Revision 0:70a1315acc03, committed 2011-07-05

Comitter:

jappelino

Date:

Tue Jul 05 08:16:13 2011 +0000

Commit message:

Changed in this revision

diff -r 000000000000 -r 70a1315acc03 MODSERIAL.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MODSERIAL.lib	Tue Jul 05 08:16:13 2011 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/AjK/code/MODSERIAL/#70bb7c1769fa

diff -r 000000000000 -r 70a1315acc03 SerialBuffered.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SerialBuffered.lib	Tue Jul 05 08:16:13 2011 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/AjK/libraries/SerialBuffered/lfp8fd
\ No newline at end of file

diff -r 000000000000 -r 70a1315acc03 garmin_test.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/garmin_test.cpp	Tue Jul 05 08:16:13 2011 +0000
@@ -0,0 +1,20 @@
+char garmin_readable_test(void){
+
+  return(1);
+
+}
+
+char garmin_read_test(void){
+
+static char garmin_string[] = {"123$GPRMC,080158,A,5918.8362,N,01803.7725,E.0.0"};
+
+static char index;
+
+  index++;
+  
+  if(index > 45)
+    index = 0;
+    
+  return(garmin_string[index]);
+
+}
\ No newline at end of file

diff -r 000000000000 -r 70a1315acc03 garmin_test.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/garmin_test.h	Tue Jul 05 08:16:13 2011 +0000
@@ -0,0 +1,2 @@
+char garmin_readable_test(void);
+char garmin_read_test(void);
\ No newline at end of file

