/**
* static int Gps_set(void * _self, va_list *app) - Perform a new gps acquisition.
* \param *_self - pointer to the device
* \param *app - none
* \return:
<LI><Breturn = 0:</B>when the GPS device is connected on a Grove nest DIG port, with or without a valid connection </LI>
<LI><Breturn = -1:</B>when the GPS device is not connected on a Grove nest DIG port. </LI>
</UL>
*/
static int Gps_set(void *_self,va_list *app)
{
struct Gps *self = _self;
char gps_sentences[70];
unsigned int timer = 65000;
flag = 1;
nmea_zero_INFO(&self->info);
nmea_parser_init(&self->parser);
UARTOn(self->uart_module);
UARTFlush(self->uart_module);
vTaskDelay(50);
while((UARTBufferSize(self->uart_module)<3) && timer)
timer--;
if(!timer)
return -1;
timer = 500;
while((gps_sentences[0] != '$') && timer)
{
timer--;
while(UARTBufferSize(self->uart_module)<1);
UARTRead(self->uart_module,gps_sentences,1);
if(gps_sentences[0] == '$')
{
while(UARTBufferSize(self->uart_module) < 5);
UARTRead(self->uart_module,(gps_sentences+1),5); //Reads all the chars in the
if((gps_sentences[4] == 'M'))
{
while(UARTBufferSize(self->uart_module) < 65);
UARTRead(self->uart_module,(gps_sentences+6),64); //Reads all the chars in the
gps_sentences[70] = '\0';
int i = 0;
i = nmea_parse(&self->parser, gps_sentences, (int)strlen(gps_sentences), &self->info);
if(i)
{
flag = 0;
self->lat = nmea_ndeg2degree (self->info.lat);
self->lon = -nmea_ndeg2degree (self->info.lon);
self->year = self->info.utc.year+1900;
self->mon = self->info.utc.mon;
self->day = self->info.utc.day;
self->hour = self->info.utc.hour;
self->min = self->info.utc.min;
self->sec = self->info.utc.sec;
self->speed = self->info.speed;
break;
}
}
}
gps_sentences[0]= 0;
}
nmea_parser_destroy(&self->parser);
UARTOff(self->uart_module);
return 0;
}
void UARTInit()
{
TXSTAbits.SYNC=0; //asynchronous
RCSTAbits.SPEN=1; //enable serial port pins
RCSTAbits.CREN=1; //enable reception
RCSTAbits.SREN=0; //no effect
TXSTAbits.TX9=0; //8-bit transmission
RCSTAbits.RX9=0; //8-bit reception
TXSTAbits.TXEN=0; //reset transmitter
TXSTAbits.TXEN=1; //enable the transmitter
//LATBbits.LATB5=0;
UART_RX_TRIS =1; //input
UART_TX_TRIS =0; //output
UART_DIR_TRIS =0; //output
UART_DIR=0; //read by default
BAUDCONbits.BRG16=1;
TXSTAbits.BRGH=0;
SPBRGH=1;
SPBRG =0;
PIE1bits.TXIE=0;
PIE1bits.RCIE=0;
//enable timer
T0CONbits.PSA=0;
T0CONbits.T0PS0=1;
T0CONbits.T0PS1=0;
T0CONbits.T0PS2=1;
T0CONbits.T08BIT=1;
T0CONbits.TMR0ON=1;
T0CONbits.T0CS=0;
INTCONbits.TMR0IE=0;
UARTRead();
}
int main(void)
{
char c;
// PORTC_PCR5 = PORT_PCR_MUX(0x1); // LED is on PC5 (pin 13), config as GPIO (alt = 1)
// GPIOC_PDDR = (1<<5); // make this an output pin
// LED_OFF; // start with LED off
UARTInit(TERM_UART, TERM_BAUD); // open UART for comms
UARTWrite(hello, strlen(hello));
EnableInterrupts;
while (1)
{
while (UARTAvail() != 0)
{
UARTRead(&c, 1);
UARTWrite(&c, 1);
if (c == '\r') UARTWrite("\n", 1);
}
}
return 0; // should never get here!
}
