main.cpp

00001 /*
00002  * 640x480 60Hz fullgraphic monochrome VGA Driver demo program
00003  *
00004  * Copyright (C) 2011 by Ivo van Poorten <ivop(at)euronet.nl>
00005  * and Gert van der Knokke <gertk(at)xs4all.nl>
00006  * This file is licensed under the terms of the GNU Lesser
00007  * General Public License, version 3.
00008  *
00009  * Inspired by Simon's (not Ford) Cookbook entry and Cliff Biffle's
00010  * assembly code.
00011  */
00012  
00013 #include "mbed.h"
00014 #include "fastlib/common.h"
00015 #include "fastlib/pinsel.h"
00016 #include "fastlib/gpio.h"
00017 #include "fastlib/clock.h"
00018 #include "fastlib/power.h"
00019 #include "fastlib/pwm.h"
00020 #include "fastlib/i2s.h"
00021 #include "fastlib/uart.h"
00022 #include "fastlib/dma.h"
00023 #include "fastlib/nvic.h"
00024 
00025 #include "vga640x480g.h"
00026 
00027 
00028 // visual feedback
00029 DigitalOut myled(LED1);
00030 DigitalOut led2(LED2);
00031 DigitalOut led3(LED3);
00032 DigitalOut led4(LED4);   // Data sent LED
00033 
00034 // Commands for SIRF III GPS
00035 // to turn on or off data strings
00036 #define GGA_ON   "$PSRF103,00,00,01,01*25\r\n"
00037 #define GGA_OFF  "$PSRF103,00,00,00,01*24\r\n"
00038 #define GLL_ON   "$PSRF103,01,00,01,01*24\r\n"
00039 #define GLL_OFF  "$PSRF103,01,00,00,01*25\r\n"
00040 #define GSA_ON   "$PSRF103,02,00,01,01*27\r\n"
00041 #define GSA_OFF  "$PSRF103,02,00,00,01*26\r\n"
00042 #define GSV_ON   "$PSRF103,03,00,05,01*22\r\n"
00043 #define GSV_OFF  "$PSRF103,03,00,00,01*27\r\n"
00044 #define RMC_ON   "$PSRF103,04,00,01,01*21\r\n"
00045 #define RMC_OFF  "$PSRF103,04,00,00,01*20\r\n"
00046 #define VTG_ON   "$PSRF103,05,00,01,01*20\r\n"
00047 #define VTG_OFF  "$PSRF103,05,00,00,01*21\r\n"
00048 //#define WAAS_ON  "$PSRF151,1*3F\r\n"
00049 //#define WAAS_OFF "$PSRF151,0*3E\r\n"
00050 #define UARTPORT 3
00051 
00052 // Set up serial ports and LEDs
00053 // SIRF GPS on Pin28 and Pin7
00054 //Serial gps(p9, p10);     // tx, rx - 4800 baud required
00055 
00056 //TextLCD lcd(p15, p16, p17, p18, p19, p20); // rs, e, d0-d3
00057 
00058 //char buffidx;
00059 char vgatxtbuff[80];    // Data buffer for VGA output
00060 char msg[256];           // GPS data buffer
00061 char status;             // GPS status 'V' = Not locked; 'A' = Locked
00062 char *parseptr;          // Pointer for parsing GPS message
00063 char time_buff[7] = "000000";
00064 char date_buff[7] = "000000";
00065 char sens_buff[7] = "123456";
00066 int i;
00067 
00068 void putcharact(char chardata) {
00069 
00070   while ((fl_uart_get_line_status(UARTPORT)& 0x60)==0) {
00071   
00072   }
00073   *FL_UART(UARTPORT, THR)= chardata;
00074 }
00075 char getcharact(void) {
00076   while ((fl_uart_get_line_status(UARTPORT)& 0x01)==0) {
00077   }
00078   return fl_uart_receive_byte(UARTPORT);
00079 }
00080 
00081 // Switch off all but $GPRMC string
00082 void setgps() {
00083     sprintf(msg,GGA_ON);
00084     i=0;
00085     while (msg[i]!= 0) {
00086       putcharact(msg[i]);
00087       i++;
00088     }
00089     sprintf(msg,GLL_ON);
00090     i=0;
00091     while (msg[i]!= 0) {
00092       putcharact(msg[i]);
00093       i++;
00094     }
00095     sprintf(msg,GSA_ON);
00096     i=0;