diff -r 000000000000 -r 70a1315acc03 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Jul 05 08:16:13 2011 +0000
@@ -0,0 +1,807 @@
+#include "mbed.h"
+#include "SerialBuffered.h"
+#include "garmin_test.h"
+#include "MODSERIAL.h"
+
+#define IDLE 0
+#define SEARCH_START 1
+#define CAPTURE      2
+#define FETCH_DATA   3
+
+#define U0RBRTHR 0x4000C000
+#define U0DLL U0RBRTHR
+#define U0RBR U0RBRTHR
+#define U0THR U0RBRTHR
+#define U0FCR 0x4000C008 
+#define U0IER 0x4000C004
+#define U0DLM U0IER
+ 
+
+#define U0LCR      0x4000C00C
+#define U0LSR      0x4000C014
+#define U0SCR      0x4000C01C
+#define U0ACR      0x4000C020
+#define U0FDR      0x4000C028
+#define U0TER      0x4000C030
+#define U0FIFOLVL  0x4000C058
+
+#define CLKOUTCFG 0x400FC1C8
+#define PINSEL3 0x4002C00C
+
+
+DigitalOut mled0(LED1);
+DigitalOut mled1(LED2);
+DigitalOut mled2(LED3);
+DigitalOut mled3(LED4);
+
+      MODSERIAL bg(p9,p10);
+      MODSERIAL bg2(p13,p14);
+      //Serial pc(USBTX, USBRX); // tx, rx
+     
+
+static volatile char garmin_buffer[50];
+static char ais_2_garmin[]={'!','A','I','V','D','M',',','1',',',',','1',',','A',',','1','3','u','?','e','t','P','v','2',';',\
+                  '1','B','J','d','D','Q','t','U','M','1','U','1','C','b','0','6','9','D',',','0','*','7','B',0
+                 };    int i;
+int item;
+
+#define Z_SIZE 50
+static char Zigbee_buffer[Z_SIZE];
+static int p_z = 0;
+
+int analyze_buffer(void);
+void packet_data(void);
+void print_bg(char *message); 
+void debug_print(char *message); 
+int iChecksum( char* message );
+void packet_data_no_printf(void);
+void print_pc(char *message);
+void rxCallback(void);
+void Rx_int();
+void rxCallback_Zigbee(void);
+void int_to_speed(int speed);
+void ais_crc(void);
+void adjust_boat_east(void);
+int find_solar_amphour(void);
+int find_fridge_amphour(void);
+int string_2_int(char *p_s);
+void init_usb_serial(void);
+ 
+volatile int p_rx=0;
+volatile int rec_state = SEARCH_START;  
+volatile int ais_ready=0;
+int gi;
+int b;
+int speed;
+char *p_f;
+int z_sequence;
+
+
+char db[2];
+    static volatile char Rx_buffer[2000];
+    char crlf[]={0x0A,0x0D,0};
+
+int main() {
+ 
+ 
+    extern volatile int p_rx;
+    extern volatile char Rx_buffer[2000];
+    int p_s,p_f;
+    int degrees = 0x30;
+  
+  
+    p_s = 0;
+    p_f = 0;
+    
+    z_sequence = 0;
+ 
+     init_usb_serial();
+ 
+     bg2.baud(38400);
+     bg.baud(38400);
+ 
+     bg.attach(&rxCallback_Zigbee, MODSERIAL::RxIrq);
+     bg2.attach(&rxCallback, MODSERIAL::RxIrq);
+  
+     print_pc("tjosan"); 
+     print_pc(&crlf[0]);  
+
+         
+     for(;;){
+       
+       while(ais_ready == 0);   // wait for interrupt routine to fill up data
+
+       ais_ready = 0;
+        
+       mled3 = 1;
+        
+       b++;
+          
+       ais_2_garmin[35] = degrees++;
+
+       int_to_speed(speed++);
+       
+       if(speed > 170)
+         speed = 0;  
+       
+       if(degrees > 0x33)
+         degrees = 0x30;             
+             
+       if(b>2){  
+        
+         mled3 = 0;                
+            
+         b = 0;
+                  
+       }        
+       ais_2_garmin[15] = 0x33; 
+
+       print_pc(&Zigbee_buffer[0]); 
+       print_pc(&crlf[0]);  
+     
+ 
+       if(p_s != 0){ 
+
+         int_to_speed(p_s);
+
+         ais_crc();
+         __disable_irq(); 
+         print_bg(&ais_2_garmin[0]); 
+         __enable_irq();        
