| 0,0 → 1,425 |
|---|
| /***************************************************************************** |
| * Copyright (C) 2008 Thomas Kaiser, thomas@ft-fanpage.de * |
| * Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net * |
| * Copyright (C) 2011 Christian "Cebra" Brandtner, brandtner@brandtner.net * |
| * Copyright (C) 2011 Harald Bongartz * |
| * * |
| * This program is free software; you can redistribute it and/or modify * |
| * it under the terms of the GNU General Public License as published by * |
| * the Free Software Foundation; either version 2 of the License. * |
| * * |
| * This program is distributed in the hope that it will be useful, * |
| * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
| * GNU General Public License for more details. * |
| * * |
| * You should have received a copy of the GNU General Public License * |
| * along with this program; if not, write to the * |
| * Free Software Foundation, Inc., * |
| * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
| * * |
| * * |
| * Credits to: * |
| * Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN * |
| * http://www.mikrokopter.de * |
| * Gregor "killagreg" Stobrawa for his version of the MK code * |
| * Thomas Kaiser "thkais" for the original project. See * |
| * http://www.ft-fanpage.de/mikrokopter/ * |
| * http://forum.mikrokopter.de/topic-4061-1.html * |
| * Claas Anders "CaScAdE" Rathje for providing the font and his C-OSD code * |
| * http://www.mylifesucks.de/oss/c-osd/ * |
| * Harald Bongartz "HaraldB" for providing his Ideas and Code for usibility* |
| *****************************************************************************/ |
| |
| //############################################################################ |
| //# HISTORY mkgpsinfo.c |
| //# |
| //# 04.06.2014 OG |
| //# - chg: MK_Gps_Info() umgestellt auf PKT_Message_Datenverlust() |
| //# |
| //# 14.05.2014 OG |
| //# - chg: Code-Redesign; neues Screen-Layout; Code-Reduzierung; |
| //# Anpassungen an neue PKT-Funktionen |
| //# - chg: umbenannt von 'gps.c' zu 'mkgpsinfo.c' |
| //# - chg: gps() ist jetzt MK_Gps_Info() |
| //# - add: Source-Historie ergaenzt |
| //############################################################################ |
| |
| |
| #include <avr/io.h> |
| #include <inttypes.h> |
| #include <stdlib.h> |
| #include <avr/pgmspace.h> |
| #include <stdbool.h> |
| #include <util/delay.h> |
| |
| #include "../main.h" |
| #include "../lcd/lcd.h" |
| #include "../timer/timer.h" |
| #include "../uart/usart.h" |
| #include "../lipo/lipo.h" |
| #include "../pkt/pkt.h" |
| #include "../mk/mkbase.h" |
| #include "../messages.h" |
| |
| |
| //############################################################## |
| //############################################################## |
| |
| |
| //#define DEBUG_MKGPS // erweiterte Anzeigen zum debuggen |
| |
| #define GPSTIMEOUT 300 // 3 Sekunden |
| #define UBX_BUFFER_SIZE 100 // 100 Byte Buffer fuer GPS-Daten |
| |
| |
| uint8_t ck_a = 0; |
| uint8_t ck_b = 0; |
| |
| union long_union |
