Adding a Bluetooth GPS

[h-g-t]

We here at Hash, Bash and Crunch do not worry about trivial details such as protocols.

If the d@mn thing does not work it will get percussive maintenance until it does!

[hassenplug]

I've connected four or five different bluetooth GPSs to NXTs, and I think I've had less trouble there, than trying to connect between an NXT & a PC using BT.

Steve

[h-g-t]

Did you use the programs mentioned earlier in this thread or do you have another one you might possibly share with us?

Did you try a USB unit (apart from the Dexter one)?

[mattallen37]

~pepijndevos As far as I know, yes it is SPP.

~h-g-t the dGPS is not USB, it's I2C like most other NXT sensors.

[hassenplug]

Did you use the programs mentioned earlier in this thread or do you have another one you might possibly share with us?

While I don't have any of my code handy, a quick google search on "nxt bluetooth gps code" turns up several versions of stuff I did with Chris Anderson and Ralph Hempel.

Steve

[h-g-t]

Thanks, but I had already seen most of these. Pblua was most interesting because it had a library for GPS built in to the language.

Unfortunately, I am too old (and too lazy) to convert to yet another programming environment.

I will try the unit I have bought with NXC, if that does not work then I will give to to my daughter to match with her phone (my son has already snaffled my car GPS unit).

[pepijndevos]

What hassenplug said is reassuring

So what about Bluetooth versions, is that something to worry about?

[h-g-t]

Well, the Solar gps unit arrived and various lights came on so I fired up the program 'gps_library_v0.3.nxc' in a brick using the standard firmware (1.31).

There was a compile error at line 264 because of a repeated Case number then because it could not find CommExecuteFunctionType cefArgs; in line 402.

I found a copy on the 'net called 'CommExecuteFunctionType cefArgs;.nxc' and am now at a loss as whether I should integrate the two programs or if I need the extended firmware.

The second program usually gives an access violation at 0040CFD7 at memory 75736552 in the BCC when I open it. But only if I put it in the NXC folder, not if I put it in beside BricxCC.exe.

If I try to compile it alone it gives exactly the same error message as the first program but in line 51!

Both brain cells have given up so answers (preferably not on a postcard) please.



Update - tried the upgraded firmware and both programs ran, but 'gps_library_v0.3.nxc' gave 'Error. Verify Bluetooth Port.' and the other 'Not in MyContact'

GPS manual here - http://www.proporta.com/F03/pdf/GpsBT_U ... V2_Eng.pdf


Code for both programs below.

Code: Select all

/*******************************************************************************
 *      Library for bluetooth GPS Receiver                                     *
 *******************************************************************************
 *     This is a library to handle Bluetooth communication with Gps receivers, *
 *     Holux M-1000, M-1200 and Navilock BT-348 have been tested, but other    *
 *     models with NMEA GPS-Data output 4600 baud capable should also work.    *
 *     This library is able to parse GGA and RMC string, and retreive          *
 *     informations such as Longitude, Latitude and Date or UTC Time.          *
 *                                                                             *
 *     Provided "as is" by Benco, french AFOL, contact via the nxtasy.org      *
 *     forum. You can find some articles around NXT and electronic, in french  *
 *     and english at http://freelug.org/auteur.php3?id_auteur=135             *
 *                                                                             *
 *     -Original first working NXC source posted by Antonio Scarfone           *
 *     -Original first GPGGA string analyser (based on Antonio code) given     *
 *      by Robokalle                                                           *
 *                                                                             *
 *******************************************************************************/

#include "NXCDefs.h"
#include "CommExecuteFunctionType cefArgs"
#define BT_CONN 1           //Bluetooth connection port
#define INBOX 1             //Mailbox or QUEUE number
#define INBUFFER 128        //The input buffer, where the GPS data are written
#define INBUFFERSMALL 58    //Workarround buffer of 58 bytes, because nxc is only able to read max 58 bytes
#define INBUFFERSMALL2 12   //Workarround buffer 2 x 58 = 116, remains 12 bytes to 128 bytes
#define STARTOFFSET 0       //Offset start
#define FILENAME "NMEA2.txt" //Name of the file to write the GPS data

