Guido Ottaviani
A porting of a GPS decoding and presenting program within the mbos RTOS. It is not a definitive application but a study program to test NMEA full decoding library and a first approach to an RTOS. Many thanks to Andrew Levido for his support and his patience on teaching me the RTOS principles from the other side of the Earth. It uses NMEA library by Tim (xtimor@gmail.com) ported by Ken Todotani (http://mbed.org/users/todotani/) on public mbed library (http://mbed.org/users/todotani/programs/GPS_nmeaLib/5yo4h) also available, as original universal C library, on http://nmea.sourceforge.net
Dependencies: mbos Watchdog TextLCD mbed ConfigFile
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Task3Lcd.cpp
00001 #include "Task3Lcd.h" 00002 00003 void ShowLcdTask(void) 00004 {/** 00005 *\brief TASK 3, display desired data on LCD 00006 */ 00007 00008 static int Previous=0; 00009 00010 os.SetTimer(SHOW_LCD_TMR, SHOW_LCD_TIMER, 0); 00011 while(1) 00012 { 00013 os.WaitEvent(SHOW_LCD_EVT); 00014 00015 if(Previous != Menu) 00016 {// clear the display when function changes 00017 lcd.cls(); 00018 Previous=Menu; 00019 } 00020 00021 switch(Menu) 00022 { 00023 case 0: 00024 showSatLcd(); 00025 Previous=0; 00026 break; 00027 00028 case 1: 00029 if(info.sig != 0) 00030 { 00031 showInfoLcd(); 00032 } 00033 else 00034 { 00035 showSatLcd(); 00036 } 00037 Previous=1; 00038 break; 00039 00040 case 2: 00041 showMenuLcd(); 00042 Previous=2; 00043 break; 00044 00045 case 3: 00046 showMenuLcd1(); 00047 Previous=3; 00048 break; 00049 00050 case 4: 00051 ShowPathLcd(); 00052 Previous=4; 00053 break; 00054 00055 default: 00056 showInfoLcd(); 00057 break; 00058 } 00059 //restart timer for other options 00060 os.SetTimer(SHOW_LCD_TMR, SHOW_LCD_TIMER, 0); 00061 } 00062 } 00063 00064 void ShowPathLcd(void) 00065 { 00066 static int ChooseDir=0; 00067 DegMinSec DecCoord; 00068 00069 Ang[Gps]=info.direction; 00070 Ang[Mag]=CmpRead()-info.declination; //Compass reading corrected by declination 00071 Ang[Dir]=Path.Azimuth[0]; 00072 00073 ChooseDir++; 00074 if(ChooseDir<7) 00075 { 00076 showDirLcd(Mag); 00077 } 00078 else if(ChooseDir>=7 && ChooseDir<12) 00079 { 00080 showDirLcd(Gps); 00081 } 00082 else if(ChooseDir>=12) 00083 { 00084 ChooseDir=0; 00085 } 00086 showDirLcd(Dir); 00087 00088 Deg2DegMinSec(nmea_ndeg2degree(Dest.lat), &DecCoord); 00089 lcd.locate(6,0); 00090 lcd.printf("%d%d\'%.0f", DecCoord.Deg, DecCoord.Min, DecCoord.Sec); 00091 lcd.printf("%c", Dest.lat >= 0 ? 'N': 'S'); 00092 00093 Deg2DegMinSec(nmea_ndeg2degree(Dest.lon), &DecCoord); 00094 lcd.locate(6,1); 00095 lcd.printf("%d%d\'%.0f", DecCoord.Deg, DecCoord.Min, DecCoord.Sec); 00096 lcd.printf("%c", Dest.lon >= 0 ? 