Rev 1053 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
1053 | - | 1 | /***************************************************************************** |
2 | * Copyright (C) 2010 Sebastian Boehm, seb@exse.net * |
||
3 | * * |
||
4 | * This program is free software; you can redistribute it and/or modify * |
||
5 | * it under the terms of the GNU General Public License as published by * |
||
6 | * the Free Software Foundation; either version 2 of the License. * |
||
7 | * * |
||
8 | * This program is distributed in the hope that it will be useful, * |
||
9 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
||
10 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
||
11 | * GNU General Public License for more details. * |
||
12 | * * |
||
13 | * You should have received a copy of the GNU General Public License * |
||
14 | * along with this program; if not, write to the * |
||
15 | * Free Software Foundation, Inc., * |
||
16 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
||
17 | * * |
||
18 | *****************************************************************************/ |
||
19 | |||
20 | |||
21 | #include <avr/io.h> |
||
22 | #include <inttypes.h> |
||
23 | #include <stdlib.h> |
||
24 | #include <avr/pgmspace.h> |
||
25 | |||
26 | #include "main.h" |
||
27 | #include "lcd.h" |
||
28 | #include "timer.h" |
||
29 | #include "usart.h" |
||
30 | |||
31 | #define TIMEOUT 200 // 2 sec |
||
32 | |||
33 | uint8_t ck_a = 0; |
||
34 | uint8_t ck_b = 0; |
||
35 | uint8_t UBX_class = 0; |
||
36 | uint8_t UBX_id = 0; |
||
37 | uint8_t UBX_buffer[250]; |
||
38 | uint8_t UBX_payload_counter = 0; |
||
39 | |||
40 | void checksum(uint8_t); |
||
41 | void UBX_process(void); |
||
42 | uint32_t join_4_bytes(uint8_t*); |
||
43 | |||
44 | uint8_t display_mode = 0; |
||
45 | |||
46 | void gps(void) |
||
47 | { |
||
48 | lcd_cls(); |
||
49 | display_mode = 2; |
||
50 | |||
51 | if (hardware == FC) |
||
52 | { |
||
53 | lcd_printp_at(0, 3, PSTR("Only with NC !"), 0); |
||
54 | timer = 100; |
||
55 | while (timer > 0); |
||
56 | return; |
||
57 | } |
||
58 | |||
59 | |||
60 | if(current_hardware != NC) SwitchToNC(); |
||
61 | |||
62 | SwitchToGPS(); |
||
63 | |||
64 | uint8_t mode = 0; |
||
65 | |||
66 | // SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1); |
||
67 | |||
68 | timer = TIMEOUT; |
||
69 | uint8_t data = 0; |
||
70 | uint8_t length = 0; |
||
71 | uint8_t UBX_ck_a = 0; |
||
72 | do |
||
73 | { |
||
74 | // if (rxFlag == 1) |
||
75 | if (uart_getc_nb(&data)) |
||
76 | { |
||
77 | //rxFlag = 0; |
||
78 | //data = rx_byte; |
||
79 | timer = TIMEOUT; |
||
80 | |||
81 | switch(mode) |
||
82 | { |
||
83 | case 0: // init 1 |
||
84 | if(data == 0xB5) |
||
85 | { |
||
86 | UBX_payload_counter = 0; |
||
87 | UBX_id = 0; |
||
88 | UBX_class = 0; |
||
89 | ck_a = 0; |
||
90 | ck_b = 0; |
||
91 | mode++; |
||
92 | } |
||
93 | break; |
||
94 | case 1: // init 2 |
||
95 | if(data == 0x62) |
||
96 | { |
||
97 | mode++; |
||
98 | } |
||
99 | else |
||
100 | { |
||
101 | mode = 0; |
||
102 | } |
||
103 | break; |
||
104 | case 2: //class |
||
105 | if(data != 1) |
||
106 | { |
||
107 | mode = 0; |
||
108 | } |
||
109 | else |
||
110 | { |
||
111 | checksum(data); |
||
112 | UBX_class = data; |
||
113 | mode++; |
||
114 | } |
||
115 | break; |
||
116 | case 3: // id |
||
117 | if((data != 48)&&(data != 6)&&(data != 18)&&(data != 2)) |
||
118 | { |
||
119 | mode = 0; |
