void cj_state_update() {
/*The implement is plain update for simplicity. Kalman filter is not implemented yet*/
float delta_time = TM_DELAY_Time()/1000.0 - prev_t;
prev_t = TM_DELAY_Time();
angles.a = angles.a + delta_time*angles_v.a;
angles.b = angles.b + delta_time*angles_v.b;
angles.c = angles.c + delta_time*angles_v.c;
KB_MPU9150_ReadAll(&MPU9150_Data);
angles_v.a = MPU9150_Data.Gyroscope_X - vcali.a;
angles_v.b = MPU9150_Data.Gyroscope_Y - vcali.b;
angles_v.c = MPU9150_Data.Gyroscope_Z - vcali.c;
}
// Blink LED function
void blink_LED(void const *argument) {
#if 0
/* Reset counter to 0 */
TM_DELAY_SetTime(0);
while (1) {
/* If time is more than 500ms */
if (TM_DELAY_Time() >= 500) {
/* Reset time */
TM_DELAY_SetTime(0);
/* Toggle leds here */
TM_DISCO_LedToggle(LED_RED | LED_GREEN);
}
/* Place your code here */
/* Code here will be checked without any delay */
/* Constantly */
}
#endif
#if 1
for (;;) {
//LED_On (); // Switch LED on
osDelay(1000);
TM_DISCO_LedToggle(LED_RED | LED_GREEN);
}
#endif
}
int main(void) {
/* Initialize system */
SystemInit();
/* Initialize delay */
TM_DELAY_Init();
/* Initialize onboard leds */
TM_DISCO_LedInit();
/* Reset counter to 0 */
TM_DELAY_SetTime(0);
while (1) {
/* If time is more than 500ms */
if (TM_DELAY_Time() >= 500) {
/* Reset time */
TM_DELAY_SetTime(0);
/* Toggle leds here */
TM_DISCO_LedToggle(LED_RED | LED_GREEN);
}
/* Place your code here */
/* Code here will be checked without any delay */
/* Constantly */
}
}
/* This function is used to periodically update LaserLock variables */
void LaserLock_Timer_Task(void* UserParameters) {
uint32_t current_time=TM_DELAY_Time();
for (int i=0;i<10;i++)
if (current_time > Remote_Data_Array[i].rcv_system_time + LASER_LOCK_TIMEOUT) {
Remote_Data_Array[i].laser=0;
Laser_Control(i,LD_OFF);
TM_BKPSRAM_Write8(i,0);
}
}
/* Called when connection is closed */
void ESP8266_Callback_ClientConnectionClosed(ESP8266_t* ESP8266, ESP8266_Connection_t* Connection) {
printf("Client connection closed, connection: %d; Total bytes received: %d; Content-Length header: %d\r\n",
Connection->Number, Connection->TotalBytesReceived, Connection->ContentLength
);
/* Calculate time */
time = TM_DELAY_Time() - time;
/* Print time we need to get data back from server */
printf("Time for data: %u ms; speed: %d kb/s\r\n", time, Connection->TotalBytesReceived / time);
}
int main(void) {
uint16_t values[2] = {0, 0};
/* Init system clock for maximum system speed */
TM_RCC_InitSystem();
/* Init HAL layer */
HAL_Init();
/* Init leds */
TM_DISCO_LedInit();
/* Init button */
TM_DISCO_ButtonInit();
/* Init DAC channel 1 = PA4 */
TM_DAC_Init(TM_DAC_Channel_1);
/* Init DAC channel 2 = PA5 */
TM_DAC_Init(TM_DAC_Channel_2);
while (1) {
/* Toggle ALL leds */
if (TM_DELAY_Time() > 200) {
/* Toggle leds */
TM_DISCO_LedToggle(LED_ALL);
}
/* Increase channel 1 value */
values[0]++;
/* Decrease channel 2 value */
values[1]--;
/* Check if channel 1 is overflowed 12 bit and set it to zero */
if (values[0] > 0x0FFF) {
values[0] = 0;
}
/* Check if channel 2 is less than zero (overflow to 0xFFFF) and set to to max 12 bit value */
if (values[1] > 0x0FFF) {
values[1] = 0x0FFF;
}
/* Set DAC channel 1 = PA4 */
TM_DAC_SetValue(TM_DAC_Channel_1, values[0]);
/* Set DAC channel 2 = PA5 */
TM_DAC_SetValue(TM_DAC_Channel_2, values[1]);
/* Delay 1ms */
Delayms(1);
}
}
int main(void) {
uint8_t i;
/* Initialize system */
SystemInit();
/* Initialize delay */
TM_DELAY_Init();
/* Initialize LEDS */
TM_DISCO_LedInit();
/* Initialize RTC with internal clock */
TM_RTC_Init(TM_RTC_ClockSource_Internal);
/* Set RTC to generate wakeup interrupt every 10 seconds */
TM_RTC_Interrupts(TM_RTC_Int_10s);
/* Set time to 0 */
TM_DELAY_SetTime(0);
while (1) {
/* Toggle LEDs every 200ms */
if (TM_DELAY_Time() >= 200000) {
/* Reset time */
TM_DELAY_SetTime(0);
/* Toggle leds */
TM_DISCO_LedToggle(LED_GREEN);
/* Increase counter */
i++;
/* After 20 toggles, put STM32F4 into sleep mode */
if (i == 20) {
/* Reset counter */
i = 0;
/* Sleep until interrupt occur */
/* Also disable systick with "1" as parameter */
/* Because systick makes interrupts and it will wakeup */
/* device back after some ticks. This is useless */
/* If you set parameter to "0", then this function will not */
/* affect to Systick timer */
TM_LOWPOWER_SleepUntilInterrupt(1);
/* Toggle RED LED to indicate wakeup from sleep mode */
TM_DISCO_LedToggle(LED_RED);
}
}
}
}
int main(void) {
uint8_t i;
/* Initialize system */
SystemInit();
/* Initialize delay */
TM_DELAY_Init();
/* Initialize LEDS */
TM_DISCO_LedInit();
/* Initialize RTC with internal clock */
TM_RTC_Init(TM_RTC_ClockSource_Internal);
/* Set RTC to generate wakeup interrupt every 10 seconds */
TM_RTC_Interrupts(TM_RTC_Int_10s);
/* Set time to 0 */
TM_DELAY_SetTime(0);
