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So the following code partially works. That means: the LiDAR recognizes certain messages... it seems like those are always the same messages (i incremented the position every second, these are the positions):

• 3015.2746
• 3015.2766
• 3015.2971
• 3015.3107
• 3015.3117

I displayed all the times when something was sent, and i could not find any differences between the messages that worked and those that didn't work.

One more followup: If I try to increment pos+=0.0001, it does not work... it seems like i can only change up to 3 decimals. I don't understand why, since the float uses 4 bytes, so this should be no problem to store?! helpppp

Ok so here is the code for now:

#include <SoftwareSerial.h>
SoftwareSerial mySerial(7, 6); //232_TX,232_

int triggerFreq = 1;
unsigned long timestamp;
unsigned long triggerStartTime;
const unsigned long dt = 1000000/triggerFreq; //micros
unsigned long ts_pps_high;
unsigned long ts_pps_low;
unsigned long ts_msg_high;
unsigned long ts_msg_low;


unsigned long i;

int hh = 04;
int mm = 51;
int ss = 00;
float pos = 3015.2307;
bool msg;


void setup() {
  // put your setup code here, to run once:
  pinMode(11, OUTPUT); // PPS
  pinMode(12, OUTPUT); // Indicator of msg_sent
  Serial.begin(9600);
  mySerial.begin(9600);
  triggerStartTime = micros();
}

void loop() {
  timestamp = micros()-triggerStartTime;
  if (timestamp>= dt*i+350000)
  {
    pos +=0.001;
    digitalWrite(12,HIGH);
    i +=1;
    if (ss == 59)
    {
      ss=0;
      if (mm==59)
      {
        mm=0;
        hh+=1;
      }
      else mm+=1;
    }
    else ss+=1;

    ts_msg_high = micros();
    mySerial.print("$GPRMC,");
    if (hh<10) mySerial.print(F("0"));
    mySerial.print(hh);
    if (mm<10) mySerial.print(F("0"));
    mySerial.print(mm);
    if (ss<10) mySerial.print(F("0"));
    mySerial.print(ss);
    mySerial.print(".000,A,");
    mySerial.print(pos,4);
    mySerial.println(",N,09749.2872,W,0.67,161.46,030913,,,A*7C");
    
    // Print Debug Messages
    digitalWrite(12,LOW);
    ts_msg_low=micros();
    Serial.print("PPS at: ");
    Serial.print(ts_pps_high);
    Serial.print("\t PPS low after: ");
    Serial.print(ts_pps_low-ts_pps_high);
    Serial.print("\t MSG high after: ");
    Serial.print(ts_msg_high-ts_pps_high);
    Serial.print("\t MSG low after: ");
    Serial.print(ts_msg_low-ts_pps_high);
    Serial.print("$GPRMC,");
    if (hh<10) Serial.print(F("0"));
    Serial.print(hh);
    if (mm<10) Serial.print(F("0"));
    Serial.print(mm);
    if (ss<10) Serial.print(F("0"));
    Serial.print(ss);
    Serial.print(".000,A,");
    Serial.print(pos,4);
    Serial.println(",N,09749.2872,W,0.67,161.46,030913,,,A*7C");
  }
  else if (timestamp>=dt*i+100000)
  {
    digitalWrite(11,LOW);
    if (msg==true)
    {
      msg = false; 
      ts_pps_low = micros();
    }
    
  }
  else if (timestamp>=dt*i)
  {
    digitalWrite(11,HIGH);  
    if (msg==false)
    {
      msg = true;
      ts_pps_high = micros();
    }
  }

}

You can see my output as well:

