8,35 → 8,55 |
#include <stdlibm.h> |
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#define LCD_RS PIN_B1 // LCD control |
#define LCD_E PIN_B0 // LCD enable |
#define LCD_E PIN_B2 // LCD enable |
#define LCD_DATA_LSB PIN_B4 // LSB data bit LCD |
#include "MYLCD.C" |
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// NMEA |
#define TIME 6 // For NMEA parsing |
#define TIME_LEN 10 |
#define LATDEG 19 |
#define LATMIN 21 |
#define LONDEG 32 |
#define LONMIN 34 |
#define DEG_LEN 2 |
#define MIN_LEN 7 |
#define AZIMUTH 46 |
#define TIME 6 // For NMEA parsing |
#define TIME_LEN 10 |
#define LATDEG 19 |
#define LATMIN 21 |
#define LONDEG 32 |
#define LONMIN 34 |
#define DEG_LEN 2 |
#define MIN_LEN 7 |
#define AZIMUTH 46 |
#define NMEA_LINESIZE 60 |
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#define MAXGC 4 |
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struct geocache |
{ |
float lat; |
float lon; |
char name[8]; |
}; |
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struct geocache const gc[MAXGC] = |
{ |
{49*60+15.5740,14*60+42.3310,"GCCISTI"}, // Testovaci souradnice: cisticka |
{49*60+12.4452,14*60+18.9079,"GCKOMET"}, // Testovaci souradnice: kometa |
{49*60+12.4452,14*60+18.9079,"GCXXX3"}, |
{49*60+12.4452,14*60+18.9079,"GCXXX4"} |
}; |
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float lat,lon; // Latitude, Longitude, Azimuth |
int16 az; |
int8 gcnum; // Selection of the GC point |
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#define NMEA_LINESIZE 72 |
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//$GPRMC,105815.503,V,4915.5877,N,01442.3896,E,0.0,0.00,060108,,,N*44 |
inline void read_NMEA() // NMEA parsing |
{ |
auto char line[NMEA_LINESIZE]; |
auto char item[16]; |
char *ptr,*line; |
auto char *ptr; |
// auto char *line; |
auto int8 n; |
auto char c; |
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line=malloc(NMEA_LINESIZE); // Space for one line |
if (line==NULL) {printf(lcd_putc,"Error"); sleep();}; |
// line=malloc(NMEA_LINESIZE); // Space for one line |
// if (line==NULL) {printf(lcd_putc,"Error"); sleep();}; |
line[NMEA_LINESIZE-1]=0; |
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while(fgetc(NMEA)!='$'); // Waiting for start character |
51,16 → 71,16 |
line[n]=c; |
}; |
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lcd_gotoxy(12,4); |
lcd_gotoxy(12,4); |
printf(lcd_putc,"%c %06.0g ",line[17],strtod(&line[TIME],&ptr)); |
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lcd_gotoxy(1,3); |
lcd_gotoxy(1,3); |
strncpy(item,&line[LATDEG],DEG_LEN+MIN_LEN); item[DEG_LEN+MIN_LEN]=0; |
printf(lcd_putc,"%s*",item); |
strncpy(item,&line[LONDEG],DEG_LEN+MIN_LEN); item[DEG_LEN+MIN_LEN]=0; |
printf(lcd_putc,"%s*",item); |
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lcd_gotoxy(1,2); |
// lcd_gotoxy(1,2); |
lat=strtod(&line[LATMIN],&ptr); |
line[LATMIN]=0; |
lat+=60*strtod(&line[LATDEG],&ptr); |
69,8 → 89,8 |
lon+=60*strtod(&line[LONDEG],&ptr); |
strtod(&line[AZIMUTH],&ptr); |
az=strtoul(ptr+1,&ptr,10); |
printf(lcd_putc,"%.3g*%.3g*%03Lu",lat,lon,az); |
free(line); |
// printf(lcd_putc,"%.3g*%.3g*%03Lu",lat,lon,az); |
// free(line); |
} |
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void main() |
86,29 → 106,33 |
setup_vref(VREF_LOW|-2); |
lcd_init(); |
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gcnum++; // Next GC |
if (gcnum>(MAXGC-1)) gcnum=0; |
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delay_ms(200); |
lcd_gotoxy(1,2); |
printf(lcd_putc,"%s",gc[gcnum].name); // Print GC name |
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while(TRUE) |
{ |
const float gc_lat=49*60+12.4452,gc_lon=14*60+18.9079; // Testovaci souradnice: Cisticka |
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float bearing, heading, azim; |
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read_NMEA(); // Read one NMEA line and parse |
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lon=(gc_lon-lon)*1214; // Kakona's projection :) |
lat=(gc_lat-lat)*1854; |
lon=(gc[gcnum].lon-lon)*1214; // Kakona's projection :) |
lat=(gc[gcnum].lat-lat)*1854; |
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lcd_gotoxy(1,4); |
lcd_gotoxy(1,4); |
printf(lcd_putc,"%.0g* ",sqrt((lon*lon) + (lat*lat))); // Distance |
lcd_gotoxy(1,1); |
if (lon==0) lon=0.001; // Divided by zero cure |
bearing=3-(6/PI*atan2(lat,lon)); // Bearing |
if (bearing<0) bearing+=12; // overflow cure |
if (bearing>12) bearing-=12; |
printf(lcd_putc,"BE%2.0g*",bearing); |
azim=12.0/360*az; // Azimuth of the movement |
heading=bearing-lat; // Heading |
if (heading<0) heading+=12; // overflow cure |
if (heading>12) heading-=12; |
printf(lcd_putc,"HE%2.0g*AZ%2.0g* ",heading,azim); |
lcd_gotoxy(1,1); |
if (lon==0) lon=0.001; // Divided by zero cure |
lon=3-(6/PI*atan2(lat,lon)); // Bearing |
if (lon<0) lon+=12; // overflow cure |
if (lon>12) lon-=12; |
printf(lcd_putc,"BE%2.0g*",lon); |
lat=12.0/360*az; // Azimuth of the movement |
lon=lon-lat; // Heading |
if (lon<0) lon+=12; // overflow cure |
if (lon>12) lon-=12; |
printf(lcd_putc,"HE%2.0g*AZ%2.0g* ",lon,lat); |
} |
} |
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