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SyncChannel/MultiNav_FW_HUZZAH_Example.ino

Last active September 19, 2024 14:35
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  1. SyncChannel revised this gist Jan 31, 2016. 1 changed file with 3 additions and 3 deletions.
    6 changes: 3 additions & 3 deletions MultiNav_FW_HUZZAH_Example.ino
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    Original file line number Diff line number Diff line change
    @@ -8,12 +8,12 @@

    // 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.
    // Additionally, the EspSoftwareSerial library is used to communicate with the U-Blox.
    // Additionally, the EspSoftSerial library is used to communicate with the U-Blox.
    // TinyGPS++ Download: http://arduiniana.org/libraries/tinygpsplus/
    // Sparkfun MPU-6050 Download: https://github.com/sparkfun/MPU-9150_Breakout/tree/master/firmware
    // EspSoftwareSerial: https://github.com/plerup/espsoftwareserial
    // EspSoftSerial: https://github.com/scottwday/EspSoftSerial

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

    #include <TinyGPS++.h>
  2. SyncChannel revised this gist Jan 27, 2016. 1 changed file with 0 additions and 1 deletion.
    1 change: 0 additions & 1 deletion MultiNav_FW_HUZZAH_Example.ino
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    Original file line number Diff line number Diff line change
    @@ -70,7 +70,6 @@ void setup()
    Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
    Serial.println("");

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

  3. SyncChannel revised this gist Jan 27, 2016. No changes.
  4. SyncChannel created this gist Jan 27, 2016.
    145 changes: 145 additions & 0 deletions MultiNav_FW_HUZZAH_Example.ino
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    // Example Program for MultiNav FeatherWing
    // This example is specifically for use with Adafruit Feather HUZZAH (ESP8266)
    //
    // 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.
    // Additionally, the EspSoftwareSerial library is used to communicate with the U-Blox.
    // TinyGPS++ Download: http://arduiniana.org/libraries/tinygpsplus/
    // Sparkfun MPU-6050 Download: https://github.com/sparkfun/MPU-9150_Breakout/tree/master/firmware
    // EspSoftwareSerial: https://github.com/plerup/espsoftwareserial

    // Credit is given to Arduiniana, Sparkfun and plerup 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"
    #include <CircularBuffer.h>
    #include <EspSoftSerialRx.h>


    // *************************** NOTE *************************** //
    // You must go into the library folder (Arduino - libraries - MPU6050), open MPU6050.h,
    // and edit the line "#include <avr/pgmspace.h>" to read "#include <pgmspace.h>"
    // This is a fix required for ESP8266 modules using this library.
    // *************************** NOTE *************************** //

    // Pinout:
    // * I2C: SDA and SCL pins in the same location on all Feather boards.
    // * UART: For HUZZAH, connect Option A on JP3 and use SoftwareSerial (#13 Rx, #15 Tx)
    // * Interrupts: The 9DOF and GPS PPS interrupt signals are not usable on the HUZZAH.
    // The pins are not usable with attachInterrupt(), and connecting JP1
    // or JP2 will interfere with bootloading. Leave them disconnected.

    // These are the I/O defines for Feather HUZZAH
    #define mpu9250intPin 2
    #define ledPin 14
    #define rxPin 13

    volatile bool periodic = false;

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

    TinyGPSPlus gps;
    EspSoftSerialRx SerialGPS;
    MPU6050 accelgyro;


    void setup()
    {
    Serial.begin(9600);
    SerialGPS.begin(9600, rxPin); // Library is currently Rx only

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

    void loop()
    {
    // Data strings arrive from the GPS once per second
    // When TinyGPS gets fresh data, print out some example strings and 9DOF data
    if (gps.time.isUpdated())
    {
    if (gps.time.isValid())
    {
    // Update 9DOF data
    accelgyro.getMotion9(&ax, &ay, &az, &gx, &gy, &gz, &mx, &my, &mz);

    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
    unsigned char b;
    while(SerialGPS.read(b))
    {
    gps.encode(b);
    }
    }