Rev 1103 Rev 1104
1 /**** GPS skrysohledac ****/ 1 /**** GPS skrysohledac ****/
2 #define ID "$Id: gps.c 984 2008-01-06 23:41:31Z kakl $" 2 #define ID "$Id: gps.c 984 2008-01-06 23:41:31Z kakl $"
3   3  
4 #include "gpsrl.h" 4 #include "gpsrl.h"
5   5  
6 #include <math.h> 6 #include <math.h>
7 #include <stdlib.h> 7 #include <stdlib.h>
8 #include <stdlibm.h> 8 #include <stdlibm.h>
9   9  
-   10 #define SCINTILAK 1 //kanal adc pro scintilacni detektor NB3201
-   11 #define RANGE PIN_A4 // vystup detektoru urcujici rozsah mereni.
-   12  
-   13  
10 #define LCD_RS PIN_B1 // LCD control 14 #define LCD_RS PIN_B1 // LCD control
11 #define LCD_E PIN_B2 // LCD enable 15 #define LCD_E PIN_B2 // LCD enable
12 #define LCD_DATA_LSB PIN_B4 // LSB data bit LCD 16 #define LCD_DATA_LSB PIN_B4 // LSB data bit LCD
13 #include "MYLCD.C" 17 #include "MYLCD.C"
14   18  
-   19 #define TL1 PIN_C0
-   20 #define TL2 PIN_C1
-   21 #define TL3 PIN_C2
-   22  
15 // NMEA 23 // NMEA
16 #define TIME 6 // For NMEA parsing 24 #define TIME 6 // For NMEA parsing
17 #define TIME_LEN 10 25 #define TIME_LEN 10
18 #define LATDEG 19 26 #define LATDEG 19
19 #define LATMIN 21 27 #define LATMIN 21
20 #define LONDEG 32 28 #define LONDEG 32
21 #define LONMIN 34 29 #define LONMIN 34
-   30 #define SAT 36
22 #define DEG_LEN 2 31 #define DEG_LEN 2
23 #define MIN_LEN 7 32 #define MIN_LEN 7
24 #define AZIMUTH 46 33 #define AZIMUTH 46
25 #define NMEA_LINESIZE 60 34 #define NMEA_LINESIZE 79
26   35  
27 #define MAXGC 4 36 //$GPRMC,105815.503,V,4915.5877,N,01442.3896,E,0.0,0.00,060108,,,N*44
28 struct geocache -  
29 { -  
30 float lat; -  
31 float lon; -  
32 char name[8]; -  
33 }; -  
34   37  
35 struct geocache const gc[MAXGC] = 38 void main()
36 { 39 {
37 {49*60+15.5740,14*60+42.3310,"DOMA"}, // Testovaci souradnice: cisticka -  
38 {48*60+57.966,14*60+28.655,"GC16JMH"}, -  
39 {48*60+57.837,14*60+28.599,"GC16F8Y"}, -  
40 {49*60+9.542,14*60+56.417,"GC-----"} -  
41 }; -  
42   40  
-   41 setup_adc_ports(AN0);
-   42 setup_adc(ADC_CLOCK_INTERNAL);
-   43 setup_spi(FALSE);
43 float lat,lon; // Latitude, Longitude, Azimuth 44 setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);
-   45 setup_timer_1(T1_DISABLED);
-   46 setup_timer_2(T2_DISABLED,0,1);
-   47 setup_comparator(NC_NC_NC_NC);
-   48 setup_vref(VREF_LOW|-2);
44 int16 az; 49 lcd_init();
-   50  
-   51 delay_ms(100);
-   52 lcd_gotoxy(5,1);
-   53 printf(lcd_putc,"GPSRL01B \n");
45 int8 gcnum; // Selection of the GC point 54 printf(lcd_putc,"(c) Kaklik 2008");
-   55 delay_ms(300);
-   56 printf(lcd_putc,"\f");
46   57
47 //$GPRMC,105815.503,V,4915.5877,N,01442.3896,E,0.0,0.00,060108,,,N*44 58 set_adc_channel(SCINTILAK);
-   59  
48 inline void read_NMEA() // NMEA parsing 60 while(TRUE)
49 { 61 {
-   62  
50 auto char line[NMEA_LINESIZE]; 63 auto char line[NMEA_LINESIZE];
51 auto char item[16]; 64 char item[16];
52 auto char *ptr; 65 char *ptr;
53 // auto char *line; -  
54 auto int8 n; 66 int8 n;
55 auto char c; 67 char c;
-   68  
56   69  
57 // line=malloc(NMEA_LINESIZE); // Space for one line 70 // line=malloc(NMEA_LINESIZE); // Space for one line
