/********************************************************************* * Flowcode GPS Component Code * * File: PIC_GPS.c * * (c) 2009 Matrix Multimedia Ltd. * http://www.matrixmultimedia.com * * Software License Agreement * * The software supplied herewith by Matrix Multimedia Ltd (the * “Company”) for its Flowcode graphical programming language is * intended and supplied to you, the Company’s customer, for use * solely and exclusively on the Company's products. The software * is owned by the Company, and is protected under applicable * copyright laws. All rights are reserved. Any use in violation * of the foregoing restrictions may subject the user to criminal * sanctions under applicable laws, as well as to civil liability * for the breach of the terms and conditions of this licence. * * THIS SOFTWARE IS PROVIDED IN AN “AS IS” CONDITION. NO WARRANTIES, * WHETHER EXPRESS, IMPLIED OR STATUTORY, INCLUDING, BUT NOT LIMITED * TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A * PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. THE COMPANY SHALL NOT, * IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL OR * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER. * * Changelog: * * date | by | description * -------+----+----------------------------------------------------- * 180309 | BR | Created * 080409 | BR | RS232 definition changes * 150409 | BR | Added functions for valid data and fixed bug with GPS module * 130509 | BR | Added % definitions to DefinesCode section * 100909 | BR | Added HiTECH Defines * 240210 | BR | Reduced work processed by the interrupt to reduce overall stack corruption and RAM usage * 120410 | BR | Removed all fixed locations from the process string function to improve reliability of the GPS parser * 120410 | BR | Added functionality for Error Detection, Auto Echo, UART Selection, Buffer Size and Ability to Select Which Data to Record * 190410 | BR | Added Course over ground recording * 310111 | BR | Fixed a bug when using the GPS with an 18F device TX needs to be enabled * 230311 | BR | Changed code to work for hitech and boostc without ifdefs ********************************************************************/ /********************************************************************* Return & parameter types: void char short char* float Pin directions: 0 = OUTPUT 2 = INPUT 3 = BIDIRECTIONAL ********************************************************************** [Settings] CLSID={} IsAnalogue=0 MultipleAllowed=0 Description=GPS Flowcode Component ********************************************************************** [Port] DesiredPort=0 PortMandatory=0 SamePortAsID=0 [Pins] Count=0 [PinPort] # PORTA = 0 # PORTB = 1 # PORTC = 2 # PORTD = 3 # PORTE = 4 [PinDesiredBit] [PinDirection] # DIR_INPUT = 2 # DIR_OUTPUT = 0 # DIR_BIDIRECTIONAL = 3 [PinMustUsePort] # boolean [SamePortAsPinX] # -1 = any pin # otherwise, the pin number [PinMustUsePin] # boolean [PinValue] # boolean (0 = off, 1 = on) ********************************************************************** [MacroNames] Count=17 1=GPS_Send_Char 2=GPS_Receive_Char 3=GPS_Process_String 4=Is_Data_Valid 