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/*! \file gps.c \brief GPS position storage and processing library. */ |
//***************************************************************************** |
// |
// File Name : 'gps.c' |
// Title : GPS position storage and processing function library |
// Author : Pascal Stang - Copyright (C) 2002-2005 |
// Created : 2005.01.14 |
// Revised : 2002.07.17 |
// Version : 0.1 |
// Target MCU : Atmel AVR Series |
// Editor Tabs : 4 |
// |
// NOTE: This code is currently below version 1.0, and therefore is considered |
// to be lacking in some functionality or documentation, or may not be fully |
// tested. Nonetheless, you can expect most functions to work. |
// |
// This code is distributed under the GNU Public License |
// which can be found at http://www.gnu.org/licenses/gpl.txt |
// |
//***************************************************************************** |
|
#ifndef WIN32 |
#include <avr/io.h> |
#include <avr/interrupt.h> |
#include <avr/pgmspace.h> |
#include <math.h> |
#include <stdlib.h> |
#endif |
|
#include <stdio.h> |
|
#include "global.h" |
#include "rprintf.h" |
#include "gps.h" |
#include "lcd_hd44780.h" |
#include "utm.h" // Lat Lon to UTM conversion |
|
// Global variables |
GpsInfoType GpsInfo; |
|
// Functions |
void gpsInit(void) |
{ |
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} |
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GpsInfoType* gpsGetInfo(void) |
{ |
return &GpsInfo; |
} |
|
void gpsInfoPrint(void) |
{ |
/* |
rprintfProgStrM("TOW: "); rprintfFloat(8, GpsInfo.TimeOfWeek.f); rprintfCRLF(); |
rprintfProgStrM("WkNum: "); rprintfNum(10,4,0,' ',GpsInfo.WeekNum); rprintfCRLF(); |
rprintfProgStrM("UTCoffset:"); rprintfFloat(8, GpsInfo.UtcOffset.f); rprintfCRLF(); |
rprintfProgStrM("Num SVs: "); rprintfNum(10,4,0,' ',GpsInfo.numSVs); rprintfCRLF(); |
|
rprintfProgStrM("X_ECEF: "); rprintfFloat(8, GpsInfo.PosECEF.x.f); rprintfCRLF(); |
rprintfProgStrM("Y_ECEF: "); rprintfFloat(8, GpsInfo.PosECEF.y.f); rprintfCRLF(); |
rprintfProgStrM("Z_ECEF: "); rprintfFloat(8, GpsInfo.PosECEF.z.f); rprintfCRLF(); |
rprintfProgStrM("TOF: "); rprintfFloat(8, GpsInfo.PosECEF.TimeOfFix.f); rprintfCRLF(); |
rprintfProgStrM("Updates: "); rprintfNum(10,6,0,' ',GpsInfo.PosECEF.updates); rprintfCRLF(); |
|
//u08 str[20]; |
//rprintfProgStrM(" PosLat: "); rprintfStr(dtostrf(GpsInfo.PosLat.f, 10, 5, str)); |
rprintfProgStrM("PosLat: "); rprintfFloat(8, 180*(GpsInfo.PosLLA.lat.f/PI)); rprintfCRLF(); |
rprintfProgStrM("PosLon: "); rprintfFloat(8, 180*(GpsInfo.PosLLA.lon.f/PI)); rprintfCRLF(); |
rprintfProgStrM("PosAlt: "); rprintfFloat(8, GpsInfo.PosLLA.alt.f); rprintfCRLF(); |
rprintfProgStrM("TOF: "); rprintfFloat(8, GpsInfo.PosLLA.TimeOfFix.f); rprintfCRLF(); |
// rprintfProgStrM("Updates: "); rprintfNum(10,6,0,' ',GpsInfo.PosLLA.updates); rprintfCRLF(); |