while (1) {
/* Toggle LEDs every 200ms */
if (TM_DELAY_Time() >= 200) {
/* Reset time */
TM_DELAY_SetTime(0);
/* Toggle leds */
TM_DISCO_LedToggle(LED_GREEN);
/* Increase counter */
i++;
/* After 20 toggles, put STM32F4 into STOP mode */
if (i == 20) {
/* Reset counter */
i = 0;
/* Stop STM32F4 */
/* If you stop device, then you can wake him up with interrupt/event on EXTI line */
/* Put it into STOP mode, allowing EXTI interrupts to wake him up */
/* RTC will wake him up after 10 seconds */
TM_LOWPOWER_StopUntilInterrupt();
/* Toggle RED LED to indicate wakeup from stop mode */
TM_DISCO_LedToggle(LED_RED);
}
}
}
}
void recalculate_state() {
//since it is not in motion, angular velocity is 0
angles_v.a = 0;
angles_v.b = 0;
angles_v.c = 0;
struct Cj_helper_float3 g;
g.a = 0;
g.b = 0;
g.c = 0;
struct Cj_helper_float3 n;
n.a = 0;
n.b = 0;
n.c = 0;
int num_of_itr = 1000;
int i = 0;
for (; i < num_of_itr; i++) {
KB_MPU9150_ReadAll(&MPU9150_Data);
g.a += MPU9150_Data.Accelerometer_X;
g.b += MPU9150_Data.Accelerometer_Y;
g.c += MPU9150_Data.Accelerometer_Z;
n.a += MPU9150_Data.Magnetometer_X;
n.b += MPU9150_Data.Magnetometer_Y;
n.c += MPU9150_Data.Magnetometer_Z;
}
//get two angles from g vector
g.a = g.a/num_of_itr;
g.b = g.b/num_of_itr;
g.c = g.c/num_of_itr;
float g_abs = sqrt(g.a*g.a + g.b*g.b + g.c*g.c);
angles.b = asin(g.a/g_abs);
angles.c = asin(-g.b/(g_abs*cos(angles.b)));
//get the last angle
n.a = n.a/num_of_itr;
n.b = n.b/num_of_itr;
n.c = n.c/num_of_itr;
float n_abs = sqrt(n.a*n.a+n.b*n.b+n.c*n.c);
angles.a = acos(n.a/(n_abs*cos(angles.b)));
prev_t = TM_DELAY_Time()/1000.0;
}
void ESP8266_Callback_ClientConnectionDataReceived(ESP8266_t* ESP8266, ESP8266_Connection_t* Connection, char* Buffer) {
/* Data received from server back to client */
printf("Data received from server on connection: %s; Number of bytes received: %d; %d / %d;\r\n",
Connection->Name,
Connection->BytesReceived,
Connection->TotalBytesReceived,
Connection->ContentLength
);
/* Print message when first packet */
if (Connection->FirstPacket) {
/* Start counting time */
time = TM_DELAY_Time();
/* Print first message */
printf("This is first packet received. Content length on this connection is: %d\r\n", Connection->ContentLength);
}
}
int main(void) {
TM_AM2301_Data_t data;
char str[50];
/* Initialize system */
SystemInit();
/* Initialize delay */
TM_DELAY_Init();
/* Initialize LCD on F429-Discovery board */
TM_ILI9341_Init();
TM_ILI9341_Rotate(TM_ILI9341_Orientation_Portrait_2);
TM_ILI9341_Fill(ILI9341_COLOR_ORANGE);
TM_ILI9341_Puts(10, 10, "AM2301 (DHT21)\nsensor", &TM_Font_11x18, ILI9341_COLOR_BLACK, ILI9341_COLOR_ORANGE);
TM_ILI9341_Puts(90, 310, "stm32f4-discovery.com", &TM_Font_7x10, ILI9341_COLOR_BLACK, ILI9341_COLOR_ORANGE);
/* Initialize sensor */
TM_AM2301_Init();
/* Reset time */
TM_DELAY_SetTime(0);
while (1) {
/* Every 1 second */
if (TM_DELAY_Time() > 1000000) {
TM_DELAY_SetTime(0);
/* Data valid */
if (TM_AM2301_Read(&data) == TM_AM2301_OK) {
/* Show on LCD */
sprintf(str, "Humidity: %2.1f %%\nTemperature: %2.1f C", (float)data.Hum / 10, (float)data.Temp / 10);
TM_ILI9341_Puts(10, 100, str, &TM_Font_11x18, ILI9341_COLOR_BLACK, ILI9341_COLOR_ORANGE);
}
}
/* Do other stuff constantly */
}
}
int main(void) {
/* Init system clock for maximum system speed */
TM_RCC_InitSystem();
/* Init HAL layer */
HAL_Init();
/* Init leds */
TM_DISCO_LedInit();
/* Init delay */
TM_DELAY_Init();
while (1) {
/* Each 500ms */
if (TM_DELAY_Time() >= 500) {
/* Reset time */
TM_DELAY_SetTime(0);
/* Toggle LED */
TM_DISCO_LedToggle(LED_ALL);
}
}
}
int cj_state_init() {
//configure the sensor
if (KB_MPU9150_Init(&MPU9150_Data, KB_MPU9150_Accelerometer_4G, KB_MPU9150_Gyroscope_500s) != KB_MPU9150_Result_Ok) {
return 0;
}
//since it is not in motion, angular velocity is 0
angles_v.a = 0;
angles_v.b = 0;
angles_v.c = 0;
vcali.a = 0;
vcali.b = 0;
vcali.c = 0;
struct Cj_helper_float3 g;
g.a = 0;
g.b = 0;
g.c = 0;
struct Cj_helper_float3 n;
n.a = 0;
n.b = 0;
n.c = 0;
int num_of_itr = 1000;
int i = 0;
for (; i < num_of_itr; i++) {
KB_MPU9150_ReadAll(&MPU9150_Data);
vcali.a += MPU9150_Data.Gyroscope_X;
vcali.b += MPU9150_Data.Gyroscope_Y;
vcali.c += MPU9150_Data.Gyroscope_Z;
g.a += MPU9150_Data.Accelerometer_X;
g.b += MPU9150_Data.Accelerometer_Y;
g.c += MPU9150_Data.Accelerometer_Z;
n.a += MPU9150_Data.Magnetometer_X;
n.b += MPU9150_Data.Magnetometer_Y;
n.c += MPU9150_Data.Magnetometer_Z;
}
//calibration
vcali.a = vcali.a/num_of_itr;
vcali.b = vcali.b/num_of_itr;
vcali.c = vcali.c/num_of_itr;
//get two angles from g vector
g.a = g.a/num_of_itr;
g.b = g.b/num_of_itr;
g.c = g.c/num_of_itr;
float g_abs = sqrt(g.a*g.a + g.b*g.b + g.c*g.c);
angles.b = asin(g.a/g_abs);
angles.c = asin(-g.b/(g_abs*cos(angles.b)));
//get the last angle
