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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);
        }
}