/*Struct, where to hold the gps data stream sentences for one read
cycle, one read cycle brings up to 2 or 3 sentences. For security
reason, there is a fourth sentence struct variable implemented*/
struct sentence_struct {
   string sentence1;
   string sentence2;
   string sentence3;
   string sentence4;
};
sentence_struct gpsSentences; //Global struct variable for the GPS sentences

// temp. strings
string out;      //  out: output for the sentences, "all in one string"
// temp. buffers for the workarround input buffer to read splitted in 58,58,12 bytes buffers
byte tmpbuffer0[];
byte tmpbuffer1[];
byte tmpbuffer2[];
//Buffer to clear or init the real 128 byte input buffer
byte clearbuffer[];
//Buffer for init the request of the GPS Data
byte startreadbuf[];

//Create or append file for output data only for debug phase
bool filewritten;
//Speed of the data flow, depends if the GPS-Receiver is connected to satelite or not
int dataflow = 0;

struct GPS_struct {
   int UTC_Hour; int UTC_Min; int UTC_Sec; int UTC_mSec;
   int Date_Day; int Date_Month; int Date_Year;
   unsigned int Latitude_high; int Latitude_low; string Latitude_direction;
   unsigned int Longitude_high; int Longitude_low; string Longitude_direction;
   int Ground_speed;
   byte Quality; string Receiver_Status; byte Sat_number;
   byte accurateness_high; byte accurateness_low;
   int altitude_high; int altitude_low;
   int Magnetic_deg; string Magnetic_dir;
   string altitude_measure;
};

GPS_struct GPSData; //Global struct variable for the GPS data

void  Display_GPSData() {

   ClearScreen();

   TextOut(0,LCD_LINE1,"Date:");
   NumOut(30,LCD_LINE1,GPSData.Date_Day);
   TextOut(45,LCD_LINE1,"/");
   NumOut(50,LCD_LINE1,GPSData.Date_Month);
   TextOut(65,LCD_LINE1,"/");
   NumOut(70,LCD_LINE1,GPSData.Date_Year);
   
   TextOut(0,LCD_LINE2,"Time:");
   NumOut(30,LCD_LINE2,GPSData.UTC_Hour);
   TextOut(45,LCD_LINE2,":");
   NumOut(50,LCD_LINE2,GPSData.UTC_Min);
   TextOut(65,LCD_LINE2,":");
   NumOut(70,LCD_LINE2,GPSData.UTC_Sec);
   TextOut(85,LCD_LINE2,":");
   NumOut(90,LCD_LINE2,GPSData.UTC_mSec);

   TextOut(0,LCD_LINE3,"Lat :");
   NumOut(30,LCD_LINE3,GPSData.Latitude_high);
   TextOut(56,LCD_LINE3,".");
   NumOut(60,LCD_LINE3,GPSData.Latitude_low);
   TextOut(90,LCD_LINE3,GPSData.Latitude_direction);

   TextOut(0,LCD_LINE4,"Long:");
   NumOut(30,LCD_LINE4,GPSData.Longitude_high);
   TextOut(56,LCD_LINE4,".");
   NumOut(60,LCD_LINE4,GPSData.Longitude_low);
   TextOut(90,LCD_LINE4,GPSData.Longitude_direction);
   
   TextOut(0,LCD_LINE5,"Alt :");
   NumOut(30,LCD_LINE5,GPSData.altitude_high);
   TextOut(56,LCD_LINE5,".");
   NumOut(60,LCD_LINE5,GPSData.altitude_low);
   TextOut(70,LCD_LINE5,GPSData.altitude_measure);

   TextOut(0,LCD_LINE6,"Speed:");
   NumOut(40,LCD_LINE6,GPSData.Ground_speed);
   