n.a = n.a/num_of_itr;
n.b = n.b/num_of_itr;
n.c = n.c/num_of_itr;
float n_abs = sqrt(n.a*n.a+n.b*n.b+n.c*n.c);
angles.a = acos(n.a/(n_abs*cos(angles.b)));
prev_t = TM_DELAY_Time()/1000.0;
return 1;
}
/* Internal functions */
static void TM_BUTTON_INT_CheckButton(TM_BUTTON_t* ButtonStruct) {
uint32_t now, status;
/* Read values */
now = TM_DELAY_Time();
status = TM_GPIO_GetInputPinValue(ButtonStruct->GPIOx, ButtonStruct->GPIO_Pin);
/* First stage */
if (ButtonStruct->State == BUTTON_STATE_START) {
/* Check if pressed */
if (status == ButtonStruct->GPIO_State) {
/* Button pressed, go to stage BUTTON_STATE_START */
ButtonStruct->State = BUTTON_STATE_DEBOUNCE;
/* Save pressed time */
ButtonStruct->StartTime = now;
}
}
if (ButtonStruct->State == BUTTON_STATE_DEBOUNCE) {
/* Button still pressed */
/* Check for debounce */
if (status == ButtonStruct->GPIO_State) {
if (now > (ButtonStruct->StartTime + ButtonStruct->PressDebounceTime)) {
/* Button debounce OK, Goto Normal Press */
ButtonStruct->State = BUTTON_STATE_PRESSED;
/* Try to call user function */
if (ButtonStruct->ButtonHandler) {
/* Call function callback */
ButtonStruct->ButtonHandler(ButtonStruct, TM_BUTTON_PressType_OnPressed);
}
}
} else if (status != ButtonStruct->GPIO_State) {
/* Not pressed */
/* It was bounce, start over */
/* Go to state BUTTON_STATE_START */
ButtonStruct->State = BUTTON_STATE_START;
}
}
if (ButtonStruct->State == BUTTON_STATE_PRESSED) {
/* Button still pressed */
/* Check for long press */
if (status == ButtonStruct->GPIO_State) {
if (now > (ButtonStruct->StartTime + ButtonStruct->PressLongTime)) {
/* Button pressed OK, call function */
if (ButtonStruct->ButtonHandler) {
/* Call function callback */
ButtonStruct->ButtonHandler(ButtonStruct, TM_BUTTON_PressType_Long);
}
/* Go to stage BUTTON_STATE_WAITRELEASE */
ButtonStruct->State = BUTTON_STATE_WAITRELEASE;
}
} else if (status != ButtonStruct->GPIO_State) {
/* Not pressed */
if (now > (ButtonStruct->StartTime + ButtonStruct->PressNormalTime)) {
/* Button pressed OK, call function */
if (ButtonStruct->ButtonHandler) {
/* Call function callback */
ButtonStruct->ButtonHandler(ButtonStruct, TM_BUTTON_PressType_Normal);
}
/* Go to stage BUTTON_STATE_WAITRELEASE */
ButtonStruct->State = BUTTON_STATE_WAITRELEASE;
} else {
/* Go to state BUTTON_STATE_START */
ButtonStruct->State = BUTTON_STATE_START;
}
} else {
/* Go to state BUTTON_STATE_START */
ButtonStruct->State = BUTTON_STATE_START;
}
}
if (ButtonStruct->State == BUTTON_STATE_WAITRELEASE) {
/* Wait till button released */
if (status != ButtonStruct->GPIO_State) {
/* Go to stage 0 again */
ButtonStruct->State = BUTTON_STATE_START;
}
}
/* Save current status */
ButtonStruct->LastStatus = status;
}
int main(void) {
TM_MPU6050_t MPU6050_Data0;
TM_MPU6050_t MPU6050_Data1;
uint8_t sensor1 = 0, sensor2 = 0;
char str[120];
/* Initialize system */
SystemInit();
/* Initialize delay */
TM_DELAY_Init();
/* Initialize USART, TX: PB6 */
TM_USART_Init(USART1, TM_USART_PinsPack_2, 115200);
/* Initialize MPU6050 sensor 0, address = 0xD0, AD0 pin on sensor is low */
if (TM_MPU6050_Init(&MPU6050_Data0, TM_MPU6050_Device_0, TM_MPU6050_Accelerometer_8G, TM_MPU6050_Gyroscope_250s) == TM_MPU6050_Result_Ok) {
/* Display message to user */
TM_USART_Puts(USART1, "MPU6050 sensor 0 is ready to use!\n");
/* Sensor 1 OK */
sensor1 = 1;
}
/* Initialize MPU6050 sensor 1, address = 0xD2, AD0 pin on sensor is high */
if (TM_MPU6050_Init(&MPU6050_Data1, TM_MPU6050_Device_1, TM_MPU6050_Accelerometer_8G, TM_MPU6050_Gyroscope_250s) == TM_MPU6050_Result_Ok) {
/* Display message to user */
TM_USART_Puts(USART1, "MPU6050 sensor 1 is ready to use!\n");
/* Sensor 2 OK */
sensor2 = 1;
}
while (1) {
/* Every 500ms */
if (TM_DELAY_Time() >= 500) {
/* Reset time */
TM_DELAY_SetTime(0);
/* If sensor 1 is connected */
if (sensor1) {
/* Read all data from sensor 1 */
TM_MPU6050_ReadAll(&MPU6050_Data0);
/* Format data */
sprintf(str, "1. Accelerometer\n- X:%d\n- Y:%d\n- Z:%d\nGyroscope\n- X:%d\n- Y:%d\n- Z:%d\nTemperature\n- %3.4f\n\n\n",
MPU6050_Data0.Accelerometer_X,
MPU6050_Data0.Accelerometer_Y,
MPU6050_Data0.Accelerometer_Z,
MPU6050_Data0.Gyroscope_X,
MPU6050_Data0.Gyroscope_Y,
MPU6050_Data0.Gyroscope_Z,
MPU6050_Data0.Temperature
);
/* Show to usart */
TM_USART_Puts(USART1, str);
}
/* If sensor 2 is connected */
if (sensor2) {
/* Read all data from sensor 1 */
TM_MPU6050_ReadAll(&MPU6050_Data1);
/* Format data */
sprintf(str, "2. Accelerometer\n- X:%d\n- Y:%d\n- Z:%d\nGyroscope\n- X:%d\n- Y:%d\n- Z:%d\nTemperature\n- %3.4f\n\n\n",
MPU6050_Data1.Accelerometer_X,
MPU6050_Data1.Accelerometer_Y,
MPU6050_Data1.Accelerometer_Z,
MPU6050_Data1.Gyroscope_X,
MPU6050_Data1.Gyroscope_Y,
MPU6050_Data1.Gyroscope_Z,
MPU6050_Data1.Temperature
);
/* Show to usart */
