MultiNav FeatherWing Example Program for Feather M0

MultiNav_FW_M0_Example.ino

// Example Program for MultiNav FeatherWing
// For Adafruit Feather M0
//
// By: Dan Watson
// syncchannel.blogspot.com
// 1/25/2016
//

// This program makes use of the TinyGPS++ library to receive the GPS data from the U-Blox
// module, as well as the Sparkfun MPU-6050 library to interact with the MPU-9250 9DOF.
// TinyGPS++ Download: http://arduiniana.org/libraries/tinygpsplus/
// Sparkfun MPU-6050 Download: https://github.com/sparkfun/MPU-9150_Breakout/tree/master/firmware

// Credit is given to both Arduiniana and Sparkfun for the use of their excellent libraries, and portions
// of their example programs. Thank you!

#include <TinyGPS++.h>
#include "Wire.h"
#include "I2Cdev.h"
#include "MPU6050.h"

// Pinout: 
//  * I2C: SDA and SCL pins in the same location on all Feather boards.
//  * UART: For M0, connect Option B on JP3, and use SERCOM1
//  * Interrupts: This board has two possible interrupt signals:
//          MPU-9250 goes to D5. Connect JP1 to use.
//          GPS Pulse-per-second goes to D6. Connect JP2 to use.

// These are the I/O defines for Feather M0
#define ppsPin 6
#define mpu9250intPin 5
#define ledPin 13

// These are the defines for using SERCOM1 on Feather M0 to communicate with U-Blox GPS
#define PIN_SerialGPS_RX       (34ul)
#define PIN_SerialGPS_TX       (36ul)
#define PAD_SerialGPS_TX       (UART_TX_PAD_2)
#define PAD_SerialGPS_RX       (SERCOM_RX_PAD_3)

volatile bool periodic = false;

int16_t ax, ay, az;
int16_t gx, gy, gz;
int16_t mx, my, mz;

TinyGPSPlus gps;
MPU6050 accelgyro;

// Using SERCOM1 on M0 to communicate with U-Blox GPS
Uart SerialGPS(&sercom1, PIN_SerialGPS_RX, PIN_SerialGPS_TX, PAD_SerialGPS_RX, PAD_SerialGPS_TX);

void setup()
{
  Serial.begin(9600);
  SerialGPS.begin(9600);

  Serial.println("MultiNav FeatherWing Test Program!");
  Serial.println("Ensure a GPS antenna is connected and has a clear view of the sky");
  Serial.println("");

  Wire.begin();
  Serial.println("Initializing I2C for MPIU-9250");
  accelgyro.initialize();

  Serial.println("Testing device connections...");
  Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
  Serial.println("");

  pinMode(ppsPin, INPUT);
  pinMode(mpu9250intPin, INPUT);
  pinMode(ledPin, OUTPUT);

  // Attach interrupt for GPS PPS. Will be used to update accel data and blink the LED.
  attachInterrupt(ppsPin, ppsHandler, RISING);
}

// Needed for Feather M0. Leave this line between setup() and loop().
// Comment this out when using 32U4 or HUZZAH
#define Serial SerialUSB

void loop()
{
  // Put things in this statement that you want to occur once per second
  // It is triggered by the GPS Pulse-per-second interrupt, so it is aligned
  // to the beginning of the UTC second precisely!
  if (periodic)
  {
    periodic = false;

    digitalWrite(ledPin, HIGH);

    // Let's use this to get updated data from the 9DOF
    accelgyro.getMotion9(&ax, &ay, &az, &gx, &gy, &gz, &mx, &my, &mz);
    
    digitalWrite(ledPin, LOW);
  }

  // Data strings also arrive from the GPS once per second
  // When TinyGPS gets fresh data, print out some example strings
  if (gps.time.isUpdated())
  {
    if (gps.time.isValid())
    {
      char buffer[24];
      sprintf(buffer, "UTC: %02d/%02d/%04d %02d:%02d:%02d", gps.date.month(), gps.date.day(),
                          gps.date.year(), gps.time.hour(), gps.time.minute(), gps.time.second());
      for (int i = 0; i < sizeof(buffer); i++)
      {
        Serial.print(buffer[i]);
      }
      Serial.println("");
    } else {
      Serial.println("UTC Error: Time Not Valid");
    }

    if (gps.location.isValid())
    {
      Serial.print("Lat ");
      Serial.print(gps.location.lat(), 6);
      Serial.print(", Lng ");
      Serial.println(gps.location.lng(), 6);
      Serial.print("Altitude ");
      Serial.print(gps.altitude.meters());
      Serial.println("m");
    } else {
      Serial.println("Position Error: Not Valid");
    }

    if (gps.satellites.isValid())
    {
      Serial.print("SVs In Use: ");
      Serial.println(gps.satellites.value());
    }

    if (gps.hdop.isValid())
    {
      Serial.print("HDOP: ");
      Serial.println((float) gps.hdop.value() / 100);
    }

    Serial.print("a/g/m:\t");
    Serial.print(ax); Serial.print("\t");
    Serial.print(ay); Serial.print("\t");
    Serial.print(az); Serial.print("\t");
    Serial.print(gx); Serial.print("\t");
    Serial.print(gy); Serial.print("\t");
    Serial.print(gz); Serial.print("\t");
    Serial.print(mx); Serial.print("\t");
    Serial.print(my); Serial.print("\t");
    Serial.println(mz);

    Serial.println("");
  }

  // Ingest new serial strings from the GPS into TinyGPS as they arrive
  while(SerialGPS.available() > 0)
  {
    gps.encode(SerialGPS.read());
  }
}

// This handler is triggered by the GPS Pulse-per-second.
// Use it to perform actions that are precisely aligned to the UTC second!
void ppsHandler()
{
  periodic = true;
}

// IRQ handler needed for SERCOM 1 on M0
void SERCOM1_Handler()
{
  SerialGPS.IrqHandler();
}