// ********************************************************************************************************** // Moteino GPS Receiver & Telemetry // Ver 12 // 2015-01-09 (C) luisr320@gmail.com // ********************************************************************************************************** // It receives data from remote Moteino sensors and display data on an Nokia 5110 LCD // ********************************************************************************************************** // Creative Commons Attrib Share-Alike License // You are free to use/extend this code/library but please abide with the CCSA license: // http://creativecommons.org/licenses/by-sa/3.0/ // ********************************************************************************************************** #include //Required for the Nokia 5110 LCD display #include //Required for the Nokia 5110 LCD display #include // https://github.com/alextaujenis/RBD_Timer #include // https://github.com/alextaujenis/RBD_Button #include #include #include #include #include //get it here: https://github.com/LowPowerLab/WirelessProgramming/tree/master/WirelessHEX69 #define NODEID 1 //unique for each node on same network #define GROUNDSTATION 1 #define NETWORKID 200 //the same on all nodes that talk to each other #define FREQUENCY RF69_433MHZ //match with the correct radio frequency #define ENCRYPTKEY "sampleEncryptKey" //exactly the same 16 characters/bytes on all nodes! #define IS_RFM69HW //uncomment only for RFM69HW! Leave out if you have RFM69W! #define ACK_TIME 50 //max # of ms to wait for an ack #define BUZZ A2 //Buzzer output pin #define SERIAL_BAUD 115200 //To comunicate with serial monitor for debug #define BUTPIN1 14 //Analog pin assigned to FIX button #define BUTPIN2 15 //Analog pin assigned to MENUS SCROLL button #define MPAGES 3 //Number of menu pages #define FLASH_SS 8 // and FLASH SS on D8 #define VERSION "12.00B" // Initiate the display instance - Software SPI (slower updates, more flexible pin options): // pin 6 - Serial clock out (SCLK) // pin 5 - Serial data out (DIN) // pin 4 - Data/Command select (D/C) // pin 3 - LCD chip select (CS) // pin 1 - LCD reset (RST) Adafruit_PCD8544 display = Adafruit_PCD8544(6, 5, 4, 3, 1); //Define Hardware ///////////////////////////////////////////////////////////////////////////// // flash(SPI_CS, MANUFACTURER_ID) // SPI_CS - CS pin attached to SPI flash chip (8 in case of Moteino) // MANUFACTURER_ID - OPTIONAL, 0x1F44 for adesto(ex atmel) 4mbit flash // 0xEF30 for windbond 4mbit flash // 0xEF40 for windbond 16/64mbit flash ///////////////////////////////////////////////////////////////////////////// SPIFlash flash(FLASH_SS, 0xEF30); //EF40 for 16mbit windbond chip RFM69 radio;// Initialize the radio instance // Initiate the button debouncer instance on the specified digital pin - input pullup enabled by default RBD::Button button1(BUTPIN1); //FIX button RBD::Button button2(BUTPIN2); //menu scroll button // promiscuousmode must be off for wireless programming bool promiscuousMode = false; //set to 'true' to sniff all packets on the same network // variables setup unsigned long int newtimer; //for dataloss timeout calculation unsigned long int oldtimer; //for dataloss timeout calculation unsigned long int newbuzztimer; unsigned long int oldbuzztimer; byte fixStatus; //variable that will hold the GPS FIX status - 0: no fix - 1: fix ok byte menuPage; //hold the actual page number on the menu float homelat; //variable that will hold the FIX latitude float homelon; //variable that will hold the FIX longitude float highspeed; //variable that will hold the highest speed achieved long int alt; //current GPS altitude long major1, minor1; long major2, minor2; long major3, minor3; long major4, minor4; long major5, minor5; char botstr[30]; //to hold the formated azimute and distance //Defining some constants const float pi = 4.0 * atan(1.0); //Pi - 3.1415... const float re = 6367e3; //mean Radius of Earth in meters const float deg2rad = pi / 180.0; //degree to radians // Define the data packet struct that will be received from the GPS transmitter typedef struct { float altitude; float