GPS now fixes to satellites

Implemented and tested some utility functions

GPS now fixes to satellites
Implemented and tested some utility functions
200e9d2f · Theodor-Adrian Stana · b2073475 · 200e9d2f · 200e9d2f · 200e9d2f
Commit 200e9d2f authored Aug 25, 2014 by Theodor-Adrian Stana
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gps.c sw/gps/gps/gps.c +43 -12

gps.h sw/gps/gps/gps.h +5 -1

main.c sw/gps/main.c +17 -28

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--- a/sw/gps/gps/gps.c
+++ b/sw/gps/gps/gps.c
@@ -50,26 +50,22 @@

 #define GPS_OK_TO_SEND "$PSRF150,1*3E\r\n"

-#define RXBUFSIZE 16
+#define RXBUFSIZE 128
 static char rxbuf[RXBUFSIZE];
-volatile char idx = 0;
+volatile int idx = 0;

-volatile char gps_rdy = 0;
+static nmeaINFO gps_info;
+static nmeaPARSER gps_parser;

 void LEUART0_IRQHandler()
 {
        if (LEUART0->IF & LEUART_IF_RXDATAV) {
                rxbuf[idx++] = LEUART_Rx(LEUART0);
-                if ((gps_rdy == 0) && (strncmp(rxbuf, GPS_OK_TO_SEND,
-                                                strlen(GPS_OK_TO_SEND)) == 0)) {
-                        gps_rdy = 1;
-                        usbdbg_puts("GPS ready to send!\r\n");
+                if ((rxbuf[idx-2] == '\r') && (rxbuf[idx-1] == '\n')) {
+                        rxbuf[idx] = '\0';
                        idx = 0;
-                }
-
-                if ((gps_rdy) && (idx == RXBUFSIZE)) {
-                        idx = 0;
-                        usbdbg_puts(rxbuf);
+                        nmea_parse(&gps_parser, rxbuf, strlen(rxbuf),
+                                        &gps_info);
                }
        }
 }
@@ -116,6 +112,9 @@ void gps_init()

        LEUART_Enable(LEUART0, leuartEnable);

+        /* NMEA parser & info structure init */
+        nmea_zero_INFO(&gps_info);
+        nmea_parser_init(&gps_parser);
 }

 void gps_on_off_pulse()
@@ -166,3 +165,35 @@ int gps_nmea_crc(const char *nmeastr)
        return chksum;
 }

+int gps_fixed()
+{
+        return gps_info.sig;
+}
+
+void gps_get_utc(int *yr, int *mon, int *day, int *hr, int *min, int *sec)
+{
+        *yr  = 1900 + gps_info.utc.year;
+        *mon = 1 + gps_info.utc.mon;
+        *day = gps_info.utc.day;
+        *hr  = gps_info.utc.hour;
+        *min = gps_info.utc.min;
+        *sec = gps_info.utc.sec;
+}
+
+void gps_get_coord(double *lat, double *lon, double *elv)
+{
+        *lat = gps_info.lat;
+        *lon = gps_info.lon;
+        *elv = gps_info.elv;
+}
+
+void gps_get_speed(double *spd)
+{
+        *spd = gps_info.speed;
+}
+
+void gps_get_direction(double *dir)
+{
+        *dir = gps_info.direction;
+}
+
--- a/sw/gps/gps/gps.h
+++ b/sw/gps/gps/gps.h
@@ -47,6 +47,10 @@ void    gps_on_off_pulse();
 void    gps_reset(int val);
 int     gps_puts(char *s);
 int     gps_nmea_crc(const char *nmeastr);
-
+int     gps_fixed();
+void    gps_get_utc(int *yr, int *mon, int *day, int *hr, int *min, int *sec);
+void    gps_get_coord(double *lat, double *lon, double *elv);
+void    gps_get_speed(double *spd);
+void    gps_get_direction(double *dir);

 #endif // __GPS_H_
--- a/sw/gps/main.c
+++ b/sw/gps/main.c
@@ -47,6 +47,7 @@

 #include "usbdbg.h"

+#include "gps.h"

 int main()
 {
@@ -62,40 +63,28 @@ int main()
        usbdbg_puts("init done!\r\n");

        int i, one = 1;
-        static char tmp[64];
-        static char c[2];
-        static char cmd[64];
+        static char tmp[128];
+        double lat, lon, elv;
+        double spd, dir;

        for (;;) {
                GPIO_PinInGet(gpioPortA, 1) ?
                        GPIO_PinOutSet(gpioPortE, 11) :
                        GPIO_PinOutClear(gpioPortE, 11);

-                LEUART_Tx(LEUART0, 0x54);
-//                if (one) {
-//                        one = 0;
-//                        for (i = 0; i < 20000000; i++)
-//                                ;
-////                        usbdbg_puts("\r\n\r\n\r\n\r\n"); //strcpy(tmp, "$PSRF105,1*");
-////                        sprintf(c, "%02X", nmea_crc(tmp));
-////                        strcat(tmp, c);
-////                        strcat(tmp, "\r\n");
-////                        usbdbg_puts(tmp);
-////                        gps_puts(tmp);
-////                        usbdbg_puts("\r\n\r\n\r\n\r\n");
-//                        /* Send init command */
-////                        strcpy(tmp, "$PSRF104,46.22954,6.06156,100,0,55020,1807,12,1*");
-//                        strcpy(tmp, "$PSRF125*");
-//                        sprintf(c, "%02X", nmea_crc(tmp));
-//                        strcpy(cmd, tmp);
-//                        strcat(cmd, c);
-//                        strcat(cmd, "\r\n");
-//                        if (gps_puts(cmd)) {
-//                                usbdbg_puts("\r\n\r\n\r\n\r\n");
-//                                usbdbg_puts(cmd);
-//                                usbdbg_puts("\r\n\r\n\r\n\r\n");
-//                        }
-//                }
+                gps_get_coord(&lat, &lon, &elv);
+                gps_get_speed(&spd);
+                gps_get_direction(&dir);
+
+                sprintf(tmp, "%d: ", gps_fixed());
+                sprintf(tmp + strlen(tmp), "%4.4f / %4.4f / %2.3f / ",
+                                lat, lon, elv);
+                sprintf(tmp + strlen(tmp), "%3.2f / %3.2f", spd, dir);
+                sprintf(tmp + strlen(tmp), "\r\n");
+                usbdbg_puts(tmp);
+
+                for (i = 0; i < 1000000; i++)
+                        ;
        }

        return 0;