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#include <Arduino.h>
#include <RadioLib.h>
#include <Wire.h>
#include <SparkFun_u-blox_GNSS_Arduino_Library.h>
#include <SD.h>
File myFile;
constexpr int SD_CS = 17;
// SX1278 has the following connections:
// NSS pin: PD14 (Arduino 10)
// DIO0 pin: PF3 (Arduino 8)
// RESET pin: PF15 (Arduino 9)
RFM96 radio = new Module(10, 8, 9);
HardwareSerial SerialGNSS(PD6, PD5);
SFE_UBLOX_GNSS gnss;
long lastGnssPoll = 0;
long lastPositionReport = 0;
constexpr size_t POSITION_REPORT_LEN = 32;
char positionReport[POSITION_REPORT_LEN+1];
static char letterize(int x) {
return (char) x + 65;
}
static char* get_mh(double lat, double lon, int size) {
static char locator[11];
double LON_F[]={20,2.0,0.083333,0.008333,0.0003472083333333333};
double LAT_F[]={10,1.0,0.0416665,0.004166,0.0001735833333333333};
int i;
lon += 180;
lat += 90;
if (size <= 0 || size > 10) size = 6;
size/=2; size*=2;
for (i = 0; i < size/2; i++){
if (i % 2 == 1) {
locator[i*2] = (char) (lon/LON_F[i] + '0');
locator[i*2+1] = (char) (lat/LAT_F[i] + '0');
} else {
locator[i*2] = letterize((int) (lon/LON_F[i]));
locator[i*2+1] = letterize((int) (lat/LAT_F[i]));
}
lon = fmod(lon, LON_F[i]);
lat = fmod(lat, LAT_F[i]);
}
locator[i*2]=0;
return locator;
}
void setup() {
Serial.begin(9600);
pinMode(LED_BUILTIN, OUTPUT);
pinMode(SD_CS, OUTPUT);
if (!SD.begin(SD_CS)) {
Serial.println("SD init failed!");
return;
}
Wire.begin();
SerialGNSS.begin(9600);
if (!gnss.begin(SerialGNSS)) {
while (true) {
Serial.println(F("Check GNSS"));
delay(4000);
}
}
//gnss.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial
Serial.print(F("Version: "));
byte versionHigh = gnss.getProtocolVersionHigh();
Serial.print(versionHigh);
Serial.print(".");
byte versionLow = gnss.getProtocolVersionLow();
Serial.println(versionLow);
Serial.print(F("[RFM] Init "));
int state = radio.begin(433.900);
if (state == RADIOLIB_ERR_NONE) {
Serial.println(F("success!"));
} else {
Serial.print(F("failed, code "));
Serial.println(state);
while (true);
}
if (radio.setBandwidth(125.0) == RADIOLIB_ERR_INVALID_BANDWIDTH) {
Serial.println(F("Selected bandwidth is invalid for this module!"));
while (true);
}
if (radio.setSpreadingFactor(12) == RADIOLIB_ERR_INVALID_SPREADING_FACTOR) {
Serial.println(F("Selected spreading factor is invalid for this module!"));
while (true);
}
if (radio.setCodingRate(5) == RADIOLIB_ERR_INVALID_CODING_RATE) {
Serial.println(F("Selected coding rate is invalid for this module!"));
while (true);
}
// NOTE: value 0x34 is reserved for LoRaWAN networks and should not be used
if (radio.setSyncWord(0x14) != RADIOLIB_ERR_NONE) {
Serial.println(F("Unable to set sync word!"));
while (true);
}
if (radio.setOutputPower(16) == RADIOLIB_ERR_INVALID_OUTPUT_POWER) {
Serial.println(F("Selected output power is invalid for this module!"));
while (true);
}
if (radio.setPreambleLength(8) == RADIOLIB_ERR_INVALID_PREAMBLE_LENGTH) {
Serial.println(F("Selected preamble length is invalid for this module!"));
while (true);
}
// radio.setRfSwitchPins(4, 5);
}
void loop()
{
const auto now = millis();
if (now - lastGnssPoll > 1000) {
lastGnssPoll = now;
long latitude = gnss.getLatitude();
Serial.print(F("Lat: "));
Serial.print(latitude);
long longitude = gnss.getLongitude();
Serial.print(F(" Long: "));
Serial.print(longitude);
char *locator = get_mh((double)latitude/1e7, (double)longitude/1e7, 10);
Serial.print(F(" Loc: "));
Serial.print(locator);
long altitude = gnss.getAltitude();
Serial.print(F(" Alt: "));
Serial.print(altitude);
Serial.print(F(" (mm)"));
long speed = gnss.getGroundSpeed();
Serial.print(F(" Speed: "));
Serial.print(speed);
Serial.print(F(" (mm/s)"));
/*
long heading = gnss.getHeading();
Serial.print(F(" Heading: "));
Serial.print(heading);
Serial.print(F(" (degrees * 10^-5)"));
*/
byte SIV = gnss.getSIV();
Serial.print(F(" SIV: "));
Serial.print(SIV);
Serial.print(F(" TX in: "));
constexpr long TX_INTERVAL = 15000;
Serial.print(TX_INTERVAL - (now - lastPositionReport));
Serial.println();
if (now - lastPositionReport > TX_INTERVAL) {
lastPositionReport = now;
digitalWrite(LED_BUILTIN, HIGH);
ssize_t len = snprintf(positionReport, POSITION_REPORT_LEN, "HB9EGM %s", locator);
Serial.print(F("TX: "));
Serial.print(positionReport);
int state = radio.transmit(positionReport, len);
if (state == RADIOLIB_ERR_NONE) {
Serial.print(F(" RFM OK Datarate: "));
Serial.print(radio.getDataRate());
Serial.println(F(" bps"));
}
else if (state == RADIOLIB_ERR_PACKET_TOO_LONG) {
Serial.println(F(" too long!"));
}
else if (state == RADIOLIB_ERR_TX_TIMEOUT) {
Serial.println(F(" timeout!"));
}
else {
Serial.print(F(" failed, code "));
Serial.println(state);
}
digitalWrite(LED_BUILTIN, LOW);
}
}
}
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