airspeed; float latitude; float latitudedeg; float longitude; float longitudedeg; char latlon[2]; int satellites; int fix; }Payload; Payload Data; void setup() { Serial.begin(SERIAL_BAUD);//Initialize the Serial port at the specified baud rate delay(10);//Wait for the Serial port to settle down oldtimer = millis();//Set Data link loss timeout timer to zero highspeed = 0;//Set the Maximum Achieved Speed memory to zero menuPage = 0;//Show menu page 1 at startup fixStatus = 0;//Reset FIX status oldbuzztimer = 0;//Reset buzzer timer pinMode(BUZZ, OUTPUT); //Make BUZZ pin an output //LCD Setup display.begin(); display.setContrast(60); // you can change the contrast around to adapt the display for the best viewing! display.print(" Ver. "); display.println(VERSION); display.display(); // show splashscreen delay(2000); //Radio Setup radio.initialize(FREQUENCY,NODEID,NETWORKID); //Initialize the radio radio.setHighPower();// only for RFM69HW radio.encrypt(ENCRYPTKEY);//Turn the radio Encryption ON radio.promiscuous(promiscuousMode);//Set Promiscuous mode according to what's in the promiscuousMode variable } void loop() { if (button1.onPressed()) { Blink(BUZZ, 50); fixposition(); //run fixposition() function to reset all values to zero and memorize current position } else if (button2.onPressed()) { Blink(BUZZ, 50); menuPage = menuPage + 1; if (menuPage > MPAGES) { menuPage = 1;; } } else if (radio.receiveDone())//If some packet was received by the radio, wait for all its contents to come trough { CheckForWirelessHEX(radio, flash, true); //If there is a new incomming Wireless program, load it now oldtimer = millis(); //For data link loss timeout calculation if (radio.TARGETID == GROUNDSTATION)//Check if the packet destination is the GROUNDSTN radio (NODE 1) { //Retrieve the data from the received Payload Data = *(Payload*)radio.DATA; //assume radio.DATA actually contains our struct and not something else if (Data.fix == 0)//If there is no FIX { if (fixStatus == 1)//If it previously had a fix... { fixStatus = 0;//Change the fix status to 0 (No fix) } resetdisplay(); display.println("Waiting for GPS to aquireFIX..."); display.println(); display.print("[SAT:");display.print(Data.satellites); display.println("] "); display.print("[RX_RSSI:");display.print(radio.RSSI); display.print("] "); display.display(); newbuzztimer = millis(); if (newbuzztimer > (oldbuzztimer + 2000)) { oldbuzztimer = newbuzztimer; Blink(BUZZ,5); delay(100); Blink(BUZZ,5); } } if (Data.fix == 1)//If there is a FIX { while (menuPage == 0) { if (fixStatus == 0) { fixStatus = 1; Blink(BUZZ, 100); delay(50); Blink(BUZZ, 100); delay(50); Blink(BUZZ, 100); delay(50); Blink(BUZZ, 100); delay(50); Blink(BUZZ, 100); } resetdisplay(); display.println("GPS Has aquired a FIX."); display.println(); display.println("Press FIX button to memorize position..."); display.display(); if (button1.onPressed()) { Blink(BUZZ, 50); fixposition(); //run fixposition() function to reset all values to zero and memorize current position menuPage = 1; } } if (menuPage == 1) { if (fixStatus == 0)// if GPS lost fix and recovered it again { fixStatus = 1; Blink(BUZZ, 100); delay(50); Blink(BUZZ, 100); delay(50); Blink(BUZZ, 100); delay(50); Blink(BUZZ, 100); delay(50); Blink(BUZZ, 100); } resetdisplay(); GPSDist(homelat, homelon);//Run the distance calculating function display.print("ST:"); display.print(Data.satellites); display.print(" AL:"); display.print(Data.altitude - alt,0); display.println(" m"); display.print("SP:"); display.print(Data.airspeed*1.852,0); display.println(" Km/h"); display.println(botstr); if (Data.airspeed*1.852 < 1) Data.airspeed = 0; if (Data.airspeed*1.852 > highspeed) { highspeed = Data.airspeed*1.852; } display.setTextSize(2); display.print(highspeed,0); display.println(" KH"); display.display(); } if (menuPage == 2) { resetdisplay(); display.println(" COORDINATES [DDDMIN.DEC:]"); display.print("LAT:"); display.print(Data.latlon[0]); display.println(Data.latitude); display.print("LON:"); display.print(Data.latlon[1]); display.println(Data.longitude); display.println("GOOGLE EARTH:"); display.print("LAT:"); display.println(Data.latitudedeg, 