'E': 'W'); 00097 00098 lcd.locate(6,2); 00099 lcd.printf(" dist m"); 00100 lcd.locate(6,3); 00101 lcd.printf("%4.3f",Path.Dist); 00102 00103 00104 } 00105 00106 void showDirLcd(int Indx) 00107 {/** 00108 *\brief display a sort of compass on LCD 00109 */ 00110 int Angle; 00111 00112 Angle=Ang[Indx]/18; 00113 00114 lcd.locate(CmpPos[Indx],0); 00115 lcd.printf(" %c ",0xA5); 00116 lcd.locate(CmpPos[Indx],1); 00117 lcd.printf("%c %c",0xA5, 0xA5); 00118 lcd.locate(CmpPos[Indx],2); 00119 lcd.printf("%c %c",0xA5, 0xA5); 00120 lcd.locate(CmpPos[Indx],3); 00121 lcd.printf(" %c ",0xA5); 00122 00123 lcd.locate(CmpPos[Indx]+1,1); 00124 lcd.printf(Lab[Indx]); 00125 lcd.locate(CmpPos[Indx]+1,2); 00126 lcd.printf("%03i",Ang[Indx]); 00127 00128 switch (Angle) 00129 { 00130 case 0: 00131 lcd.locate(CmpPos[Indx]+2,0); 00132 lcd.printf("%c",0xFF); 00133 break; 00134 case 1: 00135 lcd.locate(CmpPos[Indx]+2,0); 00136 lcd.printf("%c",0xFF); 00137 lcd.locate(CmpPos[Indx]+3,0); 00138 lcd.printf("%c",0xFF); 00139 break; 00140 case 2: 00141 lcd.locate(CmpPos[Indx]+3,0); 00142 lcd.printf("%c",0xFF); 00143 break; 00144 case 3: 00145 lcd.locate(CmpPos[Indx]+3,0); 00146 lcd.printf("%c",0xFF); 00147 lcd.locate(CmpPos[Indx]+4,1); 00148 lcd.printf("%c",0xFF); 00149 break; 00150 case 4: 00151 lcd.locate(CmpPos[Indx]+4,1); 00152 lcd.printf("%c",0xFF); 00153 break; 00154 case 5: 00155 lcd.locate(CmpPos[Indx]+4,1); 00156 lcd.printf("%c",0xFF); 00157 lcd.locate(CmpPos[Indx]+4,2); 00158 lcd.printf("%c",0xFF); 00159 break; 00160 case 6: 00161 lcd.locate(CmpPos[Indx]+4,2); 00162 lcd.printf("%c",0xFF); 00163 break; 00164 case 7: 00165 lcd.locate(CmpPos[Indx]+4,2); 00166 lcd.printf("%c",0xFF); 00167 lcd.locate(CmpPos[Indx]+3,3); 00168 lcd.printf("%c",0xFF); 00169 break; 00170 case 8: 00171 lcd.locate(CmpPos[Indx]+3,3); 00172 lcd.printf("%c",0xFF); 00173 break; 00174 case 9: 00175 lcd.locate(CmpPos[Indx]+3,3); 00176 lcd.printf("%c",0xFF); 00177 lcd.locate(CmpPos[Indx]+2,3); 00178 lcd.printf("%c",0xFF); 00179 break; 00180 case 10: 00181 lcd.locate(CmpPos[Indx]+2,3); 00182 lcd.printf("%c",0xFF); 00183 break; 00184 case 11: 00185 lcd.locate(CmpPos[Indx]+2,3); 00186 lcd.printf("%c",0xFF); 00187 lcd.locate(CmpPos[Indx]+1,3); 00188 lcd.printf("%c",0xFF); 00189 break; 00190 case 12: 00191 lcd.locate(CmpPos[Indx]+1,3); 00192 lcd.printf("%c",0xFF); 00193 break; 00194 case 13: 00195 lcd.locate(CmpPos[Indx]+1,3); 00196 lcd.printf("%c",0xFF); 00197 lcd.locate(CmpPos[Indx]+0,2); 00198 lcd.printf("%c",0xFF); 00199 break; 00200 case 14: 00201 lcd.locate(CmpPos[Indx]+0,2); 00202 lcd.printf("%c",0xFF); 00203 break; 00204 case 15: 00205 lcd.locate(CmpPos[Indx]+0,2); 00206 lcd.printf("%c",0xFF); 00207 lcd.locate(CmpPos[Indx]+0,1); 00208 lcd.printf("%c",0xFF); 00209 break; 00210 case 16: 00211 lcd.locate(CmpPos[Indx]+0,1); 00212 lcd.printf("%c",0xFF); 00213 break; 00214 case 17: 00215 lcd.locate(CmpPos[Indx]+0,1); 00216 lcd.printf("%c",0xFF); 00217 lcd.locate(CmpPos[Indx]+1,0); 00218 lcd.printf("%c",0xFF); 00219 break; 00220 case 18: 00221 lcd.locate(CmpPos[Indx]+1,0); 00222 lcd.printf("%c",0xFF); 00223 break; 00224 case 19: 00225 lcd.locate(CmpPos[Indx]+1,0); 00226 lcd.printf("%c",0xFF); 00227 lcd.locate(CmpPos[Indx]+2,0); 00228 lcd.printf("%c",0xFF); 00229 break; 00230 } 00231 } 00232 00233 void showMenuLcd(void) 00234 {/** 00235 *\brief display a selection menu on LCD 00236 */ 00237 lcd.locate(0,0); 00238 lcd.printf("1 - item 1"); 00239 lcd.locate(0,1); 00240 lcd.printf("2 - item 