【雕爷学编程】Arduino动手做(74)---6MV2飞控GPS模块4

37款传感器与执行器的提法,在网络上广泛流传,其实Arduino能够兼容的传感器模块肯定是不止这37种的。鉴于本人手头积累了一些传感器和执行器模块,依照实践出真知(一定要动手做)的理念,以学习和交流为目的,这里准备逐一动手尝试系列实验,不管成功(程序走通)与否,都会记录下来—小小的进步或是搞不掂的问题,希望能够抛砖引玉。

【Arduino】168种传感器模块系列实验(资料代码+仿真编程+图形编程)
实验七十四:GY-NEO-6MV2新款飞控GPS模块 (带陶瓷有源天线)

在这里插入图片描述
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Arduino实验接线示意图

在这里插入图片描述
在这里插入图片描述
【Arduino】168种传感器模块系列实验(资料代码+仿真编程+图形编程)

实验七十四:GY-NEO-6MV2新款飞控GPS模块 (带陶瓷有源天线)

程序七:TinyGPSPlus 对象的常规使用

Arduino参考开源代码

/*
  【Arduino】168种传感器模块系列实验(资料代码+仿真编程+图形编程)
  程序七:TinyGPSPlus 对象的常规使用
*/

#include <TinyGPSPlus.h>//导入驱动库

#include <SoftwareSerial.h>

static const int RXPin = 9, TXPin = 8;//定义软串口接脚

static const uint32_t GPSBaud = 9600;

// TinyGPSPlus 对象
TinyGPSPlus gps;

//与 GPS 设备的串行连接
SoftwareSerial ss(RXPin, TXPin);

void setup(){
  Serial.begin(9600);//初始化串口
  ss.begin(GPSBaud);

  Serial.println(F("DeviceExample.ino"));
  Serial.println(F("一个简单的 TinyGPSPlus 演示,带有 GPS 模块"));
  Serial.print(F("测试 TinyGPSPlus 库 v.")); 
  Serial.println(TinyGPSPlus::libraryVersion());
  Serial.println(F("GY-NEO6MV2模块准备就绪"));
  Serial.println();
}


void loop(){
  //每次正确编码新数据时,此程序都会显示信息。
  while (ss.available() > 0)
    if (gps.encode(ss.read()))
      displayInfo();

  if (millis() > 5000 && gps.charsProcessed() < 10)
  {
    Serial.println(F("未检测到 GPS:检查接线。"));
    while (true);
  }
}


void displayInfo(){
  Serial.print(F("位置: "));
  if (gps.location.isValid())
  {
    Serial.print(gps.location.lat(), 6);
    Serial.print(F(","));
    Serial.print(gps.location.lng(), 6);
  }
  else
  {
    Serial.print(F("无效"));
  }

  Serial.print(F("  日期/时间:"));
  if (gps.date.isValid())
  {
    Serial.print(gps.date.month());
    Serial.print(F("/"));
    Serial.print(gps.date.day());
    Serial.print(F("/"));
    Serial.print(gps.date.year());
  }
  else
  {
    Serial.print(F("无效"));
  }


  Serial.print(F(" "));
  if (gps.time.isValid())
  {
    if (gps.time.hour() < 10) Serial.print(F("0"));
    Serial.print(gps.time.hour());
    Serial.print(F(":"));
    if (gps.time.minute() < 10) Serial.print(F("0"));
    Serial.print(gps.time.minute());
    Serial.print(F(":"));
    if (gps.time.second() < 10) Serial.print(F("0"));
    Serial.print(gps.time.second());
    Serial.print(F("."));
    if (gps.time.centisecond() < 10) Serial.print(F("0"));
    Serial.print(gps.time.centisecond());
  }
  else
  {
    Serial.print(F("无效"));
  }

  Serial.println();
}

(2)实验串口返回情况

在这里插入图片描述
【Arduino】168种传感器模块系列实验(资料代码+仿真编程+图形编程)

实验七十四:GY-NEO-6MV2新款飞控GPS模块 (带陶瓷有源天线)

程序八:TinyGPSPlus 很多有趣功能的综合测试

Arduino参考开源代码

/*
  【Arduino】168种传感器模块系列实验(资料代码+仿真编程+图形编程)
  程序八:TinyGPSPlus 很多有趣功能的综合测试
*/

#include <TinyGPSPlus.h>//导入驱动库
#include <SoftwareSerial.h>

static const int RXPin = 9, TXPin = 8;//定义软串口接脚
static const uint32_t GPSBaud = 9600;