+         print_pc(&ais_2_garmin[0]); 
+         print_pc(&crlf[0]);  
+
+       }  
+       
+       if(p_f != 0){ 
+
+         adjust_boat_east(); // prepere for the next "boat"
+   
+         ais_2_garmin[15] = 0x34; // change boat identity   
+
+         int_to_speed(p_f);
+
+         ais_crc();
+         __disable_irq(); 
+         print_bg(&ais_2_garmin[0]);        
+         __enable_irq();        
+         print_pc(&ais_2_garmin[0]); 
+         print_pc(&crlf[0]);  
+
+       }  
+
+      if( z_sequence == 2){
+           
+         p_s = find_solar_amphour();
+ 
+         p_f = find_fridge_amphour();
+       
+       }
+
+       z_sequence++;
+       if(z_sequence > 2){
+       
+         z_sequence = 0;
+         
+         for(i = 0 ; i < Z_SIZE; i++)   // erase data in zigbee buffer
+           Zigbee_buffer[i] = 0;
+       
+       }
+    }
+
+ }
+void init_usb_serial(void){
+
+    int *p_reg;
+
+     p_reg = (int *) U0LCR;
+     *p_reg  = 0x83;
+     p_reg = (int *) U0FCR;
+     *p_reg = 0x01;
+     p_reg = (int *) U0DLL;
+     *p_reg = 832;
+     p_reg = (int *) U0DLM;
+     *p_reg = 0;
+     p_reg = (int *) U0FDR; 
+     p_reg = (int *) U0LCR;
+     *p_reg = (*p_reg) & 0x7F;
+ 
+}
+
+int string_2_int(char *p_s){
+
+int i;
+
+    i = (*p_s++ - 0x30) * 10;
+    
+    i = i + (*p_s - 0x30);
+    
+    return(i);
+
+}
+
+int find_fridge_amphour(void){
+
+   char *p_b;
+   
+   int a;
+   
+   int i = 0; 
+   
+   p_b = &Zigbee_buffer[0];
+   
+   while(*p_b != 'A' && i < 50)     // search for the identifying character
+     p_b++;
+     
+   if( i < 50){  
+
+    a = (*(p_b + 7) - 0x30) * 100 + (*(p_b + 8) - 0x30) * 10;     
+     
+   }  
+   else
+     a = 0;
+     
+   return(a);   
+}
+int find_solar_amphour(void){
+
+   char *p_b;
+   
+   int a;
+   
+   int i = 0; 
+   
+   p_b = &Zigbee_buffer[0];
+   
+   while(*p_b != 'D' && i < 50)     // search for the identifying character
+     p_b++;
+     
+   if( i < 50){  
+
+    a = (*(p_b + 7) - 0x30) * 100 + (*(p_b + 8) - 0x30) * 10;     
+     
+   }  
+   else
+     a = 0;
+     
+   return(a);   
+}
+
+void adjust_boat_east(void){
+
+    char a;
+
+    a = ais_2_garmin[26];
+    
+    a = a + 4;
+    
+    if(a > 87 && a < 98)
+      a = a + 8;
+      
+    if(a > 119){
+    
+      ais_2_garmin[25]++;
+   
+      a = 0x30;
+   
+    }
+      
+    ais_2_garmin[26] = a;      
+       
+
+}
+ 
+void int_to_speed(int speed){
+
+int low_part,high_part;
+
+    high_part = (speed & 0x3C0) >> 6;
+    
+    low_part = speed & 0x3F;
+    
+    ais_2_garmin[22] = high_part + 0x30;
+    
+    if(ais_2_garmin[22] > 87)
+      ais_2_garmin[22] = ais_2_garmin[22] + 8; 
+
+    ais_2_garmin[23] = low_part + 0x30;
+    
+    if(ais_2_garmin[23] > 87)
+      ais_2_garmin[23] = ais_2_garmin[23] + 8; 
+
+    
+    
+
+} 
+ 
+void rxCallback_Zigbee(void) {
+static int c,d;
+
+       d = bg.getc(); 
+
+       Zigbee_buffer[p_z++] = d;
+       
+       if(p_z > Z_SIZE)
+         p_z = 0; 
+
+       c++;
+       
+       if(c == 10)  
+          mled1 = 1; 
+          
+       if(c >= 20){
+       
+         c = 0;
+         mled1 = 0;
+       
+       }
+       
+       
+}
+void rxCallback(void) {
+
+static char nmea_in;
+extern volatile int rec_state;  
+extern volatile char Rx_buffer[2000];
+extern volatile int p_rx;
+extern volatile int ais_ready;
+int head;
+
+
+//    Rx_buffer[p_rx++] = bg2.getc();
