Revision 0:fe8decc6a938, committed 2012-03-29

Comitter:

BartJanssens

Date:

Thu Mar 29 09:26:14 2012 +0000

Commit message:

Changed in this revision

diff -r 000000000000 -r fe8decc6a938 CircularLinkedList.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CircularLinkedList.h	Thu Mar 29 09:26:14 2012 +0000
@@ -0,0 +1,161 @@
+
+/*  A circular double linked list
+  *  
+  * Copyright (c) 2012 Bart Janssens
+  *
+  * Permission is hereby granted, free of charge, to any person obtaining a copy
+  * of this software and associated documentation files (the "Software"), to deal
+  * in the Software without restriction, including without limitation the rights
+  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+  * copies of the Software, and to permit persons to whom the Software is
+  * furnished to do so, subject to the following conditions:
+  *
+  * The above copyright notice and this permission notice shall be included in
+  * all copies or substantial portions of the Software.
+  *
+  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+  * THE SOFTWARE.
+  */
+template <typename T>
+class Node
+{
+public:  
+  Node(T data) : data(data), next(NULL) {}
+//private:
+  Node *next;
+  Node *prev;
+  T data;  
+};
+
+template <typename T>
+class CircularLinkedList
+{
+public:
+  CircularLinkedList() : head(NULL),size(0) {}  //constructor
+  ~CircularLinkedList(); // decunstructor
+  bool isEmpty() { return (head == NULL);}  // is list Empty ?
+  void moveForward(); // move cursor forward
+  void moveBackward(); // move cursor backward
+  void toHead(); // move cursor to head
+  T * getNode();
+  void addNode(T data);
+  void deleteNode(T data);
+  int getSize();
+private:
+  Node<T> *head;
+  Node<T> *cursor;
+  int size;
+};
+
+template <typename T>
+CircularLinkedList<T>::~CircularLinkedList()
+{
+  if (!isEmpty()) {
+      Node<T> *tmp = head;
+      while (tmp->next != head) {
+          Node<T> *t = tmp;
+          tmp = tmp->next;
+          delete(t);
+      }
+      delete tmp;
+      head = NULL;
+  }
+}
+
+
+
+template <typename T>
+T * CircularLinkedList<T>::getNode()
+{
+  return &(cursor->data);
+}
+
+template <typename T>
+void CircularLinkedList<T>::addNode(T data)
+{
+  Node<T> * t = new Node<T>(data);
+
+  if (isEmpty())
+    {
+      t->next = t;
+      t->prev = t;
+      head = t;
+      size++;
+      cursor = head;
+      return;
+    }
+
+  Node<T> *tmp = head;
+  while (tmp->next !=  head)
+    {
+      tmp = tmp->next;
+    }
+
+  tmp->next = t;
+  t->next = head;
+  t->prev = tmp;
+  head->prev = t;
+  size++;
+}
+
+template <typename T>
+void CircularLinkedList<T>::deleteNode(T data)
+{
+  Node<T> *tmp = head;
+  Node<T> *prev = NULL;
+  while (tmp->next !=  head)
+    {
+      if (tmp->data == data) break;
+      prev = tmp;
+      tmp = tmp->next;
+    }
+
+  if (tmp == head)
+    {
+      while (tmp->next != head)
+        {
+          tmp = tmp->next;
+        }
+      tmp->next = head->next;
+      head->next->prev = tmp
+      delete head;
+      size--;
+      head = tmp->next;
+    }
+  else
+    {
+      prev->next = tmp->next;
+      tmp->next->prev = prev;
+      delete tmp;
+      size--;
+    }
+}
+
+template <typename T>
+void CircularLinkedList<T>::moveForward()
+{
+    if (!isEmpty()) cursor = cursor->next;
+}
+
+template <typename T>
+void CircularLinkedList<T>::moveBackward()
+{
+    if (!isEmpty()) cursor = cursor->prev;
+}
+
+template <typename T>
+void CircularLinkedList<T>::toHead()
+{
+    cursor = head;
+}
+
+template <typename T>
+int CircularLinkedList<T>::getSize()
+{
+    return size;
+}
\ No newline at end of file

diff -r 000000000000 -r fe8decc6a938 MODGPS.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MODGPS.lib	Thu Mar 29 09:26:14 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/AjK/code/MODGPS/#64771e31464e

diff -r 000000000000 -r fe8decc6a938 PinDetect.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PinDetect.lib	Thu Mar 29 09:26:14 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/AjK/code/PinDetect/#cb3afc45028b