5=Read_Longitude 6=Read_Latitude 7=Read_Altitude 8=Read_GroundSpeed 9=Read_Course_Over_Ground 10=Read_NumberOfSatellites 11=Read_UTC_Time 12=Read_UTC_Date 13=SkipToDataSection 14=CheckBufferOverflow 15=Read_DilutionOfPrecision 16=Read_HorizontalDilutionOfPrecision 17=Read_VerticalDilutionOfPrecision [MacroReturns] 1=void 2=char 3=void 4=char 5=float 6=float 7=float 8=float 9=float 10=char 11=char 12=char 13=char 14=char 15=float 16=float 17=float [MacroIsPrivate] 1=1 2=1 3=1 4=0 5=0 6=0 7=0 8=0 9=0 10=0 11=0 12=0 13=1 14=0 15=0 16=0 17=0 [MacroParameters_GetDefines] Count=0 [MacroParamTypes_GetDefines] [MacroParameters_GPS_Send_Char] Count=1 1=nChar [MacroParamTypes_GPS_Send_Char] 1=char [MacroParameters_GPS_Receive_Char] Count=0 [MacroParamTypes_GPS_Receive_Char] [MacroParameters_GPS_Process_String] Count=1 1=mx_in_length [MacroParamTypes_GPS_Process_String] 1=char [MacroParameters_Is_Data_Valid] Count=0 [MacroParamTypes_Is_Data_Valid] [MacroParameters_Read_Longitude] Count=0 [MacroParamTypes_Read_Longitude] [MacroParameters_Read_Latitude] Count=0 [MacroParamTypes_Read_Latitude] [MacroParameters_Read_Altitude] Count=0 [MacroParamTypes_Read_Altitude] [MacroParameters_Read_GroundSpeed] Count=0 [MacroParamTypes_Read_GroundSpeed] [MacroParameters_Read_Course_Over_Ground] Count=0 [MacroParamTypes_Read_Course_Over_Ground] [MacroParameters_Read_NumberOfSatellites] Count=0 [MacroParamTypes_Read_NumberOfSatellites] [MacroParameters_Read_UTC_Time] Count=1 1=unit [MacroParamTypes_Read_UTC_Time] 1=char [MacroParameters_Read_UTC_Date] Count=1 1=unit [MacroParamTypes_Read_UTC_Date] 1=char [MacroParameters_SkipToDataSection] Count=1 1=numtoskip [MacroParamTypes_SkipToDataSection] 1=char [MacroParameters_CheckBufferOverflow] Count=0 [MacroParamTypes_CheckBufferOverflow] [MacroParameters_Read_DilutionOfPrecision] Count=0 [MacroParamTypes_Read_DilutionOfPrecision] [MacroParameters_Read_HorizontalDilutionOfPrecision] Count=0 [MacroParamTypes_Read_HorizontalDilutionOfPrecision] [MacroParameters_Read_VerticalDilutionOfPrecision] Count=0 [MacroParamTypes_Read_VerticalDilutionOfPrecision] ********************************************************************/ /******************************************************************** * ADDITIONAL CODE ********************************************************************/ /*DefinesCode_Start*/ /**** Macro Substitutions **** %a = UART TXSTA Initialize Value %b = UART SPBRG Initialize Value %c = Amount of RAM memory to reserve for a GPS msg $GP"XXXx...x". (largest processed message "RMCx...x" ~58 bytes?) %d = 0: No Echo, 1: Auto Echo On Tx Pin Enabled %e = 1: UART1, 2: UART2 %f = Latitude Recording Control Mem Reqs - 10 bytes RAM ROM function FloatLib %g = Longitude Recording Control Mem Reqs - 11 bytes RAM ROM function FloatLib %h = Time Recording Control Mem Reqs - 3 bytes RAM ROM function %i = Date Recording Control Mem Reqs - 3 bytes RAM ROM function %j = Ground Speed Recording Control Mem Reqs - 8 bytes RAM ROM function FloatLib %k = Altitude Recording Control Mem Reqs - 8 bytes RAM ROM function FloatLib GGA MSG Parse %l = Satellite Count Recording