8); display.print("LON:"); display.print(Data.longitudedeg, 8); display.display(); } if (menuPage == 3) { resetdisplay(); display.println("GOOGLE EARTH:"); display.println(); display.print("LAT:"); display.println(Data.latitudedeg, 8); display.print("LON:"); display.print(Data.longitudedeg, 8); display.display(); } } } } else { newtimer = millis(); //start counting the time since LOS if (newtimer > (oldtimer + 5000)) { resetdisplay(); display.print("..."); display.display(); newbuzztimer = millis(); if (newbuzztimer > (oldbuzztimer + 2000)) { oldbuzztimer = newbuzztimer; Blink(BUZZ,5); } } } } //----------------------------------------------------------------------// // FUNCTIONS // //----------------------------------------------------------------------// void resetdisplay() { display.clearDisplay(); display.setTextSize(1); display.setTextColor(BLACK); display.setCursor(0,0); } void Blink(byte PIN, int DELAY_MS)//The BUZZ Blinking function { digitalWrite(PIN,HIGH); delay(DELAY_MS); digitalWrite(PIN,LOW); } float GPSDist(float uselat, float uselon) { // // compute distance and azimuth to waypoint (is in uselat/uselon) // float xh, yh, zh, xt, yt, zt; float lat = uselat * deg2rad; float lon = uselon * deg2rad; xh = cos(lon) * cos(lat); yh = sin(lon) * cos(lat); zh = sin(lat); d2i((float(Data.latitude) / 100.0), 100000.0, major1, minor1); d2i((float(Data.longitude) / 100.0), 100000.0, major2, minor2); float triplon = float(major2) + (float(min2dec(minor2)) / 100000.0); float triplat = float(major1) + (float(min2dec(minor1)) / 100000.0); if (Data.latlon[0] == 'S') triplat = -triplat; if (Data.latlon[1] == 'W') triplon = -triplon; lat = triplat * deg2rad; lon = triplon * deg2rad; xt = cos(lon) * cos(lat); yt = sin(lon) * cos(lat); zt = sin(lat); float distance = re * re * ((xh - xt) * (xh - xt) + (yh - yt) * (yh - yt) + (zh - zt) * (zh - zt)); distance = sqrt(distance); float Dvar = distance / 2.0; float Evar = sqrt((re * re) - (Dvar * Dvar)); float angle = atan(Dvar / Evar); distance = angle * re * 2.0; // (the 2.0 is because we computed the half distance) long azimaj, azimin; long dismaj, dismin; azimaj = 0; dismaj = 0; dismin = 0; // for distances <= 10 meter do not display the azimuth int kmflag = 0; if (fixStatus == 1) { if (distance >= 8.0) { float xn = yh * zt - zh * yt; float yn = zh * xt - xh * zt; float zn = xh * yt - yh * xt; float rn = sqrt( xn * xn + yn * yn + zn * zn); xn = xn / rn; yn = yn / rn; zn = zn / rn; float xm = -yh; float ym = +xh; float zm = 0.0; float rm = sqrt( xm * xm + ym * ym + zm * zm ); xm = xm / rm; ym = ym / rm; zm = zm / rm; float azimuth = xm * xn + ym * yn + zm * zn; if (azimuth > 1.0) azimuth = 1.0; if (azimuth < -1.0) azimuth = -1.0; azimuth = acos( azimuth ) / deg2rad; if (triplon < uselon) azimuth = 360.0 - azimuth; // bug fixed (originally homelon) azimuth = 360.0 - azimuth; if (azimuth < 0) azimuth = 999; if (azimuth > 360) azimuth = 999; d2i(azimuth, 1.0, azimaj, azimin); } if (distance >= 100000.0) { distance = distance / 1000; kmflag = 1; } d2i(distance, 10.0, dismaj, dismin); } if (kmflag == 0) { sprintf(botstr, "A%3ld D%ldm ", azimaj, dismaj); } else { sprintf(botstr, "A%3ld D%ldkm ", azimaj, dismaj); } return distance; } void d2i( float input, float factor, long &major, long &minor ) { long sign = 1; if (input < 0) sign = -1; input = abs(input); long leading = long(input); float remain = input - float(leading); remain = remain * factor; long remaining = long(remain); major = sign * leading; minor = remaining; } long min2dec( long minor ) { float minute = minor; minute = minute / 100.0; minute = minute / 60.0; minute = minute * 10000.0; return long(minute); } void fixposition() { highspeed = 0;//Reset maximum speed memory homelat = Data.latitudedeg;//Memorize FIX latitude homelon = Data.longitudedeg;//Memorize FIX longitude display.clearDisplay(); display.setTextSize(1); display.setTextColor(BLACK); display.setCursor(0,0); display.println("FIX Position Memorized"); display.println("LAT:"); display.println(homelat,8); display.println("LON:"); display.println(homelon,8); alt = Data.altitude; display.display(); delay (2000); }