// Configs the GPS using MTK sentences to use RMC & GGA sentences at 5Hz, and switch to 115200 baud
void gps_config_output(struct GpsConfig *gpsconfig)
{
// Change to 115200 baud
uart2_puts("$PMTK251,115200*1F\r\n"); // this can take a while if no GPS is connected
microcontroller_delay_ms(10);
uart2_open(115200l);
// only RMC and GGA
// RMC & GGA
uart2_puts("$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n"); // this can take a while if no GPS is connected
microcontroller_delay_ms(10);
// 5Hz mode
microcontroller_delay_ms(10);
uart2_puts("$PMTK220,200*2C\r\n");
if (gpsconfig->enable_waas)
{
microcontroller_delay_ms(10);
// DGPS data source mode
// ?0?: No DGPS source
// ?1?: RTCM
// ?2?: WAAS
microcontroller_delay_ms(10);
uart2_puts("$PMTK301,2*2E\r\n");
// Enable to search a SBAS satellite or not
// ?0? = Disable
// ?1? = Enable
microcontroller_delay_ms(10);
uart2_puts("$PMTK313,1*2E\r\n");
}
}
int main() {
/* receive enable aktivieren, data deaktivieren */
DDRD = (1 << PD4) | (1 << PD5) | (1 << PD6) | (1 << PD7);
PORTD = (1 << PD6);
/* Ziffernfeld-pins (PA0-PA7) als Eingang schalten */
DDRA = 0;
PORTA = 0xFF;
/* LEDs und Summer als Ausgang schalten */
DDRB = (1 << PB0) | (1 << PB1) | (1 << PB2) | (1 << PB3) | (1 << PB4);
/* Selbst-Test: Alle LEDs hintereinander für 250 ms aktivieren, ebenso den Summer */
PORTB = 0;
_delay_ms(250);
PORTB = (1 << PB0);
_delay_ms(250);
PORTB = (1 << PB1);
_delay_ms(250);
PORTB = (1 << PB2);
_delay_ms(250);
PORTB = (1 << PB3);
_delay_ms(250);
PORTB = (1 << PB4);
_delay_ms(250);
PORTB = 0;
memset((void*)ibuffer, '\0', sizeof(ibuffer));
uart2_init();
uart2_puts("Initializing RS485\r\n");
uart1_init();
uart2_puts("Waiting for LCD...\r\n");
lcd_init(LCD_DISP_ON);
uart2_puts("initialized LCD\r\n");
lcd_clrscr();
lcd_puts("pinpad ready\nself-test ok");
uart2_puts("done. now accepting cmds\r\n");
/* Timer aufsetzen: nach 1 ms soll der Interrupt ausgelöst werden. */
/* 8 bit counter (TIMER0) */
/* normal mode */
TCCR0A = 0;
/* CLK/64 */
TCCR0B = (1 << CS01) | (1 << CS00);
/* timer ticks: 250 */
TCNT0 = 5;
TIMSK0 = (1 << TOIE0);
TIFR0 = (1 << TOV0);
sei();
int c;
char keypress_buffer[COMMAND_BUFFER_SIZE + 2] =
"^PAD c $\r\n";
char bufcopy[COMMAND_BUFFER_SIZE];
for (;;) {
/* Handle commands received on the UART */
if (ibuffer[sizeof(ibuffer)-2] == '$') {
strncpy(bufcopy, (const char *)ibuffer, sizeof(bufcopy));
/* change the end of packet marker in memory so that the next
* packet will be accepted by the RX interrupt handler */
ibuffer[sizeof(ibuffer)-2] = '\0';
handle_command(bufcopy);
}
uint8_t sample = (PINA | (1 << 3));
bool button_debounced = true;
for (c = 0; c < sizeof(lookup_table) / sizeof(struct lookup_entry); c++) {
if (sample != lookup_table[c].state || lookup_table[c].debounce != DEBOUNCE_MS) {
button_debounced = false;
continue;
}
keypress_buffer[5] = lookup_table[c].key;
uart_puts(keypress_buffer);
lookup_table[c].debounce = DEBOUNCE_MS+1;
}
if (button_debounced) {
_delay_ms(80);
}
}
}
/*!
* Hot restarts the GPS module.
*/
void gps_hot_restart()
{
uart2_puts("$PMTK101*32");
uart2_putc(0x0D); uart2_putc(0x0A);
}