bsongis
841 lines
26 KiB
C++
841 lines
26 KiB
C++
/*
|
|
* Authors (alphabetical order)
|
|
* - Bertrand Songis <bsongis@gmail.com>
|
|
* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
|
|
* - Cameron Weeks <th9xer@gmail.com>
|
|
* - Erez Raviv
|
|
* - Jean-Pierre Parisy
|
|
* - Karl Szmutny <shadow@privy.de>
|
|
* - Michael Blandford
|
|
* - Michal Hlavinka
|
|
* - Pat Mackenzie
|
|
* - Philip Moss
|
|
* - Rob Thomson
|
|
* - Romolo Manfredini <romolo.manfredini@gmail.com>
|
|
* - Thomas Husterer
|
|
*
|
|
* open9x is based on code named
|
|
* gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
|
|
* er9x by Erez Raviv: http://code.google.com/p/er9x/,
|
|
* and the original (and ongoing) project by
|
|
* Thomas Husterer, th9x: http://code.google.com/p/th9x/
|
|
*
|
|
* This program is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License version 2 as
|
|
* published by the Free Software Foundation.
|
|
*
|
|
* 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.
|
|
*
|
|
*/
|
|
|
|
#include "open9x.h"
|
|
#include "menus.h"
|
|
|
|
#define LG_BUF 14
|
|
#define NB_LONG_BUF 3
|
|
#define NB_SHORT_BUF 3
|
|
#define LONG_BUF(val) (val)
|
|
#define SHORT_BUF(val) (val+NB_LONG_BUF)
|
|
#define VALSTR(val) (rbuf[val][0] ? rbuf[val] : val_unknown)
|
|
#define APSIZE (BSS | DBLSIZE)
|
|
|
|
uint8_t i; // working variable
|
|
uint8_t state; // currrent state
|
|
uint8_t rval, rpack; // received items
|
|
uint8_t xval[NB_LONG_BUF+NB_SHORT_BUF]; // expected value
|
|
uint8_t xpack[NB_LONG_BUF+NB_SHORT_BUF]; // expected packet
|
|
uint8_t ibuf[NB_LONG_BUF]; // subscripts on long buffers values
|
|
char rbuf[NB_LONG_BUF][LG_BUF]; // long receive buffers
|
|
char sbuf[NB_SHORT_BUF]; // short receive buffers
|
|
const char val_unknown[] = "?";
|
|
int32_t home_alt, save_alt, rel_alt, prev_alt, lift_alt, max_alt, abs_alt; // integer values for altitude computations
|
|
int32_t gpstimer=0;
|
|
int32_t gpstime;
|
|
uint8_t ggareceived;
|
|
uint8_t beep_on;
|
|
uint8_t show_timer;
|
|
|
|
/* Received data
|
|
Data are received as packets, each packet is identified by a prefix of seven
|
|
characters ('$GPGGA,' or '$GPRMC,')and is ended by one star plus two bytes checksum.
|
|
The values are terminated by a comma.
|
|
|
|
$GPGGA - Global Positioning System Fix Data, Time, Position and fix related data fora GPS receiver.
|
|
|
|
11
|
|
1 2 3 4 5 6 7 8 9 10 | 12 13 14 15
|
|
| | | | | | | | | | | | | | |
|
|
GGA,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*hh<CR><LF>
|
|
|
|
Field Number:
|
|
1) Universal Time Coordinated (UTC)
|
|
2) Latitude
|
|
3) N or S (North or South)
|
|
4) Longitude
|
|
5) E or W (East or West)
|
|
6) GPS Quality Indicator,
|
|
0 - fix not available,
|
|
1 - GPS fix,
|
|
2 - Differential GPS fix
|
|
7) Number of satellites in view, 00 - 12
|
|
8) Horizontal Dilution of precision
|
|
9) Antenna Altitude above/below mean-sea-level (geoid)
|
|
10) Units of antenna altitude, meters
|
|
11) Geoidal separation, the difference between the WGS-84 earth
|
|