2"); 00241 lcd.locate(0,2); 00242 lcd.printf("3 - item 3"); 00243 lcd.locate(0,3); 00244 lcd.printf("4 - item 4"); 00245 } 00246 00247 void showMenuLcd1(void) 00248 {/** 00249 *\brief display a selection menu on LCD 00250 */ 00251 lcd.locate(0,0); 00252 lcd.printf("5 - item 5"); 00253 lcd.locate(0,1); 00254 lcd.printf("6 - item 6"); 00255 lcd.locate(0,2); 00256 lcd.printf("7 - item 7"); 00257 lcd.locate(0,3); 00258 lcd.printf("8 - item 8"); 00259 } 00260 00261 void showSatLcd(void) 00262 {/** 00263 *\brief displays satellite informations 00264 */ 00265 for (int i = 0; i < NMEA_MAXSAT; i++) 00266 { 00267 if(info.satinfo.sat[i].id < 20) 00268 { 00269 lcd.locate((info.satinfo.sat[i].id % 20) - 1,0); 00270 } 00271 else 00272 { 00273 lcd.locate((info.satinfo.sat[i].id % 20) - 1,1); 00274 } 00275 00276 if (info.satinfo.sat[i].sig > 0) 00277 { 00278 lcd.printf("%d",info.satinfo.sat[i].sig/10); 00279 } 00280 else 00281 { 00282 lcd.printf(" "); 00283 } 00284 } 00285 lcd.locate(0,2); 00286 lcd.printf("12345678901234567890"); 00287 lcd.locate(0, 3); 00288 lcd.printf("P%2.1f H%2.1f V%2.1f %iD", 00289 info.PDOP, info.HDOP, info.VDOP,info.fix); 00290 } 00291 00292 void showInfoLcd(void) 00293 {/** 00294 *\brief Show nmea info on LCD 00295 */ 00296 00297 // static int lastSat = 0; 00298 // int satInview = 0; 00299 00300 if(info.sig != 0) 00301 { 00302 lcd.locate(0, 0); 00303 lcd.printf("%2.5f%c %3.5f%c", 00304 latitude, info.lat >= 0 ? 'N': 'S', 00305 longitude, info.lon >= 0 ? 'E': 'W'); 00306 00307 lcd.locate(0, 1); 00308 lcd.printf("H%.0f D%.0f_%.1f %iD", info.elv, info.direction, info.declination, info.fix); 00309 00310 lcd.locate(0, 2); 00311 lcd.printf("P%2.1f H%2.1f V%2.1f S%i/%i", 00312 info.PDOP, info.HDOP, info.VDOP, info.satinfo.inuse, info.satinfo.inview); 00313 00314 /* lcd.locate(0, 3); 00315 lcd.printf("%02d-%02d-%04d %02d:%02d:%02d ", 00316 info.utc.day, info.utc.mon + 1, info.utc.year + 1900, 00317 info.utc.hour, info.utc.min, info.utc.sec); // Display JST (UTC + 9) 00318 */ 00319 00320 /* 00321 lcd.locate(0, 5); 00322 for (int i = 0; i < NMEA_MAXSAT; i++) { 00323 if (info.satinfo.sat[i].sig > 0) { 00324 satInview++; 00325 lcd.printf(" sat_id:%02d, sig:%02d, Inuse:%d \n", 00326 info.satinfo.sat[i].id , info.satinfo.sat[i].sig, 00327 info.satinfo.sat[i].in_use); 00328 } 00329 } 00330 for (int j = satInview; j <= lastSat; j++) 00331 lcd.printf(" \n"); // delete line 00332 lastSat = satInview; 00333 */ 00334 00335 } 00336 else 00337 { 00338 lcd.cls(); 00339 lcd.locate(0,0); 00340 lcd.printf("NO FIX"); 00341 } 00342 00343 // Grab a snapshot of the current RTC time. 00344 time_t seconds = time(NULL); 00345 char buffer[32]; 00346 if((info.sig != 0)&&(SetTimeOk!=0)) 00347 { 00348 strftime(buffer, 32, "%x %X", localtime(&seconds)); 00349 } 00350 else 00351 {// if GPS time not valid doesn't display seconds 00352 strftime(buffer, 32, "%x %H:%M", localtime(&seconds)); 00353 SetTimeOk = 0; // RTC was not set to a valid time 00354 } 00355 lcd.locate(0,3); 00356 lcd.printf("%s", buffer); 00357 }
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