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WhereOTechno.ino
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/*
WhereOTechno
runs on Lilygo T-Echo
add https://adafruit.github.io/arduino-board-index/package_adafruit_index.json
to board manager list
install 'Adafruit nRF52 by Adafruit' (not 'Arduino nRF52 boards')
select Nordic nRF52840 DK something
getting-started: https://github.com/Xinyuan-LilyGO/T-Echo
memory layout facts: https://learn.adafruit.com/bluefruit-nrf52-feather-learning-guide/hathach-memory-map#sram-layout-39-8
*/
#include "utilities.h"
#include <SPI.h>
#include <Wire.h>
#include <GxEPD.h> // GxEPD by Jean-Marc Zingg
//#include <GxGDEP015OC1/GxGDEP015OC1.h> // 1.54" b/w
//#include <GxGDEH0154D67/GxGDEH0154D67.h> // 1.54" b/w
#include <GxDEPG0150BN/GxDEPG0150BN.h> // 1.54" b/w
#include GxEPD_BitmapExamples
#include <Fonts/FreeMonoBold12pt7b.h>
#include <GxIO/GxIO_SPI/GxIO_SPI.h>
#include <GxIO/GxIO.h>
#include <TinyGPS++.h> // TinyGPSPlus by Mikal Hart
#include <RadioLib.h> // RadioLib by Jan Gromes 6.5.0
#include "fix.h"
#include "fixes.h"
void setupDisplay();
void enableBacklight();
void configVDD(void);
void boardInit();
bool setupGPS();
void loopGPS();
SPIClass *dispPort = nullptr;
SPIClass *rfPort = nullptr;
GxIO_Class *io = nullptr;
GxEPD_Class *display = nullptr;
SX1262 radio = nullptr;
uint32_t lastFixSendMillis = 0;
uint32_t lastGpsFixMillis = 0;
uint8_t rgb = 0;
TinyGPSPlus *gps;
Fix myFix;
Fix theirFix;
Fixes* myFixes;
Fixes* theirFixes;
double maxRange = 0;
char* techno = (char*) "Techno!";
// flag to indicate that a packet was sent
volatile bool transmittedFlag = false;
// disable interrupt when it's not needed
volatile bool enableInterrupt = true;
// flag to indicate that a packet was received
volatile bool receivedFlag = false;
// save transmission state between loops
int transmissionState = RADIOLIB_ERR_NONE;
uint8_t sendBuf[200];
int16_t sendBufSize = 0;
uint8_t receiveBuf[200];
uint16_t receiveBufSize = 0;
int displayState = 0;
uint32_t fixSendInterval = 30000;
uint32_t blinkStartMillis = 0;
uint32_t bootMillis = 0;
#define CRASH_TRACE 0
bool doSend = true;
bool doReceive = true;
void setup()
{
bootMillis = millis();
myFixes = new Fixes();
theirFixes = new Fixes();
if( getMacAddress() == 0x67CDF1D2 )
{
doSend = true;
doReceive = false;
Serial.println("I'm a sender");
}
if( getMacAddress() == 0x52A2DF5C )
{
doSend = false;
doReceive = true;
Serial.println("I'm a receiver");
}
Serial.begin(115200);
delay(4000);
boardInit();
delay(200);
}
// this function is called when a complete packet
// is received by the module
// IMPORTANT: this function MUST be 'void' type
// and MUST NOT have any arguments!
