#include <moduleGPS.h>

void initGPS(void){

float x=0;

float dist = 0;

strCpy(gps_UTCPos,"-",10);

strCpy(gps_Latitude,"-",9);

strCpy(gps_NSind,"-",1);

strCpy(gps_Longitude,"-",10);

strCpy(gps_EWind,"-",1);

strCpy(gps_PosFixInd,"-",1);

strCpy(gps_SatUsed,"-",2);

strCpy(gps_HDOP,"-",16);

strCpy(gps_Altitude,"-",16);

strCpy(gps_AltUnit,"-",16);

strCpy(gps_Status,"-",1);

strCpy(gps_SpeedOverGround,"-",16);

strCpy(gps_CourseOverGround,"-",16);

strCpy(gps_Date,"-",6);

iBuff0 = 0;

iBuff1 = 0;

useBuffer = 0;

lengthWaitBuffer = 0;

destination = 0;

coordConv(destCoord,"4713,0000","N","00133,0000","W"); // Nantes

coordConv(destCoord+1,"4313,9450","N","00526,6233","E"); // Polytech luminy

/* coordConv(destCoord+2,"4314,9500","N","00526,9633","E"); // Vaufrege*/

coordConv(destCoord+2,"4422,0000","N","00856,0000","E"); // Genova

/* coordConv(destCoord+3,"4313,6316","N","00526,3333","E"); // Crous*/

coordConv(destCoord+3,"4122,0000","N","00211,0000","E"); // Barcelone

setENABLE_GPS(1);

initTimer_A();

setFuncTimer_A(&vidageBuffer);

setTimer_A(1);

setFuncRx0(&RxBuff0);

connectGPS(1);

/* dist = distance(destCoord+1, destCoord+1);

// Nantes -> Marseille 128

dist = distance(destCoord, destCoord+1);

x = cap2(destCoord, destCoord+1,dist);

// Genova -> Marseille 246

dist = distance(destCoord+2, destCoord+1);

x = cap2(destCoord+2, destCoord+1,dist);

// Barcelone -> Marseille 51

dist = distance(destCoord+3, destCoord+1);

x = cap2(destCoord+3, destCoord+1,dist);

// Marseille -> Nantes 311

dist = distance(destCoord+1, destCoord);

x = cap2(destCoord+1, destCoord,dist);

x++;*/

}

void mettreEnAttente(char* data, int length){

waitBuffer = data;

lengthWaitBuffer = length;

}

void traiterDataGPS(void){

int i,j,chk;

i = 0;

while(i<lengthWaitBuffer){

//avencée vers le premier $

while(i<lengthWaitBuffer && waitBuffer[i]!='$') i++;

// waitBuffer[i+1] contient le début des données de la trames

//calcul du checksum

j = i+1;

chk = 0;

while(j<lengthWaitBuffer && waitBuffer[j]!='*'){

chk ^= waitBuffer[j];

j++;

}

//trame valide ?

if((j+3 < lengthWaitBuffer) && (chk == hexToInt(waitBuffer+j+1,2))){

waitBuffer[j+3] = 0;

if(!strCmp(waitBuffer+i,"$GPGGA")){

i += 7;

i += strCpy(gps_UTCPos, waitBuffer+i, 10) + 1;

i += strCpy(gps_Latitude, waitBuffer+i, 9) + 1;

i += strCpy(gps_NSind, waitBuffer+i, 1) + 1;

i += strCpy(gps_Longitude, waitBuffer+i, 10) + 1;

i += strCpy(gps_EWind, waitBuffer+i, 1) + 1;

i += strCpy(gps_PosFixInd, waitBuffer+i, 1) + 1;

i += strCpy(gps_SatUsed, waitBuffer+i, 2) + 1;

i += strCpy(gps_HDOP, waitBuffer+i, 16) + 1;

i += strCpy(gps_Altitude, waitBuffer+i, 16) + 1;

i += strCpy(gps_AltUnit, waitBuffer+i, 16) + 1;

}

else if(!strCmp(waitBuffer+i,"$GPRMC")){

i += 7;

i += strCpy(gps_UTCPos, waitBuffer+i, 10) + 1;

i += strCpy(gps_Status, waitBuffer+i, 1) + 1;

i += strCpy(gps_Latitude, waitBuffer+i, 9) + 1;

i += strCpy(gps_NSind, waitBuffer+i, 1) + 1;

i += strCpy(gps_Longitude, waitBuffer+i, 10) + 1;

i += strCpy(gps_EWind, waitBuffer+i, 1) + 1;

i += strCpy(gps_SpeedOverGround, waitBuffer+i, 16) + 1;

i += strCpy(gps_CourseOverGround, waitBuffer+i, 16) + 1;

i += strCpy(gps_Date, waitBuffer+i, 6) + 1;

}

}

i++;

}

lengthWaitBuffer = 0;

}

void RxBuff0(void){

if(iBuff0 < BUFF_SIZE)

buffer0[iBuff0++] = RXBUF0;

}

void RxBuff1(void){

if(iBuff1 < BUFF_SIZE)

buffer1[iBuff1++] = RXBUF0;

