{HEADER END}
{COMPARE START}

MLAB

Porovnej cestu:  Revize
S umístěním:  Revize

Toto porovnání ukazuje změny pro převedení /Designs/GPSnavigator (Revize 1026) na /Designs/GPSnavigator (Revize 1213)

Reverzní porovnání

SW/GPS/lcd.c
Nový soubor

@@ -0,0 +1,190 @@

//************************************************************************
// lcd /define nSCLK, nSDIN, nDC, nSC, nRESET /
//uint8_t init_n5110[9]={0x21,0xc5,0x13,0x20,0x09,0x08,0xc,0x40,0x80};
#include <avr/io.h>
#include <avr/pgmspace.h>
#include <util/delay.h>
#include <stdint.h>
#include <stdio.h>
#include "lcd.h"
#include "ascii_table.h"
void delay_ms1(uint16_t time)
{
while(time--) _delay_ms(1);
}
void N5110_send(uint8_t data)
{
uint8_t a;
for (a=0;a<8;a++)
{
nSCLK_L;
if (data & 0x80) nSDIN_H;
else nSDIN_L;
data <<= 1;
nSCLK_H;
}
}
void N5110_send_data(uint8_t data)
{
nDC_H;
nCS_L;
N5110_send(data);
nCS_H;
}
void N5110_send_command(uint8_t data)
{
nDC_L;
nCS_L;
N5110_send(data);
nCS_H;
}
void LCD_N5110_INIT(void)
{
//uint8_t a;
nDC_H;
nSCLK_H;
nCS_H;
nRESET_L;
delay_ms1(20);
nRESET_H;
//mise lcd
//for (a=0;a<9;a++) N5110_send_command(init_n5110[a]);
N5110_send_command(EXTENDED_SET);
N5110_send_command(VOP|0x45); //default 0x45
N5110_send_command(BIAS_1);
N5110_send_command(H_ADDR);
N5110_send_command(DISPLAY_ALL_ON);
//clear_lcd();
//delay_ms1(1000);
N5110_send_command(DISPLAY_BLANK);
//delay_ms1(1000);
N5110_send_command(DISPLAY_NORMAL);
/* //mija lcd
//for (a=0;a<9;a++) N5110_send_command(init_n5110[a]);
//N5110_send_command(EXTENDED_SET);
//N5110_send_command(VOP|69); //default 0x45
//N5110_send_command(BIAS_3);
N5110_send_command(H_ADDR);
//N5110_send_command(DISPLAY_ALL_ON);
//clear_lcd();
//delay_ms(1000);
//N5110_send_command(DISPLAY_BLANK);
//delay_ms(1000);
N5110_send_command(DISPLAY_NORMAL);
*/
}
//************************************************************************
// buffer lcd
uint8_t video_buf[504];
uint8_t *offset_text;
int lcd_put(char c, FILE *stream)
{
uint8_t a;
uint16_t pos;
pos = (c - 0x20) * 5;
for(a=0; a<5;a++)
{
*(offset_text++) = pgm_read_byte(&ASCII_TABLE1[pos+a]);
}
*(offset_text++) = 0;
return 0;
}
int lcd_put2(char c, FILE *stream)
{
uint8_t a;
uint8_t b;
uint16_t pos;
uint8_t pom;
uint8_t l_text;
uint8_t h_text;
pos = (c - 0x20) * 5;
for(a=0; a<5;a++)
{
h_text=0;
l_text=0;
pom = pgm_read_byte(&ASCII_TABLE1[pos+a]);
for (b=0;b<4;b++)
{
if (pom & 0x01) l_text |= 3<<(2*b);
if (pom & 0x10) h_text |= 3<<(2*b);
pom>>=1;
}
*(offset_text+84) = h_text;
*(offset_text++) = l_text;
}
*(offset_text+84) = 0;
*(offset_text++) = 0;
return 0;
}
void gotoxy(uint8_t x,uint8_t y)
{
offset_text= video_buf + (y-1)*84 + 6*(x-1);
}
void lcd_refresh(void)
{
uint16_t a;
uint8_t *point;
N5110_send_command(0x40);
N5110_send_command(0x80);
point = video_buf;
for (a=0;a<504;a++) N5110_send_data(*(point++));
}
void buffer_clr(void)
{
uint16_t a;
for (a=0;a<504;a++) video_buf[a]=0;
offset_text = video_buf;
}
//************************************************************************
// graphics
void lcd_plot(uint8_t x, uint8_t y)
{
uint8_t *point;
if (x>(LCD_WIDTH-1) || y>(LCD_HEIGHT-1)) return;
point = video_buf + LCD_WIDTH*((LCD_HEIGHT-y-1)/8)+x;
*point |= 1<<(7-(y%8));
}
void lcd_line(uint8_t x1,uint8_t y1,uint8_t x2, uint8_t y2)
{
uint8_t a;
uint8_t savex,savey;
if (x1>x2) {savex=x1;savey=y1;x1=x2;y1=y2;x2=savex;y2=savey;}
if (y1>y2)
{
if ((x2-x1)>(y1-y2))for (a=x1;a<=x2;a++)lcd_plot(a,y1-((y1-y2)*(a-x1)/(x2-x1)));
else for (a=y2;a<=y1;a++)lcd_plot(x2-((x2-x1)*(a-y2)/(y1-y2)),a);
return;
}
if ((x2-x1)>(y2-y1))for (a=x1;a<=x2;a++)lcd_plot(a,y1+((y2-y1)*(a-x1)/(x2-x1)));
else for (a=y1;a<=y2;a++)lcd_plot(x1+((x2-x1)*(a-y1)/(y2-y1)),a);
}


SW/GPS/default/GPS.hex
Nový soubor

@@ -0,0 +1,1229 @@

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:104BB600322E31660025332E30666B6D2F68202528
:104BC600332E30667F0025642E253031647F430006
:104BD6006D6178006D696E002020202025332E310E
:104BE60066206B6D2F680025332E30667F0073704C
:104BF600656564006C6F636174696F6E0074696DDE
:104C06006520262064617465002020202532643AE0
:104C1600253032643A253032640020202532642E55
:104C2600253032642E3230253032640025332E3161
:104C360066006B6D2F6800252E31662000252E3309
:104C4600662000252E3266200025352E306620008F
:104C56006B6D006572726F7220766965772073617D
:104C660074656C697465730025303258002450539E
:104C760052463130302C302C343830302C382C31F0
:104C86002C30000000000200000000D517000000D4
:104C9600000000000200000000FD1700000000A058
:0A4CA600A200028F00008FB0B306D9
:00000001FF


