備忘錄_20160105(定位)

備忘錄_20160105(定位) 修改回首頁
程式　2026-05-05　11:46:57　1777952817　100
u-blox neo-m8n (gps) + esp32 c3 supermini
u-blox neo-m8n (gps) + esp32 c3 supermini
gpio圖

easyeda設計pcb

洞洞板的實品照

印刷電路板的實品照

敬請期待


// RX, TX 用 pin4,5 才不會跟 arduino 使用中的 UART0 相衝

// neo-m8n 的 VCC -- esp32 c3 supermini 的 3.3V
// neo-m8n 的  RX -- esp32 c3 supermini 的 TX (gpio5)
// neo-m8n 的  TX -- esp32 c3 supermini 的 RX (gpio4)
// neo-m8n 的 GND -- esp32 c3 supermini 的 GND

// 目前是 led 燈亮，代表有抓到可用的 gps 訊號

#include <WiFi.h>
#include <HTTPClient.h>
#include <HardwareSerial.h>
#include <string.h>

// gpio

#define iLedPin 8
#define iGpsTx 5
#define iGpsRx 4

// NMEA 0183 - $GPRMC, $GNRMC

#define iIdxMessageType        0
#define iIdxUTCTime            1
#define iIdxStatus             2
#define iIdxLatVal             3
#define iIdxLatDir             4
#define iIdxLonVal             5
#define iIdxLonDir             6
#define iSpeedOverGround       7
#define iTrackAngle            8
#define iDDMMYY                9
#define iMagneticVariationVal 10
#define iMagneticVariationDir 11
#define iModeAndChecksum      12

// wifi information

#define iMaxSsidLen 64
#define iMaxPassLen 64

struct stcSSIDPASS
{
  char caSSID[iMaxSsidLen];
  char caPASS[iMaxPassLen];
};

stcSSIDPASS arySSIDPASS[]=
{
  {"godroad", "66666666"},
  {"ssid2", "pass2"},
  {"ssid3", "pass3"}
};

int iSSIDPASSAmount=sizeof(arySSIDPASS)/sizeof(arySSIDPASS[0]);
int iSSIDPASSIndex = -1;
int iLastSSIDPASSIndex=-1;
unsigned long ulLastTicks = 0;

// neo-6m / neo-m8n

#define iGpsBufMax 512
HardwareSerial oHSGps(1);
bool booGpsBuf=false;
char caGpsBuf[iGpsBufMax];
int iGpsBufIdx=0;
char caLastGpsBuf[iGpsBufMax]="initial";

// CMT+8

bool getBooIsAllDigit(const char caIn[], int iLength)
{
  for(int i=0; i<iLength; i++)
  {
    if(caIn[i]<'0' || caIn[i]>'9') { return false; }
  }
  return true;
}

void calcGMTp8(const char caDDMMYY[], const char caUTCTime[], char caGMTp8[])
{
  /*
    傳入：
      DDMMYY  = "ddmmyy"
      UTCTime = "hhmmss"
    傳出：
      "yyyymmddhhmmss"
  */

  if(strlen(caDDMMYY)<6 || strlen(caUTCTime)<6)
  {
    strcpy(caGMTp8, "00000000000000");
    return;
  }
  
  if(getBooIsAllDigit(caDDMMYY, 6)==false || getBooIsAllDigit(caUTCTime, 6)==false)
  {
    strcpy(caGMTp8, "00000000000000");
    return;
  }
  
  int iYear   = 2000 + (caDDMMYY[4]-'0')*10 + (caDDMMYY[5]-'0');
  int iMonth  = (caDDMMYY[2]-'0')*10 + (caDDMMYY[3]-'0');
  int iDay    = (caDDMMYY[0]-'0')*10 + (caDDMMYY[1]-'0');
  int iHour   = (caUTCTime[0]-'0')*10 + (caUTCTime[1]-'0');
  int iMinute = (caUTCTime[2]-'0')*10 + (caUTCTime[3]-'0');
  int iSecond = (caUTCTime[4]-'0')*10 + (caUTCTime[5]-'0');