}

void vidageBuffer(void){

if(useBuffer==0){

useBuffer = 1;

setFuncRx0(&RxBuff1);

mettreEnAttente(buffer0,iBuff0+1);

iBuff0 = 0;

}

else if(useBuffer==1){

useBuffer = 0;

setFuncRx0(&RxBuff0);

mettreEnAttente(buffer1,iBuff1+1);

iBuff1 = 0;

}

}

char* getHeure(void){

temp[0] = gps_UTCPos[0];

temp[1] = gps_UTCPos[1];

if((gps_UTCPos[5] - '0')%2)

temp[2] = ':';

else

temp[2] = ' ';

temp[3] = gps_UTCPos[2];

temp[4] = gps_UTCPos[3];

temp[5] = 0;

return temp;

}

char* getLatitude(void){

int tconv;

char tchar[2];

int i;

if(coordValid()){

temp[0] = '0';

temp[1] = gps_Latitude[0];

temp[2] = gps_Latitude[1];

temp[3] = ' ';

temp[4] = gps_Latitude[2];

temp[5] = gps_Latitude[3];

temp[6] = '\'';

tconv = decToInt(gps_Latitude+5,4) * 0.6 / 100.0;

intToDec(tconv,tchar,2);

temp[7] = tchar[0];

temp[8] = tchar[1];

temp[9] = '\"';

temp[10] = gps_NSind[0];

temp[11] = 0;

}

else{

i = 0;

while(i<11)

temp[i++] = ' ';

temp[i] = 0;

}

return temp;

}

char* getLongitude(void){

int tconv, i;

char tchar[2];

if(coordValid()){

temp[0] = gps_Longitude[0];

temp[1] = gps_Longitude[1];

temp[2] = gps_Longitude[2];

temp[3] = ' ';

temp[4] = gps_Longitude[3];

temp[5] = gps_Longitude[4];

temp[6] = '\'';

tconv = decToInt(gps_Longitude+6,4) * 0.6 / 100.0;

intToDec(tconv,tchar,2);

temp[7] = tchar[0];

temp[8] = tchar[1];

temp[9] = '\"';

temp[10] = gps_EWind[0];

temp[11] = 0;

}

else{

i = 0;

while(i<11)

temp[i++] = ' ';

temp[i] = 0;

}

return temp;

}

char* getSatUsed(void){

temp[0] = gps_SatUsed[0];

temp[1] = gps_SatUsed[1];

temp[2] = 0;

return temp;

}

char* getAltitude(void){

int i = 0;

int j = 0;

if(coordValid()){

while(gps_Altitude[i]!=0 && i<16){

temp[i] = gps_Altitude[i];

i++;

}

temp[i] = ' ';

i++;

while(gps_AltUnit[j]!=0 && i<16){

temp[i] = gps_AltUnit[j];

i++;

j++;

}

}

while(i<10)

temp[i++] = ' ';

temp[i] = 0;

return temp;

}

char* getSpeed(void){

int i = 0;

float tconv;

if(coordValid()){

tconv = strToFloat(gps_SpeedOverGround,16);

tconv = tconv * 1.852;

i = floatToStr(tconv,temp+i,10,1);

temp[i++] = ' ';

temp[i++] = 'k';

temp[i++] = 'm';

temp[i++] = '/';

temp[i++] = 'h';

}

while(i<10)

temp[i++] = ' ';

temp[i] = 0;

return temp;

}

char* getOrientation(void){

int i = 0;

if(coordValid()){

while(gps_CourseOverGround[i] && i<16){

temp[i] = gps_CourseOverGround[i];

i++;

}

}

temp[i] = 0;

return temp;

}

float getFloatOrientation(void){

float res;

if(coordValid()){

res = strToFloat(gps_CourseOverGround,16);

while(res<0)

res += 360;

}

else

res = 0;

return res;

}

char* getDate(void){

return gps_Date;

}

int coordValid(void){

return (gps_Status[0] == 'A') && (gps_PosFixInd[0] == '1' || gps_PosFixInd[0] == '2' || gps_PosFixInd[0] =='3');

}

float getDistanceToDest(void){

gpsCoord current;

float res;

if(coordValid()){

coordConv(&current,gps_Latitude,gps_NSind,gps_Longitude,gps_EWind);

res = distance(&current,destCoord+destination);

}

else

res = 0;

return res;

}

char* getStrDistanceToDest(float distToDest){

int i = 0;

i += floatToStr(distToDest,temp,10,2);

temp[i++] = ' ';

temp[i++] = 'k';

temp[i++] = 'm';

while(i<9)

temp[i++] = ' ';

temp[i] = 0;

return temp;

}

float getCapToDest(float distToDest){

gpsCoord current;

float res;

if(coordValid()){

coordConv(&current,gps_Latitude,gps_NSind,gps_Longitude,gps_EWind);

res = cap(&current,&destCoord[destination],distToDest);

}

else

res = 0;

return res;

}

char* getStrCapToDest(float capToDest){

int i = 0;

i += floatToStr(capToDest,temp,10,1);

while(i<4)

temp[i++] = ' ';

temp[i] = 0;

return temp;

}

void setDestination(int dest){

if(dest>=0 && dest<4)

destination = dest;

}