| { |
| uint32_t dword; |
| uint8_t byte[4]; |
| } longUnion; |
| |
| |
| union int_union |
| { |
| uint16_t dword; |
| uint8_t byte[2]; |
| } intUnion; |
| |
| |
| //############################################################## |
| //############################################################## |
| |
| |
| //-------------------------------------------------------------- |
| //-------------------------------------------------------------- |
| uint32_t join_4_bytes(uint8_t Buffer[]) |
| { |
| longUnion.byte[0] = *Buffer; |
| longUnion.byte[1] = *(Buffer+1); |
| longUnion.byte[2] = *(Buffer+2); |
| longUnion.byte[3] = *(Buffer+3); |
| return (longUnion.dword); |
| } |
| |
| |
| //-------------------------------------------------------------- |
| //-------------------------------------------------------------- |
| void checksum(uint8_t data) |
| { |
| ck_a += data; |
| ck_b += ck_a; |
| } |
| |
| |
| |
| //-------------------------------------------------------------- |
| //-------------------------------------------------------------- |
| void MK_Gps_Info( void ) |
| { |
| uint8_t UBX_buffer[UBX_BUFFER_SIZE]; |
| uint8_t UBX_payload_counter = 0; |
| uint8_t UBX_class = 0; |
| uint8_t UBX_id = 0; |
| uint8_t UBX_ck_a = 0; |
| uint8_t data = 0; |
| uint8_t length = 0; |
| uint8_t state = 0; |
| |
| uint8_t redraw = true; |
| uint8_t refresh = false; |
| uint8_t yoffs = 1; // Anzeige-Verschiebung: der obere Bereich |
| uint8_t yoffs2 = 4; // Anzeige-Verschiebung: GPS-Koordinaten |
| int16_t v_16; // tmp-Variable |
| int32_t v_32; // tmp-Variable |
| |
| #ifdef DEBUG_MKGPS |
| uint8_t maxlen = 0; |
| #endif |
| |
| MK_SwitchToNC(); // Anmerkung OG: warum auch immer es besser ist erst auf die NC |
| MK_SwitchToGPS(); // umzuschalten... es laeuft so scheinbar zuverlaessiger |
| MK_SwitchToGPS(); |
| |
| timer_mk_timeout = GPSTIMEOUT; |
| |
| do |
| { |
| //------------------------ |
| // REDRAW |
| //------------------------ |
| if( redraw ) |
| { |
| ShowTitle_P( PSTR("MK GPS Info"), true); |
| |
| lcdx_printp_at( 0,1, PSTR("Fix:"), MNORMAL, 0,yoffs ); |
| lcdx_printp_at( 0,2, PSTR("Sat:"), MNORMAL, 0,yoffs ); |
| lcdx_printp_at( 0,3, PSTR("Alt:"), MNORMAL, 0,yoffs ); |
| |
| lcdx_printp_at( 9,1, PSTR("PDOP:"), MNORMAL, 3,yoffs ); |
| lcdx_printp_at( 9,2, PSTR("Accu:"), MNORMAL, 3,yoffs ); |
| lcdx_printp_at( 9,3, PSTR("Sped:"), MNORMAL, 3,yoffs ); |
| |
| lcd_frect( 0, (4*7)+4+yoffs2, 127, 7, 1); // GPS: Rect: Invers |
| lcdx_printp_at(1, 3, strGet(START_LASTPOS1), MINVERS, 0,8+yoffs2); // GPS: "Breitengr Längengr" |
| lcd_rect( 0, (3*8)+7+yoffs2, 127, (2*8)+4, 1); // GPS: Rahmen |
| |
| lcdx_printp_at(12,7, strGet(ENDE), MNORMAL, 0,1); // KEYLINE |
| |
| redraw = false; |
| } |
| |
| |
| //------------------------ |
| // REFRESH |
| //------------------------ |
| if( refresh ) |
| { |
| if((UBX_class == 1) && (UBX_id == 6)) // GPS: SVINFO |
| { |
| //-------------- |
| // GPS Status |
| //-------------- |
| switch( UBX_buffer[10] ) |
| { |
| case 4: |
| case 3: lcdx_printp_at( 5, 1, PSTR("3D"), MNORMAL, 1,yoffs); break; |
