 2 seconds or so, random intervals, print out the current stats
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static unsigned nextInterval = 2000;
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if (millis() - timer > nextInterval) {
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timer = millis(); // reset the timer
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nextInterval = 1500 + random(1000);
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// Time in seconds keeps increasing after we get the NMEA sentence.
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// This estimate will lag real time due to transmission and parsing delays,
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// but the lag should be small and should also be consistent.
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float s = GPS.seconds + GPS.milliseconds/1000. + GPS.secondsSinceTime();
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int m = GPS.minute;
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int h = GPS.hour;
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int d = GPS.day;
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// Adjust time and day forward to account for elapsed time.
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// This will break at month boundaries!!! Humans will have to cope with April 31,32 etc.
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while(s > 60){ s -= 60; m++; }
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while(m > 60){ m -= 60; h++; }
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while(h > 24){ h -= 24; d++; }
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// ISO Standard Date Format, with leading zeros https://xkcd.com/1179/
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Serial.print("\nDate: ");
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Serial.print(GPS.year+2000, DEC); Serial.print("-");
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if(GPS.month < 10) Serial.print("0");
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Serial.print(GPS.month, DEC); Serial.print("-");
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if(d < 10) Serial.print("0");
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Serial.print(d, DEC);
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Serial.print(" Time: ");
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if(h < 10) Serial.print("0");
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Serial.print(h, DEC); Serial.print(':');
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if(m < 10) Serial.print("0");
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Serial.print(m, DEC); Serial.print(':');
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if(s < 10) Serial.print("0");
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Serial.println(s, 3);
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Serial.print("Fix: "); Serial.print((int)GPS.fix);
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Serial.print(" quality: "); Serial.println((int)GPS.fixquality);
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Serial.print("Time [s] since last fix: "); Serial.println(GPS.secondsSinceFix(),3);
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Serial.print(" since last GPS time: "); Serial.println(GPS.secondsSinceTime(),3);
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Serial.print(" since last GPS date: "); Serial.println(GPS.secondsSinceDate(),3);
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if (GPS.fix) {
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Serial.print("Location: ");
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Serial.print(GPS.latitude, 4); Serial.print(GPS.lat);
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Serial.print(", ");
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Serial.print(GPS.longitude, 4); Serial.println(GPS.lon);
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Serial.print("Speed (knots): "); Serial.println(GPS.speed);
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Serial.print("Angle: "); Serial.println(GPS.angle);
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Serial.print("Altitude: "); Serial.println(GPS.altitude);
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Serial.print("Satellites: "); Serial.println((int)GPS.satellites);
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}
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#ifdef NMEA_EXTENSIONS
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char latestBoat[200] = "";
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updateBoat(); //create some test data in Boat
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Boat.build(latestBoat,"GN","RMC"); //make a sentence from Boat data
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Serial.print("\nbuild() test output -->"); //
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Serial.print(latestBoat); //
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GPS.resetSentTime(); //make timing look like it came in on GPS
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GPS.parse(latestBoat); //parse the test data and store in GPS
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#endif
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}
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}
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#ifdef NMEA_EXTENSIONS
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void updateBoat(){ //fill up the boat values with some test data to use in build()
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double t = millis() / 1000.;
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double theta = t / 100.; //slow
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double gamma = theta * 10; //faster
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Boat.latitude = 4400 + sin(theta)*60;
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Boat.lat = 'N';
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Boat.longitude = 7600 + cos(theta)*60;
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Boat.lon = 'W';
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Boat.fixquality = 2;
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Boat.speed = 3 + sin(gamma);
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Boat.hour = abs(cos(theta)) * 24;
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Boat.minute = 30 + sin(theta/2) * 30;
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Boat.seconds = 30 + sin(gamma) * 30;
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Boat.milliseconds = 500+ sin(gamma) * 500;
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Boat.year = 1+abs(sin(theta)) * 25;
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Boat.month = 1+abs(sin(gamma)) * 11;
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Boat.day = 1+ abs(sin(gamma)) * 26;
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Boat.satellites = abs(cos(gamma)) * 10;
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}
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#endif
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