//****************************************************
// Kenichi Ogawa
// 距離、緯度経度、表示切替 OK!  
// GPS_test17.c
// FOCS XT_PLL8
// 10MHzｾﾗﾐｯｸ発振子(ｾﾗﾛｯｸ)
// dsPIC30F4012
// MPLAB C30 v3.31
// MPLAB IDE v8.88
// GPSﾓｼﾞｭｰﾙ GT-723F
// LCDﾓｼﾞｭｰﾙ ２０ｘ４行　SC2004CSLB-XA-GB-K
// 時間、直線距離、衛星補足数(S)、HDP表示(H)追加
// (LCD) ----- (PIC)
//   RS ------- RB4
//   EN ------- RB5
//   DB4 ------ RB0
//   BD5 ------ RB1
//   DB6 ------ RB2
//   DB7 ------ RB3
//
// RE0 切替ｽｲｯﾁ
// ﾎﾞｰﾚｰﾄ 9600bps test 133,464
// 2013/08      
//OK!!!! 連続受信成功  
// ﾃﾞｼﾞｶﾒ 100-
// 
//****************************************************
  
//ヘッダファイル 
#include <p30f4012.h>
#include <uart.h>
#include <stdlib.h>
#include <stdio.h>
#include <math.h>  
  
//**************************************************** 
//コンフィギュレーション 
_FOSC(CSW_FSCM_OFF & XT_PLL8); //10MHzセラロックを使っているのでクロックは80MHz。 
_FWDT(WDT_OFF); 
_FBORPOR(PBOR_ON & BORV20 & PWRT_64 & MCLR_EN); 
_FGS(CODE_PROT_OFF); 
  
  
//**************************************************** 
//UARTの設定パラメータ 
  
unsigned int config1 = UART_EN & UART_IDLE_CON & UART_ALTRX_ALTTX & UART_NO_PAR_8BIT & UART_1STOPBIT 
                     & UART_DIS_WAKE & UART_DIS_LOOPBACK & UART_DIS_ABAUD; 
  
unsigned int config2 = UART_INT_TX_BUF_EMPTY & UART_TX_PIN_NORMAL & UART_TX_ENABLE & UART_INT_RX_CHAR  
                     & UART_ADR_DETECT_DIS & UART_RX_OVERRUN_CLEAR;
                    
//unsigned int config3 = UART_DIS; 
  
  
//****************************************************

#define CPU_CLOCK 10000000L
#define CPU_PLL 8
#define FCY (CPU_CLOCK * CPU_PLL / 4)

#include <libpic30.h>

#define LCD_RS _LATB4
#define LCD_EN _LATB5
#define LCD_DATA LATB

void lcd_send4(unsigned char);
void lcd_cmd(unsigned char);
void lcd_asci(unsigned char);
void lcd_clear();
void lcd_goto(unsigned char);
void lcd_4012_init();
void lcd_init();
void putch(unsigned char);
void lcd_strobe();

char ken_getch();

char temp,cx,c;
char string[40];
int i;
//bit z;

double gps_hokui_d,d_hokui,gen_hokui,m_hokui,sa_hokui,my_hokui;
double gps_tokei_d,d_tokei,gen_tokei,m_tokei,sa_tokei,my_tokei;
double sa_km_hokui,sa_m_hokui,rd_hokui;
double d_km_tokei,sa_km_tokei_1,sa_km_tokei_2,sa_km_tokei_3,sa_m_tokei; //***************
double d_km_hokui,idoen;
double chokusen_km;
double ken_cos; // cos(rd_hokui)
double m1_hokui,m2_hokui,m3_hokui,s_hokui;
double m1_tokei,m2_tokei,m3_tokei,s_tokei;