SW/GPS/ascii_table.h
Nový soubor

@@ -0,0 +1,105 @@

#define CHAR_WIDTH 6
prog_uint8_t ASCII_TABLE1[480]=
{0x00,0x00,0x00,0x00,0x00, // 20 space ASCII table 96 rows * 5 bytes= 480 bytes
0x00,0x00,0x5f,0x00,0x00, // 21 !
0x00,0x07,0x00,0x07,0x00, // 22 "
0x14,0x7f,0x14,0x7f,0x14, // 23 #
0x24,0x2a,0x7f,0x2a,0x12, // 24 $
0x23,0x13,0x08,0x64,0x62, // 25 %
0x36,0x49,0x55,0x22,0x50, // 26 &
0x00,0x05,0x03,0x00,0x00, // 27 '
0x00,0x1c,0x22,0x41,0x00, // 28 (
0x00,0x41,0x22,0x1c,0x00, // 29 )
0x14,0x08,0x3e,0x08,0x14, // 2a *
0x08,0x08,0x3e,0x08,0x08, // 2b +
0x00,0x50,0x30,0x00,0x00, // 2c ,
0x08,0x08,0x08,0x08,0x08, // 2d -
0x00,0x60,0x60,0x00,0x00, // 2e .
0x20,0x10,0x08,0x04,0x02, // 2f /
0x3e,0x51,0x49,0x45,0x3e, // 30 0
0x00,0x42,0x7f,0x40,0x00, // 31 1
0x42,0x61,0x51,0x49,0x46, // 32 2
0x21,0x41,0x45,0x4b,0x31, // 33 3
0x18,0x14,0x12,0x7f,0x10, // 34 4
0x27,0x45,0x45,0x45,0x39, // 35 5
0x3c,0x4a,0x49,0x49,0x30, // 36 6
0x01,0x71,0x09,0x05,0x03, // 37 7
0x36,0x49,0x49,0x49,0x36, // 38 8
0x06,0x49,0x49,0x29,0x1e, // 39 9
0x00,0x36,0x36,0x00,0x00, // 3a :
0x00,0x56,0x36,0x00,0x00, // 3b ;
0x08,0x14,0x22,0x41,0x00, // 3c <
0x14,0x14,0x14,0x14,0x14, // 3d =
0x00,0x41,0x22,0x14,0x08, // 3e >
0x02,0x01,0x51,0x09,0x06, // 3f ?
0x32,0x49,0x79,0x41,0x3e, // 40 @
0x7e,0x11,0x11,0x11,0x7e, // 41 A
0x7f,0x49,0x49,0x49,0x36, // 42 B
0x3e,0x41,0x41,0x41,0x22, // 43 C
0x7f,0x41,0x41,0x22,0x1c, // 44 D
0x7f,0x49,0x49,0x49,0x41, // 45 E
0x7f,0x09,0x09,0x09,0x01, // 46 F
0x3e,0x41,0x49,0x49,0x7a, // 47 G
0x7f,0x08,0x08,0x08,0x7f, // 48 H
0x00,0x41,0x7f,0x41,0x00, // 49 I
0x20,0x40,0x41,0x3f,0x01, // 4a J
0x7f,0x08,0x14,0x22,0x41, // 4b K
0x7f,0x40,0x40,0x40,0x40, // 4c L
0x7f,0x02,0x0c,0x02,0x7f, // 4d M
0x7f,0x04,0x08,0x10,0x7f, // 4e N
0x3e,0x41,0x41,0x41,0x3e, // 4f O
0x7f,0x09,0x09,0x09,0x06, // 50 P
0x3e,0x41,0x51,0x21,0x5e, // 51 Q
0x7f,0x09,0x19,0x29,0x46, // 52 R
0x46,0x49,0x49,0x49,0x31, // 53 S
0x01,0x01,0x7f,0x01,0x01, // 54 T
0x3f,0x40,0x40,0x40,0x3f, // 55 U
0x1f,0x20,0x40,0x20,0x1f, // 56 V
0x3f,0x40,0x38,0x40,0x3f, // 57 W
0x63,0x14,0x08,0x14,0x63, // 58 X
0x07,0x08,0x70,0x08,0x07, // 59 Y
0x61,0x51,0x49,0x45,0x43, // 5a Z
0x00,0x7f,0x41,0x41,0x00, // 5b [
0x02,0x04,0x08,0x10,0x20, // 5c "\"
//0x00,0x41,0x41,0x7f,0x00, // 5d ] navic !!!????
0x00,0x41,0x41,0x7f,0x00, // 5d ]
0x04,0x02,0x01,0x02,0x04, // 5e ^
0x40,0x40,0x40,0x40,0x40, // 5f _
0x00,0x01,0x02,0x04,0x00, // 60 '
0x20,0x54,0x54,0x54,0x78, // 61 a
0x7f,0x48,0x44,0x44,0x38, // 62 b
0x38,0x44,0x44,0x44,0x20, // 63 c
0x38,0x44,0x44,0x48,0x7f, // 64 d
0x38,0x54,0x54,0x54,0x18, // 65 e
0x08,0x7e,0x09,0x01,0x02, // 66 f
0x0c,0x52,0x52,0x52,0x3e, // 67 g
0x7f,0x08,0x04,0x04,0x78, // 68 h
0x00,0x44,0x7d,0x40,0x00, // 69 i
0x20,0x40,0x44,0x3d,0x00, // 6a j
0x7f,0x10,0x28,0x44,0x00, // 6b k
0x00,0x41,0x7f,0x40,0x00, // 6c l
0x7c,0x04,0x18,0x04,0x78, // 6d m
0x7c,0x08,0x04,0x04,0x78, // 6e n
0x38,0x44,0x44,0x44,0x38, // 6f o
0x7c,0x14,0x14,0x14,0x08, // 70 p
0x08,0x14,0x14,0x18,0x7c, // 71 q
0x7c,0x08,0x04,0x04,0x08, // 72 r
0x48,0x54,0x54,0x54,0x20, // 73 s
0x04,0x3f,0x44,0x40,0x20, // 74 t
0x3c,0x40,0x40,0x20,0x7c, // 75 u
0x1c,0x20,0x40,0x20,0x1c, // 76 v
0x3c,0x40,0x30,0x40,0x3c, // 77 w
0x44,0x28,0x10,0x28,0x44, // 78 x
0x0c,0x50,0x50,0x50,0x3c, // 79 y
0x44,0x64,0x54,0x4c,0x44, // 7a z
0x00,0x08,0x36,0x41,0x00, // 7b {
0x00,0x00,0x7f,0x00,0x00, // 7c |
0x00,0x41,0x36,0x08,0x00, // 7d }
0x10,0x08,0x08,0x10,0x08, // 7e ~
0x06,0x09,0x09,0x06,0x00}; // 7f
#define ASCII_TABLE_DEF