   TextOut(0,LCD_LINE7,"Mag:");
   NumOut(30,LCD_LINE7,GPSData.Magnetic_deg);
   NumOut(60,LCD_LINE7,GPSData.Magnetic_dir);
}

/* GGA Global Positioning System Fix Data. Time, Position and fix related data
for a GPS receiver
$--GGA,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*hh
1) Time (UTC)
2) Latitude
3) N or S (North or South)
4) Longitude
5) E or W (East or West)
6) GPS Quality Indicator, [0 - fix not available, 1 - GPS fix, 2 - Differential GPS fix]
7) Number of satellites in view, 00 - 12
8) Horizontal Dilution of precision
9) Antenna Altitude above/below mean-sea-level (geoid)
10) Units of antenna altitude, meters
11) Geoidal separation, the difference between the WGS-84 earth ellipsoid and mean-sea-level (geoid), "-" means mean-sea-level below ellipsoid
12) Units of geoidal separation, meters
13) Age of differential GPS data, time in seconds since last SC104 type 1 or 9 update, null field when DGPS is not used
14) Differential reference station ID, 0000-1023
15) Checksum */

void GGAParsing(int item,string sdumy){
   int len,j;
   string dumy, dumy1;
   len= StrLen(sdumy);

   switch(item){
      case 1: for (j=0; j < len ;j++){
                 if (StrIndex(sdumy,j)== 46){ // "." searching
                    dumy1= SubStr( sdumy,0,2 ) ;
                    GPSData.UTC_Hour = StrToNum(dumy1);
                    dumy1= SubStr( sdumy,2,2 ) ;
                    GPSData.UTC_Min = StrToNum(dumy1);
                    dumy1= SubStr( sdumy,4,2 ) ;
                    GPSData.UTC_Sec = StrToNum(dumy1);
                    dumy1=SubStr( sdumy,j+1, len - j);
                    GPSData.UTC_mSec =StrToNum(dumy1);
                 }
              }
              break;
      case 2: for (j=0; j < len ;j++){
                 if (StrIndex(sdumy,j)== 46){
                    dumy1= SubStr( sdumy,0,j ) ;
                    GPSData.Latitude_high = StrToNum(dumy1);
                    dumy1=SubStr( sdumy,j+1, len - j);
                    GPSData.Latitude_low =StrToNum(dumy1);
                 }
              }
              break;
      case 3: GPSData.Latitude_direction=sdumy;
              break;
      case 4: for (j=0; j < len ;j++){
                 if (StrIndex(sdumy,j)== 46){
                    dumy1= SubStr( sdumy,0,j ) ;
                    GPSData.Longitude_high = StrToNum(dumy1);
                    dumy1=SubStr( sdumy,j+1, len - j);
                    GPSData.Longitude_low =StrToNum(dumy1);
                 }
              }
              break;
      case 5: GPSData.Longitude_direction=sdumy;
              break;
      case 6: GPSData.Quality=StrToNum(sdumy);
              break;
      case 7: GPSData.Sat_number=StrToNum(sdumy);
              break;
      case 8: for (j=0; j < len ;j++){
                 if (StrIndex(sdumy,j)== 46){
                    dumy1= SubStr( sdumy,0,j ) ;
                    GPSData.accurateness_high = StrToNum(dumy1);
                    dumy1=SubStr( sdumy,j+1, len - j);
                    GPSData.accurateness_low =StrToNum(dumy1);
                 }
              }
            break;
      case 9: for (j=0; j < len ;j++){
                  if (StrIndex(sdumy,j)== 46){
                     dumy1= SubStr( sdumy,0,j ) ;
                     GPSData.altitude_high = StrToNum(dumy1);
                     dumy1=SubStr( sdumy,j+1, len - j);
                     GPSData.altitude_low =StrToNum(dumy1);
                  }
               }
               break;
      case 10: GPSData.altitude_measure=sdumy;
               break;
   }
}