||
120 | } |
||
121 | else |
||
122 | { |
||
123 | UBX_id = data; |
||
124 | checksum(data); |
||
125 | mode++; |
||
126 | } |
||
127 | break; |
||
128 | case 4: // length lo |
||
129 | if(data > 250) |
||
130 | { |
||
131 | mode = 0; |
||
132 | } |
||
133 | else |
||
134 | { |
||
135 | checksum(data); |
||
136 | length = data; |
||
137 | mode++; |
||
138 | } |
||
139 | break; |
||
140 | case 5: // length hi |
||
141 | if(data != 0) |
||
142 | { |
||
143 | mode = 0; |
||
144 | } |
||
145 | else |
||
146 | { |
||
147 | checksum(data); |
||
148 | mode++; |
||
149 | } |
||
150 | break; |
||
151 | case 6: // length hi |
||
152 | length--; |
||
153 | UBX_buffer[UBX_payload_counter] = data; |
||
154 | checksum(data); |
||
155 | UBX_payload_counter++; |
||
156 | if(length==0) |
||
157 | { |
||
158 | mode++; |
||
159 | }; |
||
160 | break; |
||
161 | case 7: // check lo |
||
162 | mode++; |
||
163 | UBX_ck_a = data; |
||
164 | break; |
||
165 | case 8: // check hi |
||
166 | mode=0; |
||
167 | if((UBX_ck_a == ck_a)&&(data == ck_b)) |
||
168 | { |
||
169 | UBX_process(); |
||
170 | } |
||
171 | } |
||
172 | |||
173 | |||
174 | // write_ndigit_number_u (14, 0, data, 3, 0); |
||
175 | } |
||
176 | |||
177 | } |
||
178 | while (!get_key_press (1 << KEY_ESC) && timer); |
||
179 | get_key_press(KEY_ALL); |
||
180 | |||
181 | SwitchToNC(); |
||
182 | |||
183 | |||
184 | } |
||
185 | |||
186 | void UBX_process() |
||
187 | { |
||
188 | |||
189 | if ((get_key_press (1 << KEY_MINUS))||(display_mode ==2)) |
||
190 | { |
||
191 | if (display_mode != 1) |
||
192 | { |
||
193 | lcd_cls(); |
||
194 | lcd_printp_at (0,0, PSTR("Fix Type : "), 0); |
||
195 | lcd_printp_at (0,1, PSTR("Sat : "), 0); |
||
196 | lcd_printp_at (0,2, PSTR("Accuracy : "), 0); |
||
197 | lcd_printp_at (0,3, PSTR("PDOP : "), 0); |
||
198 | lcd_printp_at (0,4, PSTR("Speed : "), 0); |
||
199 | lcd_printp_at (0,5, PSTR("Long : "), 0); |
||
200 | lcd_printp_at (0,6, PSTR("Lat : "), 0); |
||
201 | lcd_printp_at (0,7, PSTR("Alt : "), 0); |
||
202 | } |
||
203 | display_mode = 1; |
||
204 | } |
||
205 | if (get_key_press (1 << KEY_PLUS)) |
||
206 | { |
||
207 | if (display_mode == 1) |
||
208 | { |
||
209 | lcd_cls(); |
||
210 | } |
||
211 | |||
212 | display_mode = 0; |
||
213 | } |
||
214 | |||
215 | if((UBX_class == 1)&&(UBX_id == 48)&&(display_mode == 0)) |
||
216 | { |
||
217 | uint8_t channels = UBX_buffer[4]; |
||
218 | |||
219 | uint8_t i = 0; |
||
220 | for(i = 0; i < channels; i++) |
||
221 | { |
||
222 | if (i > 15) break; |
||
223 | uint8_t line; |
||
224 | uint8_t col; |
||
225 | |||
226 | if(i > 7) |
||
227 | { |
||
228 | line = i-7;col = 11; |
||
229 | } |
||
230 | else |
||
231 | { |
||
232 | col = 0; line = i; |
||
233 | } |
||
234 | write_ndigit_number_u (col, line, UBX_buffer[9 + 12*i], 3, 0); |
||
235 | write_ndigit_number_u (col+4, line, UBX_buffer[12 + 12*i], 2, 0); |
||
236 | if((UBX_buffer[10 + 12*i] & 3) == 3) |
||
237 | { |
||
238 | lcd_printp_at (col+7,line, PSTR("O"), 0); |
||
239 | } |
||
240 | else if((UBX_buffer[10 + 12*i] & 1) == 1) |
||
241 | { |
||
242 | lcd_printp_at (col+7,line, PSTR("X"), 0); |
||
243 | } |
||
244 | else if(UBX_buffer[11 + 12*i] > 4) |
||
245 | { |
||
246 | lcd_printp_at (col+7,line, PSTR("x"), 0); |
||
247 | } |
||
248 | else if(UBX_buffer[11 + 12*i] > 1) |
||
249 | { |
||
250 | lcd_printp_at (col+7,line, PSTR("-"), 0); |
||
251 | } |
||
252 | else |
||