SW/GPS/nmea_scan.c
Nový soubor

@@ -0,0 +1,272 @@

//************************************************************************
// NMEA LOAD FROM rx GPS
#include <stdint.h>
#include <math.h>
#include <stdlib.h>
#include "nmea_scan.h"
#include "gps.h"
enum {ID_RX_GGA,ID_RX_GSA,ID_RX_GSV,ID_RX_RMC,ID_RX_VTG,ID_RX_LOAD,ID_RX_FIND};
uint8_t nmea_start_load(char data)
{
enum {NM_G,NM_P,NM_GP,NM_GPG,NM_GPR,NM_GPV,NM_GPGG,NM_GPGS,NM_GPRM,NM_GPVT};
static uint8_t ptr = NM_G;
switch (ptr)
{
case NM_G: if (data == 'G') ptr = NM_P; //G
else { ptr = NM_G; return ID_RX_FIND;}
break;
case NM_P: if (data == 'P') ptr = NM_GP; //P
else { ptr = NM_G; return ID_RX_FIND;}
break;
case NM_GP: switch (data) //GPG || GPR || GPV
{
case 'G': ptr=NM_GPG;break;
case 'R': ptr=NM_GPR;break;
case 'V': ptr=NM_GPV;break;
default : ptr = NM_G; return ID_RX_FIND;
}
break;
case NM_GPG: switch(data) //GPGG || GPGS
{
case 'G': ptr=NM_GPGG;break;
case 'S': ptr=NM_GPGS;break;
default : ptr = NM_G; return ID_RX_FIND;
}
break;
case NM_GPR: if (data == 'M') ptr = NM_GPRM; //GPRM
else { ptr = NM_G; return ID_RX_FIND;}
break;
case NM_GPV: if (data == 'T') ptr = NM_GPVT; //GPVT
else { ptr = NM_G; return ID_RX_FIND;}
break;
case NM_GPGG: ptr = NM_G; //GPGGA
if (data == 'A') return ID_RX_GGA;
return ID_RX_FIND;
case NM_GPGS: ptr = NM_G;
switch(data) //GPGG || GPGS
{
case 'A': return ID_RX_GSA;
case 'V': return ID_RX_GSV;
}
return ID_RX_FIND;
case NM_GPRM: ptr = NM_G; //GPRMC
if (data == 'C') return ID_RX_RMC;
return ID_RX_FIND;
case NM_GPVT: ptr = NM_G; //GPVTG
if (data == 'G') return ID_RX_VTG;
return ID_RX_FIND;
default: ptr = NM_G; return ID_RX_FIND;
}
return ID_RX_LOAD;
}
uint8_t load_nmea(uint8_t rx_shift, char *rx_buf,char *scan_buf)
{
static uint8_t id_rx_msg = ID_RX_FIND;
static uint8_t rx_now = 0;
static uint8_t ptr = 0;
char data;
while (1)
{
if (rx_shift == rx_now) return RETURN_RX;
if(++rx_now >= MAX_RX_BUF) rx_now = 0;
data = *(rx_buf + rx_now);
switch (id_rx_msg)
{
case ID_RX_GGA: *(scan_buf+ptr++) = data;
if (data == '*') {id_rx_msg = ID_RX_FIND; return RETURN_GGA;}
if (ptr >= MAX_NMEA_LOAD) id_rx_msg = ID_RX_FIND;
break;
case ID_RX_GSA: *(scan_buf+ptr++) = data;
if (data == '*') {id_rx_msg = ID_RX_FIND; return RETURN_GSA;}
if (ptr >= MAX_NMEA_LOAD) id_rx_msg = ID_RX_FIND;
break;
case ID_RX_GSV: *(scan_buf+ptr++) = data;
if (data == '*') {id_rx_msg = ID_RX_FIND; return RETURN_GSV;}
if (ptr >= MAX_NMEA_LOAD) id_rx_msg = ID_RX_FIND;
break;
case ID_RX_RMC: *(scan_buf+ptr++) = data;
if (data == '*') {id_rx_msg = ID_RX_FIND; return RETURN_RMC;}
if (ptr >= MAX_NMEA_LOAD) id_rx_msg = ID_RX_FIND;
break;
case ID_RX_VTG: *(scan_buf+ptr++) = data;
if (data == '*') {id_rx_msg = ID_RX_FIND;return RETURN_VTG;}
if (ptr >= MAX_NMEA_LOAD) id_rx_msg = ID_RX_FIND;
break;
case ID_RX_LOAD: id_rx_msg = nmea_start_load(data); break;
case ID_RX_FIND:
default: ptr=0;if (data == '$') id_rx_msg = ID_RX_LOAD;
}
}
return 0 ;
}
void nmea_gga(char *buf,DATA_GPS *pgps)
{
uint8_t a;
if (*(buf++) != ',') return; // ,
for (a=0;a<5;a++) while (*(buf++) != ','); // UTC,lat,N,lot,W,
pgps->fix_position = *(buf++) - 0x30; // fix_position
if (*(buf++) != ',') return; // ,
pgps->satelites_used = 10 * (*(buf++) - 0x30) ; // satelites
pgps->satelites_used += *(buf++)-0x30;
if (*(buf++) != ',') return; // ,
while (*(buf++) != ','); // HDOP,
pgps->altitude = atof(buf++); // atlitude,
for (a=0;a<2;a++) while (*(buf++) != ','); // ,M,
pgps->geoid = atof(buf++); // geoid
for (a=0;a<2;a++) while (*(buf++) != ','); //,M,
if (*buf != ',')
{
pgps->age_diff_corr = atol(buf); // age_dif_corr,
while (*(buf++) != ',');
}
else buf++;
if (*buf != ',') pgps->diff_id = atol(buf); // ID_diff_station
}
void nmea_gsa(char *buf,DATA_GPS *pgps)
{
uint8_t a;
if (*(buf++) != ',') return; // ,
pgps->mode1 = *(buf++); // mode1
if (*(buf++) != ',') return; // ,
pgps->mode2 = *(buf++); // mode2
if (*(buf++) != ',') return; // ,
for (a=0;a<12;a++)
{
if (*buf != ',')
{
//pgps->satelite_id[a] = 10*(*(buf++) - 0x30);
//pgps->satelite_id[a] += *(buf++)-0x30;
//buf++;
pgps->satelite_id[a] = atol(buf);
while (*(buf++) != ',');
}
else
{
pgps->satelite_id[a] = 0;
buf++;
}
}
pgps->PDOP = atof(buf++);
while (*(buf++) != ',');
pgps->HDOP = atof(buf++);
while (*(buf++) != ',');
pgps->VDOP = atof(buf++);
while (*(buf++) != ',');
}
void nmea_gsv(char *buf,DATA_GPS *pgps)
{
uint8_t a,i,b;
if (*(buf++) != ',') return; // ,
pgps->gsv_num_msg = (*(buf++) - 0x30); // num of msg
if (*(buf++) != ',') return; //,
pgps->gsv_msg = (*(buf++) - 0x30); // num msg
if (*(buf++) != ',') return; //,
pgps->gsv_satelites_view = 10*(*(buf++) - 0x30); // satelites view
pgps->gsv_satelites_view +=(*(buf++) - 0x30);
if (*(buf++) != ',') return; // ,
a = 4 * (pgps->gsv_msg - 1);
for (i= 0; i<4; i++)
{
/*pgps->satelit_detail[a].id = 10*(*(buf++) - 0x30);
pgps->satelit_detail[a].id += *(buf++) - 0x30;
buf++;
pgps->satelit_detail[a].elevation = 10*(*(buf++) - 0x30);
pgps->satelit_detail[a].elevation += *(buf++) - 0x30;
buf++;
pgps->satelit_detail[a].azimut = 100*(*(buf++) - 0x30);
pgps->satelit_detail[a].azimut += 10*(*(buf++) - 0x30);
pgps->satelit_detail[a].azimut += *(buf++) - 0x30;
buf++;*/
pgps->satelit_detail[a].id = atol(buf);
while (*(buf++) != ',');
pgps->satelit_detail[a].elevation = atol(buf);
while (*(buf++) != ',');
pgps->satelit_detail[a].azimut = atol(buf);
while (*(buf++) != ',');
if ((*buf) != ',')
{
if (*(buf) == '*')
{
pgps->satelit_detail[a].SNR =0;
return;
}
//pgps->satelit_detail[a].SNR = 10*(*(buf++) - 0x30);
//pgps->satelit_detail[a].SNR += *(buf++) - 0x30;
pgps->satelit_detail[a].SNR = atol(buf);
b= *(buf++);
while ((b != ',') && (b != '*') ) b=*(buf++);
if (b == '*') return;
}
else
{
pgps->satelit_detail[a].SNR =0;
buf++;
}
if ( ++a >= pgps->gsv_satelites_view ) return;
}
}
//$GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,120598, ,*10
void nmea_rmc(char *buf,DATA_GPS *pgps)
{
uint8_t a;
if (*(buf++) != ',') return; // ,
pgps->hour = (10* (*(buf++) - 0x30)); //hour
pgps->hour += (*(buf++) - 0x30);
pgps->minute = 10* (*(buf++) - 0x30); //minute
pgps->minute += (*(buf++) - 0x30);
pgps->second = 10* (*(buf++) - 0x30); //second
pgps->second += (*(buf++) - 0x30);
while (*(buf++) != ','); //.xxx
pgps->status = *(buf++);
if (*(buf++) != ',') return; //A,
pgps->latitude =10.0 * (*(buf++) - 0x30);
pgps->latitude += 1.0 * (*(buf++) - 0x30);
pgps->latitude += atof(buf)/60.0;
while (*(buf++) != ','); //latitude,
pgps->ns_indicator = *(buf++); // N/S
if (*(buf++) != ',') return; //,
pgps->longitude = 100.0 * (*(buf++) - 0x30);
pgps->longitude += 10.0 * (*(buf++) - 0x30);
pgps->longitude += 1.0 * (*(buf++) - 0x30);
pgps->longitude += atof(buf)/60.0;
while (*(buf++) != ','); //longitude,
pgps->we_indicator = *(buf++); // E/W
for (a=0;a<3;a++) while (*(buf++) != ','); // ,speed,course,
pgps->day = 10* (*(buf++) - 0x30);
pgps->day += *(buf++) - 0x30; // day
pgps->month = 10* (*(buf++) - 0x30);
pgps->month += *(buf++) - 0x30; // month
pgps->year = 10* (*(buf++) - 0x30);
pgps->year += *(buf) - 0x30; // year
}
void nmea_vtg(char *buf,DATA_GPS *pgps)
{
uint8_t a;
if (*(buf++) != ',') return; // ,
pgps->course = atof(buf++); // course
for (a=0;a<6;a++) while (*(buf++) != ','); // ,T,course,M,speed,N,
pgps->speed = atof(buf++);
}