TM_USART_Puts(USART1, str);
}
}
}
}
int main(void) {
/* Variables used */
TM_GPS_Data_t GPS_Data;
TM_GPS_Result_t result, current;
TM_GPS_Float_t GPS_Float;
TM_GPS_Distance_t GPS_Distance;
char buffer[40];
uint8_t i;
float temp;
uint8_t iOff;
/* Initialize system */
SystemInit();
/* Delay init */
TM_DELAY_Init();
/* Initialize leds */
TM_DISCO_LedInit();
/* Initialize GPS on 115200 baudrate */
TM_GPS_Init(&GPS_Data, 115200);
/* Initialize ili9341 LCD on STM32F429-Discovery board */
TM_ILI9341_Init();
/* Rotate LCD */
TM_ILI9341_Rotate(TM_ILI9341_Orientation_Portrait_2);
/* Go to the begginning of LCD */
iOff = 0;
/* Version 1.1 added */
/* Set two test coordinates */
/* from Ljubljana */
GPS_Distance.Latitude1 = 46.050513;
GPS_Distance.Longitude1 = 14.512873;
/* to New York */
GPS_Distance.Latitude2 = 40.711096;
GPS_Distance.Longitude2 = -74.007529;
/* Display location */
TM_ILI9341_Puts(10, START_Y + 11 * iOff++, "Ljubljana -> New York", &TM_Font_7x10, 0x0000, 0xFFFF);
/* Calculate distance and bearing between 2 pointes */
TM_GPS_DistanceBetween(&GPS_Distance);
/* Convert float number */
TM_GPS_ConvertFloat(GPS_Distance.Distance, &GPS_Float, 1);
sprintf(buffer, " - Distance: %d.%1d meters", GPS_Float.Integer, GPS_Float.Decimal);
TM_ILI9341_Puts(10, START_Y + 11 * iOff++, buffer, &TM_Font_7x10, 0x0000, 0xFFFF);
TM_GPS_ConvertFloat(GPS_Distance.Bearing, &GPS_Float, 3);
sprintf(buffer, " - Bearing: %d.%03d degrees", GPS_Float.Integer, GPS_Float.Decimal);
TM_ILI9341_Puts(10, START_Y + 11 * iOff++, buffer, &TM_Font_7x10, 0x0000, 0xFFFF);
/* Delay 5s */
Delayms(5000);
/* Clear screen */
TM_ILI9341_Fill(0xFFFF);
/* Go to the begginning of LCD */
iOff = 0;
/* Reset counter */
TM_DELAY_SetTime(0);
while (1) {
/* Update GPR data */
/* Call this as faster as possible */
result = TM_GPS_Update(&GPS_Data);
/* If we didn't receive any useful data in the start */
if (result == TM_GPS_Result_FirstDataWaiting && TM_DELAY_Time() > 3000) {
/* If we didn't receive nothing within 3 seconds */
TM_DELAY_SetTime(0);
/* Display data on LCD */
TM_ILI9341_Puts(10, START_Y + 11 * iOff++, "Check your GPS receiver!", &TM_Font_7x10, 0x0000, 0xFFFF);
}
/* If we have any unread data */
if (result == TM_GPS_Result_NewData) {
/* We received new packet of useful data from GPS */
current = TM_GPS_Result_NewData;
/* Go to the begginning of LCD */
iOff = 0;
/* Is GPS signal valid? */
if (GPS_Data.Validity) {
/* If you want to make a GPS tracker, now is the time to save your data on SD card */
/* Toggle GREEN LED */
TM_DISCO_LedToggle(LED_GREEN);
/* We have valid GPS signal */
#ifndef GPS_DISABLE_GPGGA
/* Latitude */
/* Convert float to integer and decimal part, with 6 decimal places */
TM_GPS_ConvertFloat(GPS_Data.Latitude, &GPS_Float, 6);
sprintf(buffer, " - Latitude: %d.%d", GPS_Float.Integer, GPS_Float.Decimal);
TM_ILI9341_Puts(10, START_Y + 11 * iOff++, buffer, &TM_Font_7x10, 0x0000, 0xFFFF);
/* Longitude */
/* Convert float to integer and decimal part, with 6 decimal places */
TM_GPS_ConvertFloat(GPS_Data.Longitude, &GPS_Float, 6);
sprintf(buffer, " - Longitude: %d.%d", GPS_Float.Integer, GPS_Float.Decimal);
TM_ILI9341_Puts(10, START_Y + 11 * iOff++, buffer, &TM_Font_7x10, 0x0000, 0xFFFF);
/* Satellites in use */
sprintf(buffer, " - Sats in use: %02d", GPS_Data.Satellites);
TM_ILI9341_Puts(10, START_Y + 11 * iOff++, buffer, &TM_Font_7x10, 0x0000, 0xFFFF);
/* Current time */
sprintf(buffer, " - UTC Time: %02d.%02d.%02d:%02d", GPS_Data.Time.Hours, GPS_Data.Time.Minutes, GPS_Data.Time.Seconds, GPS_Data.Time.Hundredths);
TM_ILI9341_Puts(10, START_Y + 11 * iOff++, buffer, &TM_Font_7x10, 0x0000, 0xFFFF);
/* Fix: 0 = invalid, 1 = GPS, 2 = DGPS */
sprintf(buffer, " - Fix: %d", GPS_Data.Fix);
TM_ILI9341_Puts(10, START_Y + 11 * iOff++, buffer, &TM_Font_7x10, 0x0000, 0xFFFF);
/* Altitude */
/* Convert float to integer and decimal part, with 6 decimal places */
TM_GPS_ConvertFloat(GPS_Data.Altitude, &GPS_Float, 6);
sprintf(buffer, " - Altitude: %3d.%06d", GPS_Float.Integer, GPS_Float.Decimal);
TM_ILI9341_Puts(10, START_Y + 11 * iOff++, buffer, &TM_Font_7x10, 0x0000, 0xFFFF);
#endif
#ifndef GPS_DISABLE_GPRMC
/* Current date */
sprintf(buffer, " - Date: %02d.%02d.%04d", GPS_Data.Date.Date, GPS_Data.Date.Month, GPS_Data.Date.Year + 2000);
TM_ILI9341_Puts(10, START_Y + 11 * iOff++, buffer, &TM_Font_7x10, 0x0000, 0xFFFF);
/* Current speed in knots */
TM_GPS_ConvertFloat(GPS_Data.Speed, &GPS_Float, 6);
sprintf(buffer, " - Speed in knots: %2d.%06d", GPS_Float.Integer, GPS_Float.Decimal);
TM_ILI9341_Puts(10, START_Y + 11 * iOff++, buffer, &TM_Font_7x10, 0x0000, 0xFFFF);
/* Current speed in km/h */
temp = TM_GPS_ConvertSpeed(GPS_Data.Speed, TM_GPS_Speed_KilometerPerHour);
TM_GPS_ConvertFloat(temp, &GPS_Float, 6);
