main.c

c8051f020微处理器gps数据接收

//-------------------------------------------------------------
//		filename: main.C
//	This file is programed for the Micro Auto Pilot System of  the Wisewell Inc.
//  Programer: wangr
//-------------------------------------------------------------


//------------------------ NOTES -------------------

//------------------------------------------------
/*********************************************************************************/
/***************************                  ************************************/
/*************************** include  section ************************************/
/***************************                  ************************************/
/*********************************************************************************/
//#include <C8051F020.h>
#include <GPS_F023.c>
#include <intrins.h>
#include <ABSACC.H>
#include <math.h>
#include <stdio.h>
#include <string.h>

#define uchar unsigned char
#define uint unsigned int

sbit LED1 = P1^1;
sbit LED2 = P1^2;
sbit LED3 = P1^3;
sbit LED4 = P1^4;
sbit LED5 = P1^5;
sbit LED6 = P1^6;
sbit LED7 = P1^7;

bit LED_flag;

//uchar xdata r_buf[100];
//uchar xdata r_in;
bit GPS_received_data_OK, GPS_received_data_OK1, gps_en;

uint xdata main_count;

/************************************************/
/*************     GPS recieve   ****************/
#define  PI    3.14

#define  ILEN  85
#define  OS_ENTER_CRITICAL()  EA = 0
#define  OS_EXIT_CRITICAL()   EA = 1
#define  VAH_Gain    10

//typedef unsigned char  uchar ; 

#define OS_GPS_LAT_EN  1
#define OS_GPS_LONG_EN 1

/*  serial port 0 exchange data between gps and pc */
/*************************************************************/
/*                     GPS buffer                            */
/*************************************************************/
//uchar idata r_buf[]="$GPGGA,034745.94,3537.8333,N,11619.5870,E,1,06,2.2,-143.5,M,-12.6,M,000,000*7F,111";
// uchar xdata s_buf[]="$GPGGA,034745.94,3537.8333,N,11619.5870,E,0,06,2.2,-143.5,M,-12.6,M,000,000*7F,";
 uchar idata r_buf[ILEN]="$GPRMC,022309.34,V,3537.8333,N,13944.6667,E,004.0,002.0,030222,,*02";
// uchar idata r_buf[ILEN];
/*
$GPGGA,022237.00,3537.8333,N,13944.6667,E,0,00,99.9,0100,M,,M,000,0000*7E
$GPGLL,3537.8333,N,13944.6667,E,022237,V*38
$GPRMC,022237,V,3537.8333,N,13944.6667,E,000.0,000.0,030222,,*0E
$GPZDA,022237,03,02,2022,,*4D
*/

/****************************************************************************/
/*    500m        DBSAE = 120
/*    1km         DBSAE = 60
/*    2km         DBSAE = 30
/*    3km         DBSAE = 20
/*    4km         DBSAE = 15
/*    5km         DBSAE = 12
/*    6km         DBSAE = 10
/*    7km         DBSAE = 9
/*    8km         DBSAE = 8
/*    9km         DBSAE = 7
/*    10km        DBSAE = 6
/*
/****************************************************************************/

unsigned char code DBSAE_Table[]={60,30,15,10,7,6,5,4,4,3,3};
uchar idata r_in;





bit measure_detect;
bit Data_Request;
bit GPS_received_data_OK,GPS_received_data_OK1;
bit second_flag;
bit GPGGA_flag;
bit GPRMC_flag;
bit  send_flag_OK;
bit gps_flag = 0;
bit TimeCorrect_flag;
bit Int0Send_flag;

