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| Rev | Author | Line No. | Line |
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| 2136 | - | 1 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 3 | |||
| 4 | //############################################################################ |
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| 5 | //# HISTORY gps.c |
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| 6 | //# |
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| 2200 | - | 7 | //# 20.09.2015 Startet |
| 8 | //# - add Routine um einen Offset in Meter zu den aktuellen Koordinaten dazurechnen |
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| 9 | //# followme_calculate_offset(...) |
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| 10 | //# |
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| 2136 | - | 11 | //# 03.08.2015 cebra |
| 12 | //# - add: Routine um aus gegebenen Koordinaten mit Abstand und Winkel eine ZielKoordinate zu berechnen |
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| 13 | //# int nmea_move_horz( |
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| 14 | //# const nmeaPOS *start_pos, /**< Start position in radians */ |
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| 15 | //# nmeaPOS *end_pos, /**< Result position in radians */ |
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| 16 | //# double azimuth, /**< Azimuth (degree) [0, 359] */ |
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| 17 | //# double distance) /**< Distance (km) */ |
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| 18 | //# |
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| 19 | //# 27.06.2014 OG - NEU |
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| 20 | //# - chg: auf #include "../gps/mymath.h" angepasst |
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| 21 | //# |
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| 22 | //# 20.06.2014 OG - NEU |
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| 23 | //############################################################################ |
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| 24 | |||
| 25 | |||
| 26 | #include "../cpu.h" |
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| 27 | #include <string.h> |
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| 28 | #include <util/delay.h> |
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| 29 | #include <avr/interrupt.h> |
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| 30 | #include <stdlib.h> |
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| 31 | #include <math.h> |
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| 32 | #include "../main.h" |
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| 33 | |||
| 34 | #include "../mk-data-structs.h" |
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| 35 | #include "../gps/mymath.h" |
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| 36 | #include "gps.h" |
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| 37 | |||
| 38 | |||
| 39 | /* |
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| 40 | // definiert in: mk_data-stucts.h |
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| 41 | typedef struct |
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| 42 | { |
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| 43 | u16 Distance; // distance to target in cm |
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| 44 | s16 Bearing; // course to target in deg |
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| 45 | } __attribute__((packed)) GPS_PosDev_t; |
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| 46 | */ |
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| 47 | |||
| 48 | /* |
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| 49 | // definiert in: mk_data-stucts.h |
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| 50 | typedef struct |
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| 51 | { |
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| 52 | s32 Longitude; // in 1E-7 deg |
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| 53 | s32 Latitude; // in 1E-7 deg |
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| 54 | s32 Altitude; // in mm |
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| 55 | u8 Status; // validity of data |
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| 56 | } __attribute__((packed)) GPS_Pos_t; |
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| 57 | */ |
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| 58 | |||
| 59 | |||
| 60 | //-------------------------------------------------------------- |
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| 61 | |||
| 62 | #define NMEA_PI (3.141592653589793) /**< PI value */ |
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| 63 | #define NMEA_PI180 (NMEA_PI / 180) /**< PI division by 180 */ |
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| 64 | #define NMEA_EARTHRADIUS_KM (6378) /**< Earth's mean radius in km */ |
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| 65 | #define R (6371) |
