CaryCoders
standalone sx1276 demo program
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SX1276_GPS
by 
CaryCoders
Diff: hello.cpp
- Revision:
- 29:0ea07cc7124b
- Child:
- 31:2c813f321db7
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/hello.cpp Tue Jun 16 11:53:20 2015 +0000
@@ -0,0 +1,273 @@
+#include "mbed.h"
+#include "sx1276-hal.h"
+#include "main.h"
+#include "debug.h"
+#include "vt100.h"
+#include "serial_api.h"
+#include "GPS.h"
+#include <math.h>
+#define PI 3.14159265
+
+void start_hello(void)
+{
+ int len = get_kbd_str(pcbuf, PCBUF_SIZE);
+ printf("in start gps/hello\r\n");
+ if (len < 0) {
+ fflush(stdout);
+ Radio.Rx( RX_TIMEOUT_VALUE );
+ Radio.Tx( TX_TIMEOUT_VALUE );
+ Radio.Sleep( );
+ if (gpsEnabled)
+ debug("GPS exchange ended\r\n");
+ else
+ debug("Hello exchange ended\r\n");
+ app = APP_CONSOLE;
+ print_help();
+ printf("> ");
+ fflush(stdout);
+ return;
+ }
+ else
+ {
+ hello();
+ }
+}
+
+void find_distance()
+{
+ //float dist = 0;
+ float lat2 = 0;
+ float lon2 = 0;
+ float lat1 = 0;
+ float lon1 = 0;
+ float dLat = 0;
+ float dLon = 0;
+ float c = 0;
+ float a = 0;
+ float d = 0;
+
+ gpsd.distance = 0;
+ if (gpsd.l_latitude == 0.0)
+ {
+ gpsd.distance = -1;
+ return;
+ }
+ if (gpsd.l_longitude == 0.0)
+ {
+ gpsd.distance = -1;
+ return;
+ }
+
+ //lat1 = 35.73244;
+ //lon1 = -78.79333;
+
+ lat1 = gpsd.r_latitude;
+ lon1 = gpsd.r_longitude;
+
+ lat2 = gpsd.l_latitude;
+ lon2 = gpsd.l_longitude;
+ //Calculate Distance
+ dLat = (lat2-lat1)*(PI/180);
+ dLon = (lon2-lon1)*(PI/180);
+ a = sin(dLat/2) * sin(dLat/2) +
+ sin(dLon/2) * sin(dLon/2) * cos(lat1*(PI/180)) * cos(lat2*(PI/180));
+ c = 2 * atan2(sqrt(a), sqrt(1-a));
+ d = 6371000 * c;
+
+ //GPS is only precise to 5 meters, so throw out bad data
+ if ( d <= 5) {
+ d = 0;
+ }
+ gpsd.distance = gpsd.distance + d;
+ // printf("distance: %f\r\n", gpsd.distance);
+
+}
+
+void check_gps(void)
+{
+ static int gps_count=0;
+
+ if (gps_count >= 0)
+ {
+ //printf("checking gps\r\n");
+ gps_count=0; // reset for next cycle
+ if(gpsd.sample())
+ {
+ led = !led;
+ static int swap=0;
+ //printf("gps sample is true \r\n");
+ if (gpsd.l_latitude != 0)
+ {
+ if (RADIO_INSTALLED)
+ {
+ cLCD.setCursor(0,1);
+ cLCD.printf("d:NA per:%d ", per);
+ //cLCD.printf("%0.4f %0.4f", gpsd.l_latitude, gpsd.l_longitude);
+ }
+ else
+ {
+ if (swap)
+ {
+ cLCD.setCursor(0,0);
+ cLCD.printf("Lat: %0.6f ", gpsd.l_latitude);
+ cLCD.setCursor(0,1);
+ cLCD.printf("Lon: %0.6f ", gpsd.l_longitude);
+ swap = 0;
+ }
+ else
+ {
+ cLCD.setCursor(0,1);
+ cLCD.printf("Lat: %0.6f ", gpsd.l_latitude);
+ cLCD.setCursor(0,0);
+ cLCD.printf("Lon: %0.6f ", gpsd.l_longitude);
+ swap = 1;
+ }
+ }
+
+ if (gpsd.r_latitude != 0)
+ {
+ find_distance();
+ if (gpsd.distance < 50000 )
+ {
+ if (gpsd.distance >= 0)
+ cLCD.setCursor(0,1);
+ cLCD.printf("d:%0.1fm per:%d ", gpsd.distance,per);
