Revision 2:8917036cbf69, committed 2012-01-31

Comitter:

guiott

Date:

Tue Jan 31 00:22:58 2012 +0000

Parent:

1:360c4a23cb1d

Child:

3:a2f9eb3b8a16

Commit message:

WDT optimized for reliability. A better organization of source code has be done separating each task in a dedicated module.

Changed in this revision

--- a/Common.h	Sun Jan 29 22:08:35 2012 +0000
+++ b/Common.h	Tue Jan 31 00:22:58 2012 +0000
@@ -6,4 +6,21 @@
 #define LCD_LIGHT_DIM_TIMER 5000
 #define SHOW_LCD_TIMER 500
 #define TEMP_TIMER 500
-#define WDT_TIMER 5
+#define WDT_TIMER 250
+#define WDT_TIMEOUT .3f
+
+
+typedef struct _DegMinSec
+{
+    int Deg;         
+    int Min; 
+    double Sec;        
+ } DegMinSec;
+
+typedef struct _DistAzimuth
+{
+    double Dist; 
+    double Azimuth[2];
+ } DistAzimuth;
+ 
+ enum DirLab{Mag, Dir, Gps};
\ No newline at end of file

--- a/Init.h	Sun Jan 29 22:08:35 2012 +0000
+++ b/Init.h	Tue Jan 31 00:22:58 2012 +0000
@@ -1,52 +1,18 @@
-// Ports initialization
-DigitalOut led1(LED1);
-DigitalOut led2(LED2);
-DigitalOut led3(LED3);
-DigitalOut led4(LED4);
-Serial pc(USBTX, USBRX);
-Serial gps(NC, GPSRX);
-
-PwmOut LcdBklight(p25);
-AnalogIn KeypadIn(p20);
+extern Serial pc;
+extern Watchdog wd;
 
 // Globals
-int size;
 int X=0, Y=0;
-char Key='-';
-
-char msgBuff[2][BUFF_SIZE];     // Receive data buffer from GPS module
-                                // Two buffer for double buffering
-volatile int writePointer = 0;  // Write pointer for active data buffer
-volatile unsigned int bufferSelect = 0; // Active buffer selector
 
-double latitude, longitude;
-double degrees, minutes;
+extern double latitude, longitude;
+extern double degrees, minutes;
 
-int SetTimeOk=0; // is RTC in sync?
-int PcMonitor=0;    // to control serial out on USB serial
-int Menu = 0;
-const char *Lab[]={"MAG", "DIR", "GPS"}; //Label to display in compass view
-int CmpPos[]={0,15,0}; //Compass position
-int Ang[3]; //Compass angle values
-enum DirLab{Mag, Dir, Gps};
+extern int SetTimeOk;
 
-nmeaINFO info;                  // Store GPS information 
-nmeaPARSER parser;
-
-typedef struct _DegMinSec
-{
-    int Deg;         
-    int Min; 
-    double Sec;        
- } DegMinSec;
+extern nmeaINFO info; 
+extern nmeaPOS Pos[];
+extern DistAzimuth Path;
+extern nmeaINFO Dest;
+extern int Menu;
 
-typedef struct _DistAzimuth
-{
-    double Dist; 
-    double Azimuth[2];
- } DistAzimuth;
-  
- DistAzimuth Path;
- nmeaPOS Pos[2];
- nmeaINFO Dest;
- 
+extern int Ang[];

--- a/LeonardoMbos.cpp	Sun Jan 29 22:08:35 2012 +0000
+++ b/LeonardoMbos.cpp	Tue Jan 31 00:22:58 2012 +0000
@@ -61,15 +61,11 @@
 #include <string>
 #include "TextLCD.h"
 #include "nmea/nmea.h"
+#include <Watchdog.h>
 #include "Init.h" 
 #include "Prototype.h"
 #include "mbos.h"
 #include "Tasks.h"
-#include <Watchdog.h>
-
-TextLCD lcd(p12, p11, p24, p23, p22, p21, TextLCD::LCD20x4); // rs, e, d4-d7
-
-Watchdog wd;
 
 // Set up RTOS;
 mbos os(NUM_TASKS, NUM_TIMERS, NUM_RESOURCES);
@@ -81,13 +77,23 @@
     {
         pc.printf("Watchdog caused reset**********************************\r\n");
     }
-    wd.Configure(WDT_TIMER);       // sets the timeout interval
+    wd.Configure(WDT_TIMEOUT);       // sets the timeout interval
 
     os.Start(); // the RTOS starts now
 }
 
 //functions =====================================================================
 
+void mbosIdleTask(void)
+{/**
+ *\brief TASK 0 watchdog kick
+ */
+ while(1)
+ {
+
+ }
+}
+
 int CmpRead(void)
 {/**
  *\brief Magnetic Compass reading 
@@ -99,850 +105,3 @@
     return(Cmp);
 }
 