253 | { |
||
254 | lcd_printp_at (col+7,line, PSTR(" "), 0); |
||
255 | } |
||
256 | } |
||
257 | |||
258 | } |
||
259 | |||
260 | if(display_mode == 1) |
||
261 | { |
||
262 | if((UBX_class == 1)&&(UBX_id == 6))//SVINFO |
||
263 | { |
||
264 | switch (UBX_buffer[10]) |
||
265 | { |
||
266 | case 4: |
||
267 | case 3: |
||
268 | lcd_printp_at (11,0, PSTR("3D"), 0); |
||
269 | break; |
||
270 | case 2: |
||
271 | lcd_printp_at (11,0, PSTR("2D"), 0); |
||
272 | break; |
||
273 | default: |
||
274 | lcd_printp_at (11,0, PSTR("no"), 0); |
||
275 | } |
||
276 | if((UBX_buffer[11] & 3) == 3) |
||
277 | { |
||
278 | lcd_printp_at (17,0, PSTR("D"), 0); |
||
279 | } |
||
280 | else |
||
281 | { |
||
282 | lcd_printp_at (17,0, PSTR(" "), 0); |
||
283 | } |
||
284 | |||
285 | if((UBX_buffer[11] & 1) == 1) |
||
286 | { |
||
287 | lcd_printp_at (14,0, PSTR("ok"), 0); |
||
288 | } |
||
289 | else |
||
290 | { |
||
291 | lcd_printp_at (14,0, PSTR(" "), 0); |
||
292 | } |
||
293 | lcd_write_number_u_at (11, 1, UBX_buffer[47]); |
||
294 | uint16_t pdop = UBX_buffer[44]+UBX_buffer[45]*255; |
||
295 | write_ndigit_number_u (11, 3, pdop/100, 2, 0); |
||
296 | lcd_printp_at (13,3, PSTR("."), 0); |
||
297 | write_ndigit_number_u (14, 3, (pdop % 100),2, 1); |
||
298 | |||
299 | uint16_t acc = (uint16_t)join_4_bytes(&UBX_buffer[24]); |
||
300 | write_ndigit_number_u (11, 2, acc, 5, 0); |
||
301 | lcd_printp_at (17,2, PSTR("cm"), 0); |
||
302 | } |
||
303 | if((UBX_class == 1)&&(UBX_id == 18))//VELNED |
||
304 | { |
||
305 | uint16_t speed = (uint16_t)((join_4_bytes(&UBX_buffer[20])*60*60)/100000); |
||
306 | write_ndigit_number_u (11, 4, speed, 3, 0); |
||
307 | lcd_printp_at (15,4, PSTR("km/h"), 0); |
||
308 | |||
309 | } |
||
310 | if((UBX_class == 1)&&(UBX_id == 2))//POSLLH |
||
311 | { |
||
312 | uint16_t height = (uint16_t)(join_4_bytes(&UBX_buffer[16])/1000); |
||
313 | write_ndigit_number_u (11, 7, height, 4, 0); |
||
314 | lcd_printp_at (16,7, PSTR("m"), 0); |
||
315 | |||
316 | uint32_t lon = join_4_bytes(&UBX_buffer[4]); |
||
317 | write_ndigit_number_u (11, 5, (uint16_t)(lon/10000000), 3, 0); |
||
318 | lcd_printp_at (14,5, PSTR("."), 0); |
||
319 | write_ndigit_number_u (15, 5, (uint16_t)((lon/1000) % 10000), 4, 1); |
||
320 | write_ndigit_number_u (19, 5, (uint16_t)((lon/10) % 100), 2, 1); |
||
321 | |||
322 | uint32_t lat = join_4_bytes(&UBX_buffer[8]); |
||
323 | write_ndigit_number_u (11, 6, (uint16_t)(lat/10000000), 3, 0); |
||
324 | lcd_printp_at (14,6, PSTR("."), 0); |
||
325 | write_ndigit_number_u (15, 6, (uint16_t)((lat/1000) % 10000), 4, 1); |
||
326 | write_ndigit_number_u (19, 6, (uint16_t)((lat/10) % 100), 2, 1); |
||
327 | |||
328 | } |
||
329 | |||
330 | } |
||
331 | |||
332 | |||
333 | } |
||
334 | |||
335 | union long_union { |
||
336 | uint32_t dword; |
||
337 | uint8_t byte[4]; |
||
338 | } longUnion; |
||
339 | |||
340 | union int_union { |
||
341 | uint16_t dword; |
||
342 | uint8_t byte[2]; |
||
343 | } intUnion; |
||
344 | |||
345 | uint32_t join_4_bytes(uint8_t Buffer[]) |
||
346 | { |
||
347 | longUnion.byte[0] = *Buffer; |
||
348 | longUnion.byte[1] = *(Buffer+1); |
||
349 | longUnion.byte[2] = *(Buffer+2); |
||
350 | longUnion.byte[3] = *(Buffer+3); |
||
351 | return(longUnion.dword); |
||
352 | } |
||
353 | |||
354 | |||
355 | void checksum(uint8_t data) |
||
356 | { |
||
357 | ck_a += data; |
||
358 | ck_b += ck_a; |
||
359 | } |
||
360 |