ellipsoid and mean-sea-level (geoid), "-" means mean-sea-level
|
|
below ellipsoid
|
|
12) Units of geoidal separation, meters
|
|
13) Age of differential GPS data, time in seconds since last SC104
|
|
type 1 or 9 update, null field when DGPS is not used
|
|
14) Differential reference station ID, 0000-1023
|
|
*
|
|
15) Checksum
|
|
CrLf
|
|
|
|
|
|
$GPRMC - Recommended Minimum Navigation Information
|
|
12
|
|
1 2 3 4 5 6 7 8 9 10 11|
|
|
| | | | | | | | | | | |
|
|
RMC,hhmmss.ss,A,llll.ll,a,yyyyy.yy,a,x.x,x.x,xxxx,x.x,a*hh<CR><LF>
|
|
|
|
Field Number:
|
|
1) UTC Time
|
|
2) Status, V = Navigation receiver warning
|
|
3) Latitude
|
|
4) N or S
|
|
5) Longitude
|
|
6) E or W
|
|
7) Speed over ground, knots
|
|
8) Track made good, degrees true. = = Course over ground (COG)
|
|
9) Date, ddmmyy
|
|
10) Magnetic Variation, degrees
|
|
11) E or W
|
|
12) Checksum
|
|
*/
|
|
|
|
// GGA record prefix
|
|
#define PACK_GGA 0x47 // "G"
|
|
#define PACK_GGA3 0x41 // "A"
|
|
// value occurence number in the GGA packet
|
|
#define TIM 1
|
|
#define LAT 2
|
|
#define NOS 3
|
|
#define LON 4
|
|
#define EOW 5
|
|
#define FIX 6
|
|
#define SAT 7
|
|
#define DIL 8
|
|
#define ALT 9
|
|
#define MTR 10
|
|
#define GEO 11
|
|
#define MET 12
|
|
#define AGE 13
|
|
#define DIF 14
|
|
|
|
// RMC record prefix
|
|
#define PACK_RMC 0x52 // "R"
|
|
#define PACK_RMC2 0x4D // "M"
|
|
#define PACK_RMC3 0x43 // "C"
|
|
// value occurence number in the RMC packet
|
|
#define TIM 1
|
|
#define NRW 2
|
|
#define LT1 3
|
|
#define NSO 4
|
|
#define LN1 5
|
|
#define EWE 6
|
|
#define SOG 7
|
|
#define COG 8
|
|
#define DAT 9
|
|
#define MAG 10
|
|
#define EAW 11
|
|
|
|
// end of packet
|
|
#define PACK_END 0x2a // *
|
|
// end of value
|
|
#define VAL_END 0x2c // ,
|
|
|
|
// stateful machine
|
|
|
|
// Since the packets are sent continuously, we need to synchronize on the
|
|
// reception of the three chars prefixing a packet, whatever they are.
|
|
|
|
// states values
|
|
#define WAIT_PACKET 1
|
|
#define WAIT_PACK_GGA1 2
|
|
#define WAIT_PACK_GGA2 3
|
|
#define WAIT_PACK_GGA3 4
|
|
#define WAIT_PACK_RMC2 5
|
|
#define WAIT_PACK_RMC3 6
|
|
#define WAIT_VAL_END 7
|
|
#define READ_VALUE 8
|
|
|
|
void menuProcNMEA1(uint8_t event);
|
|
void menuProcNMEA2(uint8_t event);
|
|
void menuProcNMEA3(uint8_t event);
|
|
void menuProcNMEA4(uint8_t event);
|
|
void title(char x);
|
|
void initval(uint8_t num, uint8_t pack, uint8_t val);
|
|
int32_t binary (char *str);
|
|
int32_t bintime (char *str);
|
|
|
|
#ifndef SIMU
|
|
ISR (USART0_RX_vect)
|
|
{
|
|
uint8_t rl;
|
|
// uint8_t rh; //USART control and Status Register 0 B
|
|
uint8_t iostat; //USART control and Status Register 0 A
|
|
|
|
rl = UDR0;
|
|
iostat = UCSR0A; //USART control and Status Register 0 A
|
|
/*
|
|
bit 7 6 5 4 3 2 1 0
|
|
RxC0 TxC0 UDRE0 FE0 DOR0 UPE0 U2X0 MPCM0
|
|
|
|
RxC0: Receive complete
|
|
TXC0: Transmit Complete
|
|
UDRE0: USART Data Register Empty
|
|
FE0: Frame Error
|
|
DOR0: Data OverRun
|
|
UPE0: USART Parity Error
|
|
U2X0: Double Tx Speed
|
|