-void mbosIdleTask(void)
-{/**
- *\brief TASK 0 watchdog kick
- */
- while(1)
- {
-    wd.Service();       // kick the dog before the timeout
- }
-}
-
-void TempTask(void)
-{/**
- *\brief TASK 8 used to temporary test some functions 
- */
- static int TempAng;
- while (1)
- {
-  os.WaitEvent(TEMP_EVT); 
-  
-  if((TempAng+=5) >=360)
-  {
-    TempAng=0;
-  }
-  Ang[Mag]=TempAng;
-  Ang[Dir]=360-TempAng;
-  Ang[Gps]=180-TempAng;
-  printf("%i %i  %i \n", Ang[0], Ang[1], Ang[2]);
- }
-}
-
-void GpsStringParse(void)
-{/**
- *\brief parse the GPS string to extract info
- */
-    gps.attach(NULL);   // Suspend serial interrupt while buffer change
-    size = writePointer;
-    writePointer = 0;
-    bufferSelect++;     // Change buffer
-    gps.attach( &GpsSerialIsr );  // Resume serial interrupt
-    nmea_parse(&parser, msgBuff[(bufferSelect-1)&1], size, &info);
-    Coordinates(); // transform nmea coordinates in decimal degrees
-}
-
-void GpsDist(void)
-{/**
- *\brief compute the distance and direction (forward and reverse) 
-    from point A to point B on the ellipsoid
- */
-  
-    nmea_info2pos(&info, &Pos[0]);  // current position  
-    nmea_info2pos(&Dest, &Pos[1]);  // destination 
-
-    Path.Dist = nmea_distance_ellipsoid(&Pos[0], &Pos[1], &Path.Azimuth[1], &Path.Azimuth[0]);
-
-    if(Path.Azimuth[0] > NMEA_PI) 
-    {// reverse direction
-        Path.Azimuth[0] = Path.Azimuth[0] - NMEA_PI; 
-    }
-    else
-    {
-        Path.Azimuth[1] = Path.Azimuth[1] + NMEA_PI; 
-    }
-
-    for(int i=0; i < 2; i++)
-    {
-        Path.Azimuth[i]=(nmea_radian2degree(Path.Azimuth[i]));
-        if(Path.Azimuth[i] > 360)
-        {
-            Path.Azimuth[i] = Path.Azimuth[i] - 360;
-        }
-        if(Path.Azimuth[i] < 0)
-        {
-            Path.Azimuth[i] = Path.Azimuth[i] + 360;
-        }
-    }
-}
-
-void LcdLightDimTask(void)
-{/** 
- *\brief TASK 7, control the LCD backlight intensity to smoothly
-         switch it on or off
- */
- static float LightVal=1;
-        
- while(1)
- {       
-    os.WaitEvent(LCD_LIGHT_DIM_ON_EVT | LCD_LIGHT_DIM_OFF_EVT); 
-    if(os.GetEvent()==LCD_LIGHT_DIM_ON_EVT)
-    {
-      if(LightVal<1)
-      {
-        for (LightVal=0; LightVal<=1; LightVal+=0.01f)
-        {
-            LcdBklight=LightVal;
-            wait_ms(10);
-        }
-      }
-    // Set the timer for the power saving backlight switch off
-    os.ClearTimer(LCD_LIGHT_DIM_OFF_TMR);
-    os.SetTimer(LCD_LIGHT_DIM_OFF_TMR, LCD_LIGHT_DIM_TIMER, 0);
-    }
-    else if(os.GetEvent()==LCD_LIGHT_DIM_OFF_EVT)
-    {// The dimming off is slower than lighting up
-        for (LightVal=1; LightVal>=0; LightVal-=0.01f)
-        {
-            LcdBklight=LightVal;           
-            wait_ms(30);
-        }        
-    }
- }
-}
-
-void Coordinates(void)
-{/**
- *\brief transform nmea coordinates in decimal degrees
- */
-    degrees = trunc(info.lat / 100.0);
-    minutes = info.lat - (degrees * 100.0);
-    latitude = degrees + minutes / 60.0;
-    degrees = trunc(info.lon / 100.0);
-    minutes = info.lon - (degrees * 100.0);
-    longitude = degrees + minutes / 60.0;
- }
-  
-void Deg2DegMinSec(double DecDeg, DegMinSec *DecSec)
-{/**
- *\brief convert decimalDeg to Deg Min decimalSec
- */
-    DecSec->Deg = trunc(DecDeg);
-    double MinDec = (DecDeg - DecSec->Deg);
-    DecSec->Min = trunc(MinDec * 60);
-    DecSec->Sec = (MinDec * 3600) - (DecSec->Min * 60);
- }
-   
-void ShowPcTask(void) 
-{/**
- *\brief TASK 6, if a PC is connected, debug information can be sent to the console
- */
- static int it = 0;
- int i;
- DegMinSec DecCoord;
-    
- os.SetTimer(SHOW_PC_TMR, 1000, 1000);
- while(1)
- {
-    os.WaitEvent(SHOW_PC_EVT); 
-
-    if(pc.readable())
-    {// wait for an input
-        PcMonitor = (pc.getc()-48); // digit a number to en/dis-able debug
-     }
-     
-    if( PcMonitor==1 || PcMonitor>5)
-    {// Display Info parameters 
-        pc.printf(
-        "%03d, Lat: %f, Lon: %f, Sig:%d, Fix:%d, Inuse:%d\r\n",
-        it++, latitude, longitude, info.sig, info.fix, info.satinfo.inuse );
-        for (i = 0; i < NMEA_MAXSAT; i++) 
-            {
-            if (info.satinfo.sat[i].sig > 0)
-            pc.printf("  sat_id:%02d, sig:%02d, Inuse:%d\r\n",
-                      info.satinfo.sat[i].id , info.satinfo.sat[i].sig, 
-                      info.satinfo.sat[i].in_use);
-            }
-        pc.printf("\r\n");
-    }
-    
-    if( PcMonitor==2 || PcMonitor>5)
-    {// Display Distance parameters 
-        Deg2DegMinSec(nmea_radian2degree(Pos[0].lat), &DecCoord);
-        pc.printf("Lat1:%d %d\'%.3f\"  ", DecCoord.Deg, DecCoord.Min, DecCoord.Sec);
-        Deg2DegMinSec(nmea_radian2degree(Pos[0].lon), &DecCoord);
-        pc.printf("Lon1:%d %d\'%.3f\"  ", DecCoord.Deg, DecCoord.Min, DecCoord.Sec);
-        Deg2DegMinSec(nmea_radian2degree(Pos[1].lat), &DecCoord);
-        pc.printf("Lat2:%d %d\'%.3f\"  ", DecCoord.Deg, DecCoord.Min, DecCoord.Sec);
-        Deg2DegMinSec(nmea_radian2degree(Pos[1].lon), &DecCoord);
-        pc.printf("Lon2:%d %d\'%.3f\"  \n", DecCoord.Deg, DecCoord.Min, DecCoord.Sec);
-        pc.printf("Dist:%f  Azimuth Start:%f  Azimuth Final:%f \n\n",
-                  Path.Dist, Path.Azimuth[0], Path.Azimuth[1]); 
-    }
-  }   
-}
-
-void ShowLcdTask(void)
-{/**
- *\brief TASK 3, display desired data on LCD
- */
- 
- static int Previous=0;
-
- os.SetTimer(SHOW_LCD_TMR, SHOW_LCD_TIMER, 0);
- while(1)
- {
- os.WaitEvent(SHOW_LCD_EVT);
-
-    if(Previous != Menu)
-    {// clear the display when function changes
-        lcd.cls();
-        Previous=Menu;
-    }
-    
-    switch(Menu)
-    {
-        case 0:
-            showSatLcd();
-            Previous=0;
-            break;
-            
-        case 1:
-            if(info.sig != 0)
-            {
-                showInfoLcd();
-            }
-            else
-            {
-                showSatLcd();
-            }
-            Previous=1;    
-            break;
-        
-        case 2:
-            showMenuLcd();
-            Previous=2;    
-            break;
-            
-        case 3:
-            showMenuLcd1();
-            Previous=3;    
-            break;  
-            
-        case 4: 
-            ShowPathLcd();
-            Previous=4;    
-            break; 
-            
-        default:
-            showInfoLcd();
-            break;
-    }
-    //restart timer for other options
-    os.SetTimer(SHOW_LCD_TMR, SHOW_LCD_TIMER, 0); 
- }
-}
-
-void ShowPathLcd(void)
-{
-    static int ChooseDir=0;
-    DegMinSec DecCoord;
-
-    Ang[Gps]=info.direction;
-    Ang[Mag]=CmpRead()-info.declination; //Compass reading corrected by declination
-    Ang[Dir]=Path.Azimuth[0];
-
-    ChooseDir++;
-    if(ChooseDir<7)
-    {
-        showDirLcd(Mag);
-    }
-    else if(ChooseDir>=7 && ChooseDir<12)
-    {
-        showDirLcd(Gps);
-    }
-    else if(ChooseDir>=12)
-    {
-       ChooseDir=0;
-    }
-    showDirLcd(Dir);
-    
-    Deg2DegMinSec(nmea_ndeg2degree(Dest.lat), &DecCoord);
-    lcd.locate(6,0);
-    lcd.printf("%d%d\'%.0f", DecCoord.Deg, DecCoord.Min, DecCoord.Sec);
-    lcd.printf("%c", Dest.lat >= 0 ? 'N': 'S');  
-    
-    Deg2DegMinSec(nmea_ndeg2degree(Dest.lon), &DecCoord);
-    lcd.locate(6,1);
-    lcd.printf("%d%d\'%.0f", DecCoord.Deg, DecCoord.Min, DecCoord.Sec);
-    lcd.printf("%c", Dest.lon >= 0 ? 'E': 'W');  
-    
-    lcd.locate(6,2);
-    lcd.printf(" dist m");
-    lcd.locate(6,3);
-    lcd.printf("%4.3f",Path.Dist);
-    
-
-}
-
-void showDirLcd(int Indx)
-{/**
- *\brief  display a sort of compass on LCD
- */
-    int Angle;
-
-    Angle=Ang[Indx]/18;
-
-    lcd.locate(CmpPos[Indx],0);
-    lcd.printf("  %c  ",0xA5);
-    lcd.locate(CmpPos[Indx],1);
-    lcd.printf("%c   %c",0xA5, 0xA5);
-    lcd.locate(CmpPos[Indx],2);
-    lcd.printf("%c   %c",0xA5, 0xA5);
-    lcd.locate(CmpPos[Indx],3);
-    lcd.printf("  %c  ",0xA5);
-    
-    lcd.locate(CmpPos[Indx]+1,1);
-    lcd.printf(Lab[Indx]);
-    lcd.locate(CmpPos[Indx]+1,2);
-    lcd.printf("%03i",Ang[Indx]);
-        
-    switch (Angle)
-    {
-        case 0:
-            lcd.locate(CmpPos[Indx]+2,0);
-            lcd.printf("%c",0xFF);
-            break;
-        case 1:
-            lcd.locate(CmpPos[Indx]+2,0);
-            lcd.printf("%c",0xFF);
-            lcd.locate(CmpPos[Indx]+3,0);
-            lcd.printf("%c",0xFF);
-            break;
-        case 2:
-            lcd.locate(CmpPos[Indx]+3,0);
-            lcd.printf("%c",0xFF);
-            break;        
-        case 3:
-            lcd.locate(CmpPos[Indx]+3,0);
-            lcd.printf("%c",0xFF);
-            lcd.locate(CmpPos[Indx]+4,1);
-            lcd.printf("%c",0xFF);
-            break;        
-        case 4:
-            lcd.locate(CmpPos[Indx]+4,1);
-            lcd.printf("%c",0xFF);
-            break;
-        case 5:       
-            lcd.locate(CmpPos[Indx]+4,1);
-            lcd.printf("%c",0xFF);
-            lcd.locate(CmpPos[Indx]+4,2);
-            lcd.printf("%c",0xFF);
-            break;
-        case 6:   
-            lcd.locate(CmpPos[Indx]+4,2);
-            lcd.printf("%c",0xFF);
-            break;
-        case 7:       
-            lcd.locate(CmpPos[Indx]+4,2);
-            lcd.printf("%c",0xFF);
-            lcd.locate(CmpPos[Indx]+3,3);
-            lcd.printf("%c",0xFF);
-            break;
-        case 8:   
-            lcd.locate(CmpPos[Indx]+3,3);
-            lcd.printf("%c",0xFF);
-            break;
-        case 9:       
-            lcd.locate(CmpPos[Indx]+3,3);
-            lcd.printf("%c",0xFF);
-            lcd.locate(CmpPos[Indx]+2,3);
-            lcd.printf("%c",0xFF);
-            break;
-        case 10:   
-            lcd.locate(CmpPos[Indx]+2,3);
-            lcd.printf("%c",0xFF);
-            break;     
-        case 11:       
-            lcd.locate(CmpPos[Indx]+2,3);
-            lcd.printf("%c",0xFF);
-            lcd.locate(CmpPos[Indx]+1,3);
-            lcd.printf("%c",0xFF);
-            break;
-        case 12:   
-            lcd.locate(CmpPos[Indx]+1,3);
-            lcd.printf("%c",0xFF);
-            break;     
-        case 13:       
-            lcd.locate(CmpPos[Indx]+1,3);
-            lcd.printf("%c",0xFF);
-            lcd.locate(CmpPos[Indx]+0,2);
-            lcd.printf("%c",0xFF);
-            break;
-        case 14:   
-            lcd.locate(CmpPos[Indx]+0,2);
-            lcd.printf("%c",0xFF);
-            break;  
-        case 15:       
-            lcd.locate(CmpPos[Indx]+0,2);
-            lcd.printf("%c",0xFF);
-            lcd.locate(CmpPos[Indx]+0,1);
-            lcd.printf("%c",0xFF);
-            break;
-        case 16:   
-            lcd.locate(CmpPos[Indx]+0,1);
-            lcd.printf("%c",0xFF);
-            break;  
-        case 17:       