// GPS data //
bit gps_en;            						 /* control the GPS receiver status */
idata int L_X = 0;
idata int L_Y = 0;

typedef struct {
   // utc time
   union { double utc_time;
           struct {uchar hour;
            	   uchar min;
                   uchar sec;
                   uchar date;
                   uchar month;
                   uchar year_low;uchar year_high;} times;
			   } OS_UTC;
  // latitude WGS-84.
  #ifdef OS_GPS_LAT_EN
   union { unsigned long latitude;
           struct {uchar latitude_deg;
    	           uchar latitude_min;
				   uint  latitude_sec;} latitudes;
               } OS_Latitude;
   float f_latitude;
   uchar latitude_deg;
   float f_latitude_min;
  #else
   float f_latitude;
   uchar latitude_deg;
   float f_latitude_min;
  #endif

   uchar latitude_N_S;
   
  // longitude  WGS-84.
  #ifdef OS_GPS_LONG_EN
   union { unsigned long longitude;
           struct {uchar longitude_deg;
    	           uchar longitude_min;
				   uint  longitude_sec;} longitudes;
               } OS_Longitude;
  float f_longitude;
  uchar longitude_deg;
  float f_longitude_min;
  #else
  float f_longitude;
  uchar longitude_deg;
  float f_longitude_min;
  #endif
  uchar longitude_E_W;
  // orientation
  uchar orientation;
  // star number
  uchar star_number;
  // HDOP
  float HDOP;
  // altitude Altitude with respect to mean sea level.
  float f_altitude;       //海拔高度
  // Geoidal Separationthe difference between the WGS-84 earth ellipsoid and mean-sea-level (geoid).
  float f_separation;     // - means that mean-sea-level below ellipsoid.
  // speed
  float f_speed;
  // heading
  float f_heading;
  // megnitude angle
  float	f_magval;
  char	f_magsig;
  // megnitude angle direction
 } OS_GPS;

typedef struct os_point{
      float Ex;
      float Ny;
	  float Sz;
	  uchar G;
	  uint  Heading;
 	  uint  Speed;
      uint  Distance;
      } POINT;

idata OS_GPS gps_point;
xdata POINT OS_PTbl[2];

xdata POINT xdata *Start_Point;
xdata POINT xdata *Any_Point;

void delay(uchar x);
void delay20();
//void InitTimer0(void);
void serialGPS_init();
void putbyte(uchar c);
uchar Read_GPS_GPGGA_B();
uchar Read_GPS_GPRMC_B();
uchar Read_GPS_GPRMC_C();
void trans_data(uchar ch);
void send_data();
void sys_ini();
void Process_GPS();
void Init_Device(void);

uchar xdata ReportTime_buf[8] = {0x12};
uchar xdata ReportTimetoMach[30] = {0xAA, 0xBB, 0xFF, 0xFF, 0x12};
uchar xdata com_receive_data[20]={0x00,0x00,0x00,0x00,0x00};
uchar xdata com_receive_subf=5;
	bit idata buff_flag=0;
uchar idata buff_count,buff_number;
	bit com_receive_f=0;
	bit com_send_f=0;

uint xdata day_count;
uchar xdata year_count,day_count_temp1, day_count_temp2;

/*********************************************************************************?
/*******************  Function declare *******************************************/
/*********************************************************************************/
void config (void);
void MCU_init(void);
void delay(uchar m);

/*********************************************************************************/
/***************************                  ************************************/
/***************************     main         ************************************/
/***************************                  ************************************/
/*********************************************************************************/
void main(void)
{

/*********************************************************************/
/*data and system  Initialized
/*********************************************************************/
  uchar idata GPS_Count = 0;
  //float idata start_temp = 0;
  // uchar idata i;
  float idata any_temp = 0; 

	config();
	MCU_init();
	LED_flag = 0;
	LED1 = 0;

/*	main_flag = 1;
	height_flag = 0;
	do{
    ADC0CN |= 0x90;	// A/D trans enabled
	delay(10);
	height = AD_buf[0]*256 + AD_buf[1];
	if(height>0x0010)
	{
	potentiometer_data--;
	SPI0_Init(potentiometer_data);
	}
	else if(height<1)
	{
	potentiometer_data++;
	SPI0_Init(potentiometer_data);
	}
	else 
	{
	main_flag = 0;
	}
	delay(5);
	}while(main_flag);
	height_flag = 1;
	ADC0CN &= 0x6F;	// ADC Control Register:AD trans disabled
*/