MPCM0: MultiProcessor Comms Mode
|
|
*/
|
|
if (iostat & ((1 << FE0) | (1 << DOR0) | (1 << UPE0)))
|
|
{
|
|
rl = xpack[0] = xpack[1] = xval[0] = xval[1] = 0;
|
|
initval (LONG_BUF(2), PACK_GGA, TIM); // always get UTC time for timer
|
|
state = WAIT_PACKET; // restart on error
|
|
}
|
|
// rh = UCSR0B; //USART control and Status Register 0 B
|
|
/* bit 7 6 5 4 3 2 1 0
|
|
RxCIE0 TxCIE0 UDRIE0 RXEN0 TXEN0 UCSZ02 RXB80 TXB80
|
|
|
|
RxCIE0: Receive complete int enable
|
|
TXCIE0: Transmit Complete int enable
|
|
UDRIE0: USART Data Register Empty int enable
|
|
RXEN0: Rx enable
|
|
TXEN0: Tx Enable
|
|
UCSZ02: Character Size bit 2
|
|
RXB80: Rx data bit 8
|
|
TXB80: Tx data bit 8
|
|
*/
|
|
switch (state)
|
|
{
|
|
case WAIT_PACKET:
|
|
switch (rl)
|
|
{
|
|
case PACK_GGA: // found a new GGA packet "G"
|
|
state = WAIT_PACK_GGA2; // wait for the 2nd char
|
|
break;
|
|
case PACK_RMC: // found a new RMS packet "R"
|
|
state = WAIT_PACK_RMC2; // wait for the 2nd char
|
|
break;
|
|
}
|
|
break;
|
|
|
|
case WAIT_PACK_GGA2: // received 2nd char "G"
|
|
if (rl == PACK_GGA)
|
|
state = WAIT_PACK_GGA3; // wait for 3rd character "A"
|
|
else
|
|
state = WAIT_PACKET; // restart if not "G"
|
|
break;
|
|
case WAIT_PACK_GGA3: // received 3rd char "A"
|
|
if (rl == PACK_GGA3) // found
|
|
{
|
|
state = WAIT_VAL_END; // wait for ","
|
|
rpack = PACK_GGA;
|
|
rval = 1; //clear the buffer
|
|
for (i = 0; i < NB_LONG_BUF; i++)
|
|
ibuf[i] = 0;
|
|
}
|
|
else
|
|
state = WAIT_PACKET; // restart if not found
|
|
break;
|
|
|
|
case WAIT_PACK_RMC2: // wait for 2nd char "M"
|
|
if (rl == PACK_RMC2)
|
|
state = WAIT_PACK_RMC3;
|
|
else
|
|
state = WAIT_PACKET; // restart if not found
|
|
break;
|
|
case WAIT_PACK_RMC3: // wait for 3rd char "C"
|
|
if (rl == PACK_RMC3)
|
|
{
|
|
state = WAIT_VAL_END; // wait for ","
|
|
rpack = PACK_RMC;
|
|
rval = 1;
|
|
for (i = 0; i < NB_LONG_BUF; i++) // clear buffer
|
|
ibuf[i] = 0;
|
|
}
|
|
else
|
|
state = WAIT_PACKET; // restart if not found
|
|
break;
|
|
|
|
case WAIT_VAL_END:
|
|
if (rl == VAL_END) // "," nach "GGA" oder "RMC"
|
|
{
|
|
state = READ_VALUE;
|
|
rval = 1;
|
|
for (i = 0; i < NB_LONG_BUF; i++) // clear buffer
|
|
ibuf[i] = 0;
|
|
}
|
|
else
|
|
state = WAIT_PACKET; // restart if not found
|
|
break;
|
|
|
|
|
|
case READ_VALUE:
|
|
switch (rl)
|
|
{
|
|
case PACK_END:
|
|
if (rpack == PACK_GGA)
|
|
ggareceived = 1;
|
|
state = WAIT_PACKET; // packet completed, wait for the next packet
|
|
break;
|
|
case VAL_END: // comma found, value completed
|
|
rval++; // and get next value
|
|
break;
|
|
default: // store the char in the corresponding buffer
|
|
for (i = 0; i < NB_LONG_BUF; i++)
|
|
{ // is it the expected value in the expected packet ?
|
|
if (rpack == xpack[i] && rval == xval[i] && ibuf[i] < LG_BUF - 1)
|
|
{ // yes, store the char
|
|
rbuf[i] [ibuf[i]] = rl;
|
|
ibuf[i]++;
|
|
rbuf[i] [ibuf[i]] = 0;
|
|
}
|
|
}
|
|
for (i = NB_LONG_BUF; i < NB_LONG_BUF+NB_SHORT_BUF; i++) {
|
|
if (rpack == xpack[i] // is this the expected short value in the expected packet ?