  iHour+=8;

  if(iHour>=24)
  {
    iHour-=24;
    iDay+=1;
  }

  int iaDaysInMonth[] = {31,28,31,30,31,30,31,31,30,31,30,31};

  bool booLeap=(iYear%4==0 && iYear%100!=0) || (iYear%400==0);
  if(booLeap==true) { iaDaysInMonth[1]=29; }

  if(iDay>iaDaysInMonth[iMonth-1])
  {
    iDay=1;
    iMonth+=1;

    if(iMonth>12)
    {
      iMonth=1;
      iYear+=1;
    }
  }

  sprintf(caGMTp8, "%04d%02d%02d%02d%02d%02d", iYear, iMonth, iDay, iHour, iMinute, iSecond);
}

float getFRealDeg(const char caVal[], char cDir, bool &booSuccess)
{
  /*
    經度 dddmm.mmmm E,W
    緯度  ddmm.mmmm N,S

    成功：return degree, booSuccess=true
    失敗：return 0, booSuccess=false
  */
  
  booSuccess=false;

  if(!caVal || caVal[0]=='\0') { return 0; }
  if(!(cDir=='N' || cDir=='S' || cDir=='E' || cDir=='W')) { return 0; }

  int iDegLen = (cDir=='N' || cDir=='S') ? 2 : 3;

  int iLen=strlen(caVal);
  if (iLen<=iDegLen) { return 0; }

  for (int i=0; i<iLen; i++) 
  {
    char c = caVal[i];
    if (!((c>='0' && c<='9') || c == '.')) { return 0; }
  }

  int iDeg=0;
  for(int i=0; i<iDegLen; i++)
  {
    iDeg=iDeg*10+(caVal[i]-'0');
  }
  
  float fMin = atof(caVal+iDegLen);

  if (fMin < 0 || fMin >= 60) return 0;

  float fFinalDeg = iDeg + fMin / 60.0;

  if (cDir=='S' || cDir=='W') { fFinalDeg = -fFinalDeg; }
  
  booSuccess=true;
  return fFinalDeg;
}

bool getBooIsConnected()
{
  if (WiFi.status()==WL_CONNECTED) { return true; }

  WiFi.disconnect(true);
  delay(200);

  iSSIDPASSIndex = (iSSIDPASSIndex + 1) % iSSIDPASSAmount;
  iLastSSIDPASSIndex=iSSIDPASSIndex;
  
  WiFi.begin(arySSIDPASS[iSSIDPASSIndex].caSSID, arySSIDPASS[iSSIDPASSIndex].caPASS);
  WiFi.setTxPower(WIFI_POWER_8_5dBm); // c3 硬體問題，要將功率調小。
  
  /*
  WIFI_POWER_19_5dBm  // 最強
  WIFI_POWER_19dBm
  WIFI_POWER_18_5dBm
  WIFI_POWER_17dBm
  WIFI_POWER_15dBm
  WIFI_POWER_13dBm
  WIFI_POWER_11dBm
  WIFI_POWER_8_5dBm
  WIFI_POWER_7dBm
  WIFI_POWER_5dBm
  WIFI_POWER_2dBm
  WIFI_POWER_MINUS_1dBm  // 最弱
  */

  int iTimeout = 100;
  while (WiFi.status()!=WL_CONNECTED && iTimeout>0) 
  {
    delay(100);
    iTimeout--;
  }

  if (WiFi.status()!=WL_CONNECTED) { return false; }
  
  Serial.print(arySSIDPASS[iLastSSIDPASSIndex].caSSID);
  Serial.println(" connected");

  return true;
}

void sendData(const char caDDMMYY[], const char caUTCTime[], float fLat, float fLon)
{
  
  if(isnan(fLat) || isnan(fLon)) { return; }
  if(getBooIsConnected()==false) { return; }
  
  char caGMTp8[16];
  calcGMTp8(caDDMMYY, caUTCTime, caGMTp8);
  if(strcmp(caGMTp8, "00000000000000")==0) { return; }

  char caUrl[600];
  int iCode;
  
