kopia lustrzana https://github.com/Max-Plastix/tbeam-helium-mapper
Added GPS UBlox control
Max-Plastix
rodzic
6df5088245
commit
853670d970
207
main/gps.ino
207
main/gps.ino
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@ -1,142 +1,65 @@
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/* Revised to use UBlox native binary protocol instead of NMEA */
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/* Revised to use UBlox native binary protocol to engage NMEA */
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#include "configuration.h"
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#include "gps.h"
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#include <Arduino.h>
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#include <HardwareSerial.h>
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#include <SparkFun_u-blox_GNSS_Arduino_Library.h>
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#include <TinyGPS++.h>
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#include "SparkFun_Ublox_Arduino_Library_Series_6_7.h"
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HardwareSerial gpsSerial(GPS_SERIAL_NUM);
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SFE_UBLOX_GNSS myGNSS;
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/* Copied from https://github.com/mikalhart/TinyGPSPlus/blob/master/src/TinyGPS%2B%2B.cpp
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(GPL v2.1)
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TinyGPS++ - a small GPS library for Arduino providing universal NMEA parsing
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Based on work by and "distanceBetween" and "courseTo" courtesy of Maarten Lamers.
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Suggestion to add satellites, courseTo(), and cardinal() by Matt Monson.
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Location precision improvements suggested by Wayne Holder.
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Copyright (C) 2008-2013 Mikal Hart
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All rights reserved.
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*/
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double distanceBetween(double lat1, double long1, double lat2, double long2)
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{
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// returns distance in meters between two positions, both specified
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// as signed decimal-degrees latitude and longitude. Uses great-circle
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// distance computation for hypothetical sphere of radius 6372795 meters.
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// Because Earth is no exact sphere, rounding errors may be up to 0.5%.
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// Courtesy of Maarten Lamers
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double delta = radians(long1-long2);
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double sdlong = sin(delta);
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double cdlong = cos(delta);
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lat1 = radians(lat1);
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lat2 = radians(lat2);
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double slat1 = sin(lat1);
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double clat1 = cos(lat1);
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double slat2 = sin(lat2);
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double clat2 = cos(lat2);
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delta = (clat1 * slat2) - (slat1 * clat2 * cdlong);
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delta = sq(delta);
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delta += sq(clat2 * sdlong);
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delta = sqrt(delta);
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double denom = (slat1 * slat2) + (clat1 * clat2 * cdlong);
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delta = atan2(delta, denom);
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return delta * 6372795;
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}
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SFE_UBLOX_GPS myGNSS;
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TinyGPSPlus _gps;
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void gps_time(char * buffer, uint8_t size) {
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//snprintf(buffer, size, "%02d:%02d:%02d", _gps.time.hour(), _gps.time.minute(), _gps.time.second());
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snprintf(buffer, size, "%02d:%02d:%02d", _gps.time.hour(), _gps.time.minute(), _gps.time.second());
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}
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float gps_latitude() {
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//return _gps.location.lat();
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return 0.0;
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return _gps.location.lat();
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}
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float gps_distanceBetween(float last_lat, float last_lon, float lat, float lon) {
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return (float) distanceBetween(last_lat, last_lon, lat, lon);
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return _gps.distanceBetween(last_lat, last_lon, lat, lon);
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}
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float gps_longitude() {
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//return _gps.location.lng();
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return 0.0;
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return _gps.location.lng();
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}
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float gps_altitude() {
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//return _gps.altitude.meters();
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return 0.0;
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return _gps.altitude.meters();
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}
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float gps_hdop() {
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//return _gps.hdop.hdop();
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return 0.0;
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return _gps.hdop.hdop();
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}
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uint8_t gps_sats() {
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//return _gps.satellites.value();
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return 0;
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return _gps.satellites.value();
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}
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float gps_speed() {
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return 0.0;
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return _gps.speed.kmph();
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}
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boolean fresh_gps = false;
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#if 0
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void foofreshPVTdata(UBX_NAV_PVT_data_t ubxDataStruct)
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{
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fresh_gps = true;
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Serial.println();
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Serial.print(F("Time: ")); // Print the time
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uint8_t hms = ubxDataStruct.hour; // Print the hours
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if (hms < 10)
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Serial.print(F("0")); // Print a leading zero if required
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Serial.print(hms);
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Serial.print(F(":"));
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hms = ubxDataStruct.min; // Print the minutes
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if (hms < 10)
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Serial.print(F("0")); // Print a leading zero if required
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Serial.print(hms);
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Serial.print(F(":"));
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hms = ubxDataStruct.sec; // Print the seconds
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if (hms < 10)
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Serial.print(F("0")); // Print a leading zero if required
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Serial.print(hms);
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Serial.print(F("."));
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unsigned long millisecs = ubxDataStruct.iTOW % 1000; // Print the milliseconds
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if (millisecs < 100)
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Serial.print(F("0")); // Print the trailing zeros correctly
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if (millisecs < 10)
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Serial.print(F("0"));
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Serial.print(millisecs);
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long latitude = ubxDataStruct.lat; // Print the latitude
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Serial.print(F(" Lat: "));
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Serial.print(latitude);
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long longitude = ubxDataStruct.lon; // Print the longitude
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Serial.print(F(" Long: "));
