/Designs/skrysohledac2/SW/gps.c
0,0 → 1,144
/*! \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)
{
}
 
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();
 
rprintfProgStrM("Updates: "); rprintfNum(10,6,0,' ',GpsInfo.VelHS.updates); rprintfCRLF();
 
}
 
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();
}
 
void gpsInfoPrintLCD2(void)
{
int utmXZone;
char utmYZone;
double easting;
double northing;
 
lcd_gotoxy(1,1);
 
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();
}