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choibk 2025-11-08 23:12:07 +09:00
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429
lib/TinyGPS-master/TinyGPS.cpp Normal file
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/*
TinyGPS - a small GPS library for Arduino providing basic NMEA parsing
Based on work by and "distance_to" and "course_to" courtesy of Maarten Lamers.
Suggestion to add satellites(), course_to(), and cardinal(), by Matt Monson.
Precision improvements suggested by Wayne Holder.
Copyright (C) 2008-2013 Mikal Hart
All rights reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
#include "TinyGPS.h"
#define _GPRMC_TERM "GPRMC"
#define _GPGGA_TERM "GPGGA"
TinyGPS::TinyGPS()
: _time(GPS_INVALID_TIME)
, _date(GPS_INVALID_DATE)
, _latitude(GPS_INVALID_ANGLE)
, _longitude(GPS_INVALID_ANGLE)
, _altitude(GPS_INVALID_ALTITUDE)
, _speed(GPS_INVALID_SPEED)
, _course(GPS_INVALID_ANGLE)
, _hdop(GPS_INVALID_HDOP)
, _numsats(GPS_INVALID_SATELLITES)
, _last_time_fix(GPS_INVALID_FIX_TIME)
, _last_position_fix(GPS_INVALID_FIX_TIME)
, _parity(0)
, _is_checksum_term(false)
, _sentence_type(_GPS_SENTENCE_OTHER)
, _term_number(0)
, _term_offset(0)
, _gps_data_good(false)
#ifndef _GPS_NO_STATS
, _encoded_characters(0)
, _good_sentences(0)
, _failed_checksum(0)
#endif
{
_term[0] = '\0';
}
//
// public methods
//
bool TinyGPS::encode(char c)
{
bool valid_sentence = false;
#ifndef _GPS_NO_STATS
++_encoded_characters;
#endif
switch(c)
{
case ',': // term terminators
_parity ^= c;
case '\r':
case '\n':
case '*':
if (_term_offset < sizeof(_term))
{
_term[_term_offset] = 0;
valid_sentence = term_complete();
}
++_term_number;
_term_offset = 0;
_is_checksum_term = c == '*';
return valid_sentence;
case '$': // sentence begin
_term_number = _term_offset = 0;
_parity = 0;
_sentence_type = _GPS_SENTENCE_OTHER;
_is_checksum_term = false;
_gps_data_good = false;
return valid_sentence;
}
// ordinary characters
if (_term_offset < sizeof(_term) - 1)
_term[_term_offset++] = c;
if (!_is_checksum_term)
_parity ^= c;
return valid_sentence;
}
#ifndef _GPS_NO_STATS
void TinyGPS::stats(unsigned long *chars, unsigned short *sentences, unsigned short *failed_cs)
{
if (chars) *chars = _encoded_characters;
if (sentences) *sentences = _good_sentences;
if (failed_cs) *failed_cs = _failed_checksum;
}
#endif
//
// internal utilities
//
int TinyGPS::from_hex(char a)
{
if (a >= 'A' && a <= 'F')
return a - 'A' + 10;
else if (a >= 'a' && a <= 'f')
return a - 'a' + 10;
else
return a - '0';
}
unsigned long TinyGPS::parse_decimal()
{
char *p = _term;
bool isneg = *p == '-';
if (isneg) ++p;
unsigned long ret = 100UL * gpsatol(p);
while (gpsisdigit(*p)) ++p;
if (*p == '.')
{
if (gpsisdigit(p[1]))
{
ret += 10 * (p[1] - '0');
if (gpsisdigit(p[2]))
ret += p[2] - '0';
}
}
return isneg ? -ret : ret;
}
// Parse a string in the form ddmm.mmmmmmm...
unsigned long TinyGPS::parse_degrees()
{
char *p;
unsigned long left_of_decimal = gpsatol(_term);
unsigned long hundred1000ths_of_minute = (left_of_decimal % 100UL) * 100000UL;
for (p=_term; gpsisdigit(*p); ++p);
if (*p == '.')