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Serial.print(longitude);
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Serial.print(F(" (degrees * 10^-7)"));
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long altitude = ubxDataStruct.hMSL; // Print the height above mean sea level
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Serial.print(F(" Height above MSL: "));
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Serial.print(altitude);
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Serial.println(F(" (mm)"));
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}
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#endif
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void gps_setup(void) {
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gpsSerial.begin(GPS_BAUDRATE, SERIAL_8N1, GPS_RX_PIN, GPS_TX_PIN);
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gpsSerial.setRxBufferSize(2048); // Default is 256
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// myGNSS.enableDebugging();
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if (0)
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myGNSS.enableDebugging();
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bool changed_speed = false;
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// Check all the possible GPS bitrates to get in sync
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do {
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gpsSerial.updateBaudRate(GPS_BAUDRATE);
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if (myGNSS.begin(gpsSerial)) {
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Serial.println("GPS connected.");
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break;
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Serial.println("GPS connected.");
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break;
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}
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// Well, wasn't where we expected it
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@ -155,16 +78,14 @@ void gps_setup(void) {
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if (myGNSS.begin(gpsSerial)) {
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Serial.println("GPS found at 9600 baud");
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myGNSS.setSerialRate(GPS_BAUDRATE);
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myGNSS.setSerialRate(115200);
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continue;
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}
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Serial.println("Trying 38400...");
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gpsSerial.updateBaudRate(38400);
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if (myGNSS.begin(gpsSerial)) {
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Serial.println("GPS found at 38400 baud");
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myGNSS.setSerialRate(GPS_BAUDRATE);
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myGNSS.setSerialRate(115200);
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continue;
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}
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@ -179,54 +100,42 @@ void gps_setup(void) {
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Serial.println("Could not connect to GPS. Retrying all speeds...");
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} while (1);
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myGNSS.setUART1Output(COM_TYPE_UBX); //Set the UART port to output UBX only
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myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
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if (0)
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myGNSS.factoryReset();
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/* Not so interesting, since it's always version 0.0 */
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#if 0
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Serial.print(F("GPS Protocol Version: "));
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byte versionHigh = myGNSS.getProtocolVersionHigh();
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Serial.print(versionHigh);
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Serial.print(".");
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byte versionLow = myGNSS.getProtocolVersionLow();
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Serial.println(versionLow);
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#endif
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if (changed_speed)
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myGNSS.saveConfiguration(); //Save the current settings to flash and BBR
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// myGNSS.setAutoPVTcallback(&freshPVTdata); // Enable automatic NAV PVT messages with callback to printPVTdata
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myGNSS.setNavigationFrequency(1); //Produce one solution per second
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}
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myGNSS.setUART1Output(COM_TYPE_NMEA); // Set the UART port to output UBX only
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if (0)
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myGNSS.factoryReset();
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if (changed_speed)
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myGNSS.saveConfiguration(); // Save the current settings to flash and BBR
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myGNSS.setNavigationFrequency(1); // Produce one solution per second
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myGNSS.disableNMEAMessage(UBX_NMEA_DTM, COM_PORT_UART1);
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myGNSS.disableNMEAMessage(UBX_NMEA_GAQ, COM_PORT_UART1);
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myGNSS.disableNMEAMessage(UBX_NMEA_GBQ, COM_PORT_UART1);
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myGNSS.disableNMEAMessage(UBX_NMEA_GBS, COM_PORT_UART1);
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myGNSS.disableNMEAMessage(UBX_NMEA_GGA, COM_PORT_UART1);
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myGNSS.disableNMEAMessage(UBX_NMEA_GLL, COM_PORT_UART1);
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myGNSS.disableNMEAMessage(UBX_NMEA_GLQ, COM_PORT_UART1);
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myGNSS.disableNMEAMessage(UBX_NMEA_GNQ, COM_PORT_UART1);
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myGNSS.disableNMEAMessage(UBX_NMEA_GNS, COM_PORT_UART1);
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myGNSS.disableNMEAMessage(UBX_NMEA_GPQ, COM_PORT_UART1);
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myGNSS.disableNMEAMessage(UBX_NMEA_GRS, COM_PORT_UART1);
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// myGNSS.disableNMEAMessage(UBX_NMEA_GSA, COM_PORT_UART1);
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myGNSS.disableNMEAMessage(UBX_NMEA_GST, COM_PORT_UART1);
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myGNSS.disableNMEAMessage(UBX_NMEA_GSV, COM_PORT_UART1);
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// myGNSS.disableNMEAMessage(UBX_NMEA_RMC, COM_PORT_UART1);
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myGNSS.disableNMEAMessage(UBX_NMEA_TXT, COM_PORT_UART1);
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myGNSS.disableNMEAMessage(UBX_NMEA_VLW, COM_PORT_UART1);
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myGNSS.disableNMEAMessage(UBX_NMEA_VTG, COM_PORT_UART1);
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myGNSS.disableNMEAMessage(UBX_NMEA_ZDA, COM_PORT_UART1);
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myGNSS.enableNMEAMessage(UBX_NMEA_RMC, COM_PORT_UART1); // For Speed
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myGNSS.enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_UART1); // For Time & Location
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}
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void gps_loop(void) {
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myGNSS.checkUblox();
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myGNSS.checkCallbacks();
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if (!fresh_gps)
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return;
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fresh_gps = false;
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long latitude = myGNSS.getLatitude();
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Serial.print(F("Lat: "));
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Serial.print(latitude);
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long longitude = myGNSS.getLongitude();
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Serial.print(F(" Long: "));
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Serial.print(longitude);
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Serial.print(F(" (degrees * 10^-7)"));
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long altitude = myGNSS.getAltitude();
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Serial.print(F(" Alt: "));
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Serial.print(altitude);
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Serial.print(F(" (mm)"));
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byte SIV = myGNSS.getSIV();
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Serial.print(F(" SIV: "));
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Serial.print(SIV);
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Serial.println();
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}
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while (gpsSerial.available()) {
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_gps.encode(gpsSerial.read());
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}
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}
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