  {
    HTTPClient oHttpClient;
    
    snprintf(
      caUrl, 
      sizeof(caUrl),
      "https://liujiaje.com/resources/20260408_esp32_lolin_d32_neo-6m-gps/api/gps.php"
      "?lat=%.6f&lon=%.6f&gmtp8=%s&ssid=%s",
      fLat, fLon, caGMTp8, arySSIDPASS[iLastSSIDPASSIndex].caSSID);
    
    oHttpClient.begin(caUrl);
    oHttpClient.setTimeout(5000);
    
    iCode=oHttpClient.GET();
    if(iCode > 0) { ulLastTicks = millis(); }
    oHttpClient.end();
  }
  
  {
    HTTPClient oHttpClient;
  
    char caRecTime[30];
    
    snprintf(
      caRecTime, 
      sizeof(caRecTime), 
      "20%c%c/%c%c/%c%c%%20%c%c:%c%c:%c%c",
      caDDMMYY[4], caDDMMYY[5], 
      caDDMMYY[2], caDDMMYY[3], 
      caDDMMYY[0], caDDMMYY[1], 
      caUTCTime[0], caUTCTime[1], 
      caUTCTime[2], caUTCTime[3], 
      caUTCTime[4], caUTCTime[5]);
    
    snprintf(
      caUrl, 
      sizeof(caUrl),
      "https://web.godroad.tw/api5/getgpstest.aspx"
      "?lat=%.6f&lng=%.6f&rectime=%s&cid=5554",
      fLat, fLon, caRecTime);
             
    oHttpClient.begin(caUrl);
    oHttpClient.setTimeout(5000);
  
    iCode=oHttpClient.GET();
    if(iCode>0) { ulLastTicks = millis(); }
    oHttpClient.end();
  }
  
}

void keepAlive()
{
  HTTPClient oHttpClient;

  if (getBooIsConnected()==false) { return; }

  char caUrl[300];
  snprintf(
    caUrl, 
    sizeof(caUrl),
    "https://liujiaje.com/resources/20260408_esp32_lolin_d32_neo-6m-gps/api/keepalive.php"
    "?ssid=%s&lastgpsbuffer=%s",
    arySSIDPASS[iLastSSIDPASSIndex].caSSID,
    caLastGpsBuf);
  
  oHttpClient.begin(caUrl);
  oHttpClient.setTimeout(5000);

  int iCode = oHttpClient.GET();
  if(iCode>0) { ulLastTicks = millis(); }
  oHttpClient.end();
}

void setup()
{
  Serial.begin(9600);
  delay(1000);
  
  WiFi.mode(WIFI_STA);
  delay(200);

  pinMode(iLedPin, OUTPUT);
  digitalWrite(iLedPin, HIGH); // dark

  oHSGps.begin(9600, SERIAL_8N1, iGpsRx, iGpsTx);
  getBooIsConnected(); // pre-connect
}

int getIValFromHex(char c1)
{
  if(c1>='0' && c1<='9') { return c1-'0'; }
  if(c1>='A' && c1<='F') { return c1-'A'+10; }
  if(c1>='a' && c1<='f') { return c1-'a'+10; }
  return -1;
}

bool getBooCheckNMEAChecksum(const char caGpsBuf[])
{
  if(!caGpsBuf || caGpsBuf[0]!='$') { return false; }

  const char *cPtr=caGpsBuf+1;
  uint8_t uiCheckSum=0;

  // 計算 xor（從 $ 之後(不含)到 * 之前(不含)）
  int iCount=0;
  while (*cPtr && *cPtr!='*' && iCount<200)
  {
    uiCheckSum ^= (uint8_t)(*cPtr);
    cPtr++;
    iCount++;
  }