|
|
&& rval == xval[i])
|
|
sbuf[i-NB_LONG_BUF] = rl; // yes, store the char
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
#endif
|
|
|
|
void NMEA_Init (void)
|
|
{
|
|
#ifndef SIMU
|
|
DDRE &= ~(1 << DDE0); // set RXD0 pin as input
|
|
PORTE &= ~(1 << PORTE0); // disable pullup on RXD0 pin
|
|
|
|
// switch (Telem_baud)
|
|
// {
|
|
// case 1:
|
|
#undef BAUD
|
|
#define BAUD 4800
|
|
#include <util/setbaud.h>
|
|
UBRR0H = UBRRH_VALUE;
|
|
UBRR0L = UBRRL_VALUE;
|
|
// break;
|
|
// }
|
|
|
|
UCSR0A &= ~(1 << U2X0); // disable double speed operation
|
|
// set 8N1
|
|
UCSR0B = 0|(0<< RXCIE0)|(0<<TXCIE0)|(0<<UDRIE0)|(0<<RXEN0)|(0<<TXEN0)|(0<<UCSZ02);
|
|
UCSR0C = 0|(1 << UCSZ01) | (1 << UCSZ00);
|
|
while ( UCSR0A & (1 << RXC0) )
|
|
UDR0; // flush receive buffer
|
|
#endif
|
|
home_alt = rel_alt = ggareceived =0;
|
|
gpstimer = -1;
|
|
beep_on=1;
|
|
}
|
|
|
|
// TX Capabilities are not required for NMEA
|
|
// void NMEA_DisableTXD (void)
|
|
// {
|
|
// UCSR0B &= ~(1 << TXEN0); // disable TX
|
|
// }
|
|
|
|
// void NMEA_EnableTXD (void)
|
|
// {
|
|
// UCSR0B |= (1 << TXEN0); // enable TX
|
|
// }
|
|
|
|
void NMEA_DisableRXD (void)
|
|
{
|
|
UCSR0B &= ~(1 << RXEN0); // disable RX
|
|
UCSR0B &= ~(1 << RXCIE0); // disable Interrupt
|
|
}
|
|
|
|
void NMEA_EnableRXD (void)
|
|
{
|
|
for (i = 0; i < NB_LONG_BUF; i++)
|
|
{
|
|
ibuf[i] = 0;
|
|
rbuf[i][0] = 0;
|
|
xpack[i] = 0;
|
|
xval[i] = 0;
|
|
}
|
|
initval (LONG_BUF(2), PACK_GGA, TIM); // always get UTC time for timer
|
|
state = WAIT_PACKET; // wait for the next packet
|
|
UCSR0B |= (1 << RXEN0); // enable RX
|
|
UCSR0B |= (1 << RXCIE0); // enable Interrupt
|
|
}
|
|
|
|
void menuProcNMEA(uint8_t event)
|
|
{
|
|
menuProcNMEA1(event);
|
|
}
|
|
|
|
// Start of NMEA menus 1-4 <<<<<<<<<<<<<<<<<<<<<<<<<<<
|
|
|
|
void menuProcNMEA1(uint8_t event)
|
|
{
|
|
switch(event) // new event received, branch accordingly
|
|
{
|
|
case EVT_KEY_BREAK(KEY_LEFT):
|
|
chainMenu(menuProcNMEA4);
|
|
break;
|
|
case EVT_KEY_BREAK(KEY_RIGHT):
|
|
chainMenu(menuProcNMEA2);
|
|
break;
|
|
case EVT_KEY_LONG(KEY_UP):
|
|
NMEA_DisableRXD();
|
|
chainMenu(menuProcStatistic);
|
|
break;
|
|
case EVT_KEY_LONG(KEY_DOWN):
|
|
NMEA_DisableRXD();
|
|
chainMenu(menuMainView);
|
|
break;
|
|
case EVT_KEY_FIRST(KEY_MENU):
|
|
if (show_timer == 0) {
|
|
show_timer = 1;
|
|
if (gpstimer <= 0)
|
|
gpstimer = bintime(rbuf[2]);
|
|
}
|
|
else
|
|
show_timer = 0;
|
|
break;
|
|
case EVT_KEY_FIRST(KEY_EXIT):
|
|
if ((show_timer == 1) &&(rbuf[2][0]))
|
|
gpstimer = bintime(rbuf[2]); // get actual GPS time ->resets timer to 00:00
|
|
break;
|
|
}
|
|
/*
|
|
How to use:
|
|
|
|
You choose the values to be displayed using the function:
|
|
|
|
initval(<number>, <packet>, <value>);
|
|
-------------------------------------
|
|
|
|
That means that "<value>" of "<packet>" is stored in the <number> buffer.
|
|
The first <number> is 0.
|
|
|
|
Here are the packet names and the associated value names:
|
|
|
|
Position packet (beginning with "GGA"): "PACK_GGA"
|
|
value names: "TIM", "LAT", "NOS", "LON", "EOW", "FIX", "SAT", "DIL", "ALT", "MTR", "GEO", "MET", "AGE", "DIF",
|
|
|
|
Required minimum packet (beginning with "RMC"): "PACK_RMC"
|
|
value names: "TIM", "NRW", "LT1", "NSO", "LN1", "EWE", "SOG", "COG", "DAT", "MAG", "EAW"
|
|
|
|
The buffers are accessed using the macro "VALSTR(<n>)", where "<n>" is "0"
|
|
for the first buffer, and "1" for the second buffer.
