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<h1>gps.c</h1><a href="gps_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment">00001 <span class="comment">/*! \file gps.c \brief GPS position storage and processing library. */</span>
00002 <span class="comment">//*****************************************************************************</span>
00003 <span class="comment">//</span>
00004 <span class="comment">// File Name : 'gps.c'</span>
00005 <span class="comment">// Title : GPS position storage and processing function library</span>
00006 <span class="comment">// Author : Pascal Stang - Copyright (C) 2002-2005</span>
00007 <span class="comment">// Created : 2005.01.14</span>
00008 <span class="comment">// Revised : 2002.07.17</span>
00009 <span class="comment">// Version : 0.1</span>
00010 <span class="comment">// Target MCU : Atmel AVR Series</span>
00011 <span class="comment">// Editor Tabs : 4</span>
00012 <span class="comment">//</span>
00013 <span class="comment">// NOTE: This code is currently below version 1.0, and therefore is considered</span>
00014 <span class="comment">// to be lacking in some functionality or documentation, or may not be fully</span>
00015 <span class="comment">// tested. Nonetheless, you can expect most functions to work.</span>
00016 <span class="comment">//</span>
00017 <span class="comment">// This code is distributed under the GNU Public License</span>
00018 <span class="comment">// which can be found at http://www.gnu.org/licenses/gpl.txt</span>
00019 <span class="comment">//</span>
00020 <span class="comment">//*****************************************************************************</span>
00021
00022 <span class="preprocessor">#ifndef WIN32</span>
00023 <span class="preprocessor"></span><span class="preprocessor"> #include <avr/io.h></span>
00024 <span class="preprocessor"> #include <avr/interrupt.h></span>
00025 <span class="preprocessor"> #include <avr/pgmspace.h></span>
00026 <span class="preprocessor"> #include <math.h></span>
00027 <span class="preprocessor"> #include <stdlib.h></span>
00028 <span class="preprocessor">#endif</span>
00029 <span class="preprocessor"></span>
00030 <span class="preprocessor">#include "<a class="code" href="global_8h.html">global.h</a>"</span>
00031 <span class="preprocessor">#include "<a class="code" href="rprintf_8h.html">rprintf.h</a>"</span>
00032 <span class="preprocessor">#include "<a class="code" href="gps_8h.html">gps.h</a>"</span>
00033
00034 <span class="comment">// Global variables</span>
00035 GpsInfoType GpsInfo;
00036
00037 <span class="comment">// Functions</span>
00038 <span class="keywordtype">void</span> gpsInit(<span class="keywordtype">void</span>)
00039 {
00040
00041 }
00042
00043 GpsInfoType* gpsGetInfo(<span class="keywordtype">void</span>)
00044 {
00045 <span class="keywordflow">return</span> &GpsInfo;
00046 }
00047
00048 <span class="keywordtype">void</span> gpsInfoPrint(<span class="keywordtype">void</span>)
00049 {
00050
00051 <a class="code" href="group__rprintf.html#ga15">rprintfProgStrM</a>(<span class="stringliteral">"TOW: "</span>); rprintfFloat(8, GpsInfo.TimeOfWeek.f); <a class="code" href="group__rprintf.html#ga5">rprintfCRLF</a>();
00052 <a class="code" href="group__rprintf.html#ga15">rprintfProgStrM</a>(<span class="stringliteral">"WkNum: "</span>); <a class="code" href="group__rprintf.html#ga10">rprintfNum</a>(10,4,0,<span class="charliteral">' '</span>,GpsInfo.WeekNum); <a class="code" href="group__rprintf.html#ga5">rprintfCRLF</a>();
00053 <a class="code" href="group__rprintf.html#ga15">rprintfProgStrM</a>(<span class="stringliteral">"UTCoffset:"</span>); rprintfFloat(8, GpsInfo.UtcOffset.f); <a class="code" href="group__rprintf.html#ga5">rprintfCRLF</a>();
00054 <a class="code" href="group__rprintf.html#ga15">rprintfProgStrM</a>(<span class="stringliteral">"Num SVs: "</span>); <a class="code" href="group__rprintf.html#ga10">rprintfNum</a>(10,4,0,<span class="charliteral">' '</span>,GpsInfo.numSVs); <a class="code" href="group__rprintf.html#ga5">rprintfCRLF</a>();
00055
00056 <a class="code" href="group__rprintf.html#ga15">rprintfProgStrM</a>(<span class="stringliteral">"X_ECEF: "</span>); rprintfFloat(8, GpsInfo.PosECEF.x.f); <a class="code" href="group__rprintf.html#ga5">rprintfCRLF</a>();
00057 <a class="code" href="group__rprintf.html#ga15">rprintfProgStrM</a>(<span class="stringliteral">"Y_ECEF: "</span>); rprintfFloat(8, GpsInfo.PosECEF.y.f); <a class="code" href="group__rprintf.html#ga5">rprintfCRLF</a>();
