root / quad1 / AeroQuad / GPS.h @ 9240aaa3
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1 | 9240aaa3 | Alex | /*
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2 | AeroQuad v2.1 - October 2010
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3 | www.AeroQuad.com
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4 | Copyright (c) 2010 Ted Carancho. All rights reserved.
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5 | An Open Source Arduino based multicopter.
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6 |
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7 | This program is free software: you can redistribute it and/or modify
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8 | it under the terms of the GNU General Public License as published by
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9 | the Free Software Foundation, either version 3 of the License, or
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10 | (at your option) any later version.
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11 | |||
12 | This program is distributed in the hope that it will be useful,
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13 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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14 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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15 | GNU General Public License for more details.
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16 | |||
17 | You should have received a copy of the GNU General Public License
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18 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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19 | */
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20 | |||
21 | /**************************************************************/
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22 | /************************** GPS *******************************/
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23 | /**************************************************************/
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24 | // This is experimental, it is not yet functional
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25 | |||
26 | #include "TinyGPS.h" |
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27 | |||
28 | #ifdef GPS
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29 | |||
30 | TinyGPS gps; |
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31 | //NewSoftSerial nss(13, 3);
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32 | |||
33 | bool newdata;
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34 | unsigned long start; |
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35 | |||
36 | void gpsdump(TinyGPS &gps);
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37 | bool feedgps();
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38 | void printFloat(double f, int digits = 2); |
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39 | |||
40 | void printFloat(double number, int digits) |
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41 | { |
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42 | // Handle negative numbers
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43 | if (number < 0.0) |
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44 | { |
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45 | Serial.print('-');
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46 | number = -number; |
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47 | } |
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48 | |||
49 | // Round correctly so that print(1.999, 2) prints as "2.00"
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50 | double rounding = 0.5; |
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51 | for (uint8_t i=0; i<digits; ++i) |
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52 | rounding /= 10.0; |
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53 | |||
54 | number += rounding; |
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55 | |||
56 | // Extract the integer part of the number and print it
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57 | unsigned long int_part = (unsigned long)number; |
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58 | double remainder = number - (double)int_part; |
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59 | Serial.print(int_part); |
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60 | |||
61 | // Print the decimal point, but only if there are digits beyond
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62 | if (digits > 0) |
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63 | Serial.print(".");
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64 | |||
65 | // Extract digits from the remainder one at a time
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66 | while (digits-- > 0) |
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67 | { |
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68 | remainder *= 10.0; |
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69 | int toPrint = int(remainder); |
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70 | Serial.print(toPrint); |
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71 | remainder -= toPrint; |
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72 | } |
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73 | } |
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74 | |||
75 | void gpsdump(TinyGPS &gps)
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76 | { |
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77 | long lat, lon;
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78 | float flat, flon;
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79 | unsigned long age, date, time, chars; |
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80 | int year;
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81 | byte month, day, hour, minute, second, hundredths; |
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82 | unsigned short sentences, failed; |
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83 | |||
84 | gps.get_position(&lat, &lon, &age); |
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85 | Serial.print("Lat/Long(10^-5 deg): "); Serial.print(lat); Serial.print(", "); Serial.print(lon); |
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86 | Serial.print(" Fix age: "); Serial.print(age); Serial.println("ms."); |
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87 | |||
88 | feedgps(); // If we don't feed the gps during this long routine, we may drop characters and get checksum errors
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89 | |||
90 | gps.f_get_position(&flat, &flon, &age); |
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91 | Serial.print("Lat/Long(float): "); printFloat(flat, 5); Serial.print(", "); printFloat(flon, 5); |
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92 | Serial.print(" Fix age: "); Serial.print(age); Serial.println("ms."); |
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93 | |||
94 | feedgps(); |
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95 | |||
96 | gps.get_datetime(&date, &time, &age); |
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97 | Serial.print("Date(ddmmyy): "); Serial.print(date); Serial.print(" Time(hhmmsscc): "); Serial.print(time); |
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98 | Serial.print(" Fix age: "); Serial.print(age); Serial.println("ms."); |
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99 | |||
100 | feedgps(); |
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101 | |||
102 | gps.crack_datetime(&year, &month, &day, &hour, &minute, &second, &hundredths, &age); |
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103 | Serial.print("Date: "); Serial.print(static_cast<int>(month)); Serial.print("/"); Serial.print(static_cast<int>(day)); Serial.print("/"); Serial.print(year); |
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104 | Serial.print(" Time: "); Serial.print(static_cast<int>(hour)); Serial.print(":"); Serial.print(static_cast<int>(minute)); Serial.print(":"); Serial.print(static_cast<int>(second)); Serial.print("."); Serial.print(static_cast<int>(hundredths)); |
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105 | Serial.print(" Fix age: "); Serial.print(age); Serial.println("ms."); |
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106 | |||
107 | feedgps(); |
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108 | |||
109 | Serial.print("Alt(cm): "); Serial.print(gps.altitude()); Serial.print(" Course(10^-2 deg): "); Serial.print(gps.course()); Serial.print(" Speed(10^-2 knots): "); Serial.println(gps.speed()); |
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110 | Serial.print("Alt(float): "); printFloat(gps.f_altitude()); Serial.print(" Course(float): "); printFloat(gps.f_course()); Serial.println(); |
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111 | Serial.print("Speed(knots): "); printFloat(gps.f_speed_knots()); Serial.print(" (mph): "); printFloat(gps.f_speed_mph()); |
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112 | Serial.print(" (mps): "); printFloat(gps.f_speed_mps()); Serial.print(" (kmph): "); printFloat(gps.f_speed_kmph()); Serial.println(); |
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113 | |||
114 | feedgps(); |
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115 | |||
116 | gps.stats(&chars, &sentences, &failed); |
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117 | Serial.print("Stats: characters: "); Serial.print(chars); Serial.print(" sentences: "); Serial.print(sentences); Serial.print(" failed checksum: "); Serial.println(failed); |
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118 | } |
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119 | |||
120 | bool feedgps()
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121 | { |
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122 | /*while (nss.available())
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123 | {
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124 | if (gps.encode(nss.read()))
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125 | return true;
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126 | }
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127 | return false;*/
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128 | return true; |
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129 | } |
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130 | |||
131 | #endif |