sprintf(buffer, " - Speed in km/h: %2d.%06d", GPS_Float.Integer, GPS_Float.Decimal);
TM_ILI9341_Puts(10, START_Y + 11 * iOff++, buffer, &TM_Font_7x10, 0x0000, 0xFFFF);
TM_GPS_ConvertFloat(GPS_Data.Direction, &GPS_Float, 3);
sprintf(buffer, " - Direction: %3d.%03d", GPS_Float.Integer, GPS_Float.Decimal);
TM_ILI9341_Puts(10, START_Y + 11 * iOff++, buffer, &TM_Font_7x10, 0x0000, 0xFFFF);
#endif
#ifndef GPS_DISABLE_GPGSA
/* Horizontal dilution of precision */
TM_GPS_ConvertFloat(GPS_Data.HDOP, &GPS_Float, 2);
sprintf(buffer, " - HDOP: %2d.%02d", GPS_Float.Integer, GPS_Float.Decimal);
TM_ILI9341_Puts(10, START_Y + 11 * iOff++, buffer, &TM_Font_7x10, 0x0000, 0xFFFF);
/* Vertical dilution of precision */
TM_GPS_ConvertFloat(GPS_Data.VDOP, &GPS_Float, 2);
sprintf(buffer, " - VDOP: %2d.%02d", GPS_Float.Integer, GPS_Float.Decimal);
TM_ILI9341_Puts(10, START_Y + 11 * iOff++, buffer, &TM_Font_7x10, 0x0000, 0xFFFF);
/* Position dilution of precision */
TM_GPS_ConvertFloat(GPS_Data.PDOP, &GPS_Float, 2);
sprintf(buffer, " - PDOP: %2d.%02d", GPS_Float.Integer, GPS_Float.Decimal);
TM_ILI9341_Puts(10, START_Y + 11 * iOff++, buffer, &TM_Font_7x10, 0x0000, 0xFFFF);
/* Current fix mode in use */
sprintf(buffer, " - Fix mode: %d", GPS_Data.FixMode);
TM_ILI9341_Puts(10, START_Y + 11 * iOff++, buffer, &TM_Font_7x10, 0x0000, 0xFFFF);
/* Display IDs of satellites in use */
sprintf(buffer, "Sats ids: ");
for (i = 0; i < GPS_Data.Satellites; i++) {
if (i < (GPS_Data.Satellites - 1)) {
sprintf(buffer, "%s%d,", buffer, GPS_Data.SatelliteIDs[i]);
} else {
sprintf(buffer, "%s%d", buffer, GPS_Data.SatelliteIDs[i]);
}
}
TM_ILI9341_Puts(10, START_Y + 11 * iOff++, buffer, &TM_Font_7x10, 0x0000, 0xFFFF);
#endif
#ifndef GPS_DISABLE_GPGSV
/* Satellites in view */
sprintf(buffer, " - Satellites in view: %02d", GPS_Data.SatellitesInView);
TM_ILI9341_Puts(10, START_Y + 11 * iOff++, buffer, &TM_Font_7x10, 0x0000, 0xFFFF);
#endif
} else {
/* Clear screen */
if (iOff > 0) {
iOff = 0;
TM_ILI9341_Fill(0xFFFF);
}
/* Go to the beginning of LCD */
iOff = 0;
/* Toggle RED LED */
TM_DISCO_LedToggle(LED_RED);
/* GPS signal is not valid */
TM_ILI9341_Puts(10, START_Y + 11 * iOff, "New received data haven't valid GPS signal!", &TM_Font_7x10, 0x0000, 0xFFFF);
}
} else if (result == TM_GPS_Result_FirstDataWaiting && current != TM_GPS_Result_FirstDataWaiting) {
current = TM_GPS_Result_FirstDataWaiting;
TM_ILI9341_Puts(10, START_Y + 11 * iOff++, "Waiting first data from GPS!", &TM_Font_7x10, 0x0000, 0xFFFF);
} else if (result == TM_GPS_Result_OldData && current != TM_GPS_Result_OldData) {
current = TM_GPS_Result_OldData;
/* We already read data, nothing new was received from GPS */
}
}
}
int main(void) {
uint8_t i;
/* Initialize system */
SystemInit();
/* Initialize delay */
TM_DELAY_Init();
/* Initialize LEDS */
TM_DISCO_LedInit();
/* Checks if reset was because of wakeup from standby */
if (TM_LOWPOWER_StandbyReset()) {
for (i = 0; i < 10; i++) {
/* Toggle LED red to indicate this */
TM_DISCO_LedToggle(LED_RED);
/* Delay */
Delayms(100);
}
}
/* Initialize RTC with internal clock */
TM_RTC_Init(TM_RTC_ClockSource_Internal);
/* Set RTC to generate wakeup interrupt every 10 seconds */
TM_RTC_Interrupts(TM_RTC_Int_10s);
/* Enable wakeup pin, PA0 */
TM_LOWPOWER_EnableWakeUpPin();
/* Set time to 0 */
TM_DELAY_SetTime(0);
while (1) {
/* Toggle LEDs every 200ms */
if (TM_DELAY_Time() >= 200) {
/* Reset time */
TM_DELAY_SetTime(0);
/* Toggle leds */
TM_DISCO_LedToggle(LED_GREEN);
/* Increase counter */
i++;
/* After 20 toggles, put STM32F4 into STANDBY mode */
if (i == 20) {
/* Reset counter */
i = 0;
/* Put STM32F4 into standby mode */
/* You can wake up MCU with rising edge on PA0 pin */
/* Or with some special interrupts, like RTC, etc */
TM_LOWPOWER_Standby();
/* Toggle RED LED to indicate wakeup from STANDBY mode */
/* This should never happen, because STM32F4 will reset after wakeup from STANDBY */
TM_DISCO_LedToggle(LED_RED);
}
}
}
}
int main(void) {
TM_NRF24L01_Transmit_Status_t transmissionStatus;
char str[40];
//Initialize system
SystemInit();
//Initialize system and Delay functions
TM_DELAY_Init();
//Initialize onboard leds
TM_DISCO_LedInit();
//Initialize USART, TX: PB6, RX: PB7
TM_USART_Init(USART1, TM_USART_PinsPack_2, 115200);
//Initialize NRF24L01+ on channel 15 and 32bytes of payload
//By default 2Mbps data rate and 0dBm output power
//NRF24L01 goes to RX mode by default
TM_NRF24L01_Init(15, 32);
//Set 2MBps data rate and -18dBm output power
TM_NRF24L01_SetRF(TM_NRF24L01_DataRate_2M, TM_NRF24L01_OutputPower_M18dBm);
//Set my address, 5 bytes
TM_NRF24L01_SetMyAddress(MyAddress);
//Set TX address, 5 bytes
TM_NRF24L01_SetTxAddress(TxAddress);
//Reset counter
TM_DELAY_SetTime(0);
while (1) {
//Every 2 seconds
if (TM_DELAY_Time() > 2000000) {
//Fill data with something