#define my_hokui 35.282383
#define my_tokei 136.816991 // 136.816991
#define d_km_hokui 111.135 // １度＝111.135ｋｍ
//#define idoen 40076.5 
//メイン関数 
  
int main(void) 
{
	char c1,c2;
	char gps_data[55];
	char gpgga[] = "GPGGA";
	char gps_hokui[12],gps_tokei[12];
	char time_h[3],time_m[3],time_s[3];
	char sate[3],hdp[5];
	int h_int; // 時間の数値
	
	char Km[] = " Km";
	char Nsa[] = "Nsa: ";
	char Esa[] = "Esa: ";
	char Choku[] = "Choku: ";
	char ken[] = " I love Tamiko.Ken";
	 
 	TRISE = 0x01; // RE0=IN
 	PORTE = 0x0E;
 	
 	lcd_4012_init();
 	lcd_init();
 	
 	lcd_clear();
 	__delay_ms(2);
 	
 	PORTE = 0xFE; // LED(Y) 消灯
 	
   
 //=================================================== 
 //UART初期設定 
 //速度は9600bps Ubrg=(FCY/(16*BAUD))-1
 // (20000000/153600)-1=129.2
 // Ubrg=(20000000/(16*BAUD))-1=129.2
   OpenUART1(config1,config2,129);// ***** 
    
 //=================================================== 
 //メインループ 
  
 while(1) 
  {
	 i = 0;
	 c1 = ken_getch();
	 while( c1 != '$')
	 {
	 	c1 = ken_getch();
	 }
	 while(i < 54 )
	 {
	 	c2 = ken_getch();
	 	gps_data[i] = c2;
	 	i++;
	 }
	 gps_data[i] = 0x00;
	 
	 CloseUART1(); // *************
	 
	 if (strncmp(gps_data,gpgga,5) == 0)
	 {
	 	strncpy(gps_hokui,gps_data+17,9);
	 	strncpy(gps_tokei,gps_data+29,10);
	 	
	 	strncpy(time_h,gps_data+6,2);
	 	strncpy(time_m,gps_data+8,2);
	 	strncpy(time_s,gps_data+10,2);
	 	
	 	strncpy(sate,gps_data+44,2);
	 	strncpy(hdp,gps_data+47,4);
	 		 	
	 	gps_hokui_d = atof(gps_hokui);
	 	d_hokui = (int)gps_hokui_d / 100;
	 	
	 	// m_hokui = (gps_hokui_d - d_hokui * 100) / 60;
	 	
	 	m1_hokui = (gps_hokui_d - d_hokui*100);
	 	m_hokui = m1_hokui / 60;
	 	
	 	gen_hokui = d_hokui + m_hokui;
	 	
	 	m2_hokui = (int)m1_hokui;
	 	m3_hokui = m1_hokui - m2_hokui;
	 	s_hokui = m3_hokui * 60;
	 	
	 	sa_hokui = gen_hokui - my_hokui;
	 	sa_km_hokui = d_km_hokui * sa_hokui;
	 	sa_m_hokui = 1000 * sa_km_hokui;
	 	
	 	// -------------------------------
	 	
	 	gps_tokei_d = atof(gps_tokei);
	 	d_tokei = (int)gps_tokei_d / 100;
	 	
	 	// m_tokei = (gps_tokei_d - d_tokei * 100) / 60;
	 	
	 	m1_tokei = gps_tokei_d - d_tokei * 100;
	 	m_tokei = m1_tokei / 60;
	 	
	 	gen_tokei = d_tokei + m_tokei;
	 	
	 	m2_tokei = (int)m1_tokei;
	 	m3_tokei = m1_tokei - m2_tokei;
	 	s_tokei = m3_tokei * 60;
	 		 	
	 	sa_tokei = gen_tokei - my_tokei;
	 	rd_hokui = 0.0174532925 * gen_hokui;
	 	ken_cos = cos(rd_hokui);
	 	sa_km_tokei_1 = 40076.5 * ken_cos;
	 	sa_km_tokei_2 = sa_km_tokei_1  / 360;
	 	sa_km_tokei_3 = sa_km_tokei_2 * sa_tokei;
	 	