00058 <a class="code" href="group__rprintf.html#ga15">rprintfProgStrM</a>(<span class="stringliteral">"Z_ECEF: "</span>); rprintfFloat(8, GpsInfo.PosECEF.z.f); <a class="code" href="group__rprintf.html#ga5">rprintfCRLF</a>();
00059 <a class="code" href="group__rprintf.html#ga15">rprintfProgStrM</a>(<span class="stringliteral">"TOF: "</span>); rprintfFloat(8, GpsInfo.PosECEF.TimeOfFix.f); <a class="code" href="group__rprintf.html#ga5">rprintfCRLF</a>();
00060 <a class="code" href="group__rprintf.html#ga15">rprintfProgStrM</a>(<span class="stringliteral">"Updates: "</span>); <a class="code" href="group__rprintf.html#ga10">rprintfNum</a>(10,6,0,<span class="charliteral">' '</span>,GpsInfo.PosECEF.updates); <a class="code" href="group__rprintf.html#ga5">rprintfCRLF</a>();
00061
00062 <span class="comment">//u08 str[20];</span>
00063 <span class="comment">//rprintfProgStrM(" PosLat: "); rprintfStr(dtostrf(GpsInfo.PosLat.f, 10, 5, str));</span>
00064 <a class="code" href="group__rprintf.html#ga15">rprintfProgStrM</a>(<span class="stringliteral">"PosLat: "</span>); rprintfFloat(8, 180*(GpsInfo.PosLLA.lat.f/PI)); <a class="code" href="group__rprintf.html#ga5">rprintfCRLF</a>();
00065 <a class="code" href="group__rprintf.html#ga15">rprintfProgStrM</a>(<span class="stringliteral">"PosLon: "</span>); rprintfFloat(8, 180*(GpsInfo.PosLLA.lon.f/PI)); <a class="code" href="group__rprintf.html#ga5">rprintfCRLF</a>();
00066 <a class="code" href="group__rprintf.html#ga15">rprintfProgStrM</a>(<span class="stringliteral">"PosAlt: "</span>); rprintfFloat(8, GpsInfo.PosLLA.alt.f); <a class="code" href="group__rprintf.html#ga5">rprintfCRLF</a>();
00067 <a class="code" href="group__rprintf.html#ga15">rprintfProgStrM</a>(<span class="stringliteral">"TOF: "</span>); rprintfFloat(8, GpsInfo.PosLLA.TimeOfFix.f); <a class="code" href="group__rprintf.html#ga5">rprintfCRLF</a>();
00068 <a class="code" href="group__rprintf.html#ga15">rprintfProgStrM</a>(<span class="stringliteral">"Updates: "</span>); <a class="code" href="group__rprintf.html#ga10">rprintfNum</a>(10,6,0,<span class="charliteral">' '</span>,GpsInfo.PosLLA.updates); <a class="code" href="group__rprintf.html#ga5">rprintfCRLF</a>();
00069
00070 <a class="code" href="group__rprintf.html#ga15">rprintfProgStrM</a>(<span class="stringliteral">"Vel East: "</span>); rprintfFloat(8, GpsInfo.VelENU.east.f); <a class="code" href="group__rprintf.html#ga5">rprintfCRLF</a>();
00071 <a class="code" href="group__rprintf.html#ga15">rprintfProgStrM</a>(<span class="stringliteral">"Vel North:"</span>); rprintfFloat(8, GpsInfo.VelENU.north.f); <a class="code" href="group__rprintf.html#ga5">rprintfCRLF</a>();
00072 <a class="code" href="group__rprintf.html#ga15">rprintfProgStrM</a>(<span class="stringliteral">"Vel Up: "</span>); rprintfFloat(8, GpsInfo.VelENU.up.f); <a class="code" href="group__rprintf.html#ga5">rprintfCRLF</a>();
00073 <span class="comment">// rprintfProgStrM("TOF: "); rprintfFloat(8, GpsInfo.VelENU.TimeOfFix.f); rprintfCRLF();</span>
00074 <a class="code" href="group__rprintf.html#ga15">rprintfProgStrM</a>(<span class="stringliteral">"Updates: "</span>); <a class="code" href="group__rprintf.html#ga10">rprintfNum</a>(10,6,0,<span class="charliteral">' '</span>,GpsInfo.VelENU.updates); <a class="code" href="group__rprintf.html#ga5">rprintfCRLF</a>();
00075
00076 <a class="code" href="group__rprintf.html#ga15">rprintfProgStrM</a>(<span class="stringliteral">"Vel Head: "</span>); rprintfFloat(8, GpsInfo.VelHS.heading.f); <a class="code" href="group__rprintf.html#ga5">rprintfCRLF</a>();
00077 <a class="code" href="group__rprintf.html#ga15">rprintfProgStrM</a>(<span class="stringliteral">"Vel Speed:"</span>); rprintfFloat(8, GpsInfo.VelHS.speed.f); <a class="code" href="group__rprintf.html#ga5">rprintfCRLF</a>();
00078 <span class="comment">// rprintfProgStrM("TOF: "); rprintfFloat(8, GpsInfo.VelHS.TimeOfFix.f); rprintfCRLF();</span>
00079 <a class="code" href="group__rprintf.html#ga15">rprintfProgStrM</a>(<span class="stringliteral">"Updates: "</span>); <a class="code" href="group__rprintf.html#ga10">rprintfNum</a>(10,6,0,<span class="charliteral">' '</span>,GpsInfo.VelHS.updates); <a class="code" href="group__rprintf.html#ga5">rprintfCRLF</a>();
00080
00081 }
00082
00083
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