void setReceivedFlag(void)
{
// check if the interrupt is enabled
if (!enableInterrupt) {
return;
}
// we got a packet, set the flag
receivedFlag = true;
}
bool loopTouchPin()
{
static bool lastB = false;
bool refreshDisplay = false;
bool b = digitalRead(UserButton_Pin);
if( b && ! lastB )
{
nextDisplayState();
refreshDisplay = true;
}
lastB = b;
return refreshDisplay;
}
#define DISPLAY_STATE_MY_MAP 0
#define DISPLAY_STATE_THEIR_MAP 1
#define DISPLAY_STATE_FIXES 2
#define DISPLAY_STATE_MY_FIX 3
#define DISPLAY_STATE_THEIR_FIX 4
void nextDisplayState()
{
if(doReceive && ! doSend)
{
switch( displayState )
{
case DISPLAY_STATE_MY_MAP:
displayState = DISPLAY_STATE_THEIR_MAP;
break;
case DISPLAY_STATE_THEIR_MAP:
displayState = DISPLAY_STATE_FIXES;
break;
case DISPLAY_STATE_FIXES:
displayState = DISPLAY_STATE_MY_FIX;
break;
case DISPLAY_STATE_MY_FIX:
displayState = DISPLAY_STATE_THEIR_FIX;
break;
case DISPLAY_STATE_THEIR_FIX:
default:
displayState = DISPLAY_STATE_MY_MAP;
break;
}
}
else if(!doReceive && doSend)
{
switch( displayState )
{
case DISPLAY_STATE_MY_MAP:
case DISPLAY_STATE_THEIR_MAP:
case DISPLAY_STATE_FIXES:
displayState = DISPLAY_STATE_MY_FIX;
break;
case DISPLAY_STATE_MY_FIX:
case DISPLAY_STATE_THEIR_FIX:
default:
displayState = DISPLAY_STATE_MY_MAP;
break;
}
}
else // both
{
switch( displayState )
{
case DISPLAY_STATE_MY_MAP:
displayState = DISPLAY_STATE_THEIR_MAP;
break;
case DISPLAY_STATE_THEIR_MAP:
displayState = DISPLAY_STATE_FIXES;
break;
case DISPLAY_STATE_FIXES:
displayState = DISPLAY_STATE_MY_FIX;
break;
case DISPLAY_STATE_MY_FIX:
displayState = DISPLAY_STATE_THEIR_FIX;
break;
case DISPLAY_STATE_THEIR_FIX:
default:
displayState = DISPLAY_STATE_MY_MAP;
break;
}
}
}
uint32_t lastDisplayMillis = 0;
uint32_t displayInterval = 10000;
void loop()
{
if( CRASH_TRACE ) Serial.print("loop1\n");
if( doReceive )
loopReceive();
if( CRASH_TRACE ) Serial.print("loop2\n");
loopGPS();
if( CRASH_TRACE ) Serial.print("loop3\n");
bool refreshDisplay = loopTouchPin();
if( CRASH_TRACE ) Serial.print("loop4\n");
if( refreshDisplay || millis() - lastDisplayMillis > displayInterval)
{
loopDisplay();
blinkStartMillis = millis();
lastDisplayMillis = millis();
digitalWrite(GreenLed_Pin, LOW);
digitalWrite(RedLed_Pin, HIGH);
digitalWrite(BlueLed_Pin, HIGH);
}
if( millis() - blinkStartMillis > 300 ) // short blink every refresh
{
digitalWrite(GreenLed_Pin, HIGH);
digitalWrite(RedLed_Pin, HIGH);
digitalWrite(BlueLed_Pin, HIGH);
}
if( doSend )
{
if (millis() - lastFixSendMillis > fixSendInterval)
{
if( CRASH_TRACE ) Serial.print("loop8\n");
loopSender();
if( CRASH_TRACE ) Serial.print("loop9\n");
lastFixSendMillis = millis() + random(2000); // randomise sending so we don't risk overriding the other end
}
}
if( CRASH_TRACE ) Serial.print("loop end\n");
}
void loopSender()
{
sendBufSize = myFix.encode(sendBuf);
//strcpy((char*)sendBuf, "qwerqwerqwerqwerqwerqwerqwerqwrqwerqwerqwer");
if( sendBufSize < 1 )
{
SerialMon.println(F("no packet to send"));
return;
}
SerialMon.print(F("[SX1262] Transmitting packet size "));
SerialMon.print(sendBufSize);
SerialMon.print(" ");
int state = radio.transmit(sendBuf, sendBufSize);
if (state == RADIOLIB_ERR_NONE) {
// the packet was successfully transmitted
