generated from TDD-Templates/cmake_cpputest_template
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#include <Adafruit_LIS2MDL.h> // Magnetometer (Compass) library
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#include <Adafruit_Sensor.h> // Unified sensor library
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#include <Wire.h> // I2C communication
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#include <Adafruit_GFX.h> // Core graphics library for the display
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#include <Adafruit_ST7735.h> // Specific library for the ST7735 display
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#include <Adafruit_ST7789.h> // Specific library for the ST7789 display
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#include <SPI.h> // SPI communication for the display
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#include <FastLED.h> // Library to control the LED ring (WS2812)
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#include <TinyGPS++.h> // Library to handle GPS data
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#include <SoftwareSerial.h> // Software serial for GPS communication
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// MAGNETOMETER (LIS2MDL) CONFIGURATION
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Adafruit_LIS2MDL lis2mdl = Adafruit_LIS2MDL(12345); // Create magnetometer object
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// DISPLAY CONFIGURATION (ST7789)
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#define TFT_CS 5 // Chip select pin for the display
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#define TFT_RST 9 // Reset pin for the display
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#define TFT_DC 6 // Data/Command pin for the display
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Adafruit_ST7789 tft = Adafruit_ST7789(TFT_CS, TFT_DC, TFT_RST); // Initialize display
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// LED RING CONFIGURATION (WS2812)
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#define NUM_LEDS 24 // Number of LEDs in the ring
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#define DATA_PIN 12 // Pin for LED data
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CRGB leds[NUM_LEDS]; // Array to hold LED colors
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// GPS CONFIGURATION (BN-220)
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#define GPS_TX_PIN 10 // GPS TX pin connected to Arduino RX
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#define GPS_RX_PIN 11 // GPS RX pin connected to Arduino TX
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SoftwareSerial gpsSerial(GPS_RX_PIN, GPS_TX_PIN); // Software serial for GPS
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TinyGPSPlus gps; // TinyGPS++ object to process GPS data
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// Variables
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static int prevHeading = -1; // Store previous heading to avoid frequent updates
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unsigned long lastUpdate = 0; // Time tracking for updates
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const int updateInterval = 500; // Update interval in milliseconds (500ms = 0.5s)
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void setup(void) {
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// Initialize Serial Communication for debugging
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Serial.begin(115200);
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// Display Setup
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tft.init(240, 280); // Initialize the display with a resolution of 240x280 pixels
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tft.fillScreen(ST77XX_BLACK); // Set the screen background to black
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// Magnetometer Setup
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if (!lis2mdl.begin()) { // Initialize the magnetometer
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Serial.println("Error: LIS2MDL not detected. Check your wiring!");
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while (1) delay(10); // Stop the program if the sensor isn't detected
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}
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// LED Ring Setup
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FastLED.addLeds<NEOPIXEL, DATA_PIN>(leds, NUM_LEDS); // Initialize the LED ring
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// GPS Setup
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gpsSerial.begin(9600); // Start GPS communication at 9600 baud rate
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}
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void loop() {
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unsigned long currentTime = millis(); // Get the current time
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// GPS Data Handling
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if (gpsSerial.available() > 0) { // Check if data is available from the GPS module
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gps.encode(gpsSerial.read()); // Decode the GPS data
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if (gps.location.isValid()) { // Check if GPS location data is valid
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double latitude = gps.location.lat(); // Get latitude
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double longitude = gps.location.lng(); // Get longitude
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Serial.print("Lat: "); // Output latitude for debugging
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Serial.println(latitude, 6); // Print latitude with 6 decimal places
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Serial.print("Lon: "); // Output longitude for debugging
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Serial.println(longitude, 6); // Print longitude with 6 decimal places
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} else {
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Serial.println("Waiting for valid GPS data..."); // GPS signal lost or invalid
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}
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}
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// Magnetometer Readings
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sensors_event_t event; // Create an event to store magnetometer readings
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lis2mdl.getEvent(&event); // Get magnetic field data
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int correctedX = event.magnetic.x + 18; // Apply corrections to X-axis data
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int correctedY = event.magnetic.y + 59; // Apply corrections to Y-axis data
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// Calculate the heading (bearing) from the magnetometer data
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//NEED TO ADD TILT COMPENSATION
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int heading = (atan2(correctedX, correctedY) * 180) / PI; // Calculate heading in degrees
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heading = heading - 90; // Adjust to align with compass directions
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if (heading < 0) heading += 360; // Ensure the heading is within the 0-360 range
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// Update LED ring and display every 500ms to avoid flickering
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if (currentTime - lastUpdate > updateInterval) {
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updateLEDs(heading); // Update the LED ring based on the current heading
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updateDisplay(); // Placeholder: Update the central TFT display with GPS data
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lastUpdate = currentTime; // Reset the last update time
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}
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}
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// Function to update the LED ring based on heading direction
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void updateLEDs(int heading) {
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if (abs(heading - prevHeading) >= 10) { // Only update if the heading changes by 10 degrees or more
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prevHeading = heading; // Save the current heading as the previous heading
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int ledIndex = map(heading, 0, 360, 0, NUM_LEDS - 1); // Map the heading to an LED index (0-23)
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// Update the LEDs in the ring
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for (int i = 0; i < NUM_LEDS; i++) {
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leds[i] = (i == ledIndex) ? CRGB(255, 0, 0) : CRGB::Black; // Turn on the correct LED for the heading
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}
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FastLED.show(); // Display the updated LED colors
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}
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}
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// Placeholder for updating the TFT display with GPS data
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void updateDisplay() {
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// Add logic to display the distance between devices on the screen
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// You can add code here to:
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// - Display the current distance between devices using the GPS data
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// - Display any other relevant information, such as GPS coordinates or signal strength
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// Example:
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// tft.setCursor(10, 50); // Set cursor position
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// tft.setTextColor(ST77XX_WHITE); // Set text color
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// tft.setTextSize(2); // Set text size
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// tft.print("Distance: ");
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// tft.print(calculatedDistance);
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}
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// Future function to handle LoRa transmission of GPS data - See adafruit LORA code examples
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void sendGPSData() {
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// Add logic here to transmit the device's GPS coordinates using LoRa
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// You will need to:
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// - Get the current GPS coordinates
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// - Format the data for transmission
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// - Use the LoRa library to send the data to the paired device
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// Example: LoRa.beginPacket(); LoRa.print(latitude); LoRa.print(longitude); LoRa.endPacket();
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}
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// Future function to receive GPS data from the other device via LoRa - See adafruit LORA code examples
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void receiveGPSData() {
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// Add logic here to receive the paired device's GPS coordinates using LoRa
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// You will need to:
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// - Listen for incoming LoRa packets
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// - Parse the received data
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// - Update the display and LED ring based on the other device's location
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// Example: if (LoRa.parsePacket()) { double otherLat = LoRa.read(); double otherLon = LoRa.read(); }
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}
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// Future function to handle edge cases (e.g., GPS signal loss, close proximity)
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void handleEdgeCases() {
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// Add logic here to handle cases where:
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// - GPS signal is lost: Display a message on the screen or flash the LED ring
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// - Devices are too close: Display a warning if the GPS data is unreliable due to proximity
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// - LoRa communication is lost: Display a notification or error on the screen
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}
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