SW/GPS/lcd.h
Nový soubor

@@ -0,0 +1,104 @@

/* mija 2008
defines for LCD NOKIA5110 (instruction set)
CPU ATMEGA16
fcpu = 1MHz
!! define PIN,PORT,DDR for IOpin !!
*/
#define LCD_WIDTH 84
#define LCD_HEIGHT 48
#define CHAR_WIDTH 6
// LCD SW
#define nSCLK PA6
#define nSCLK_PORT PORTA
#define nSCLK_DDR DDRA
#define nSDIN PA5
#define nSDIN_PORT PORTA
#define nSDIN_DDR DDRA
#define nDC PA4
#define nDC_PORT PORTA
#define nDC_DDR DDRA
#define nCS PA3
#define nCS_PORT PORTA
#define nCS_DDR DDRA
#define nRESET PA2
#define nRESET_PORT PORTA
#define nRESET_DDR DDRA
//void N5110_send(uint8_t data);
//void N5110_send_data(uint8_t data);
void N5110_send_command(uint8_t data);
void LCD_N5110_INIT(void);
int lcd_put(char c, FILE *stream);
int lcd_put2(char c, FILE *stream);
void gotoxy(uint8_t x,uint8_t y);
void lcd_refresh(void);
void buffer_clr(void);
void lcd_plot(uint8_t x, uint8_t y);
void lcd_line(uint8_t x1,uint8_t y1,uint8_t x2, uint8_t y2);
//interni
#define nSCLK_H nSCLK_PORT |= _BV(nSCLK)
#define nSCLK_L nSCLK_PORT &= (~(_BV(nSCLK)))
#define nSCLK_INIT nSCLK_DDR |= _BV(nSCLK)
#define nSDIN_H nSDIN_PORT |= _BV(nSDIN)
#define nSDIN_L nSDIN_PORT &= (~(_BV(nSDIN)))
#define nSDIN_INIT nSDIN_DDR |= _BV(nSDIN)
#define nDC_H nDC_PORT |= _BV(nDC)
#define nDC_L nDC_PORT &= (~(_BV(nDC)))
#define nDC_INIT nDC_DDR |= _BV(nDC)
#define nCS_H nCS_PORT |= _BV(nCS)
#define nCS_L nCS_PORT &= (~(_BV(nCS)))
#define nCS_INIT nCS_DDR |= _BV(nCS)
#define nRESET_H nRESET_PORT |= _BV(nRESET)
#define nRESET_L nRESET_PORT &= (~(_BV(nRESET)))
#define nRESET_INIT nRESET_DDR |= _BV(nRESET)
// FUNCTION SET
#define ACTIVE_CHIP 0x20
#define POWER_DOWN 0x24
#define H_ADDR 0x20
#define V_ADDR 0x22
#define BASIC_SET 0x20
#define EXTENDED_SET 0x21
// BASIC SET
#define DISPLAY_BLANK 0x08
#define DISPLAY_NORMAL 0x0C
#define DISPLAY_ALL_ON 0x09
#define DISPLAY_INV 0x0D
#define Y_SET 0x40 // | Y2..Y0
#define X_SET 0x80 // | X6..X0
// EXTENDED SET
#define TEMP_COEF 0x04 // | TC1|TC0
#define TEMP_COEF_0 0x04
#define TEMP_COEF_1 0x05
#define TEMP_COEF_2 0x06
#define TEMP_COEF_3 0x07
#define BIAS_0 0x10
#define BIAS_1 0x11
#define BIAS_2 0x12
#define BIAS_3 0x13
#define BIAS_4 0x14
#define BIAS_5 0x15
#define BIAS_6 0x16
#define BIAS_7 0x17
#define VOP 0x80 // | Vop6..Vop0


