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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 226 | eqlazer | 1 | /** |
| 2 | * CanGPS. |
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| 3 | * |
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| 4 | * @date 2001-01-09 |
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| 5 | * @author Erik Larsson |
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| 6 | */ |
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| 7 | |||
| 8 | #define DEBUG 0 /* Prints debug messages to uart, only use this function if output is not connected to GPS */ |
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| 9 | |||
| 10 | /*----------------------------------------------------------------------------- |
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| 11 | * Includes |
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| 12 | *---------------------------------------------------------------------------*/ |
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| 13 | /* system files */ |
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| 14 | #include <avr/io.h> |
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| 15 | #include <avr/interrupt.h> |
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| 16 | #include <avr/wdt.h> |
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| 17 | #include <stdio.h> |
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| 18 | #include <string.h> |
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| 19 | /* lib files */ |
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| 20 | #include <can.h> |
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| 21 | #include <serial.h> |
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| 22 | #include <uart.h> |
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| 23 | #include <timebase.h> |
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| 24 | |||
| 25 | /* defines */ |
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| 26 | #define GPS_CMD_GET 0x1400 |
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| 27 | #define GPS_CMD_SEND 0x1401 |
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| 28 | #define STATUS_SEND_PERIOD 500 /* milliseconds */ |
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| 29 | |||
| 30 | #define TRUE 1 |
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| 31 | #define FALSE !TRUE |
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| 32 | #define CR 0x0D |
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| 33 | #define LF 0x0A |
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| 34 | |||
| 35 | /*------------------------------------------------------------------------- |
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| 36 | * Global variables |
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| 37 | * -----------------------------------------------------------------------*/ |
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| 38 | |||
| 39 | /*---------------------------------------------------------------------------- |
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| 40 | * Functions |
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| 41 | * -------------------------------------------------------------------------*/ |
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| 42 | |||
| 43 | /*---------------------------------------------------------------------------- |
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| 44 | * Interrupt routines |
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| 45 | * -------------------------------------------------------------------------*/ |
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| 46 | ISR( PCINT2_vect ) |
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| 47 | { |
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| 48 | } |
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| 49 | |||
| 50 | /*----------------------------------------------------------------------------- |
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| 51 | * Main Program |
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| 52 | *---------------------------------------------------------------------------*/ |
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| 53 | int main(void) { |
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| 54 | |||
| 55 | uint32_t timeStamp = 0, timeStampTurn = 0; |
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| 56 | uint8_t buffering = FALSE, gpsMsg_received = FALSE, rxGps_element; |
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| 57 | char buffer[100], rxGps; |
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| 58 | |||
| 59 | Timebase_Init(); |
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| 60 | Serial_Init(); |
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| 61 | |||
| 62 | sei(); |
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| 63 | #if DEBUG |
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| 64 | printf("\n------------------------------------------------------------\n"); |
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| 65 | printf( " CAN: GPS\n"); |
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| 66 | printf( "------------------------------------------------------------\n"); |
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| 67 | |||
| 68 | printf("CanInit..."); |
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| 69 | if (Can_Init() != CAN_OK) { |
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| 70 | printf("FAILED!\n"); |
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| 71 | }else{ |
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| 72 | printf("OK!\n"); |
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| 73 | } |
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| 74 | #else |
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| 75 | Can_Init(); |
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| 76 | #endif |
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| 77 | |||
| 78 | Can_Message_t txMsg; |
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| 79 | Can_Message_t rxMsg; |
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| 80 | txMsg.Id = GPS_CMD_SEND; |
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| 81 | txMsg.RemoteFlag = 0; |
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| 82 | txMsg.ExtendedFlag = 1; |
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| 83 | txMsg.DataLength = 3; |
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| 84 | |||
| 85 | /* main loop */ |
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| 86 | while (1) { |
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| 87 | /* service the CAN routines */ |
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| 88 | Can_Service(); |
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| 89 | |||
| 90 | /* check if any messages have been received */ |
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| 91 | while (Can_Receive(&rxMsg) == CAN_OK) { |
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| 92 | /* This node that control a servo is adressed */ |
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| 93 | if( rxMsg.Id == GPS_CMD_GET ){ |
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| 94 | |||
| 95 | } |
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| 96 | } |
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| 97 | |||
| 98 | if( Timebase_PassedTimeMillis(timeStamp) >= STATUS_SEND_PERIOD ){ |
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| 99 | timeStamp = Timebase_CurrentTime(); |
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| 100 | /* Send blinds status to CAN */ |
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| 101 | |||
| 102 | } |
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| 103 | |||
| 104 | /* Get data from GPS */ |
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| 105 | rxGps = uart_getc(); |
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| 106 | while( rxGps != UART_NO_DATA ){ |
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| 107 | /* '$' indicates start of message, start buffering */ |
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| 108 | if( rxGps == '$' ){ |
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| 109 | buffering = TRUE; |
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| 110 | rxGps_element = 0; |
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| 111 | }else if( rxGps == CR ){ |
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| 112 | /* End of message */ |
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| 113 | buffer[rxGps_element]='\0'; |
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| 114 | buffering = FALSE; |
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| 115 | gpsMsg_received = TRUE; |
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| 116 | } |
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| 117 | |||
| 118 | if( buffering ){ |
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| 119 | buffer[ rxGps_element ] = rxGps; |
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| 120 | rxGps_element++; |
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| 121 | } |
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| 122 | /* Get next character */ |
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| 123 | rxGps = uart_getc(); |
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| 124 | } |
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| 125 | |||
| 126 | if( gpsMsg_received ){ |
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| 127 | /* One whole msg is completed, start compare and parse */ |
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| 128 | if( !strncmp(buffer, "GPGGA", 5) ){ |
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| 129 | /* Standard NMEA message, $GPGGA */ |
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| 130 | |||
| 131 | }else if( !strncmp(buffer, "GPVTG", 5) ){ |
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| 132 | /* Standard NMEA message, $GPVTG */ |
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| 133 | |||
| 134 | }else if( !strncmp(buffer, "GPZDA", 5) ){ |
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| 135 | /* Standard NMEA message, $GPZDA */ |
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| 136 | } |
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| 137 | |||
| 138 | gpsMsg_received = FALSE; /* Get ready for next message */ |
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| 139 | |||
| 140 | } |
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| 141 | } |
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| 142 | return 0; |
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| 143 | } |
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| 144 |