anılefelagari avatar
7 months ago
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// Test code for Adafruit GPS modules using MTK3329/MTK3339 driver
// This code shows how to listen to the GPS module in an interrupt
// which allows the program to have more 'freedom' - just parse
// when a new NMEA sentence is available! Then access data when
// desired.
// Tested and works great with the Adafruit Ultimate GPS module
// using MTK33x9 chipset
//    ------>
// Pick one up today at the Adafruit electronics shop 
// and help support open source hardware & software! -ada

#include <Adafruit_GPS.h>
#include <Wire.h>
#include <SPI.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_BME280.h>
#include <Adafruit_BNO055.h>
#include <utility/imumaths.h>
//#include <Adafruit_LSM6DSO32.h>
#include <RadioLib.h>

// This sketch is ONLY for the Arduino Due!
// You should make the following connections with the Due and GPS module:
// GPS power pin to Arduino Due 3.3V output.
// GPS ground pin to Arduino Due ground.
// For hardware serial 1 (recommended):
//   GPS TX to Arduino Due Serial1 RX pin 19
//   GPS RX to Arduino Due Serial1 TX pin 18
#define mySerial Serial7

#define SEALEVELPRESSURE_HPA (1013.25)

Adafruit_GPS GPS(&mySerial);
Adafruit_BME280 bme;
//Adafruit_LSM6DSO32 dso32;
Adafruit_BNO055 bno = Adafruit_BNO055(55, 0x28, &Wire2);
SX1276 radio = new Module(10, 6, 4, 5);

// Set GPSECHO to 'false' to turn off echoing the GPS data to the Serial console
// Set to 'true' if you want to debug and listen to the raw GPS sentences. 
#define GPSECHO  false

// this keeps track of whether we're using the interrupt
// off by default!
boolean usingInterrupt = false;
void useInterrupt(boolean); // Func prototype keeps Arduino 0023 happy

void setup()  
  // connect at 115200 so we can read the GPS fast enough and echo without dropping chars
  // also spit it out
  Serial.println("Adafruit GPS library basic test!");
  // 9600 NMEA is the default baud rate for Adafruit MTK GPS's- some use 4800
  unsigned status;


  status = bme.begin(/*0x77, &Wire2*/);

  if (!status) {
        Serial.println("Could not find a valid BME280 sensor, check wiring, address, sensor ID!");
        Serial.print("SensorID was: 0x"); Serial.println(bme.sensorID(),16);
        Serial.print("        ID of 0xFF probably means a bad address, a BMP 180 or BMP 085\n");
        Serial.print("   ID of 0x56-0x58 represents a BMP 280,\n");
        Serial.print("        ID of 0x60 represents a BME 280.\n");
        Serial.print("        ID of 0x61 represents a BME 680.\n");
        while (1) delay(10);

    /* There was a problem detecting the BNO055 ... check your connections */
    Serial.print("Ooops, no BNO055 detected ... Check your wiring or I2C ADDR!");
  Serial.println("Adafruit LSM6DSO32 test!");

  if (!dso32.begin_I2C()) {
    while (1) {


  pinMode (10, OUTPUT);
  digitalWrite (10, HIGH);

  Serial.print(F("[SX1278] Initializing ... "));
  int state = radio.begin();
  if (state == RADIOLIB_ERR_NONE) {
  } else {
    Serial.print(F("failed, code "));
    while (true);

  radio.setBandwidth(62.5); //default 62.5 KHz RSSI -83
  // uncomment this line to turn on RMC (recommended minimum) and GGA (fix data) including altitude
  // uncomment this line to turn on only the "minimum recommended" data
  // For parsing data, we don't suggest using anything but either RMC only or RMC+GGA since
  // the parser doesn't care about other sentences at this time
  // Set the update rate
  GPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);   // 1 Hz update rate
  // For the parsing code to work nicely and have time to sort thru the data, and
  // print it out we don't suggest using anything higher than 1 Hz

  // Request updates on antenna status, comment out to keep quiet

  // the nice thing about this code is you can have a timer0 interrupt go off
  // every 1 millisecond, and read data from the GPS for you. that makes the
  // loop code a heck of a lot easier!