+ }
+ }
+ }
+ else
+ {
+ cLCD.setCursor(0,1);
+ cLCD.printf("No GPS. per:%d ",per);
+ }
+ }
+ else
+ {
+ //printf("gps sample is false \r\n");
+ cLCD.setCursor(0,1);
+ cLCD.printf("No GPS. per:%d ",per);
+ }
+ }
+ else
+ {
+ #if 0
+ if (gps_count % 5)
+ gpsd.flushSerialBuffer();
+ #endif
+ //printf("not checking gps\r\n");
+ gps_count++;
+ }
+
+}
+
+void hello(void)
+{
+ srand ( randomSeed() );
+ // generate a random wait time
+ int mywait = ((rand()%2 +1));
+ int i=0;
+ int rcvd=0;
+ int lost=0;
+
+ for (i=0;i<max_pkts;i++)
+ {
+
+ if (pkt_data[i]==1)
+ {
+ //printf("rcvd, pkt count=%d\r\n",i);
+ rcvd++;
+ }
+ else if (pkt_data[i] == 2)
+ {
+ //printf("lose, pkt count=%d\r\n",i);
+ lost++;
+ }
+
+ }
+ if ((rcvd + lost) > 0)
+ {
+ per = 100 - (rcvd*100 / (rcvd + lost));
+ //printf("rcvd = %d, lost = %d per = %d\r\n",rcvd, lost, per);
+ }
+ else
+ per = 0;
+
+
+ switch( State )
+ {
+
+ case RX_TIMEOUT:
+
+ printf("rx timeout in gps/hello loop. ");
+ printf("per=%d\r\n", per);
+ gpsd.r_latitude = 0;
+ gpsd.r_longitude = 0;
+ // printf("rcv - rssi = %d snr = %d msg=%s\r\n", RssiValue, SnrValue, BufferRx);
+ cLCD.setCursor(0,0);
+ cLCD.printf("RI:NA SR:NA ");
+ case RX:
+
+ if( BufferSize > 0 )
+ {
+ if( strncmp( ( const char* )BufferRx, ( const char* )HelloMsg, 5 ) == 0 )
+ {
+ led = !led;
+ printf("rcv - rssi = %d snr = %d msg=%s ", RssiValue, SnrValue, BufferRx );
+ printf("per=%d\r\n", per);
+ cLCD.setCursor(0,0);
+ cLCD.printf("RI:%d SR:%d ", RssiValue, SnrValue);
+ }
+ else
+ {
+ // float latitude, longitude;
+ if(sscanf((char *)BufferRx, "GP,%f,%f", &gpsd.r_latitude, &gpsd.r_longitude ) >= 1)
+ {
+ led = !led;
+ printf("rssi=%d snr=%d rlat=%0.5f rlon=%0.5f llat=%0.5f llon=%0.5f dst=%0.0fm ", RssiValue, SnrValue, gpsd.r_latitude, gpsd.r_longitude, gpsd.l_latitude, gpsd.l_longitude, gpsd.distance);
+ printf("per=%d\r\n", per);
+
+ cLCD.setCursor(0,0);
+ cLCD.printf("RI:%d SR:%d ", RssiValue,SnrValue);
+ //printf("Msg received - Lat: %0.4f Lon: %0.4f\r\n", latitude, longitude);
+ }
+ else
+ printf("strange received message: %s\r\n", BufferRx);
+ }
+ }
+ case RX_ERROR:
+ if (gpsEnabled)
+ {
+ check_gps();
+ }
+ if (gpsEnabled)
+ sprintf((char *)BufferTx, "GP,%4.5f,%4.5f", gpsd.l_latitude, gpsd.l_longitude);
+ else
+ strcpy( ( char* )BufferTx, ( char* )HelloMsg );
+
+ BufferSize=strlen((char *)BufferTx);
+ //printf("Sending new buffer\r\n");
+ Radio.Send( BufferTx, BufferSize );
+ State = LOWPOWER;
+
+ break;
+ case TX:
+ //printf("tx state\r\n");
+ //wait_ms (30);
+
+ Radio.Rx( RX_TIMEOUT_VALUE / mywait );
+ State = LOWPOWER;
+ break;
+ case TX_TIMEOUT:
+ debug("tx timeout\r\n");
+ Radio.Tx( TX_TIMEOUT_VALUE );
+ State = LOWPOWER;
+ break;
+ case LOWPOWER:
+ wait_ms (5);
+ break;
+ default:
+ debug("state is set to low power\r\n");
+ State = LOWPOWER;
+ break;
+ }
+}