{
unsigned long mult = 10000;
while (gpsisdigit(*++p))
{
hundred1000ths_of_minute += mult * (*p - '0');
mult /= 10;
}
}
return (left_of_decimal / 100) * 1000000 + (hundred1000ths_of_minute + 3) / 6;
}
#define COMBINE(sentence_type, term_number) (((unsigned)(sentence_type) << 5) | term_number)
// Processes a just-completed term
// Returns true if new sentence has just passed checksum test and is validated
bool TinyGPS::term_complete()
{
if (_is_checksum_term)
{
byte checksum = 16 * from_hex(_term[0]) + from_hex(_term[1]);
if (checksum == _parity)
{
if (_gps_data_good)
{
#ifndef _GPS_NO_STATS
++_good_sentences;
#endif
_last_time_fix = _new_time_fix;
_last_position_fix = _new_position_fix;
switch(_sentence_type)
{
case _GPS_SENTENCE_GPRMC:
_time = _new_time;
_date = _new_date;
_latitude = _new_latitude;
_longitude = _new_longitude;
_speed = _new_speed;
_course = _new_course;
break;
case _GPS_SENTENCE_GPGGA:
_altitude = _new_altitude;
_time = _new_time;
_latitude = _new_latitude;
_longitude = _new_longitude;
_numsats = _new_numsats;
_hdop = _new_hdop;
break;
}
return true;
}
}
#ifndef _GPS_NO_STATS
else
++_failed_checksum;
#endif
return false;
}
// the first term determines the sentence type
if (_term_number == 0)
{
if (!gpsstrcmp(_term, _GPRMC_TERM))
_sentence_type = _GPS_SENTENCE_GPRMC;
else if (!gpsstrcmp(_term, _GPGGA_TERM))
_sentence_type = _GPS_SENTENCE_GPGGA;
else
_sentence_type = _GPS_SENTENCE_OTHER;
return false;
}
if (_sentence_type != _GPS_SENTENCE_OTHER && _term[0])
switch(COMBINE(_sentence_type, _term_number))
{
case COMBINE(_GPS_SENTENCE_GPRMC, 1): // Time in both sentences
case COMBINE(_GPS_SENTENCE_GPGGA, 1):
_new_time = parse_decimal();
_new_time_fix = millis();
break;
case COMBINE(_GPS_SENTENCE_GPRMC, 2): // GPRMC validity
_gps_data_good = _term[0] == 'A';
break;
case COMBINE(_GPS_SENTENCE_GPRMC, 3): // Latitude
case COMBINE(_GPS_SENTENCE_GPGGA, 2):
_new_latitude = parse_degrees();
_new_position_fix = millis();
break;
case COMBINE(_GPS_SENTENCE_GPRMC, 4): // N/S
case COMBINE(_GPS_SENTENCE_GPGGA, 3):
if (_term[0] == 'S')
_new_latitude = -_new_latitude;
break;
case COMBINE(_GPS_SENTENCE_GPRMC, 5): // Longitude
case COMBINE(_GPS_SENTENCE_GPGGA, 4):
_new_longitude = parse_degrees();
break;
case COMBINE(_GPS_SENTENCE_GPRMC, 6): // E/W
case COMBINE(_GPS_SENTENCE_GPGGA, 5):
if (_term[0] == 'W')
_new_longitude = -_new_longitude;
break;
case COMBINE(_GPS_SENTENCE_GPRMC, 7): // Speed (GPRMC)
_new_speed = parse_decimal();
break;
case COMBINE(_GPS_SENTENCE_GPRMC, 8): // Course (GPRMC)
_new_course = parse_decimal();
break;
case COMBINE(_GPS_SENTENCE_GPRMC, 9): // Date (GPRMC)
_new_date = gpsatol(_term);
break;
case COMBINE(_GPS_SENTENCE_GPGGA, 6): // Fix data (GPGGA)
_gps_data_good = _term[0] > '0';
break;
case COMBINE(_GPS_SENTENCE_GPGGA, 7): // Satellites used (GPGGA)
_new_numsats = (unsigned char)atoi(_term);
break;
case COMBINE(_GPS_SENTENCE_GPGGA, 8): // HDOP
_new_hdop = parse_decimal();
break;
case COMBINE(_GPS_SENTENCE_GPGGA, 9): // Altitude (GPGGA)
_new_altitude = parse_decimal();
break;
}
return false;
}
long TinyGPS::gpsatol(const char *str)
{
long ret = 0;
while (gpsisdigit(*str))
ret = 10 * ret + *str++ - '0';
return ret;
}
int TinyGPS::gpsstrcmp(const char *str1, const char *str2)
{
while (*str1 && *str1 == *str2)
++str1, ++str2;
return *str1;
}
/* static */
float TinyGPS::distance_between (float lat1, float long1, float lat2, float long2)
{
// returns distance in meters between two positions, both specified
// as signed decimal-degrees latitude and longitude. Uses great-circle
// distance computation for hypothetical sphere of radius 6372795 meters.