SW/GPS/GPS.c
Nový soubor

@@ -0,0 +1,1106 @@

/* mija 2008
demo for LCD NOKIA5110 and MCP9800 and GPS modul
CPU ATMEGA644P
fcpu = 1MHz
!! define PIN,PORT,DDR for IOpin !!
*/
//************************************************************************
// defines
#define KEY_TIME_DEAD 5 //cca 50ms 8*5
//#define KEY_TIME_START_REPEAT 100 //cca 1s
//#define KEY_TIME_REPEAT 20 //cca 240ms
#define KEY_TIME_FIRST 50
#define TEMP_TIME_REPEAT 100
#define OFF_TIME 200
#define REFRESH_TIME 100
#define STATUS_REFRESH_TIME 100
#define CLOCK1S 100
#define CLOCK2S 200
#define CLOCK5S 255;
#define CLOCK50MS 5
#define DEBUG
//************************************************************************
//including
#include <avr/io.h>
#include <stdlib.h>
#include <avr/pgmspace.h>
#include <avr/interrupt.h>
#include <avr/sleep.h>
#include <util/delay.h>
#include <stdio.h>
#include <math.h>
//#include "ascii_table.h"
#include "lcd.h" //define PINs LCD
#include "GPS.h" //define PINs GPS,TL,LED,REF,I2C
#include "nmea_scan.h"
//************************************************************************
// pomocne
#define WIDTH_CHAR_SIGNALL 8
prog_uint8_t CHAR_SIGNALL[WIDTH_CHAR_SIGNALL]={127,12,30,51,51,30,12,127};
#define WIDTH_CHAR_SIGNALL_D 8
prog_uint8_t CHAR_SIGNALL_D[WIDTH_CHAR_SIGNALL_D]={127,12,30,63,63,30,12,127};
#define WIDTH_CHAR_SIGNALL_2D 7
prog_uint8_t CHAR_SIGNALL_2D[WIDTH_CHAR_SIGNALL_2D]={1,2,4,127,4,2,1};
#define WIDTH_CHAR_SIGNALL_3D 7
prog_uint8_t CHAR_SIGNALL_3D[WIDTH_CHAR_SIGNALL_3D]={124,68,71,69,125,17,31};
#define WIDTH_CHAR_LIGHT 5
prog_uint8_t CHAR_LIGHT[WIDTH_CHAR_LIGHT]={127,65,95,95,127};
//***********************************************************************
// global variables
extern uint8_t video_buf[504];
extern uint8_t *offset_text;
uint8_t id_mod;
char scan_buf[MAX_NMEA_LOAD];
POINT_T now,max,min;
DATA_GPS gps;
DATA_GPS *pgps;
enum {ID_TIME,ID_LOCATION,ID_COURSE,ID_ALL_POSITION,ID_ALL_SERVICE,ID_SERVICE,ID_TEMP,ID_SATELITES,ID_NORTH,ID_NAV};
//static int lcd_put(char c, FILE *stream);
static FILE mystdout = FDEV_SETUP_STREAM(lcd_put, NULL,_FDEV_SETUP_WRITE);
//static int lcd_put2(char c, FILE *stream);
static FILE mystdout2 = FDEV_SETUP_STREAM(lcd_put2, NULL,_FDEV_SETUP_WRITE);
//************************************************************************
// general cpu init
void general_cpu_init(void)
{
//*** IO_PIN ***
TL1_INIT;
TL1_PULLUP;
TL2_INIT;
TL2_PULLUP;
TL3_INIT;
TL3_PULLUP;
RX_INIT;
RX_PULLUP;
GPS_INIT;
GPS_OFF;
REF_INIT;
REF_OFF;
nSCLK_INIT;
nSDIN_INIT;
nDC_INIT;
nCS_INIT;
nRESET_INIT;
SCL_INIT;
SDA_FLOAT;
LED_INIT;
LED_OFF;
//*** EXTERNAL PIN INTERRUPTS
EICRA = _BV(ISC21); //pin INT2 - TL2
EIMSK = _BV(INT2); //pin INT2 - TL2
//PCICR = _BV(PCIE1); //pin change TL1,TL2,TL3
//PCMSK1 = _BV(PCINT10) | _BV(PCINT11) |_BV(PCINT12); //pin change TL1,TL2,TL3
//*** TIMER1 *** tik for TL fosc/8 /1024(TCNT1) cca 8ms
TCNT1 = 0;
OCR1A = 1024;
TCCR1A = _BV(WGM11) | _BV(WGM10);
TCCR1B = _BV(WGM13) | _BV(WGM12) | _BV(CS11) ; // TIMER1 fast PWM
TIMSK1 = _BV(TOIE1);
//*** TIMER2 *** RTC
ASSR = _BV(AS2);
TCCR2B = _BV(CS22) | _BV(CS21) | _BV(CS20);
TIMSK2 = _BV(TOIE2);
//*** SLEEP ***
SMCR = _BV(SM1) | _BV(SM0) | _BV(SE);
//*** WDT ***
//WDTCSR = _BV(WDCE) | _BV(WDE);
//WDTCSR = _BV(WDIE) | _BV(WDP3) | _BV(WDP0);
//*** USART0 *** RX PD0, TX PD1, GPS
UBRR0 = 12;
//UCSR0A =
UCSR0B = _BV(RXCIE0) | _BV(RXEN0) | _BV(TXEN0);
//*** USART1 *** RX PD2, TX PD3 PC
UBRR1 = 12;
//UCSR0A =
UCSR1B = _BV(RXCIE1) | _BV(RXEN0) | _BV(TXEN1);
//*** ADC ***
ADMUX = _BV(REFS1) | _BV(MUX0);
ADCSRA = _BV(ADPS1) | _BV(ADPS0);
}
//************************************************************************
// interrupts + RTC / clock 8s ... TIMER2 /
volatile uint8_t RTC_flag;
volatile uint8_t sRTC,mRTC,hRTC,dRTC,mdRTC,yRTC;
uint8_t modulo(uint8_t h,uint8_t m) //pomocna fce pro modulo x
{
if (h<m) return (h);
return(h-m);
}
void set_date(void) //citac datumu
{
dRTC++;
switch (mdRTC)
{
case 1:
case 3:
case 5:
case 7:
case 8:
case 10:
case 12: if(dRTC>=32) {dRTC=1;mdRTC++;if(mdRTC==13) {mdRTC =1;yRTC=modulo(yRTC++,100);}} break;
case 4:
case 6:
case 9:
case 11: if(dRTC>=31) {dRTC=1;mdRTC++;} break;
case 2: if (dRTC >= 30) {dRTC=1;mdRTC++;break;}
if (dRTC ==29) {if (!(yRTC & 0x03)) break;dRTC=1;mdRTC++;}
}
}
volatile uint8_t timer1_ovf;
ISR(TIMER1_OVF_vect)
{
timer1_ovf ++;
}
ISR(TIMER2_OVF_vect)
{
sRTC += 8;
if (sRTC >= 60)
{
sRTC=modulo(sRTC,60); //1min
if (++mRTC>=60)
{
mRTC=0; //1hod
if (++hRTC>=24)
{
hRTC=0;
set_date(); //1den
}
}
}
}
char rx_buf[MAX_RX_BUF];
volatile uint8_t rx_shift;
ISR(USART0_RX_vect)
{
if (++rx_shift >= MAX_RX_BUF) rx_shift =0;
rx_buf[rx_shift]=UDR0;
UDR1 = UDR0;
}
ISR(USART1_RX_vect)
{
UDR0 = UDR1;
}
EMPTY_INTERRUPT(INT0_vect)
EMPTY_INTERRUPT(INT2_vect)
EMPTY_INTERRUPT(PCINT1_vect)
EMPTY_INTERRUPT(WDT_vect)
//************************************************************************
// delay_ms functions /define fcpu /
void delay_ms(uint16_t time)
{
while(time--) _delay_ms(1);
}
//************************************************************************
// static navigation
void gps_put(char c)
{
while ( !( UCSR0A & _BV(UDRE0)) );
UDR0 = c;
}
void set_static_navigation(uint8_t static_nav)
{
char chsum[3];
char SWITCH_TO_SIRF[]="$PSRF100,0,4800,8,1,0" ;
uint8_t SET_STATIC_NAV[10]={0xa0,0xA2,0x00,0x02,0x8f,0x00,0x00,0x8f,0xB0,0xB3};
uint8_t SWITCH_TO_NMEA[10]={0xa0,0xA2,0x00,0x02,0x87,0x02,0x00,0x89,0xB0,0xB3};
uint8_t chksum;
uint8_t i;
chksum=0;
for (i=0;i<21;i++)
{
gps_put(SWITCH_TO_SIRF[i]);
chksum +=SWITCH_TO_SIRF[i];
}
gps_put('*');
sprintf(chsum,"%02X",chksum);
gps_put(chsum[0]);
gps_put(chsum[1]);
gps_put('\r');
gps_put('\n');
if (static_nav)
{
}
else
{
for (i=0;i<10;i++) gps_put(SET_STATIC_NAV[i]);
}
//for (i=0;i<10;i++) gps_put(SWITCH_TO_NMEA[i]);
}
//************************************************************************
// key + timer1_ovf
volatile uint8_t key_press;
volatile uint8_t key_flag;
volatile uint8_t timer_key;
volatile uint8_t timer_temp;
volatile uint8_t timer_off;
volatile uint8_t timer_refresh;
volatile uint8_t timer_status;
void timer1_tik(void)
{
uint8_t key_temp;
timer1_ovf--;
{
if (timer_status) timer_status--;
if (timer_refresh) timer_refresh--;
if (timer_off) timer_off--;
if (timer_temp) timer_temp--;
if (timer_key) timer_key--;
else
{
if (!TL1_INPUT) key_temp = _BV(KEY1); else key_temp = 0;
if (!TL2_INPUT) key_temp |= _BV(KEY2); else key_temp &= ~(_BV(KEY2));
if (!TL3_INPUT) key_temp |= _BV(KEY3); else key_temp &= ~(_BV(KEY3));
if (key_temp != key_press)
{
timer_key = KEY_TIME_DEAD;
key_press = key_temp;
if (!key_flag) key_flag = key_press;
timer_off= OFF_TIME;
}
}
}
}
uint8_t key_read(void)
{
uint8_t key_send;
key_send = key_flag;
key_flag = 0;
return key_send;
}
//************************************************************************
// SW I2C /define SDA, SCL; tested for fosc 1Mhz/
void I2C_start(void)
{
SDA_OUT;
SDA_L;
SCL_L;
}
void I2C_stop(void)
{
SCL_H;
SDA_OUT;
SDA_H;
SDA_FLOAT;
}
void I2C_write(uint8_t data)
{
uint8_t a;
SDA_OUT;
for(a=0;a<8;a++)
{
SCL_L;