/*RMC Recommended Minimum Navigation Information
$--RMC,hhmmss.ss,A,llll.ll,a,yyyyy.yy,a,x.x,x.x,xxxx,x.x,a*hh
1) Time (UTC)
2) Status, V = Navigation receiver warning
3) Latitude
4) N or S
5) Longitude
6) E or W
7) Speed over ground, knots
8) Track made good, degrees true
9) Date, ddmmyy
10) Magnetic Variation, degrees
11) E or W
12) Checksum    */

void RMCParsing(int item,string sdumy){
   int len,j;
   string dumy, dumy1;
   len= StrLen(sdumy);

   switch(item){
      case 1: for (j=0; j < len ;j++){
                 if (StrIndex(sdumy,j)== 46){ // "." searching
                    dumy1= SubStr( sdumy,0,2 ) ;
                    GPSData.UTC_Hour = StrToNum(dumy1);
                    dumy1= SubStr( sdumy,2,2 ) ;
                    GPSData.UTC_Min = StrToNum(dumy1);
                    dumy1= SubStr( sdumy,4,2 ) ;
                    GPSData.UTC_Sec = StrToNum(dumy1);
                    dumy1=SubStr( sdumy,j+1, len - j);
                    GPSData.UTC_mSec =StrToNum(dumy1);
                 }
              }
              break;
      case 2: GPSData.Receiver_Status=sdumy;
              break;
      case 3: for (j=0; j < len ;j++){
                 if (StrIndex(sdumy,j)== 46){
                    dumy1= SubStr( sdumy,0,j ) ;
                    GPSData.Latitude_high = StrToNum(dumy1);
                    dumy1=SubStr( sdumy,j+1, len - j);
                    GPSData.Latitude_low =StrToNum(dumy1);
                 }
              }
              break;
      case 4: GPSData.Latitude_direction=sdumy;
              break;
      case 5: for (j=0; j < len ;j++){
                 if (StrIndex(sdumy,j)== 46){
                    dumy1= SubStr( sdumy,0,j ) ;
                    GPSData.Longitude_high = StrToNum(dumy1);
                    dumy1=SubStr( sdumy,j+1, len - j);
                    GPSData.Longitude_low =StrToNum(dumy1);
                 }
              }
              break;
      case 6: GPSData.Longitude_direction=sdumy;
              break;
      case 7: GPSData.Ground_speed=StrToNum(sdumy);
              break;
      case 8: GPSData.Sat_number=StrToNum(sdumy);
              break;
      case 9: dumy1= SubStr( sdumy,0,2 ) ;
              GPSData.Date_Day = StrToNum(dumy1);
              dumy1= SubStr( sdumy,2,2 ) ;
              GPSData.Date_Month = StrToNum(dumy1);
              dumy1= SubStr( sdumy,4,2 ) ;
              GPSData.Date_Year = StrToNum(dumy1);
              break;
      case 10: GPSData.Magnetic_deg=StrToNum(sdumy);
               break;
      case 11: GPSData.Magnetic_dir=sdumy;
               break;
   }
}


// Writes the sentences stored in out to a file, only for debug
void WriteData (string afile, string Data) {
  byte handle; int slen; int fsize;
  if (!filewritten) {
     if (CreateFile(afile, 10048, handle) == NO_ERR ) {
        slen = StrLen(Data);
        WriteBytes(handle, Data, slen);
        CloseFile(handle);
        filewritten = true;
     }
  } else {
     if (OpenFileAppend(afile, fsize, handle) == NO_ERR ) {
        slen = StrLen(Data);
        WriteBytes(handle, Data, slen);
        CloseFile(handle);
     }
  }
}