PPS at: 2001060  PPS low after: 100000   MSG high after: 350016  MSG low after: 427132$GPRMC,045103.000,A,3015.2336,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 3001060  PPS low after: 100004   MSG high after: 350004  MSG low after: 427112$GPRMC,045104.000,A,3015.2346,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 4001056  PPS low after: 100000   MSG high after: 350004  MSG low after: 427116$GPRMC,045105.000,A,3015.2355,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 5001060  PPS low after: 100004   MSG high after: 350004  MSG low after: 427112$GPRMC,045106.000,A,3015.2365,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 6001056  PPS low after: 100004   MSG high after: 350004  MSG low after: 427116$GPRMC,045107.000,A,3015.2375,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 7001060  PPS low after: 100004   MSG high after: 350004  MSG low after: 427120$GPRMC,045108.000,A,3015.2385,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 8001056  PPS low after: 100004   MSG high after: 350020  MSG low after: 427132$GPRMC,045109.000,A,3015.2395,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 9001060  PPS low after: 100000   MSG high after: 350016  MSG low after: 427160$GPRMC,045110.000,A,3015.2404,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 10001052     PPS low after: 100008   MSG high after: 350020  MSG low after: 427164$GPRMC,045111.000,A,3015.2414,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 11001064     PPS low after: 100000   MSG high after: 350020  MSG low after: 427164$GPRMC,045112.000,A,3015.2424,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 12001056     PPS low after: 100008   MSG high after: 350004  MSG low after: 427152$GPRMC,045113.000,A,3015.2434,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 13001056     PPS low after: 99996    MSG high after: 350020  MSG low after: 427164$GPRMC,045114.000,A,3015.2443,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 14001056     PPS low after: 100008   MSG high after: 350008  MSG low after: 427156$GPRMC,045115.000,A,3015.2453,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 15001052     PPS low after: 100004   MSG high after: 350020  MSG low after: 427164$GPRMC,045116.000,A,3015.2463,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 16001052     PPS low after: 100000   MSG high after: 350016  MSG low after: 427164$GPRMC,045117.000,A,3015.2473,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 17001056     PPS low after: 100004   MSG high after: 350020  MSG low after: 427164$GPRMC,045118.000,A,3015.2482,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 18001052     PPS low after: 100000   MSG high after: 350016  MSG low after: 427164$GPRMC,045119.000,A,3015.2492,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 19001056     PPS low after: 100004   MSG high after: 350020  MSG low after: 427160$GPRMC,045120.000,A,3015.2502,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 20001060     PPS low after: 100000   MSG high after: 350004  MSG low after: 427148$GPRMC,045121.000,A,3015.2512,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 21001052     PPS low after: 100004   MSG high after: 350020  MSG low after: 427168$GPRMC,045122.000,A,3015.2521,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 22001064     PPS low after: 100004   MSG high after: 350004  MSG low after: 427148$GPRMC,045123.000,A,3015.2531,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 23001052     PPS low after: 100008   MSG high after: 350020  MSG low after: 427172$GPRMC,045124.000,A,3015.2541,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 24001052     PPS low after: 100008   MSG high after: 350024  MSG low after: 427168$GPRMC,045125.000,A,3015.2551,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 25001056     PPS low after: 100000   MSG high after: 350016  MSG low after: 427168$GPRMC,045126.000,A,3015.2561,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 26001052     PPS low after: 100008   MSG high after: 350024  MSG low after: 427160$GPRMC,045127.000,A,3015.2570,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 27001056     PPS low after: 100000   MSG high after: 350020  MSG low after: 427156$GPRMC,045128.000,A,3015.2580,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 28001060     PPS low after: 100008   MSG high after: 350004  MSG low after: 427144$GPRMC,045129.000,A,3015.2590,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 29001056     PPS low after: 100000   MSG high after: 350020  MSG low after: 427156$GPRMC,045130.000,A,3015.2600,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 30001056     PPS low after: 100004   MSG high after: 350020  MSG low after: 427164$GPRMC,045131.000,A,3015.2609,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 31001056     PPS low after: 100008   MSG high after: 350004  MSG low after: 427148$GPRMC,045132.000,A,3015.2619,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 32001056     PPS low after: 99996    MSG high after: 350012  MSG low after: 427164$GPRMC,045133.000,A,3015.2629,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 33001056     PPS low after: 100008   MSG high after: 350020  MSG low after: 427164$GPRMC,045134.000,A,3015.2639,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 34001056     PPS low after: 100000   MSG high after: 350016  MSG low after: 427164$GPRMC,045135.000,A,3015.2648,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 35001060     PPS low after: 100004   MSG high after: 350000  MSG low after: 427144$GPRMC,045136.000,A,3015.2658,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 36001060     PPS low after: 100000   MSG high after: 350004  MSG low after: 427148$GPRMC,045137.000,A,3015.2668,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 37001060     PPS low after: 100004   MSG high after: 350004  MSG low after: 427144$GPRMC,045138.000,A,3015.2678,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 38001064     PPS low after: 100004   MSG high after: 350004  MSG low after: 427144$GPRMC,045139.000,A,3015.2687,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 39001060     PPS low after: 100008   MSG high after: 350004  MSG low after: 427152$GPRMC,045140.000,A,3015.2697,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 40001052     PPS low after: 100008   MSG high after: 350024  MSG low after: 427160$GPRMC,045141.000,A,3015.2707,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 41001052     PPS low after: 100000   MSG high after: 350016  MSG low after: 427168$GPRMC,045142.000,A,3015.2717,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 42001060     PPS low after: 100004   MSG high after: 350004  MSG low after: 