1. /**
  2. * created by Samuel Brucksch
  3. *
  4. * parts of this code are not done by me
  5. **/
  7. #include "config.h"
  8. #include "inttypes.h"
  9. #include "SoftwareSerial.h"
  10. #include "defines.h";
  11. #include "GpsAdapter.h"
  13. #if defined(FRSKY_D)
  14. #include "Frsky.h"
  15. SoftwareSerial frsky(3, TELEMETRY_TX_PIN, true);
  16. #elif defined(FRSKY_X)
  17. #include "FrSkySportSensor.h"
  18. #include "CustomFrSkySportSensorGps.h"
  19. #include "FrSkySportSensorRpm.h"
  20. #include "FrSkySportSingleWireSerial.h"
  21. #include "FrSkySportTelemetry.h"
  22. CustomFrSkySportSensorGps gpsSensor;
  23. FrSkySportSensorRpm rpmSensor;
  24. FrSkySportTelemetry frsky;
  25. #endif
  27. long timer;
  28. long timer2;
  30. void setup() {
  31. initializeGps();
  32. #if defined(FRSKY_D)
  33. frsky.begin(9600);
  34. #elif defined(FRSKY_X)
  35. frsky.begin(TELEMETRY_TX_PIN, &gpsSensor, &rpmSensor);
  36. #endif
  37. pinMode(13, OUTPUT);
  38. timer = millis();
  39. timer2 = timer;
  40. }
  42. void loop() {
  43. if (millis() - timer > 10) {
  44. updateGps();
  45. timer = millis();
  46. }
  48. fix = getState();
  49. switch (fix) {
  50. case GPS_DETECTING:
  51. //blink with 4hz
  52. if (millis() % 500 < 250) {
  53. digitalWrite(13, HIGH);
  54. }
  55. else {
  56. digitalWrite(13, LOW);
  57. }
  58. break;
  59. case GPS_NOFIX:
  60. //no blinking
  61. digitalWrite(13, LOW);
  62. break;
  63. case GPS_FIX2D:
  64. case GPS_FIX3D:
  65. case GPS_FIX3DD:
  66. //solid
  67. digitalWrite(13, HIGH);
  68. break;
  69. }
  71. #if defined(FRSKY_D)
  72. //frsky_d needs to manually check for frequency
  73. if (millis() - timer2 > REFRESH_RATE_MILLIS) {
  74. timer2 = millis();
  75. #endif
  77. if (fix > GPS_NOFIX) {
  78. #if defined(FRSKY_D)
  79. float deg = abs(getLat() / 10000000.0f);
  80. lat = ((int)deg * 100) + (deg - (int)deg) * 60.0f;
  81. lat_dir = getLat() > 0 ? 'N' : 'S';
  83. deg = abs(getLon() / 10000000.0f);
  84. lon = ((int)deg * 100) + (deg - (int)deg) * 60.0f;
  85. lon_dir = getLon() > 0 ? 'E' : 'W';
  86. #elif defined(FRSKY_X)
  87. lat = getLat() / 10000000.0f;
  88. lon = getLon() / 10000000.0f;
  89. #endif
  90. gps_alt = getAlt() / 1000.0f;
  92. #if defined(FRSKY_D)
  93. groundspeed = getSpeed() * 0.01944f;
  94. #elif defined(FRSKY_X)
  95. groundspeed = getSpeed() / 100.0f;
  96. #endif
  97. heading = getCourse() / 10.0f;
  98. }
  99. sats = (getSats() * 10) + fix;
  101. #if defined(FRSKY_D)
  102. update_frsky();
  103. }
  104. #elif defined(FRSKY_X)
  105. rpmSensor.setData(0, 0, sats);
  106. gpsSensor.setData(lat, lon, gps_alt, groundspeed, heading, 0, 0, 0, 0, 0, 0);
  107. frsky.send();
  108. #endif
  109. }