if (data & 0x80) SDA_H;
else SDA_L;
SCL_H;
data <<= 1;
}
SCL_L;
SDA_FLOAT;
SCL_H;
SCL_L;
}
uint8_t I2C_read(uint8_t ack)
{
uint8_t a;
uint8_t data;
SDA_IN;
data=0;
for(a=0;a<8;a++)
{
SCL_H;
if (SDA_INPUT) data |=1;
SCL_L;
if (a != 7)data <<= 1;
}
if (ack) {SDA_OUT;SDA_L;}
else SDA_FLOAT;
SCL_H;
SCL_L;
SDA_FLOAT;
return data;
}
//************************************************************************
// temperature sensor MCP9800 of MICROCHIP
void start_MCP9800(void)
{
I2C_start();
I2C_write(0x90);
I2C_write(0x1); // configuration pointer MCP9800
//I2C_write(0xE1); // 12bit + only 1 convert and then sleep
I2C_write(0x81); // 9bit + only 1 convert and then sleep
I2C_stop();
I2C_start();
I2C_write(0x90);
I2C_write(0x0); // temperature pointer
I2C_stop();
}
uint16_t read_temp(void)
{
uint16_t temp;
I2C_start();
I2C_write(0x91);
temp = I2C_read(1) << 8;
temp |= I2C_read(0);
I2C_stop();
return temp;
}
//************************************************************************
// templota
void print_temp(int16_t teplota)
{
printf("%d.%01dC",((teplota>>8) & 0x807F) | (teplota & 0x8000),5*((teplota>>7)& 0x1));
}
void print_time(TIME_T time)
{
uint8_t temp;
temp = time.hour/10;
if (temp == 0) lcd_put(' ',0);
else lcd_put(temp + 0x30,0);
lcd_put(time.hour%10 + 0x30,0);
//put_lcd(':');
*(offset_text++) = 0x36;
offset_text++;
lcd_put(time.min/10 + 0x30,0);
lcd_put(time.min%10 + 0x30,0);
//put_lcd(':');
//put_lcd(sRTC/10 + 0x30);
//put_lcd(sRTC%10 + 0x30);
}
void print_date(DATE_T date)
{
uint8_t temp;
temp = date.day/10;
if (temp == 0) lcd_put(' ',0);
else lcd_put(temp + 0x30,0);
lcd_put(date.day%10 + 0x30,0);
//put_lcd('/');
*(offset_text++) = 0x60;
offset_text++;
temp = date.mon/10;
if (temp != 0) lcd_put(temp + 0x30,0);
lcd_put(date.mon%10 + 0x30,0);
if (temp == 0)
{
*(offset_text++) = 0x60;
offset_text++;
}
//put_lcd('/');
//put_lcd(yRTC/10 + 0x30);
//put_lcd(yRTC%10 + 0x30);
}
TIME_T actual_time(void)
{
TIME_T time;
time.sec=sRTC;
time.min=mRTC;
time.hour=hRTC;
return time;
}
DATE_T actual_date(void)
{
DATE_T date;
date.day=dRTC;
date.mon=mdRTC;
date.year=yRTC;
return date;
}
//*********************************************************************
//status
void status(void)
{
uint8_t a,b;
uint8_t *ptr;
start_MCP9800();
REF_ON;
ADC_ON;
ADCSRA |= _BV(ADSC);
while (!(ADCSRA & _BV(ADIF)));
gotoxy(1,1);
printf("%0.1fV %2d",1024.0*25/ADC/10,read_temp()>>8);
offset_text = video_buf + LCD_WIDTH - WIDTH_CHAR_LIGHT - 2*CHAR_WIDTH - WIDTH_CHAR_SIGNALL_3D - WIDTH_CHAR_SIGNALL - 2;
if (gps.fix_position)
{
switch (gps.fix_position)
{
case 1: ptr= CHAR_SIGNALL;b=WIDTH_CHAR_SIGNALL;break;
case 2: ptr= CHAR_SIGNALL_D;b=WIDTH_CHAR_SIGNALL_D;break;
case 0:
default:ptr= CHAR_SIGNALL;b=0;
}
for (a=0;a<b;a++) *(offset_text++) =pgm_read_byte(ptr++);
ptr= CHAR_SIGNALL_3D;b=WIDTH_CHAR_SIGNALL_3D;offset_text++;
if (gps.mode2 == '3')
for (a=0;a<b;a++) *(offset_text++) =pgm_read_byte(ptr++);
offset_text++;
}
offset_text = video_buf + LCD_WIDTH - WIDTH_CHAR_LIGHT-2*CHAR_WIDTH;
printf("%d",gps.satelites_used);
if (LED_INPUT)
{
ptr= CHAR_LIGHT;b=WIDTH_CHAR_LIGHT;
offset_text = video_buf + LCD_WIDTH - WIDTH_CHAR_LIGHT;
for (a=0;a<b;a++) *(offset_text++) =pgm_read_byte(ptr++);
}
}
//************************************************************************
// mod
void displ_time(void)
{
GPS_ON;
if (!timer_refresh)
{
timer_refresh = CLOCK1S;
buffer_clr();
status();
gotoxy(1,2);
printf("time & date");
gotoxy(1,3);
fprintf(&mystdout2," %2d:%02d:%02d",gps.hour+2,gps.minute,gps.second);
gotoxy(1,5);
fprintf(&mystdout2," %2d.%02d.20%02d",gps.day,gps.month,gps.year);
lcd_refresh();
}
}
void displ_location(void)
{
if (!timer_refresh)
{
timer_refresh = CLOCK1S;
buffer_clr();
status();
gotoxy(1,2);
printf("location");
gotoxy(1,3);
//gps.latitude = 14.5;
fprintf(&mystdout2,"%c %3d%.4f'",gps.ns_indicator,(uint8_t)gps.latitude,(gps.latitude - 1.0*(uint8_t)gps.latitude)*60);
gotoxy(1,5);
//gps.longitude = 48.25;
fprintf(&mystdout2,"%c %3d%.4f'",gps.we_indicator,(uint8_t)gps.longitude,(gps.longitude - 1.0*(uint8_t)gps.longitude)*60);
lcd_refresh();
}
}
void displ_speed(void)
{
if (!timer_refresh)
{
timer_refresh = CLOCK1S;
buffer_clr();
status();
gotoxy(1,2);
printf("speed");
gotoxy(1,4);
fprintf(&mystdout2," %3.1f km/h",gps.speed);
lcd_refresh();
}
}
void displ_course(void)
{
if (!timer_refresh)
{
timer_refresh = CLOCK1S;
buffer_clr();
status();
//gotoxy(1,2);
//printf("course");
gotoxy(1,3);
fprintf(&mystdout2," %3.1f km/h",gps.speed);
gotoxy(6,5);
fprintf(&mystdout2,"%3.0f",gps.course);
lcd_refresh();
}
}
void displ_satelites(void)
{
#define WIDTH_REC 60
uint8_t a,x,y,b;
static uint8_t d = 0;
static uint8_t c = 0;
double elevace,azimut;
if (!timer_refresh)
{
timer_refresh = CLOCK1S;
if (c--) return;
c=3;
buffer_clr();
//status();
#ifdef DEBUG
if(gps.gsv_satelites_view > 12)
{
printf("error view satelites");
lcd_refresh();
c=20;
return;
}
#endif
if (++d >= gps.gsv_satelites_view) d = 0;
gotoxy(12,1);
printf("%d",gps.gsv_satelites_view);
gotoxy(12,2);
printf("%d",gps.satelit_detail[d].id);
gotoxy(12,3);
printf("%d",gps.satelit_detail[d].azimut);
gotoxy(12,4);
printf("%d",gps.satelit_detail[d].elevation);
gotoxy(12,5);
printf("%d",gps.satelit_detail[d].SNR);
gotoxy(12,6);
for (a=0;a<gps.gsv_satelites_view;a++)
{
azimut = (double)gps.satelit_detail[a].azimut;
elevace = (double)gps.satelit_detail[a].elevation;
x=(uint8_t)((WIDTH_REC-4)/2.0/90.0*(90.0-elevace)*sin(M_PI/180*azimut) + WIDTH_REC/2.0);
y=(uint8_t)((LCD_HEIGHT-4)/2.0/90.0*(90.0-elevace)*cos(M_PI/180*azimut) + LCD_HEIGHT/2.0);
if (gps.satelit_detail[a].SNR)
{
lcd_plot(x-1,y);lcd_plot(x+1,y);lcd_plot(x,y-1);lcd_plot(x,y+1);
for (b=0;b<gps.satelites_used;b++)
if (gps.satelit_detail[a].id == gps.satelite_id[b])
lcd_plot(x,y);
}
else lcd_plot(x,y);
if (d == a)
{
lcd_line(x-2,y-2,x-2,y+2);
lcd_line(x+2,y+2,x+2,y-2);
lcd_line(x+2,y+2,x-2,y+2);
lcd_line(x-2,y-2,x+2,y-2);
}
}
lcd_line(0,0,WIDTH_REC,0);
lcd_line(0,LCD_HEIGHT-1,WIDTH_REC,LCD_HEIGHT-1);
lcd_line(0,0,0,LCD_HEIGHT-1);
lcd_line(WIDTH_REC,0,WIDTH_REC,LCD_HEIGHT-1);
lcd_refresh();
}
}
void displ_all_position()
{
if (!timer_refresh)
{
timer_refresh = CLOCK1S;
buffer_clr();
status();
gotoxy(1,2);
printf("%c %3d%.4f'",gps.ns_indicator,(uint8_t)gps.latitude,(gps.latitude - 1.0*(uint8_t)gps.latitude)*60);
gotoxy(1,3);
printf("%c %3d%.4f'",gps.we_indicator,(uint8_t)gps.longitude,(gps.longitude - 1.0*(uint8_t)gps.longitude)*60);
gotoxy(1,4);
printf("alt%4.0fm V%2.1f",gps.altitude,gps.VDOP);
gotoxy(1,5);
printf("geo%4.0fm H%2.1f",gps.geoid,gps.HDOP);
gotoxy(1,6);
printf("%3.0fkm/h %3.0f",gps.speed,gps.course);
lcd_refresh();
}
}
void displ_nav(void)
{
uint8_t a;
double lon,lat,temp;
double course;
uint8_t x,y,xl,yl,xp,yp;
if (!timer_refresh)
{
timer_refresh = CLOCK1S;
buffer_clr();
status();
const float gc_lat=48*60+57.7647,gc_lon=14*60+28.0836; // DOMA
lon=(gc_lon-gps.longitude*60)*1214;
lat=(gc_lat-gps.latitude*60)*1854;
temp = sqrt((lon*lon) + (lat*lat));
gotoxy(9,3);
if (temp < 10000)
{
if (temp<1000) fprintf(&mystdout2,"%.1f ",temp);