Control Mem Reqs - 1 byte RAM ROM function GSV MSG Parse %m = Buffer Overflow Detection Mem Reqs - 1 byte RAM ROM function %n = Course Over Ground Recording Control Mem Reqs - 8 bytes RAM ROM function FloatLib %o = Dilution Of Precision Control Mem Reqs - 8 bytes RAM ROM function FloatLib %p = Horizontal DOP Mem Reqs - 8 bytes RAM ROM function FloatLib %q = Vertical DOP Mem Reqs - 8 bytes RAM ROM function FloatLib ******************************/ #ifndef MX_MIAC_SYSTEM #define MX_GPS_TXSTA %a //Baud Rate Defines, EB045 - 4800bps, EB056 - 9600bps #define MX_GPS_SPBRG %b #endif //Following Defines Control GPS Connectivity and functionality //**********************************************************// #define MX_GPS_BUFFER_SIZE 80 //%c //GPS Message RAM Size Control #define MX_GPS_ECHO 0 //%d //Echo Control #define MX_GPS_UART 1 //%e //UART Control #define MX_GPS_EN_LAT 1 //%f //Latitude Recording Control #define MX_GPS_EN_LON 1 //%g //Longitude Recording Control #define MX_GPS_EN_TIME 1 //%h //Time Recording Control #define MX_GPS_EN_DATE 1 //%i //Date Recording Control #define MX_GPS_EN_SPD 1 //%j //Ground Speed Recording Control #define MX_GPS_EN_ALT 1 //%k //Altitude Recording Control #define MX_GPS_EN_CNT 1 //%l //Satellite Count Recording Control #define MX_GPS_BUFFER_OV 1 //%m //Buffer Overflow Detection #define MX_GPS_EN_COG 1 //%n //Course over ground Recording Control #define MX_GPS_EN_DOP 1 //%o #define MX_GPS_EN_HDOP 1 //%o #define MX_GPS_EN_VDOP 1 //%o //**********************************************************// #ifndef MX_MIAC_SYSTEM //UART data variables char mx_incoming[MX_GPS_BUFFER_SIZE]; char mx_in_len = 0; char mx_in_status = 0; //GPS Data Recording Variables #if (MX_GPS_EN_LON == 1) char mx_lon_mins[7]; char mx_lon_deg[3]; char mx_lon_d; #endif #if (MX_GPS_EN_LAT == 1) char mx_lat_mins[7]; char mx_lat_deg[2]; char mx_lat_d; #endif #if (MX_GPS_EN_SPD == 1) char mx_gspeed[8]; #endif #if (MX_GPS_EN_ALT == 1) char mx_altitude[8]; #endif #if (MX_GPS_EN_CNT == 1) char mx_satcnt = 0; #endif #if (MX_GPS_EN_COG == 1) char mx_cog[8]; #endif #if (MX_GPS_EN_DOP == 1) char mx_dop[8]; #endif #if (MX_GPS_EN_HDOP == 1) char mx_hdop[8]; #endif #if (MX_GPS_EN_VDOP == 1) char mx_vdop[8]; #endif #if (MX_GPS_EN_TIME == 1) char mx_utc_hour = 0; char mx_utc_min = 0; char mx_utc_sec = 0; #endif #if (MX_GPS_EN_DATE == 1) char mx_utc_day = 0; char mx_utc_month = 0; char mx_utc_year = 0; #endif #if (MX_GPS_BUFFER_OV == 1) #define MX_GPS_ERR_BUFFER_FULL 1 #define MX_GPS_ERR_SECTION_NOT_FOUND 2 char mx_buff_overflow = 0; #endif char mx_data_validity = 0; #endif /*DefinesCode_End*/ /*InitialisationCode_Start*/ #ifdef MX_MIAC_SYSTEM #define MOD_ID (((%a & 0x0300) << 1) + ((%a & 0x001f) << 4)) << 5 MIAC_CAN_TX[0] = %b; MIAC_Module_WR(MOD_ID, 704, 1,1,0); MIAC_Module_GetAck(MOD_ID + 32, 704, 20); #undef MOD_ID #else #ifndef MX_UART #error "The target microcontroller does not have a UART" #endif #if (MX_GPS_UART == 1) txsta = MX_GPS_TXSTA; // 8-bit, async, low speed, off spbrg = MX_GPS_SPBRG; // set the baud rate 4800 rcsta = 0; // 8-bit, disabled st_bit(rcsta, SPEN); // turn on serial