George Kartsonas
Published © Apache-2.0

Sony Spresense GPS + Compass

If you're hiking, going on a family trip in the car or just plain curious about where you are, the Spresense is just the device you need.

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Code

Arduino GPS+LCD+COMPASS Code

Arduino
#include <Audio.h>
#include <GNSS.h>
#include <Wire.h>
#include <LiquidCrystal_I2C.h>

LiquidCrystal_I2C lcd(0x27, 16, 2);

#define STRING_BUFFER_SIZE  128       /**< %Buffer size */

#define RESTART_CYCLE       (60 * 5)  /**< positioning test term */

float currentLatitude = 11.11111;  /*Your current Latitude here*/
float currentLongitude = 11.11111; /*Your current Longitude here*/

AudioClass *theAudio;

static SpGnss Gnss;                   /**< SpGnss object */

int led = 13;

int getheading(float targetlatitude, float targetlongitude)
{
  float heading = atan2(targetlatitude - currentLatitude, targetlongitude - currentLongitude);

  heading *= (180 / 3.14159);
  heading = (450 - (int)heading) % 360;

  return heading;
}

class Score
{
  public:

    typedef struct {
      int fs;
      int time;
    } Note;

    void init() {
      pos = 0;
    }

    Note get() {
      return data[pos++];
    }

  private:

    int pos;

    Note data[17] =
    {
      {262, 500},
      {294, 500},
      {330, 500},
      {349, 500},
      {392, 500},
      {440, 500},
      {494, 500},
      {523, 1000},

      {523, 500},
      {494, 500},
      {440, 500},
      {392, 500},
      {349, 500},
      {330, 500},
      {294, 500},
      {262, 1000},

      {0, 0}
    };
};

Score theScore;
static void Led_isActive(void)
{
  static int state = 1;
  if (state == 1)
  {
    ledOn(PIN_LED0);
    state = 0;
  }
  else
  {
    ledOff(PIN_LED0);
    state = 1;
  }
}

/**
   @brief Turn on / off the LED1 for positioning state notification.

   @param [in] state Positioning state
*/
static void Led_isPosfix(bool state)
{
  if (state)
  {
    ledOn(PIN_LED1);
  }
  else
  {
    ledOff(PIN_LED1);
  }
}

/**
   @brief Turn on / off the LED3 for error notification.

   @param [in] state Error state
*/
static void Led_isError(bool state)
{
  if (state)
  {
    ledOn(PIN_LED3);
  }
  else
  {
    ledOff(PIN_LED3);
  }
}

/**
   @brief Activate GNSS device and start positioning.
*/
void setup() {
  /* put your setup code here, to run once: */
  theAudio = AudioClass::getInstance();
  theAudio->begin();
  puts("initialization Audio Library");

  theAudio->setPlayerMode(AS_SETPLAYER_OUTPUTDEVICE_SPHP);

  theScore.init();

  pinMode(led, OUTPUT);

  int error_flag = 0;

  /* Set serial baudrate. */
  Serial.begin(115200);

  /* Wait HW initialization done. */
  sleep(3);

  /* Turn on all LED:Setup start. */
  ledOn(PIN_LED0);
  ledOn(PIN_LED1);
  ledOn(PIN_LED2);
  ledOn(PIN_LED3);

  /* Set Debug mode to Info */
  Gnss.setDebugMode(PrintInfo);

  int result;

  /* Activate GNSS device */
  result = Gnss.begin();

  if (result != 0)
  {
    Serial.println("Gnss begin error!!");
    error_flag = 1;
  }
  else
  {
    /* Setup GNSS */
    Gnss.select(QZ_L1CA);  // Michibiki complement
    Gnss.select(QZ_L1S);   // Michibiki augmentation(Valid only in Japan)

    /* Start positioning */
    result = Gnss.start(COLD_START);
    if (result != 0)
    {
      Serial.println("Gnss start error!!");
      error_flag = 1;
    }
    else
    {
      Serial.println("Gnss setup OK");
    }
  }