SerialMon.println(F("success!"));
// print measured data rate
SerialMon.print(F("[SX1262] Datarate:\t"));
SerialMon.print(radio.getDataRate());
SerialMon.println(F(" bps"));
} else if (state == RADIOLIB_ERR_PACKET_TOO_LONG) {
// the supplied packet was longer than 256 bytes
SerialMon.println(F("too long!"));
} else if (state == RADIOLIB_ERR_TX_TIMEOUT) {
// timeout occured while transmitting packet
SerialMon.println(F("timeout!"));
} else {
// some other error occurred
SerialMon.print(F("failed, code "));
SerialMon.println(state);
}
}
void loopDisplay(void)
{
if( displayState == DISPLAY_STATE_MY_MAP)
displayMap(myFixes, theirFixes, false, "me");
else if( displayState == DISPLAY_STATE_THEIR_MAP)
displayMap(theirFixes, myFixes, true, "them");
else if( displayState == DISPLAY_STATE_FIXES)
displayFixes();
else if( displayState == DISPLAY_STATE_MY_FIX)
displayFix(myFix, "My Fix");
else if( displayState == DISPLAY_STATE_THEIR_FIX)
displayFix(theirFix, "Their Fix");
display->update();
}
void displayMap(Fixes *fixes, Fixes *other, bool drawOther, const char*label)
{
if( CRASH_TRACE ) Serial.println("map1");
display->fillScreen(GxEPD_WHITE);
//display->drawExampleBitmap(BitmapExample1, 0, 0, GxEPD_WIDTH, GxEPD_HEIGHT, GxEPD_BLACK);
display->setCursor(0,20);
//display->print("age ");
//display->println(myFixAge/1000);
if( CRASH_TRACE ) Serial.println("map2");
display->print(label);
display->print(" (");
if( CRASH_TRACE ) Serial.println("map3");
display->print(fixes->numFixes);
display->print(") ");
if( CRASH_TRACE ) Serial.println("map4");
//display->drawCircle(30,30, 10, GxEPD_BLACK);
//display->drawCircle(50,50,20,GxEPD_BLACK);
fixes->calcScale(myFix, display->width(), display->height());
display->print(fixes->screenWidthInM,0);
display->print("m");
if( CRASH_TRACE ) Serial.println("map5");
double lastX = 0;
double lastY = 0;
if( CRASH_TRACE ) Serial.println("map7");
// draw a 10m square in the screen center
double cw = fixes->pixForM(10);
double r1 = display->width()/2.0 - cw/2.0;
display->drawRect(r1, r1, cw, cw, 0);
cw = fixes->pixForM(100);
r1 = display->width()/2.0 - cw/2.0;
display->drawRect(r1, r1, cw, cw, 0);
cw = fixes->pixForM(1000);
r1 = display->width()/2.0 - cw/2.0;
display->drawRect(r1, r1, cw, cw, 0);
if( CRASH_TRACE ) Serial.println("map8");
bool first = true;
int i = fixes->numFixes - 1;
while( i >= 0 )
{
if( CRASH_TRACE ) Serial.println("map9");
if( fixes->fixes[i].goodFix())
{
double x = fixes->x(i);
double y = fixes->y(i);
if( ! first )
{
if( i < 10 )
{ // highlight the last few segments
display->drawLine(x+1, y, lastX+1, lastY, GxEPD_WHITE);
display->drawLine(x-1, y, lastX-1, lastY, GxEPD_WHITE);
display->drawLine(x, y+1, lastX, lastY+1, GxEPD_WHITE);
display->drawLine(x, y-1, lastX, lastY-1, GxEPD_WHITE);
}
display->drawLine(x, y, lastX, lastY, GxEPD_BLACK);
}
if( i == 0 )
{
display->fillCircle(x,y, 8, GxEPD_WHITE);
display->drawCircle(x,y, 6, GxEPD_BLACK);
}
else
{
display->drawCircle(x,y, 2, GxEPD_BLACK);
}
lastX = x;
lastY = y;
first = false;
}
if( CRASH_TRACE ) Serial.println("map9");
i--;
}
first = true;
if( drawOther )
{
// draw us on the map
i = min( 20, other->numFixes - 1);
while( i >= 0 ) // draw 0 last
{
if( CRASH_TRACE ) Serial.println("map6");