-            lcd.locate(CmpPos[Indx]+0,1);
-            lcd.printf("%c",0xFF);
-            lcd.locate(CmpPos[Indx]+1,0);
-            lcd.printf("%c",0xFF);
-            break;   
-        case 18:   
-            lcd.locate(CmpPos[Indx]+1,0);
-            lcd.printf("%c",0xFF);
-            break;  
-        case 19:       
-            lcd.locate(CmpPos[Indx]+1,0);
-            lcd.printf("%c",0xFF);
-            lcd.locate(CmpPos[Indx]+2,0);
-            lcd.printf("%c",0xFF);
-            break;   
-    }
-}
-
-void showMenuLcd(void)
-{/**
- *\brief  display a selection menu on LCD
- */
-    lcd.locate(0,0);
-    lcd.printf("1 - item 1");
-    lcd.locate(0,1);
-    lcd.printf("2 - item 2");
-    lcd.locate(0,2);
-    lcd.printf("3 - item 3");
-    lcd.locate(0,3);
-    lcd.printf("4 - item 4");    
-}
-
-void showMenuLcd1(void)
-{/**
- *\brief  display a selection menu on LCD
- */
-    lcd.locate(0,0);
-    lcd.printf("5 - item 5");
-    lcd.locate(0,1);
-    lcd.printf("6 - item 6");
-    lcd.locate(0,2);
-    lcd.printf("7 - item 7");
-    lcd.locate(0,3);
-    lcd.printf("8 - item 8");    
-}
-
-void showSatLcd(void) 
-{/**
- *\brief displays satellite informations
- */
-    for (int i = 0; i < NMEA_MAXSAT; i++) 
-    {
-        if(info.satinfo.sat[i].id < 20)
-        {
-            lcd.locate((info.satinfo.sat[i].id % 20) - 1,0);
-        }
-        else
-        {
-            lcd.locate((info.satinfo.sat[i].id % 20) - 1,1);    
-        }
-        
-        if (info.satinfo.sat[i].sig > 0)
-        {
-            lcd.printf("%d",info.satinfo.sat[i].sig/10);
-        }
-        else
-        {
-            lcd.printf(" ");    
-        }                   
-    }
-    lcd.locate(0,2);
-    lcd.printf("12345678901234567890");
-    lcd.locate(0, 3);
-    lcd.printf("P%2.1f H%2.1f V%2.1f %iD",
-    info.PDOP, info.HDOP, info.VDOP,info.fix);
-}    
-    
-void showInfoLcd(void) 
-{/**
- *\brief Show nmea info on LCD 
- */
-
-//    static int lastSat = 0;
-//    int satInview = 0;
-
- if(info.sig != 0)
- { 
-    lcd.locate(0, 0);
-    lcd.printf("%2.5f%c %3.5f%c",
-            latitude, info.lat >= 0 ? 'N': 'S',  
-            longitude, info.lon >= 0 ? 'E': 'W');
-  
-    lcd.locate(0, 1);
-    lcd.printf("H%.0f D%.0f_%.1f %iD", info.elv, info.direction, info.declination, info.fix);
-
-    lcd.locate(0, 2);
-    lcd.printf("P%2.1f H%2.1f V%2.1f S%i/%i",
-        info.PDOP, info.HDOP, info.VDOP, info.satinfo.inuse, info.satinfo.inview);
-        
-   /* lcd.locate(0, 3);
-    lcd.printf("%02d-%02d-%04d %02d:%02d:%02d ", 
-        info.utc.day, info.utc.mon + 1, info.utc.year + 1900,
-        info.utc.hour, info.utc.min, info.utc.sec); // Display JST (UTC + 9)
-   */
-
-/*
-    lcd.locate(0, 5);
-    for (int i = 0; i < NMEA_MAXSAT; i++) {
-        if (info.satinfo.sat[i].sig > 0) {
-            satInview++;
-            lcd.printf("  sat_id:%02d, sig:%02d, Inuse:%d \n",
-                      info.satinfo.sat[i].id , info.satinfo.sat[i].sig,
-                      info.satinfo.sat[i].in_use);
-        }
-    }
-    for (int j = satInview; j <= lastSat; j++)
-        lcd.printf("                             \n");     // delete line
-    lastSat = satInview;
- */
- 
- } 
- else
- {
-    lcd.cls();
-    lcd.locate(0,0);
-    lcd.printf("NO FIX"); 
- }
-
- // Grab a snapshot of the current RTC time.
- time_t seconds = time(NULL);
- char buffer[32];
- if((info.sig != 0)&&(SetTimeOk!=0))  
- {
-    strftime(buffer, 32, "%x %X", localtime(&seconds));
- }
- else
- {// if GPS time not valid doesn't display seconds
-     strftime(buffer, 32, "%x %H:%M", localtime(&seconds));
-     SetTimeOk = 0; // RTC was not set to a valid time 
- }
- lcd.locate(0,3);
- lcd.printf("%s", buffer);
-}
-
-void SetTimeTask(void)
-{/**
- *\brief TASK 5, Set RTC system time if the GPS time is valid
- */
- struct tm t;
- 
- os.SetTimer(SET_TIME_TMR, 60000, 60000);
- while(1)
- {  
- os.WaitEvent(SET_TIME_EVT);
-
-    if(info.sig != 0)    
-    {
-       t.tm_mday=info.utc.day;
-       t.tm_mon=info.utc.mon;
-       t.tm_year=info.utc.year; 
-       t.tm_hour=info.utc.hour;
-       t.tm_min=info.utc.min;
-       t.tm_sec=info.utc.sec;        
-          
-        time_t seconds = mktime(&t);       
-        set_time(seconds);
-        
-        SetTimeOk = 1; // RTC was set 
-    }
- }    
-}
-
-void LedBlinkTask(void)
-{/**
- *\brief TASK 4
-         LED 1: Quick blink=NOT fix, Slow blink=fix OK  
-         LED 2: blinks proportionally to HDOP
-         LED 3: blinks proportionally to VDOP
- */
-
- static int LedCnt1=0;
- //    static int LedCnt2=0;
- int OnH=0;
- int OnV=0;
-
- #define MAX 20
-  
- os.SetTimer(LED_BLINK_TMR, 100, 100);
-
- while(1)
- {
-    os.WaitEvent(LED_BLINK_EVT);
-            
-    if((info.HDOP>0)&&(info.HDOP<=2))
-    {
-        OnH=2;
-    }
-    else if((info.HDOP>2)&&(info.HDOP<=4))
-    {
-        OnH=4;    
-    }
-    else if((info.HDOP>4)&&(info.HDOP<=6))
-    {
-        OnH=6;    
-    }
-    else if((info.HDOP>6))
-    {
-        OnH=MAX/2;    
-    }        
-
-    if((info.VDOP>0)&&(info.VDOP<=2))
-    {
-        OnV=2;
-    }
-    else if((info.VDOP>2)&&(info.VDOP<=4))
-    {
-        OnV=4;    
-    }
-    else if((info.VDOP>4)&&(info.VDOP<=6))
-    {
-        OnV=6;    
-    }
-    else if((info.VDOP>6))
-    {
-        OnV=MAX/2;    
-    } 
-           
-    if(info.sig == 0)
-    {
-        led1=!led1;
-        led2=0;
-        led3=0;
-    }
-    else
-    {
-       if(LedCnt1<=MAX/2)
-       {
-            LedCnt1++;
-            led1=0;
-            if(LedCnt1<OnH)
-            {
-               led2=!led2; 
-            }
-            else 
-            {
-                led2=0;
-            }    
-            
-            if(LedCnt1<OnV)
-            {
-               led3=!led3; 
-            }
-            else 
-            {
-                led3=0;
-            }          
-       } 
-       else if((LedCnt1>MAX/2)&&(LedCnt1<=MAX))
-       {
-            LedCnt1++;
-            led1=1;
-            led2=0;
-            led3=0;
-       }
-       else if(LedCnt1>MAX)
-       {
-            LedCnt1=0;       
-       }
-    }
- }
-}
-
-
-void KeypadTask(void)
-{/**
- *\brief TASK 2, Keypad management. 
-         It uses just one ADC port. Five keys switch a 5 resistor ladder
-         obtaining a unique voltage for each key, with a priority that 
-         depends from the position of the resistor in the ladder.
-         This function makes an average of 50 analog values (50ms) before 
-         confirming the output, to filter out some noise and debounce keys
- */
-
-    static float KeypadAcc;         // accumulator to compute average
-    static float KeypadPrev;        // previous value to compute variation 
-    static int KeypadCount;         // all samples number
-    static int KeypadRealCount;     // valid samples only
-    float KeypadVal;  
-    static char KeyPrev='-';
-    
-    os.SetTimer(KEYPAD_TMR, 1, 1);
-    while(1)
-    {
-        os.WaitEvent(KEYPAD_EVT);
-        float InValue = KeypadIn.read();
-        if ((InValue > 0.3) && (abs(InValue - KeypadPrev) < 0.1))
-        {// makes the average only of the values above a threshold 
-         // and within an almost stable range
-            KeypadAcc+=InValue;
-            KeypadRealCount++;
-        }
-            
-        KeypadCount++;
-        KeypadPrev=InValue;
-    
-        if (KeypadCount >=50)
-        {
-            if(KeypadRealCount > 25)
-            {
-                KeypadVal=KeypadAcc/KeypadRealCount;
-            }
-            else
-            {// not enough values to average
-    
-                KeypadVal=0;
-            }
-           
-            KeypadAcc=0;
-            KeypadCount=0;
-            KeypadRealCount=0;
-         
-            if(KeypadVal <0.15)
-            {
-                Key='-';
-            }
-            else if(KeypadVal>=0.3 && KeypadVal<0.35)
-            {
-                Key='E';
-            }
-            else if(KeypadVal>=0.42 && KeypadVal<0.50)
-            {
-                Key='v';
-            }
-            else if(KeypadVal>=0.60 && KeypadVal<0.65)
-            {
-                Key='^';
-            }
-            else if(KeypadVal>=0.74 && KeypadVal<0.78)
-            {
-                Key='>';
-            }        
-            else if(KeypadVal>=0.85)
-            {
-                Key='<';
-            }
-            
-            if (Key!='-' && Key!=KeyPrev)
-            {// switch on the LCD backlight if key pressed
-                os.SetEvent(LCD_LIGHT_DIM_ON_EVT, LCD_LIGHT_DIM_TASK);
-            }
-            KeyPrev=Key;
-            switch (Key)
-            {
-                case '^':
-                    Menu=0;
-                break;
-     
-                case '>':
-                    Menu=1;
-                break;           
-     
-                case 'v':
-                    Menu=2;
-                break;
-                
-                case '<':
-                    Menu=3;
-                break;
-                
-                case 'E':
-                    Menu=4;
-                break;
-            }     
-       }
-   } 
-}
-
-void trace_h(const char *str, int str_size) 
-{/**
- *\brief output on console what's received on GPS serial
-          Callback function for NMEA parser buffer trace
- */
-    if( PcMonitor==5 || PcMonitor>5)
-    {
-        for (int i = 0; i < str_size; i++)
-        {
-            pc.putc(*str++);
-        }        
-    }
-}
-
-void error_h(const char *str, int str_size) 
-{/**
- *\brief Callback function for NMEA parser error
- */
-    for (int i = 0; i < str_size; i++)
-    {
-        pc.putc(*str++);
-    }    
-}
-
-void GpsSerialTask(void) 
-{/**
- *\brief TASK 1, wait for the event then get the input char
- */
- while(1)
- {
-    os.WaitEvent(GPS_SERIAL_IN_EVT);
-    GpsStringParse();
-            
-    Dest.lat= 4151.32496; // ***************debug
-    Dest.lon= 1229.34; // *************debug
-
-    GpsDist();
- }
-}
-
-void GpsSerialIsr(void) 
-{/**
- *\brief Interrupt handler for serial Rx
-         set the event for the serial task
- */
-    char c = gps.getc();
-    msgBuff[bufferSelect & 1][writePointer] = c;
-    if (writePointer++ == BUFF_SIZE)
-    {
-        writePointer = 0;
-    }
-    if (writePointer > 200) 
-    {// GPS input buffer full, start computing coordinates
-        os.SetEvent(GPS_SERIAL_IN_EVT, GPS_SERIAL_TASK);
-    }
-}
-
-double trunc(double v) 
-{/**
- *\brief Return nearest integer vaule less than input
- *
- *\parameters double variable to get nearest ingeger
- *
- *\return double 
- */
-    if(v < 0.0) 
-    {
-        v*= -1.0;
-        v = floor(v);
-        v*=-1.0;
-    } else {
-        v = floor(v);
-    }
-    return v;
-}