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| 66 | #define NMEA_EARTHRADIUS_M (NMEA_EARTHRADIUS_KM * 1000) /**< Earth's mean radius in m */ |
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| 67 | #define NMEA_EARTH_SEMIMAJORAXIS_M (6378137.0) /**< Earth's semi-major axis in m according WGS84 */ |
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| 68 | #define NMEA_EARTH_SEMIMAJORAXIS_KM (NMEA_EARTHMAJORAXIS_KM / 1000) /**< Earth's semi-major axis in km according WGS 84 */ |
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| 69 | #define NMEA_EARTH_FLATTENING (1 / 298.257223563) /**< Earth's flattening according WGS 84 */ |
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| 70 | #define NMEA_DOP_FACTOR (5) /**< Factor for translating DOP to meters */ |
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| 71 | |||
| 2196 | - | 72 | |
| 73 | // Definitonen für FollowMeStep2 |
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| 74 | #define LONG_DIV 10000000 |
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| 75 | #define LAT_DIV LONG_DIV |
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| 2199 | - | 76 | #define FOLLOWME_M2DEG 111111 |
| 77 | #define FOLLOWME_ROUND_100 100 |
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| 2196 | - | 78 | |
| 79 | |||
| 2136 | - | 80 | # define NMEA_POSIX(x) x |
| 81 | |||
| 82 | |||
| 83 | |||
| 84 | /** |
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| 85 | * \fn nmea_degree2radian |
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| 86 | * \brief Convert degree to radian |
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| 87 | */ |
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| 88 | double nmea_degree2radian(double val) |
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| 89 | { return (val * NMEA_PI180); } |
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| 90 | |||
| 91 | |||
| 92 | //------------------------------------------------------------------------------------------ |
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| 93 | nmeaPOS NMEApos; |
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| 94 | nmeaPOS NMEATarget; |
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| 95 | |||
| 96 | /** |
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| 97 | * \brief Horizontal move of point position |
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| 98 | */ |
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| 99 | int nmea_move_horz( |
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| 100 | const nmeaPOS *start_pos, /**< Start position in radians */ |
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| 101 | nmeaPOS *end_pos, /**< Result position in radians */ |
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| 102 | double azimuth, /**< Azimuth (degree) [0, 359] */ |
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| 103 | double distance /**< Distance (km) */ |
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| 104 | ) |
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| 105 | { |
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| 106 | nmeaPOS p1 = *start_pos; |
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| 107 | int RetVal = 1; |
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| 108 | |||
| 109 | distance /= NMEA_EARTHRADIUS_KM; /* Angular distance covered on earth's surface */ |
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| 110 | azimuth = nmea_degree2radian(azimuth); |
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| 111 | |||
| 112 | end_pos->lat = asin( sin(p1.lat) * cos(distance) + cos(p1.lat) * sin(distance) * cos(azimuth)); |
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| 113 | |||
| 114 | end_pos->lon = p1.lon + atan2( sin(azimuth) * sin(distance) * cos(p1.lat), cos(distance) - sin(p1.lat) * sin(end_pos->lat)); |
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| 115 | |||
| 116 | if(NMEA_POSIX(isnan)(end_pos->lat) || NMEA_POSIX(isnan)(end_pos->lon)) |
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| 117 | { |
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| 118 | end_pos->lat = 0; end_pos->lon = 0; |
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| 119 | RetVal = 0; |
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| 120 | } |
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| 121 | |||
| 122 | return RetVal; |
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| 123 | } |
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| 124 | |||
| 125 | |||
| 2204 | - | 126 | |
| 127 | |||
| 128 | |||
| 129 | // Fügt den Startpostition einen Offset hinzu und gibt es als Zielposition zurück |
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| 130 | // |
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| 2200 | - | 131 | // Benutzt die c_cos_8192 der FC |
| 132 | // TODO: move to followme.c |
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| 2204 | - | 133 | // TODO: *8192 optimieren |
| 2136 | - | 134 | |
| 2204 | - | 135 | uint8_t followme_add_offset( |
| 136 | const nmeaPOS *pPktPos, /**< Start position in radians */ |
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| 137 | nmeaPOS *target_pos, /**< Result position in radians */ |