if( other->fixes[i].goodFix())
{
double mx = fixes->x(other->fixes[i].lng);
double my = fixes->y(other->fixes[i].lat);
if( ! first )
{
if( i < 10 )
{ // highlight the last few segments
display->drawLine(mx+1, my, lastX+1, lastY, GxEPD_WHITE);
display->drawLine(mx-1, my, lastX-1, lastY, GxEPD_WHITE);
display->drawLine(mx, my+1, lastX, lastY+1, GxEPD_WHITE);
display->drawLine(mx, my-1, lastX, lastY-1, GxEPD_WHITE);
}
display->drawLine(mx, my, lastX, lastY, GxEPD_BLACK);
}
if( i == 0 )
{
display->fillCircle(mx, my, 8, GxEPD_WHITE);
display->fillCircle(mx, my, 6, GxEPD_BLACK);
}
else
{
display->fillCircle(mx, my, 2, GxEPD_BLACK);
}
lastX = mx;
lastY = my;
first = false;
}
i --;
}
}
if( CRASH_TRACE ) Serial.println("map end");
//Serial.println("mapped");
}
void displayFix(Fix fix, const char*label)
{
display->fillScreen(GxEPD_WHITE);
display->setCursor(0,20);
display->println(label);
display->printf("%X\n",fix.id);
display->print(fix.lat, 6);
display->println(",");
display->println(fix.lng, 6);
display->print(fix.age()/1000);
display->print("s ");
display->print(fix.satellites);
display->println("sats");
display->print("hdp");
display->print(fix.hdop);
display->print(" snr");
display->println(fix.snr, 0);
display->print("rssi");
display->print(fix.rssi, 0);
display->print(" ");
display->print((int) (100.0 *fix.batteryFraction()));
display->println("%");
display->print("up ");
display->print(fix.uptime/1000);
display->println("s");
}
void displayFixes()
{
display->fillScreen(GxEPD_WHITE);
//display->drawExampleBitmap(BitmapExample1, 0, 0, GxEPD_WIDTH, GxEPD_HEIGHT, GxEPD_BLACK);
display->setCursor(0,20);
//display->print("age ");
//display->println(myFixAge/1000);
display->print("me ");
display->println(myFix.lat, 6);
display->print(", ");
display->println(myFix.lng, 6);
display->print("t ");
display->println(theirFix.lat, 6);
display->print(", ");
display->println(theirFix.lng, 6);
display->print(myFix.distanceTo(theirFix), 1);
display->println(" m");
display->print(myFix.headingTo(theirFix), 1);
display->println(" deg");
display->print("max ");
display->print(maxRange, 0);
display->println(" m");
}
void enableBacklight(bool en)
{
digitalWrite(ePaper_Backlight, en);
}
void setupDisplay()
{
dispPort = new SPIClass(
/*SPIPORT*/NRF_SPIM2,
/*MISO*/ ePaper_Miso,
/*SCLK*/ePaper_Sclk,
/*MOSI*/ePaper_Mosi);
io = new GxIO_Class(
*dispPort,
/*CS*/ ePaper_Cs,
/*DC*/ ePaper_Dc,
/*RST*/ePaper_Rst);
display = new GxEPD_Class(
*io,
/*RST*/ ePaper_Rst,
/*BUSY*/ ePaper_Busy);
dispPort->begin();
display->init(/*115200*/);
display->setRotation(3);
display->fillScreen(GxEPD_WHITE);
display->setTextColor(GxEPD_BLACK);
display->setFont(&FreeMonoBold12pt7b);
}
void configVDD(void)
{
// Configure UICR_REGOUT0 register only if it is set to default value.
if ((NRF_UICR->REGOUT0 & UICR_REGOUT0_VOUT_Msk) ==
(UICR_REGOUT0_VOUT_DEFAULT << UICR_REGOUT0_VOUT_Pos)) {
NRF_NVMC->CONFIG = NVMC_CONFIG_WEN_Wen;
while (NRF_NVMC->READY == NVMC_READY_READY_Busy) {}
NRF_UICR->REGOUT0 = (NRF_UICR->REGOUT0 & ~((uint32_t)UICR_REGOUT0_VOUT_Msk)) |
(UICR_REGOUT0_VOUT_3V3 << UICR_REGOUT0_VOUT_Pos);
NRF_NVMC->CONFIG = NVMC_CONFIG_WEN_Ren;
while (NRF_NVMC->READY == NVMC_READY_READY_Busy) {}
// System reset is needed to update UICR registers.
