gps now over spi

src/SpecialMenus/GPS/menuGPS.cpp

@@ -64,12 +64,12 @@ void MenuGPS::update() {
 }
 
 void MenuGPS::printPage() const {
-    uint8_t fixType = gps->getFixType();
+    uint8_t fixType = this->gps->getFixType();
 
     switch (this->currentPage) {
         case 0: {
-            uint8_t siv = gps->getSIV();
-            uint16_t hdop = gps->getHorizontalDOP();
+            uint8_t siv = this->gps->getSIV();
+            uint16_t hdop = this->gps->getHorizontalDOP();
             if (this->lcd) {
                 lcd->clear();
                 lcd->setCursor(0, 0);
@@ -88,12 +88,12 @@ void MenuGPS::printPage() const {
                                 << " HDOP: " << (int) hdop << std::endl; 
                 else
                     std::cout << "Data isn't valid or no GPS signal" << std::endl;
-        }
+            }
             break;
         
         case 1: {
-            int32_t lat = gps->getLatitude();
-            int32_t lng = gps->getLongitude();
+            int32_t lat = this->gps->getLatitude();
+            int32_t lng = this->gps->getLongitude();
             if (this->lcd) {
                 lcd->clear();
                 lcd->setCursor(0, 0);
@@ -112,11 +112,11 @@ void MenuGPS::printPage() const {
                             << " Lng: " << lng << std::endl;
             else 
                 std::cout << "Data isn't valid or NO GPS signal" << std::endl;
-        }
+            }
             break;
 
         case 2: {
-            uint32_t unixEpoch = gps->getUnixEpoch();
+            uint32_t unixEpoch = this->gps->getUnixEpoch();
             
             if (this->lcd) {
                 lcd->clear();
@@ -126,7 +126,7 @@ void MenuGPS::printPage() const {
                 lcd->printf("-> %u", unixEpoch);
             }
             std::cout << "Unix Epoch: " << (int) unixEpoch << std::endl;
-        }
+            }
             break;
 
         case 3: {
@@ -150,9 +150,24 @@ void MenuGPS::printPage() const {
                 std::cout << "NTRIP Client is enabled." << std::endl;
             else
                 std::cout << "NTRIP Client is disabled" << std::endl;
-        }
+            }
             break;
 
+        case 4: {
+            uint32_t accuracy = this->gps->getHorizontalAccuracy();
+
+            if (this->lcd) {
+                lcd->clear();
+                lcd->setCursor(0, 0);
+                lcd->printf("Hrizntl Accuracy");
+                lcd->setCursor(0, 1);
+                lcd->printf("-> %u", accuracy);
+            }
+            std::cout << "Horizontal Accuracy Estimate: " << (int) accuracy << std::endl;
+            }
+            break;
+
+
         default:
             if (this->lcd) {
                 lcd->clear();

src/driveModi/driveManager.cpp

@@ -18,8 +18,8 @@ Modi& operator++(Modi& m, int) {
 DriveManager::DriveManager(MoveControl *moveControl, bool wifi) {
     this->moveControl = moveControl;
 
-    SPIClass spiPort(HSPI);
-    spiPort.begin(UBLOX_GNSS_SPI_SCK, UBLOX_GNSS_SPI_CIPO, UBLOX_GNSS_SPI_COPI, UBLOX_GNSS_SPI_CS);
+    this->spiPort = new SPIClass(HSPI);
+    spiPort->begin(UBLOX_GNSS_SPI_SCK, UBLOX_GNSS_SPI_CIPO, UBLOX_GNSS_SPI_COPI, UBLOX_GNSS_SPI_CS);
     this->navigation = new Navigation(spiPort, UBLOX_GNSS_SPI_CS);
     if (wifi)
         this->navigation->initNtrip(NTRIP_HOST, NTRIP_PORT, NTRIP_MOUNT_POINT, NTRIP_USER, NTRIP_PASSWORD);
@@ -29,6 +29,7 @@ DriveManager::DriveManager(MoveControl *moveControl, bool wifi) {
 
 DriveManager::~DriveManager() {
     delete this->navigation;
+    delete this->spiPort;
 }
 
 void DriveManager::loop() {

src/driveModi/driveManager.h

@@ -119,6 +119,7 @@ class DriveManager {
         MoveControl *moveControl;
         DriveModi *currentModusPtr = nullptr;
         Navigation* navigation;
+        SPIClass* spiPort;
 };
 
 

src/main.cpp

@@ -61,6 +61,8 @@ void makeMenu(void);
 
 void setup() {
     Serial.begin(115200);
+    // DebugTimes::setConsolOutput(true);
+    DebugTimes setupTime;
     char wifiIndicator = 'X';
 
     mainBattery = new Battery(35, 692000, 218500);
@@ -79,12 +81,12 @@ void setup() {
     driveManager = new DriveManager(&moveController, wifiIsActive);
     if (wifiIsActive) {
         
-        const char* remoteHost = "www.google.com";
-        std::cout << "Pinging host: " << remoteHost << std::endl;
-        if (Ping.ping(remoteHost))
-            std::cout << "Ping successful..." << std::endl;
-        else
-            std::cout << "Ping failed. :/" << std::endl;
+        // const char* remoteHost = "www.google.com";
+        // std::cout << "Pinging host: " << remoteHost << std::endl;
+        // if (Ping.ping(remoteHost))
+        //     std::cout << "Ping successful..." << std::endl;
+        // else
+        //     std::cout << "Ping failed. :/" << std::endl;
 
         if (Network::checkMQTT()) {
             DebugMqtt::init(Network::getMqttClient(), Loglevel::debug);
@@ -122,6 +124,8 @@ void setup() {
     lcd->print("Press PS-Button");
 
     makeMenu();
+
+    setupTime.stopConsol("Setup");
 }
 
 void loop() {
@@ -131,7 +135,6 @@ void loop() {
         Network::checkMQTT();
         wifiTime.stopConsol("WiFi-Time", 5);
     }
-    
     driveManager->loop();
 
     DebugTimes mainBatteryTime;