//*/ |
/* |
rprintfProgStrM("Vel East: "); rprintfFloat(8, GpsInfo.VelENU.east.f); rprintfCRLF(); |
rprintfProgStrM("Vel North:"); rprintfFloat(8, GpsInfo.VelENU.north.f); rprintfCRLF(); |
rprintfProgStrM("Vel Up: "); rprintfFloat(8, GpsInfo.VelENU.up.f); rprintfCRLF(); |
// rprintfProgStrM("TOF: "); rprintfFloat(8, GpsInfo.VelENU.TimeOfFix.f); rprintfCRLF(); |
rprintfProgStrM("Updates: "); rprintfNum(10,6,0,' ',GpsInfo.VelENU.updates); rprintfCRLF(); |
|
rprintfProgStrM("Vel Head: "); rprintfFloat(8, GpsInfo.VelHS.heading.f); rprintfCRLF(); |
rprintfProgStrM("Vel Speed:"); rprintfFloat(8, GpsInfo.VelHS.speed.f); rprintfCRLF(); |
// rprintfProgStrM("TOF: "); rprintfFloat(8, GpsInfo.VelHS.TimeOfFix.f); rprintfCRLF(); |
//*/ |
rprintfProgStrM("PosLat: "); rprintfFloat(8, GpsInfo.PosLLA.lat.f); rprintfCRLF(); |
rprintfProgStrM("PosLon: "); rprintfFloat(8, GpsInfo.PosLLA.lon.f); rprintfCRLF(); |
rprintfProgStrM("PosAlt: "); rprintfFloat(8, GpsInfo.PosLLA.alt.f); rprintfCRLF(); |
rprintfProgStrM("TOF: "); rprintfFloat(8, GpsInfo.PosLLA.TimeOfFix.f); rprintfCRLF(); |
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rprintfProgStrM("Updates: "); rprintfNum(10,6,0,' ',GpsInfo.VelHS.updates); rprintfCRLF(); |
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} |
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void gpsInfoPrintLCD(void) |
{ |
lcd_gotoxy(1,1); |
rprintfStr(GPSlat); |
// rprintfFloatMy(2, GpsInfo.PosLLA.lat.f); |
// rprintfFloatMy(6, (GpsInfo.PosLLA.lat.f-trunc(GpsInfo.PosLLA.lat.f))*60); |
rprintfCRLF(); |
lcd_gotoxy(12,1); |
rprintfFloat(4, GpsInfo.PosLLA.alt.f); |
lcd_gotoxy(10,2); |
// rprintfFloat(6, GpsInfo.PosLLA.TimeOfFix.f+20000); |
rprintfFloat(6, GpsInfo.PosLLA.TimeOfFix.f+10000); |
lcd_gotoxy(1,2); |
rprintfStr(GPSlon); |
// rprintfFloatMy(2, GpsInfo.PosLLA.lon.f); |
// rprintfFloatMy(6, (GpsInfo.PosLLA.lon.f-trunc(GpsInfo.PosLLA.lon.f))*60); |
rprintfCRLF(); |
lcd_gotoxy(10,1); |
rprintfNum(10,2,0,'*',GpsInfo.numSVs); |
rprintfCRLF(); |
} |
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void gpsInfoPrintLCD2(void) |
{ |
int utmXZone; |
char utmYZone; |
double easting; |
double northing; |
|
lcd_gotoxy(1,1); |
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LatLonToUtmWGS84(&utmXZone, &utmYZone, &easting, &northing, GpsInfo.PosLLA.lat.f, GpsInfo.PosLLA.lon.f); |
|
rprintfFloatMy(7, northing); |
rprintfProgStrM(" "); |
// rprintfCRLF(); |
lcd_gotoxy(12,1); |
rprintfFloat(4, GpsInfo.PosLLA.alt.f); |
lcd_gotoxy(10,2); |
// rprintfFloat(6, GpsInfo.PosLLA.TimeOfFix.f+20000); |
rprintfFloat(6, GpsInfo.PosLLA.TimeOfFix.f+10000); |
lcd_gotoxy(1,2); |
rprintfNum(10,2,0,'*',utmXZone); |
rprintfChar(utmYZone); |
rprintfFloatMy(6, easting); |
rprintfProgStrM(" "); |
// rprintfCRLF(); |
lcd_gotoxy(9,1); |
rprintfNum(10,3,0,'*',GpsInfo.numSVs); |
rprintfCRLF(); |
} |