现在使用到的硬件是Arduino MKR1000和Arduino MKRGPS Shield两个开发板，需要获取到gps的特定数据并且通过UDP传输到其他端口。在串口监视器中显示创建wifi，gps打印以及UDP传输一切正常。
但是我现在需要loop循环中的程序每一秒在执行一次。 所在在loop循环中加入delay（1000）;。然而加Delay之后串口显示器上每秒打印数据，但gps的所有数据都变为0。想请教这是为什么？或者错误出在哪里？ 求指点。
#include <WiFiUdp.h>
#include <SPI.h>
#include <WiFi101.h>
//#include <Arduino_MKRGPS.h>
#include <ArduinoNmeaParser.h>
#include "arduino_secrets.h"
char ssid[] = SECRET_SSID;
char pass[] = SECRET_PASS;
int keyIndex = 0;
int idx = 0;
unsigned int localPort = 2390;
int led = LED_BUILTIN;
int status = WL_IDLE_STATUS;
WiFiServer server(80);
char packetBuffer[255];
float longi;
float lati;
float alti;
int sate;
float hdop;
float geoidal_separation;
WiFiUDP Udp;
void onRmcUpdate(nmea::RmcData const);
void onGgaUpdate(nmea::GgaData const);
ArduinoNmeaParser parser(onRmcUpdate, onGgaUpdate);
void setup()
{
Serial.begin(9600);
Serial1.begin(9600);
while (!Serial)
{
; // wait for serial port to connect. Needed for native USB port only
}
Serial.println("Access Point Web Server");
pinMode(led, OUTPUT); // set the LED pin mode
// check for the presence of the shield:
if (WiFi.status() == WL_NO_SHIELD)
{
Serial.println("WiFi shield not present");
// don't continue:
while (true);
}
WiFi.config(IPAddress(10, 23, 0, 1));
// print the network name (SSID);
Serial.print("Creating access point named: ");
Serial.println(ssid);
// Create open network. Change this line if you want to create an WEP network:
status = WiFi.beginAP(ssid, pass);
if (status != WL_AP_LISTENING)
{
Serial.println("Creating access point failed");
// don't continue
while (true);
}
delay(10000);
server.begin();
Serial.println("Connected to wifi");
printWiFiStatus();
Serial.println("\nStarting connection to server...");
Udp.begin(localPort);
}
void loop()
{
if (status != WiFi.status())
{
// it has changed update the variable
status = WiFi.status();
if (status == WL_AP_CONNECTED)
{
byte remoteMac[6];
// a device has connected to the AP
Serial.print("Device connected to AP, MAC address: ");
WiFi.APClientMacAddress(remoteMac);
printMacAddress(remoteMac); //romateMac表示远端是Mac地址。
} else {
// a device has disconnected from the AP, and we are back in listening mode
Serial.println("Device disconnected from AP");
}
}
WiFiClient client = server.available(); // listen for incoming clients
delay(1000);
while (Serial1.available()) {
parser.encode((char)Serial1.read());
}
Serial.print("Longitude: ");
Serial.println(longi, 7);
Serial.print("Latitude: ");
Serial.println(lati, 7);
Serial.print("Altitude: ");
Serial.println(alti);
Serial.print("Number of satellites: ");
Serial.println(sate);
Serial.print("hdop: ");
Serial.println(hdop);
Serial.print("geoidal_separation: ");
Serial.println(geoidal_separation);
int packetSize = Udp.parsePacket();
if (1)
{
Udp.read(packetBuffer, 255);
Serial.print("Received packet of size ");
Serial.println(packetSize);
Serial.print("From ");
IPAddress remoteIp = Udp.remoteIP();
Serial.print(remoteIp);
Serial.print(", port ");
Serial.println(Udp.remotePort());
Serial.println("Contents:");
Serial.println(packetBuffer);
Serial.println("Packet received");
}
unsigned int remoteIP = (10, 23, 0, 1);
unsigned int remotePort = 8787;
char Unterstreichung[] = "_";
char colon[] = ".";
idx++;
char chidx[128];
sprintf(chidx,"%d",idx); // 这个%d表示int型转成char的类型
char chlon[20];
sprintf(chlon,"%f",longi);
char chlat[20];
sprintf(chlat,"%f",lati); // 这个%d表示float型转成char的类型
char chalt[30];
sprintf(chalt,"%f",alti);
char chsate[30];
sprintf(chsate,"%d",sate);
char chhdop[20];
sprintf(chhdop,"%d",hdop);
char chgeo[20];
sprintf(chgeo,"%d",geoidal_separation);
strcat(chidx, Unterstreichung); // 这个语句代表拼接两个char类型的字符串。