#ifdef __arm__
  usingInterrupt = false;  //NOTE - we don't want to use interrupts on the Due

  // Ask for firmware version

#ifdef __AVR__
// Interrupt is called once a millisecond, looks for any new GPS data, and stores it
  char c =;
  // if you want to debug, this is a good time to do it!
#ifdef UDR0
  if (GPSECHO)
    if (c) UDR0 = c;  
    // writing direct to UDR0 is much much faster than Serial.print 
    // but only one character can be written at a time. 

void useInterrupt(boolean v) {
  if (v) {
    // Timer0 is already used for millis() - we'll just interrupt somewhere
    // in the middle and call the "Compare A" function above
    OCR0A = 0xAF;
    TIMSK0 |= _BV(OCIE0A);
    usingInterrupt = true;
  } else {
    // do not call the interrupt function COMPA anymore
    TIMSK0 &= ~_BV(OCIE0A);
    usingInterrupt = false;
#endif //#ifdef__AVR__

uint32_t timer = millis();
void loop()                     // run over and over again
  // 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 =;
    // 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.print("Date: ");
    Serial.print(, 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(;
      Serial.print(", "); 
      Serial.print(GPS.longitude, 4); Serial.println(GPS.lon);
      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);

      Serial.print("Temperature = ");
      Serial.println(" °C");

    Serial.print("Pressure = ");

    Serial.print(bme.readPressure() / 100.0F);
    Serial.println(" hPa");

    Serial.print("Approx. Altitude = ");
    Serial.println(" m");

    Serial.print("Humidity = ");
    Serial.println(" %");

    sensors_event_t orientationData , angVelocityData , accelerometerData;
  bno.getEvent(&orientationData, Adafruit_BNO055::VECTOR_EULER);
  bno.getEvent(&angVelocityData, Adafruit_BNO055::VECTOR_GYROSCOPE);
  bno.getEvent(&accelerometerData, Adafruit_BNO055::VECTOR_ACCELEROMETER);
    Serial.print("Açı X: ");
  Serial.print(orientationData.orientation.x, 4);
  Serial.print("\tAçı Y: ");
  Serial.print(orientationData.orientation.y, 4);
  Serial.print("\tAçı Z: ");
  Serial.println(orientationData.orientation.z, 4);

  Serial.print("Gyro X: ");
  Serial.print(angVelocityData.gyro.x, 4);
  Serial.print("\tGyro Y: ");
  Serial.print(angVelocityData.gyro.y, 4);
  Serial.print("\tGyro Z: ");
  Serial.println(angVelocityData.gyro.z, 4);

  Serial.print("İvme X:");
  Serial.print(accelerometerData.acceleration.x, 4);
  Serial.print("\tİvme Y: ");
  Serial.print(accelerometerData.acceleration.y, 4);
  Serial.print("\tİvme Z: ");
  Serial.println(accelerometerData.acceleration.z, 4);
     sensors_event_t accel;
  sensors_event_t gyro;
  sensors_event_t temp;
  dso32.getEvent(&accel, &gyro, &temp);

   Serial.print("Gyro X: ");
  Serial.print(gyro.gyro.x, 4);
  Serial.print("\tGyro Y: ");
  Serial.print(gyro.gyro.y, 4);
  Serial.print("\tGyro Z: ");
  Serial.println(gyro.gyro.z, 4);

  Serial.print("İvme X:");
  Serial.print(accel.acceleration.x, 4);
  Serial.print("\tİvme Y: ");
  Serial.print(accel.acceleration.y, 4);
  Serial.print("\tİvme Z: ");
  Serial.println(accel.acceleration.z, 4);

  Serial.print(F("[SX1278] Transmitting packet ... "));
  radio.transmit("Lets go");

  // BURAYA seri print yaz bak bakalım kaç snde geliyor