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MLAB

Porovnej cestu:  Revize
S umístěním:  Revize

Toto porovnání ukazuje změny pro převedení /Designs/GPSnavigator (Revize 1216) na /Designs/GPSnavigator (Revize 1217)

Reverzní porovnání

SW/GPS/default/GPS.hex

@@ -1,11 +1,11 @@

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@@ -46,1184 +46,1194 @@

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:00000001FF


SW/GPS/GPS.c

@@ -49,6 +49,7 @@

//************************************************************************
// pomocne
#define WIDTH_CHAR_SIGNALL 8
prog_uint8_t CHAR_SIGNALL[WIDTH_CHAR_SIGNALL]={127,12,30,51,51,30,12,127};

@@ -65,9 +66,11 @@

prog_uint8_t CHAR_LIGHT[WIDTH_CHAR_LIGHT]={127,65,95,95,127};
#define BOOT() (((void(*)(void))(char *)0x7C00)())
#define RESET() (((void(*)(void))(char *)0x0000)())
//***********************************************************************
// global variables
extern uint8_t video_buf[504];
extern uint8_t *offset_text;

@@ -79,12 +82,16 @@

enum {ID_TIME,ID_LOCATION,ID_COURSE,ID_ALL_POSITION,ID_ALL_SERVICE,ID_SERVICE,ID_TEMP,ID_SATELITES,ID_NORTH,ID_NAV};
static FILE mystdout = FDEV_SETUP_STREAM(lcd_put, NULL,_FDEV_SETUP_WRITE); // in lcd.h
static FILE mystdout2 = FDEV_SETUP_STREAM(lcd_put2, NULL,_FDEV_SETUP_WRITE); // in lcd.h
//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);
//************************************************************************
// prototypes
//(*bootloader)(void) = 0x7C00;
void delay_ms(uint16_t time);
void null_variables(void);
//************************************************************************
// general cpu init

@@ -98,8 +105,8 @@

TL3_INIT;
TL3_PULLUP;
RX_INIT;
RX_PULLUP;
USB_INIT;
//USB_PULLUP;
GPS_INIT;
GPS_OFF;

@@ -120,16 +127,22 @@

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
//EICRA = _BV(ISC21); //pin INT2 - TL2
//EIMSK = _BV(INT2); //pin INT2 - TL2
//*** TIMER1 *** tik for TL fosc/8 /1024(TCNT1) cca 8ms
//*** PIN CHANGE INTERRUPTS PCINT29
PCICR = _BV(PCIE1);
PCMSK1 = _BV(PCINT10) | _BV(PCINT11) |_BV(PCINT12); //pin change TL1,TL2,TL3
PCICR |= _BV(PCIE3);
PCMSK3 = _BV(PCINT29); // pin USB
//*** TIMER1 *** tik for TL fosc/64 /1024(TCNT1) cca 8ms
TCNT1 = 0;
OCR1A = 1024;
TCCR1A = _BV(WGM11) | _BV(WGM10);
TCCR1B = _BV(WGM13) | _BV(WGM12) | _BV(CS11) ; // TIMER1 fast PWM
TCCR1B = _BV(WGM13) | _BV(WGM12) | _BV(CS11) | _BV(CS10) ; // TIMER1 fast PWM
TIMSK1 = _BV(TOIE1);
//*** TIMER2 *** RTC

@@ -145,18 +158,22 @@

//WDTCSR = _BV(WDIE) | _BV(WDP3) | _BV(WDP0);
//*** USART0 *** RX PD0, TX PD1, GPS
UBRR0 = 12;
UBRR0 = 95;
//UCSR0A =
UCSR0B = _BV(RXCIE0) | _BV(RXEN0) | _BV(TXEN0);
//*** USART1 *** RX PD2, TX PD3 PC
UBRR1 = 12;
#ifndef DEBUG
UBRR1 = 95;
#else
UBRR1 = 3;
#endif
//UCSR0A =
UCSR1B = _BV(RXCIE1) | _BV(RXEN0) | _BV(TXEN1);
//*** ADC ***
ADMUX = _BV(REFS1) | _BV(MUX0);
ADCSRA = _BV(ADPS1) | _BV(ADPS0);
ADCSRA = _BV(ADPS1) | _BV(ADPS2);
}