sprintf((char *)dataOut, "abcdefghijklmnoszxABCDEFCBDA");
//Display on USART
TM_USART_Puts(USART1, "pinging: ");
//Reset time, start counting microseconds
TM_DELAY_SetTime(0);
//Transmit data, goes automatically to TX mode
TM_NRF24L01_Transmit(dataOut);
TM_DISCO_LedOn(LED_PIN);
//Wait for data to be sent
do {
transmissionStatus = TM_NRF24L01_GetTransmissionStatus();
} while (transmissionStatus == TM_NRF24L01_Transmit_Status_Sending);
TM_DISCO_LedOff(LED_PIN);
//Go back to RX mode
TM_NRF24L01_PowerUpRx();
//Wait received data, wait max 100ms, if time is larger, than data was probably lost
while (!TM_NRF24L01_DataReady() && TM_DELAY_Time() < 100000);
//Format time
sprintf(str, "%d us", TM_DELAY_Time());
//Show ping time
TM_USART_Puts(USART1, str);
//Get data from NRF2L01+
TM_NRF24L01_GetData(dataIn);
//Check transmit status
if (transmissionStatus == TM_NRF24L01_Transmit_Status_Ok) {
//Transmit went OK
TM_USART_Puts(USART1, ": OK\n\r");
} else if (transmissionStatus == TM_NRF24L01_Transmit_Status_Lost) {
//Message was LOST
TM_USART_Puts(USART1, ": LOST\n\r");
} else {
//This should never happen
TM_USART_Puts(USART1, ": SENDING\n\r");
}
}
}
}
void TM_SNAKE_Start(void) {
/* Initialize delay */
TM_DELAY_Init();
/* Initialize leds on board */
TM_DISCO_LedInit();
/* Turn off all leds */
TM_DISCO_LedOff(LED_ALL);
/* Initialize True random number generator */
TM_RNG_Init();
/* Initialize ILI9341 LCD */
TM_ILI9341_Init();
TM_ILI9341_Rotate(TM_ILI9341_Orientation_Portrait_2);
/* Initialize USB HID Host for keyboard */
TM_USB_HIDHOST_Init();
/* Set default options */
TM_SNAKE_SetFirstOptions();
/* Set default values */
TM_SNAKE_SetDefaultSnake();
/* Prepare display */
TM_SNAKE_PrepareDisplay();
/* Generate random target */
TM_SNAKE_GenerateTarget();
/* Set time to 0 */
TM_DELAY_SetTime(0);
while (1) {
/* Process USB HID host */
TM_USB_HIDHOST_Process();
/* Check for timeout, move snake here */
if (TM_DELAY_Time() >= Settings.Millis && !Settings.Pause && !GameOver) {
/* Reset time */
TM_DELAY_SetTime(0);
/* Get new direction value */
Snake.Direction = Snake1.Direction;
/* Get last x/y value from snake array = snake head */
Snake_Head[0] = Snake.Snake[Snake.LastIndex][0];
Snake_Head[1] = Snake.Snake[Snake.LastIndex][1];
/* Store last value before update */
Snake_Head_Last[0] = Snake_Head[0];
Snake_Head_Last[1] = Snake_Head[1];
if (!Snake_FirstTime) {
/* Move snake */
switch (Snake.Direction) {
case SNAKE_DIRECTION_LEFT:
Snake_Head[0] -= 1;
break;
case SNAKE_DIRECTION_RIGHT:
Snake_Head[0] += 1;
break;
case SNAKE_DIRECTION_UP:
Snake_Head[1] -= 1;
break;
case SNAKE_DIRECTION_DOWN:
Snake_Head[1] += 1;
break;
default:
break;
}
}
/* Overflow is activated */
if (Settings.Overflow) {
/* Check X */
if (Snake_Head[0] == -1) {
Snake_Head[0] = SNAKE_PIXELS - 1;
} else if (Snake_Head[0] == SNAKE_PIXELS) {
Snake_Head[0] = 0;
}
/* Check Y */
if (Snake_Head[1] == -1) {
Snake_Head[1] = SNAKE_PIXELS - 1;
} else if (Snake_Head[1] == SNAKE_PIXELS) {
Snake_Head[1] = 0;
}
} else {
/* Check walls */
if (
Snake_Head[0] == -1 ||
Snake_Head[0] == SNAKE_PIXELS ||
Snake_Head[1] == -1 ||
Snake_Head[1] == SNAKE_PIXELS
) {
/* We hit the wall somewhere */
GameOver = 1;
}
}
if (!Snake_FirstTime) {
/* Clear first value from array = snake foot */
TM_SNAKE_DeleteFromArray(0, Snake_Foot);
/* Check if snake hit itself */
if (TM_SNAKE_MatchesSnakeLocations(Snake_Head)) {
/* Set gameover flag */
GameOver = 1;
}
}
/* Check if target is reached */
if (
!GameOver &&
Snake_Head[0] == Snake_Food[0] &&
Snake_Head[1] == Snake_Food[1]
) {
/* Add new value to the array, increase snake */
TM_SNAKE_AddToArray(Snake_Head);
/* Increase counter for snake hits */
Snake.Hits++;
/* Generate new target */
TM_SNAKE_GenerateTarget();
}
if (!GameOver) {
if (!Snake_FirstTime) {
/* Add new value to the array = new snake head */
TM_SNAKE_AddToArray(Snake_Head);
}
/* Clear pixel on LCD for foot */
/* First clear foot, maybe is new head on the same position */
TM_SNAKE_DrawPixel(Snake_Foot[0], Snake_Foot[1], 0);
/* Draw pixel on LCD for new head position with head color */
TM_SNAKE_DrawPixel(Snake_Head[0], Snake_Head[1], 3);
/* Draw new pixel for the second pixel after head with new color to delete head color */
TM_SNAKE_DrawPixel(Snake_Head_Last[0], Snake_Head_Last[1], 1);
}
/* Clear flag if needed */
if (Snake_FirstTime) {
Snake_FirstTime = 0;
}
}
if (GameOver) {
/* Check flag */
if (!GameOverDisplay) {
/* Set flag */
GameOverDisplay = 1;
/* Show content to user */
TM_ILI9341_Puts(88, 120, "Game\nOVER", &TM_Font_16x26, ILI9341_COLOR_WHITE, ILI9341_COLOR_BLACK);
TM_ILI9341_Puts(28, 180, "Press 'r' to start again!!", &TM_Font_7x10, ILI9341_COLOR_WHITE, ILI9341_COLOR_BLACK);
}
} else {
/* Clear flag */
GameOverDisplay = 0;
}
/* Check if connected device is keyboard */