// strip the buffer string into pieces, searching ",", and send them
// to the good parser, depending the NMEA header
void strip_gps_data(string GPS_data){
   int lendata, i, begin, last, item ;
   string sdumy;
   bool GGA = false;
   bool RMC = false;
   i=0;
   lendata= StrLen(GPS_data);
   begin = -1;
   item=0;

   while (StrIndex(GPS_data,i) ==36 && i < lendata){i++; begin =i;}
   if (begin >-1){
      for (i=begin; i < lendata ;i++) {
         if (StrIndex(GPS_data,i)== 44){
            last=i;
            sdumy=SubStr(GPS_data,begin,last-begin);
            if (sdumy == "GPGGA") {GGA = true;}
            if (sdumy == "GPRMC") {RMC = true;}
            if (GGA){
               GGAParsing(item,sdumy);
               begin=i+1; item++;
            } else {
               if (RMC){
                  RMCParsing(item,sdumy);
                  begin=i+1; item++;
               } else { i=lendata;}
            }
         }
      }
   }
}

//Sub routine to check Bluetooth connection, exits the program if no connection
sub BTCheck(int conn){

   byte index, trials;
   byte event;
   if (!BluetoothStatus(conn) == NO_ERR){
      TextOut(5,LCD_LINE2,"Error, Verify");
      TextOut(5,LCD_LINE3,"Bluetooth Port");
      Wait(1000); Stop(true);
   }
}
//Submit the three temp. input buffers, in order to extract the sentences.
//Each sentence starts with a '$' char ascii=36 and ends with a '*' char ascii=42 to follow a checksum and a CR+LF.
int GetSentences (sentence_struct &ret,byte buffer1[],byte buffer2[],byte buffer3[],byte asciibegin, byte asciiend) {
   byte sarray[],rarray[];
   string astr = "";
   int beg = -1;
   int ends = -1;
   int ii = 0;
   int xx = 0;
   int num = -1;
   byte alen = 0;
   byte lensplit = 0;
   bool startsplit = true;
   ArrayInit(sarray, 0, INBUFFER);
   ArrayInit(rarray, 0, INBUFFER);
   ArrayBuild(sarray, buffer1, buffer2, buffer3); alen = ArrayLen(sarray);
   for (ii=0;ii<alen;ii++) {
      if (sarray[ii] == asciibegin) {
         if (startsplit == true && beg == -1 && ends == -1){
            beg = ii;
            startsplit=false;
            continue;
         }
         if (startsplit == false && beg > -1 && ends == -1){
            ends = ii;
            num++;
            lensplit = (ends - beg);
            dataflow+=lensplit;
            ArraySubset(rarray, sarray, beg, lensplit);
            ByteArrayToStrEx(rarray, astr);
            if (xx == 0) ret.sentence1 = astr;
            if (xx == 1) ret.sentence2 = astr;
            if (xx == 2) ret.sentence3 = astr;
            if (xx == 3) ret.sentence4 = astr;
            ArrayInit(rarray, 0, INBUFFER);
            astr = "";
            startsplit = true;
            ends = -1;
            beg = -1;
            xx++;
            ii = ii - 1;
         }
      }
   }
   num++;
   return num;
}