  // 沒找到 '*'
  if(*cPtr != '*') { return false; }

  // 需要兩個 hex 字元
  if(*(cPtr+1)=='\0' || *(cPtr+2)=='\0') { return false; }

  int iHI=getIValFromHex(*(cPtr+1));
  int iLO=getIValFromHex(*(cPtr+2));

  if(iHI<0 || iLO<0) { return false; }

  uint8_t uiGiven=(iHI<<4) | iLO;

  return uiCheckSum==uiGiven;
}

void dealWith_RMC(char caGpsBuf[])
{
  const int iMaxItem=16;
  const int iMaxLen=132;
  
  char caItem[iMaxItem][iMaxLen]={};
  int iItemIdx=0;
  int iItemLen=0;
  
  for(int i=0, iMax=strlen(caGpsBuf); i<iMax; i++)
  {
    if(caGpsBuf[i]==',')
    {
      caItem[iItemIdx][iItemLen]='\0';
      
      iItemIdx++;
      iItemLen=0;

      if(iItemIdx>=iMaxItem) { break; }
    }
    else
    {
      if(iItemLen<(iMaxLen-1))
      {
        caItem[iItemIdx][iItemLen]=caGpsBuf[i];
        iItemLen++;
      }
    }
  }
  if(iItemLen!=0)
  {
    caItem[iItemIdx][iItemLen]='\0';
    iItemIdx++;
    iItemLen=0;
  }

  if(iItemIdx<=12) { return; }
  if(caItem[iIdxStatus][0]!='A') { return; }
  
  bool booSuccess=false;
  
  if(caItem[iIdxLatVal][0]=='\0') { return; }
  float fLat=getFRealDeg(caItem[iIdxLatVal], caItem[iIdxLatDir][0], booSuccess);
  if(booSuccess==false) { return; }
  
  if(caItem[iIdxLonVal][0]=='\0') { return; }
  float fLon=getFRealDeg(caItem[iIdxLonVal], caItem[iIdxLonDir][0], booSuccess);
  if(booSuccess==false) { return; }
  
  digitalWrite(iLedPin, LOW); // lights on
  
  sendData(caItem[iDDMMYY], caItem[iIdxUTCTime], fLat, fLon);
}

void loop()
{
  if((millis()-ulLastTicks)>30000) { keepAlive(); } // 網路傳輸每隔30秒送一次封包，確保行動網路不被關閉
  
  int iChar=oHSGps.read();
  if(iChar!=-1)
  {
    digitalWrite(iLedPin, HIGH); // turn dark

    char chr1=(char)iChar;

    if(chr1=='\r')
    {
    }
    else if(chr1=='\n')
    {
      caGpsBuf[iGpsBufIdx]='\0';
      strcpy(caLastGpsBuf, caGpsBuf);
      
      if(iGpsBufIdx>10 && (strncmp(caGpsBuf, "$GPRMC", 6)==0 || strncmp(caGpsBuf, "$GNRMC", 6)==0))
      {
        if(getBooCheckNMEAChecksum(caGpsBuf)==true)
        {
          // Serial.println(caGpsBuf);
          dealWith_RMC(caGpsBuf);
          digitalWrite(iLedPin, LOW); // lights on
        }
      }
      booGpsBuf=false;
      iGpsBufIdx=0;
    }
    else if(chr1=='$')
    {
      booGpsBuf=true;
      caGpsBuf[0]=chr1;
      iGpsBufIdx=1;
    }
    else if(booGpsBuf==true)
    {
      if(iGpsBufIdx<(iGpsBufMax-2))
      {
        caGpsBuf[iGpsBufIdx]=chr1;
        iGpsBufIdx++;
      }
      else
      {
        // drop data
        booGpsBuf=false;
        iGpsBufIdx=0;
      }
    }
  }
}