00097     while (msg[i]!= 0) {
00098       putcharact(msg[i]);
00099       i++;
00100     }
00101     sprintf(msg,GSV_ON);
00102     i=0;
00103     while (msg[i]!= 0) {
00104       putcharact(msg[i]);
00105       i++;
00106     }
00107     sprintf(msg,RMC_ON);
00108     i=0;
00109     while (msg[i]!= 0) {
00110       putcharact(msg[i]);
00111       i++;
00112     }
00113     sprintf(msg,VTG_ON);
00114     i=0;
00115     while (msg[i]!= 0) {
00116       putcharact(msg[i]);
00117       i++;
00118     }
00119 //    gps.printf(WAAS_OFF);
00120     return;
00121 }
00122 
00123 // Get line of data from GPS
00124 void getline() {
00125     while (getcharact() != '$'); // Wait for start of line
00126     for (int i=0; i<256; i++) {
00127         msg[i] = getcharact();
00128         if (msg[i] == '\r') {
00129             msg[i] = 0;
00130             return;
00131         }
00132     }
00133 }
00134 
00135 
00136 float trunc(float v) {
00137     if(v < 0.0) {
00138         v*= -1.0;
00139         v = floor(v);
00140         v*=-1.0;
00141     } else {
00142         v = floor(v);
00143     }
00144     return v;
00145 }
00146 
00147 /** The longitude (call sample() to set) */
00148 float longitude;
00149 /** The latitude (call sample() to set) */
00150 float latitude;
00151 float gps_time;
00152 char ns, ew;
00153 int lock,sat_used;
00154 float HDOP;
00155 float altitude;
00156 
00157 int toggle_flag=0;
00158 int gps_hour;
00159 int gps_min;
00160 int gps_sec;
00161 int s;
00162 unsigned power_state;
00163 
00164 int main() {
00165     // init the VGA subsystem (always do this first!)
00166     init_vga();
00167     setbuf(stdout, NULL); // no buffering for this filehandle
00168 
00169 //    gps.baud(4800);         // NB GPS baud rate 4800
00170     fl_power_uart3(FL_ON);
00171     fl_select_clock_uart3(FL_CLOCK_DIV1);
00172     *FL_UART(UARTPORT, LCR) = 0x00000083; //DLAB 1 for access to divisors
00173     fl_uart_set_fractional_divider(UARTPORT, 0, 0);
00174     fl_uart_set_divisor_latch(UARTPORT, 1302);
00175     *FL_UART(UARTPORT, FCR) = 0x00000007; // FIFO enable (must) and clear FIFOs
00176     *FL_UART(UARTPORT, LCR) = 0x00000003; // DLAB 0
00177     *FL_UART(UARTPORT, IER) = 0x00000000; // no interrupts
00178     fl_pinsel(0, 0, FL_FUNC_ALT2, FL_IGNORE, FL_IGNORE);    // TX3
00179     fl_pinsel(0, 1, FL_FUNC_ALT2, FL_IGNORE, FL_IGNORE);    // RX3
00180     fl_uart_transmitter_enable(UARTPORT, 1);
00181     
00182     setgps();
00183 
00184 
00185     // clear the screen
00186     vga_cls();
00187     // circumfence the screen
00188     vga_box(0,0,639,479,WHITE);
00189            vga_putstring(400,370,"GPS DEMO",WHITE);
00190 /*    // put a string on screen
00191     for (s=0; s<150; s++) {
00192        vga_putstring(400,370-s,"GPS DEMO",WHITE);
00193        wait(0.01);
00194        vga_putstring(400,370-s,"GPS DEMO",BLACK);
00195     }
00196       for (s=0; s<150; s++) {
00197        vga_putstring(400-s,220,"GPS DEMO",WHITE);
00198        wait(0.01);
00199        vga_putstring(400-s,220,"GPS DEMO",BLACK);
00200     }
00201       for (s=0; s<150; s++) {
00202        vga_putstring(250,220+s,"GPS DEMO",WHITE);
00203        wait(0.01);
