| 0,0 → 1,218 |
|---|
| //***************************************************************************** |
| //*** GPS CZ,no terminal,no time,no position,no math atan2,no save |
| //*** yes - arrow, distanc, load GCPOINT from PC |
| |
| #include "GPS_LCD_876_A2.h" |
| #include <math.h> |
| #include <stdlib.h> |
| |
| //***************************************************************************** |
| //*** defines *** |
| |
| #define LCD_CS PIN_B0 |
| #define LCD_DATA PIN_B1 |
| #define LCD_CLK PIN_B2 |
| #define LCD_A0 PIN_B3 |
| #define LCD_RESET PIN_B4 |
| #include "LCD_ALCATEL.C" |
| |
| #define ARROW_UR 0x1 |
| #define ARROW_UL 0x0 |
| #define ARROWR "\xf\x3\x5\x9\x10\x10\x10" |
| #define ARROWL "\x1e\x18\x14\x12\x1\x1\x1" |
| |
| #define TAN22 0.4142 |
| #define TAN67 2.4241 |
| |
| #define MAX_GC_POINT 2 |
| |
| //***************************************************************************** |
| //*** functions *** |
| |
| void NMEA_part_scan(int8 *point); |
| void NMEA_GPRMC(void); |
| void read_ee_gc(int8 numgc); |
| int8 atan2_my(float x,float y); |
| void calc_distanc_azimut(void); |
| void PC_part_scan(int8 *point); |
| void terminal(void); |
| void main(void); |
| |
| //***************************************************************************** |
| //*** global variables *** |
| |
| int8 sel; |
| int8 azimut; |
| float lon,lat; |
| float gc_lon,gc_lat; |
| int8 la[10]; |
| int8 lo[11]; |
| |
| //***************************************************************************** |
| |
| void NMEA_part_scan(int8 *point) |
| { |
| int8 a; |
| a=0; |
| while (a!=',') {a=fgetc(GPS);*(point++)=a;} |
| *(--point)=0x00; |
| } |
| |
| //$GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,120598,,*10 |
| void NMEA_GPRMC(void) |
| { |
| int8 status; |
| int8 n_s; |
| int8 e_w; |
| int8 course[7]; |
| |
| while (fgetc(GPS)!='$'); //$ |
| while (fgetc(GPS)!=','); //GPRMC, |
| while (fgetc(GPS)!=',');//NMEA_part_scan(&time[0]); //UTC, |
| status=fgetc(GPS);fgetc(GPS); //status, |
| NMEA_part_scan(&la[0]); //latitude, |
| n_s=fgetc(GPS);fgetc(GPS); //N/S, |
| NMEA_part_scan(&lo[0]); //longtitude, |
| e_w=fgetc(GPS);fgetc(GPS); //E/W, |
| while (fgetc(GPS)!=','); //NMEA_part_scan(&speed[0]); //speed, |
| NMEA_part_scan(&course[0]);//while (fgetc(GPS)!=','); //course, |
| //NMEA_part_scan(&date[0]); //date, |
| |
| LCD_gotoxy(8,1); |
| LCD_putc(status); |
| |
| lat=600.0*(la[0]-0x30)+60.0*(la[1]-0x30)+atof(&la[2]); |
| lon=600.0+60.0*(lo[2]-0x30)+atof(&lo[3]); |
| azimut=atol(course)/360*8; |
| } |
| |
| void read_ee_gc(int8 numgc) |
| { |
| int8 a,b; |
| int8 *point; |
| |
| a=(13*numgc) + 1; //5*char + 4byte float LAT + 4byte float LON |
| LCD_gotoxy(1,1); |
| LCD_putc('G');LCD_putc('P'); |
| for(b=0;b<5;b++)LCD_putc(read_eeprom(a++)); |
