Onderwerp: Idee voor een low budget Heading sensor/GPS kompas

#include <Wire.h>
#include <LSM303.h>
//#include <AverageList.h>
//#include <SoftwareSerial.h>
LSM303 compass;
//SoftwareSerial mySerial(0, 1); // RX, TX
//int rxPin = 0;                    // RX PIN
//int txPin = 1;                    // TX PIN

/* 
const byte MAX_NUMBER_OF_READINGS = 30;
int storage[MAX_NUMBER_OF_READINGS] = {0};
AverageList<int> list = AverageList<int>( storage, MAX_NUMBER_OF_READINGS );
*/

void setup() {
  //pinMode(txPin, OUTPUT);
  Serial.begin(4800);
  Wire.begin();
  compass.init();
  compass.enableDefault();

  // Calibration values. Use the Calibrate example program to get the values for
  // your compass.
  
  compass.m_min.x = -717;  compass.m_min.y = -459;  compass.m_min.z = -611;
  compass.m_max.x = 376;  compass.m_max.y = 511;  compass.m_max.z = 447;

 /* compass.m_min.x = 2047;  
  compass.m_min.y = 990;  
  compass.m_min.z = 280;
  compass.m_max.x = -360;  
  compass.m_max.y = -832;  
  compass.m_max.z = -2175; */ 
}

/* Oorspronkelijke code
 void loop() {
 compass.read();
 int heading = compass.heading((LSM303::vector){0,-1,0});
 Serial.println(heading);
 delay(500);
 } 
 */

/*----------------------------------------------------------------------------
     1   2   3 4   5 6
     |   |   | |   | |
 $--HDG,x.x,x.x,a,x.x,a*hh<CR><LF>
 ------------------------------------------------------------------------------
 
 Field Number: 
 1. Magnetic Sensor heading in degrees
 2. Magnetic Deviation, degrees
 3. Magnetic Deviation direction, E = Easterly, W = Westerly
 4. Magnetic Variation degrees
 5. Magnetic Variation direction, E = Easterly, W = Westerly
 6. Checksum */

char nmeastr[17]; // HCHDG,000.00,,,,*
int checksum;
char hs[6]; // 000.00

int i=1;

char hdtnmea[15]; // HCHDT,000.00,T*
int checksumhdt;
char hdt[6]; // 000.00

void loop() {

  strcpy(nmeastr,"HCHDG,");
  strcpy(hdtnmea,"HCHDT,");
 
  //dtostrf(FLOAT,WIDTH,PRECSISION,BUFFER);
  compass.read();

  int heading = compass.heading((LSM303::vector){0,-1,0  }); //1,0,0 will allign North with SFE silkscreen

  //int rand = compass.heading((LSM303::vector){0,-1,0});
  //Serial.print("Heading list : ");
  //Serial.print(heading);
  //Serial.println("\t\t");

  //int rand = compass.heading((LSM303::vector){0,-1,0});
  //Serial.print("Heading list : ");
  //Serial.println(heading);
  //if (heading > 180) 
  //{  
  //  heading = heading - 360;
  //}
  //if (heading != 0) 
  //{
  //  list.addValue(heading);
  //}

  //list.debug("list",Serial); //print contents to serial console
  //Serial.print("Average: ");
  //Serial.println(list.getAverage());

  // dtostrf(compass.heading((LSM303::vector){0,-1,0}), 5, 2, hs);
  //dtostrf(list.getAverage(), 5, 2, hs);
  
  dtostrf(heading, 5, 2, hs);
  strcat(nmeastr,hs);
  strcat(nmeastr,",,,,");
  strcpy(hdtnmea,"HCHDT,");
  dtostrf(heading, 5, 2, hdt); 
  strcat(hdtnmea,hdt);
  strcat(hdtnmea,",T");
  //add a checksum
  checksum=0;
  for (int n=0; n < strlen(nmeastr); n++) {
    checksum ^= nmeastr[n];
  }
  checksumhdt=0;
  for (int n=0; n < strlen(hdtnmea); n++) {
    checksumhdt ^= hdtnmea[n];
  }
 
 //Print iedere zoveel tellen een $GPGSA-string 
// Serial.print("tel : ");
 if(i < 30) {
    i ++;
  }
  else
  {
    Serial.println("$GPGSA,A,3,02,,,07,,09,24,26,,,,,1.6,1.6,1.0*3D");
    i=1;
  }

  /*
  Serial.print("$");
  Serial.print(nmeastr);
  Serial.print("*");
  Serial.print(checksum, HEX);
  Serial.println();
  */
  
  Serial.print("$");
  Serial.print(hdtnmea);
  Serial.print("*");
  Serial.print(checksumhdt, HEX);
  Serial.println();
  //Serial.print("\t");
  //Serial.println();

  /* 5hz == 200 */
  delay(400);
}