if (TM_USB_HIDHOST_Device() == TM_USB_HIDHOST_Result_KeyboardConnected) {
/* Green LED ON */
TM_DISCO_LedOn(LED_GREEN);
/* Read keyboard data */
TM_USB_HIDHOST_ReadKeyboard(&Keyboard);
/* If any buttons active */
if (Keyboard.ButtonStatus == TM_USB_HIDHOST_Button_Pressed) {
/* Check pressed button and do actions */
switch ((uint8_t)Keyboard.Button) {
case SNAKE_KEY_LEFT:
/* Change direction if possible */
if (
Snake.Direction == SNAKE_DIRECTION_UP ||
Snake.Direction == SNAKE_DIRECTION_DOWN ||
Snake.Direction == SNAKE_DIRECTION_LEFT
) {
/* Disable pause mode */
Settings.Pause = 0;
/* Set direction */
Snake1.Direction = SNAKE_DIRECTION_LEFT;
}
break;
case SNAKE_KEY_RIGHT:
/* Change direction if possible */
if (
Snake.Direction == SNAKE_DIRECTION_UP ||
Snake.Direction == SNAKE_DIRECTION_DOWN ||
Snake.Direction == SNAKE_DIRECTION_RIGHT
) {
/* Disable pause mode */
Settings.Pause = 0;
/* Set direction */
Snake1.Direction = SNAKE_DIRECTION_RIGHT;
}
break;
case SNAKE_KEY_UP:
/* Change direction if possible */
if (
Snake.Direction == SNAKE_DIRECTION_LEFT ||
Snake.Direction == SNAKE_DIRECTION_RIGHT ||
Snake.Direction == SNAKE_DIRECTION_UP
) {
/* Disable pause mode */
Settings.Pause = 0;
/* Set direction */
Snake1.Direction = SNAKE_DIRECTION_UP;
}
break;
case SNAKE_KEY_DOWN:
/* Change direction if possible */
if (
Snake.Direction == SNAKE_DIRECTION_LEFT ||
Snake.Direction == SNAKE_DIRECTION_RIGHT ||
Snake.Direction == SNAKE_DIRECTION_DOWN
) {
/* Disable pause mode */
Settings.Pause = 0;
/* Set direction */
Snake1.Direction = SNAKE_DIRECTION_DOWN;
}
break;
case SNAKE_KEY_SPEED_UP:
/* Increase speed if possible */
TM_SNAKE_SpeedUp();
break;
case SNAKE_KEY_SPEED_DOWN:
/* Decrease speed if possible */
TM_SNAKE_SpeedDown();
break;
case SNAKE_KEY_PAUSE:
/* Toggle pause */
if (Settings.Pause) {
Settings.Pause = 0;
} else {
Settings.Pause = 1;
}
break;
case SNAKE_KEY_RESET:
/* Draw snake area */
TM_SNAKE_DrawArea();
/* Set default snake, leave as it was before */
TM_SNAKE_SetDefaultSnake();
/* Generate random target */
TM_SNAKE_GenerateTarget();
/* Disable gameover */
GameOver = 0;
/* Reset first time flag */
Snake_FirstTime = 1;
break;
case SNAKE_KEY_OVERFLOW:
/* Toggle overflow mode */
if (Settings.Overflow) {
Settings.Overflow = 0;
} else {
Settings.Overflow = 1;
}
break;
default:
break;
}
}
} else {
/* Green LED OFF */
TM_DISCO_LedOff(LED_GREEN);
}
/* Update LCD with changed settings */
/* Check overflow */
if (Settings1.Overflow != Settings.Overflow || Settings1.Speed != Settings.Speed) {
/* Save new */
Settings1.Overflow = Settings.Overflow;
/* Save new */
Settings1.Speed = Settings.Speed;
/* Display game mode and speed */
sprintf(Buffer, "Mode:%4d; Speed: %2d/%2d", Settings.Overflow, Settings.Speed, SNAKE_SPEED_MAX);
TM_ILI9341_Puts(10, SNAKE_TEXT_LINE1, Buffer, &TM_Font_7x10, 0x0000, SNAKE_COLOR_MAIN_BCK);
}
/* Check snake hits */
if (Snake1.Hits != Snake.Hits) {
/* Save new */
Snake1.Hits = Snake.Hits;
/* Display Speed */
sprintf(Buffer, "Hits:%4d; Score: %5d", Snake.Hits, (2 - Settings.Overflow) * Snake.Hits * Settings.Speed);
TM_ILI9341_Puts(10, SNAKE_TEXT_LINE2, Buffer, &TM_Font_7x10, 0x0000, SNAKE_COLOR_MAIN_BCK);
}
}
}
GUI_TIMER_TIME GUI_X_GetTime(void) {
/* Return current time */
return TM_DELAY_Time();
}
int main(void) {
/* Variables used */
TM_GPS_Data_t GPS_Data;
TM_GPS_Result_t result, current;
TM_GPS_Float_t GPS_Float;
TM_GPS_Distance_t GPS_Distance;
char buffer[40];
uint8_t i;
float temp;
/* Initialize system */
SystemInit();
/* Delay init */
TM_DELAY_Init();
/* Initialize GPS on 115200 baudrate */
TM_GPS_Init(&GPS_Data, 115200);
/* Initialize USART3 for debug */
/* TX = PB10 */
TM_USART_Init(USART3, TM_USART_PinsPack_1, 115200);
/* Version 1.1 added */
/* Set two test coordinates */
GPS_Distance.Latitude1 = 48.300215;
GPS_Distance.Longitude1 = -122.285903;
GPS_Distance.Latitude2 = 45.907813;
GPS_Distance.Longitude2 = 56.659407;
/* Calculate distance and bearing between 2 pointes */
TM_GPS_DistanceBetween(&GPS_Distance);
/* Convert float number */
TM_GPS_ConvertFloat(GPS_Distance.Distance, &GPS_Float, 6);
sprintf(buffer, "Distance is: %d.%06d meters\n", GPS_Float.Integer, GPS_Float.Decimal);
TM_USART_Puts(USART3, buffer);
TM_GPS_ConvertFloat(GPS_Distance.Bearing, &GPS_Float, 6);
sprintf(buffer, "Bearing is: %d.%06d degrees\n\n", GPS_Float.Integer, GPS_Float.Decimal);
TM_USART_Puts(USART3, buffer);
/* Reset counter */
TM_DELAY_SetTime(0);
while (1) {
/* Update GPR data */
/* Call this as faster as possible */
result = TM_GPS_Update(&GPS_Data);
/* If we didn't receive any useful data in the start */
if (result == TM_GPS_Result_FirstDataWaiting && TM_DELAY_Time() > 3000000) {
/* If we didn't receive nothing within 3 seconds */
TM_DELAY_SetTime(0);
/* Display data on USART */