diff -r 000000000000 -r fe8decc6a938 SatGps.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SatGps.h	Thu Mar 29 09:26:14 2012 +0000
@@ -0,0 +1,54 @@
+/*  Satelitte locator
+  *  
+  * Copyright (c) 2012 Bart Janssens
+  *
+  * Permission is hereby granted, free of charge, to any person obtaining a copy
+  * of this software and associated documentation files (the "Software"), to deal
+  * in the Software without restriction, including without limitation the rights
+  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+  * copies of the Software, and to permit persons to whom the Software is
+  * furnished to do so, subject to the following conditions:
+  *
+  * The above copyright notice and this permission notice shall be included in
+  * all copies or substantial portions of the Software.
+  *
+  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+  * THE SOFTWARE.
+  */
+
+typedef struct
+{
+    float lo; // longitude
+    float la; // latitude
+    float ht; // height
+    float ob; // orbit satellite
+    float az; // azimuth
+    float el; // elevation
+    float tm;// temperature
+} pos_t;
+
+typedef enum
+{
+    buttonNone,
+    buttonMode,
+    buttonPlus,
+    buttonMin
+    
+} buttons; 
+
+typedef enum
+{
+    modeAzimuth,
+    modePosition,
+    modeTime,
+    modeTemperature,
+    modeNone
+} modes;
+
+
+    
\ No newline at end of file

diff -r 000000000000 -r fe8decc6a938 Satellite.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Satellite.cpp	Thu Mar 29 09:26:14 2012 +0000
@@ -0,0 +1,40 @@
+#include "Satellite.h"
+ 
+Satellite::Satellite(string n, string c, float o, float i){
+    name = n;
+    cname = c;
+    orbit = o;
+    inclination = i;
+}
+
+string Satellite::getName(){
+    return name;
+}
+
+string Satellite::getCname(){
+    return cname;
+}
+
+float Satellite::getOrbit(){
+    return orbit;
+}
+
+float Satellite::getInclination(){
+    return inclination;
+}
+
+void Satellite::setName(string n){
+    name = n;
+}
+
+void Satellite::setCname(string c){
+    cname = c;
+}
+
+void Satellite::setOrbit(float o){
+    orbit = o;
+}
+
+void Satellite::setInclination(float i){
+    inclination =  i;
+}
\ No newline at end of file

diff -r 000000000000 -r fe8decc6a938 Satellite.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Satellite.h	Thu Mar 29 09:26:14 2012 +0000
@@ -0,0 +1,21 @@
+#include <string>
+using namespace std;
+
+class Satellite
+{
+public:  
+  Satellite(string n, string c, float o, float i);
+  string getName();
+  string getCname();
+  float getOrbit();
+  float getInclination();
+  void setName(string n);
+  void setCname(string c);
+  void setOrbit(float o);
+  void setInclination(float i);
+private:
+  string name;  //name
+  string cname; // commen name
+  float orbit;
+  float inclination; 
+};
\ No newline at end of file

diff -r 000000000000 -r fe8decc6a938 SatelliteList.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SatelliteList.cpp	Thu Mar 29 09:26:14 2012 +0000
@@ -0,0 +1,88 @@
+#include "SatelliteList.h"
+#include <iostream>
+
+SatelliteList::SatelliteList(char *f, char delimiter){
+
+    string line;
+    vector<string> v;    
+
+    sfile.open(f);
+    if (sfile.is_open()) { 
+        while ( getline(sfile,line) ){
+            if( line.empty() );          // ignore empty lines
+            else if (line.at(0) != ';'){ // ignore comments
+                split( v, line, ';' );
+                //for ( int i = 0;  i < v.size();   i++) printf("%s ",v[i].c_str());
+                //printf("\r\n");
+                if (v.size() == 4) {
+                    Satellite *s = new Satellite(v[0],v[1], ::atof(v[2].c_str()), ::atof(v[3].c_str()));
+                    clist.addNode(*s);
+                    delete s;
+                }
+                v.clear();
+            }
+        }
+        //printf("Size Circular List = %d \r\n", clist.getSize());
+        sfile.close();
+    } else printf("Can't open filename %s\r\n", f);
+}
+
+void SatelliteList::split(vector<string> & theStringVector,  /* Altered/returned value */
+       const  string  & theString,
+       const  char  theDelimiter)
+{
+    
+
+    size_t  start = 0, end = 0;
+
+    while ( end != string::npos)
+    {
+        end = theString.find( theDelimiter, start);
+
+        
+        theStringVector.push_back( theString.substr( start,
+                       (end == string::npos) ? string::npos : end - start));
+
+        
+        start = (   ( end > (string::npos - 1) )
+                  ?  string::npos  :  end + 1);
+    }
+}
+
+void SatelliteList::display()
+{   
+        string n, c ;
+        float o,i ;
+        
+        clist.toHead();
+        for ( int j = 0;  j < clist.getSize();   j++) {
+            Satellite *s = clist.getNode();
+            n = s->getName();
+            c = s->getCname();
+            o = s->getOrbit();
+            i = s->getInclination();
+            printf("Size = %d i = %d Name = %s Cname = %s \r\n",clist.getSize(), j, n.c_str(), c.c_str());
+            clist.moveForward();
+        }        
+}
+
+Satellite * SatelliteList::getNext()
+{   
+        clist.moveForward();
+        Satellite *s = clist.getNode();
+        return(s);   
+}
+
+Satellite * SatelliteList::getPrev()
+{   
+        clist.moveBackward();
+        Satellite *s = clist.getNode();
+        return(s);   
+}
+
+Satellite * SatelliteList::getCurrent()
+{    if (!clist.isEmpty()) {
+        Satellite *s = clist.getNode();
+        return(s); 
+     }  
+}