@@ -230,14 +247,42 @@

UDR1 = UDR0;
}
uint8_t first_char_usart1 = 0;
ISR(USART1_RX_vect)
{
#ifndef DEBUG
UDR0 = UDR1;
#else
if (TL1_INPUT && TL3_INPUT) BOOT();
//bootloader();
#endif
}
ISR(PCINT1_vect)
{
if ((!TL3_INPUT) && (!TL1_INPUT)) RESET();
}
ISR(PCINT3_vect)
{
if (!TL2_INPUT && USB_INPUT)
{
cli();
buffer_clr();
gotoxy(2,3);
fprintf(&mystdout2,"programing");
gotoxy(6,5);
fprintf(&mystdout2,"mod");
lcd_refresh();
delay_ms(1000);
BOOT();
}
}
EMPTY_INTERRUPT(INT0_vect)
EMPTY_INTERRUPT(INT2_vect)
EMPTY_INTERRUPT(PCINT1_vect)
EMPTY_INTERRUPT(WDT_vect)
//************************************************************************

@@ -256,38 +301,6 @@

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

@@ -304,8 +317,9 @@

{
uint8_t key_temp;
timer1_ovf--;
while (timer1_ovf)
{
timer1_ovf--;
if (timer_status) timer_status--;
if (timer_refresh) timer_refresh--;
if (timer_off) timer_off--;

@@ -313,9 +327,10 @@

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));
key_temp = 0;
if (!TL1_INPUT) key_temp = _BV(KEY1);
if (!TL2_INPUT) key_temp |= _BV(KEY2);
if (!TL3_INPUT) key_temp |= _BV(KEY3);
if (key_temp != key_press)
{
timer_key = KEY_TIME_DEAD;

@@ -514,6 +529,12 @@

offset_text = video_buf + LCD_WIDTH - WIDTH_CHAR_LIGHT - 2*CHAR_WIDTH - WIDTH_CHAR_SIGNALL_3D - WIDTH_CHAR_SIGNALL - 2;
if (gps.fix_position)
{
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 = video_buf + LCD_WIDTH - WIDTH_CHAR_LIGHT - 2*CHAR_WIDTH - WIDTH_CHAR_SIGNALL_3D - 2;
switch (gps.fix_position)
{
case 1: ptr= CHAR_SIGNALL;b=WIDTH_CHAR_SIGNALL;break;

@@ -523,10 +544,7 @@

}
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);

@@ -550,8 +568,8 @@

timer_refresh = CLOCK1S;
buffer_clr();
status();
gotoxy(1,2);
printf("time & date");
//gotoxy(1,2);
// printf("time & date");
gotoxy(1,3);
fprintf(&mystdout2," %2d:%02d:%02d",gps.hour+2,gps.minute,gps.second);
gotoxy(1,5);

@@ -562,13 +580,23 @@

void displ_location(void)
{
uint8_t a,b;
uint8_t *ptr;
if (!timer_refresh)
{
timer_refresh = CLOCK1S;
buffer_clr();
status();
gotoxy(1,2);
printf("location");
gotoxy(8,2);
offset_text -=2;
ptr= CHAR_SIGNALL_3D;b=WIDTH_CHAR_SIGNALL_3D;//offset_text++;
for (a=0;a<b;a++) *(offset_text++) =pgm_read_byte(ptr++);
//gotoxy(9,2);
printf("%4.0fm",gps.altitude);
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);

@@ -698,7 +726,7 @@

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);
printf("geo%4.1fm H%2.1f",gps.geoid,gps.HDOP);
gotoxy(1,6);
printf("%3.0fkm/h %3.0f",gps.speed,gps.course);
lcd_refresh();