| case 2: lcdx_printp_at( 5, 1, PSTR("2D"), MNORMAL, 1,yoffs); break; |
| default: lcdx_printp_at( 5, 1, PSTR("no"), MNORMAL, 1,yoffs); |
| } |
| |
| // GPS ok => ein Haken wird angezeigt |
| if( (UBX_buffer[11] & 1) == 1 ) lcdx_putc( 7, 1, SYMBOL_CHECK, MNORMAL, 3,yoffs ); |
| else lcdx_putc( 7, 1, ' ', MNORMAL, 3,yoffs ); |
| |
| //--- |
| // Anzeige von "D" - evtl. DGPS (Differential GPS)? |
| // aktuell nicht mehr unterstuetzt da kein Platz auf dem Screen |
| //--- |
| //if( (UBX_buffer[11] & 3) == 3 ) lcd_printp_at (10,0, PSTR("D"), 0); |
| //else lcd_printp_at (10,0, PSTR(" "), 0); |
| |
| //-------------- |
| // Sat |
| //-------------- |
| lcdx_printf_at_P( 5, 2, MNORMAL, 0,yoffs, PSTR("%2u"), UBX_buffer[47] ); |
| |
| //-------------- |
| // PDOP |
| //-------------- |
| v_16 = UBX_buffer[44]+UBX_buffer[45]*255; |
| lcdx_printf_at_P( 15, 1, MNORMAL, 0,yoffs, PSTR("%2.2d"), v_16 ); |
| |
| //-------------- |
| // Accuracy |
| //-------------- |
| v_32 = (int32_t)join_4_bytes(&UBX_buffer[24]); |
| lcdx_printf_at_P( 15, 2, MNORMAL, 0,yoffs, PSTR("%2.2ldm"), v_32 ); |
| } |
| |
| if((UBX_class == 1) && (UBX_id == 18)) // GPS: VELNED |
| { |
| //-------------- |
| // Speed |
| //-------------- |
| v_16 = (int16_t)((join_4_bytes(&UBX_buffer[20])*60*60)/100000); |
| lcdx_printf_at_P( 15, 3, MNORMAL, 0,yoffs, PSTR("%3dkmH"), v_16 ); |
| |
| //uint16_t speed = (uint16_t)((join_4_bytes(&UBX_buffer[20])*60*60)/100000); |
| //write_ndigit_number_u (11, 4, speed, 3, 0,0); |
| //lcd_printp_at (15,4, PSTR("km/h"), 0); |
| } |
| |
| if((UBX_class == 1) && (UBX_id == 2)) // GPS: POSLLH |
| { |
| //-------------- |
| // Altitude |
| //-------------- |
| v_16 = (int16_t)(join_4_bytes(&UBX_buffer[16])/1000); |
| //v_16 = v_16 + 3000; |
| lcdx_printf_at_P( 4, 3, MNORMAL, 1,yoffs, PSTR("%4d"), v_16 ); |
| |
| //uint16_t height = (uint16_t)(join_4_bytes(&UBX_buffer[16])/1000); |
| //write_ndigit_number_u (11, 7, height, 4, 0,0); |
| //lcd_printp_at(16,7, PSTR("m"), 0); |
| |
| |
| //-------------- |
| // Breitengrad - Lat (51.) |
| //-------------- |
| v_32 = join_4_bytes(&UBX_buffer[8]); |
| writex_gpspos( 1, 4, v_32 , MNORMAL, 0,10+yoffs2); // Anzeige: Breitengrad |
| |
| //write_ndigit_number_u ( 0, 7, (uint16_t)(lat/10000000), 2, 0,0); |
| //lcd_printp_at ( 2, 7, PSTR("."), 0); |
| //write_ndigit_number_u ( 3, 7, (uint16_t)((lat/1000) % 10000), 4, 1,0); |
| //write_ndigit_number_u ( 7, 7, (uint16_t)((lat/10) % 100), 2, 1,0); |
| |
| |
| //-------------- |
| // Laengengrad - Long (7.) |
| //-------------- |
| v_32 = join_4_bytes(&UBX_buffer[4]); |
| writex_gpspos( 12, 4, v_32, MNORMAL, -1,10+yoffs2); // Anzeige: Laengengrad |
| |
| //write_ndigit_number_u (10, 7, (uint16_t)(lon/10000000), 2, 0,0); |
| //lcd_printp_at (12, 7, PSTR("."), 0); |
| //write_ndigit_number_u (13, 7, (uint16_t)((lon/1000) % 10000), 4, 1,0); |
| //write_ndigit_number_u (17, 7, (uint16_t)((lon/10) % 100), 2, 1,0); |
| } |
| |
| //------------------------ |
| // PKT-LiPo Anzeige |
| //------------------------ |
