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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
// ------> http://www.adafruit.com/products/746
// 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.begin(115200);
Serial.println("Adafruit GPS library basic test!");
// 9600 NMEA is the default baud rate for Adafruit MTK GPS's- some use 4800
GPS.begin(9600);
mySerial.begin(9600);
unsigned status;
status = bme.begin(/*0x77, &Wire2*/);
Wire2.begin();
Wire2.setSDA(25);
Wire2.setSCL(24);
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);
}
if(!bno.begin())
{
/* There was a problem detecting the BNO055 ... check your connections */
Serial.print("Ooops, no BNO055 detected ... Check your wiring or I2C ADDR!");
while(1);
}
bno.setExtCrystalUse(true);
delay(1000);
/*
Serial.println("Adafruit LSM6DSO32 test!");
if (!dso32.begin_I2C()) {
while (1) {
delay(10);
}
}
*/
//dso32.setAccelRange(LSM6DSO32_ACCEL_RANGE_32_G);
pinMode (10, OUTPUT);
digitalWrite (10, HIGH);
Serial.print(F("[SX1278] Initializing ... "));
int state = radio.begin();
if (state == RADIOLIB_ERR_NONE) {
Serial.println(F("success!"));
} else {
Serial.print(F("failed, code "));
Serial.println(state);
while (true);
}
radio.setFrequency(433.0);
radio.setBandwidth(62.5); //default 62.5 KHz RSSI -83
radio.setSpreadingFactor(9);
radio.setOutputPower(13);
radio.setCodingRate(5);
// uncomment this line to turn on RMC (recommended minimum) and GGA (fix data) including altitude
GPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA);
// uncomment this line to turn on only the "minimum recommended" data
//GPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY);
// 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
GPS.sendCommand(PGCMD_ANTENNA);
// 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
#else
useInterrupt(true);
#endif
delay(1000);
// Ask for firmware version
mySerial.println(PMTK_Q_RELEASE);
}
#ifdef __AVR__
// Interrupt is called once a millisecond, looks for any new GPS data, and stores it
SIGNAL(TIMER0_COMPA_vect) {
char c = GPS.read();
// 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.
#endif
}
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 = GPS.read();
// 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.println(GPS.milliseconds);
Serial.print("Date: ");
Serial.print(GPS.day, 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(GPS.lat);
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.print(bme.readTemperature());
Serial.println(" °C");
Serial.print("Pressure = ");
Serial.print(bme.readPressure() / 100.0F);
Serial.println(" hPa");
Serial.print("Approx. Altitude = ");
Serial.print(bme.readAltitude(SEALEVELPRESSURE_HPA));
Serial.println(" m");
Serial.print("Humidity = ");
Serial.print(bme.readHumidity());
Serial.println(" %");
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.println();
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.println("");
Serial.print(F("[SX1278] Transmitting packet ... "));
radio.transmit("Lets go");
}
}
// BURAYA seri print yaz bak bakalım kaç snde geliyor
//delay(100);
}