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//*****************************************************************************

// File Name	: gpstest.c

// 

// Title		: example usage of gps processing library functions

// Revision		: 1.0

// Notes		: 

// Target MCU	: Atmel AVR series

// Editor Tabs	: 4

// 

// Revision History:

// When			Who			Description of change

// -----------	-----------	-----------------------

// 10-Sep-2002	pstang		Created the program

//*****************************************************************************

//----- Include Files ---------------------------------------------------------

#include <avr/io.h>		// include I/O definitions (port names, pin names, etc)

#include <avr/interrupt.h>	// include interrupt support

//#include <math.h>

#include <stdlib.h>

#include "global.h"		// include our global settings

#include "uart2.h"		// include dual-uart function library

#include "rprintf.h"	// include printf function library

#include "timer.h"		// include timer function library (timing, PWM, etc)

#include "gps.h"		// include gps data support

#include "tsip.h"		// include TSIP gps packet handling

#include "nmea.h"		// include NMEA gps packet handling

#include "vt100.h"		// include VT100 terminal commands

// uartRxOverflow is a global variable defined in uart.c/uart2.c

// we define it here as <extern> here so that we can use its value

// in code contained in this file

extern unsigned short uartRxOverflow[2];

void gpsTsipTest(void);

void gpsNmeaTest(void);

//----- Begin Code ------------------------------------------------------------

int main(void)

{

	// initialize our libraries

	// initialize the UART (serial port)

	uartInit();

	// set the baud rate of UART 0 for our debug/reporting output

	uartSetBaudRate(0,9600);

	// set uart0SendByte as the output for all rprintf statements

	rprintfInit(uart0SendByte);

	// initialize the timer system

	timerInit();

	// initialize vt100 library

	vt100Init();

	// print a little intro message so we know things are working

	vt100ClearScreen();

	rprintf("\r\nWelcome to GPS Test!\r\n");

	// run example gps processing loop

	// (pick the one appropriate for your GPS packet format)

//	gpsTsipTest();

	gpsNmeaTest();

	return 0;

}

void gpsTsipTest(void)

{

	// set the baud rate of UART 1 for TSIP

	uartSetBaudRate(1,9600);

	// clear screen

	vt100ClearScreen();

	// initialize gps library

	gpsInit();

	// initialize gps packet decoder 

	tsipInit(uart1SendByte);	// use uart1 for tsip packet output

	// begin gps packet processing loop

	while(1)

	{

		// process received gps packets until receive buffer is exhausted

		while( tsipProcess(uartGetRxBuffer(1)) );

		// set cursor position to top left of screen

		vt100SetCursorPos(0,0);

		// print/dump current formatted GPS data

		gpsInfoPrint();

		// print UART 1 overflow status to verify that we're processing packets

		// fast enough and that our receive buffer is large enough

		rprintf("Uart1RxOvfl: %d\r\n",uartRxOverflow[1]);

		// pause for 100ms

		timerPause(100);

	}

}

void gpsNmeaTest(void)

{

	// set the baud rate of UART 1 for NMEA

	uartSetBaudRate(1,4800);

	// clear screen

	vt100ClearScreen();

	// initialize gps library

	gpsInit();

	// initialize gps packet decoder 

	nmeaInit();

	// begin gps packet processing loop

	while(1)

	{

		// process received gps packets until receive buffer is exhausted

		while( nmeaProcess(uartGetRxBuffer(1)) );

		// set cursor position to top left of screen

		vt100SetCursorPos(0,0);

		// print/dump current formatted GPS data

		gpsInfoPrint();

		// print UART 1 overflow status to verify that we're processing packets

		// fast enough and that our receive buffer is large enough

		rprintf("Uart1RxOvfl: %d\r\n",uartRxOverflow[1]);

		// pause for 100ms

		timerPause(100);

	}

}