diff -r 000000000000 -r fe8decc6a938 SatelliteList.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SatelliteList.h	Thu Mar 29 09:26:14 2012 +0000
@@ -0,0 +1,22 @@
+#include <fstream>
+#include <vector>
+#include "Satellite.h"
+#include "CircularLinkedList.h"
+
+class SatelliteList
+{
+public:  
+  SatelliteList(char *f, char delimiter);
+  void display();
+  Satellite * getNext();
+  Satellite * getPrev();
+  Satellite * getCurrent();
+private:
+  void split(vector<string> & theStringVector,  /* Altered/returned value */
+             const  string  & theString,
+             const  char theDelimiter);
+
+  string filename;  //name
+  ifstream sfile;
+  CircularLinkedList<Satellite> clist;
+};
\ No newline at end of file

diff -r 000000000000 -r fe8decc6a938 TextLCD.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TextLCD.lib	Thu Mar 29 09:26:14 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/simon/code/TextLCD/#44f34c09bd37

diff -r 000000000000 -r fe8decc6a938 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Mar 29 09:26:14 2012 +0000
@@ -0,0 +1,362 @@
+/*  Satelitte Positioner
+  *
+  * Calculates azimuth and elevation of a satellite dish based on its longitude, latitude
+  * and selected satellite.
+  * see: http://www.alcyone.com/max/writing/essays/geostationary-orbits.html
+  *      http://www.spaceacademy.net.au/watch/track/locgsat.htm
+  *      http://www.dishpointer.com/
+  *  
+  * Copyright (c) 2012 Bart Janssens
+  *
+  * Permission is hereby granted, free of charge, to any person obtaining a copy
+  * of this software and associated documentation files (the "Software"), to deal
+  * in the Software without restriction, including without limitation the rights
+  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+  * copies of the Software, and to permit persons to whom the Software is
+  * furnished to do so, subject to the following conditions:
+  *
+  * The above copyright notice and this permission notice shall be included in
+  * all copies or substantial portions of the Software.
+  *
+  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+  * THE SOFTWARE.
+  */
+#include "mbed.h"
+
+#include "TextLCD.h"
+#include "PinDetect.h"
+#include "GPS.h"
+
+#include "SatGps.h"
+#include "SatelliteList.h"
+
+
+#define GPSRX p10
+#define GPSBAUD 4800
+
+#define MAXGPRMC 3
+#define MAXGPRMCA 4
+
+#define PI 3.14159265
+
+TextLCD lcd(p24, p26, p27, p28, p29, p30, TextLCD::LCD16x2 ); // rs, e, d0, d1, d2, d3, LCD16x2 
+LocalFileSystem local("local");
+GPS gps(NC, GPSRX);
+AnalogIn ain(p20); //temperature from LM35
+PinDetect  modeButton(p13);
+PinDetect  plusButton(p14);
+PinDetect  minButton(p15);
+
+// heartbeat
+DigitalOut led1(LED1);
+// 0.05 second flash of LED2
+DigitalOut led2(LED2);
+Timeout t2;
+
+// 0.05 second flash of LED3
+DigitalOut led3(LED3);
+Timeout t3;
+
+// 0.05 second flash of LED4
+DigitalOut led4(LED4);
+Timeout t4;
+
+int gprmc_c = 0;
+
+
+int mode = modeAzimuth;
+
+SatelliteList slist("/local/SAT.TXT",';');
+Satellite *s;
+pos_t pos;
+
+const float G = 6.67421e-11; // ( m�/kg/s�)
+const float Mr = 5.9736e24;  // Mass of Earth (Kg)
+const float Rr = 6.378137e6; // Radius of Earth (m)
+const float T = 23.934192*60*60; // the period of Earth rotation (s)
+
+const float degreesPerRadian =  180/PI;
+const float dr = PI/180;
+
+const float r1 = ((G*Mr*T*T)/(4*PI*PI)); // the radius of the path of the geostatic satellite
+const float r = pow(r1, float(1.0 / 3.0));
+const float h = r - Rr; //  the height of the satelite
+const float b = Rr/r;   // the geostationary orbit constant
+
+void switch_mode(buttons);
