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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); |
| } |
| } |
| |