TM_USART_Puts(USART3, "\nNothing received after 3 seconds. Is your GPS connected and baudrate set correct?\n");
TM_USART_Puts(USART3, "Most GPS receivers has by default 9600 baudrate and 1Hz refresh rate. Check your settings!\n\n");
}
/* If we have any unread data */
if (result == TM_GPS_Result_NewData) {
/* We received new packet of useful data from GPS */
current = TM_GPS_Result_NewData;
/* Is GPS signal valid? */
if (GPS_Data.Validity) {
/* If you want to make a GPS tracker, not is the time to save your data on SD card */
/* We have valid GPS signal */
TM_USART_Puts(USART3, "New received data have valid GPS signal\n");
TM_USART_Puts(USART3, "---------------------------------------\n");
#ifndef GPS_DISABLE_GPGGA
/* GPGGA data */
TM_USART_Puts(USART3, "GPGGA statement:\n");
/* Latitude */
/* Convert float to integer and decimal part, with 6 decimal places */
TM_GPS_ConvertFloat(GPS_Data.Latitude, &GPS_Float, 6);
sprintf(buffer, " - Latitude: %d.%d\n", GPS_Float.Integer, GPS_Float.Decimal);
TM_USART_Puts(USART3, buffer);
/* Longitude */
/* Convert float to integer and decimal part, with 6 decimal places */
TM_GPS_ConvertFloat(GPS_Data.Longitude, &GPS_Float, 6);
sprintf(buffer, " - Longitude: %d.%d\n", GPS_Float.Integer, GPS_Float.Decimal);
TM_USART_Puts(USART3, buffer);
/* Satellites in use */
sprintf(buffer, " - Sats in use: %02d\n", GPS_Data.Satellites);
TM_USART_Puts(USART3, buffer);
/* Current time */
sprintf(buffer, " - UTC Time: %02d.%02d.%02d:%02d\n", GPS_Data.Time.Hours, GPS_Data.Time.Minutes, GPS_Data.Time.Seconds, GPS_Data.Time.Hundredths);
TM_USART_Puts(USART3, buffer);
/* Fix: 0 = invalid, 1 = GPS, 2 = DGPS */
sprintf(buffer, " - Fix: %d\n", GPS_Data.Fix);
TM_USART_Puts(USART3, buffer);
/* Altitude */
/* Convert float to integer and decimal part, with 6 decimal places */
TM_GPS_ConvertFloat(GPS_Data.Altitude, &GPS_Float, 6);
sprintf(buffer, " - Altitude: %3d.%06d\n", GPS_Float.Integer, GPS_Float.Decimal);
TM_USART_Puts(USART3, buffer);
#endif
#ifndef GPS_DISABLE_GPRMC
/* GPRMC data */
TM_USART_Puts(USART3, "GPRMC statement:\n");
/* Current date */
sprintf(buffer, " - Date: %02d.%02d.%04d\n", GPS_Data.Date.Date, GPS_Data.Date.Month, GPS_Data.Date.Year + 2000);
TM_USART_Puts(USART3, buffer);
/* Current speed in knots */
TM_GPS_ConvertFloat(GPS_Data.Speed, &GPS_Float, 6);
sprintf(buffer, " - Speed in knots: %d.%06d\n", GPS_Float.Integer, GPS_Float.Decimal);
TM_USART_Puts(USART3, buffer);
/* Current speed in km/h */
temp = TM_GPS_ConvertSpeed(GPS_Data.Speed, TM_GPS_Speed_KilometerPerHour);
TM_GPS_ConvertFloat(temp, &GPS_Float, 6);
sprintf(buffer, " - Speed in km/h: %d.%06d\n", GPS_Float.Integer, GPS_Float.Decimal);
TM_USART_Puts(USART3, buffer);
TM_GPS_ConvertFloat(GPS_Data.Direction, &GPS_Float, 3);
sprintf(buffer, " - Direction: %3d.%03d\n", GPS_Float.Integer, GPS_Float.Decimal);
TM_USART_Puts(USART3, buffer);
#endif
#ifndef GPS_DISABLE_GPGSA
/* GPGSA data */
TM_USART_Puts(USART3, "GPGSA statement:\n");
/* Horizontal dilution of precision */
TM_GPS_ConvertFloat(GPS_Data.HDOP, &GPS_Float, 2);
sprintf(buffer, " - HDOP: %2d.%02d\n", GPS_Float.Integer, GPS_Float.Decimal);
TM_USART_Puts(USART3, buffer);
/* Vertical dilution of precision */
TM_GPS_ConvertFloat(GPS_Data.VDOP, &GPS_Float, 2);
sprintf(buffer, " - VDOP: %2d.%02d\n", GPS_Float.Integer, GPS_Float.Decimal);
TM_USART_Puts(USART3, buffer);
/* Position dilution of precision */
TM_GPS_ConvertFloat(GPS_Data.PDOP, &GPS_Float, 2);
sprintf(buffer, " - PDOP: %2d.%02d\n", GPS_Float.Integer, GPS_Float.Decimal);
TM_USART_Puts(USART3, buffer);
/* Current fix mode in use */
sprintf(buffer, " - Fix mode: %d\n", GPS_Data.FixMode);
TM_USART_Puts(USART3, buffer);
/* Display IDs of satellites in use */
TM_USART_Puts(USART3, "- ID's of used satellites: ");
for (i = 0; i < GPS_Data.Satellites; i++) {
if (i < (GPS_Data.Satellites - 1)) {
sprintf(buffer, "%d,", GPS_Data.SatelliteIDs[i]);
} else {
sprintf(buffer, "%d\n", GPS_Data.SatelliteIDs[i]);
}
TM_USART_Puts(USART3, buffer);
}
#endif
#ifndef GPS_DISABLE_GPGSV
/* GPGSV data */
TM_USART_Puts(USART3, "GPGSV statement:\n");
/* Satellites in view */
sprintf(buffer, " - Satellites in view: %d\n", GPS_Data.SatellitesInView);
TM_USART_Puts(USART3, buffer);
#endif
TM_USART_Puts(USART3, "---------------------------------------\n");
} else {
/* GPS signal is not valid */
TM_USART_Puts(USART3, "New received data haven't valid GPS signal!\n");
}
} else if (result == TM_GPS_Result_FirstDataWaiting && current != TM_GPS_Result_FirstDataWaiting) {
current = TM_GPS_Result_FirstDataWaiting;
TM_USART_Puts(USART3, "Waiting first data from GPS!\n");
} else if (result == TM_GPS_Result_OldData && current != TM_GPS_Result_OldData) {
current = TM_GPS_Result_OldData;
/* We already read data, nothing new was received from GPS */
}
}
}