+++ /dev/null
-/**
- * \file
- * <!--
- * This file is part of BeRTOS.
- *
- * Bertos is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
- *
- * As a special exception, you may use this file as part of a free software
- * library without restriction. Specifically, if other files instantiate
- * templates or use macros or inline functions from this file, or you compile
- * this file and link it with other files to produce an executable, this
- * file does not by itself cause the resulting executable to be covered by
- * the GNU General Public License. This exception does not however
- * invalidate any other reasons why the executable file might be covered by
- * the GNU General Public License.
- *
- * Copyright 2010 Develer S.r.l. (http://www.develer.com/)
- *
- * -->
- *
- * \brief DevelGPS.
- *
- * A portable GPS locator / geocaching finder using the Cortex-M3 based
- * Luminary Micro LM3S1968 evaluation board.
- *
- * \author Andrea Righi <arighi@develer.com>
- */
-
-#include <cpu/irq.h>
-
-#include <drv/lcd_rit128x96.h>
-#include <drv/timer.h>
-#include <drv/ser.h>
-#include <drv/flash.h>
-#include <drv/kbd.h>
-
-#include <kern/proc.h>
-#include <kern/sem.h>
-
-#include <net/nmea.h>
-
-#include <gfx/font.h>
-#include <gfx/text.h>
-#include <gfx/gfx_p.h> /* BM_PLOT() */
-#include <gui/menu.h>
-#include <math.h>
-
-#include "compass.h"
-
-/* OLED/GUI stuff */
-#include "logo.c"
-#define KEY_MASK (K_UP | K_DOWN | K_LEFT | K_RIGHT | K_OK)
-extern Font font_gohu;
-static uint8_t raster[RAST_SIZE(LCD_WIDTH, LCD_HEIGHT)];
-static Bitmap lcd_bitmap;
-
-#define SCRSVR_TIME 60000
-static ticks_t scrsvr_timestamp;
-static bool is_lcd_off;
-
-/* Serial and NMEA stuff */
-static Serial ser_port;
-static nmeap_context_t nmea;
-static NmeaGga gga;
-static NmeaRmc rmc;
-static NmeaVtg vtg;
-static bool nmea_update;
-
-static long prev_b;
-static long lat, lon;
-static long target_lat, target_lon;
-
-/* Storage stuff */
-#define GPS_POS_MAGIC 0xdeadbeef
-static Flash flash;
-
-static void flash_load_target(void)
-{
- uint32_t magic;
-
- kfile_seek(&flash.fd, -FLASH_PAGE_SIZE_BYTES, KSM_SEEK_END);
- kfile_read(&flash.fd, &magic, sizeof(magic));
- if (magic == GPS_POS_MAGIC)
- {
- kfile_read(&flash.fd, &target_lat, sizeof(target_lat));
- kfile_read(&flash.fd, &target_lon, sizeof(target_lon));
- }
-}
-
-static void flash_save_target(void)
-{
- const uint32_t magic = GPS_POS_MAGIC;
-
- kfile_seek(&flash.fd, -FLASH_PAGE_SIZE_BYTES, KSM_SEEK_END);
- kfile_write(&flash.fd, &magic, sizeof(magic));
- kfile_write(&flash.fd, &target_lat, sizeof(target_lat));
- kfile_write(&flash.fd, &target_lon, sizeof(target_lon));
- kfile_flush(&flash.fd);
-}
-
-/* Status LED management */
-static void led_init(void)
-{
- SYSCTL_RCGC2_R = SYSCTL_RCGC2_GPIOG;
- (void)SYSCTL_RCGC2_R;
- GPIO_PORTG_DIR_R = 0x04;
- GPIO_PORTG_DEN_R = 0x04;
-}
-
-INLINE void led_on(void)
-{
- GPIO_PORTG_DATA_R |= 0x04;
-}
-
-INLINE void led_off(void)
-{
- GPIO_PORTG_DATA_R &= ~0x04;
-}
-
-/* Display management */
-INLINE void video_off(void)
-{
- unsigned long delta =