// Because Earth is no exact sphere, rounding errors may be up to 0.5%.
// Courtesy of Maarten Lamers
float delta = radians(long1-long2);
float sdlong = sin(delta);
float cdlong = cos(delta);
lat1 = radians(lat1);
lat2 = radians(lat2);
float slat1 = sin(lat1);
float clat1 = cos(lat1);
float slat2 = sin(lat2);
float clat2 = cos(lat2);
delta = (clat1 * slat2) - (slat1 * clat2 * cdlong);
delta = sq(delta);
delta += sq(clat2 * sdlong);
delta = sqrt(delta);
float denom = (slat1 * slat2) + (clat1 * clat2 * cdlong);
delta = atan2(delta, denom);
return delta * 6372795;
}
float TinyGPS::course_to (float lat1, float long1, float lat2, float long2)
{
// returns course in degrees (North=0, West=270) from position 1 to position 2,
// both specified as signed decimal-degrees latitude and longitude.
// Because Earth is no exact sphere, calculated course may be off by a tiny fraction.
// Courtesy of Maarten Lamers
float dlon = radians(long2-long1);
lat1 = radians(lat1);
lat2 = radians(lat2);
float a1 = sin(dlon) * cos(lat2);
float a2 = sin(lat1) * cos(lat2) * cos(dlon);
a2 = cos(lat1) * sin(lat2) - a2;
a2 = atan2(a1, a2);
if (a2 < 0.0)
{
a2 += TWO_PI;
}
return degrees(a2);
}
const char *TinyGPS::cardinal (float course)
{
static const char* directions[] = {"N", "NNE", "NE", "ENE", "E", "ESE", "SE", "SSE", "S", "SSW", "SW", "WSW", "W", "WNW", "NW", "NNW"};
int direction = (int)((course + 11.25f) / 22.5f);
return directions[direction % 16];
}
// lat/long in MILLIONTHs of a degree and age of fix in milliseconds
// (note: versions 12 and earlier gave this value in 100,000ths of a degree.
void TinyGPS::get_position(long *latitude, long *longitude, unsigned long *fix_age)
{
if (latitude) *latitude = _latitude;
if (longitude) *longitude = _longitude;
if (fix_age) *fix_age = _last_position_fix == GPS_INVALID_FIX_TIME ?
GPS_INVALID_AGE : millis() - _last_position_fix;
}
// date as ddmmyy, time as hhmmsscc, and age in milliseconds
void TinyGPS::get_datetime(unsigned long *date, unsigned long *time, unsigned long *age)
{
if (date) *date = _date;
if (time) *time = _time;
if (age) *age = _last_time_fix == GPS_INVALID_FIX_TIME ?
GPS_INVALID_AGE : millis() - _last_time_fix;
}
void TinyGPS::f_get_position(float *latitude, float *longitude, unsigned long *fix_age)
{
long lat, lon;
get_position(&lat, &lon, fix_age);
*latitude = lat == GPS_INVALID_ANGLE ? GPS_INVALID_F_ANGLE : (lat / 1000000.0);
*longitude = lat == GPS_INVALID_ANGLE ? GPS_INVALID_F_ANGLE : (lon / 1000000.0);
}
void TinyGPS::crack_datetime(int *year, byte *month, byte *day,
byte *hour, byte *minute, byte *second, byte *hundredths, unsigned long *age)
{
unsigned long date, time;
get_datetime(&date, &time, age);
if (year)
{
*year = date % 100;
*year += *year > 80 ? 1900 : 2000;
}
if (month) *month = (date / 100) % 100;
if (day) *day = date / 10000;
if (hour) *hour = time / 1000000;
if (minute) *minute = (time / 10000) % 100;
if (second) *second = (time / 100) % 100;
if (hundredths) *hundredths = time % 100;
}
float TinyGPS::f_altitude()
{
return _altitude == GPS_INVALID_ALTITUDE ? GPS_INVALID_F_ALTITUDE : _altitude / 100.0;
}
float TinyGPS::f_course()
{
return _course == GPS_INVALID_ANGLE ? GPS_INVALID_F_ANGLE : _course / 100.0;
}
float TinyGPS::f_speed_knots()
{
return _speed == GPS_INVALID_SPEED ? GPS_INVALID_F_SPEED : _speed / 100.0;
}
float TinyGPS::f_speed_mph()
{
float sk = f_speed_knots();
return sk == GPS_INVALID_F_SPEED ? GPS_INVALID_F_SPEED : _GPS_MPH_PER_KNOT * sk;
}
float TinyGPS::f_speed_mps()
{
float sk = f_speed_knots();
return sk == GPS_INVALID_F_SPEED ? GPS_INVALID_F_SPEED : _GPS_MPS_PER_KNOT * sk;
}
float TinyGPS::f_speed_kmph()
{
float sk = f_speed_knots();
return sk == GPS_INVALID_F_SPEED ? GPS_INVALID_F_SPEED : _GPS_KMPH_PER_KNOT * sk;
}
const float TinyGPS::GPS_INVALID_F_ANGLE = 1000.0;
const float TinyGPS::GPS_INVALID_F_ALTITUDE = 1000000.0;
const float TinyGPS::GPS_INVALID_F_SPEED = -1.0;

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/*
TinyGPS - a small GPS library for Arduino providing basic NMEA parsing
Based on work by and "distance_to" and "course_to" courtesy of Maarten Lamers.