else
{
fprintf(&mystdout2,"%.3f ",temp/1000);
gotoxy(12,5);
printf("k");
}
gotoxy(13,5);
printf("m");
}
else
{
temp=temp/1000;
if (temp < 1000)
{
if (temp < 100)
{
fprintf(&mystdout2,"%.2f ",temp);
}
else
{
fprintf(&mystdout2,"%.1f ",temp);
}
}
else fprintf(&mystdout2,"%5.0f ",temp);
gotoxy(12,5);
printf("km");
}
if (lat==0) lat=0.001;
lon=M_PI/2.0-(atan2(lat,lon));
if (lon<0) lon+=2*M_PI;
if (lon>(2*M_PI)) lon-=2*M_PI;
//printf(lcd_putc,"BE%2.0g*",lon);
lat=M_PI/180*gps.course;
lon=lon-lat;
if (lon<0) lon+=2*M_PI;
if (lon>2*M_PI) lon-=2*M_PI;
//printf(lcd_putc,"HE%2.0g*AZ%2.0g* ",lon,lat);
#define WIDTH_REC_NAV 43
#define LCD_HEIGHT_NAV 35
course = lon;
x=(uint8_t)(WIDTH_REC_NAV/2.0*sin(course) +WIDTH_REC_NAV/2);
y=(uint8_t)((LCD_HEIGHT_NAV)/2.0*cos(course) +(LCD_HEIGHT_NAV)/2);
xl=(uint8_t)(WIDTH_REC_NAV/2.0*sin((course-2.62))+WIDTH_REC_NAV/2 );
yl=(uint8_t)((LCD_HEIGHT_NAV)/2.0*cos((course-2.62))+(LCD_HEIGHT_NAV)/2 );
xp=(uint8_t)(WIDTH_REC_NAV/2.0*sin((course+2.62))+WIDTH_REC_NAV/2 );
yp=(uint8_t)((LCD_HEIGHT_NAV)/2.0*cos((course+2.62)) +(LCD_HEIGHT_NAV)/2);
//xs=(uint8_t)((WIDTH_REC_NORTH-26)/2.0*sin(M_PI/180*(course+180.0))+WIDTH_REC_NORTH/2 );
//ys=(uint8_t)(((LCD_HEIGHT_NORTH-20))/2.0*cos(M_PI/180*(course+180.0)) +(LCD_HEIGHT_NORTH)/2);
lcd_line( x,y,xl,yl);
lcd_line( x,y,xp,yp);
//lcd_line( xp,yp,xl,yl);
lcd_line(xl,yl,WIDTH_REC_NAV/2,(LCD_HEIGHT_NAV)/2);
lcd_line(xp,yp,WIDTH_REC_NAV/2,(LCD_HEIGHT_NAV)/2);
//lcd_line(xl,yl,xs,ys);
//lcd_line(xp,yp,xs,ys);
lcd_refresh();
}
}
void displ_service(char *buf)
{
uint8_t a;
if (!timer_refresh)
{
timer_refresh = CLOCK1S;
buffer_clr();
for (a = 0; a<80; a++) putchar(*(buf++));
lcd_refresh();
}
}
void displ_north(void)
{
//uint8_t a;
uint8_t x,y;
uint8_t xp,yp;
uint8_t xl,yl;
//uint8_t xs,ys;
double course;
if (!timer_refresh)
{
timer_refresh = CLOCK1S;
buffer_clr();
status();
gotoxy(9,3);
fprintf(&mystdout2,"%3.1f",gps.speed);
gotoxy(10,5);
printf("km/h");
#define WIDTH_REC_NORTH 43
#define LCD_HEIGHT_NORTH 35
course = 360-gps.course;
x=(uint8_t)(WIDTH_REC_NORTH/2.0*sin(M_PI/180*course) +WIDTH_REC_NORTH/2);
y=(uint8_t)((LCD_HEIGHT_NORTH)/2.0*cos(M_PI/180*course) +(LCD_HEIGHT_NORTH)/2);
xl=(uint8_t)(WIDTH_REC_NORTH/2.0*sin(M_PI/180*(course-150.0))+WIDTH_REC_NORTH/2 );
yl=(uint8_t)((LCD_HEIGHT_NORTH)/2.0*cos(M_PI/180*(course-150.0))+(LCD_HEIGHT_NORTH)/2 );
xp=(uint8_t)(WIDTH_REC_NORTH/2.0*sin(M_PI/180*(course+150.0))+WIDTH_REC_NORTH/2 );
yp=(uint8_t)((LCD_HEIGHT_NORTH)/2.0*cos(M_PI/180*(course+150.0)) +(LCD_HEIGHT_NORTH)/2);
//xs=(uint8_t)((WIDTH_REC_NORTH-26)/2.0*sin(M_PI/180*(course+180.0))+WIDTH_REC_NORTH/2 );
//ys=(uint8_t)(((LCD_HEIGHT_NORTH-20))/2.0*cos(M_PI/180*(course+180.0)) +(LCD_HEIGHT_NORTH)/2);
lcd_line( x,y,xl,yl);
lcd_line( x,y,xp,yp);
//lcd_line( xp,yp,xl,yl);
lcd_line(xl,yl,WIDTH_REC_NORTH/2,(LCD_HEIGHT_NORTH)/2);
lcd_line(xp,yp,WIDTH_REC_NORTH/2,(LCD_HEIGHT_NORTH)/2);
//lcd_line(xl,yl,xs,ys);
//lcd_line(xp,yp,xs,ys);
lcd_refresh();
}
}
void displ_all_service(void)
{
uint8_t a;
if (!timer_refresh)
{
timer_refresh = CLOCK1S;
buffer_clr();
status();
gotoxy(1,2);
printf("d=%d %ds",gps.diff_id,gps.age_diff_corr);
gotoxy(1,3);
printf("%c st=%cD ",gps.mode1,gps.mode2);
switch (gps.fix_position)
{
case 0: printf("nofix");break;
case 1: printf("SPSfix");break;
case 2: printf(" Dfix");break;
default: printf("nopref");
}
gotoxy(1,4);
printf("GSV %d %d %d",gps.gsv_num_msg,gps.gsv_msg,gps.gsv_satelites_view);
gotoxy(1,5);
for(a=0;a<6;a++)
{
printf("%2d",gps.satelite_id[a]);
offset_text+=2;
}
gotoxy(1,6);
for(a=6;a<12;a++)
{
printf("%2d",gps.satelite_id[a]);
if (a != 11) offset_text+=2;
}
lcd_refresh();
}
}
void displ_temp()
{
//GPS_OFF;
//ADC_OFF;
//REF_OFF;
if(!timer_temp)
{
timer_temp = TEMP_TIME_REPEAT;
now.temperature=read_temp();
now.time=actual_time();
now.date=actual_date();
buffer_clr();
gotoxy(1,1);
stdout = &mystdout2;
print_temp(now.temperature);
stdout = &mystdout;
gotoxy(11,1);
offset_text-= 2;
print_time(now.time);
gotoxy(11,2);
offset_text-= 2;
print_date(now.date);
gotoxy(1,4);
if (now.temperature > max.temperature) max=now;
print_temp(max.temperature);
gotoxy(11,4);
offset_text-= 2;
print_date(max.date);
gotoxy(6,3);
printf("max");
gotoxy(11,3);
offset_text-= 2;
print_time(max.time);
gotoxy(1,6);
if (now.temperature < min.temperature) min=now;
print_temp(min.temperature);
gotoxy(11,6);
offset_text-= 2;
print_date(min.date);
gotoxy(6,5);
printf("min");
gotoxy(11,5);
offset_text-= 2;
print_time(min.time);
lcd_refresh();
start_MCP9800();
}
}
void displ_start(void)
{
buffer_clr();
gotoxy(6,3);
fprintf(&mystdout2,"GPS");
lcd_refresh();
delay_ms(1000);
id_mod = ID_TEMP;
}
void all_off(void)
{
if (!timer_refresh)
{
buffer_clr();
gotoxy(6,3);
fprintf(&mystdout2,"OFF");
lcd_refresh();
timer_refresh = CLOCK1S;
return;
}
if (timer_refresh < CLOCK50MS)
{
timer_refresh = 0;
LED_OFF;
GPS_OFF;
REF_OFF;
N5110_send_command(POWER_DOWN);
while (TL2_INPUT)
sleep_cpu();
LCD_N5110_INIT();
id_mod = ID_START;
}
}
//************************************************************************
// spol key
uint8_t key(uint8_t mod)
{
if(key_press)
{
if (!timer_off)
{
if (key_read() == _BV(KEY2))
{
timer_refresh = 0;
timer_key = CLOCK2S;
key_read();
return ID_OFF;
}
}
}
else
{
if (key_flag == _BV(KEY1))
{
timer_key = KEY_TIME_FIRST;
key_read();
timer_refresh = 0;
++mod;
}
if (key_flag == _BV(KEY2))
{
if (LED_INPUT) LED_OFF;
else LED_ON;
timer_key = KEY_TIME_FIRST;
key_read();
}
if (key_flag == _BV(KEY3))
{
max.temperature=0x8000;
min.temperature=0x7FFF;
if (GPS_INPUT && (gps.status == 'A'))
{
sRTC=gps.second;
mRTC=gps.minute;
hRTC=gps.hour+2;
dRTC=gps.day;
mdRTC=gps.month;
yRTC=gps.year;
}
timer_key = KEY_TIME_FIRST;
key_read();
}
}
return mod;
}
//************************************************************************
// main
int main(void)
{
uint8_t temp;
pgps = &gps;
max.temperature=0x8000;
min.temperature=0x7FFF;
id_mod = ID_NORTH;
general_cpu_init();
//GPS_ON;
LCD_N5110_INIT();
//set_static_navigation(0);
sRTC=0;
mRTC=15;
hRTC=17;
dRTC=25;
mdRTC=7;
yRTC=8;
stdout = &mystdout;
sei();
for (;;)
{
switch(id_mod)
{
case ID_TIME: displ_time(); break;
case ID_LOCATION: id_mod++;break;displ_location();break;
//case ID_SPEED: displ_speed(); break;
case ID_SATELITES: displ_satelites();break;
case ID_COURSE: id_mod++;break;displ_course(); break;
case ID_ALL_POSITION:displ_all_position(); break;
case ID_ALL_SERVICE:displ_all_service();break;
case ID_SERVICE: id_mod++; break;displ_service(scan_buf);break;
case ID_TEMP: displ_temp(); break;
case ID_OFF: all_off(); break;
case ID_START: displ_start(); break;
case ID_NAV: displ_nav();break;
case ID_NORTH: displ_north();break;
default : id_mod = 0;
}
id_mod = key(id_mod);
while(timer1_ovf)timer1_tik();
switch (load_nmea(rx_shift,rx_buf,scan_buf))
{
case RETURN_GGA: nmea_gga(scan_buf,pgps);break;
case RETURN_GSA: nmea_gsa(scan_buf,pgps);break;
case RETURN_GSV: nmea_gsv(scan_buf,pgps);break;
case RETURN_RMC: nmea_rmc(scan_buf,pgps);break;
case RETURN_VTG: nmea_vtg(scan_buf,pgps);break;
}
}
return 0;
}