|
|
|
|
When a value is missing, it is replaced by the contents of val_unknown ("?").
|
|
*/
|
|
|
|
if (ggareceived)
|
|
{
|
|
gpstime=bintime(rbuf[2]);
|
|
ggareceived=0;
|
|
}
|
|
|
|
initval (LONG_BUF(0), PACK_RMC, TIM); // sets rbuf[0][.]
|
|
initval (LONG_BUF(1), PACK_RMC, DAT); // sets rbuf[1][.]
|
|
initval (SHORT_BUF(0), PACK_RMC, NRW); // sets sbuf[0]
|
|
initval (SHORT_BUF(2), PACK_GGA, SAT); // -> sbuf[2]
|
|
|
|
|
|
title ('1');
|
|
lcd_puts ( 2*FW, 1*FH, PSTR("UTC-Time Sat"));
|
|
|
|
if (rbuf[0][0]) { // show always if data have been received
|
|
lcd_putcAtt ( 19*FW, 1*FH, sbuf[2], 0); // satellites in view
|
|
lcd_putsnAtt ( 2*FW, 2*FH, &rbuf[0][0], 2, APSIZE); // hours
|
|
lcd_putcAtt ( 6*FW, 2*FH, ':', DBLSIZE); // ":"
|
|
lcd_putsnAtt ( 8*FW, 2*FH, &rbuf[0][2], 2, APSIZE); // minutes
|
|
lcd_putcAtt ( 12*FW, 2*FH, ':', DBLSIZE); // ":"
|
|
lcd_putsnAtt ( 14*FW, 2*FH, &rbuf[0][4], 2, APSIZE); // seconds
|
|
}
|
|
else
|
|
lcd_putsAtt ( 2*FW, 2*FH, val_unknown, APSIZE); // "?"
|
|
|
|
if ((show_timer == 1) && rbuf[0][0]) { // show the Timer when data have been received
|
|
|
|
lcd_puts ( 2*FW, 4*FH, PSTR("Timer")); // display "Timer"
|
|
putsTime ( 5*FW, 5*FH, (gpstime-gpstimer), DBLSIZE, DBLSIZE); // display difference as mm:ss
|
|
}
|
|
else
|
|
{
|
|
lcd_puts ( 2*FW, 4*FH, PSTR("Date")); // show the UTC Date
|
|
|
|
if (rbuf[1][0]) {
|
|
lcd_putsnAtt( 2*FW, 5*FH, &rbuf[1][0], 2, APSIZE); // year
|
|
lcd_putcAtt ( 6*FW, 5*FH, '/', DBLSIZE); // "/"
|
|
lcd_putsnAtt( 8*FW, 5*FH, &rbuf[1][2], 2, APSIZE); // month
|
|
lcd_putcAtt (12*FW, 5*FH, '/', DBLSIZE); // "/"
|
|
lcd_putsnAtt(14*FW, 5*FH, &rbuf[1][4], 2, APSIZE); // day
|
|
}
|
|
else
|
|
lcd_putsAtt ( 2*FW, 5*FH, val_unknown, APSIZE); // "?"
|
|
}
|
|
}
|
|
|
|
|
|
|
|
void menuProcNMEA2(uint8_t event)
|
|
{
|
|
static uint8_t ignore_break;
|
|
|
|
|
|
switch(event)
|
|
{
|
|
// Menu navigation
|
|
case EVT_KEY_BREAK(KEY_LEFT):
|
|
if (ignore_break==1) {
|
|
ignore_break=0;
|
|
break;}
|
|
chainMenu(menuProcNMEA1);
|
|
break;
|
|
case EVT_KEY_BREAK(KEY_RIGHT):
|
|
if (ignore_break==1) {
|
|
ignore_break=0;
|
|
break;}
|
|
chainMenu(menuProcNMEA3);
|
|
break;
|
|
case EVT_KEY_LONG(KEY_UP):
|
|
NMEA_DisableRXD();
|
|
chainMenu(menuProcStatistic);
|
|
break;
|
|
case EVT_KEY_LONG(KEY_DOWN):
|
|
NMEA_DisableRXD();
|
|
chainMenu(menuMainView);
|
|
break;
|
|
|
|
//Beep setting
|
|
case EVT_KEY_LONG(KEY_LEFT):
|
|
ignore_break = 1;
|
|
beep_on=0;
|
|
AUDIO_MENUS(); // short blip
|
|
break;
|
|
case EVT_KEY_LONG(KEY_RIGHT):
|
|
ignore_break = 1;
|
|
beep_on=1;
|
|
AUDIO_MENUS(); // short blip
|
|
break;
|
|
|
|
//Altitude setting
|
|
/* Set a home position for altitude. Normally used before starting
|
|
the model when GPS has got a fix.