Suggestion to add satellites(), course_to(), and cardinal(), by Matt Monson.
Precision improvements suggested by Wayne Holder.
Copyright (C) 2008-2013 Mikal Hart
All rights reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
#ifndef TinyGPS_h
#define TinyGPS_h
#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
#include <stdlib.h>
#define _GPS_VERSION 13 // software version of this library
#define _GPS_MPH_PER_KNOT 1.15077945
#define _GPS_MPS_PER_KNOT 0.51444444
#define _GPS_KMPH_PER_KNOT 1.852
#define _GPS_MILES_PER_METER 0.00062137112
#define _GPS_KM_PER_METER 0.001
// #define _GPS_NO_STATS
class TinyGPS
{
public:
enum {
GPS_INVALID_AGE = 0xFFFFFFFF, GPS_INVALID_ANGLE = 999999999,
GPS_INVALID_ALTITUDE = 999999999, GPS_INVALID_DATE = 0,
GPS_INVALID_TIME = 0xFFFFFFFF, GPS_INVALID_SPEED = 999999999,
GPS_INVALID_FIX_TIME = 0xFFFFFFFF, GPS_INVALID_SATELLITES = 0xFF,
GPS_INVALID_HDOP = 0xFFFFFFFF
};
static const float GPS_INVALID_F_ANGLE, GPS_INVALID_F_ALTITUDE, GPS_INVALID_F_SPEED;
TinyGPS();
bool encode(char c); // process one character received from GPS
TinyGPS &operator << (char c) {encode(c); return *this;}
// lat/long in MILLIONTHs of a degree and age of fix in milliseconds
// (note: versions 12 and earlier gave lat/long in 100,000ths of a degree.
void get_position(long *latitude, long *longitude, unsigned long *fix_age = 0);
// date as ddmmyy, time as hhmmsscc, and age in milliseconds
void get_datetime(unsigned long *date, unsigned long *time, unsigned long *age = 0);
// signed altitude in centimeters (from GPGGA sentence)
inline long altitude() { return _altitude; }
// course in last full GPRMC sentence in 100th of a degree
inline unsigned long course() { return _course; }
// speed in last full GPRMC sentence in 100ths of a knot
inline unsigned long speed() { return _speed; }
// satellites used in last full GPGGA sentence
inline unsigned short satellites() { return _numsats; }
// horizontal dilution of precision in 100ths
inline unsigned long hdop() { return _hdop; }
void f_get_position(float *latitude, float *longitude, unsigned long *fix_age = 0);
void crack_datetime(int *year, byte *month, byte *day,
byte *hour, byte *minute, byte *second, byte *hundredths = 0, unsigned long *fix_age = 0);
float f_altitude();
float f_course();
float f_speed_knots();
float f_speed_mph();
float f_speed_mps();
float f_speed_kmph();
static int library_version() { return _GPS_VERSION; }
static float distance_between (float lat1, float long1, float lat2, float long2);
static float course_to (float lat1, float long1, float lat2, float long2);
static const char *cardinal(float course);
#ifndef _GPS_NO_STATS
void stats(unsigned long *chars, unsigned short *good_sentences, unsigned short *failed_cs);
#endif
private:
enum {_GPS_SENTENCE_GPGGA, _GPS_SENTENCE_GPRMC, _GPS_SENTENCE_OTHER};
// properties
unsigned long _time, _new_time;
unsigned long _date, _new_date;
long _latitude, _new_latitude;
long _longitude, _new_longitude;
long _altitude, _new_altitude;