NVIC_SystemReset();
}
}
void boardInit()
{
uint8_t rlst = 0;
#ifdef HIGH_VOLTAGE
configVDD();
#endif
Serial.print("1\n");
SerialMon.begin(MONITOR_SPEED);
// delay(5000);
// while (!SerialMon);
SerialMon.println("Start\n");
uint32_t reset_reason;
sd_power_reset_reason_get(&reset_reason);
SerialMon.print("sd_power_reset_reason_get:");
SerialMon.println(reset_reason, HEX);
pinMode(Power_Enable_Pin, OUTPUT);
digitalWrite(Power_Enable_Pin, HIGH);
pinMode(ePaper_Backlight, OUTPUT);
//enableBacklight(true); //ON backlight
enableBacklight(false); //OFF backlight
pinMode(GreenLed_Pin, OUTPUT);
pinMode(RedLed_Pin, OUTPUT);
pinMode(BlueLed_Pin, OUTPUT);
pinMode(UserButton_Pin, INPUT_PULLUP);
pinMode(Touch_Pin, INPUT_PULLUP);
//pinMode( Adc_Pin, ANALOG_IN );
int i = 10;
while (i--) {
digitalWrite(GreenLed_Pin, !digitalRead(GreenLed_Pin));
digitalWrite(RedLed_Pin, !digitalRead(RedLed_Pin));
digitalWrite(BlueLed_Pin, !digitalRead(BlueLed_Pin));
delay(300);
}
digitalWrite(GreenLed_Pin, HIGH);
digitalWrite(RedLed_Pin, HIGH);
digitalWrite(BlueLed_Pin, HIGH);
Serial.print("2\n");
setupDisplay();
Serial.print("3\n");
setupGPS();
Serial.print("4\n");
setupLoRa();
Serial.print("5\n");
display->update();
delay(500);
Serial.print("6\n");
}
void setTransmittedFlag(void)
{
// check if the interrupt is enabled
if (!enableInterrupt) {
return;
}
// we got a packet, set the flag
transmittedFlag = true;
}
bool setupLoRa()
{
rfPort = new SPIClass(
/*SPIPORT*/NRF_SPIM3,
/*MISO*/ LoRa_Miso,
/*SCLK*/LoRa_Sclk,
/*MOSI*/LoRa_Mosi);
rfPort->begin();
SPISettings spiSettings;
radio = new Module(LoRa_Cs, LoRa_Dio1, LoRa_Rst, LoRa_Busy, *rfPort, spiSettings);
SerialMon.print("[SX1262] Initializing ... ");
// carrier frequency: 868.0 MHz
// bandwidth: 125.0 kHz
// spreading factor: 9
// coding rate: 7
// sync word: 0x12 (private network)
// or 0x34 for TTN - see https://www.thethingsnetwork.org/forum/t/should-private-lorawan-networks-use-a-different-sync-word/34496
// output power: 14 dBm
// current limit: 60 mA
// preamble length: 8 symbols
// TCXO voltage: 1.6 V (set to 0 to not use TCXO)
// regulator: DC-DC (set to true to use LDO)
// CRC: enabled
int state = radio.begin(868.0);
if (state != RADIOLIB_ERR_NONE) {
SerialMon.print(("failed, code "));
SerialMon.println(state);
return false;
}
if (state == RADIOLIB_ERR_NONE) {
Serial.println(F("success!"));
radio.setOutputPower(17);
radio.setBandwidth(125);
radio.setCurrentLimit(120);
} else {
Serial.print(F("failed, code "));
Serial.println(state);
while (true);
}
if( doReceive )
{
// set the function that will be called
// when new packet is received
radio.setPacketReceivedAction(setReceivedFlag);
// start listening for LoRa packets
Serial.print(F("[SX1276] Starting to listen ... "));
state = radio.startReceive();
}
SerialMon.println(" success");
return true;
}
void loopReceive()
{
// check if the flag is set
if (receivedFlag) {
// disable the interrupt service routine while
// processing the data
enableInterrupt = false;
// reset flag
receivedFlag = false;
receiveBufSize = radio.getPacketLength();
strcpy((char*)receiveBuf, "EMPTYEMPTYEMPTYEMPTYEMPTYEMPTYEMPTYEMPTYEMPTYEMPTYEMPTYEMPTYEMPTYEMPTYEMPTYEMPTY");
int state = radio.readData(receiveBuf,receiveBufSize);
if (state == RADIOLIB_ERR_NONE) {
// packet was successfully received
Serial.println(F("[SX1276] Received packet!"));
Serial.print(receiveBufSize);
Serial.println(F(" bytes"));
Serial.println((char*)receiveBuf);
if( receiveBufSize == sizeof(Fix))
{
Fix temp;
if( temp.decode(receiveBuf, receiveBufSize))
