0,0 → 1,137 |
/**** GPS skrysohledac ****/ |
#define ID "$Id: gps.c 984 2008-01-06 23:41:31Z kakl $" |
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#include "gpsrl.h" |
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#include <math.h> |
#include <stdlib.h> |
#include <stdlibm.h> |
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#define LCD_RS PIN_B1 // LCD control |
#define LCD_E PIN_B2 // LCD enable |
#define LCD_DATA_LSB PIN_B4 // LSB data bit LCD |
#include "MYLCD.C" |
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// NMEA |
#define TIME 6 // For NMEA parsing |
#define TIME_LEN 10 |
#define LATDEG 19 |
#define LATMIN 21 |
#define LONDEG 32 |
#define LONMIN 34 |
#define DEG_LEN 2 |
#define MIN_LEN 7 |
#define AZIMUTH 46 |
#define NMEA_LINESIZE 60 |
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#define MAXGC 4 |
struct geocache |
{ |
float lat; |
float lon; |
char name[8]; |
}; |
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struct geocache const gc[MAXGC] = |
{ |
{49*60+15.5740,14*60+42.3310,"DOMA"}, // Testovaci souradnice: cisticka |
{48*60+57.966,14*60+28.655,"GC16JMH"}, |
{48*60+57.837,14*60+28.599,"GC16F8Y"}, |
{49*60+9.542,14*60+56.417,"GC-----"} |
}; |
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float lat,lon; // Latitude, Longitude, Azimuth |
int16 az; |
int8 gcnum; // Selection of the GC point |
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//$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]; |
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[NMEA_LINESIZE-1]=0; |
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while(fgetc(NMEA)!='$'); // Waiting for start character |
for(n=0;n<(NMEA_LINESIZE-1);n++) // Read line up to checksum |
{ |
c=fgetc(NMEA); |
if(c=='*') |
{ |
line[n]=0; |
break; |
}; |
line[n]=c; |
}; |
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lcd_gotoxy(12,4); |
printf(lcd_putc,"%c %06.0g ",line[17],strtod(&line[TIME],&ptr)); |
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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); |
lat=strtod(&line[LATMIN],&ptr); |
line[LATMIN]=0; |
lat+=60*strtod(&line[LATDEG],&ptr); |
lon=strtod(&line[LONMIN],&ptr); |
line[LONMIN]=0; |
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); |
} |
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void main() |
{ |
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setup_adc_ports(NO_ANALOGS); |
setup_adc(ADC_OFF); |
setup_spi(FALSE); |
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(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) |
{ |
read_NMEA(); // Read one NMEA line and parse |
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lon=(gc[gcnum].lon-lon)*1214; // Kakona's projection :) |
lat=(gc[gcnum].lat-lat)*1854; |
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lcd_gotoxy(1,4); |
printf(lcd_putc,"%.0gm ",sqrt((lon*lon) + (lat*lat))); // Distance |
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%2.0gh*",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%2.0gh*AZ%2.0gh*",lon,lat); |
} |
} |
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