unsigned long _speed, _new_speed;
unsigned long _course, _new_course;
unsigned long _hdop, _new_hdop;
unsigned short _numsats, _new_numsats;
unsigned long _last_time_fix, _new_time_fix;
unsigned long _last_position_fix, _new_position_fix;
// parsing state variables
byte _parity;
bool _is_checksum_term;
char _term[15];
byte _sentence_type;
byte _term_number;
byte _term_offset;
bool _gps_data_good;
#ifndef _GPS_NO_STATS
// statistics
unsigned long _encoded_characters;
unsigned short _good_sentences;
unsigned short _failed_checksum;
unsigned short _passed_checksum;
#endif
// internal utilities
int from_hex(char a);
unsigned long parse_decimal();
unsigned long parse_degrees();
bool term_complete();
bool gpsisdigit(char c) { return c >= '0' && c <= '9'; }
long gpsatol(const char *str);
int gpsstrcmp(const char *str1, const char *str2);
};
#if !defined(ARDUINO)
// Arduino 0012 workaround
#undef int
#undef char
#undef long
#undef byte
#undef float
#undef abs
#undef round
#endif
#endif

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#include <SoftwareSerial.h>
#include <TinyGPS.h>
/* This sample code demonstrates the normal use of a TinyGPS object.
It requires the use of SoftwareSerial, and assumes that you have a
4800-baud serial GPS device hooked up on pins 4(rx) and 3(tx).
*/
TinyGPS gps;
SoftwareSerial ss(4, 3);
void setup()
{
Serial.begin(115200);
ss.begin(4800);
Serial.print("Simple TinyGPS library v. "); Serial.println(TinyGPS::library_version());
Serial.println("by Mikal Hart");
Serial.println();
}
void loop()
{
bool newData = false;
unsigned long chars;
unsigned short sentences, failed;
// For one second we parse GPS data and report some key values
for (unsigned long start = millis(); millis() - start < 1000;)
{
while (ss.available())
{
char c = ss.read();
// Serial.write(c); // uncomment this line if you want to see the GPS data flowing
if (gps.encode(c)) // Did a new valid sentence come in?
newData = true;
}
}
if (newData)
{
float flat, flon;
unsigned long age;
gps.f_get_position(&flat, &flon, &age);
Serial.print("LAT=");
Serial.print(flat == TinyGPS::GPS_INVALID_F_ANGLE ? 0.0 : flat, 6);
Serial.print(" LON=");
Serial.print(flon == TinyGPS::GPS_INVALID_F_ANGLE ? 0.0 : flon, 6);
Serial.print(" SAT=");
Serial.print(gps.satellites() == TinyGPS::GPS_INVALID_SATELLITES ? 0 : gps.satellites());
Serial.print(" PREC=");
Serial.print(gps.hdop() == TinyGPS::GPS_INVALID_HDOP ? 0 : gps.hdop());
}
gps.stats(&chars, &sentences, &failed);
Serial.print(" CHARS=");
Serial.print(chars);
Serial.print(" SENTENCES=");
Serial.print(sentences);
Serial.print(" CSUM ERR=");
Serial.println(failed);
if (chars == 0)
Serial.println("** No characters received from GPS: check wiring **");
}

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#include <TinyGPS.h>
#include <avr\pgmspace.h>
/* This sample code demonstrates the basic use of a TinyGPS object.
Typically, you would feed it characters from a serial GPS device, but
this example uses static strings for simplicity.
