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/**

 * CanGPS.

 *

 * Messages: <byte0><byte1>...<byte7>

 * $GPGGA: <GGA_MSG><UTC><Latitude><Latitude dec.><N/S><Longitude><Longitude dec.><E/W>

 * $GPVTG: <VTG_MSG><Course true><Course dec. true><Course magnetic><Course dec. magnetic><Speed km/h><Speed dec. km/h>

 * $GPZDA: <ZDA_MSG><hh><mm><ss><day><month><year>

 *

 * @date    2001-01-09

 * @author  Erik Larsson

 */

#define DEBUG           0 /* Prints debug messages to uart, only use this function if output is not connected to GPS */

/*-----------------------------------------------------------------------------

 * Includes

 *---------------------------------------------------------------------------*/

/* system files */

#include <avr/io.h>

#include <avr/interrupt.h>

#include <avr/wdt.h>

#include <stdio.h>

#include <string.h>

/* lib files */

#include <can.h>

#include <serial.h>

#include <uart.h>

#include <timebase.h>

/* defines */

#define GPS_CMD_GET     0x1400

#define GPS_CMD_SEND    0x1401

#define STATUS_SEND_PERIOD 500 /* milliseconds */

#define GGA_MSG     0x01

#define VTG_MSG     0x02

#define ZDA_MSG     0x03

#define GGA_MSG_BYTES 8

#define VTG_MSG_BYTES 7

#define ZDA_MSG_BYTES 7

#define TRUE 1

#define FALSE !TRUE

#define CR 0x0D

#define LF 0x0A

#define GPS_MSG_DELIMITER ","

/*-------------------------------------------------------------------------

 * Global variables

 * -----------------------------------------------------------------------*/

/*----------------------------------------------------------------------------

 * Functions

 * -------------------------------------------------------------------------*/

/*----------------------------------------------------------------------------

 * Interrupt routines

 * -------------------------------------------------------------------------*/

ISR( PCINT2_vect )

{

}

/*-----------------------------------------------------------------------------

 * Main Program

 *---------------------------------------------------------------------------*/

int main(void) {

    uint32_t timeStamp = 0, timeStampTurn = 0;

    uint8_t buffering = FALSE, gpsMsg_received = FALSE, rxGps_element;

    char buffer[100], rxGps;

    /* GPGGA, Global positioning system fix data */

    char gga_utc[7], gga_latitude[9], gga_latitude_NS, gga_longitude[10], gga_longitude_EW;

    /* GPVTG, Course over ground and speed */

    char vtg_course_true[6], vtg_course_magnetic[6], vtg_speed_kmh[6];

    /* GPZDA, Time & Date */

    char zda_time[7], zda_day[3], zda_month[3], zda_year[5];

    char *pch;

    Timebase_Init();

    Serial_Init();

    sei();

#if DEBUG

    printf("\n------------------------------------------------------------\n");

    printf(  "   CAN: GPS\n");

    printf(  "------------------------------------------------------------\n");

    printf("CanInit...");

    if (Can_Init() != CAN_OK) {

        printf("FAILED!\n");

    }else{

        printf("OK!\n");

    }

#else

    Can_Init();

#endif

    Can_Message_t txMsg;

    Can_Message_t rxMsg;

    txMsg.Id = GPS_CMD_SEND;

    txMsg.RemoteFlag = 0;

    txMsg.ExtendedFlag = 1;

    txMsg.DataLength = 3;

    /* main loop */

    while (1) {

        /* service the CAN routines */

        Can_Service();

        /* check if any messages have been received */

        while (Can_Receive(&rxMsg) == CAN_OK) {

            /* This node that control a servo is adressed */

            if( rxMsg.Id == GPS_CMD_GET ){

            }

        }

        if( Timebase_PassedTimeMillis(timeStamp) >= STATUS_SEND_PERIOD ){

            timeStamp = Timebase_CurrentTime();

            /* Send blinds status to CAN */

        }

        /* Get data from GPS */

        rxGps = uart_getc();

        while( rxGps != UART_NO_DATA ){

            /* '$' indicates start of message, start buffering */

            if( rxGps == '$' ){

                buffering = TRUE;

                rxGps_element = 0;

            }else if( rxGps == CR ){

                /* End of message */

                buffer[rxGps_element]='\0';

                buffering = FALSE;

                gpsMsg_received = TRUE;

            }

            if( buffering ){

                buffer[ rxGps_element ] = rxGps;

                rxGps_element++;

            }

            /* Get next character */

            rxGps = uart_getc();

        }

        if( gpsMsg_received ){

            /* One whole msg is completed, start compare and parse */

            if( !strncmp(buffer, "GPGGA", 5) ){

                /* Standard NMEA message, $GPGGA */

                strtok(buffer, GPS_MSG_DELIMITER); /* Throw away "GPGGA" */

                /* Get UTC */

                pch = strtok(NULL, GPS_MSG_DELIMITER);

                strcpy(gga_utc, pch);

                /* Get latitude */

                pch = strtok(NULL, GPS_MSG_DELIMITER);

                strcpy(gga_latitude, pch);

                /* Get latitude N/S */

                pch = strtok(NULL, GPS_MSG_DELIMITER);

                strcpy(gga_latitude_NS, pch);

                /* Get longitude */

                pch = strtok(NULL, GPS_MSG_DELIMITER);

                strcpy(gga_longitude, pch);

                /* Get longitude E/W */

                pch = strtok(NULL, GPS_MSG_DELIMITER);

                strcpy(gga_longitude_EW, pch);

            }else if( !strncmp(buffer, "GPVTG", 5) ){

                /* Standard NMEA message, $GPVTG */

                strtok(buffer, GPS_MSG_DELIMITER); /* Throw away "GPVTG" */

                /* Get course over ground, true degree */

                pch = strtok(NULL, GPS_MSG_DELIMITER);

                strcpy(vtg_course_true, pch);

                /* Get course over ground, magnetic degree */

                pch = strtok(NULL, GPS_MSG_DELIMITER);

                strcpy(vtg_course_magnetic, pch);

                /* Get speed over ground, km/h */

                pch = strtok(NULL, GPS_MSG_DELIMITER);

                strcpy(vtg_speed_kmh, pch);

            }else if( !strncmp(buffer, "GPZDA", 5) ){

                /* Standard NMEA message, $GPZDA */

                strtok(buffer, GPS_MSG_DELIMITER); /* Throw away "GPZDA" */

                /* Get time */

                pch = strtok(NULL, GPS_MSG_DELIMITER);

                strcpy(zda_time, pch);

                /* Get day, 0-31 */

                pch = strtok(NULL, GPS_MSG_DELIMITER);

                strcpy(zda_day, pch);

                /* Get month, 1-12 */

                pch = strtok(NULL, GPS_MSG_DELIMITER);

                strcpy(zda_month, pch);

                /* Get year */

                pch = strtok(NULL, GPS_MSG_DELIMITER);

                strcpy(zda_year, pch);

            }

            gpsMsg_received = FALSE; /* Get ready for next message */

        }

    }

    return 0;

}