+
+    mled0 = 1;
+
+    nmea_in= bg2.getc();    
+
+    switch (rec_state) {
+
+      case IDLE:
+
+        mled0 = 1;
+      
+      break;
+
+
+      case SEARCH_START:
+
+        if (nmea_in == '$') {
+               
+           rec_state = CAPTURE; 
+
+        }
+                    
+      break;
+                
+      case CAPTURE:    
+                
+        garmin_buffer[item++] = nmea_in;
+                  
+        if(item >6){
+                    
+          head = analyze_buffer();
+             
+          if(head == 17){
+       
+             mled2 = 1;     
+       
+             gi++;
+             
+             if(gi >= 2){
+             
+               gi = 0;
+             
+               mled0 = 0;
+               mled2 = 0;
+               mled3 = 0;
+             
+             }
+                                
+             rec_state = FETCH_DATA;         // we found our nmea sentence
+                    
+          }
+                    
+          else{
+                  
+            rec_state = SEARCH_START;       // not rigth sentence, go back to search rigth header
+                
+            item = 0; 
+                
+          }
+        }
+                  
+      break;
+                
+      case FETCH_DATA:
+                
+        garmin_buffer[item++] = nmea_in;
+                
+        if(item > 40){
+                
+          packet_data_no_printf();
+                  
+          item = 0;
+
+          ais_ready = 17;  
+                  
+          rec_state = SEARCH_START; 
+                                    
+        }
+      break;
+      
+      default:
+      
+        mled0 = 1;
+      
+      break;
+    }
+    
+    if(p_rx > 1100){
+      p_rx = 1100;
+      mled2 = 0;
+    }  
+
+}
+int analyze_buffer(void){
+
+    extern volatile char garmin_buffer[50];
+
+    char t_1,t_2,t_3,t_4,t_5;
+    
+    t_1 = garmin_buffer[0];
+    
+    t_2 = garmin_buffer[1];
+    
+    t_3 = garmin_buffer[2];
+    
+    t_4 = garmin_buffer[3];
+
+    t_5 = garmin_buffer[4];
+    
+    if(t_1 == 'G' && t_2 == 'P' && t_3 == 'R' && t_4 == 'M' && t_5 == 'C')
+      return(17);
+    else
+      return(0);  
+
+}
+
+void packet_data_no_printf(void){
+
+   extern volatile char garmin_buffer[50];
+   
+   extern char ais_2_garmin[48];
+   
+   char long_ais[7],lat_ais[7];
+   
+   int i;
+   
+   long long_1, long_2,lat_1,lat_2;
+
+   char longitude[8],latitude[8];
+   
+   for(i = 0; i < 4; i++)
+     latitude[i] = garmin_buffer[i + 15];
+   
+   for(i = 4; i < 8 ; i++)
+     latitude[i] = garmin_buffer[i + 16];      // don't copy the "."
+   
+   for(i = 0; i < 5; i++)
+     longitude[i] = garmin_buffer[i + 27];
+   
+   for(i = 5; i < 8; i++)
+     longitude[i] = garmin_buffer[i + 28];
+   
+   // strip of 0x30 from all values
+   
+   for(i = 0; i < 8 ; i++)
+     longitude[i] = longitude[i] - 0x30;
+     
+   for(i = 0; i < 8 ; i++)
+     latitude[i] = latitude[i] - 0x30;  
+   
+   long_1 = longitude[3] * 100000 + longitude[4] * 10000 + longitude[5] * 1000 + longitude[6] * 100 + longitude[7] * 10;
+   
+   long_1 = long_1 * 6;
+   
+   long_1 = long_1 / 10;
+   
+   long_2 = longitude[0] * 100 + longitude[1] * 10 + longitude[2];
+   
+   long_2 = long_2 * 600000;
+   
+   long_2 = long_2 + long_1;
+   
+   lat_1 = latitude[2] * 100000 + latitude[3] * 10000 + latitude[4] * 1000 + latitude[5] * 100 + latitude[6] * 10 + latitude[7];