+void display_satellite();
+void display_position();
+void display_time();
+void display_temperature();
+void display_welcome();
+void calculate_satellite();
+
+void t2out(void) { led2 = 0; }
+void blip2(void) { led2 = 1; t2.attach(&t2out, 0.05); }
+
+void t3out(void) { led3 = 0; }
+void blip3(void) { gprmc_c = 0;led3 = 1; t3.attach(&t3out, 0.05); }
+
+void t4out(void) { led4 = 0; }
+void blip4(void) { led4 = 1; t4.attach(&t4out, 0.05); }
+
+void buttonModePressed( void ) {
+    //led4 = !led4;
+    mode = (((mode + 1) % 4));
+    //printf("Mode button pressed %d \r\n", mode);
+    switch_mode(buttonNone);
+}
+
+void buttonPlusPressed( void ) {
+    //led4 = !led4;
+    switch_mode(buttonPlus);
+}
+
+void buttonMinPressed( void ) {
+    //led4 = !led4;
+    switch_mode(buttonMin);
+}
+
+void switch_mode(buttons button)
+{
+   switch(mode)
+   {
+        case modeAzimuth:
+            //printf("Azimuth mode \r\n");
+            switch(button)
+            {
+                case buttonPlus:
+                    s = slist.getNext();
+                    break;
+                case buttonMin:
+                    s = slist.getPrev();
+                    break;
+                default:
+                    break;
+            }
+            calculate_satellite();
+            display_satellite();
+            break;
+        case modePosition:
+            //printf("Position mode \r\n");
+            display_position();
+            break;
+        case modeTime: 
+            //printf("Time mode \r\n");
+            display_time();
+            break;
+        case modeTemperature: 
+            display_temperature();
+            //printf("Temperature mode \r\n");
+            break;
+        default:
+            //printf("Invalid mode \r\n");
+            break;
+    }
+}
+
+void calculate_satellite(){
+    float denominator, B, Gc;
+    float la,lo,ob,az,el;
+    
+    lo = pos.lo;
+    la = pos.la;
+    ob = s->getOrbit();
+    pos.ob = ob;
+
+    la = la * dr; //convert latitude observer from deg to rad
+    B = (lo - ob) * dr; //longitude diff between satellite and observer
+    Gc = cos(B) * cos(la); //Gc is the great circle angle between observer and satellite
+    Gc = atan(sqrt(1 - Gc * Gc) / Gc);
+    if (Gc < 1.419) {     //if greater than 81.3deg skip
+        denominator = sin(la);
+        if (denominator != 0.0) {
+            az = atan(tan(B) / denominator); //compute azimuth angle
+            if (la >= 0)  az = az + PI; //adjust for northern hemisphere   
+        } else az = 0.0;
+        el = (( (1.0 / b) * cos(la) * cos(B)) - 1);
+        denominator = ( (1.0 /b) * sqrt(1-(pow(cos(la),2) * pow(cos(B),2))) );
+           if (denominator!=0)
+        {
+            el/=denominator;
+            el = atan(el);
+        }       
+        else el = PI/2;
+    } else {
+        az = 0.0;
+        el = PI/2;
+    }
+
+    // convert from rad to deg
+    az = az/dr; 
+    el = el/dr;
+    pos.az = az;
+    pos.el = el;
+    
+    //printf("Azimuth observer =  %.2f \r\n", az);
+    //printf("Elevation observer =  %.2f \r\n", el);
+
+}
+
+void display_satellite(){
+
+    string sname;
+    
+    sname = s->getCname();
+
+    lcd.cls();
+    lcd.locate(0,0);
+    lcd.printf("%.1f\xDF %s",pos.ob,sname.c_str()); //DF is the grade sign '&#65533;'
+    lcd.locate(0,1);
+    lcd.printf("A:%.1f\xDF",pos.az);
+    lcd.printf(" E:%.1f\xDF",pos.el);
+    //printf("Sat: %.2f LAT: %.2f LON: %.2f AZ: %.2f EL: %.2f tem: %.1f \r\n",pos.ob, pos.la, pos.lo, pos.az, pos.el, pos.tm);
+ }
+ 
+ void display_position(){
+
+    lcd.cls();
+    lcd.locate(0,0);