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| 138 | positionOffset *pFollowMeOffset /**< Position Offset in Millimeters */ |
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| 2196 | - | 139 | ) |
| 140 | { |
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| 2200 | - | 141 | nmeaPOS pktPos = *pPktPos; |
| 2204 | - | 142 | positionOffset followMeOffset = * pFollowMeOffset; |
| 2200 | - | 143 | |
| 2204 | - | 144 | target_pos->lat = pktPos.lat + ( followMeOffset.offset_lat * 1000 * ( LAT_DIV / FOLLOWME_M2DEG ) ); |
| 145 | target_pos->lon = pktPos.lon + ( followMeOffset.offset_long * 1000 * ( LONG_DIV / FOLLOWME_M2DEG ) * 8192 ) / abs ( c_cos_8192( (int16_t)(pktPos.lat / LONG_DIV ) ) ); |
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| 2196 | - | 146 | |
| 147 | return 1; |
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| 148 | } |
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| 149 | |||
| 150 | |||
| 2204 | - | 151 | // Rechnet einen Offset aus Radius und Winkel nach Lat/Long |
| 152 | // !!! Vorzeichen der Quadranten noch zu verifizeiren!!! |
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| 153 | // Benutzt die c_cos_8192 und c_sin_8192 der FC |
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| 154 | // TODO: move to followme.c |
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| 155 | // TODO: /8192 optimieren |
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| 156 | |||
| 157 | uint8_t followme_calculate_offset( |
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| 158 | uint16_t radius, |
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| 159 | int16_t angle, |
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| 160 | positionOffset *followMeOffset |
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| 161 | ) |
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| 162 | { |
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| 163 | angle %= 360; // map angle to 0° - 360° |
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| 164 | |||
| 165 | if(angle < 90) // Q1 |
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| 166 | { |
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| 167 | followMeOffset->offset_lat = ( radius * c_cos_8192( angle ) ) / 8192; |
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| 168 | followMeOffset->offset_long = ( radius * c_sin_8192( angle ) ) / 8192; |
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| 169 | } |
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| 170 | else |
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| 171 | if(angle < 180) // Q2 |
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| 172 | { |
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| 173 | followMeOffset->offset_lat = ( radius * c_cos_8192( angle ) ) / 8192; |
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| 174 | followMeOffset->offset_long = - ( radius * c_sin_8192( angle ) ) / 8192; |
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| 175 | |||
| 176 | } |
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| 177 | else |
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| 178 | if(angle < 270) // Q3 |
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| 179 | { |
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| 180 | followMeOffset->offset_lat = - ( radius * c_cos_8192( angle ) ) / 8192; |
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| 181 | followMeOffset->offset_long = - ( radius * c_sin_8192( angle ) ) / 8192; |
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| 182 | } |
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| 183 | else // Q4 |
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| 184 | { |
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| 185 | followMeOffset->offset_lat = - ( radius * c_cos_8192( angle ) ) / 8192; |
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| 186 | followMeOffset->offset_long = ( radius * c_sin_8192( angle ) ) / 8192; |
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| 187 | } |
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| 188 | return 1; |
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| 189 | } |
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| 190 | |||
| 191 | |||
| 2136 | - | 192 | //############################################################################################### |
| 193 | |||
| 194 | |||
| 195 | |||
| 196 | //-------------------------------------------------------------- |
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| 197 | GPS_PosDev_t gps_Deviation( GPS_Pos_t pos1, GPS_Pos_t pos2 ) |
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| 198 | { |
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| 199 | int32_t lat1, lon1, lat2, lon2; |
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| 200 | int32_t d1, dlat; |
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| 201 | GPS_PosDev_t PosDev; |
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| 202 | |||
| 203 | lon1 = pos1.Longitude; |
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| 204 | lat1 = pos1.Latitude; |
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| 205 | |||
