GPS 센서 테스트 프로그램 소스

TinyGPS 라이브러리

#include <SoftwareSerial.h>
#include <TinyGPS.h>
 
 
SoftwareSerial mySerial(2, 3); // RX, TX
TinyGPS gps;
 
void gpsdump(TinyGPS &gps);
void printFloat(double f, int digits = 2);
 
void setup()  
{
  // Open serial communications and wait for port to open:
  Serial.begin(9600);
 
 
 
  // set the data rate for the SoftwareSerial port
  mySerial.begin(9600);
 
  delay(1000);
  Serial.println("uBlox Neo 6M");
  Serial.print("Testing TinyGPS library v. "); Serial.println(TinyGPS::library_version());
  Serial.println("by Mikal Hart");
  Serial.println();
  Serial.print("Sizeof(gpsobject) = "); Serial.println(sizeof(TinyGPS));
  Serial.println();
 
}
 
void loop() // run over and over
{
  bool newdata = false;
  unsigned long start = millis();
 
  // Every 5 seconds we print an update
  while (millis() - start < 5000) {
    if (mySerial.available()) {
      char c = mySerial.read();
      // Serial.print(c);  // uncomment to see raw GPS data
      if (gps.encode(c)) {
        newdata = true;
        // break;  // uncomment to print new data immediately!
      }
    }
  }
 
  if (newdata) {
    Serial.println("Acquired Data");
    Serial.println("-------------");
    gpsdump(gps);
    Serial.println("-------------");
    Serial.println();
  }
 
}
 
void gpsdump(TinyGPS &gps)
{
  long lat, lon;
  float flat, flon;
  unsigned long age, date, time, chars;
  int year;
  byte month, day, hour, minute, second, hundredths;
  unsigned short sentences, failed;
 
  gps.get_position(&lat, &lon, &age);
  Serial.print("Lat/Long(10^-5 deg): "); Serial.print(lat); Serial.print(", "); Serial.print(lon); 
  Serial.print(" Fix age: "); Serial.print(age); Serial.println("ms.");
 
  // On Arduino, GPS characters may be lost during lengthy Serial.print()
  // On Teensy, Serial prints to USB, which has large output buffering and
  //   runs very fast, so it's not necessary to worry about missing 4800
  //   baud GPS characters.
 
  gps.f_get_position(&flat, &flon, &age);
  Serial.print("Lat/Long(float): "); printFloat(flat, 5); Serial.print(", "); printFloat(flon, 5);
  Serial.print(" Fix age: "); Serial.print(age); Serial.println("ms.");
 
  gps.get_datetime(&date, &time, &age);
  Serial.print("Date(ddmmyy): "); Serial.print(date); Serial.print(" Time(hhmmsscc): ");
    Serial.print(time);
  Serial.print(" Fix age: "); Serial.print(age); Serial.println("ms.");
 
  gps.crack_datetime(&year, &month, &day, &hour, &minute, &second, &hundredths, &age);
  Serial.print("Date: "); Serial.print(static_cast<int>(month)); Serial.print("/"); 
    Serial.print(static_cast<int>(day)); Serial.print("/"); Serial.print(year);
  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));
  Serial.print("  Fix age: ");  Serial.print(age); Serial.println("ms.");
 
  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());
  Serial.print("Alt(float): "); printFloat(gps.f_altitude()); Serial.print(" Course(float): ");
    printFloat(gps.f_course()); Serial.println();
  Serial.print("Speed(knots): "); printFloat(gps.f_speed_knots()); Serial.print(" (mph): ");
    printFloat(gps.f_speed_mph());
  Serial.print(" (mps): "); printFloat(gps.f_speed_mps()); Serial.print(" (kmph): ");
    printFloat(gps.f_speed_kmph()); Serial.println();
 
  gps.stats(&chars, &sentences, &failed);
  Serial.print("Stats: characters: "); Serial.print(chars); Serial.print(" sentences: ");
    Serial.print(sentences); Serial.print(" failed checksum: "); Serial.println(failed);
}
 
void printFloat(double number, int digits)
{
  // Handle negative numbers
  if (number < 0.0) {
     Serial.print('-');
     number = -number;
  }
 
  // Round correctly so that print(1.999, 2) prints as "2.00"
  double rounding = 0.5;
  for (uint8_t i=0; i<digits; ++i)
    rounding /= 10.0;
 
  number += rounding;
 
  // Extract the integer part of the number and print it
  unsigned long int_part = (unsigned long)number;
  double remainder = number - (double)int_part;
  Serial.print(int_part);
 
  // Print the decimal point, but only if there are digits beyond
  if (digits > 0)
    Serial.print("."); 
 
  // Extract digits from the remainder one at a time
  while (digits-- > 0) {
    remainder *= 10.0;
    int toPrint = int(remainder);
    Serial.print(toPrint);
    remainder -= toPrint;
  }
}

Adafruit GPS 라이브러리

#include <Adafruit_GPS.h>
#include <SoftwareSerial.h>
 
#define GPSECHO false
 
Adafruit_GPS  GPS( new SoftwareSerial(2,3 ) );  // RX, TX
 
int usingInterrupt = 0;
int timer= 0;
int timeElapse =0;
 
 
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;
  }
}
 
 
 
 
void setup()
{
 
  Serial.begin(9600);
  GPS.begin(9600);
 
  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);
 
 
  useInterrupt(true);
}
 
 
 
 
void loop()
{
  // 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
  }//수신받은 데이터를 파싱합니다.
 
  // if millis() or timer wraps around, we'll just reset it
  if (timer > millis())  timer = millis();
 
  timeElapse = (millis() - timer);
  // approximately every 2 seconds or so, print out the current stats
  if ( timeElapse > 2000) { //2초가 지날때마다.
    timer = millis(); // reset the timer
 
    Serial.print("\nTime("); Serial.print( String(timeElapse) ); Serial.print("): ");
    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); //수집된 시간 정보를 표시합니다.
    if (GPS.fix) {//조건이 만족이 되어 좌표값을 얻게 되었다면 이제 좌표값을 읽어들일 수 있습니다.
      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("Location (in degrees, works with Google Maps): ");
      Serial.print(GPS.latitudeDegrees, 4);
      Serial.print(", "); 
      Serial.println(GPS.longitudeDegrees, 4);
 
      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);
    }
  }
}