| point=&gc_lat; |
| for (b=0;b<4;b++) *(point++)=read_eeprom(a++); |
| point=&gc_lon; |
| for (b=0;b<4;b++) *(point++)=read_eeprom(a++); |
| } |
| |
| int8 atan2_my(float x,float y) |
| { |
| float z; |
| int8 arg; |
| if (y==0) z=abs(x)/0.0001; |
| else z=abs(x)/abs(y); |
| if (z < TAN22) arg=0; |
| else |
| { |
| if (z < TAN67) arg=2; |
| else arg=3; |
| } |
| if (x>=0 && y<=0) return (4-arg); |
| if (x<0 && y<=0) return (4+arg); |
| if (x<0 && y>0) return (8-arg); |
| return arg; |
| } |
| |
| void calc_distanc_azimut(void) |
| { |
| lon=(gc_lon-lon)*1214; // metry (uhly v minutach) |
| lat=(gc_lat-lat)*1854; // metry (uhly v minutach) |
| |
| lcd_gotoxy(3,2); |
| printf(LCD_putc,"%5Lum",(int32) sqrt((lon*lon) + (lat*lat))); |
| |
| azimut=atan2_my(lon,lat)-azimut; |
| if (azimut<0) azimut+=8; |
| if (azimut>8) azimut-=8; |
| |
| lcd_gotoxy(1,2); |
| switch (azimut) |
| { |
| case 0: LCD_send_data(ASCII_ARROW_UP);break; |
| case 1: LCD_send_data(ARROW_UR);break; |
| case 2: LCD_send_data(ASCII_ARROW_R);break; |
| case 7: LCD_send_data(ARROW_UL);break; |
| case 6: LCD_send_data(ASCII_ARROW_L);break; |
| default :LCD_send_data(ASCII_ARROW_DOWN); |
| } |
| } |
| |
| void PC_part_scan(int8 *point) |
| { |
| int8 a; |
| a=0; |
| while (a!=',') {a=fgetc(PC); *(point++)=a;} |
| *(--point)=0x00; |
| } |
| |
| // line format: name,float,float, |
| #INT_RDA |
| void terminal(void) |
| { |
| int8 a,b; |
| int8 *point; |
| char name[6]; |
| restart_wdt(); |
| PC_part_scan(name); |
| PC_part_scan(la); |
| PC_part_scan(lo); |
| lat=60*atof(la); |
| lon=60*atof(lo); |
| a=read_eeprom(0); |
| if (a > MAX_GC_POINT) a=0; |
| write_eeprom(0,a+1); |
| sel=a-1; |
| a=(13*a)+1; |
| for (b=0;b<5;b++) write_eeprom(a++,name[b]); |
| point=⪫ |
| for (b=0;b<4;b++) write_eeprom(a++,*(point+b)); |
| point=&lon; |
| for (b=0;b<4;b++) write_eeprom(a++,*(point+b)); |
| } |
| |
| void main(void) |
| { |
| setup_adc_ports(NO_ANALOGS); |
| setup_adc(ADC_OFF); |
| setup_spi(SPI_MASTER|SPI_L_TO_H|SPI_CLK_DIV_4); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| setup_timer_1(T1_DISABLED); |
| setup_timer_2(T2_DISABLED,0,1); |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| setup_wdt(WDT_2304MS); |
| |
| enable_interrupts(INT_RDA); |
| enable_interrupts(GLOBAL); |
| |
| output_low(LCD_RESET); |
| output_high(LCD_CS); |
| delay_ms(5); |
| output_high(LCD_RESET); |
| delay_ms(5); |
| LCD_send_command(0x80); |
| printf(LCD_send_data,ARROWL); |
| LCD_send_command(0x88); |
| printf(LCD_send_data,ARROWR); |
| |
| LCD_init(); |
| LCD_cursor_off(); |
| |
| sel++; |
| if (sel > MAX_GC_POINT) sel=0; |
| read_ee_gc(sel); |
| |
| while (TRUE) |
| { |
| restart_wdt(); |
| NMEA_GPRMC(); |
| calc_distanc_azimut(); |
| } |
| } |
| |