erek / Autonomous Lander (Stubbed Out)

// Teensy 3.2 32-bit Micro-controller-based Project
// by Erik (2015)
// Test code for Adafruit GPS modules using MTK3329/MTK3339 driver / BNO055 Bosch / Servo Motor Shield
//
// This code shows how to listen to the GPS module in an interrupt
// which allows the program to have more 'freedom' - just parse
// when a new NMEA sentence is available! Then access data when
// desired.
//
// Tested and works great with the Adafruit Ultimate GPS module
// using MTK33x9 chipset

#include <Servo.h>
#include <PID_v1.h>
#include <Adafruit_GPS.h>  /*  Modified in Adafruit_GPS.cpp :  "isDigit()" -> "isdigit()" and "isAlpha()" -> "isalpha()" cases to work with Teensy compiling.  Erik  */
#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_BNO055.h>
#include <utility/imumaths.h>
#include <stdlib.h>

/* This driver uses the Adafruit unified sensor library (Adafruit_Sensor),
   which provides a common 'type' for sensor data and some helper functions.

   To use this driver you will also need to download the Adafruit_Sensor
   library and include it in your libraries folder.

   You should also assign a unique ID to this sensor for use with
   the Adafruit Sensor API so that you can identify this particular
   sensor in any data logs, etc.  To assign a unique ID, simply
   provide an appropriate value in the constructor below (12345
   is used by default in this example).

   Connections
   ===========
   Connect SCL to analog 5
   Connect SDA to analog 4
   Connect VDD to 3-5V DC
   Connect GROUND to common ground

   History
   =======
   2015/MAR/03  - First release (KTOWN)
   2015/AUG/27  - Added calibration and system status helpers
*/

/* Set the delay between fresh samples */
#define BNO055_SAMPLERATE_DELAY_MS (100)

Adafruit_BNO055 bno = Adafruit_BNO055(55);


Servo myservo;  // create servo object to control a servo
                // twelve servo objects can be created on most boards

int pos = 0;    // variable to store the servo position


/**************************************************************************/
/*
    Displays some basic information on this sensor from the unified
    sensor API sensor_t type (see Adafruit_Sensor for more information)
*/
/**************************************************************************/
void displaySensorDetails(void)
{
  sensor_t sensor;
  bno.getSensor(&sensor);
  Serial.println("------------------------------------");
  Serial.print  ("Sensor:       "); Serial.println(sensor.name);
  Serial.print  ("Driver Ver:   "); Serial.println(sensor.version);
  Serial.print  ("Unique ID:    "); Serial.println(sensor.sensor_id);
  Serial.print  ("Max Value:    "); Serial.print(sensor.max_value); Serial.println(" xxx");
  Serial.print  ("Min Value:    "); Serial.print(sensor.min_value); Serial.println(" xxx");
  Serial.print  ("Resolution:   "); Serial.print(sensor.resolution); Serial.println(" xxx");
  Serial.println("------------------------------------");
  Serial.println("");
  delay(500);
}

/**************************************************************************/
/*
    Display some basic info about the sensor status
*/
/**************************************************************************/
void displaySensorStatus(void)
{
  /* Get the system status values (mostly for debugging purposes) */
  uint8_t system_status, self_test_results, system_error;
  system_status = self_test_results = system_error = 0;
  bno.getSystemStatus(&system_status, &self_test_results, &system_error);

  /* Display the results in the Serial Monitor */
  Serial.println("");
  Serial.print("System Status: 0x");
  Serial.println(system_status, HEX);
  Serial.print("Self Test:     0x");
  Serial.println(self_test_results, HEX);
  Serial.print("System Error:  0x");
  Serial.println(system_error, HEX);
  Serial.println("");
  delay(500);
}

/**************************************************************************/
/*
    Display sensor calibration status
*/
/**************************************************************************/
void displayCalStatus(void)
{
  /* Get the four calibration values (0..3) */
  /* Any sensor data reporting 0 should be ignored, */
  /* 3 means 'fully calibrated" */
  uint8_t system, gyro, accel, mag;
  system = gyro = accel = mag = 0;
  bno.getCalibration(&system, &gyro, &accel, &mag);