+    lcd.printf("LAT: %.4f\xDF",pos.la); //DF is the grade sign '&#65533;'
+    lcd.locate(0,1);
+    lcd.printf("LON: %.4f\xDF",pos.lo);
+ }
+ 
+ void display_temperature(){
+
+    lcd.cls();
+    lcd.locate(0,0);
+    lcd.printf("Temp: %.1f\xDF",pos.tm); //DF is the grade sign '&#65533;'
+ }
+ 
+  void display_time(){
+
+    GPS_Time now;
+    gps.timeNow(&now);
+    //printf("Time: %d-%d-%d %d:%d:%d UTC\r\n", now.day, now.month, now.year, now.hour, now.minute, now.second);
+     
+    lcd.cls();
+    lcd.locate(0,0);
+    lcd.printf("Date: %d-%d-%d", now.day, now.month, now.year);
+    lcd.locate(0,1);
+    lcd.printf("Time: %d:%d:%d",now.hour, now.minute, now.second);
+ }
+ 
+ void display_welcome(){
+    lcd.cls();
+    lcd.locate(0,0);
+    lcd.printf("SatGPS v1.0");
+    lcd.locate(0,1);
+    lcd.printf("4 PVDV");
+ }
+
+
+int main() {
+
+
+
+    GPS_Time q1;
+    GPS_VTG  v1;
+    int gprmca_c; //Counter for the GPRMC 'Valid A' field
+
+    pos.az = 0.0;
+    pos.el = 0.0;
+    pos.tm = 0.0;
+    
+    display_welcome();
+    wait(2);
+
+    
+    //slist.display();    
+    s = slist.getCurrent();
+
+    
+    gps.baud(GPSBAUD);
+    gps.format(8, GPS::None, 1);   
+    gps.attach_gga(&blip2);    
+    // Sample of a callback to a function when a NMEA RMC message is recieved.    
+    gps.attach_rmc(&blip3);
+    
+    //printf("Wait for the GPS NMEA data to become valid. \r\n");
+    lcd.cls();
+    lcd.locate(0,0);
+    lcd.printf("Waiting for");
+    lcd.locate(0,1);
+    lcd.printf("valid GPS signal");
+    while (!gps.isTimeValid()) {
+       //printf("%s \r\n",gps.buffer);
+       led1 = !led1;
+       wait(1);
+    }
+    
+    modeButton.mode( PullDown );
+    modeButton.attach_asserted( &buttonModePressed );
+    minButton.mode( PullDown );
+    minButton.attach_asserted( &buttonMinPressed );
+    plusButton.mode( PullDown );
+    plusButton.attach_asserted( &buttonPlusPressed );
+    modeButton.setSampleFrequency(); 
+    minButton.setSampleFrequency(); 
+    plusButton.setSampleFrequency(); 
+    led4 = 0;
+    
+
+    
+
+        
+    while(1) {
+    
+        wait(2);
+        led1 = 1;
+        //printf("%s \r\n",gps.buffer);
+        
+        
+        if (gprmc_c > MAXGPRMC){
+            lcd.cls();
+            lcd.locate(0,0);
+            lcd.printf("Lost connection");
+            lcd.locate(0,1);
+            lcd.printf("with GPS module");
+        }
+        else {
+            if (!gps.isTimeValid()){
+                gprmca_c++;
+                if (gprmca_c > MAXGPRMCA) {
+                    lcd.cls();
+                    lcd.locate(0,0);
+                    lcd.printf("Waiting for");
+                    lcd.locate(0,1);
+                    lcd.printf("valid GPS signal");
+                }
+                
+            } else {
+                
+                gprmca_c = 0; //Resets the bad GPRMC counter
+                // Grab a snapshot of the current time.
+                gps.timeNow(&q1);
+        
+                // Grab velicity
+                gps.vtg(&v1);
+                             
+                // Grab longitude, latitude and height
+                pos.lo = gps.longitude();
+                pos.la = gps.latitude();;
+                pos.tm = ain.read() *330;
+                
+                switch_mode(buttonNone);
+            }
+        }
+        
+        gprmc_c++;
+        led1 = 0;
+    
+       
+    }
+ 
+
+}

diff -r 000000000000 -r fe8decc6a938 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Mar 29 09:26:14 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/737756e0b479