{
theirFix = temp;
theirFix.rssi = radio.getRSSI();
theirFix.snr = radio.getSNR();
Serial.print("temp ");
Serial.println(temp.lat);
Serial.print("their ");
Serial.println(theirFix.lat);
if( myFix.goodFix() && theirFix.goodFix())
{
double range = myFix.distanceTo(theirFix);
maxRange = max(maxRange, range);
}
theirFixes->add(theirFix);
}
}
else
{
Serial.print(F("wrong len ( not "));
Serial.print(sizeof(Fix));
Serial.println(F(" ), not for us"));
}
// print data of the packet
//Serial.print(F("[SX1276] Data:\t\t"));
//Serial.println(str);
// print RSSI (Received Signal Strength Indicator)
//Serial.print(F("[SX1276] RSSI:\t\t"));
//Serial.print(radio.getRSSI());
//Serial.println(F(" dBm"));
// print SNR (Signal-to-Noise Ratio)
//Serial.print(F("[SX1276] SNR:\t\t"));
//Serial.print(radio.getSNR());
//Serial.println(F(" dB"));
// print frequency error
//Serial.print(F("[SX1276] Frequency error:\t"));
//Serial.print(radio.getFrequencyError());
//Serial.println(F(" Hz"));
} else if (state == RADIOLIB_ERR_CRC_MISMATCH) {
// packet was received, but is malformed
Serial.println(F("[SX1276] CRC error!"));
} else {
// some other error occurred
Serial.print(F("[SX1276] Failed, code "));
Serial.println(state);
}
// put module back to listen mode
radio.startReceive();
// we're ready to receive more packets,
// enable interrupt service routine
enableInterrupt = true;
}
}
bool setupGPS()
{
SerialMon.println("[GPS] Initializing ... ");
SerialMon.flush();
#ifndef PCA10056
SerialGPS.setPins(Gps_Rx_Pin, Gps_Tx_Pin);
#endif
SerialGPS.begin(9600);
SerialGPS.flush();
pinMode(Gps_pps_Pin, INPUT);
pinMode(Gps_Wakeup_Pin, OUTPUT);
digitalWrite(Gps_Wakeup_Pin, HIGH);
delay(10);
pinMode(Gps_Reset_Pin, OUTPUT);
digitalWrite(Gps_Reset_Pin, HIGH); delay(10);
digitalWrite(Gps_Reset_Pin, LOW); delay(10);
digitalWrite(Gps_Reset_Pin, HIGH);
gps = new TinyGPSPlus();
return true;
}
uint32_t getMacAddress()
{
// read the mac address
uint32_t id = NRF_FICR->DEVICEADDR[1] & 0xffff;
id = id | (NRF_FICR->DEVICEADDR[0] << 4);
return id;
}
void loopGPS()
{
static bool firstFix = true;
while (SerialGPS.available() > 0)
gps->encode(SerialGPS.read());
if (gps->location.isUpdated())
{
if (millis() - lastGpsFixMillis > fixSendInterval) {
if( ! firstFix ) // always ignore first fix
{
// but send every 10s even when not updated
myFix.id = getMacAddress();
//Serial.printf("sending id %X", getMacAddress());
myFix.lat = gps->location.lat();
myFix.lng = gps->location.lng();
myFix.ageWhenReceived = gps->location.age();
myFix.timeWhenReceived = millis();
myFix.hdop = gps->hdop.value();
myFix.satellites = gps->satellites.value();
myFix.batteryVoltage = analogRead(Adc_Pin);
myFix.uptime = millis() - bootMillis;
myFixes->add(myFix);
lastGpsFixMillis = millis();
}
firstFix = false;
}
if (gps->location.isUpdated()) {
/*
SerialMon.print(F("LOCATION Fix Age="));
SerialMon.print(gps->location.age());
SerialMon.print(F("ms Raw Lat="));
SerialMon.print(gps->location.rawLat().negative ? "-" : "+");
SerialMon.print(gps->location.rawLat().deg);
SerialMon.print("[+");
SerialMon.print(gps->location.rawLat().billionths);
SerialMon.print(F(" billionths], Raw Long="));
SerialMon.print(gps->location.rawLng().negative ? "-" : "+");
SerialMon.print(gps->location.rawLng().deg);
SerialMon.print("[+");
SerialMon.print(gps->location.rawLng().billionths);
SerialMon.print(F(" billionths], Lat="));
SerialMon.print(gps->location.lat(), 6);
SerialMon.print(F(" Long="));
SerialMon.println(gps->location.lng(), 6);
*/
}
else if (gps->date.isUpdated()) {
/*