  /* The data should be ignored until the system calibration is > 0 */
  Serial.print("\t");
  if (!system)
  {
    Serial.print("! ");
  }

  /* Display the individual values */
  Serial.print("Sys:");
  Serial.print(system, DEC);
  Serial.print(" G:");
  Serial.print(gyro, DEC);
  Serial.print(" A:");
  Serial.print(accel, DEC);
  Serial.print(" M:");
  Serial.print(mag, DEC);
}
// If you're using a GPS module:
// Connect the GPS Power pin to 5V
// Connect the GPS Ground pin to ground
// If using software serial (sketch example default):
//   Connect the GPS TX (transmit) pin to Digital 3
//   Connect the GPS RX (receive) pin to Digital 2
// If using hardware serial (e.g. Arduino Mega):
//   Connect the GPS TX (transmit) pin to Arduino RX1, RX2 or RX3
//   Connect the GPS RX (receive) pin to matching TX1, TX2 or TX3

// If you're using the Adafruit GPS shield, change
// SoftwareSerial mySerial(3, 2); -> SoftwareSerial mySerial(8, 7);
// and make sure the switch is set to SoftSerial

// If using software serial, keep this line enabled
// (you can change the pin numbers to match your wiring):
//SoftwareSerial mySerial(3, 2);

// If using hardware serial (e.g. Arduino Mega), comment out the
// above SoftwareSerial line, and enable this line instead
// (you can change the Serial number to match your wiring):

HardwareSerial mySerial = Serial1;


Adafruit_GPS GPS(&mySerial);


// Set GPSECHO to 'false' to turn off echoing the GPS data to the Serial console
// Set to 'true' if you want to debug and listen to the raw GPS sentences.
#define GPSECHO  true

// this keeps track of whether we're using the interrupt
// off by default!
//boolean usingInterrupt = false;
//void useInterrupt(boolean); // Func prototype keeps Arduino 0023 happy

void setup()
{

  myservo.attach(9);  // attaches the servo on pin 9 to the servo object

  // connect at 115200 so we can read the GPS fast enough and echo without dropping chars
  // also spit it out
  Serial.begin(115200);
  Serial.println("Adafruit GPS library basic test!");

  // 9600 NMEA is the default baud rate for Adafruit MTK GPS's- some use 4800
  GPS.begin(9600);

  // uncomment this line to turn on RMC (recommended minimum) and GGA (fix data) including altitude
  GPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA);
  // uncomment this line to turn on only the "minimum recommended" data
  //GPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY);
  // For parsing data, we don't suggest using anything but either RMC only or RMC+GGA since
  // the parser doesn't care about other sentences at this time

  // Set the update rate
  GPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);   // 1 Hz update rate
  // For the parsing code to work nicely and have time to sort thru the data, and
  // print it out we don't suggest using anything higher than 1 Hz

  // Request updates on antenna status, comment out to keep quiet
  GPS.sendCommand(PGCMD_ANTENNA);

  // the nice thing about this code is you can have a timer0 interrupt go off
  // every 1 millisecond, and read data from the GPS for you. that makes the
  // loop code a heck of a lot easier!
//  useInterrupt(true);

  delay(1000);
  // Ask for firmware version
  mySerial.println(PMTK_Q_RELEASE);


  /* Initialise the sensor */
  if(!bno.begin())
  {
    /* There was a problem detecting the BNO055 ... check your connections */
    Serial.print("Ooops, no BNO055 detected ... Check your wiring or I2C ADDR!");
    while(1);
  }

  delay(1000);

  /* Display some basic information on this sensor */
  displaySensorDetails();

  /* Optional: Display current status */
  displaySensorStatus();

  bno.setExtCrystalUse(true);
}
/*

// Interrupt is called once a millisecond, looks for any new GPS data, and stores it
SIGNAL(TIMER0_COMPA_vect) {
  char c = GPS.read();
  // if you want to debug, this is a good time to do it!
#ifdef UDR0
  if (GPSECHO)
    if (c) UDR0 = c;
    // writing direct to UDR0 is much much faster than Serial.print
    // but only one character can be written at a time.
#endif
}