| 206 | lon2 = pos2.Longitude; |
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| 207 | lat2 = pos2.Latitude; |
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| 208 | |||
| 209 | d1 = (1359 * (int32_t)(c_cos_8192((lat1 + lat2) / 20000000)) * ((lon1 - lon2)/10))/ 10000000; |
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| 210 | dlat = (1113 * (lat1 - lat2) / 10000); |
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| 211 | |||
| 212 | PosDev.Bearing = (my_atan2(d1, dlat) + 540) % 360; // 360 +180 besserer Vergleich mit MkCockpit |
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| 213 | PosDev.Distance = sqrt32( d1 * d1 + dlat * dlat ); // |
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| 214 | //PosDev.Distance = sqrt32( d1 * d1 + dlat * dlat ) * 10; // *10 um von dm auf cm zu kommen |
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| 215 | |||
| 216 | return PosDev; |
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| 217 | } |
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| 218 | |||
| 219 | |||
| 220 | ///** |
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| 221 | // * \brief Calculate distance between two points |
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| 222 | // * \return Distance in meters |
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| 223 | // */ |
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| 224 | //int32_t nmea_distance( |
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| 225 | // const nmeaPOS *from_pos, /**< From position in radians */ |
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| 226 | // const nmeaPOS *to_pos /**< To position in radians */ |
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| 227 | // ) |
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| 228 | //{ |
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| 229 | // int32_t dist = ((int32_t)NMEA_EARTHRADIUS_M) * acos( |
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| 230 | // sin(to_pos->lat) * sin(from_pos->lat) + |
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| 231 | // cos(to_pos->lat) * cos(from_pos->lat) * cos(to_pos->lon - from_pos->lon) |
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| 232 | // ); |
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| 233 | // return dist; |
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| 234 | //} |
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| 235 | |||
| 236 | |||
| 237 | |||
| 238 | //// Berechnung von Distanz und Winkel aus GPS-Daten home(MK eingeschaltet) |
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| 239 | //// zur aktuellen Position(nach Motorstart) |
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| 240 | //geo_t calc_geo(HomePos_t *home, GPS_Pos_t *pos) |
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| 241 | //{ double lat1, lon1, lat2, lon2, d1, dlat; |
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| 242 | // geo_t geo; |
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| 243 | // |
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| 244 | // lon1 = MK_pos.Home_Lon; |
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| 245 | // lat1 = MK_pos.Home_Lat; |
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| 246 | // lon2 = (double)pos->Longitude / 10000000.0; |
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| 247 | // lat2 = (double)pos->Latitude / 10000000.0; |
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| 248 | // |
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| 249 | // // Formel verwendet von http://www.kompf.de/gps/distcalc.html |
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| 250 | // // 111.3 km = Abstand zweier Breitenkreise und/oder zweier Längenkreise am Äquator |
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| 251 | // // es wird jedoch in Meter weiter gerechnet |
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| 252 | // d1 = 111300 * (double)cos((double)(lat1 + lat2) / 2 * DEG_TO_RAD) * (lon1 - lon2); |
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| 253 | // dlat = 111300 * (double)(lat1 - lat2); |
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| 254 | // // returns a value in metres http://www.kompf.de/gps/distcalc.html |
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| 255 | // geo.bearing = fmod((RAD_TO_DEG * (double)atan2(d1, dlat)) + 180, 360); // +180 besserer Vergleich mit MkCockpit |
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| 256 | // if (geo.bearing > 360) geo.bearing -= 360; // bekam schon Werte über 400 |
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| 257 | // geo.distance = sqrt(d1 * d1 + dlat * dlat); |
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| 258 | // return(geo); |
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| 259 | //} |
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| 260 | |||
| 261 | // Berechnung von Distanz und Winkel aus GPS-Daten home(MK eingeschaltet) |
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| 262 | // zur aktuellen Position(nach Motorstart) |