    PCA0MD &= ~0x40;                       // WDTE = 0 (clear watchdog timer 
	sys_ini();

//	while(1)
//	{
//		Indicator_LED=0;
//		delay(50);
//		Indicator_LED=1;
//		delay(50);
//	}
  	Start_Point = &OS_PTbl[0];
  	Any_Point   = &OS_PTbl[1];

/*********************************************************************/
/* system self - testing by sending OK
/*********************************************************************/
  
	  Read_GPS_GPGGA_B();
	  Read_GPS_GPRMC_B();
	  Process_GPS();
	  send_data();
	  LED1 = 0;  // make the led light and dark
	
	  putbyte('O');
	  putbyte('K');

	  delay(150);
	
	  do{
		delay(60);
		putbyte(0x51);
		putbyte(0x52);
		Process_GPS();
				 gps_point.orientation=0;			
				 gps_point.star_number=3;
				 gps_point.OS_UTC.times.hour=8;		
				 gps_point.OS_UTC.times.min=30;
				 gps_point.OS_UTC.times.sec=59;
				 L_X=100;////0x0064
				 L_Y=101;//0x0065
				 gps_point.f_heading=0x00;
				 gps_point.f_speed=0xab;//171
				 gps_point.f_altitude=0xcd;//171
				 gps_point.f_magval=0xef;//171
		LED1=!LED1;  // make the led dark
	   } while(!GPS_received_data_OK);   // if no gps, flash.
	
	  LED1 = 1;  // make the led dark
	
	/*********************************************************************/
	/* NAV Start Point Calculation
	/*********************************************************************/
	
	while(!gps_point.orientation||second_flag == 0)
	 { //4
	 _nop_();
	 // GPS_received_data_OK = 1;
	 if(GPS_received_data_OK)
	  {  //3
	    GPS_received_data_OK = 0;
//	    Read_GPS_GPRMC_C();
		// for (i = 0; i< 90 ; i++) r_buf[i]= s_buf[i];
	  Read_GPS_GPGGA_B();
	  Read_GPS_GPRMC_B();
	  //  gps_point.orientation=1;
	    if(GPGGA_flag == 1)
	      { //2
		   OS_ENTER_CRITICAL();
	       GPGGA_flag = 0;
	       GPRMC_flag = 0;
	       switch(gps_point.orientation)
	         {  //1
	          case 0x00:
	                   _nop_();
	                   GPS_Count = 0;
	                   L_X = 0;
	                   L_Y = 0;
					   putbyte(0x66);
	                   break;
	          case 0x01:
	                   GPS_Count ++;
			   		  if(second_flag == 0 && GPS_Count == 10)
			      		{
			             Start_Point->Ex = gps_point.f_longitude;
			     	     Start_Point->Ny = gps_point.f_latitude ;
	               		}
	                   if (GPS_Count >= 10) 
					    { GPS_Count = 0; second_flag = 1; }
						putbyte(0x77);
	                   break;
	          case 2:
	                   _nop_();
	                   break;
	          default:
	                   _nop_();
	                   break;
	          }  //1
		   OS_EXIT_CRITICAL();
		   send_data();
	       } //2
	     } //3
	   _nop_();
	   } //4
	
	   putbyte('A');putbyte('A');putbyte('A');putbyte('A');putbyte('A');
	   putbyte('\r');
	   putbyte('\n');
	
	   L_X = (int) (Start_Point->Ex );
	   L_Y = (int) (Start_Point->Ny );
	   LED1 = 1;      				// lighting 
	   send_data();
	   Process_GPS();
	
	//   while(1);
	/*********************************************************************/
	/* NAV Point Calculation 
	/*********************************************************************/
	
	 while(1){ //4
	 _nop_();
	 _nop_();