|
|
MENU[short] --> alternating relative and absolute altitudes
|
|
MENU[long] --> set home altitude to current
|
|
EXIT[long] --> reset max altitude to 0
|
|
|
|
Switch ON / OFF short beep with positive lift
|
|
LEFT[long] --> Positive lift Beep off
|
|
RIGHT[long] --> Positive lift Beep on */
|
|
|
|
|
|
case EVT_KEY_BREAK(KEY_MENU):
|
|
if (ignore_break==1) {
|
|
ignore_break=0;
|
|
break;}
|
|
|
|
if (!home_alt) // umschalten zwischen absoluter und relativer H�he
|
|
home_alt = save_alt;
|
|
else
|
|
home_alt=0;
|
|
|
|
if (save_alt==0) // wenn noch keine Home H�he gesetzt war, wird sie es jetzt, weil sonst
|
|
// das Umschalten keine Wirkung zeigt
|
|
save_alt = home_alt = abs_alt; // absolute altitude
|
|
AUDIO_MENUS(); // short blip for non negative lift
|
|
break;
|
|
|
|
case EVT_KEY_LONG(KEY_MENU):
|
|
ignore_break = 1;
|
|
save_alt = home_alt = abs_alt; // Home altitude auf aktuelle absolute H�he setzen
|
|
AUDIO_MENUS(); // short blip for non negative lift
|
|
break;
|
|
|
|
case EVT_KEY_LONG(KEY_EXIT): // Max Altitude auf 0 zur�cksetzen
|
|
max_alt=0;
|
|
AUDIO_MENUS(); // short blip for non negative lift
|
|
break;
|
|
|
|
}
|
|
title ('2');
|
|
|
|
lcd_puts ( 1*FW, 1*FH, PSTR("Altitude Sat Max"));
|
|
|
|
|
|
lcd_puts ( 16*FW, 3*FH, PSTR("Home"));
|
|
lcd_puts ( 2*FW, 4*FH, PSTR("Lift") );
|
|
|
|
lcd_puts ( 16*FW, 5*FH, PSTR("Beep") );
|
|
if (beep_on==1)
|
|
lcd_puts ( 18*FW, 6*FH, PSTR("ON") );
|
|
|
|
else
|
|
lcd_puts ( 17*FW, 6*FH, PSTR("OFF") );
|
|
|
|
|
|
lcd_outdezNAtt( 20*FW, 4*FH, home_alt, PREC1, 6); // display home_alt, small characters
|
|
|
|
if (xpack[0] != PACK_GGA)
|
|
ggareceived = 0;
|
|
|
|
initval (LONG_BUF(0), PACK_GGA, ALT); // -> rbuf[0]
|
|
initval (LONG_BUF(1), PACK_GGA, GEO); // -> rbuf[1]
|
|
initval (SHORT_BUF(0), PACK_GGA, MTR); // -> sbuf[0]
|
|
initval (SHORT_BUF(1), PACK_GGA, FIX); // -> sbuf[1]
|
|
initval (SHORT_BUF(2), PACK_GGA, SAT); // -> sbuf[2]
|
|
|
|
if (ggareceived) // at least one second has elapsed
|
|
{
|
|
ggareceived = 0;
|
|
|
|
/* ALT and GEO have one single digit following the decimal point
|
|
e.g. ALT=359.7 GEO=47.7
|
|
The altitude over mean sea level is to be calculated as:
|
|
altitude minus geoidal separation
|
|
*/
|
|
|
|
abs_alt = binary(rbuf[0]) - binary(rbuf[1]); // alt - geo that is absolute altitude
|
|
|
|
if (abs_alt> max_alt) max_alt=abs_alt; // hold max altitude relative to 0 m
|
|
|
|
rel_alt=abs_alt - home_alt; // alt - geo - home altitude relative to home
|
|
|
|
|
|
lift_alt = rel_alt - prev_alt;
|
|
prev_alt = rel_alt;
|
|
|
|
if ((lift_alt >= 0) && (sbuf[1]>0x30) && beep_on) // GGA record must have Fix> 0
|
|
AUDIO_MENUS(); // short blip for non negative lift
|
|
|
|
}
|
|
|
|
if (rbuf[0][0]) {
|
|
lcd_putcAtt ( 13*FW, 1*FH, sbuf[2], 0); // satellites in view