// TinyGPSPlus 对象
TinyGPSPlus gps;

//与 GPS 设备的串行连接
SoftwareSerial ss(RXPin, TXPin);

void setup() {
  Serial.begin(9600);
  ss.begin(GPSBaud);

  Serial.println(F("FullExample.ino"));
  Serial.println(F("TinyGPSPlus 很多有趣功能的综合测试"));
  Serial.print(F("测试 TinyGPSPlus 库 v."));
  Serial.println(TinyGPSPlus::libraryVersion());
  Serial.println(F("GY-NEO6MV2模块准备就绪"));
  Serial.println();
  Serial.println(F("Sats HDOP  Latitude   Longitude   Fix  Date       Time     Date Alt    Course Speed Card  Distance Course Card  Chars Sentences Checksum"));
  Serial.println(F("           (deg)      (deg)       Age                      Age  (m)    --- from GPS ----  ---- to London  ----  RX    RX        Fail"));
  Serial.println(F("----------------------------------------------------------------------------------------------------------------------------------------"));
}

void loop() {
  static const double LONDON_LAT = 51.508131, LONDON_LON = -0.128002;

  printInt(gps.satellites.value(), gps.satellites.isValid(), 5);
  printFloat(gps.hdop.hdop(), gps.hdop.isValid(), 6, 1);
  printFloat(gps.location.lat(), gps.location.isValid(), 11, 6);
  printFloat(gps.location.lng(), gps.location.isValid(), 12, 6);
  printInt(gps.location.age(), gps.location.isValid(), 5);
  printDateTime(gps.date, gps.time);
  printFloat(gps.altitude.meters(), gps.altitude.isValid(), 7, 2);
  printFloat(gps.course.deg(), gps.course.isValid(), 7, 2);
  printFloat(gps.speed.kmph(), gps.speed.isValid(), 6, 2);
  printStr(gps.course.isValid() ? TinyGPSPlus::cardinal(gps.course.deg()) : "*** ", 6);

  unsigned long distanceKmToLondon =
    (unsigned long)TinyGPSPlus::distanceBetween(
      gps.location.lat(),
      gps.location.lng(),
      LONDON_LAT,
      LONDON_LON) / 1000;
  printInt(distanceKmToLondon, gps.location.isValid(), 9);

  double courseToLondon =
    TinyGPSPlus::courseTo(
      gps.location.lat(),
      gps.location.lng(),
      LONDON_LAT,
      LONDON_LON);

  printFloat(courseToLondon, gps.location.isValid(), 7, 2);
  const char *cardinalToLondon = TinyGPSPlus::cardinal(courseToLondon);
  printStr(gps.location.isValid() ? cardinalToLondon : "*** ", 6);

  printInt(gps.charsProcessed(), true, 6);
  printInt(gps.sentencesWithFix(), true, 10);
  printInt(gps.failedChecksum(), true, 9);
  Serial.println();

  smartDelay(1000);

  if (millis() > 5000 && gps.charsProcessed() < 10)
    Serial.println(F("没有接收到 GPS 数据:检查接线"));
}

//这个自定义版本的 delay() 确保 gps 对象
//正在被“喂”有效的数据。
static void smartDelay(unsigned long ms)
{
  unsigned long start = millis();
  do
  {
    while (ss.available())
      gps.encode(ss.read());
  } while (millis() - start < ms);
}

static void printFloat(float val, bool valid, int len, int prec)
{
  if (!valid)
  {
    while (len-- > 1)
      Serial.print('*');
    Serial.print(' ');
  }
  else
  {
    Serial.print(val, prec);
    int vi = abs((int)val);
    int flen = prec + (val < 0.0 ? 2 : 1); // . and -
    flen += vi >= 1000 ? 4 : vi >= 100 ? 3 : vi >= 10 ? 2 : 1;
    for (int i = flen; i < len; ++i)
      Serial.print(' ');
  }
  smartDelay(0);
}