58 // if (line==NULL) {printf(lcd_putc,"Error"); sleep();}; 71 // if (line==NULL) {printf(lcd_putc,"Error"); sleep();};
59 line[NMEA_LINESIZE-1]=0; 72 line[NMEA_LINESIZE-1]=0;
60   73  
61 while(fgetc(NMEA)!='$'); // Waiting for start character 74 while(fgetc(NMEA)!='$'); // Waiting for start character
62 for(n=0;n<(NMEA_LINESIZE-1);n++) // Read line up to checksum 75 for(n=0;n<(NMEA_LINESIZE-1);n++) // Read line up to checksum
63 { 76 {
64 c=fgetc(NMEA); 77 c=fgetc(NMEA);
65 if(c=='*') 78 if(c=='*')
66 { 79 {
67 line[n]=0; 80 line[n]=0;
68 break; 81 break;
69 }; 82 };
70 line[n]=c; 83 line[n]=c;
71 }; 84 };
72   85  
73 lcd_gotoxy(12,4); 86 printf(lcd_putc,"\f");
74 printf(lcd_putc,"%c %06.0g ",line[17],strtod(&line[TIME],&ptr)); -  
75   87  
-   88 if(!input(TL1))
-   89 {
76 lcd_gotoxy(1,3); 90 lcd_gotoxy(1,1);
77 strncpy(item,&line[LATDEG],DEG_LEN+MIN_LEN); item[DEG_LEN+MIN_LEN]=0; 91 strncpy(item,&line[LATDEG],DEG_LEN+MIN_LEN); item[DEG_LEN+MIN_LEN]=0;
78 printf(lcd_putc,"%s*",item); 92 printf(lcd_putc,"%s \n",item);
-   93  
79 strncpy(item,&line[LONDEG],DEG_LEN+MIN_LEN); item[DEG_LEN+MIN_LEN]=0; 94 strncpy(item,&line[LONDEG],DEG_LEN+MIN_LEN); item[DEG_LEN+MIN_LEN]=0;
80 printf(lcd_putc,"%s*",item); 95 printf(lcd_putc,"%s",item);
81   96  
82 // lcd_gotoxy(1,2); -  
83 lat=strtod(&line[LATMIN],&ptr); -  
84 line[LATMIN]=0; -  
85 lat+=60*strtod(&line[LATDEG],&ptr); -  
86 lon=strtod(&line[LONMIN],&ptr); -  
87 line[LONMIN]=0; -  
88 lon+=60*strtod(&line[LONDEG],&ptr); -  
89 strtod(&line[AZIMUTH],&ptr); -  
90 az=strtoul(ptr+1,&ptr,10); -  
91 // printf(lcd_putc,"%.3g*%.3g*%03Lu",lat,lon,az); -  
92 // free(line); -  
93 } 97 }
94   -  
95 void main() -  
96 { 98 else
97   -  
98 setup_adc_ports(NO_ANALOGS); -  
99 setup_adc(ADC_OFF); -  
100 setup_spi(FALSE); -  
101 setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); -  
102 setup_timer_1(T1_DISABLED); -  
103 setup_timer_2(T2_DISABLED,0,1); -  
104 setup_comparator(NC_NC_NC_NC); -  
105 setup_vref(VREF_LOW|-2); -  
106 lcd_init(); -  
107   -  
108 gcnum++; // Next GC -  
109 if (gcnum>(MAXGC-1)) gcnum=0; -  
110   -  
111 delay_ms(200); -  
112 lcd_gotoxy(1,2); -  
113 printf(lcd_putc,"%s",gc[gcnum].name); // Print GC name -  
114   -  
115 while(TRUE) -  
116 { 99 {
-   100 lcd_gotoxy(1,1);
-   101 printf(lcd_putc,"Time %06.0g \n",strtod(&line[TIME],&ptr));
117 read_NMEA(); // Read one NMEA line and parse 102 printf(lcd_putc,"sats %06.0g ",strtod(&line[SAT],&ptr));
-   103 }
118   104  
119 lon=(gc[gcnum].lon-lon)*1214; // Kakona's projection :) -  
120 lat=(gc[gcnum].lat-lat)*1854; 105 puts(line,PC);
121   106  
122 lcd_gotoxy(1,4); -  
123 printf(lcd_putc,"%.0gm ",sqrt((lon*lon) + (lat*lat))); // Distance -  
124 lcd_gotoxy(1,1); -  
125 if (lon==0) lon=0.001; // Divided by zero cure -  
126 lon=3-(6/PI*atan2(lat,lon)); // Bearing -  
127 if (lon<0) lon+=12; // overflow cure -  
128 if (lon>12) lon-=12; 107 // free(line);
129 printf(lcd_putc,"BE%2.0gh*",lon); -  
130 lat=12.0/360*az; // Azimuth of the movement -  
131 lon=lon-lat; // Heading -  
132 if (lon<0) lon+=12; // overflow cure -  
133 if (lon>12) lon-=12; -  
134 printf(lcd_putc,"HE%2.0gh*AZ%2.0gh*",lon,lat); -  
135 } 108 }
136 } 109 }
137   110