*/
prog_char str1[] PROGMEM = "$GPRMC,201547.000,A,3014.5527,N,09749.5808,W,0.24,163.05,040109,,*1A";
prog_char str2[] PROGMEM = "$GPGGA,201548.000,3014.5529,N,09749.5808,W,1,07,1.5,225.6,M,-22.5,M,18.8,0000*78";
prog_char str3[] PROGMEM = "$GPRMC,201548.000,A,3014.5529,N,09749.5808,W,0.17,53.25,040109,,*2B";
prog_char str4[] PROGMEM = "$GPGGA,201549.000,3014.5533,N,09749.5812,W,1,07,1.5,223.5,M,-22.5,M,18.8,0000*7C";
prog_char *teststrs[4] = {str1, str2, str3, str4};
static void sendstring(TinyGPS &gps, const PROGMEM char *str);
static void gpsdump(TinyGPS &gps);
static void print_float(float val, float invalid, int len, int prec);
static void print_int(unsigned long val, unsigned long invalid, int len);
static void print_date(TinyGPS &gps);
static void print_str(const char *str, int len);
void setup()
{
TinyGPS test_gps;
Serial.begin(115200);
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();
Serial.println("Sats HDOP Latitude Longitude Fix Date Time Date Alt Course Speed Card Distance Course Card Chars Sentences Checksum");
Serial.println(" (deg) (deg) Age Age (m) --- from GPS ---- ---- to London ---- RX RX Fail");
Serial.println("--------------------------------------------------------------------------------------------------------------------------------------");
gpsdump(test_gps);
for (int i=0; i<4; ++i)
{
sendstring(test_gps, teststrs[i]);
gpsdump(test_gps);
}
}
void loop()
{
}
static void sendstring(TinyGPS &gps, const PROGMEM char *str)
{
while (true)
{
char c = pgm_read_byte_near(str++);
if (!c) break;
gps.encode(c);
}
gps.encode('\r');
gps.encode('\n');
}
static void gpsdump(TinyGPS &gps)
{
float flat, flon;
unsigned long age, date, time, chars = 0;
unsigned short sentences = 0, failed = 0;
static const float LONDON_LAT = 51.508131, LONDON_LON = -0.128002;
print_int(gps.satellites(), TinyGPS::GPS_INVALID_SATELLITES, 5);
print_int(gps.hdop(), TinyGPS::GPS_INVALID_HDOP, 5);
gps.f_get_position(&flat, &flon, &age);
print_float(flat, TinyGPS::GPS_INVALID_F_ANGLE, 9, 5);
print_float(flon, TinyGPS::GPS_INVALID_F_ANGLE, 10, 5);
print_int(age, TinyGPS::GPS_INVALID_AGE, 5);
print_date(gps);
print_float(gps.f_altitude(), TinyGPS::GPS_INVALID_F_ALTITUDE, 8, 2);
print_float(gps.f_course(), TinyGPS::GPS_INVALID_F_ANGLE, 7, 2);
print_float(gps.f_speed_kmph(), TinyGPS::GPS_INVALID_F_SPEED, 6, 2);
print_str(gps.f_course() == TinyGPS::GPS_INVALID_F_ANGLE ? "*** " : TinyGPS::cardinal(gps.f_course()), 6);
print_int(flat == TinyGPS::GPS_INVALID_F_ANGLE ? 0UL : (unsigned long)TinyGPS::distance_between(flat, flon, LONDON_LAT, LONDON_LON) / 1000, 0xFFFFFFFF, 9);
print_float(flat == TinyGPS::GPS_INVALID_F_ANGLE ? 0.0 : TinyGPS::course_to(flat, flon, 51.508131, -0.128002), TinyGPS::GPS_INVALID_F_ANGLE, 7, 2);
print_str(flat == TinyGPS::GPS_INVALID_F_ANGLE ? "*** " : TinyGPS::cardinal(TinyGPS::course_to(flat, flon, LONDON_LAT, LONDON_LON)), 6);
gps.stats(&chars, &sentences, &failed);
print_int(chars, 0xFFFFFFFF, 6);
print_int(sentences, 0xFFFFFFFF, 10);
print_int(failed, 0xFFFFFFFF, 9);
Serial.println();
}
static void print_int(unsigned long val, unsigned long invalid, int len)
{
char sz[32];
if (val == invalid)
strcpy(sz, "*******");
else
sprintf(sz, "%ld", val);
sz[len] = 0;
for (int i=strlen(sz); i<len; ++i)
sz[i] = ' ';
if (len > 0)
sz[len-1] = ' ';
Serial.print(sz);
}
static void print_float(float val, float invalid, int len, int prec)
{
char sz[32];
if (val == invalid)
{