--- a/Prototype.h	Sun Jan 29 22:08:35 2012 +0000
+++ b/Prototype.h	Tue Jan 31 00:22:58 2012 +0000
@@ -1,27 +1,14 @@
 //================= Prototypes =================
-void ShowPathLcd(void);
-int CmpRead(void);
-void TempTask(void);
-void LcdLightDimTask(void);
 void Initialize (void);
 int TimerStart(void);
 void TimerStop(int Tstart, int Index);
-void GpsStringParse(void);
-void GpsDist(void);
+
+//GPS
 void Deg2DegMinSec(double DecDeg, DegMinSec *DecSec);
-void GpsDist(void);
-void showDirLcd(int Indx);
-void showMenuLcd1(void);
-void showMenuLcd(void);
-void showSatLcd(void);
+
 void SetTime(void);
-void Coordinates(void);
 void LedBlink(void);
-void GpsSerialIsr(void);
-void showInfoLcd(void);
 void showInfoPc(void);
-void trace_h(const char *str, int str_size);
-void error_h(const char *str, int str_size);
-double trunc(double v);
+
 //===============================================
 

--- a/Startup.cpp	Sun Jan 29 22:08:35 2012 +0000
+++ b/Startup.cpp	Tue Jan 31 00:22:58 2012 +0000
@@ -41,6 +41,7 @@
 os.CreateTask(SHOW_PC_TASK, SHOW_PC_PRIORITY, SHOW_PC_STACK_SZ, ShowPcTask);
 os.CreateTask(LCD_LIGHT_DIM_TASK, LCD_LIGHT_DIM_PRIORITY, LCD_LIGHT_DIM_STACK_SZ, LcdLightDimTask);
 os.CreateTask(TEMP_TASK, TEMP_PRIORITY, TEMP_STACK_SZ, TempTask);
+os.CreateTask(WDT_TASK, WDT_PRIORITY, WDT_STACK_SZ, WdtTask);
 
 os.CreateResource(GPS_SERIAL,GPS_SERIAL_PRIO);  
 os.CreateResource(PC_SERIAL,PC_SERIAL_PRIO);  
@@ -54,7 +55,9 @@
 os.CreateTimer(SHOW_PC_TMR, SHOW_PC_TASK, SHOW_PC_EVT);
 os.CreateTimer(LCD_LIGHT_DIM_OFF_TMR, LCD_LIGHT_DIM_TASK, LCD_LIGHT_DIM_OFF_EVT);
 os.CreateTimer(TEMP_TMR, TEMP_TASK, TEMP_EVT);
+os.CreateTimer(WDT_TMR, WDT_TASK, WDT_EVT);
 
 os.SetTimer(LCD_LIGHT_DIM_OFF_TMR, LCD_LIGHT_DIM_TIMER, 0);
+
 // os.SetTimer(TEMP_TMR, TEMP_TIMER, TEMP_TIMER); // enabled just for test or debug
 }

--- a/Startup.h	Sun Jan 29 22:08:35 2012 +0000
+++ b/Startup.h	Tue Jan 31 00:22:58 2012 +0000
@@ -1,3 +1,4 @@
+#include "mbed.h"
 #include "Common.h"
 #include "TextLCD.h"
 #include "nmea/nmea.h"
@@ -8,6 +9,7 @@
 extern mbos os;
 extern Serial pc;
 extern Serial gps;
+
 extern nmeaINFO info;
 extern nmeaPARSER parser;
 extern PwmOut LcdBklight;