+    
+   lat_2 = latitude[0] * 10 + latitude[1];
+   
+   lat_2 = lat_2 * 600000;
+   
+   lat_2 = lat_2 + lat_1;
+    
+   // do the bit fiddling to pack 8 bits into 6 bit and back into 8 bit format according to the AIVDM format
+   
+   long_ais[0] = ((long_2 >> 23) & 0x3F) + 0x30; 
+ 
+   long_ais[1] = ((long_2 >> 17) & 0x3F) + 0x30; 
+    
+   long_ais[2] = ((long_2 >> 11) & 0x3F) + 0x30;
+  
+   long_ais[3] = ((long_2 >> 5) & 0x38) + 0x30;
+   
+   lat_ais[0] = ((lat_2 >> 20) & 0x3F) + 0x30;
+ 
+   lat_ais[1] = ((lat_2 >> 14) & 0x3F) + 0x30; 
+  
+//   if(lat_ais[1] > 87)
+//     lat_ais[1] = lat_ais[1] + 0x08; 
+
+   lat_ais[2] = ((lat_2 >> 8) & 0x3F) + 0x30; 
+  
+   lat_ais[3] = ((lat_2 >> 2) & 0x3F) + 0x30;
+
+   ais_2_garmin[24] = long_ais[0];
+   
+   ais_2_garmin[25] = long_ais[1];   
+   
+   ais_2_garmin[26] = long_ais[2];   
+
+   ais_2_garmin[27] = long_ais[3];
+
+   ais_2_garmin[29] = lat_ais[0];
+   
+   ais_2_garmin[30] = lat_ais[1];   
+
+   ais_2_garmin[31] = lat_ais[2];
+      
+   ais_2_garmin[32] = lat_ais[3];
+
+   for( i = 24; i < 33 ; i++){       // adjust for codes not used 
+
+     if(ais_2_garmin[i] > 87)
+       ais_2_garmin[i] = ais_2_garmin[i] + 8; 
+
+   }
+
+}
+   
+void ais_crc(void){
+                   
+   int checksum,pos;
+   
+   checksum = 0;
+   
+   pos = 0;
+   
+   while(ais_2_garmin[pos++] != '*');     
+        
+   checksum = iChecksum(&ais_2_garmin[0]);
+   
+   ais_2_garmin[pos] = ((checksum & 0xF0) >> 4) + 0x30;
+   
+   if(ais_2_garmin[pos] > 0x39)
+     ais_2_garmin[pos] = ais_2_garmin[pos] + 7;      
+  
+   ais_2_garmin[pos+1] = (checksum & 0x0F) + 0x30;
+   
+   if(ais_2_garmin[pos+1] > 0x39)
+     ais_2_garmin[pos+1] = ais_2_garmin[pos+1] + 7;      
+         
+}   
+
+void packet_data(void){
+
+   extern volatile char garmin_buffer[50];
+   
+   extern char ais_2_garmin[48];
+   
+   char long_ais[7],lat_ais[7];
+    
+   char p_buffer[40]; 
+   
+   int i;
+   
+   long long_1, long_2,lat_1,lat_2;
+
+   char longitude[8],latitude[8];
+
+   char crlf[] = {0x0A,0x0D,0}; 
+   
+   int checksum,pos;
+
+   for(i = 0; i < 4; i++)
+     latitude[i] = garmin_buffer[i + 15];
+   
+   for(i = 4; i < 8 ; i++)
+     latitude[i] = garmin_buffer[i + 16];      // don't copy the "."
+   
+   for(i = 0; i < 5; i++)
+     longitude[i] = garmin_buffer[i + 27];
+   
+   for(i = 5; i < 8; i++)
+     longitude[i] = garmin_buffer[i + 28];
+        
+   debug_print("from Garmin latitude: ");
+   
+   for(i = 0; i < 8 ; i++)
+     p_buffer[i] = latitude[i];
+
+   p_buffer[8] = 0;
+   
+   debug_print(&p_buffer[0]);
+
+   debug_print("from Garmin longitude: ");
+    
+   for(i = 0 ; i < 8 ; i++)
+     p_buffer[i] = longitude[i];
+   
+   p_buffer[8] = 0;
+   
+   debug_print(&p_buffer[0]);
+   
+   debug_print(&crlf[0]);
+   
+   // strip of 0x30 from all values
+   
+   for(i = 0; i < 8 ; i++)
+     longitude[i] = longitude[i] - 0x30;
+     
+   for(i = 0; i < 8 ; i++)
+     latitude[i] = latitude[i] - 0x30;  
+   
+   //   
+   
+   long_1 = longitude[3] * 100000 + longitude[4] * 10000 + longitude[5] * 1000 + longitude[6] * 100 + longitude[7] * 10;
+   
+//   long_1 = long_1 * 5;
+   
+//   long_1 = long_1 / 3;
+   
+   long_1 = long_1 * 6;
+   
+   long_1 = long_1 / 10;
+   
+   long_2 = longitude[0] * 100 + longitude[1] * 10 + longitude[2];
+   
+   long_2 = long_2 * 600000;
+   