|
|
|
|
if (sbuf[1]>0x30) { // & GGA has FIX > 0
|
|
|
|
|
|
lcd_outdezNAtt( 10*FW, 2*FH, rel_alt, DBLSIZE|PREC1, 7); // altitude
|
|
|
|
if (home_alt >= 0)
|
|
lcd_outdezNAtt( 20*FW, 2*FH, (max_alt-home_alt), PREC1, 6); // display small characters
|
|
else
|
|
lcd_outdezNAtt( 20*FW, 2*FH, max_alt, PREC1, 6); // display small characters
|
|
|
|
|
|
lcd_putcAtt ( 11*FW, 3*FH, sbuf[0], 0); // dimension [m]
|
|
|
|
lcd_outdezNAtt( 10*FW, 5*FH, lift_alt, DBLSIZE|PREC1, 6); // lift
|
|
lcd_putcAtt ( 11*FW, 6*FH, sbuf[0], 0); // dimension [m/S]
|
|
lcd_puts ( 12*FW, 6*FH, PSTR("/S") );
|
|
}
|
|
}
|
|
else {
|
|
lcd_putsAtt ( 2*FW, 2*FH, val_unknown, APSIZE);
|
|
lcd_putsAtt ( 2*FW, 5*FH, val_unknown, APSIZE);
|
|
}
|
|
}
|
|
|
|
|
|
|
|
void menuProcNMEA3(uint8_t event)
|
|
{
|
|
switch(event)
|
|
{
|
|
case EVT_KEY_BREAK(KEY_LEFT):
|
|
chainMenu(menuProcNMEA2);
|
|
break;
|
|
case EVT_KEY_BREAK(KEY_RIGHT):
|
|
chainMenu(menuProcNMEA4);
|
|
break;
|
|
case EVT_KEY_LONG(KEY_UP):
|
|
NMEA_DisableRXD();
|
|
chainMenu(menuProcStatistic);
|
|
break;
|
|
case EVT_KEY_LONG(KEY_DOWN):
|
|
NMEA_DisableRXD();
|
|
chainMenu(menuMainView);
|
|
break;
|
|
}
|
|
initval (LONG_BUF(0), PACK_RMC, SOG);
|
|
initval (LONG_BUF(1), PACK_RMC, COG);
|
|
initval (SHORT_BUF(2), PACK_GGA, SAT); // -> sbuf[2]
|
|
title ('3');
|
|
lcd_puts ( 0*FW, 1*FH, PSTR("GrndSpeed[knt] Sat"));
|
|
if (rbuf[0][0]) // if first position is 00, buffer is empty, taken as false
|
|
{ // any other value is true
|
|
uint8_t i = 0;
|
|
while (rbuf[0][i])
|
|
{
|
|
if (rbuf[0][i] == '.') // find decimal point and insert End of String 3 positions higher
|
|
{
|
|
rbuf[0][i+3] = 0;
|
|
break;
|
|
}
|
|
i++;
|
|
}
|
|
lcd_putsAtt ( 2*FW, 2*FH, VALSTR(0), APSIZE); // speed over ground
|
|
}
|
|
else
|
|
lcd_putsAtt ( 2*FW, 2*FH, val_unknown, APSIZE);
|
|
|
|
lcd_putcAtt ( 19*FW, 1*FH, sbuf[2], 0); // satellites in view
|
|
|
|
lcd_puts ( 1*FW, 4*FH, PSTR("Course over ground") );
|
|
lcd_putsAtt ( 2*FW, 5*FH, VALSTR(1), APSIZE); // course over ground
|
|
}
|
|
|
|
|
|
|
|
void menuProcNMEA4(uint8_t event)
|
|
{
|
|
switch(event) // new event received, branch accordingly
|
|
{
|
|
case EVT_KEY_BREAK(KEY_LEFT):
|
|
chainMenu(menuProcNMEA3);
|
|
break;
|
|
case EVT_KEY_BREAK(KEY_RIGHT):
|
|
chainMenu(menuProcNMEA1);
|
|
break;
|
|
case EVT_KEY_LONG(KEY_UP):
|
|
NMEA_DisableRXD();
|
|
chainMenu(menuProcStatistic);
|
|
break;
|
|
case EVT_KEY_LONG(KEY_DOWN):
|
|
NMEA_DisableRXD();
|
|
chainMenu(menuMainView);
|
|
break;
|
|
}
|
|
// expecting LAT value in POS packet to be stored in the first buffer
|
|
initval (LONG_BUF(0), PACK_GGA, LAT);
|
|
initval (SHORT_BUF(0), PACK_GGA, NOS);
|
|
// and LON value in POS packet stored in the second buffer
|
|
initval (LONG_BUF(1), PACK_GGA, LON);
|
|