static void printInt(unsigned long val, bool valid, int len)
{
  char sz[32] = "*****************";
  if (valid)
    sprintf(sz, "%ld", val);
  sz[len] = 0;
  for (int i = strlen(sz); i < len; ++i)
    sz[i] = ' ';
  if (len > 0)
    sz[len - 1] = ' ';
  Serial.print(sz);
  smartDelay(0);
}

static void printDateTime(TinyGPSDate &d, TinyGPSTime &t)
{
  if (!d.isValid())
  {
    Serial.print(F("********** "));
  }
  else
  {
    char sz[32];
    sprintf(sz, "%02d/%02d/%02d ", d.month(), d.day(), d.year());
    Serial.print(sz);
  }

  if (!t.isValid())
  {
    Serial.print(F("******** "));
  }
  else
  {
    char sz[32];
    sprintf(sz, "%02d:%02d:%02d ", t.hour(), t.minute(), t.second());
    Serial.print(sz);
  }
  printInt(d.age(), d.isValid(), 5);
  smartDelay(0);
}

static void printStr(const char *str, int len)
{
  int slen = strlen(str);
  for (int i = 0; i < len; ++i)
    Serial.print(i < slen ? str[i] : ' ');
  smartDelay(0);
}

实验串口返回情况

在这里插入图片描述
【Arduino】168种传感器模块系列实验(资料代码+仿真编程+图形编程)

实验七十四:GY-NEO-6MV2新款飞控GPS模块 (带陶瓷有源天线)

程序九:测试 TinyGPSPlus 的几乎所有功能

Arduino参考开源代码

/*
  【Arduino】168种传感器模块系列实验(资料代码+仿真编程+图形编程)
  程序九:测试 TinyGPSPlus 的几乎所有功能
*/

#include <TinyGPSPlus.h>//导入驱动库
#include <SoftwareSerial.h>

static const int RXPin = 9, TXPin = 8;//定义软串口接脚
static const uint32_t GPSBaud = 9600;

// TinyGPSPlus 对象
TinyGPSPlus gps;

//与 GPS 设备的串行连接
SoftwareSerial ss(RXPin, TXPin);

// 对于每 5 秒发生一次的统计数据
unsigned long last = 0UL;

void setup() {
  Serial.begin(9600);
  ss.begin(GPSBaud);

  Serial.println(F("KitchenSink.ino"));
  Serial.println(F("测试 TinyGPSPlus 的几乎所有功能"));
  Serial.print(F("测试 TinyGPSPlus 库 v."));
  Serial.println(TinyGPSPlus::libraryVersion());
  Serial.println(F("GY-NEO6MV2模块准备就绪"));
  Serial.println();
}

void loop(){
  // 调度传入的字符
  while (ss.available() > 0)
    gps.encode(ss.read());

  if (gps.location.isUpdated())
  {
    Serial.print(F("LOCATION   Fix Age="));
    Serial.print(gps.location.age());
    Serial.print(F("ms Raw Lat="));
    Serial.print(gps.location.rawLat().negative ? "-" : "+");
    Serial.print(gps.location.rawLat().deg);
    Serial.print("[+");
    Serial.print(gps.location.rawLat().billionths);
    Serial.print(F(" billionths],  Raw Long="));
    Serial.print(gps.location.rawLng().negative ? "-" : "+");
    Serial.print(gps.location.rawLng().deg);
    Serial.print("[+");
    Serial.print(gps.location.rawLng().billionths);
    Serial.print(F(" billionths],  Lat="));
    Serial.print(gps.location.lat(), 6);
    Serial.print(F(" Long="));
    Serial.println(gps.location.lng(), 6);
  }

  else if (gps.date.isUpdated())
  {
    Serial.print(F("DATE       Fix Age="));
    Serial.print(gps.date.age());
    Serial.print(F("ms Raw="));
    Serial.print(gps.date.value());
    Serial.print(F(" Year="));
    Serial.print(gps.date.year());
    Serial.print(F(" Month="));
    Serial.print(gps.date.month());
    Serial.print(F(" Day="));
    Serial.println(gps.date.day());
  }

  else if (gps.time.isUpdated())
  {
    Serial.print(F("TIME       Fix Age="));
    Serial.print(gps.time.age());
    Serial.print(F("ms Raw="));
    Serial.print(gps.time.value());
    Serial.print(F(" Hour="));
    Serial.print(gps.time.hour());
    Serial.print(F(" Minute="));
    Serial.print(gps.time.minute());
    Serial.print(F(" Second="));
    Serial.print(gps.time.second());
    Serial.print(F(" Hundredths="));
    Serial.println(gps.time.centisecond());
  }

