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/*
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  AeroQuad v2.1 - October 2010
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  www.AeroQuad.com
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  Copyright (c) 2010 Ted Carancho.  All rights reserved.
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  An Open Source Arduino based multicopter.
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  This program is free software: you can redistribute it and/or modify 
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  it under the terms of the GNU General Public License as published by 
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  the Free Software Foundation, either version 3 of the License, or 
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  (at your option) any later version. 
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  This program is distributed in the hope that it will be useful, 
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  but WITHOUT ANY WARRANTY; without even the implied warranty of 
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  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 
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  GNU General Public License for more details. 
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  You should have received a copy of the GNU General Public License 
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  along with this program. If not, see <http://www.gnu.org/licenses/>. 
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*/
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/**************************************************************/
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/************************** GPS *******************************/
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/**************************************************************/
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// This is experimental, it is not yet functional
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#include "TinyGPS.h"
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#ifdef GPS
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TinyGPS gps;
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//NewSoftSerial nss(13, 3);
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bool newdata;
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unsigned long start;
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void gpsdump(TinyGPS &gps);
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bool feedgps();
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void printFloat(double f, int digits = 2);
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void printFloat(double number, int digits)
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{
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  // Handle negative numbers
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  if (number < 0.0)
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  {
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     Serial.print('-');
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     number = -number;
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  }
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  // Round correctly so that print(1.999, 2) prints as "2.00"
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  double rounding = 0.5;
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  for (uint8_t i=0; i<digits; ++i)
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    rounding /= 10.0;
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  number += rounding;
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  // Extract the integer part of the number and print it
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  unsigned long int_part = (unsigned long)number;
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  double remainder = number - (double)int_part;
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  Serial.print(int_part);
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  // Print the decimal point, but only if there are digits beyond
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  if (digits > 0)
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    Serial.print("."); 
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  // Extract digits from the remainder one at a time
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  while (digits-- > 0)
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  {
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    remainder *= 10.0;
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    int toPrint = int(remainder);
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    Serial.print(toPrint);
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    remainder -= toPrint; 
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  } 
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}
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void gpsdump(TinyGPS &gps)
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{
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  long lat, lon;
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  float flat, flon;
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  unsigned long age, date, time, chars;
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  int year;
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  byte month, day, hour, minute, second, hundredths;
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  unsigned short sentences, failed;
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  gps.get_position(&lat, &lon, &age);
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  Serial.print("Lat/Long(10^-5 deg): "); Serial.print(lat); Serial.print(", "); Serial.print(lon); 
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  Serial.print(" Fix age: "); Serial.print(age); Serial.println("ms.");
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  feedgps(); // If we don't feed the gps during this long routine, we may drop characters and get checksum errors
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  gps.f_get_position(&flat, &flon, &age);
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  Serial.print("Lat/Long(float): "); printFloat(flat, 5); Serial.print(", "); printFloat(flon, 5);
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  Serial.print(" Fix age: "); Serial.print(age); Serial.println("ms.");
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  feedgps();
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  gps.get_datetime(&date, &time, &age);
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  Serial.print("Date(ddmmyy): "); Serial.print(date); Serial.print(" Time(hhmmsscc): "); Serial.print(time);
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  Serial.print(" Fix age: "); Serial.print(age); Serial.println("ms.");
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  feedgps();
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  gps.crack_datetime(&year, &month, &day, &hour, &minute, &second, &hundredths, &age);
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  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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  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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  Serial.print("  Fix age: ");  Serial.print(age); Serial.println("ms.");
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  feedgps();
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  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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  Serial.print("Alt(float): "); printFloat(gps.f_altitude()); Serial.print(" Course(float): "); printFloat(gps.f_course()); Serial.println();
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  Serial.print("Speed(knots): "); printFloat(gps.f_speed_knots()); Serial.print(" (mph): ");  printFloat(gps.f_speed_mph());
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  Serial.print(" (mps): "); printFloat(gps.f_speed_mps()); Serial.print(" (kmph): "); printFloat(gps.f_speed_kmph()); Serial.println();
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  feedgps();
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  gps.stats(&chars, &sentences, &failed);
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  Serial.print("Stats: characters: "); Serial.print(chars); Serial.print(" sentences: "); Serial.print(sentences); Serial.print(" failed checksum: "); Serial.println(failed);
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}
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bool feedgps()
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{
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  /*while (nss.available())
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  {
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    if (gps.encode(nss.read()))
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      return true;
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  }
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  return false;*/
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  return true;
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}
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#endif