strcpy(sz, "*******");
sz[len] = 0;
if (len > 0)
sz[len-1] = ' ';
for (int i=7; i<len; ++i)
sz[i] = ' ';
Serial.print(sz);
}
else
{
Serial.print(val, prec);
int vi = abs((int)val);
int flen = prec + (val < 0.0 ? 2 : 1);
flen += vi >= 1000 ? 4 : vi >= 100 ? 3 : vi >= 10 ? 2 : 1;
for (int i=flen; i<len; ++i)
Serial.print(" ");
}
}
static void print_date(TinyGPS &gps)
{
int year;
byte month, day, hour, minute, second, hundredths;
unsigned long age;
gps.crack_datetime(&year, &month, &day, &hour, &minute, &second, &hundredths, &age);
if (age == TinyGPS::GPS_INVALID_AGE)
Serial.print("******* ******* ");
else
{
char sz[32];
sprintf(sz, "%02d/%02d/%02d %02d:%02d:%02d ",
month, day, year, hour, minute, second);
Serial.print(sz);
}
print_int(age, TinyGPS::GPS_INVALID_AGE, 5);
}
static void print_str(const char *str, int len)
{
int slen = strlen(str);
for (int i=0; i<len; ++i)
Serial.print(i<slen ? str[i] : ' ');
}

135
lib/TinyGPS-master/examples/test_with_gps_device/test_with_gps_device.ino Normal file
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@ -0,0 +1,135 @@
#include <SoftwareSerial.h>
#include <TinyGPS.h>
/* This sample code demonstrates the normal use of a TinyGPS object.
It requires the use of SoftwareSerial, and assumes that you have a
4800-baud serial GPS device hooked up on pins 4(rx) and 3(tx).
*/
TinyGPS gps;
SoftwareSerial ss(4, 3);
static void smartdelay(unsigned long ms);
static void print_float(float val, float invalid, int len, int prec);
static void print_int(unsigned long val, unsigned long invalid, int len);
static void print_date(TinyGPS &gps);
static void print_str(const char *str, int len);
void setup()
{
Serial.begin(115200);
Serial.print("Testing TinyGPS library v. "); Serial.println(TinyGPS::library_version());
Serial.println("by Mikal Hart");
Serial.println();
Serial.println("Sats HDOP Latitude Longitude Fix Date Time Date Alt Course Speed Card Distance Course Card Chars Sentences Checksum");
Serial.println(" (deg) (deg) Age Age (m) --- from GPS ---- ---- to London ---- RX RX Fail");
Serial.println("-------------------------------------------------------------------------------------------------------------------------------------");
ss.begin(4800);
}
void loop()
{
float flat, flon;
unsigned long age, date, time, chars = 0;
unsigned short sentences = 0, failed = 0;
static const double LONDON_LAT = 51.508131, LONDON_LON = -0.128002;
print_int(gps.satellites(), TinyGPS::GPS_INVALID_SATELLITES, 5);
print_int(gps.hdop(), TinyGPS::GPS_INVALID_HDOP, 5);
gps.f_get_position(&flat, &flon, &age);
print_float(flat, TinyGPS::GPS_INVALID_F_ANGLE, 10, 6);
print_float(flon, TinyGPS::GPS_INVALID_F_ANGLE, 11, 6);
print_int(age, TinyGPS::GPS_INVALID_AGE, 5);
print_date(gps);
print_float(gps.f_altitude(), TinyGPS::GPS_INVALID_F_ALTITUDE, 7, 2);
print_float(gps.f_course(), TinyGPS::GPS_INVALID_F_ANGLE, 7, 2);
print_float(gps.f_speed_kmph(), TinyGPS::GPS_INVALID_F_SPEED, 6, 2);
print_str(gps.f_course() == TinyGPS::GPS_INVALID_F_ANGLE ? "*** " : TinyGPS::cardinal(gps.f_course()), 6);
print_int(flat == TinyGPS::GPS_INVALID_F_ANGLE ? 0xFFFFFFFF : (unsigned long)TinyGPS::distance_between(flat, flon, LONDON_LAT, LONDON_LON) / 1000, 0xFFFFFFFF, 9);
print_float(flat == TinyGPS::GPS_INVALID_F_ANGLE ? TinyGPS::GPS_INVALID_F_ANGLE : TinyGPS::course_to(flat, flon, LONDON_LAT, LONDON_LON), TinyGPS::GPS_INVALID_F_ANGLE, 7, 2);