| show_Lipo(); |
| |
| refresh = false; |
| } // end: if( refresh ) |
| |
| |
| //-------------------------- |
| // PROCESS DATA |
| //-------------------------- |
| if( uart_getc_nb( &data ) ) |
| { |
| switch( state ) |
| { |
| case 0: if( data == 0xB5 ) // GPS: init 1 |
| { |
| UBX_payload_counter = 0; |
| UBX_id = 0; |
| UBX_class = 0; |
| ck_a = 0; |
| ck_b = 0; |
| state++; |
| } |
| break; |
| |
| |
| case 1: if( data == 0x62 ) // GPS: init 2 |
| state++; |
| else |
| state = 0; |
| break; |
| |
| |
| case 2: if( data != 1 ) // GPS: class |
| state = 0; |
| else |
| { |
| checksum(data); |
| UBX_class = data; |
| state++; |
| } |
| break; |
| |
| |
| case 3: if( (data != 48) // GPS: id |
| &&(data != 6 ) |
| &&(data != 18) |
| &&(data != 2 )) |
| { |
| state = 0; |
| } |
| else |
| { |
| UBX_id = data; |
| checksum(data); |
| state++; |
| } |
| break; |
| |
| |
| case 4: if( data >= UBX_BUFFER_SIZE ) // GPS: length lo |
| state = 0; |
| else |
| { |
| checksum(data); |
| length = data; |
| state++; |
| } |
| |
| #ifdef DEBUG_MKGPS |
| // DEBUG - Anzeige der Paketgroesse |
| if( data > maxlen ) |
| { |
| // groesstes gemessenes Paket lag bei 181 |
| // ob man das Paket braucht ist eine andere Frage |
| maxlen = data; |
| lcdx_printf_at_P( 1, 7, MNORMAL, 0,1, PSTR("%3u"), maxlen ); |
| set_beep( 25, 0xffff, BeepNormal ); // kurzer Beep |
| } |
| #endif |
| break; |
| |
| |
| case 5: if( data != 0 ) // GPS: length hi |
| state = 0; |
| else |
| { |
| checksum(data); |
| state++; |
| } |
| break; |
| |
| |
| case 6: UBX_buffer[UBX_payload_counter] = data; // GPS: data |
| checksum(data); |
| UBX_payload_counter++; |
| length--; |
| if( length == 0 ) |
| { |
| state++; |
| }; |
| break; |
| |
| |
| case 7: state++; // GPS: check lo |
| UBX_ck_a = data; |
| break; |
| |
| |
| case 8: state = 0; // GPS: check hi |
| if((UBX_ck_a == ck_a) && (data == ck_b)) |
| { |
| timer_mk_timeout = GPSTIMEOUT; |
| refresh = true; |
| } |
| |
| } // end: switch( state ) |
| } // end: if( uart_getc_nb(&data) ) |
| |
| |
| //------------------------------------------ |
| // Pruefe PKT-Update oder andere PKT-Aktion |
| //------------------------------------------ |
| /* |
| // funktioniert hier nicht - warum auch immer |
| if( PKT_CtrlHook() ) // Update vom Updatetool angefordert? |
| { |
| redraw = true; |
| } |
| */ |
| |
| |
| } while( !get_key_press(1 << KEY_ESC) && timer_mk_timeout ); |
| |
| |
| |
| //-------------------------- |
| // in den Timeout gelaufen? |
| //-------------------------- |
| if( !timer_mk_timeout ) |
| { |
| //PKT_Message_Datenverlust( timeout, beep) |
| PKT_Message_Datenverlust( 500, true); // 500 = 5 Sekunden |
| } |
| |
| clear_key_all(); |
| |
| SwitchToNC(); |
| } |
| |
| Property changes: |
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| Added: svn:mime-type |
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| +text/plain |
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| \ No newline at end of property |
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