  /* Turn off all LED:Setup done. */
  ledOff(PIN_LED0);
  ledOff(PIN_LED1);
  ledOff(PIN_LED2);
  ledOff(PIN_LED3);

  /* Set error LED. */
  if (error_flag == 1)
  {
    Led_isError(true);
    exit(0);
  }
}

/**
   @brief %Print position information.
*/
static void print_pos(SpNavData *pNavData)
{
  char StringBuffer[STRING_BUFFER_SIZE];

  /* print time */
  snprintf(StringBuffer, STRING_BUFFER_SIZE, "%04d/%02d/%02d ", pNavData->time.year, pNavData->time.month, pNavData->time.day);
  Serial.print(StringBuffer);

  snprintf(StringBuffer, STRING_BUFFER_SIZE, "%02d:%02d:%02d.%06d, ", pNavData->time.hour, pNavData->time.minute, pNavData->time.sec, pNavData->time.usec);
  Serial.print(StringBuffer);

  /* print satellites count */
  snprintf(StringBuffer, STRING_BUFFER_SIZE, "numSat:%2d, ", pNavData->numSatellites);
  Serial.print(StringBuffer);

  /* print position data */
  if (pNavData->posFixMode == FixInvalid)
  {
    Serial.print("No-Fix, ");
  }
  else
  {
    Serial.print("Fix, ");
  }
  if (pNavData->posDataExist == 0)
  {
    Serial.print("No Position");
    lcd.print("No Position");

  }
  else
  {
    lcd.setCursor(0,0);
    Serial.print("Lat=");
    lcd.print("Lat=");
    Serial.print(pNavData->latitude, 6);
    lcd.print(pNavData->latitude, 6);
    Serial.print(", Lon=");
    Serial.print(pNavData->longitude, 6);

    if ((pNavData->latitude >= 11.111111) && (pNavData->latitude < 11.111111)) //Here you enter your first Geofencing coordinates
    {
      lcd.setCursor(0,1);
      lcd.print("North: ");
      lcd.println(getheading(pNavData->latitude, pNavData->longitude));

      while (1);
    }

    if ((pNavData->latitude >= 11.111111) && (pNavData->latitude < 11.111111)) //Here you enter your second Geofencing coordinates
    {
      puts("loop!!");

      Score::Note theNote = theScore.get();
      if (theNote.fs == 0) {
        puts("End,");
        exit(1);
      }

      theAudio->setBeep(1, -40, theNote.fs);
      usleep(theNote.time * 1000);
      theAudio->setBeep(0, 0, 0);
      usleep(100000);
      /*Morse Code*/
    }
  }

  Serial.println("");
}



/**
   @brief %Print satellite condition.
*/
static void print_condition(SpNavData *pNavData)
{
  char StringBuffer[STRING_BUFFER_SIZE];
  unsigned long cnt;

  /* Print satellite count. */
  snprintf(StringBuffer, STRING_BUFFER_SIZE, "numSatellites:%2d\n", pNavData->numSatellites);
  Serial.print(StringBuffer);

  for (cnt = 0; cnt < pNavData->numSatellites; cnt++)
  {
    const char *pType = "---";
    SpSatelliteType sattype = pNavData->getSatelliteType(cnt);

    /* Get satellite type. */
    /* Keep it to three letters. */
    switch (sattype)
    {
      case GPS:
        pType = "GPS";
        break;

      case GLONASS:
        pType = "GLN";
        break;

      case QZ_L1CA:
        pType = "QCA";
        break;

      case SBAS:
        pType = "SBA";
        break;

      case QZ_L1S:
        pType = "Q1S";
        break;

      default:
        pType = "UKN";
        break;
    }

    /* Get print conditions. */
    unsigned long Id  = pNavData->getSatelliteId(cnt);
    unsigned long Elv = pNavData->getSatelliteElevation(cnt);
    unsigned long Azm = pNavData->getSatelliteAzimuth(cnt);
    float sigLevel = pNavData->getSatelliteSignalLevel(cnt);