print_str(flat == TinyGPS::GPS_INVALID_F_ANGLE ? "*** " : TinyGPS::cardinal(TinyGPS::course_to(flat, flon, LONDON_LAT, LONDON_LON)), 6);
gps.stats(&chars, &sentences, &failed);
print_int(chars, 0xFFFFFFFF, 6);
print_int(sentences, 0xFFFFFFFF, 10);
print_int(failed, 0xFFFFFFFF, 9);
Serial.println();
smartdelay(1000);
}
static void smartdelay(unsigned long ms)
{
unsigned long start = millis();
do
{
while (ss.available())
gps.encode(ss.read());
} while (millis() - start < ms);
}
static void print_float(float val, float invalid, int len, int prec)
{
if (val == invalid)
{
while (len-- > 1)
Serial.print('*');
Serial.print(' ');
}
else
{
Serial.print(val, prec);
int vi = abs((int)val);
int flen = prec + (val < 0.0 ? 2 : 1); // . and -
flen += vi >= 1000 ? 4 : vi >= 100 ? 3 : vi >= 10 ? 2 : 1;
for (int i=flen; i<len; ++i)
Serial.print(' ');
}
smartdelay(0);
}
static void print_int(unsigned long val, unsigned long invalid, int len)
{
char sz[32];
if (val == invalid)
strcpy(sz, "*******");
else
sprintf(sz, "%ld", val);
sz[len] = 0;
for (int i=strlen(sz); i<len; ++i)
sz[i] = ' ';
if (len > 0)
sz[len-1] = ' ';
Serial.print(sz);
smartdelay(0);
}
static void print_date(TinyGPS &gps)
{
int year;
byte month, day, hour, minute, second, hundredths;
unsigned long age;
gps.crack_datetime(&year, &month, &day, &hour, &minute, &second, &hundredths, &age);
if (age == TinyGPS::GPS_INVALID_AGE)
Serial.print("********** ******** ");
else
{
char sz[32];
sprintf(sz, "%02d/%02d/%02d %02d:%02d:%02d ",
month, day, year, hour, minute, second);
Serial.print(sz);
}
print_int(age, TinyGPS::GPS_INVALID_AGE, 5);
smartdelay(0);
}
static void print_str(const char *str, int len)
{
int slen = strlen(str);
for (int i=0; i<len; ++i)
Serial.print(i<slen ? str[i] : ' ');
smartdelay(0);
}

49
lib/TinyGPS-master/keywords.txt Normal file
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@ -0,0 +1,49 @@
#######################################
# Syntax Coloring Map for TinyGPS
#######################################
#######################################
# Datatypes (KEYWORD1)
#######################################
TinyGPS KEYWORD1
#######################################
# Methods and Functions (KEYWORD2)
#######################################
encode KEYWORD2
get_position KEYWORD2
get_datetime KEYWORD2
altitude KEYWORD2
speed KEYWORD2
course KEYWORD2
stats KEYWORD2
f_get_position KEYWORD2
crack_datetime KEYWORD2
f_altitude KEYWORD2
f_course KEYWORD2
f_speed_knots KEYWORD2
f_speed_mph KEYWORD2
f_speed_mps KEYWORD2
f_speed_kmph KEYWORD2
library_version KEYWORD2
distance_between KEYWORD2
course_to KEYWORD2
satellites KEYWORD2
hdop KEYWORD2
#######################################
# Constants (LITERAL1)
#######################################
GPS_INVALID_AGE LITERAL1
GPS_INVALID_ANGLE LITERAL1
GPS_INVALID_ALTITUDE LITERAL1
GPS_INVALID_DATE LITERAL1
GPS_INVALID_TIME LITERAL1
GPS_INVALID_HDOP LITERAL1
GPS_INVALID_SATELLITES LITERAL1
GPS_INVALID_F_ANGLE LITERAL1
GPS_INVALID_F_ALTITUDE LITERAL1
GPS_INVALID_F_SPEED LITERAL1

3
platformio.ini
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@ -12,3 +12,6 @@
platform = espressif32
board = heltec_wireless_tracker_v12
framework = arduino
lib_deps =
jgromes/RadioLib@^7.4.0
phzi/DFRobot_MultiGasSensor@^2.0.0

2
src/sender/main.cpp
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@ -52,7 +52,7 @@ LoRa 통신 설정:
작성자: BK Choi
*/
#include "Arduino.h"
#include <Arduino.h>
#include "HT_st7735.h"
#include "HT_TinyGPS++.h"
#include <RadioLib.h>