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Task1Gps.cpp	Tue Jan 31 00:22:58 2012 +0000
@@ -0,0 +1,147 @@
+#include "Task1Gps.h"
+
+void GpsSerialTask(void) 
+{/**
+ *\brief TASK 1, wait for the event then get the input char
+ */
+ while(1)
+ {
+    os.WaitEvent(GPS_SERIAL_IN_EVT);
+    GpsStringParse();
+            
+    Dest.lat= 4151.32496; // ***************debug
+    Dest.lon= 1229.34; // *************debug
+
+    GpsDist();
+ }
+}
+
+void GpsSerialIsr(void) 
+{/**
+ *\brief Interrupt handler for serial Rx
+         set the event for the serial task
+ */
+    char c = gps.getc();
+    msgBuff[bufferSelect & 1][writePointer] = c;
+    if (writePointer++ == BUFF_SIZE)
+    {
+        writePointer = 0;
+    }
+    if (writePointer > 200) 
+    {// GPS input buffer full, start computing coordinates
+        os.SetEvent(GPS_SERIAL_IN_EVT, GPS_SERIAL_TASK);
+    }
+}
+
+void trace_h(const char *str, int str_size) 
+{/**
+ *\brief output on console what's received on GPS serial
+          Callback function for NMEA parser buffer trace
+ */
+    if( PcMonitor==5 || PcMonitor>5)
+    {
+        for (int i = 0; i < str_size; i++)
+        {
+            pc.putc(*str++);
+        }        
+    }
+}
+
+void error_h(const char *str, int str_size) 
+{/**
+ *\brief Callback function for NMEA parser error
+ */
+    for (int i = 0; i < str_size; i++)
+    {
+        pc.putc(*str++);
+    }    
+}
+
+
+double trunc(double v) 
+{/**
+ *\brief Return nearest integer vaule less than input
+ *
+ *\parameters double variable to get nearest ingeger
+ *
+ *\return double 
+ */
+    if(v < 0.0) 
+    {
+        v*= -1.0;
+        v = floor(v);
+        v*=-1.0;
+    } else {
+        v = floor(v);
+    }
+    return v;
+}
+
+void GpsStringParse(void)
+{/**
+ *\brief parse the GPS string to extract info
+ */
+    gps.attach(NULL);   // Suspend serial interrupt while buffer change
+    size = writePointer;
+    writePointer = 0;
+    bufferSelect++;     // Change buffer
+    gps.attach( &GpsSerialIsr );  // Resume serial interrupt
+    nmea_parse(&parser, msgBuff[(bufferSelect-1)&1], size, &info);
+    Coordinates(); // transform nmea coordinates in decimal degrees
+}
+
+void GpsDist(void)
+{/**
+ *\brief compute the distance and direction (forward and reverse) 
+    from point A to point B on the ellipsoid
+ */
+  
+    nmea_info2pos(&info, &Pos[0]);  // current position  
+    nmea_info2pos(&Dest, &Pos[1]);  // destination 
+
+    Path.Dist = nmea_distance_ellipsoid(&Pos[0], &Pos[1], &Path.Azimuth[1], &Path.Azimuth[0]);
+
+    if(Path.Azimuth[0] > NMEA_PI) 
+    {// reverse direction
+        Path.Azimuth[0] = Path.Azimuth[0] - NMEA_PI; 
+    }
+    else
+    {
+        Path.Azimuth[1] = Path.Azimuth[1] + NMEA_PI; 
+    }
+
+    for(int i=0; i < 2; i++)
+    {
+        Path.Azimuth[i]=(nmea_radian2degree(Path.Azimuth[i]));
+        if(Path.Azimuth[i] > 360)
+        {
+            Path.Azimuth[i] = Path.Azimuth[i] - 360;
+        }
+        if(Path.Azimuth[i] < 0)
+        {
+            Path.Azimuth[i] = Path.Azimuth[i] + 360;
+        }
+    }
+}
+
+void Coordinates(void)
+{/**
+ *\brief transform nmea coordinates in decimal degrees
+ */
+    degrees = trunc(info.lat / 100.0);
+    minutes = info.lat - (degrees * 100.0);
+    latitude = degrees + minutes / 60.0;
+    degrees = trunc(info.lon / 100.0);
+    minutes = info.lon - (degrees * 100.0);
+    longitude = degrees + minutes / 60.0;
+ }
+  
+void Deg2DegMinSec(double DecDeg, DegMinSec *DecSec)
+{/**
+ *\brief convert decimalDeg to Deg Min decimalSec
+ */
+    DecSec->Deg = trunc(DecDeg);
+    double MinDec = (DecDeg - DecSec->Deg);
+    DecSec->Min = trunc(MinDec * 60);
+    DecSec->Sec = (MinDec * 3600) - (DecSec->Min * 60);
+ }
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Task1Gps.h	Tue Jan 31 00:22:58 2012 +0000
@@ -0,0 +1,39 @@
+#include "mbed.h"
+#include "Common.h"
+#include "nmea/nmea.h"
+#include "mbos.h"
+#include "Tasks.h"
+
+Serial gps(NC, GPSRX);
+
+//GPS prototypes
+void GpsStringParse(void);
+void GpsDist(void);
+void Deg2DegMinSec(double DecDeg, DegMinSec *DecSec);
+void GpsDist(void);
+void Coordinates(void);
+void GpsSerialIsr(void);
+void trace_h(const char *str, int str_size);
+void error_h(const char *str, int str_size);
+double trunc(double v);
+
+extern mbos os;
+extern int PcMonitor;
+extern Serial pc;
+
+nmeaINFO info;                  // Store GPS information 
+nmeaPARSER parser;
+  
+DistAzimuth Path;
+nmeaPOS Pos[2];
+nmeaINFO Dest;
+
+char msgBuff[2][BUFF_SIZE];     // Receive data buffer from GPS module
+                                // Two buffer for double buffering
+                                
+volatile int writePointer = 0;  // Write pointer for active data buffer
+volatile unsigned int bufferSelect = 0; // Active buffer selector
+
+int size;
+double latitude, longitude;
+double degrees, minutes;
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Task2Keypad.cpp	Tue Jan 31 00:22:58 2012 +0000
@@ -0,0 +1,105 @@
+#include "Task2Keypad.h"
+
+void KeypadTask(void)
+{/**
+ *\brief TASK 2, Keypad management. 
+         It uses just one ADC port. Five keys switch a 5 resistor ladder
+         obtaining a unique voltage for each key, with a priority that 
+         depends from the position of the resistor in the ladder.
+         This function makes an average of 50 analog values (50ms) before 
+         confirming the output, to filter out some noise and debounce keys
+ */
+
+    static float KeypadAcc;         // accumulator to compute average
+    static float KeypadPrev;        // previous value to compute variation 
+    static int KeypadCount;         // all samples number
+    static int KeypadRealCount;     // valid samples only
+    float KeypadVal;  
+    static char KeyPrev='-';
+    
+    os.SetTimer(KEYPAD_TMR, 1, 1);
+    while(1)
+    {
+        os.WaitEvent(KEYPAD_EVT);
+        float InValue = KeypadIn.read();
+        if ((InValue > 0.3) && (abs(InValue - KeypadPrev) < 0.1))
+        {// makes the average only of the values above a threshold 
+         // and within an almost stable range
+            KeypadAcc+=InValue;
+            KeypadRealCount++;
+        }
+            
+        KeypadCount++;
+        KeypadPrev=InValue;
+    
+        if (KeypadCount >=50)
+        {
+            if(KeypadRealCount > 25)
+            {
+                KeypadVal=KeypadAcc/KeypadRealCount;
+            }
+            else
+            {// not enough values to average
+    
+                KeypadVal=0;
+            }
+           
+            KeypadAcc=0;
+            KeypadCount=0;
+            KeypadRealCount=0;
+         
+            if(KeypadVal <0.15)
+            {
+                Key='-';
+            }
+            else if(KeypadVal>=0.3 && KeypadVal<0.35)
+            {
+                Key='E';
+            }
+            else if(KeypadVal>=0.42 && KeypadVal<0.50)
+            {
+                Key='v';
+            }
+            else if(KeypadVal>=0.60 && KeypadVal<0.65)
+            {
+                Key='^';
+            }
+            else if(KeypadVal>=0.74 && KeypadVal<0.78)
+            {
+                Key='>';
+            }        
+            else if(KeypadVal>=0.85)
+            {
+                Key='<';
+            }
+            
+            if (Key!='-' && Key!=KeyPrev)
+            {// switch on the LCD backlight if key pressed
+                os.SetEvent(LCD_LIGHT_DIM_ON_EVT, LCD_LIGHT_DIM_TASK);
+            }
+            KeyPrev=Key;
+            switch (Key)
+            {
+                case '^':
+                    Menu=0;
+                break;
+     
+                case '>':
+                    Menu=1;
+                break;           
+     
+                case 'v':
+                    Menu=2;
+                break;
+                
+                case '<':
+                    Menu=3;
+                break;
+                
+                case 'E':
+                    Menu=4;
+                break;
+            }     
+       }
+   } 
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Task2Keypad.h	Tue Jan 31 00:22:58 2012 +0000
@@ -0,0 +1,10 @@
+#include "mbed.h"
+#include "Common.h"
+#include "mbos.h"
+#include "Tasks.h"
+
+extern mbos os;
+
+AnalogIn KeypadIn(p20);
+char Key='-';
+int Menu = 0;

