Code cleanup
This commit is contained in:
id101010
27
.gitignore
vendored
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27
.gitignore
vendored
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# Object files
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*.o
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*.ko
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*.obj
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*.elf
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.build/
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# Precompiled Headers
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*.gch
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*.pch
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# Libraries
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*.lib
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*.a
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*.la
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*.lo
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*.dll
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*.so
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*.so.*
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*.dylib
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# Executables
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*.exe
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*.out
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*.app
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*.i*86
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*.x86_64
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*.hex
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# Temporary files
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*.swp
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254
src/sketch.ino
254
src/sketch.ino
@@ -1,179 +1,269 @@
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/*
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* Reverse Geocache
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*
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* A geocache device which unlocks in a specific area.
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*
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* Parts used:
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* -----------
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* - Arduino UNO R3
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* - Ultimate GPS logger shield
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* - 9V Battery
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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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#define GPSECHO false // True -> debug GPS raw
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#define ANTIFLICKER 1000 // 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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const float rEarth = 6371000.0; // Earths radius in meters
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float range = 9999; // Distance between src and pos
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String destination = "N46 59.776, E007 27.771";
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String position = ""; // read from GPS
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String tmp = "";
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String there = "N46 59.776, E007 27.771";
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SoftwareSerial mySerial(3,2); // Software Serial on 3 (rx) and 2 (tx)
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LiquidCrystal lcd(8, 9, 4, 5, 6, 7); // Init 16x2 LCD
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Adafruit_GPS GPS(&mySerial); // Use software serial for gps com
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float lat1 = 0;
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float lat2 = 0;
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float lon1 = 0;
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float lon2 = 0;
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// Prototypes
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void useInterrupt(boolean);
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void print_message(String Line1, String Line2);
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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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//String destination = "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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lcd.clear();
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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_OUTPUT_RMCGGA); // Request RMC and GGA
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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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useInterrupt(true); // Reads in bbackground
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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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if (GPS.newNMEAreceived()) { // Read nmea string if available
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if (!GPS.parse(GPS.lastNMEA())) { // Parse string if possible
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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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if (GPS.fix) { // If there was a fix
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position = gps2string(); // get position string
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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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lat1 = string2lat(position);
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lat2 = string2lat(destination);
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lon1 = string2lon(position);
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lon2 = string2lon(destination);
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range = haversine(lat1, lon1, lat2, lon2); // calculate dist to target
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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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print_message("I wand up.", tmp);
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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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print_message("Hello Mischa!", "Take me outside!"); // No fix available
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}
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if (range < 20.0) {
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delay(1000);
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print_message("Unlocked!", "Password"); // Destination reached
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}
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}
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/**************************************************
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* Name: print_message()
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* Returns: nothing
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* Params: Line1, Line2
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* Descr: Print two strings on a 16x2 lcd
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**************************************************/
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void print_message(String Line1, String Line2)
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{
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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.print(Line1);
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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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lcd.print(Line2);
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delay(ANTIFLICKER);
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}
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/**************************************************
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* Name: SIGNAL()
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* Returns: nothing
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* Params: nothing
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* Descr: Timer 0 interrupt service routine
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* Gets called on timer0 overflow [1ms]
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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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char c = GPS.read(); // Read from serial input
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if (GPSECHO){ // If GPSECHO is enabled
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if (c) {
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UDR0 = c;
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UDR0 = c; // Send nmea char by char
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}
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}
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}
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/**************************************************
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* Name: useInterrupt()
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* Returns: nothing
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* Params: true/false
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* Descr: Sets up timer0 and Interrupt
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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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OCR0A = 0xAF; // Set up timer0
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TIMSK0 |= _BV(OCIE0A); // Enable timer0
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} else {
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TIMSK0 &= ~_BV(OCIE0A);
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usingInterrupt = false;
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TIMSK0 &= ~_BV(OCIE0A); // Disable timer0
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}
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}
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/**************************************************
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* Name: int2fw()
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* Returns: string s
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* Params: int x, int n
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* Descr: returns a fixed-width string s
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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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* Name: gps2string()
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* Returns: string s
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* Params: nothing
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* Descr: returns a string "Ndd mm.mmm, Wddd mm.mmm";
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***************************************************************/
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String gps2string(void)
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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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// fetch data
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String lat = (String)GPS.lat;
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String lon = (String)GPS.lon;
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String gps2lat, gps2lon;
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float latitude = GPS.latitude;
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float longitude = GPS.longitude;
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int dd = 0;
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int mm = 0;
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int mmm = 0;
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// lat string
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dd = (int) latitude/100;
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mm = (int) latitude % 100;
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mmm = (int) round(1000 * (latitude - floor(latitude)));
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gps2lat = lat + int2fw(dd, 2) + " " + int2fw(mm, 2) + "." + int2fw(mmm, 3);
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// lon string
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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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gps2lon = lon + int2fw(dd, 3) + " " + int2fw(mm, 2) + "." + int2fw(mmm, 3);
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// Assemble
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return (gps2lat + ", " + gps2lon);
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}
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float string2lat (String myString)
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/**************************************************
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* Name: string2lat()
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* Returns: float latitude
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* Params: String position
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* Descr: returns the float representation of
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* the current latitude.
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**************************************************/
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float string2lat(String position)
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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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// returns radians: e.g. String position = "N38 58.892, W076 29.177";
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float lat = ((position.charAt(1) - '0') * 10.0) + \
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((position.charAt(2) - '0') * 1.0) + \
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((position.charAt(4) - '0') / 6.0) + \
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((position.charAt(5) - '0') / 60.0) + \
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((position.charAt(7) - '0') / 600.0) + \
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((position.charAt(8) - '0') / 6000.0) + \
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((position.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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if (position.charAt(0) == 'S') {
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lat *= -1; // Correct for hemispposition
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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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* Name: string2lon()
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* Returns: float longitude
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* Params: String position
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* Descr: returns the float representation of
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* the current longitude.
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**************************************************/
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float string2lon (String position)
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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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// returns radians: e.g. String position = "N38 58.892, W076 29.177";
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float lon = ((position.charAt(13) - '0') * 100.0) + \
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((position.charAt(14) - '0') * 10.0) + \
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((position.charAt(15) - '0') * 1.0) + \
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((position.charAt(17) - '0') / 6.0) + \
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((position.charAt(18) - '0') / 60.0) + \
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((position.charAt(20) - '0') / 600.0) + \
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((position.charAt(21) - '0') / 6000.0) + \
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((position.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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if (position.charAt(12) == 'W') {
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lon *= -1; // Correct for hemispposition
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}
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return lon;
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}
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/**************************************************
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* Name: haversine()
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* Returns: float distance
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* Params: float lat1, lon1, lat2, lon2
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* Descr: Calculates the distance between
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* two points given by (lat1/2 lon1/2)
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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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// returns the great-circle distance between two points
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float h = sq((sin((lat1 - lat2) / 2.0))) + \
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(cos(lat1) * cos(lat2) * \
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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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Reference in New Issue
Block a user