00204        vga_putstring(250,220+s,"GPS DEMO",BLACK);
00205     }
00206       for (s=0; s<150; s++) {
00207        vga_putstring(250+s,370,"GPS DEMO",WHITE);
00208        wait(0.01);
00209        vga_putstring(250+s,370,"GPS DEMO",BLACK);
00210     }
00211         wait(1);
00212     for (s=0;s<30;s++){
00213        vga_putstring(400,370,"GPS DEMO",WHITE);
00214          wait(.1);
00215        vga_putstring(400,370,"GPS DEMO",BLACK);
00216          wait(.1);
00217     }
00218 */
00219     
00220     vga_putstring(10,50,"CGA",WHITE);
00221     vga_putstring(10,70,"GLL",WHITE);
00222     vga_putstring(10,90,"GSA",WHITE);
00223     vga_putstring(10,110,"GSV",WHITE);
00224     vga_putstring(10,130,"RMC",WHITE);
00225     vga_putstring(10,150,"RMC",WHITE);
00226    
00227    
00228 
00229     while (1) {
00230 led4=1;
00231         getline();
00232         if (sscanf(msg,"GPGGA,%s", &vgatxtbuff)>=1){
00233             vga_putstring(50,50,vgatxtbuff,WHITE);
00234         }
00235         if (sscanf(msg,"GPGLL,%s", &vgatxtbuff)>=1){
00236             vga_putstring(50,70,vgatxtbuff,WHITE);
00237         }
00238         if (sscanf(msg,"GPGSA,%s", &vgatxtbuff)>=1){
00239             vga_putstring(50,90,vgatxtbuff,WHITE);
00240         }
00241         if (sscanf(msg,"GPGSV,%s", &vgatxtbuff)>=1){
00242             vga_putstring(50,110,vgatxtbuff,WHITE);
00243         }
00244         if (sscanf(msg,"GPRMC,%s", &vgatxtbuff)>=1){
00245             vga_putstring(50,130,vgatxtbuff,WHITE);
00246         }
00247         if (sscanf(msg,"GPVTG,%s", &vgatxtbuff)>=1){
00248             vga_putstring(50,150,vgatxtbuff,WHITE);
00249         }
00250        // Check if it is a GPGGA msg (matches both locked and non-locked msg)
00251         if(sscanf(msg, "GPGGA,%f,%f,%c,%f,%c,%d,%d,%f,%f", &gps_time, &latitude, &ns, &longitude, &ew, &lock, &sat_used, &HDOP, &altitude) >= 1) { 
00252             if(!lock) {
00253                 led4 = 1;
00254                 longitude = 0.0;
00255                 latitude = 0.0;        
00256             } else {
00257                 led4 = 0;
00258                 if(ns == 'S') {    latitude  *= -1.0; }
00259                 if(ew == 'W') {    longitude *= -1.0; }
00260                 float degrees = trunc(latitude / 100.0f);
00261                 float minutes = latitude - (degrees * 100.0f);
00262                 latitude = degrees + minutes / 60.0f;    
00263                 degrees = trunc(longitude / 100.0f);
00264                 minutes = longitude - (degrees * 100.0f);
00265                 longitude = degrees + minutes / 60.0f;
00266                 gps_hour = trunc(gps_time/10000.0f);
00267                 gps_min = trunc((gps_time - gps_hour*10000.0f)/100.0f);
00268                 gps_sec = trunc(gps_time-gps_hour*10000.0f-gps_min*100.0f);
00269                 gps_hour++;
00270                 if (gps_hour>=24) {
00271                     gps_hour=0;
00272                 }
00273             }
00274             sprintf(vgatxtbuff, "lat: %3.7f long: %3.7f time: %2.4f sat_used: %d alt: %5.3f",latitude, longitude,gps_time, sat_used, altitude);
00275             vga_putstring(10,30,vgatxtbuff,WHITE);
00276         }
00277     }
00278 }
00279