interface #endif #if (MX_GPS_UART == 2) txsta2 = MX_GPS_TXSTA; // 8-bit, async, low speed, off spbrg2 = MX_GPS_SPBRG; // set the baud rate 4800 rcsta2 = 0; // 8-bit, disabled st_bit(rcsta2, SPEN); // turn on serial interface #endif cr_bit (intcon, GIE); // Disable Global interrupts to ensure no stack corruption FCD_GPS0_GPS_Receive_Char(); // Dummy reads to clear any errors on bus FCD_GPS0_GPS_Receive_Char(); #if (MX_GPS_UART == 1) st_bit(txsta, TXEN); // Enable Transmitter - Fixes a bug on 18F devices. st_bit (pie1, RCIE); // Enable UART receive interrupts #endif #if (MX_GPS_UART == 2) st_bit(txsta2, TXEN); // Enable Transmitter - Fixes a bug on 18F devices. st_bit (pie4, RC2IE); // Enable UART receive interrupts #endif st_bit (intcon, PEIE); // Enable peripheral interrupts st_bit (intcon, GIE); // Enable Global interrupts #endif /*InitialisationCode_End*/ /*InterruptCode_Start*/ #ifndef MX_MIAC_SYSTEM char tst = 0; //Test for GPS UART receive interrupt #if (MX_GPS_UART == 1) tst = ts_bit(pir1, RCIF) && ts_bit(pie1, RCIE); #endif #if (MX_GPS_UART == 2) tst = ts_bit(pir4, RC2IF) && ts_bit(pie4, RC2IE); #endif if (tst) // Interrupt detected? { char in; #if (MX_GPS_UART == 1) cr_bit (pie1, RCIE); // Disable UART receive interrupts #endif #if (MX_GPS_UART == 2) cr_bit (pie4, RC2IE); // Disable UART receive interrupts #endif in = FCD_GPS0_GPS_Receive_Char(); switch (mx_in_status) { case 1: if (in == 'G') // G = Second character of command mx_in_status = 2; else mx_in_status = 0; break; case 2: if (in == 'P') // P = Third character of command mx_in_status = 3; else mx_in_status = 0; break; case 3: if (in == 0x0D) // Carrage return signifies end of command { mx_in_status = 0; FCD_GPS0_GPS_Process_String(mx_in_len); mx_in_len = 0; } else if (in < 255) // Valid Character { if (mx_in_len < MX_GPS_BUFFER_SIZE) // If available room in buffer { mx_incoming[mx_in_len] = in; // Add data to buffer mx_in_len = mx_in_len + 1; // Increment size of message } else { mx_in_status = 0; #if (MX_GPS_BUFFER_OV == 1) //If we get to here then the buffer has run out before the NMEA message has finished mx_buff_overflow = MX_GPS_ERR_BUFFER_FULL; #endif FCD_GPS0_GPS_Process_String(mx_in_len); // No space left in the buffer, send string to be processed mx_in_len = 0; } } else { mx_in_status = 0; mx_in_len = 0; } break; default: if (in == 36) // $ = First character of command mx_in_status = 1; break; } #if (MX_GPS_UART == 1) st_bit (pie1, RCIE); // Enable UART receive interrupts cr_bit (pir1, RCIF); // Clear interrupt #endif #if (MX_GPS_UART == 2) st_bit (pie4, RC2IE); // Enable UART receive interrupts cr_bit (pir4, RC2IF); // Clear interrupt #endif } #endif /*InterruptCode_End*/ /******************************************************************** * FUNCTIONS ********************************************************************/ void GPS_Send_Char(char nChar) { /*Macro_GPS_Send_Char_Start*/ #if (MX_GPS_UART == 1) st_bit(txsta, TXEN); while (ts_bit(pir1, TXIF) == 0); txreg = nChar; #endif #if (MX_GPS_UART == 2) st_bit(txsta2, TXEN); while (ts_bit(pir4, TX2IF) == 0); txreg2 = nChar; #endif /*Macro_GPS_Send_Char_End*/ } char GPS_Receive_Char() { /*Macro_GPS_Receive_Char_Start*/ char delay1 = 0; char dummy = 0; char retVal = 255; #if (MX_GPS_UART == 1) //UART1 st_bit(rcsta, CREN); if (ts_bit(pir1, RCIF) != 0) { if (ts_bit(rcsta, FERR) != 0) //received a Char dummy = rcreg; //need to read the rcreg to clear FERR else { if (ts_bit(rcsta, OERR) != 0) { cr_bit(rcsta, CREN); //disable receiver st_bit(rcsta, CREN); //enable receiver dummy = rcreg; //finally, read the rcreg to clear error } else retVal = rcreg; //no error, so rx byte is valid } } #endif #if (MX_GPS_UART == 2) //UART2 st_bit(rcsta2, CREN); if (ts_bit(pir4, RC2IF) != 0) { if (ts_bit(rcsta2, FERR) != 0) //received a Char dummy = rcreg2; //need to read the rcreg to clear FERR else { if (ts_bit(rcsta2, OERR) != 0) { cr_bit(rcsta2, CREN); //disable receiver st_bit(rcsta2, CREN); //enable receiver dummy = rcreg2; //finally, read the rcreg to clear error } else retVal = rcreg2; //no error, so rx byte is valid } } #endif #if (MX_GPS_ECHO == 1) GPS_Send_Char(retVal); #endif return (retVal); /*Macro_GPS_Receive_Char_End*/ } void GPS_Process_String(char mx_in_length) { /*Macro_GPS_Process_String_Start*/ #ifndef MX_MIAC_SYSTEM char command = 0; char idx, idxoffset; char tmp; #if (MX_GPS_EN_ALT == 1) if(mx_incoming[0] == 'G' && ( mx_incoming[1] == 'G' && mx_incoming[2] == 'A' )) // $GPGGA - GPS Altitude Data command = 1; #endif #if (MX_GPS_EN_CNT == 1) if(mx_incoming[0] == 'G' && ( mx_incoming[1] == 'S' && mx_incoming[2] == 'V' )) // $GPGSV - GPS Satellites in View command = 2; #endif if(mx_incoming[0] == 'R' && ( mx_incoming[1] == 'M' && mx_incoming[2] == 'C' )) // $GPRMC - Recommended Minimum Specific Data command = 3; if(mx_incoming[0] == 'G' && ( mx_incoming[1] == 'S' && mx_incoming[2] == 'A' )) // $GPGSA - DOP and Active Satellites command = 4; switch (command) { case 1: //Altitude #if (MX_GPS_EN_ALT == 1) idxoffset = SkipToDataSection (9); //Move to mx_altitude if (idxoffset) //If position found in string { for (idx = idxoffset; mx_incoming[idx] != ','; idx++) //Collect Altitude { tmp = idx - idxoffset; mx_altitude[tmp] = mx_incoming[idx]; } tmp = idx - idxoffset; if (tmp < 8) mx_altitude[tmp] = 0; //Terminate String } #endif break; case 2: //Satellite Count #if (MX_GPS_EN_CNT == 1) mx_satcnt = 0; //Initialise count idxoffset = SkipToDataSection (3); //Move to Satellite Count if (idxoffset) //If position found in string { for (idx = idxoffset; mx_incoming[idx] != ','; idx++) //Collect Satellite count { mx_satcnt = mx_satcnt * 10; mx_satcnt = mx_satcnt + (mx_incoming[idx] - '0'); } } #endif break; case 3: idxoffset = SkipToDataSection (2); //Read Data Validity position //UTC Time stamp is at start of message - fixed string locations should be ok and removes the need for extra commands #if (MX_GPS_EN_TIME == 1) if (idxoffset > 10) //Test timestamp data is there { mx_utc_hour = (mx_incoming[4] - '0') * 10; //Collect UTC Hour mx_utc_hour = mx_utc_hour + (mx_incoming[5] - '0'); mx_utc_min = (mx_incoming[6] - '0') * 10; //Collect UTC Min mx_utc_min = mx_utc_min + (mx_incoming[7] - '0'); mx_utc_sec = (mx_incoming[8] - '0') * 10; //Collect