+   long_2 = long_2 + long_1;
+ 
+   Serial pc(USBTX, USBRX); // tx, rx
+    
+   pc.printf("longitude converted into minutes/10000: %d \n",long_2);
+   
+   lat_1 = latitude[2] * 100000 + latitude[3] * 10000 + latitude[4] * 1000 + latitude[5] * 100 + latitude[6] * 10 + latitude[7];
+      
+ //  lat_1 = lat_1 ;
+ 
+ //  lat_1 = lat_1 *10;
+   
+ //  lat_1 = lat_1 / 6 ;
+    
+   lat_2 = latitude[0] * 10 + latitude[1];
+   
+   lat_2 = lat_2 * 600000;
+   
+   lat_2 = lat_2 + lat_1;
+    
+   pc.printf("latitude converted into minutes/10000: %d \n\n",lat_2);
+           
+   // do the bit fiddling to pack 8 bits into 6 bit and back into 8 bit format according to the AIVDM format
+   
+   long_ais[0] = ((long_2 >> 23) & 0x3F) + 0x30; 
+ 
+   long_ais[1] = ((long_2 >> 17) & 0x3F) + 0x30; 
+    
+   long_ais[2] = ((long_2 >> 11) & 0x3F) + 0x30;
+  
+   long_ais[3] = ((long_2 >> 5) & 0x38) + 0x30;
+
+   pc.printf("longitude : %c%c%c%c\n",long_ais[0],long_ais[1],long_ais[2],long_ais[3]);        
+   
+   lat_ais[0] = ((lat_2 >> 20) & 0x3F) + 0x30;
+ 
+   lat_ais[1] = ((lat_2 >> 14) & 0x3F) + 0x30; 
+  
+   pc.printf("lat_1 %x \n",lat_ais[1]);
+   if(lat_ais[1] > 87)
+     lat_ais[1] = lat_ais[1] + 0x08; 
+   pc.printf("lat_1 modified %x \n",lat_ais[1]);
+       
+   lat_ais[2] = ((lat_2 >> 8) & 0x3F) + 0x30; 
+  
+   lat_ais[3] = ((lat_2 >> 2) & 0x3F) + 0x30;
+
+   pc.printf("latitude: %c%c%c%c\n\n",lat_ais[0],lat_ais[1],lat_ais[2],lat_ais[3]);        
+  
+   debug_print("original string to Garmin: ");
+   
+   debug_print(&ais_2_garmin[0]);
+   
+   pc.printf("\n");
+
+   ais_2_garmin[24] = long_ais[0];
+   
+   ais_2_garmin[25] = long_ais[1];   
+   
+   ais_2_garmin[26] = long_ais[2];   
+
+   ais_2_garmin[27] = long_ais[3];
+
+   ais_2_garmin[29] = lat_ais[0];
+   
+   ais_2_garmin[30] = lat_ais[1];   
+
+   ais_2_garmin[31] = lat_ais[2];
+      
+   ais_2_garmin[32] = lat_ais[3];
+                
+   pos = 0;     
+   
+   while(ais_2_garmin[pos++] != '*');     
+        
+   checksum = iChecksum(&ais_2_garmin[0]);
+   
+   ais_2_garmin[pos] = ((checksum & 0xF0) >> 4) + 0x30;
+   
+   if(ais_2_garmin[pos] > 0x39)
+     ais_2_garmin[pos] = ais_2_garmin[pos] + 7;      
+  
+   ais_2_garmin[pos+1] = (checksum & 0x0F) + 0x30;
+   
+   if(ais_2_garmin[pos+1] > 0x39)
+     ais_2_garmin[pos+1] = ais_2_garmin[pos+1] + 7;      
+         
+         
+}   void debug_print(char *message){
+
+
+//    Serial bg_d(p28,p27);
+
+//    bg_d.printf(message);
+
+        Serial pc(USBTX, USBRX); 
+ 
+        pc.printf(message);     
+
+}   
+void print_bg(char *message){
+              
+              
+              
+      while(*message != 0){
+      
+        while(bg.writeable() == 0);
+      
+        bg.putc((int) *message++);     
+
+      }
+
+}
+void print_pc(char *message){
+
+  int *p_reg;
+  int *p_lsr;
+  
+  p_lsr = (int *) U0LSR;
+
+     p_reg = (int *) U0THR;
+              
+      while(*message != 0){
+      
+        while ((*p_lsr & 0x20) == 0);   // wait until holding register empty
+         
+        *p_reg = *message++;
+        
+      }
+      
+}
+int iChecksum( char* message )
+{
+int sum = 0;
+  for( char* c = message+1; *c!='*'; c++ )
+  {
+    sum^=*c;
+  }
+  return sum;
+}

diff -r 000000000000 -r 70a1315acc03 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue Jul 05 08:16:13 2011 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/e2ac27c8e93e