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Task3Lcd.cpp	Tue Jan 31 00:22:58 2012 +0000
@@ -0,0 +1,357 @@
+#include "Task3Lcd.h"
+
+void ShowLcdTask(void)
+{/**
+ *\brief TASK 3, display desired data on LCD
+ */
+ 
+ static int Previous=0;
+
+ os.SetTimer(SHOW_LCD_TMR, SHOW_LCD_TIMER, 0);
+ while(1)
+ {
+ os.WaitEvent(SHOW_LCD_EVT);
+
+    if(Previous != Menu)
+    {// clear the display when function changes
+        lcd.cls();
+        Previous=Menu;
+    }
+    
+    switch(Menu)
+    {
+        case 0:
+            showSatLcd();
+            Previous=0;
+            break;
+            
+        case 1:
+            if(info.sig != 0)
+            {
+                showInfoLcd();
+            }
+            else
+            {
+                showSatLcd();
+            }
+            Previous=1;    
+            break;
+        
+        case 2:
+            showMenuLcd();
+            Previous=2;    
+            break;
+            
+        case 3:
+            showMenuLcd1();
+            Previous=3;    
+            break;  
+            
+        case 4: 
+            ShowPathLcd();
+            Previous=4;    
+            break; 
+            
+        default:
+            showInfoLcd();
+            break;
+    }
+    //restart timer for other options
+    os.SetTimer(SHOW_LCD_TMR, SHOW_LCD_TIMER, 0); 
+ }
+}
+
+void ShowPathLcd(void)
+{
+    static int ChooseDir=0;
+    DegMinSec DecCoord;
+
+    Ang[Gps]=info.direction;
+    Ang[Mag]=CmpRead()-info.declination; //Compass reading corrected by declination
+    Ang[Dir]=Path.Azimuth[0];
+
+    ChooseDir++;
+    if(ChooseDir<7)
+    {
+        showDirLcd(Mag);
+    }
+    else if(ChooseDir>=7 && ChooseDir<12)
+    {
+        showDirLcd(Gps);
+    }
+    else if(ChooseDir>=12)
+    {
+       ChooseDir=0;
+    }
+    showDirLcd(Dir);
+    
+    Deg2DegMinSec(nmea_ndeg2degree(Dest.lat), &DecCoord);
+    lcd.locate(6,0);
+    lcd.printf("%d%d\'%.0f", DecCoord.Deg, DecCoord.Min, DecCoord.Sec);
+    lcd.printf("%c", Dest.lat >= 0 ? 'N': 'S');  
+    
+    Deg2DegMinSec(nmea_ndeg2degree(Dest.lon), &DecCoord);
+    lcd.locate(6,1);
+    lcd.printf("%d%d\'%.0f", DecCoord.Deg, DecCoord.Min, DecCoord.Sec);
+    lcd.printf("%c", Dest.lon >= 0 ? 'E': 'W');  
+    
+    lcd.locate(6,2);
+    lcd.printf(" dist m");
+    lcd.locate(6,3);
+    lcd.printf("%4.3f",Path.Dist);
+    
+
+}
+
+void showDirLcd(int Indx)
+{/**
+ *\brief  display a sort of compass on LCD
+ */
+    int Angle;
+
+    Angle=Ang[Indx]/18;
+
+    lcd.locate(CmpPos[Indx],0);
+    lcd.printf("  %c  ",0xA5);
+    lcd.locate(CmpPos[Indx],1);
+    lcd.printf("%c   %c",0xA5, 0xA5);
+    lcd.locate(CmpPos[Indx],2);
+    lcd.printf("%c   %c",0xA5, 0xA5);
+    lcd.locate(CmpPos[Indx],3);
+    lcd.printf("  %c  ",0xA5);
+    
+    lcd.locate(CmpPos[Indx]+1,1);
+    lcd.printf(Lab[Indx]);
+    lcd.locate(CmpPos[Indx]+1,2);
+    lcd.printf("%03i",Ang[Indx]);
+        
+    switch (Angle)
+    {
+        case 0:
+            lcd.locate(CmpPos[Indx]+2,0);
+            lcd.printf("%c",0xFF);
+            break;
+        case 1:
+            lcd.locate(CmpPos[Indx]+2,0);
+            lcd.printf("%c",0xFF);
+            lcd.locate(CmpPos[Indx]+3,0);
+            lcd.printf("%c",0xFF);
+            break;
+        case 2:
+            lcd.locate(CmpPos[Indx]+3,0);
+            lcd.printf("%c",0xFF);
+            break;        
+        case 3:
+            lcd.locate(CmpPos[Indx]+3,0);
+            lcd.printf("%c",0xFF);
+            lcd.locate(CmpPos[Indx]+4,1);
+            lcd.printf("%c",0xFF);
+            break;        
+        case 4:
+            lcd.locate(CmpPos[Indx]+4,1);
+            lcd.printf("%c",0xFF);
+            break;
+        case 5:       
+            lcd.locate(CmpPos[Indx]+4,1);
+            lcd.printf("%c",0xFF);
+            lcd.locate(CmpPos[Indx]+4,2);
+            lcd.printf("%c",0xFF);
+            break;
+        case 6:   
+            lcd.locate(CmpPos[Indx]+4,2);
+            lcd.printf("%c",0xFF);
+            break;
+        case 7:       
+            lcd.locate(CmpPos[Indx]+4,2);
+            lcd.printf("%c",0xFF);
+            lcd.locate(CmpPos[Indx]+3,3);
+            lcd.printf("%c",0xFF);
+            break;
+        case 8:   
+            lcd.locate(CmpPos[Indx]+3,3);
+            lcd.printf("%c",0xFF);
+            break;
+        case 9:       
+            lcd.locate(CmpPos[Indx]+3,3);
+            lcd.printf("%c",0xFF);
+            lcd.locate(CmpPos[Indx]+2,3);
+            lcd.printf("%c",0xFF);
+            break;
+        case 10:   
+            lcd.locate(CmpPos[Indx]+2,3);
+            lcd.printf("%c",0xFF);
+            break;     
+        case 11:       
+            lcd.locate(CmpPos[Indx]+2,3);
+            lcd.printf("%c",0xFF);
+            lcd.locate(CmpPos[Indx]+1,3);
+            lcd.printf("%c",0xFF);
+            break;
+        case 12:   
+            lcd.locate(CmpPos[Indx]+1,3);
+            lcd.printf("%c",0xFF);
+            break;     
+        case 13:       
+            lcd.locate(CmpPos[Indx]+1,3);
+            lcd.printf("%c",0xFF);
+            lcd.locate(CmpPos[Indx]+0,2);
+            lcd.printf("%c",0xFF);
+            break;
+        case 14:   
+            lcd.locate(CmpPos[Indx]+0,2);
+            lcd.printf("%c",0xFF);
+            break;  
+        case 15:       
+            lcd.locate(CmpPos[Indx]+0,2);
+            lcd.printf("%c",0xFF);
+            lcd.locate(CmpPos[Indx]+0,1);
+            lcd.printf("%c",0xFF);
+            break;
+        case 16:   
+            lcd.locate(CmpPos[Indx]+0,1);
+            lcd.printf("%c",0xFF);
+            break;  
+        case 17:       
+            lcd.locate(CmpPos[Indx]+0,1);
+            lcd.printf("%c",0xFF);
+            lcd.locate(CmpPos[Indx]+1,0);
+            lcd.printf("%c",0xFF);
+            break;   
+        case 18:   
+            lcd.locate(CmpPos[Indx]+1,0);
+            lcd.printf("%c",0xFF);
+            break;  
+        case 19:       
+            lcd.locate(CmpPos[Indx]+1,0);
+            lcd.printf("%c",0xFF);
+            lcd.locate(CmpPos[Indx]+2,0);
+            lcd.printf("%c",0xFF);
+            break;   
+    }
+}
+
+void showMenuLcd(void)
+{/**
+ *\brief  display a selection menu on LCD
+ */
+    lcd.locate(0,0);
+    lcd.printf("1 - item 1");
+    lcd.locate(0,1);
+    lcd.printf("2 - item 2");
+    lcd.locate(0,2);
+    lcd.printf("3 - item 3");
+    lcd.locate(0,3);
+    lcd.printf("4 - item 4");    
+}
+
+void showMenuLcd1(void)
+{/**
+ *\brief  display a selection menu on LCD
+ */
+    lcd.locate(0,0);
+    lcd.printf("5 - item 5");
+    lcd.locate(0,1);
+    lcd.printf("6 - item 6");
+    lcd.locate(0,2);
+    lcd.printf("7 - item 7");
+    lcd.locate(0,3);
+    lcd.printf("8 - item 8");    
+}
+
+void showSatLcd(void) 
+{/**
+ *\brief displays satellite informations
+ */
+    for (int i = 0; i < NMEA_MAXSAT; i++) 
+    {
+        if(info.satinfo.sat[i].id < 20)
+        {
+            lcd.locate((info.satinfo.sat[i].id % 20) - 1,0);
+        }
+        else
+        {
+            lcd.locate((info.satinfo.sat[i].id % 20) - 1,1);    
+        }
+        
+        if (info.satinfo.sat[i].sig > 0)
+        {
+            lcd.printf("%d",info.satinfo.sat[i].sig/10);
+        }
+        else
+        {
+            lcd.printf(" ");    
+        }                   
+    }
+    lcd.locate(0,2);
+    lcd.printf("12345678901234567890");
+    lcd.locate(0, 3);
+    lcd.printf("P%2.1f H%2.1f V%2.1f %iD",
+    info.PDOP, info.HDOP, info.VDOP,info.fix);
+}    
+    
+void showInfoLcd(void) 
+{/**
+ *\brief Show nmea info on LCD 
+ */
+
+//    static int lastSat = 0;
+//    int satInview = 0;
+
+ if(info.sig != 0)
+ { 
+    lcd.locate(0, 0);
+    lcd.printf("%2.5f%c %3.5f%c",
+            latitude, info.lat >= 0 ? 'N': 'S',  
+            longitude, info.lon >= 0 ? 'E': 'W');
+  
+    lcd.locate(0, 1);
+    lcd.printf("H%.0f D%.0f_%.1f %iD", info.elv, info.direction, info.declination, info.fix);
+
+    lcd.locate(0, 2);
+    lcd.printf("P%2.1f H%2.1f V%2.1f S%i/%i",
+        info.PDOP, info.HDOP, info.VDOP, info.satinfo.inuse, info.satinfo.inview);
+        
+   /* lcd.locate(0, 3);
+    lcd.printf("%02d-%02d-%04d %02d:%02d:%02d ", 
+        info.utc.day, info.utc.mon + 1, info.utc.year + 1900,
+        info.utc.hour, info.utc.min, info.utc.sec); // Display JST (UTC + 9)
+   */
+
+/*
+    lcd.locate(0, 5);
+    for (int i = 0; i < NMEA_MAXSAT; i++) {
+        if (info.satinfo.sat[i].sig > 0) {
+            satInview++;
+            lcd.printf("  sat_id:%02d, sig:%02d, Inuse:%d \n",
+                      info.satinfo.sat[i].id , info.satinfo.sat[i].sig,
+                      info.satinfo.sat[i].in_use);
+        }
+    }
+    for (int j = satInview; j <= lastSat; j++)
+        lcd.printf("                             \n");     // delete line
+    lastSat = satInview;
+ */
+ 
+ } 
+ else
+ {
+    lcd.cls();
+    lcd.locate(0,0);
+    lcd.printf("NO FIX"); 
+ }
+
+ // Grab a snapshot of the current RTC time.
+ time_t seconds = time(NULL);
+ char buffer[32];
+ if((info.sig != 0)&&(SetTimeOk!=0))  
+ {
+    strftime(buffer, 32, "%x %X", localtime(&seconds));
+ }
+ else
+ {// if GPS time not valid doesn't display seconds
+     strftime(buffer, 32, "%x %H:%M", localtime(&seconds));
+     SetTimeOk = 0; // RTC was not set to a valid time 
+ }
+ lcd.locate(0,3);
+ lcd.printf("%s", buffer);
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Task3Lcd.h	Tue Jan 31 00:22:58 2012 +0000
@@ -0,0 +1,35 @@
+#include "mbed.h"
+#include "Common.h"
+#include "mbos.h"
+#include "Tasks.h"
+#include "TextLCD.h"
+#include "nmea/nmea.h"
+
+// LCD prototypes
+void ShowPathLcd(void);
+int CmpRead(void);
+void TempTask(void);
+void LcdLightDimTask(void);
+void showDirLcd(int Indx);
+void showMenuLcd1(void);
+void showMenuLcd(void);
+void showSatLcd(void);void showDirLcd(int Indx);
+void showMenuLcd1(void);
+void showMenuLcd(void);
+void showSatLcd(void);
+void showInfoLcd(void);
+void Deg2DegMinSec(double DecDeg, DegMinSec *DecSec);
+
+extern mbos os;
+extern nmeaINFO info;
+extern DistAzimuth Path;
+extern nmeaINFO Dest;
+extern double latitude, longitude;
+extern int Menu;
+extern int SetTimeOk;
+
+TextLCD lcd(p12, p11, p24, p23, p22, p21, TextLCD::LCD20x4); // rs, e, d4-d7
+
+const char *Lab[]={"MAG", "DIR", "GPS"}; //Label to display in compass view
+int CmpPos[]={0,15,0}; //Compass position
+int Ang[3]; //Compass angle values

