First commit, working build.
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id101010
179
src/sketch.ino
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179
src/sketch.ino
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/*
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* Reverse Geocache
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*/
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#include <math.h>
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#include <LiquidCrystal.h>
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#include <Adafruit_GPS.h>
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#include <SoftwareSerial.h>
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// Defines
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#define GPSECHO false // make true to debug GPS
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#define ANTIFLICKER 500 // timeout for lcd
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// Declarations
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const float deg2rad = 0.01745329251994;
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const float rEarth = 6371000.0; // can replace with 3958.75 mi, 6370.0 km, or 3440.06 NM
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float range = 3000; // distance from HERE to THERE
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String here; // read from GPS
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String tmp;
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int gpsWasFixed = HIGH; // did the GPS have a fix?
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boolean usingInterrupt = false;
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void useInterrupt(boolean);
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SoftwareSerial mySerial(3,2);
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Adafruit_GPS GPS(&mySerial);
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LiquidCrystal lcd(8, 9, 4, 5, 6, 7);
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String there = "N46 59.776, E007 27.771";
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/*******************************************/
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//String there = "N46 55.090, W7 26.442"; // Gurten: N 46 55.090 E 7 26.442
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/*******************************************/
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void setup()
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{
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lcd.begin(16, 2);
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//Serial.begin(9600);
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//Serial.println("[DEBUGGING INFORMATIONS]:");
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GPS.begin(9600);
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GPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA); // RMC (recommended minimum) and GGA (fix data) including altitude
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GPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ); // 1 Hz update rate
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useInterrupt(true); // reads the steaming data in a background
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delay(1000);
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}
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void loop()
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{
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// Parse GPS if new NMEA is available
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if (GPS.newNMEAreceived()) {
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if (!GPS.parse(GPS.lastNMEA())) {
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return;
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}
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}
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if (GPS.fix) {
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gpsWasFixed = HIGH;
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here = gps2string ((String) GPS.lat, GPS.latitude, (String) GPS.lon, GPS.longitude);
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range = haversine(string2lat(here), string2lon(here), string2lat(there), string2lon(there));
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tmp = String(range);
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tmp += " [m]";
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/*Serial.print("Here: ");
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Serial.print(here);
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Serial.print("There: ");
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Serial.println(there);
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Serial.print("Range: ");
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Serial.print(range);
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Serial.println("m");*/
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lcd.clear();
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lcd.setCursor(0,0);
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lcd.print("I want up.");
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lcd.setCursor(0,1);
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lcd.print(tmp);
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delay(500);
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} else {
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lcd.clear();
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lcd.setCursor(0,0);
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lcd.print("Hello Mischa!");
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lcd.setCursor(0,1);
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lcd.print("Take me outside!");
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delay(200);
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}
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if (range < 20.0) {
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delay(1000);
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lcd.clear();
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lcd.setCursor(0,0);
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lcd.print("Unlocked!");
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lcd.setCursor(0,1);
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lcd.print("[@1AK!!^~443]");
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delay(5000);
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}
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}
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SIGNAL(TIMER0_COMPA_vect)
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{
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// Interrupt is called once a millisecond, looks for any new GPS data, and stores it
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char c = GPS.read();
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if (GPSECHO){
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if (c) {
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UDR0 = c;
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}
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}
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}
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void useInterrupt(boolean v)
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{
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if (v) {
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OCR0A = 0xAF;
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TIMSK0 |= _BV(OCIE0A);
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usingInterrupt = true;
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} else {
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TIMSK0 &= ~_BV(OCIE0A);
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usingInterrupt = false;
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}
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}
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String int2fw (int x, int n)
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{
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// returns a string of length n (fixed-width)
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String s = (String) x;
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while (s.length() < n) {
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s = "0" + s;
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}
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return s;
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}
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String gps2string (String lat, float latitude, String lon, float longitude)
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{
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// returns "Ndd mm.mmm, Wddd mm.mmm";
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int dd = (int) latitude/100;
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int mm = (int) latitude % 100;
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int mmm = (int) round(1000 * (latitude - floor(latitude)));
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String gps2lat = lat + int2fw(dd, 2) + " " + int2fw(mm, 2) + "." + int2fw(mmm, 3);
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dd = (int) longitude/100;
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mm = (int) longitude % 100;
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mmm = (int) round(1000 * (longitude - floor(longitude)));
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String gps2lon = lon + int2fw(dd, 3) + " " + int2fw(mm, 2) + "." + int2fw(mmm, 3);
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String myString = gps2lat + ", " + gps2lon;
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return myString;
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}
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float string2lat (String myString)
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{
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// returns radians: e.g. String myString = "N38 58.892, W076 29.177";
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float lat = ((myString.charAt(1) - '0') * 10.0) + (myString.charAt(2) - '0') * 1.0 + ((myString.charAt(4) - '0') / 6.0) + ((myString.charAt(5) - '0') / 60.0) + ((myString.charAt(7) - '0') / 600.0) + ((myString.charAt(8) - '0') / 6000.0) + ((myString.charAt(9) - '0') / 60000.0);
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lat *= deg2rad;
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if (myString.charAt(0) == 'S') {
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lat *= -1; // Correct for hemisphere
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}
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return lat;
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}
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float string2lon (String myString)
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{
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// returns radians: e.g. String myString = "N38 58.892, W076 29.177";
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float lon = ((myString.charAt(13) - '0') * 100.0) + ((myString.charAt(14) - '0') * 10.0) + (myString.charAt(15) - '0') * 1.0 + ((myString.charAt(17) - '0') / 6.0) + ((myString.charAt(18) - '0') / 60.0) + ((myString.charAt(20) - '0') / 600.0) + ((myString.charAt(21) - '0') / 6000.0) + ((myString.charAt(22) - '0') / 60000.0);
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lon *= deg2rad;
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if (myString.charAt(12) == 'W') {
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lon *= -1; // Correct for hemisphere
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}
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return lon;
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}
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float haversine (float lat1, float lon1, float lat2, float lon2)
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{
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// returns the great-circle distance between two points (radians) on a sphere
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float h = sq((sin((lat1 - lat2) / 2.0))) + (cos(lat1) * cos(lat2) * sq((sin((lon1 - lon2) / 2.0))));
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float d = 2.0 * rEarth * asin (sqrt(h));
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return d;
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}
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