427148$GPRMC,045143.000,A,3015.2727,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 43001056     PPS low after: 100000   MSG high after: 350020  MSG low after: 427164$GPRMC,045144.000,A,3015.2736,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 44001052     PPS low after: 100004   MSG high after: 350020  MSG low after: 427164$GPRMC,045145.000,A,3015.2746,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 45001064     PPS low after: 100004   MSG high after: 350004  MSG low after: 427144$GPRMC,045146.000,A,3015.2756,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 46001052     PPS low after: 100004   MSG high after: 350020  MSG low after: 427172$GPRMC,045147.000,A,3015.2766,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 47001056     PPS low after: 100004   MSG high after: 350020  MSG low after: 427164$GPRMC,045148.000,A,3015.2775,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 48001056     PPS low after: 100000   MSG high after: 350016  MSG low after: 427164$GPRMC,045149.000,A,3015.2785,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 49001060     PPS low after: 100004   MSG high after: 350004  MSG low after: 427144$GPRMC,045150.000,A,3015.2795,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 50001052     PPS low after: 100000   MSG high after: 350016  MSG low after: 427160$GPRMC,045151.000,A,3015.2805,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 51001060     PPS low after: 100004   MSG high after: 350004  MSG low after: 427148$GPRMC,045152.000,A,3015.2814,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 52001056     PPS low after: 100000   MSG high after: 350020  MSG low after: 427164$GPRMC,045153.000,A,3015.2824,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 53001064     PPS low after: 100004   MSG high after: 350000  MSG low after: 427144$GPRMC,045154.000,A,3015.2834,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 54001056     PPS low after: 100004   MSG high after: 350020  MSG low after: 427164$GPRMC,045155.000,A,3015.2844,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 55001060     PPS low after: 100004   MSG high after: 350020  MSG low after: 427172$GPRMC,045156.000,A,3015.2854,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 56001068     PPS low after: 100004   MSG high after: 350000  MSG low after: 427144$GPRMC,045157.000,A,3015.2863,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 57001060     PPS low after: 99996    MSG high after: 350012  MSG low after: 427160$GPRMC,045158.000,A,3015.2873,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 58001064     PPS low after: 100004   MSG high after: 350004  MSG low after: 427148$GPRMC,045159.000,A,3015.2883,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 59001056     PPS low after: 100000   MSG high after: 350024  MSG low after: 427132$GPRMC,045200.000,A,3015.2893,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 60001060     PPS low after: 100004   MSG high after: 350020  MSG low after: 427124$GPRMC,045201.000,A,3015.2902,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 61001064     PPS low after: 100008   MSG high after: 350004  MSG low after: 427116$GPRMC,045202.000,A,3015.2912,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 62001060     PPS low after: 100008   MSG high after: 350008  MSG low after: 427124$GPRMC,045203.000,A,3015.2922,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 63001060     PPS low after: 100012   MSG high after: 350008  MSG low after: 427120$GPRMC,045204.000,A,3015.2932,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 64001052     PPS low after: 100000   MSG high after: 350020  MSG low after: 427136$GPRMC,045205.000,A,3015.2941,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 65001060     PPS low after: 100008   MSG high after: 350004  MSG low after: 427120$GPRMC,045206.000,A,3015.2951,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 66001064     PPS low after: 100000   MSG high after: 349996  MSG low after: 427116$GPRMC,045207.000,A,3015.2961,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 67001060     PPS low after: 100004   MSG high after: 350004  MSG low after: 427120$GPRMC,045208.000,A,3015.2971,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 68001060     PPS low after: 100000   MSG high after: 350004  MSG low after: 427112$GPRMC,045209.000,A,3015.2980,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 69001052     PPS low after: 100004   MSG high after: 350020  MSG low after: 427164$GPRMC,045210.000,A,3015.2990,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 70001064     PPS low after: 100004   MSG high after: 350004  MSG low after: 427136$GPRMC,045211.000,A,3015.3000,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 71001060     PPS low after: 100004   MSG high after: 350004  MSG low after: 427148$GPRMC,045212.000,A,3015.3010,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 72001064     PPS low after: 100004   MSG high after: 350004  MSG low after: 427144$GPRMC,045213.000,A,3015.3020,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 73001056     PPS low after: 100000   MSG high after: 350016  MSG low after: 427164$GPRMC,045214.000,A,3015.3029,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 74001064     PPS low after: 99988    MSG high after: 350004  MSG low after: 427148$GPRMC,045215.000,A,3015.3039,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 75001052     PPS low after: 100000   MSG high after: 350020  MSG low after: 427164$GPRMC,045216.000,A,3015.3049,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 76001060     PPS low after: 100004   MSG high after: 350000  MSG low after: 427144$GPRMC,045217.000,A,3015.3059,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 77001056     PPS low after: 100008   MSG high after: 350004  MSG low after: 427148$GPRMC,045218.000,A,3015.3068,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 78001060     PPS low after: 100008   MSG high after: 350004  MSG low after: 427152$GPRMC,045219.000,A,3015.3078,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 79001052     PPS low after: 100008   MSG high after: 350020  MSG low after: 427164$GPRMC,045220.000,A,3015.3088,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 80001052     PPS low after: 100000   MSG high after: 350016  MSG low after: 427164$GPRMC,045221.000,A,3015.3098,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 81001056     PPS low after: 100008   MSG high after: 350020  MSG low after: 427164$GPRMC,045222.000,A,3015.3107,N,09749.2872,W,0.67,161.46,030913,,,A*7C
PPS at: 82001060     PPS low after: 100000   MSG high after: 350016  MSG low after: 427172$GPRMC,045223.000,A,3015.3117,N,09749.2872,W,0.67,161.46,030913,,,A*7C