UTC Sec mx_utc_sec = mx_utc_sec + (mx_incoming[9] - '0'); } #endif //Data Vailidity if (mx_incoming[idxoffset] == 'A') mx_data_validity = 1; //Data is valid else mx_data_validity = 0; //Data is not valid //Lattitude #if (MX_GPS_EN_LAT == 1) idxoffset = SkipToDataSection (3); //move to start of Lattitude mx_lat_deg[0] = mx_incoming[idxoffset]; //Collect latitude degree idxoffset = idxoffset + 1; mx_lat_deg[1] = mx_incoming[idxoffset]; idxoffset = idxoffset + 1; for (idx = idxoffset; mx_incoming[idx] != ','; idx++) //Collect latitude minutes { tmp = idx - idxoffset; mx_lat_mins[tmp] = mx_incoming[idx]; } tmp = idx - idxoffset; if(tmp < 7) mx_lat_mins[tmp] = 0; //Terminate Latitude minutes string idxoffset = SkipToDataSection (4); //move to start of Lattitude Direction mx_lat_d = mx_incoming[idxoffset]; #endif //Longitude #if (MX_GPS_EN_LON == 1) idxoffset = SkipToDataSection (5); //move to start of Longitude mx_lon_deg[0] = mx_incoming[idxoffset]; //Collect longitude degree idxoffset = idxoffset + 1; mx_lon_deg[1] = mx_incoming[idxoffset]; idxoffset = idxoffset + 1; mx_lon_deg[2] = mx_incoming[idxoffset]; idxoffset = idxoffset + 1; for (idx = idxoffset; mx_incoming[idx] != ','; idx++) //Collect longitude minutes { tmp = idx - idxoffset; mx_lon_mins[tmp] = mx_incoming[idx]; } tmp = idx - idxoffset; if(tmp < 7) mx_lon_mins[tmp] = 0; //Terminate Longitude minutes string idxoffset = SkipToDataSection (6); //move to start of Longitude Direction mx_lon_d = mx_incoming[idxoffset]; #endif //Ground Speed #if (MX_GPS_EN_SPD == 1) idxoffset = SkipToDataSection (7); //move to start of Ground speed for (idx = idxoffset; mx_incoming[idx] != ','; idx++) //Collect ground speed { tmp = idx - idxoffset; mx_gspeed[tmp] = mx_incoming[idx]; } tmp = idx - idxoffset; if(tmp < 8) mx_gspeed[tmp] = 0; //Terminate speed string #endif //Course Over Ground #if (MX_GPS_EN_COG == 1) idxoffset = SkipToDataSection (8); //move to start of course angle for (idx = idxoffset; mx_incoming[idx] != ','; idx++) //Collect course angle { tmp = idx - idxoffset; mx_cog[tmp] = mx_incoming[idx]; } tmp = idx - idxoffset; if(tmp < 8) mx_cog[tmp] = 0; //Terminate speed string #endif //UTC Date #if (MX_GPS_EN_DATE == 1) idx = SkipToDataSection (9); //move to start of UTC date idxoffset = SkipToDataSection (10); //move to end of UTC date if((idxoffset - idx) > 6) //If the UTC date data is present { mx_utc_day = (mx_incoming[idx] - '0') * 10; //Collect UTC Day idx = idx + 1; mx_utc_day = mx_utc_day + (mx_incoming[idx] - '0'); idx = idx + 1; mx_utc_month = (mx_incoming[idx] - '0') * 10; //Collect UTC Month idx = idx + 1; mx_utc_month = mx_utc_month + (mx_incoming[idx] - '0'); idx = idx + 1; mx_utc_year = (mx_incoming[idx] - '0') * 10; //Collect UTC Year idx = idx + 1; mx_utc_year = mx_utc_year + (mx_incoming[idx] - '0'); } #endif break; case 4: //DOP #if (MX_GPS_EN_DOP == 1) idxoffset = SkipToDataSection (15); //Move to mx_dop if (idxoffset) //If position found in string { for (idx = idxoffset; mx_incoming[idx] != ','; idx++) //Collect Altitude { tmp = idx - idxoffset; mx_dop[tmp] = mx_incoming[idx]; } tmp = idx - idxoffset; if (tmp < 8) mx_dop[tmp] = 0; //Terminate String } #endif #if (MX_GPS_EN_HDOP == 1) idxoffset = SkipToDataSection (16); //Move to mx_dop if (idxoffset) //If position found in string { for (idx = idxoffset; mx_incoming[idx] != ','; idx++) //Collect Altitude { tmp = idx - idxoffset; mx_hdop[tmp] = mx_incoming[idx]; } tmp = idx - idxoffset; if (tmp < 8) mx_hdop[tmp] = 0; //Terminate String } #endif #if (MX_GPS_EN_VDOP == 1) idxoffset = SkipToDataSection (17); //Move to mx_dop if (idxoffset) //If position found in string { for (idx = idxoffset; mx_incoming[idx] != ','; idx++) //Collect Altitude { tmp = idx - idxoffset; mx_vdop[tmp] = mx_incoming[idx]; } tmp = idx - idxoffset; if (tmp < 8) mx_vdop[tmp] = 0; //Terminate String } #endif break; default: break; } #endif /*Macro_GPS_Process_String_End*/ } char Is_Data_Valid() { /*Macro_Is_Data_Valid_Start*/ #ifdef MX_MIAC_SYSTEM unsigned int ModID = (((%a & 0x0300) << 1) + ((%a & 0x001f) << 4)) << 5; MIAC_Module_WR(ModID, 705, 0,1,0); MIAC_Module_GetAck(ModID + 32, 705, 200); return MIAC_CAN_RX[0]; #else return mx_data_validity; #endif /*Macro_Is_Data_Valid_End*/ } float Read_Longitude() { /*Macro_Read_Longitude_Start*/ #if (MX_GPS_EN_LON == 1) #ifdef MX_MIAC_SYSTEM unsigned int ModID = (((%a & 0x0300) << 1) + ((%a & 0x001f) << 4)) << 5; MIAC_Module_WR(ModID, 706, 0,1,0); MIAC_Module_GetAck(ModID + 32, 706, 200); FloatConv.ByteArray[0] = MIAC_CAN_RX[0]; FloatConv.ByteArray[1] = MIAC_CAN_RX[1]; FloatConv.ByteArray[2] = MIAC_CAN_RX[2]; FloatConv.ByteArray[3] = MIAC_CAN_RX[3]; return FloatConv.FloatVal; #else char Degree; float Minute; float RetVal; Degree = FCI_STRING_TO_INT(mx_lon_deg, 3); Minute = FCI_STRING_TO_FLOAT(mx_lon_mins, 7); Minute = float32_div(Minute, 60); //Convert minute to fraction of a degree RetVal = float32_from_int32(Degree); RetVal = float32_add(Minute, RetVal); //Calculate position using BoostC float functions if (mx_lon_d == 'W') //West is negative longitude { RetVal = float32_sub(0, RetVal); } return RetVal; #endif #else return 0; #endif /*Macro_Read_Longitude_End*/ } float Read_Latitude() { /*Macro_Read_Latitude_Start*/ #if (MX_GPS_EN_LAT == 1) #ifdef MX_MIAC_SYSTEM unsigned int ModID = (((%a & 0x0300) << 1) + ((%a & 0x001f) << 4)) << 5; MIAC_Module_WR(ModID, 707, 0,1,0); MIAC_Module_GetAck(ModID + 32, 707, 200); FloatConv.ByteArray[0] = MIAC_CAN_RX[0]; FloatConv.ByteArray[1] = MIAC_CAN_RX[1]; FloatConv.ByteArray[2] = MIAC_CAN_RX[2]; FloatConv.ByteArray[3] = MIAC_CAN_RX[3]; return FloatConv.FloatVal; #else char Degree; float Minute; float RetVal; Degree = FCI_STRING_TO_INT(mx_lat_deg, 2); Minute = FCI_STRING_TO_FLOAT(mx_lat_mins, 7); Minute = float32_div(Minute, 60); //Convert minute to fraction of a degree RetVal = float32_from_int32(Degree); RetVal = float32_add(Minute, RetVal); //Calculate position using BoostC float functions if (mx_lat_d == 'S') //Southern hemisphere is negative latitude { RetVal = float32_sub(0, RetVal); } return RetVal; #endif #else return 0; #endif /*Macro_Read_Latitude_End*/ } float Read_Altitude() { /*Macro_Read_Altitude_Start*/ #if (MX_GPS_EN_ALT == 1) #ifdef MX_MIAC_SYSTEM unsigned