void useInterrupt(boolean v) {
  if (v) {
    // Timer0 is already used for millis() - we'll just interrupt somewhere
    // in the middle and call the "Compare A" function above
    OCR0A = 0xAF;
    TIMSK0 |= _BV(OCIE0A);
    usingInterrupt = true;
  } else {
    // do not call the interrupt function COMPA anymore
    TIMSK0 &= ~_BV(OCIE0A);
    usingInterrupt = false;
  }
}
*/
uint32_t timer = millis();
void loop()                     // run over and over again
{
  // in case you are not using the interrupt above, you'll
  // need to 'hand query' the GPS, not suggested :(
//  if (! usingInterrupt) {
    // read data from the GPS in the 'main loop'
    char c = GPS.read();
    // if you want to debug, this is a good time to do it!
    if (GPSECHO)
      if (c) Serial.print(c);
  //}

  // if a sentence is received, we can check the checksum, parse it...
  if (GPS.newNMEAreceived()) {
    // a tricky thing here is if we print the NMEA sentence, or data
    // we end up not listening and catching other sentences!
    // so be very wary if using OUTPUT_ALLDATA and trytng to print out data
    //Serial.println(GPS.lastNMEA());   // this also sets the newNMEAreceived() flag to false

    if (!GPS.parse(GPS.lastNMEA()))   // this also sets the newNMEAreceived() flag to false
      return;  // we can fail to parse a sentence in which case we should just wait for another
  }

  // if millis() or timer wraps around, we'll just reset it
  if (timer > millis())  timer = millis();

  // approximately every 2 seconds or so, print out the current stats
  if (millis() - timer > 2000) {
    timer = millis(); // reset the timer

    Serial.print("\nTime: ");
    Serial.print(GPS.hour, DEC); Serial.print(':');
    Serial.print(GPS.minute, DEC); Serial.print(':');
    Serial.print(GPS.seconds, DEC); Serial.print('.');
    Serial.println(GPS.milliseconds);
    Serial.print("Date: ");
    Serial.print(GPS.day, DEC); Serial.print('/');
    Serial.print(GPS.month, DEC); Serial.print("/20");
    Serial.println(GPS.year, DEC);
    Serial.print("Fix: "); Serial.print((int)GPS.fix);
    Serial.print(" quality: "); Serial.println((int)GPS.fixquality);
    if (GPS.fix) {
      Serial.print("Location: ");
      Serial.print(GPS.latitude, 4); Serial.print(GPS.lat);
      Serial.print(", ");
      Serial.print(GPS.longitude, 4); Serial.println(GPS.lon);
      Serial.print("Location (in degrees, works with Google Maps): ");
      Serial.print(GPS.latitudeDegrees, 4);
      Serial.print(", ");
      Serial.println(GPS.longitudeDegrees, 4);

      Serial.print("Speed (knots): "); Serial.println(GPS.speed);
      Serial.print("Angle: "); Serial.println(GPS.angle);
      Serial.print("Altitude: "); Serial.println(GPS.altitude);
      Serial.print("Satellites: "); Serial.println((int)GPS.satellites);
    }
  }

  /* Get a new sensor event */
  sensors_event_t event;
  bno.getEvent(&event);

  /* Display the floating point data */
  Serial.print("X: ");
  Serial.print(event.orientation.x, 4);
  Serial.print("\tY: ");
  Serial.print(event.orientation.y, 4);
  Serial.print("\tZ: ");
  Serial.print(event.orientation.z, 4);

  /* Optional: Display calibration status */
  displayCalStatus();

  /* Optional: Display sensor status (debug only) */
  //displaySensorStatus();

  /* New line for the next sample */
  Serial.println("");

  /* Wait the specified delay before requesting nex data */
  delay(BNO055_SAMPLERATE_DELAY_MS);


  /*  Servo Motion
   *
   *   for(pos = 0; pos <= 180; pos += 1) // goes from 0 degrees to 180 degrees
  {                                  // in steps of 1 degree
    myservo.write(pos);              // tell servo to go to position in variable 'pos'
    delay(15);                       // waits 15ms for the servo to reach the position
  }
  for(pos = 180; pos>=0; pos-=1)     // goes from 180 degrees to 0 degrees
  {
    myservo.write(pos);              // tell servo to go to position in variable 'pos'
    delay(15);                       // waits 15ms for the servo to reach the position
  }

  */

}