task main(){
   int numsent = 0;// Number of sentences received in one read cycle
   int n = 0; byte inbufPtr = 0;
   IOMapReadType InBufferfull; //Struct to check if input is full and ready for the next read cycle
   InBufferfull.ModuleName = CommModuleName;
   InBufferfull.Offset = CommOffsetBtInBufInPtr;
   InBufferfull.Count = 1;
   InBufferfull.Buffer[0]=0;
   CommExecuteFunctionType cefArgs;
   //init the following buffers
   ArrayInit(tmpbuffer0, 0, INBUFFERSMALL);
   ArrayInit(tmpbuffer1, 0, INBUFFERSMALL);
   ArrayInit(tmpbuffer2, 0, INBUFFERSMALL2);
   ArrayInit(clearbuffer, 0, INBUFFER);
   ArrayInit(startreadbuf, 0, INBUFFERSMALL);
   BTCheck(BT_CONN); //check slave connection
   //Check if file is already written
   filewritten = false;
   ReceiveRemoteString(INBOX, 1, startreadbuf);
   //Start a receive sequence to fill up the input buffer with GPS data
   while(true){
      //init the struct to hold the sentences
      gpsSentences.sentence1 = "";
      gpsSentences.sentence2 = "";
      gpsSentences.sentence3 = "";
      gpsSentences.sentence4 = "";
      //init the output string, which hold up the gpsSentences struct
      out = "";
      //Start a receive sequence to fill up the input buffer with GPS data , before reading the input buffer
      ReceiveRemoteString(INBOX, 1, startreadbuf); //make sure one receive sequence is not pending or not in error
      SysIOMapRead(InBufferfull);
      while(InBufferfull.Buffer[0]==0) { SysIOMapRead(InBufferfull); }
      SetBluetoothState(NO_ERR);
      InBufferfull.Buffer[0]=0;
      //Get the 128 byte large input buffer in three temp. buffer splitted up in 58,58 and 12 bytes long bytes arrays,
      //in order to workarround the ability of nxc to handle only 58 bytes large buffers.
      GetBTInputBuffer(STARTOFFSET, INBUFFERSMALL, tmpbuffer0);
      GetBTInputBuffer(INBUFFERSMALL, INBUFFERSMALL, tmpbuffer1);
      GetBTInputBuffer(2*INBUFFERSMALL, INBUFFERSMALL2, tmpbuffer2);
      numsent = GetSentences(gpsSentences, tmpbuffer0, tmpbuffer1,tmpbuffer2, 36, 42);
      //Output the extracted sentences to out string
      if (gpsSentences.sentence1 != "") out=StrCat(out,gpsSentences.sentence1);
      if (gpsSentences.sentence2 != "") out=StrCat(out,gpsSentences.sentence2);
      if (gpsSentences.sentence3 != "") out=StrCat(out,gpsSentences.sentence3);
      if (gpsSentences.sentence4 != "") out=StrCat(out,gpsSentences.sentence4);
      //Clear up the input buffer and set the input buffer pointer at the beginning of the buffer
      inbufPtr = BTInputBufferInPtr();
      if (inbufPtr == INBUFFER){
         SetBTInputBuffer(STARTOFFSET, INBUFFER, clearbuffer);
         SetBTInputBufferInPtr(0);
      }
      //clear up the temp. buffers
      ArrayInit(tmpbuffer0, 0, INBUFFERSMALL);
      ArrayInit(tmpbuffer1, 0, INBUFFERSMALL);
      ArrayInit(tmpbuffer2, 0, INBUFFERSMALL2);
      ArrayInit(clearbuffer, 0, INBUFFER);
      n+=numsent;
      strip_gps_data(out);
      //WriteData(FILENAME,out);     //write the sentences in a file (for debug)
      Display_GPSData();
      numsent = 0;
   }
}

Code: Select all

/*
Program  ID: NXTcommM01.nxc
Create Date: 2009-5-20
NXT BT LCP testing/Master side
*/

#define BT_CHANNEL    1
#define SLAVE_DEVICE  "CH_NXT_B"
#define SLAVE_PROGRAM "NRLink-8183CPM3.rxe"

/* ********************************************************
 * Search slave device index on My contacts list, then
 * establish connection
 * ******************************************************** */
bool Build_Connection(byte BtChannel, const string BtDevname)
{
     string msg;
     bool isOK = FALSE;
     byte idx  = 0;

     ClearScreen();
     TextOut(0, LCD_LINE1,StrCat("Search " ,BtDevname,"        " ));
     TextOut(0, LCD_LINE2,"in My Contact   " );
     for (byte xii=0; xii<BTDeviceCount(); xii++)
     {
         msg = BTDeviceName(xii);
         TextOut(0, LCD_LINE3, StrCat("Table: " ,msg,"         " ));
         if (BTDeviceName(xii) == BtDevname)
         {
            idx  = xii;
            isOK = TRUE;
            break;
         }
     }

     if (!isOK)
     {
        TextOut(0, LCD_LINE4, "Not in MyContact" );
        TextOut(0, LCD_LINE8, "Enter to Exit   " );
        until (ButtonPressed(BTNCENTER, TRUE));
        return FALSE;
     }

     msg = NumToStr(BtChannel);
     ClearScreen();
     TextOut(0, LCD_LINE1,StrCat("Connect " ,BtDevname));
     TextOut(0, LCD_LINE2,StrCat("on channel " ,msg));