Serial.println(chidx);
strcat(chidx, chlon);
Serial.println(chidx);
strcat(chidx, Unterstreichung);
Serial.println(chidx);
strcat(chidx, chlat);
Serial.println(chidx);
strcat(chidx, Unterstreichung);
Serial.println(chidx);
strcat(chidx, chalt);
Serial.println(chidx);
strcat(chidx, Unterstreichung);
Serial.println(chidx);
strcat(chidx, chsate);
Serial.println(chidx);
strcat(chidx, Unterstreichung);
Serial.println(chidx);
strcat(chidx, chhdop);
Serial.println(chidx);
strcat(chidx, Unterstreichung);
Serial.println(chidx);
strcat(chidx, chgeo);
Serial.println(chidx);
Udp.beginPacket(Udp.remoteIP(),Udp.remotePort());
Udp.print(chidx); // print传输char，float等形式，而write是以Byte形式传输的，因此python收到的是类似于ASCII码的形式才需要转码
Udp.endPacket();
}
/**************************************************************************************
* FUNCTION DEFINITION
**************************************************************************************/
void onRmcUpdate(nmea::RmcData const rmc)
{
Serial.print("RMC ");
if (rmc.source == nmea::RmcSource::GPS) Serial.print("GPS");
else if (rmc.source == nmea::RmcSource::GLONASS) Serial.print("GLONASS");
else if (rmc.source == nmea::RmcSource::Galileo) Serial.print("Galileo");
else if (rmc.source == nmea::RmcSource::GNSS) Serial.print("GNSS");
Serial.print(" ");
Serial.print(rmc.time_utc.hour);
Serial.print(":");
Serial.print(rmc.time_utc.minute);
Serial.print(":");
Serial.print(rmc.time_utc.second);
Serial.print(".");
Serial.print(rmc.time_utc.microsecond);
if (rmc.is_valid)
{
Serial.print(" : LON ");
Serial.print(rmc.longitude);
Serial.print(" ° | LAT ");
Serial.print(rmc.latitude);
Serial.print(" ° | VEL ");
Serial.print(rmc.speed);
Serial.print(" m/s | HEADING ");
Serial.print(rmc.course);
Serial.print(" °");
}
Serial.println();
}
void onGgaUpdate(nmea::GgaData const gga)
{
Serial.print("GGA ");
if (gga.source == nmea::GgaSource::GPS) Serial.print("GPS");
else if (gga.source == nmea::GgaSource::GLONASS) Serial.print("GLONASS");
else if (gga.source == nmea::GgaSource::Galileo) Serial.print("Galileo");
else if (gga.source == nmea::GgaSource::GNSS) Serial.print("GNSS");
Serial.print(" ");
Serial.print(gga.time_utc.hour);
Serial.print(":");
Serial.print(gga.time_utc.minute);
Serial.print(":");
Serial.print(gga.time_utc.second);
Serial.print(".");
Serial.print(gga.time_utc.microsecond);
if (gga.fix_quality != nmea::FixQuality::Invalid)
{
Serial.print(" : LON ");
Serial.print(gga.longitude, 7);
Serial.print(" ° | LAT ");
Serial.print(gga.latitude, 7);
Serial.print(" ° | Num Sat. ");
Serial.print(gga.num_satellites);
Serial.print(" | HDOP = ");
Serial.print(gga.hdop);
Serial.print(" m | Altitude ");
Serial.print(gga.altitude);
Serial.print(" m | Geoidal Separation ");
Serial.print(gga.geoidal_separation);
Serial.print(" m");
longi = gga.longitude;
lati = gga.latitude;
alti = gga.altitude;
sate = gga.num_satellites;
hdop = gga.hdop;
geoidal_separation = gga.geoidal_separation;
}
Serial.println();
}
void printWiFiStatus() {
// print the SSID of the network you're attached to:
Serial.print("SSID: ");
Serial.println(WiFi.SSID());
// print your WiFi shield's IP address:
IPAddress ip = WiFi.localIP();
Serial.print("IP Address: ");
Serial.println(ip);
// print the received signal strength:
long rssi = WiFi.RSSI();
Serial.print("signal strength (RSSI):");
Serial.print(rssi);
Serial.println(" dBm");
}
void printMacAddress(byte mac[]) {
for (int i = 5; i >= 0; i--) {
if (mac < 16) {
Serial.print("0");
}
Serial.print(mac, HEX);
if (i > 0) {
Serial.print(":");
}
}
Serial.println();
}
加delay之后
加delay之前
|
发表于 2021-7-5 23:26
发表于 2021-7-5 23:34
楼主