- (long)ticks_to_ms(timer_clock_unlocked()) -
- (long)scrsvr_timestamp;
-
- if (!is_lcd_off && delta > SCRSVR_TIME)
- {
- rit128x96_off();
- is_lcd_off = true;
- }
-}
-
-INLINE void video_on(void)
-{
- if (is_lcd_off)
- {
- rit128x96_on();
- is_lcd_off = false;
- }
- scrsvr_timestamp = ticks_to_ms(timer_clock_unlocked());
-}
-
-INLINE void repaint(Bitmap *bm)
-{
- rit128x96_blitBitmap(bm);
-}
-
-INLINE keymask_t keypad_peek(void)
-{
- keymask_t key = kbd_peek();
-
- if (key & KEY_MASK)
- {
- if (is_lcd_off)
- key = 0;
- video_on();
- }
- return key;
-}
-
-/* Status LED thread */
-static void NORETURN led_process(void)
-{
- while (1)
- {
- video_off();
- if (!nmea_update)
- {
- timer_delay(1000);
- continue;
- }
- led_on();
- timer_delay(100);
- led_off();
- nmea_update = false;
- }
-}
-
-/* NMEA parser */
-static void nmea_callback(nmeap_context_t *context, void *data, void *user_data)
-{
- (void)context;
- (void)data;
- (void)user_data;
-
- lat = (long)gga.latitude;
- lon = (long)gga.longitude;
-
- nmea_update = true;
-}
-
-static void NORETURN ser_process(void)
-{
- while (1)
- {
- nmea_poll(&nmea, &ser_port.fd);
- kfile_clearerr(&ser_port.fd);
- }
-}
-
-/* Target position screen */
-static void target(Bitmap *bm)
-{
- const long STEP = 10000000,
- MAX_LAT = 90000000, MIN_LAT = -90000000,
- MAX_LON = 180000000, MIN_LON = -180000000;
- long step = STEP, target;
- int row = 0, pos = 1;
- keymask_t key;
-
- gfx_bitmapClear(bm);
- video_on();
- text_xprintf(bm, 0, 0,
- STYLEF_UNDERLINE | TEXT_CENTER | TEXT_FILL,
- "Target position");
- while (1)
- {
- if (!is_lcd_off)
- {
- text_xprintf(bm, 3, 0, TEXT_FILL,
- "Lat: %02ld.%06ld %c %s",
- ABS(target_lat) / 1000000L,
- ABS(target_lat) % 1000000,
- target_lat >= 0 ? 'N' : 'S',
- row == 0 ? "<-" : "");
- text_xprintf(bm, row ? 4 : 6, 0,
- TEXT_FILL | TEXT_CENTER, " ");
- text_xprintf(bm, row ? 6 : 4, 0,
- TEXT_FILL, "%*c",
- (step < 1000000L) ?
- pos + 7 : pos + 6, '^');
- text_xprintf(bm, 5, 0, TEXT_FILL,
- "Lon: %03ld.%06ld %c %s",
- ABS(target_lon) / 1000000L,
- ABS(target_lon) % 1000000L,
- target_lon >= 0 ? 'E' : 'W',
- row == 1 ? "<-" : "");
- repaint(bm);
- }
- key = keypad_peek();
- if (key & K_UP)
- {
- if (row == 0)
- {
- target = target_lat + step;
- if (target <= MAX_LAT)
- {
- if (target_lat < 0 && target > 0)
- target_lat = ABS(target_lat) +
- step;
- else
- target_lat = target;
- }
- }
- else
- {
- target = target_lon + step;
- if (target <= MAX_LON)
- {
- if (target_lon < 0 && target > 0)
- target_lon = ABS(target_lon) +
- step;
- else
- target_lon = target;
- }
- }
- }
- else if (key & K_DOWN)
- {
- if (row == 0)
- {
- target = target_lat - step;
- if (target >= MIN_LAT)
- {
- if (target_lat > 0 && target < 0)
- target_lat = -ABS(target_lat) -
- step;
- else
- target_lat = target;
- }
- }
- else
- {
- target = target_lon - step;
- if (target >= MIN_LON)
- {
- if (target_lon > 0 && target < 0)
- target_lon = -ABS(target_lon) -
- step;
- else
- target_lon = target;
- }
- }
- }
- else if (key & K_LEFT)
- {
- if (step < STEP)
- {
- step *= 10;
- pos--;
- }
- }