     // Using Comm module IOMAP accessing method to establish connection
     // see NXC Programmer's Guide P39
     CommExecuteFunctionType cefArgs;
     cefArgs.Cmd    = INTF_CONNECT;
     cefArgs.Param1 = idx;
     cefArgs.Param2 = BtChannel;

     isOK  = FALSE;
     for (byte xii=0; xii<20; xii++)
     {
         msg = NumToStr(xii);
         TextOut(0, LCD_LINE3, StrCat("Try " , msg));
         SysCommExecuteFunction(cefArgs);
         Wait(500);

         msg = NumToStr(cefArgs.Result);
         TextOut(0, LCD_LINE4, StrCat("Result: " , msg,"       " ));
         if (cefArgs.Result == LDR_SUCCESS)
         {
            isOK = TRUE;
            break;
         }
     }
     if (!isOK)
     {
        TextOut(0, LCD_LINE4, "Connect failed  " );
        TextOut(0, LCD_LINE5, "Check Slave !   " );
        TextOut(0, LCD_LINE8, "Enter to Exit   " );
        until (ButtonPressed(BTNCENTER, TRUE));
     }
     return isOK;
}
/* ********************************************************
 * Verify wether connection ready, if not establish it
 * ******************************************************** */
bool Check_Connection(byte BtChannel, const string BtDevname)
{
     bool isOK = FALSE;

     ClearScreen();
     TextOut(0, LCD_LINE1,"Check connection" );
     if (BluetoothStatus(BtChannel) == NO_ERR)        isOK = TRUE;
     else if (Build_Connection(BtChannel, BtDevname)) isOK = TRUE;
          else
          {
              ClearScreen();
              TextOut(0, LCD_LINE1,"Cannot connect  " );
              TextOut(0, LCD_LINE2,"    with Slave  " );
              TextOut(0, LCD_LINE8,"Enter to Exit   " );
              until (ButtonPressed(BTNCENTER, TRUE));
          }
     return isOK;
}
/* ********************************************************
 *
 * ******************************************************** */
task main()
{
     if (Check_Connection(BT_CHANNEL, SLAVE_DEVICE))
     {
        ClearScreen();
        TextOut(0, LCD_LINE1,"Connect OK      " );
        TextOut(0, LCD_LINE8,"Enter to Run Rmt" );
        until (ButtonPressed(BTNCENTER, TRUE));

        RemoteStartProgram(BT_CHANNEL, SLAVE_PROGRAM);

        ClearScreen();
        TextOut(0, LCD_LINE1,StrCat("Run ",SLAVE_PROGRAM),"           " );
        TextOut(0, LCD_LINE8,"Enter to Exit   " );
        until (ButtonPressed(BTNCENTER, TRUE));
     }
}

[pbenco]

Dear h-g-t

1 - Have you connected your BT GPs Unit in the BT menu, as it's recognized as a slave by your NXT unit?

2 - Have you setup the

Code: Select all

#define BT_CONN 1           //Bluetooth connection port 

accordingly to the BT port used?

3 - Have you test your GPS unit, with a BT phone GPS capable?

0(?) - Have you read my article, it has screenshots of the NXT LCD with a step by step procedure. (use google translation is necessary)

Best regards
Ben

[h-g-t]

Thanks, that was a fast reply!

I tried connecting before running the program and it found the GPS, went through the pin code bit and said 'Connecting' but then came up with 'Line busy'. The BT light on the GPS confirmed that they were communicating but nowt happened. Think I'll have to put them in touch with eHarmony.

Must admit I didn't read your blog, I just dived into the Bluetooth menu on the brick.

Too tired to try again, got a total of 2 1/2 hours sleep last night and have been awake since 0.30.