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Task4LedBlink.cpp	Tue Jan 31 00:22:58 2012 +0000
@@ -0,0 +1,101 @@
+#include "Task4LedBlink.h"
+
+void LedBlinkTask(void)
+{/**
+ *\brief TASK 4
+         LED 1: Quick blink=NOT fix, Slow blink=fix OK  
+         LED 2: blinks proportionally to HDOP
+         LED 3: blinks proportionally to VDOP
+ */
+
+ static int LedCnt1=0;
+ //    static int LedCnt2=0;
+ int OnH=0;
+ int OnV=0;
+
+ #define MAX 20
+  
+ os.SetTimer(LED_BLINK_TMR, 100, 100);
+
+ while(1)
+ {
+    os.WaitEvent(LED_BLINK_EVT);
+            
+    if((info.HDOP>0)&&(info.HDOP<=2))
+    {
+        OnH=2;
+    }
+    else if((info.HDOP>2)&&(info.HDOP<=4))
+    {
+        OnH=4;    
+    }
+    else if((info.HDOP>4)&&(info.HDOP<=6))
+    {
+        OnH=6;    
+    }
+    else if((info.HDOP>6))
+    {
+        OnH=MAX/2;    
+    }        
+
+    if((info.VDOP>0)&&(info.VDOP<=2))
+    {
+        OnV=2;
+    }
+    else if((info.VDOP>2)&&(info.VDOP<=4))
+    {
+        OnV=4;    
+    }
+    else if((info.VDOP>4)&&(info.VDOP<=6))
+    {
+        OnV=6;    
+    }
+    else if((info.VDOP>6))
+    {
+        OnV=MAX/2;    
+    } 
+           
+    if(info.sig == 0)
+    {
+        led1=!led1;
+        led2=0;
+        led3=0;
+    }
+    else
+    {
+       if(LedCnt1<=MAX/2)
+       {
+            LedCnt1++;
+            led1=0;
+            if(LedCnt1<OnH)
+            {
+               led2=!led2; 
+            }
+            else 
+            {
+                led2=0;
+            }    
+            
+            if(LedCnt1<OnV)
+            {
+               led3=!led3; 
+            }
+            else 
+            {
+                led3=0;
+            }          
+       } 
+       else if((LedCnt1>MAX/2)&&(LedCnt1<=MAX))
+       {
+            LedCnt1++;
+            led1=1;
+            led2=0;
+            led3=0;
+       }
+       else if(LedCnt1>MAX)
+       {
+            LedCnt1=0;       
+       }
+    }
+ }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Task4LedBlink.h	Tue Jan 31 00:22:58 2012 +0000
@@ -0,0 +1,13 @@
+#include "mbed.h"
+#include "Common.h"
+#include "mbos.h"
+#include "Tasks.h"
+#include "nmea/nmea.h"
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+extern mbos os;
+extern nmeaINFO info;

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Task5SetTime.cpp	Tue Jan 31 00:22:58 2012 +0000
@@ -0,0 +1,29 @@
+#include "Task5SetTime.h"
+
+void SetTimeTask(void)
+{/**
+ *\brief TASK 5, Set RTC system time if the GPS time is valid
+ */
+ struct tm t;
+ 
+ os.SetTimer(SET_TIME_TMR, 60000, 60000);
+ while(1)
+ {  
+ os.WaitEvent(SET_TIME_EVT);
+
+    if(info.sig != 0)    
+    {
+       t.tm_mday=info.utc.day;
+       t.tm_mon=info.utc.mon;
+       t.tm_year=info.utc.year; 
+       t.tm_hour=info.utc.hour;
+       t.tm_min=info.utc.min;
+       t.tm_sec=info.utc.sec;        
+          
+        time_t seconds = mktime(&t);       
+        set_time(seconds);
+        
+        SetTimeOk = 1; // RTC was set 
+    }
+ }    
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Task5SetTime.h	Tue Jan 31 00:22:58 2012 +0000
@@ -0,0 +1,9 @@
+#include "mbed.h"
+#include "Common.h"
+#include "mbos.h"
+#include "Tasks.h"
+#include "nmea/nmea.h"
+
+extern mbos os;
+extern nmeaINFO info;
+int SetTimeOk=0; // is RTC in sync?