- else if (key & K_RIGHT)
- {
- if (step >= 10)
- {
- step /= 10;
- pos++;
- }
- }
- else if (key & K_OK)
- {
- if (row++ == 1)
- break;
- /* Move to longigude */
- }
- cpu_relax();
- }
- flash_save_target();
-}
-
-/* Compass management */
-static void draw_compass(Bitmap *bm)
-{
- const int R = LCD_HEIGHT / 3, R_SMALL = 10;
- long x, y, x1, y1, x2, y2, d;
- int i;
-
- d = distance(lat / 1E6, lon / 1E6, target_lat / 1E6, target_lon / 1E6);
-
- x = (long)((float)R * (1 + sin(deg2rad((float)prev_b))));
- y = (long)((float)R * (1 - cos(deg2rad((float)prev_b))));
-
- x1 = R - R_SMALL + (long)((float)R_SMALL *
- (1 + sin(deg2rad((float)prev_b - 120.0))));
- y1 = R - R_SMALL + (long)((float)R_SMALL *
- (1 - cos(deg2rad((float)prev_b - 120.0))));
- x2 = R - R_SMALL + (long)((float)R_SMALL *
- (1 + sin(deg2rad((float)prev_b + 120.0))));
- y2 = R - R_SMALL + (long)((float)R_SMALL *
- (1 - cos(deg2rad((float)prev_b + 120.0))));
-
- gfx_bitmapClear(bm);
- /* Print direction heading and degrees */
- text_xprintf(bm, 0, 5, 0, "%s", "N");
- text_xprintf(bm, 0, 0, TEXT_RIGHT, "%s", compass_heading(prev_b));
- text_xprintf(bm, 1, 0, TEXT_RIGHT, "%ld deg.", prev_b);
- /* Print distance */
- text_xprintf(bm, 2, 0, TEXT_RIGHT, "%ld %s",
- d >= 1000 ? d / 1000 : d,
- d >= 1000 ? "Km" : "m");
- /* Print current and target position */
- text_xprintf(bm, 6, 0, TEXT_FILL, "%02ld.%06ld%c%03ld.%06ld%c",
- ABS(lat) / 1000000L,
- ABS(lat) % 1000000,
- lat >= 0 ? 'N' : 'S',
- ABS(lon) / 1000000L,
- ABS(lon) % 1000000L,
- lon >= 0 ? 'E' : 'W');
- text_xprintf(bm, 7, 0, TEXT_FILL, "%02ld.%06ld%c%03ld.%06ld%c",
- ABS(target_lat) / 1000000L,
- ABS(target_lat) % 1000000,
- target_lat >= 0 ? 'N' : 'S',
- ABS(target_lon) / 1000000L,
- ABS(target_lon) % 1000000L,
- target_lon >= 0 ? 'E' : 'W');
- /* Draw the circle */
- for (i = 0; i < 360; i++)
- BM_PLOT(bm,
- (long)((float)R * (1 + sin(deg2rad((float)i)))),
- (long)((float)R * (1 - cos(deg2rad((float)i)))));
- /* Draw the needle */
- gfx_rectFill(bm, R - 2, R - 2, R + 2, R + 2);
- gfx_line(bm, R, R, x1, y1);
- gfx_line(bm, R, R, x2, y2);
- gfx_line(bm, x1, y1, x, y);
- gfx_line(bm, x2, y2, x, y);
-
- repaint(bm);
-}
-
-static void compass(Bitmap *bm)
-{
- long b, inc;
-
- video_on();
- while (1)
- {
- if (!is_lcd_off)
- {
- b = bearing(lat / 1E6, lon / 1E6,
- target_lat / 1E6, target_lon / 1E6);
- inc = ABS(b - prev_b) < 360 - ABS(b - prev_b) ? 1 : -1;
- /* Compass animation */
- if (b < prev_b)
- inc = -inc;
- while (prev_b != b)
- {
- prev_b = (prev_b + inc) % 360;
- if (prev_b < 0)
- prev_b = 359;
- if (!(prev_b % 5))
- draw_compass(bm);
- if (keypad_peek() & KEY_MASK)
- return;
- }
- draw_compass(bm);
- }
- cpu_relax();
- if (keypad_peek() & KEY_MASK)
- return;
- }
-}
-
-/* GPS receiver status */
-static const char *gps_fix[] =
-{
- "invalid",
- "GPS",
- "DGPS",
- "PPS",
- "RTK",
- "float-RTK",
- "estimated",
- "manual",
- "simulation",
-};
-
-static void gps_data(Bitmap *bm)
-{
- struct tm tm;
- char buf[32];
-
- video_on();
- gfx_bitmapClear(bm);
- while (1)
- {
- if (!is_lcd_off)
- {
- if (!rmc.time)
- {