  else if (gps.speed.isUpdated())
  {
    Serial.print(F("SPEED      Fix Age="));
    Serial.print(gps.speed.age());
    Serial.print(F("ms Raw="));
    Serial.print(gps.speed.value());
    Serial.print(F(" Knots="));
    Serial.print(gps.speed.knots());
    Serial.print(F(" MPH="));
    Serial.print(gps.speed.mph());
    Serial.print(F(" m/s="));
    Serial.print(gps.speed.mps());
    Serial.print(F(" km/h="));
    Serial.println(gps.speed.kmph());
  }

  else if (gps.course.isUpdated())
  {
    Serial.print(F("COURSE     Fix Age="));
    Serial.print(gps.course.age());
    Serial.print(F("ms Raw="));
    Serial.print(gps.course.value());
    Serial.print(F(" Deg="));
    Serial.println(gps.course.deg());
  }

  else if (gps.altitude.isUpdated())
  {
    Serial.print(F("ALTITUDE   Fix Age="));
    Serial.print(gps.altitude.age());
    Serial.print(F("ms Raw="));
    Serial.print(gps.altitude.value());
    Serial.print(F(" Meters="));
    Serial.print(gps.altitude.meters());
    Serial.print(F(" Miles="));
    Serial.print(gps.altitude.miles());
    Serial.print(F(" KM="));
    Serial.print(gps.altitude.kilometers());
    Serial.print(F(" Feet="));
    Serial.println(gps.altitude.feet());
  }

  else if (gps.satellites.isUpdated())
  {
    Serial.print(F("SATELLITES Fix Age="));
    Serial.print(gps.satellites.age());
    Serial.print(F("ms Value="));
    Serial.println(gps.satellites.value());
  }

  else if (gps.hdop.isUpdated())
  {
    Serial.print(F("HDOP       Fix Age="));
    Serial.print(gps.hdop.age());
    Serial.print(F("ms raw="));
    Serial.print(gps.hdop.value());
    Serial.print(F(" hdop="));
    Serial.println(gps.hdop.hdop());
  }

  else if (millis() - last > 5000)
  {
    Serial.println();
    if (gps.location.isValid())
    {
      static const double LONDON_LAT = 51.508131, LONDON_LON = -0.128002;
      double distanceToLondon =
        TinyGPSPlus::distanceBetween(
          gps.location.lat(),
          gps.location.lng(),
          LONDON_LAT,
          LONDON_LON);
      double courseToLondon =
        TinyGPSPlus::courseTo(
          gps.location.lat(),
          gps.location.lng(),
          LONDON_LAT,
          LONDON_LON);

      Serial.print(F("伦敦       距离="));
      Serial.print(distanceToLondon / 1000, 6);
      Serial.print(F(" km Course-to="));
      Serial.print(courseToLondon, 6);
      Serial.print(F(" degrees ["));
      Serial.print(TinyGPSPlus::cardinal(courseToLondon));
      Serial.println(F("]"));
    }

    Serial.print(F("DIAGS      Chars="));
    Serial.print(gps.charsProcessed());
    Serial.print(F(" Sentences-with-Fix="));
    Serial.print(gps.sentencesWithFix());
    Serial.print(F(" Failed-checksum="));
    Serial.print(gps.failedChecksum());
    Serial.print(F(" Passed-checksum="));
    Serial.println(gps.passedChecksum());

    if (gps.charsProcessed() < 10)
      Serial.println(F("警告:没有 GPS 数据,检查接线。"));

    last = millis();
    Serial.println();
  }
}

实验串口返回情况

在这里插入图片描述
【Arduino】168种传感器模块系列实验(资料代码+仿真编程+图形编程)

实验七十四:GY-NEO-6MV2新款飞控GPS模块 (带陶瓷有源天线)

程序十:使用 TinyGPSCustom 对象跟踪卫星高度

Arduino参考开源代码

/*
  【Arduino】168种传感器模块系列实验(资料代码+仿真编程+图形编程)
  程序十:使用 TinyGPSCustom 对象跟踪卫星高度
*/
        

#include <TinyGPSPlus.h>//导入驱动库
#include <SoftwareSerial.h>

static const int RXPin = 9, TXPin = 8;//定义软串口接脚
static const uint32_t GPSBaud = 9600;

static const int MAX_SATELLITES = 40;
static const int PAGE_LENGTH = 40;