initval (SHORT_BUF(1), PACK_GGA, EOW);
|
|
initval (SHORT_BUF(2), PACK_GGA, SAT); // -> sbuf[2]
|
|
// title of the screen
|
|
title ('4');
|
|
lcd_puts ( 3*FW, 1*FH, PSTR("Latitude Sat")); // line 1 column 3
|
|
// first buffer into line 2 column 2
|
|
if (rbuf[0][0])
|
|
{
|
|
lcd_putcAtt ( 13*FW, 1*FH, sbuf[0], 0); // N or S
|
|
lcd_putcAtt ( 19*FW, 1*FH, sbuf[2], 0); // satellites in view
|
|
lcd_putsnAtt ( 1*FW, 2*FH, rbuf[0], 2, APSIZE);
|
|
lcd_putcAtt ( 5*FW, 2*FH, '@',0);
|
|
lcd_putsAtt ( 6*FW, 2*FH, &rbuf[0][2], APSIZE); // minutes with small decimal point
|
|
}
|
|
else
|
|
lcd_putsAtt ( 2*FW, 2*FH, val_unknown, APSIZE);
|
|
lcd_puts ( 3*FW, 4*FH, PSTR("Longitude")); // line 4 column 5
|
|
// second buffer into line 5 column 2
|
|
if (rbuf[0][0])
|
|
{
|
|
lcd_putcAtt ( 13*FW, 4*FH, sbuf[1], 0); // E or W
|
|
lcd_putsnAtt ( 0*FW, 5*FH, rbuf[1], 3, APSIZE);
|
|
lcd_putcAtt ( 6*FW, 5*FH, '@',0);
|
|
lcd_putsAtt ( 7*FW, 5*FH, &rbuf[1][3], APSIZE); // minutes with small decimal point
|
|
|
|
}
|
|
else
|
|
lcd_putsAtt ( 2*FW, 5*FH, val_unknown, APSIZE);
|
|
}
|
|
|
|
void title(char x)
|
|
{
|
|
lcd_putsAtt (0*FW, 0*FH, PSTR(" GPS NMEA data ?/4 "), INVERS);
|
|
lcd_putcAtt(16*FW, 0*FH, x, INVERS);
|
|
}
|
|
|
|
void initval(uint8_t num, uint8_t pack, uint8_t val)
|
|
{
|
|
if (xpack[num] != pack || xval[num] != val)
|
|
{
|
|
if (num < NB_LONG_BUF) {
|
|
ibuf[num] = rbuf[num][0] = 0;
|
|
}
|
|
else
|
|
sbuf[num-NB_LONG_BUF] = '?';
|
|
xpack[num] = pack;
|
|
xval[num] = val;
|
|
state = WAIT_PACKET; // synchronize to the next packet
|
|
}
|
|
}
|
|
|
|
int32_t binary (char *str)
|
|
{
|
|
int32_t numval = 0;
|
|
uint8_t sign = 0;
|
|
|
|
while (*str) {
|
|
if (*str == '-')
|
|
sign = 1;
|
|
else if (*str >= '0' && *str <= '9')
|
|
numval = numval * 10 + (*str - '0');
|
|
str++;
|
|
}
|
|
if (sign)
|
|
numval = -numval;
|
|
return numval;
|
|
}
|
|
|
|
int32_t bintime (char *str)
|
|
{
|
|
int32_t numval=0;
|
|
|
|
if (*str) {
|
|
numval = ((str[0] - '0') * 10l) + (str[1] - '0'); // hours
|
|
numval = numval * 3600l;
|
|
numval = numval + ((( (str[2] - '0') * 10l) + (str[3] - '0')) * 60l); // minutes
|
|
numval = numval + ((str[4] - '0') * 10l) + (str[5] - '0'); // seconds
|
|
}
|
|
return numval;
|
|
}
|
|
/*
|
|
Without NMEA:
|
|
|
|
Size after:
|
|
AVR Memory Usage
|
|
----------------
|
|
Device: atmega64
|
|
|
|
Program: 54226 bytes (82.7% Full)
|
|
(.text + .data + .bootloader)
|
|
|
|
Data: 3440 bytes (84.0% Full)
|
|
(.data + .bss + .noinit)
|
|
|
|
----------------------------------
|
|
|
|
With NMEA:
|
|
|
|
Size after:
|
|
AVR Memory Usage
|
|
----------------
|
|
Device: atmega64
|
|
|
|
Program: 57098 bytes (87.1% Full)
|
|
(.text + .data + .bootloader)
|
|
|
|
Data: 3524 bytes (86.0% Full)
|
|
(.data + .bss + .noinit)
|
|
*/
|