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Task6Pc.cpp	Tue Jan 31 00:22:58 2012 +0000
@@ -0,0 +1,50 @@
+#include "Task6Pc.h"
+
+void ShowPcTask(void) 
+{/**
+ *\brief TASK 6, if a PC is connected, debug information can be sent to the console
+ */
+ static int it = 0;
+ int i;
+ DegMinSec DecCoord;
+    
+ os.SetTimer(SHOW_PC_TMR, 1000, 1000);
+ while(1)
+ {
+    os.WaitEvent(SHOW_PC_EVT); 
+
+    if(pc.readable())
+    {// wait for an input
+        PcMonitor = (pc.getc()-48); // digit a number to en/dis-able debug
+     }
+     
+    if( PcMonitor==1 || PcMonitor>5)
+    {// Display Info parameters 
+        pc.printf(
+        "%03d, Lat: %f, Lon: %f, Sig:%d, Fix:%d, Inuse:%d\r\n",
+        it++, latitude, longitude, info.sig, info.fix, info.satinfo.inuse );
+        for (i = 0; i < NMEA_MAXSAT; i++) 
+            {
+            if (info.satinfo.sat[i].sig > 0)
+            pc.printf("  sat_id:%02d, sig:%02d, Inuse:%d\r\n",
+                      info.satinfo.sat[i].id , info.satinfo.sat[i].sig, 
+                      info.satinfo.sat[i].in_use);
+            }
+        pc.printf("\r\n");
+    }
+    
+    if( PcMonitor==2 || PcMonitor>5)
+    {// Display Distance parameters 
+        Deg2DegMinSec(nmea_radian2degree(Pos[0].lat), &DecCoord);
+        pc.printf("Lat1:%d %d\'%.3f\"  ", DecCoord.Deg, DecCoord.Min, DecCoord.Sec);
+        Deg2DegMinSec(nmea_radian2degree(Pos[0].lon), &DecCoord);
+        pc.printf("Lon1:%d %d\'%.3f\"  ", DecCoord.Deg, DecCoord.Min, DecCoord.Sec);
+        Deg2DegMinSec(nmea_radian2degree(Pos[1].lat), &DecCoord);
+        pc.printf("Lat2:%d %d\'%.3f\"  ", DecCoord.Deg, DecCoord.Min, DecCoord.Sec);
+        Deg2DegMinSec(nmea_radian2degree(Pos[1].lon), &DecCoord);
+        pc.printf("Lon2:%d %d\'%.3f\"  \n", DecCoord.Deg, DecCoord.Min, DecCoord.Sec);
+        pc.printf("Dist:%f  Azimuth Start:%f  Azimuth Final:%f \n\n",
+                  Path.Dist, Path.Azimuth[0], Path.Azimuth[1]); 
+    }
+  }   
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Task6Pc.h	Tue Jan 31 00:22:58 2012 +0000
@@ -0,0 +1,18 @@
+#include "mbed.h"
+#include "Common.h"
+#include "mbos.h"
+#include "Tasks.h"
+#include "nmea/nmea.h"
+
+void Deg2DegMinSec(double DecDeg, DegMinSec *DecSec);
+
+extern mbos os;
+extern nmeaINFO info;
+extern int SetTimeOk;
+extern double latitude, longitude;
+extern nmeaPOS Pos[];
+extern DistAzimuth Path;
+
+int PcMonitor=0;    // to control serial out on USB serial
+
+Serial pc(USBTX, USBRX);

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Task7Dim.cpp	Tue Jan 31 00:22:58 2012 +0000
@@ -0,0 +1,36 @@
+#include "Task7Dim.h"
+
+void LcdLightDimTask(void)
+{/** 
+ *\brief TASK 7, control the LCD backlight intensity to smoothly
+         switch it on or off
+ */
+ static float LightVal=1;
+        
+ while(1)
+ {       
+    os.WaitEvent(LCD_LIGHT_DIM_ON_EVT | LCD_LIGHT_DIM_OFF_EVT); 
+    if(os.GetEvent()==LCD_LIGHT_DIM_ON_EVT)
+    {
+      if(LightVal<1)
+      {
+        for (LightVal=0; LightVal<=1; LightVal+=0.01f)
+        {
+            LcdBklight=LightVal;
+            wait_ms(10);
+        }
+      }
+    // Set the timer for the power saving backlight switch off
+    os.ClearTimer(LCD_LIGHT_DIM_OFF_TMR);
+    os.SetTimer(LCD_LIGHT_DIM_OFF_TMR, LCD_LIGHT_DIM_TIMER, 0);
+    }
+    else if(os.GetEvent()==LCD_LIGHT_DIM_OFF_EVT)
+    {// The dimming off is slower than lighting up
+        for (LightVal=1; LightVal>=0; LightVal-=0.01f)
+        {
+            LcdBklight=LightVal;           
+            wait_ms(30);
+        }        
+    }
+ }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Task7Dim.h	Tue Jan 31 00:22:58 2012 +0000
@@ -0,0 +1,9 @@
+#include "mbed.h"
+#include "Common.h"
+#include "mbos.h"
+#include "Tasks.h"
+
+extern mbos os;
+
+// Ports initialization
+PwmOut LcdBklight(p25);
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Task8Temp.cpp	Tue Jan 31 00:22:58 2012 +0000
@@ -0,0 +1,21 @@
+#include "Task8Temp.h"
+
+void TempTask(void)
+{/**
+ *\brief TASK 8 used to temporary test some functions 
+ */
+ static int TempAng;
+ while (1)
+ {
+  os.WaitEvent(TEMP_EVT); 
+  
+  if((TempAng+=5) >=360)
+  {
+    TempAng=0;
+  }
+  Ang[Mag]=TempAng;
+  Ang[Dir]=360-TempAng;
+  Ang[Gps]=180-TempAng;
+  printf("%i %i  %i \n", Ang[0], Ang[1], Ang[2]);
+ }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Task8Temp.h	Tue Jan 31 00:22:58 2012 +0000
@@ -0,0 +1,8 @@
+#include "mbed.h"
+#include "Common.h"
+#include "mbos.h"
+#include "Tasks.h"
+
+extern mbos os;
+
+extern int Ang[];
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Task9Wdt.cpp	Tue Jan 31 00:22:58 2012 +0000
@@ -0,0 +1,18 @@
+#include "Task9Wdt.h"
+
+void WdtTask(void)
+{/**
+ *\brief TASK 9 Watch Dog 
+        this is a very high priority task. Non other task can
+        block this one. So, the WDT occurs only if a real OS
+        hang happens.
+ */
+ 
+ os.SetTimer(WDT_TMR, WDT_TIMER, WDT_TIMER); // Kick the dog
+
+ while (1)
+ {
+    os.WaitEvent(WDT_EVT);     
+    wd.Service();       // kick the dog before the timeout
+ }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Task9Wdt.h	Tue Jan 31 00:22:58 2012 +0000
@@ -0,0 +1,9 @@
+#include "mbed.h"
+#include "Common.h"
+#include "mbos.h"
+#include "Tasks.h"
+#include <Watchdog.h>
+
+extern mbos os;
+
+Watchdog wd;

--- a/Tasks.h	Sun Jan 29 22:08:35 2012 +0000
+++ b/Tasks.h	Tue Jan 31 00:22:58 2012 +0000
@@ -48,7 +48,14 @@
 #define TEMP_STACK_SZ               32
 void TempTask(void);  
 
-#define NUM_TASKS                    8
+// Task 9 - Kick the WDT dog
+#define WDT_TASK                     9
+#define WDT_PRIORITY                90
+#define WDT_STACK_SZ               128
+void WdtTask(void);  
+
+
+#define NUM_TASKS                    9
 
 // timers ------------------------------
 #define KEYPAD_TMR                   0
@@ -58,8 +65,9 @@
 #define SHOW_PC_TMR                  4
 #define LCD_LIGHT_DIM_OFF_TMR        5
 #define TEMP_TMR                     6
+#define WDT_TMR                      7
 
-#define NUM_TIMERS                   7
+#define NUM_TIMERS                   8
 
 // resources ---------------------------
 #define PC_SERIAL                    0
@@ -86,4 +94,5 @@
 #define LCD_LIGHT_DIM_ON_EVT  0x00000040
 #define LCD_LIGHT_DIM_OFF_EVT 0x00000080
 #define TEMP_EVT              0x00000100
+#define WDT_EVT               0x00000200