int ModID = (((%a & 0x0300) << 1) + ((%a & 0x001f) << 4)) << 5; MIAC_Module_WR(ModID, 708, 0,1,0); MIAC_Module_GetAck(ModID + 32, 708, 200); FloatConv.ByteArray[0] = MIAC_CAN_RX[0]; FloatConv.ByteArray[1] = MIAC_CAN_RX[1]; FloatConv.ByteArray[2] = MIAC_CAN_RX[2]; FloatConv.ByteArray[3] = MIAC_CAN_RX[3]; return FloatConv.FloatVal; #else return FCI_STRING_TO_FLOAT(mx_altitude, 8); #endif #else return 0; #endif /*Macro_Read_Altitude_End*/ } float Read_GroundSpeed() { /*Macro_Read_GroundSpeed_Start*/ #if (MX_GPS_EN_SPD == 1) #ifdef MX_MIAC_SYSTEM unsigned int ModID = (((%a & 0x0300) << 1) + ((%a & 0x001f) << 4)) << 5; MIAC_Module_WR(ModID, 709, 0,1,0); MIAC_Module_GetAck(ModID + 32, 709, 200); FloatConv.ByteArray[0] = MIAC_CAN_RX[0]; FloatConv.ByteArray[1] = MIAC_CAN_RX[1]; FloatConv.ByteArray[2] = MIAC_CAN_RX[2]; FloatConv.ByteArray[3] = MIAC_CAN_RX[3]; return FloatConv.FloatVal; #else return FCI_STRING_TO_FLOAT(mx_gspeed, 8); #endif #else return 0; #endif /*Macro_Read_GroundSpeed_End*/ } float Read_Course_Over_Ground() { /*Macro_Read_Course_Over_Ground_Start*/ #if (MX_GPS_EN_COG == 1) #ifdef MX_MIAC_SYSTEM unsigned int ModID = (((%a & 0x0300) << 1) + ((%a & 0x001f) << 4)) << 5; MIAC_Module_WR(ModID, 710, 0,1,0); MIAC_Module_GetAck(ModID + 32, 710, 200); FloatConv.ByteArray[0] = MIAC_CAN_RX[0]; FloatConv.ByteArray[1] = MIAC_CAN_RX[1]; FloatConv.ByteArray[2] = MIAC_CAN_RX[2]; FloatConv.ByteArray[3] = MIAC_CAN_RX[3]; return FloatConv.FloatVal; #else return FCI_STRING_TO_FLOAT(mx_cog, 8); #endif #else return 0; #endif /*Macro_Read_Course_Over_Ground_End*/ } char Read_NumberOfSatellites() { /*Macro_Read_NumberOfSatellites_Start*/ #if (MX_GPS_EN_CNT == 1) #ifdef MX_MIAC_SYSTEM unsigned int ModID = (((%a & 0x0300) << 1) + ((%a & 0x001f) << 4)) << 5; MIAC_Module_WR(ModID, 711, 0,1,0); MIAC_Module_GetAck(ModID + 32, 711, 200); return(MIAC_CAN_RX[0]); #else return mx_satcnt; #endif #else return 0; #endif /*Macro_Read_NumberOfSatellites_End*/ } char Read_UTC_Time(char unit) { /*Macro_Read_UTC_Time_Start*/ #if (MX_GPS_EN_TIME == 1) #ifdef MX_MIAC_SYSTEM unsigned int ModID = (((%a & 0x0300) << 1) + ((%a & 0x001f) << 4)) << 5; MIAC_Module_WR(ModID, 712, 0,1,0); MIAC_Module_GetAck(ModID + 32, 712, 200); return(MIAC_CAN_RX[0]); #else switch(unit) { case 0: case 'S': case 's': return mx_utc_sec; case 1: case 'M': case 'm': return mx_utc_min; case 2: case 'H': case 'h': return mx_utc_hour; } #endif #endif return 0; /*Macro_Read_UTC_Time_End*/ } char Read_UTC_Date(char unit) { /*Macro_Read_UTC_Date_Start*/ #if (MX_GPS_EN_DATE == 1) #ifdef MX_MIAC_SYSTEM unsigned int ModID = (((%a & 0x0300) << 1) + ((%a & 0x001f) << 4)) << 5; MIAC_Module_WR(ModID, 713, 0,1,0); MIAC_Module_GetAck(ModID + 32, 713, 200); return(MIAC_CAN_RX[0]); #else switch(unit) { case 0: case 'D': case 'd': return mx_utc_day; case 1: case 'M': case 'm': return mx_utc_month; case 2: case 'Y': case 'y': return mx_utc_year; } #endif #endif return 0; /*Macro_Read_UTC_Date_End*/ } char SkipToDataSection (char numtoskip) { /*Macro_SkipToDataSection_Start*/ #ifndef MX_MIAC_SYSTEM char iteration; char idx = 0; for (iteration=0; iteration