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| 263 | //-------------------------------------------------------------- |
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| 264 | //-------------------------------------------------------------- |
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| 265 | |||
| 266 | /* |
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| 267 | geo_t calc_geo( HomePos_t *home, GPS_Pos_t *pos ) |
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| 268 | { |
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| 269 | int32_t lat1, lon1, lat2, lon2; |
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| 270 | int32_t d1, dlat; |
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| 271 | geo_t geo; |
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| 272 | |||
| 273 | lon1 = home->Home_Lon; |
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| 274 | lat1 = home->Home_Lat; |
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| 275 | lon2 = pos->Longitude; |
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| 276 | lat2 = pos->Latitude; |
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| 277 | |||
| 278 | if( !CheckGPS ) |
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| 279 | { |
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| 280 | writex_gpspos( 0, 3, home->Home_Lat , MNORMAL, 0,0); // Anzeige: Breitengrad (Latitude) |
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| 281 | writex_gpspos( 11, 3, home->Home_Lon , MNORMAL, 0,0); // Anzeige: Laengengrad (Longitude) |
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| 282 | writex_gpspos( 0, 4, pos->Latitude , MNORMAL, 0,0); // Anzeige: Breitengrad (Latitude) |
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| 283 | writex_gpspos( 11, 4, pos->Longitude , MNORMAL, 0,0); // Anzeige: Laengengrad (Longitude) |
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| 284 | |||
| 285 | //lcd_puts_at (0, 3, my_itoa(home->Home_Lat, 10, 7, 7), 0); // 30.05.2014 OG: my_itoa() gibt es nicht mehr |
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| 286 | //lcd_puts_at (11, 3, my_itoa(home->Home_Lon, 10, 7, 7), 0); // 30.05.2014 OG: my_itoa() gibt es nicht mehr |
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| 287 | //lcd_puts_at (0, 4, my_itoa(pos->Latitude, 10, 7, 7), 0); // 30.05.2014 OG: my_itoa() gibt es nicht mehr |
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| 288 | //lcd_puts_at (11, 4, my_itoa(pos->Longitude, 10, 7, 7), 0); // 30.05.2014 OG: my_itoa() gibt es nicht mehr |
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| 289 | } |
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| 290 | |||
| 291 | // Formel verwendet von http://www.kompf.de/gps/distcalc.html |
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| 292 | // 111.3 km = Abstand zweier Breitenkreise und/oder zweier Langenkreise am Äquator |
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| 293 | // es wird jedoch in dm Meter weiter gerechnet |
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| 294 | // (tlon1 - tlon2)/10) sonst uint32_t-Ãœberlauf bei cos(0) gleich 1 |
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| 295 | d1 = (1359 * (int32_t)(c_cos_8192((lat1 + lat2) / 20000000)) * ((lon1 - lon2)/10))/ 10000000; |
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| 296 | dlat = 1113 * (lat1 - lat2) / 10000; |
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| 297 | geo.bearing = (my_atan2(d1, dlat) + 540) % 360; // 360 +180 besserer Vergleich mit MkCockpit |
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| 298 | geo.distance = sqrt32(d1 * d1 + dlat * dlat); |
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| 299 | if( !CheckGPS ) |
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| 300 | { |
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| 301 | lcd_printp_at (0, 5, PSTR("Bear:"), 0); |
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| 302 | |||
| 303 | lcdx_printf_at_P( 5, 5, MNORMAL, 0,0, PSTR("%3d"), geo.bearing ); |
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| 304 | //lcd_puts_at (5, 5, my_itoa((uint32_t)geo.bearing, 3, 0, 0), 0); // 30.05.2014 OG: my_itoa() gibt es nicht mehr |
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| 305 | |||
| 306 | lcd_printp_at (8, 5, PSTR("\x1e"), 0); |
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| 307 | lcd_printp_at (9, 5, PSTR("Dist:"), 0); |
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| 308 | |||
| 309 | lcdx_printf_at_P( 15, 5, MNORMAL, 0,0, PSTR("%3d"), geo.distance ); |
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| 310 | //lcd_puts_at (15, 5, my_itoa((uint32_t)geo.distance, 3, 1, 1), 0); // 30.05.2014 OG: my_itoa() gibt es nicht mehr |
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| 311 | |||
| 312 | lcd_printp_at (20, 5, PSTR("m"), 0); |
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| 313 | } |
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| 314 | |||
| 315 | |||
| 316 | return(geo); |
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| 317 | } |
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| 318 | */ |
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| 319 |