Rev Author Line No. Line
936 kakl 1 /**** GPS skrysohledac ****/
2 #define ID "$Id: gps.c 984 2008-01-06 23:41:31Z kakl $"
935 kakl 3  
933 kakl 4 #include "gps.h"
5  
6 #include <math.h>
7 #include <stdlib.h>
8 #include <stdlibm.h>
9  
935 kakl 10 #define LCD_RS PIN_B1 // LCD control
958 kakl 11 #define LCD_E PIN_B2 // LCD enable
936 kakl 12 #define LCD_DATA_LSB PIN_B4 // LSB data bit LCD
933 kakl 13 #include "MYLCD.C"
14  
15 // NMEA
958 kakl 16 #define TIME 6 // For NMEA parsing
17 #define TIME_LEN 10
18 #define LATDEG 19
19 #define LATMIN 21
20 #define LONDEG 32
21 #define LONMIN 34
22 #define DEG_LEN 2
23 #define MIN_LEN 7
24 #define AZIMUTH 46
25 #define NMEA_LINESIZE 60
933 kakl 26  
958 kakl 27 #define MAXGC 4
28 struct geocache
29 {
30 float lat;
31 float lon;
32 char name[8];
33 };
34  
35 struct geocache const gc[MAXGC] =
36 {
984 kakl 37 {49*60+15.5740,14*60+42.3310,"DOMA"}, // Testovaci souradnice: cisticka
38 {48*60+57.966,14*60+28.655,"GC16JMH"},
39 {48*60+57.837,14*60+28.599,"GC16F8Y"},
40 {49*60+9.542,14*60+56.417,"GC-----"}
958 kakl 41 };
42  
935 kakl 43 float lat,lon; // Latitude, Longitude, Azimuth
933 kakl 44 int16 az;
958 kakl 45 int8 gcnum; // Selection of the GC point
933 kakl 46  
958 kakl 47 //$GPRMC,105815.503,V,4915.5877,N,01442.3896,E,0.0,0.00,060108,,,N*44
935 kakl 48 inline void read_NMEA() // NMEA parsing
933 kakl 49 {
958 kakl 50 auto char line[NMEA_LINESIZE];
933 kakl 51 auto char item[16];
958 kakl 52 auto char *ptr;
53 // auto char *line;
933 kakl 54 auto int8 n;
55 auto char c;
56  
958 kakl 57 // line=malloc(NMEA_LINESIZE); // Space for one line
58 // if (line==NULL) {printf(lcd_putc,"Error"); sleep();};
935 kakl 59 line[NMEA_LINESIZE-1]=0;
933 kakl 60  
935 kakl 61 while(fgetc(NMEA)!='$'); // Waiting for start character
62 for(n=0;n<(NMEA_LINESIZE-1);n++) // Read line up to checksum
933 kakl 63 {
64 c=fgetc(NMEA);
65 if(c=='*')
66 {
67 line[n]=0;
68 break;
69 };
70 line[n]=c;
71 };
72  
958 kakl 73 lcd_gotoxy(12,4);
933 kakl 74 printf(lcd_putc,"%c %06.0g ",line[17],strtod(&line[TIME],&ptr));
75  
958 kakl 76 lcd_gotoxy(1,3);
933 kakl 77 strncpy(item,&line[LATDEG],DEG_LEN+MIN_LEN); item[DEG_LEN+MIN_LEN]=0;
78 printf(lcd_putc,"%s*",item);
79 strncpy(item,&line[LONDEG],DEG_LEN+MIN_LEN); item[DEG_LEN+MIN_LEN]=0;
80 printf(lcd_putc,"%s*",item);
81  
958 kakl 82 // lcd_gotoxy(1,2);
933 kakl 83 lat=strtod(&line[LATMIN],&ptr);
84 line[LATMIN]=0;
85 lat+=60*strtod(&line[LATDEG],&ptr);
86 lon=strtod(&line[LONMIN],&ptr);
87 line[LONMIN]=0;
88 lon+=60*strtod(&line[LONDEG],&ptr);
89 strtod(&line[AZIMUTH],&ptr);
90 az=strtoul(ptr+1,&ptr,10);
958 kakl 91 // printf(lcd_putc,"%.3g*%.3g*%03Lu",lat,lon,az);
92 // free(line);
933 kakl 93 }
94  
95 void main()
96 {
97  
98 setup_adc_ports(NO_ANALOGS);
99 setup_adc(ADC_OFF);
100 setup_spi(FALSE);
101 setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);
102 setup_timer_1(T1_DISABLED);
103 setup_timer_2(T2_DISABLED,0,1);
104 setup_comparator(NC_NC_NC_NC);
105 setup_vref(VREF_LOW|-2);
106 lcd_init();
107  
958 kakl 108 gcnum++; // Next GC
984 kakl 109 if (gcnum>(MAXGC-1)) gcnum=0;
958 kakl 110  
111 delay_ms(200);
112 lcd_gotoxy(1,2);
113 printf(lcd_putc,"%s",gc[gcnum].name); // Print GC name
114  
933 kakl 115 while(TRUE)
116 {
935 kakl 117 read_NMEA(); // Read one NMEA line and parse
933 kakl 118  
958 kakl 119 lon=(gc[gcnum].lon-lon)*1214; // Kakona's projection :)
120 lat=(gc[gcnum].lat-lat)*1854;
933 kakl 121  
958 kakl 122 lcd_gotoxy(1,4);
984 kakl 123 printf(lcd_putc,"%.0gm ",sqrt((lon*lon) + (lat*lat))); // Distance
958 kakl 124 lcd_gotoxy(1,1);
125 if (lon==0) lon=0.001; // Divided by zero cure
126 lon=3-(6/PI*atan2(lat,lon)); // Bearing
127 if (lon<0) lon+=12; // overflow cure
128 if (lon>12) lon-=12;
984 kakl 129 printf(lcd_putc,"BE%2.0gh*",lon);
958 kakl 130 lat=12.0/360*az; // Azimuth of the movement
131 lon=lon-lat; // Heading
132 if (lon<0) lon+=12; // overflow cure
133 if (lon>12) lon-=12;
984 kakl 134 printf(lcd_putc,"HE%2.0gh*AZ%2.0gh*",lon,lat);
933 kakl 135 }
136 }
984 kakl 137