// TinyGPSPlus 对象
TinyGPSPlus gps;

//与 GPS 设备的串行连接
SoftwareSerial ss(RXPin, TXPin);

TinyGPSCustom totalGPGSVMessages(gps, "GPGSV", 1); // $GPGSV 句子,第一个元素
TinyGPSCustom messageNumber(gps, "GPGSV", 2);      // $GPGSV 句子,第二个元素
TinyGPSCustom satNumber[4]; // 稍后初始化
TinyGPSCustom elevation[4];
bool anyChanges = false;
unsigned long linecount = 0;

struct
{
  int elevation;
  bool active;
} sats[MAX_SATELLITES];

void setup(){
  Serial.begin(9600);
  ss.begin(GPSBaud);

  Serial.println(F("SatElevTracker.ino"));
  Serial.println(F("显示 GPS 卫星高度变化"));
  Serial.print(F("测试 TinyGPSPlus 库 v.")); 
  Serial.println(TinyGPSPlus::libraryVersion());
  Serial.println(F("GY-NEO6MV2模块准备就绪"));
  Serial.println();
  
  // 初始化所有未初始化的 TinyGPSCustom 对象
  for (int i=0; i<4; ++i)
  {
    satNumber[i].begin(gps, "GPGSV", 4 + 4 * i); // offsets 4, 8, 12, 16
    elevation[i].begin(gps, "GPGSV", 5 + 4 * i); // offsets 5, 9, 13, 17
  }
}

void loop(){
  // 调度传入的字符
  if (ss.available() > 0)
  {
    gps.encode(ss.read());
   
    if (totalGPGSVMessages.isUpdated())
    {
      for (int i=0; i<4; ++i)
      {
        int no = atoi(satNumber[i].value());
        if (no >= 1 && no <= MAX_SATELLITES)
        {
          int elev = atoi(elevation[i].value());
          sats[no-1].active = true;
          if (sats[no-1].elevation != elev)
          {
            sats[no-1].elevation = elev;
            anyChanges = true;
          }
        }
      }
      
      int totalMessages = atoi(totalGPGSVMessages.value());
      int currentMessage = atoi(messageNumber.value());
      if (totalMessages == currentMessage && anyChanges)
      {
        if (linecount++ % PAGE_LENGTH == 0)
          printHeader();
        TimePrint();
        for (int i=0; i<MAX_SATELLITES; ++i)
        {
          Serial.print(F(" "));
          if (sats[i].active)
            IntPrint(sats[i].elevation, 2);
          else
            Serial.print(F("   "));
          sats[i].active = false;
        }
        Serial.println();
        anyChanges = false;
      }
    }
  }
}

void IntPrint(int n, int len){
  int digs = n < 0 ? 2 : 1;
  for (int i=10; i<=abs(n); i*=10)
    ++digs;
  while (digs++ < len)
    Serial.print(F(" "));
  Serial.print(n);
  Serial.print(F(" "));
}

void TimePrint(){
  if (gps.time.isValid())
  {
    if (gps.time.hour() < 10)
      Serial.print(F("0"));
    Serial.print(gps.time.hour());
    Serial.print(F(":"));
    if (gps.time.minute() < 10)
      Serial.print(F("0"));
    Serial.print(gps.time.minute());
    Serial.print(F(":"));
    if (gps.time.second() < 10)
      Serial.print(F("0"));
    Serial.print(gps.time.second());
    Serial.print(F(" "));
  }
  else
  {
    Serial.print(F("(未知的)"));
  }
}

void printHeader(){
  Serial.println();
  Serial.print(F("时间     "));
  for (int i=0; i<MAX_SATELLITES; ++i)
  {
    Serial.print(F(" "));
    IntPrint(i+1, 2);
  }
  Serial.println();
  Serial.print(F("---------"));
  for (int i=0; i<MAX_SATELLITES; ++i)
    Serial.print(F("----"));
  Serial.println();
}

实验串口返回情况

在这里插入图片描述
Arduino实验场景图

在这里插入图片描述

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