I'm not sure if this is the right place to ask, but since you helped my so much in the past, I thought it's worth a try.

To be honest I'm not very familiar with these kind of problems so I'm not sure if these delimiters are already being sent?

Edit: We're so close! Update at bottom! I'm not sure if this is the right place to ask, but since you helped my so much in the past, I thought it's worth a try.

To be honest I'm not very familiar with these kind of problems so I'm not sure if these delimiters are already being sent?

Edit Nr2: Ok the following situation:

• I'm actually not sure what changed. The code is still the same as above
• The LiDAR now recognizes SOME of the messages (I can only see the position, so I edited the code to change the position a bit every second, and the Lidar updates its position irregularly but approx. all 10 seconds)
• If anyone knows an explanation, I would be very happy to know. Otherwise, I just keep on trying an will keep you updated!

I wired it like this:

#include <SoftwareSerial.h>
SoftwareSerial mySerial(7, 6); //232_TX,232_

int triggerFreq = 1;
unsigned long timestamp;
unsigned long triggerStartTime;
const unsigned long dt = 1000000/triggerFreq; //micros


unsigned long i;

float gprmc = 181721.000;

void setup() {
  pinMode(11, OUTPUT); // PPS
  pinMode(12, OUTPUT); // Indicator of msg_sent
  Serial.begin(9600);
  mySerial.begin(9600);
  triggerStartTime = micros();
}

void loop() {
  timestamp = micros()-triggerStartTime;
  if (timestamp>= dt*i+200000)
  {
    digitalWrite(12,HIGH);

    i +=1;
    gprmc += 1;
    mySerial.print("$GPRMC,");
    if (gprmc < 100000) mySerial.print(F("0"));
    mySerial.print(gprmc,3);
    mySerial.print(F(",A,4042.695,N,07400.796,W,,,080120,000.0,W*63"));
    Serial.print("$GPRMC,");
    if (gprmc < 100000) Serial.print(F("0"));
    Serial.print(gprmc,3);
    Serial.print(F(",A,4042.695,N,07400.796,W,,,080120,000.0,W*63"));
    digitalWrite(12,LOW);
  }
  else if (timestamp>=dt*i+100000)
  {
    digitalWrite(11,LOW);
  }
  else if (timestamp>=dt*i)
  {
    digitalWrite(11,HIGH);
    
  }

}

I wired it like this:

#include <SoftwareSerial.h>
SoftwareSerial mySerial(7, 6); //232_TX,232_

int triggerFreq = 1;
unsigned long timestamp;
unsigned long triggerStartTime;
const unsigned long dt = 1000000/triggerFreq; //micros


unsigned long i;

float gprmc = 181721.000;

void setup() {
  pinMode(11, OUTPUT); // PPS
  pinMode(12, OUTPUT); // Indicator of msg_sent
  Serial.begin(9600);
  mySerial.begin(9600);
  triggerStartTime = micros();
}

void loop() {
  timestamp = micros()-triggerStartTime;
  if (timestamp>= dt*i+200000)
  {
    digitalWrite(12,HIGH);

    i +=1;
    gprmc += 1;
    mySerial.print("$GPRMC,");
    if (gprmc < 100000) mySerial.print(F("0"));
    mySerial.print(gprmc,3);
    mySerial.println(F(",A,4042.695,N,07400.796,W,,,080120,000.0,W*63"));
    Serial.print("$GPRMC,");
    if (gprmc < 100000) Serial.print(F("0"));
    Serial.print(gprmc,3);
    Serial.println(F(",A,4042.695,N,07400.796,W,,,080120,000.0,W*63"));
    digitalWrite(12,LOW);
  }
  else if (timestamp>=dt*i+100000)
  {
    digitalWrite(11,LOW);
  }
  else if (timestamp>=dt*i)
  {
    digitalWrite(11,HIGH);
    
  }

}