- text_xprintf(bm, 3, 0,
- TEXT_CENTER | TEXT_FILL, "No GPS data");
- }
- else
- {
- gmtime_r(&rmc.time, &tm);
-
- text_xprintf(bm, 0, 0, TEXT_FILL,
- "Lat. %ld.%06ld%c",
- ABS(lat) / 1000000L,
- ABS(lat) % 1000000,
- lat >= 0 ? 'N' : 'S');
- text_xprintf(bm, 1, 0, TEXT_FILL,
- "Lon. %ld.%06ld%c",
- ABS(lon) / 1000000L,
- ABS(lon) % 1000000L,
- lon >= 0 ? 'E' : 'W');
- text_xprintf(bm, 2, 0, TEXT_FILL,
- "Alt. %d", gga.altitude);
- text_xprintf(bm, 3, 0, TEXT_FILL,
- "Speed: %d", vtg.km_speed);
- if (gga.quality < countof(gps_fix))
- text_xprintf(bm, 4, 0, TEXT_FILL,
- "Fix: %s",
- gps_fix[gga.quality]);
- else
- text_xprintf(bm, 4, 0, TEXT_FILL,
- "Fix: %d", gga.quality);
- text_xprintf(bm, 5, 0, TEXT_FILL,
- "Satellites: %d",
- gga.satellites);
- strftime(buf, sizeof(buf),
- "Date: %Y-%m-%d %a", &tm);
- text_xprintf(bm, 6, 0, TEXT_FILL, "%s", buf);
- strftime(buf, sizeof(buf),
- "Time: %H:%M:%S (UTC)", &tm);
- text_xprintf(bm, 7, 0, TEXT_FILL, "%s", buf);
- }
- repaint(bm);
- }
- if (keypad_peek() & KEY_MASK)
- break;
- cpu_relax();
- }
-}
-
-/* BeRTOS screen */
-static void about(Bitmap *bm)
-{
- gfx_bitmapClear(bm);
- video_on();
- text_xprintf(bm, 7, 0,
- STYLEF_UNDERLINE | TEXT_CENTER | TEXT_FILL,
- "http://www.bertos.org");
- repaint(bm);
- if (!is_lcd_off)
- {
- const uint8_t *p = &logo[BITMAP_HEADER_SIZE];
- uint8_t h = logo[BITMAP_HEIGHT_OFFSET];
- uint8_t w = logo[BITMAP_WIDTH_OFFSET];
- uint8_t r;
-
- for (r = 0; r < h; r++)
- {
- rit128x96_blitRaw(p,
- (128 - w) / 2, 70 - r, w, 1);
- p += w / 2;
- }
- }
- while (!(keypad_peek() & KEY_MASK))
- cpu_relax();
-}
-
-static struct MenuItem main_items[] =
-{
- {(const_iptr_t)"Target", 0, (MenuHook)target, (iptr_t)&lcd_bitmap},
- {(const_iptr_t)"Compass", 0, (MenuHook)compass, (iptr_t)&lcd_bitmap},
- {(const_iptr_t)"GPS data", 0, (MenuHook)gps_data, (iptr_t)&lcd_bitmap},
- {(const_iptr_t)"About...", 0, (MenuHook)about, (iptr_t)&lcd_bitmap},
- {(const_iptr_t)0, 0, NULL, (iptr_t)NULL}
-};
-
-static struct Menu main_menu =
-{
- main_items, "DevelGPS v0.1", MF_STICKY | MF_SAVESEL, &lcd_bitmap, 0
-};
-
-static void init(void)
-{
- IRQ_ENABLE;
-
- kdbg_init();
- timer_init();
- proc_init();
-
- scrsvr_timestamp = ticks_to_ms(timer_clock_unlocked());
- led_init();
-
- flash_init(&flash);
- flash_load_target();
-
- ser_init(&ser_port, SER_UART1);
- ser_setbaudrate(&ser_port, 38400);
-
- nmeap_init(&nmea, NULL);
- nmeap_addParser(&nmea, "GPGGA", nmea_gpgga, nmea_callback, &gga);
- nmeap_addParser(&nmea, "GPRMC", nmea_gprmc, nmea_callback, &rmc);
- nmeap_addParser(&nmea, "GPVTG", nmea_gpvtg, nmea_callback, &vtg);
-
- rit128x96_init();
- gfx_bitmapInit(&lcd_bitmap, raster, LCD_WIDTH, LCD_HEIGHT);
- gfx_setFont(&lcd_bitmap, &font_gohu);
- repaint(&lcd_bitmap);
-
- kbd_init();
-}
-
-int main(void)
-{
- init();
-
- proc_new(led_process, NULL, KERN_MINSTACKSIZE * 2, NULL);
- proc_new(ser_process, NULL, KERN_MINSTACKSIZE * 2, NULL);
-
- while (1)
- {
- iptr_t res = menu_handle(&main_menu);
- if (res != MENU_TIMEOUT)
- video_on();
- cpu_relax();
- }
-}
projects / bertos.git / blobdiff