SW/GPS/nmea_scan.h
Nový soubor

@@ -0,0 +1,23 @@

#include "gps.h"
#define MAX_GGA_PLAYLOAD 100
#define MAX_GSA_PLAYLOAD 100
#define MAX_GSV_PLAYLOAD 100
#define MAX_RMC_PLAYLOAD 100
#define MAX_VTG_PLAYLOAD 100
#define RETURN_RX 1
#define RETURN_GGA 2
#define RETURN_GSA 3
#define RETURN_GSV 4
#define RETURN_RMC 5
#define RETURN_VTG 6
uint8_t load_nmea(uint8_t rx_shift, char *rx_buf, char *scan_buf);
void nmea_gga(char *buf,DATA_GPS *pgps);
void nmea_gsa(char *buf,DATA_GPS *pgps);
void nmea_gsv(char *buf,DATA_GPS *pgps);
void nmea_rmc(char *buf,DATA_GPS *pgps);
void nmea_vtg(char *buf,DATA_GPS *pgps);


SW/GPS/GPS.h
Nový soubor

@@ -0,0 +1,193 @@

/* mija 2008
demo for LCD NOKIA5110 and MCP9800 and GPS modul
CPU ATMEGA644P
fcpu = 1MHz
!! define PIN,PORT,DDR for IOpin !!
*/
#include <stdint.h>
#define MAX_RX_BUF 150
#define MAX_NMEA_LOAD 100
// PIN TL1
#define TL1 PB4 // input
#define TL1_DDR DDRB
#define TL1_PORT PORTB
#define TL1_PIN PINB
// PIN TL2
#define TL2 PB2 // input //int2
#define TL2_DDR DDRB
#define TL2_PORT PORTB
#define TL2_PIN PINB
// PIN TL3
#define TL3 PB3 // input
#define TL3_DDR DDRB
#define TL3_PORT PORTB
#define TL3_PIN PINB
// PIN GPS
#define GPS PD4
#define GPS_DDR DDRD
#define GPS_PORT PORTD
// UART SW
#define RX PD2 // input
#define RX_DDR DDRD
#define RX_PORT PORTD
#define RX_PIN PIND
// i2C SW
#define SDA PC1
#define SDA_PORT PORTC
#define SDA_DDR DDRC
#define SDA_PIN PINC
#define SCL PC0
#define SCL_PORT PORTC
#define SCL_DDR DDRC
// LED
#define LED PD7
#define LED_PORT PORTD
#define LED_DDR DDRD
// Vref
#define REF PA0
#define REF_PORT PORTA
#define REF_DDR DDRA
// interni
#define TL1_INIT TL1_DDR &= ~(_BV(TL1))
#define TL1_INPUT (TL1_PIN & _BV(TL1))
#define TL1_PULLUP TL1_PORT |= _BV(TL1)
#define TL2_INIT TL2_DDR &= ~(_BV(TL2))
#define TL2_INPUT (TL2_PIN & _BV(TL2))
#define TL2_PULLUP TL2_PORT |= _BV(TL2)
#define TL3_INIT TL3_DDR &= ~(_BV(TL3))
#define TL3_INPUT (TL3_PIN & _BV(TL3))
#define TL3_PULLUP TL3_PORT |= _BV(TL3)
#define GPS_OFF GPS_PORT |= _BV(GPS)
#define GPS_ON GPS_PORT &= (~(_BV(GPS)))
#define GPS_INIT GPS_DDR |= _BV(GPS)
#define GPS_INPUT (!(GPS_PORT & _BV(GPS)))
#define RX_INIT RX_DDR &= ~(_BV(RX))
#define RX_INPUT (RX_PIN & _BV(RX))
#define RX_PULLUP RX_PORT |= _BV(RX)
#define SCL_INIT SCL_DDR |= _BV(SCL)
#define SCL_L SCL_PORT &= ~(_BV(SCL))
#define SCL_H SCL_PORT |= _BV(SCL)
#define SDA_OUT SDA_DDR |= _BV(SDA)
#define SDA_L SDA_PORT &= ~(_BV(SDA))
#define SDA_H SDA_PORT |= _BV(SDA)
#define SDA_IN SDA_DDR &= ~(_BV(SDA))
#define SDA_INPUT (SDA_PIN & _BV(SDA))
#define SDA_FLOAT SDA_IN;SDA_L
#define LED_ON LED_PORT |= _BV(LED)
#define LED_OFF LED_PORT &= (~(_BV(LED)))
#define LED_INIT LED_DDR |= _BV(LED)
#define LED_INPUT (LED_PORT & _BV(LED))
#define REF_ON REF_PORT |= _BV(REF)
#define REF_OFF REF_PORT &= (~(_BV(REF)))
#define REF_INIT REF_DDR |= _BV(REF)
#define ADC_ON ADCSRA |= _BV(ADEN)
#define ADC_OFF ADCSRA &= ~(_BV(ADEN))
#define KEY1 0
#define KEY2 1
#define KEY3 3
#define ID_OFF 100
#define ID_START 101
#define ID_SETUP 102
#ifndef TYPEDEF_OK
//typedef struct{uint8_t a; uint8_t b}GPS_SEND;
typedef struct
{
uint8_t sec;
uint8_t min;
uint8_t hour;
}TIME_T;
typedef struct
{
uint8_t day;
uint8_t mon;
uint8_t year;
}DATE_T;
typedef struct
{
double lat;
double lon;
double alt;
double speed;
double course;
int16_t temperature;
TIME_T time;
DATE_T date;
}POINT_T;
typedef struct
{
uint8_t id;
uint8_t elevation;
uint16_t azimut;
uint8_t SNR;
}SATELITE_DETAIL;
typedef struct
{
//GGA
uint8_t fix_position;
uint8_t satelites_used;
double altitude;
double geoid;
uint16_t age_diff_corr;
uint16_t diff_id;
//GSA
char mode1;
char mode2;
uint8_t satelite_id[12];
double PDOP;
double HDOP;
double VDOP;
//GSV
uint8_t gsv_num_msg;
uint8_t gsv_msg;
uint8_t gsv_satelites_view;
SATELITE_DETAIL satelit_detail[12];
//RMC
uint8_t second;
uint8_t minute;
uint8_t hour;
uint8_t day;
uint8_t month;
uint8_t year;
double latitude;
double longitude;
char ns_indicator;
char we_indicator;
char status;
//VTG
double course;
double speed;
}DATA_GPS;
#endif
#define TYPEDEF_OK


{COMPARE END}
{FOOTER START}

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