    /* Print satellite condition. */
    snprintf(StringBuffer, STRING_BUFFER_SIZE, "[%2d] Type:%s, Id:%2d, Elv:%2d, Azm:%3d, CN0:", cnt, pType, Id, Elv, Azm );
    Serial.print(StringBuffer);
    Serial.println(sigLevel, 6);
  }
}

/**
   @brief %Print position information and satellite condition.

   @details When the loop count reaches the RESTART_CYCLE value, GNSS device is
            restarted.
*/
void loop()
{
  /* put your main code here, to run repeatedly: */

  static int LoopCount = 0;
  static int LastPrintMin = 0;

  lcd.begin();

  // Turn on the blacklight and print a message.
  lcd.backlight();
  /* Blink LED. */
  Led_isActive();

  /* Check update. */
  if (Gnss.waitUpdate(-1))
  {
    /* Get NaviData. */
    SpNavData NavData;
    Gnss.getNavData(&NavData);

    /* Set posfix LED. */
    bool LedSet = (NavData.posDataExist && (NavData.posFixMode != FixInvalid));
    Led_isPosfix(LedSet);

    /* Print satellite information every minute. */
    if (NavData.time.minute != LastPrintMin)
    {
      print_condition(&NavData);
      LastPrintMin = NavData.time.minute;
    }

    /* Print position information. */
    print_pos(&NavData);
  }
  else
  {
    /* Not update. */
    Serial.println("data not update");
  }

  /* Check loop count. */
  LoopCount++;
  if (LoopCount >= RESTART_CYCLE)
  {
    int error_flag = 0;

    /* Turn off LED0 */
    ledOff(PIN_LED0);

    /* Set posfix LED. */
    Led_isPosfix(false);

    /* Restart GNSS. */
    if (Gnss.stop() != 0)
    {
      Serial.println("Gnss stop error!!");
      error_flag = 1;
    }
    else if (Gnss.end() != 0)
    {
      Serial.println("Gnss end error!!");
      error_flag = 1;
    }
    else
    {
      Serial.println("Gnss stop OK.");
    }

    if (Gnss.begin() != 0)
    {
      Serial.println("Gnss begin error!!");
      error_flag = 1;
    }
    else if (Gnss.start(HOT_START) != 0)
    {
      Serial.println("Gnss start error!!");
      error_flag = 1;
    }
    else
    {
      Serial.println("Gnss restart OK.");
    }

    LoopCount = 0;

    /* Set error LED. */
    if (error_flag == 1)
    {
      Led_isError(true);
      exit(0);
    }
  }
}

Morse Code

Arduino
int dotDelay = 200;
int led = PIN_LED0;

char* numbers[] = {"-----", ".----", "..---", "...--", "....-", ".....", "-....", "--...", "----."};

void setup() {
  pinMode(led, OUTPUT);
  Serial.begin(115200);
}

void loop() {
  char longtitude;

  longtitude = 12345; /*Put your coordinates here*/ 
  
  if (longtitude >=  '0' && longtitude <= '9')
  {
    flashSequence(numbers[longtitude - '0']);
  }

}

void flashSequence(char* sequence)
{
  int i = 0;
  while (sequence[i] != '\0')
  {
    flashDotOrDash(sequence[i]);
    i++;
  }
  delay (dotDelay * 3);
}

void flashDotOrDash(char dotOrDash)
{
  digitalWrite(led, HIGH);
  if (dotOrDash == '.')
  {
    delay(dotDelay);
  }
  else
  {
    delay(dotDelay * 3);
  }
  digitalWrite(led, LOW);
  delay(dotDelay);
}

Credits

George Kartsonas

George Kartsonas

18 projects • 37 followers

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