@@ -707,10 +735,12 @@

void displ_nav(void)
{
uint8_t a;
double lon,lat,temp;
double course;
uint8_t x,y,xl,yl,xp,yp;
uint8_t a,b;
uint8_t *ptr;
if (!timer_refresh)
{

@@ -725,16 +755,28 @@

temp = sqrt((lon*lon) + (lat*lat));
gotoxy(9,3);
offset_text -=2;
ptr= CHAR_SIGNALL_3D;b=WIDTH_CHAR_SIGNALL_3D;
for (a=0;a<b;a++) *(offset_text++) =pgm_read_byte(ptr++);
//offset_text++;
//gotoxy(10,3);
printf("%4.0fm",gps.altitude);
gotoxy(7,2);
printf("go home");
gotoxy(9,4);
if (temp < 10000)
{
if (temp<1000) fprintf(&mystdout2,"%.1f ",temp);
else
{
fprintf(&mystdout2,"%.3f ",temp/1000);
gotoxy(12,5);
gotoxy(12,6);
printf("k");
}
gotoxy(13,5);
gotoxy(13,6);
printf("m");
}
else

@@ -752,7 +794,7 @@

}
}
else fprintf(&mystdout2,"%5.0f ",temp);
gotoxy(12,5);
gotoxy(12,6);
printf("km");
}

@@ -810,7 +852,8 @@

void displ_north(void)
{
//uint8_t a;
uint8_t a,b;
uint8_t *ptr;
uint8_t x,y;
uint8_t xp,yp;
uint8_t xl,yl;

@@ -822,9 +865,21 @@

timer_refresh = CLOCK1S;
buffer_clr();
status();
gotoxy(9,3);
offset_text -=2;
ptr= CHAR_SIGNALL_3D;b=WIDTH_CHAR_SIGNALL_3D;//offset_text++;
for (a=0;a<b;a++) *(offset_text++) =pgm_read_byte(ptr++);
//gotoxy(10,3);
printf("%4.0fm",gps.altitude);
gotoxy(9,2);
printf("north");
gotoxy(9,4);
fprintf(&mystdout2,"%3.1f",gps.speed);
gotoxy(10,5);
gotoxy(10,6);
printf("km/h");
#define WIDTH_REC_NORTH 43

@@ -958,29 +1013,24 @@

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;
delay_ms(1000);
LED_OFF;
N5110_send_command(POWER_DOWN);
while (TL2_INPUT)
sleep_cpu();
{
sleep_cpu();
}
null_variables();
LCD_N5110_INIT();
id_mod = ID_START;
}
displ_start();
}
//************************************************************************

@@ -1039,32 +1089,48 @@

return mod;
}
void null_variables(void)
{
key_press = 0;
key_flag = 0;
timer_key = 0;
timer_temp = 0;
timer_off = OFF_TIME;
timer_refresh = 0;
timer_status = 0;
timer1_ovf =0;
//max.temperature=0x8000;
//min.temperature=0x7FFF;
//sRTC=0;
//mRTC=15;
//hRTC=17;
//dRTC=25;
//mdRTC=7;
//yRTC=8;
id_mod = ID_START;
}
//************************************************************************
// main
int main(void)
{
uint8_t temp;
{
pgps = &gps;
max.temperature=0x8000;
min.temperature=0x7FFF;
id_mod = ID_NORTH;
null_variables();
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();

@@ -1072,25 +1138,22 @@

{
switch(id_mod)
{
case ID_TIME: displ_time(); break;
case ID_LOCATION: id_mod++;break;displ_location();break;
case ID_TIME: displ_time(); break;
case ID_LOCATION: 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_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: id_mod++;break;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;
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))
{

@@ -1100,6 +1163,11 @@

case RETURN_RMC: nmea_rmc(scan_buf,pgps);break;
case RETURN_VTG: nmea_vtg(scan_buf,pgps);break;
}
timer1_tik();
id_mod = key(id_mod);
}
return 0;
}


SW/GPS/GPS.aps
Nový soubor

@@ -0,0 +1 @@

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