	     	
	 	// ----- cyokusen ---------------------------
	 	
	 	chokusen_km = pow(sa_km_hokui,2) + pow(sa_km_tokei_3,2);
	 	chokusen_km = sqrt(chokusen_km);
	 	
	 	// ------ Time ----------------------------
	 	h_int = atoi(time_h);
	 	if (h_int <= 14)
	 	{
	 		h_int = h_int + 9; // UST 0-14
	 	}
	 	else
	 	{
	 		h_int = h_int - 15; // UST 15-23
	 	}
	 	if (h_int > 11)
	 	{
	 		h_int = h_int - 12; // １２時間制
	 	}
	 	
	 	// ------------------------------
	 	lcd_clear();
	 	
	 	lcd_goto(0X80); // １行目
	 	sprintf(string,"%2d",h_int);
	 	i = 0;
	 	while(string[i] != '\0')
	 	{
	 		c = string[i];
	 		putch(c);
	 		i++;
	 	}
	 	c = ':';
	 	putch(c);
	 	
	 	// -----------------
	 	for (i=0;i<2;i++)
	 	{
	 		c = time_m[i];
	 		putch(c);
	 	}
	 	c = ':';
	 	putch(c);
	 	
	 	// ----------------
	 	for (i=0;i<2;i++)
	 	{
	 		c = time_s[i];
	 		putch(c);
	 	}
	 	
	 	lcd_goto(0x89);
	 	c = 'S';
	 	putch(c);
	 	c = ':';
	 	putch(c);
	 	
	 	for (i=0;i<2;i++)
	 	{
	 		c = sate[i];
	 		putch(c);
	 	}
	 	
	 	lcd_goto(0x8E);
	 	c = 'H';
	 	putch(c);
	 	c = ':';
	 	putch(c);
	 	
	 	for (i=0;i<3;i++)
	 	{
	 		c = hdp[i];
	 		putch(c);
	 	}
	 	
	 		 		 	
	 	// -------------------------------
	 	
	 	if (_RE0) // _RE="1" 距離表示、"0" 緯度経度表示
	 	{
	 		 	
	 	lcd_goto(0xC1); // ２行目
	 	for (i=0;i<7;i++)
	 	{
	 		c = Choku[i];
	 		putch(c);
	 	}
	 	
	 	sprintf(string,"%4.3f",chokusen_km);
	 	i = 0;
	 	while(string[i] != '\0')
	 	{
	 		c = string[i];
	 		putch(c);
	 		i++;
	 	}
	 	for (i=0;i<3;i++)
	 	{
	 		c = Km[i];
	 		putch(c);
	 	}	
	 
	 	
	 	// ------------------------------
	 	
	 	lcd_goto(0x95); // ３行目
	 	for (i=0;i<5;i++)
	 	{
	 		c = Nsa[i];
	 		putch(c);
	 	}
	 	
	 	sprintf(string,"%+4.3f",sa_km_hokui);
	 	i = 0;
	 	while(string[i] != '\0')
	 	{
	 		c = string[i];
	 		putch(c);
	 		i++;
	 	}
	 	for (i=0;i<3;i++)
	 	{
	 		c = Km[i];
	 		putch(c);
	 		
	 	}
	 	
	 	 // ----------------------------
	 	
	 	lcd_goto(0xD5); // ４行目
	 	for (i=0;i<5;i++)
	 	{
	 		c = Esa[i];
	 		putch(c);
	 	}
	 	sprintf(string,"%+4.3f",sa_km_tokei_3); // 
	 	i = 0;
	 	while(string[i] != '\0')
	 	{
	 		c = string[i];
	 		putch(c);
	 		i++;
	 	}
	 	for (i=0;i<3;i++)
	 	{
	 		c = Km[i];
	 		putch(c);
	 	    
	 	}
	 } //if THEN ELSE
	 else
	 {
	 	lcd_goto(0xC2);
	 	c = 'N';
	 	putch(c);
	 	c = ':';
	 	putch(c);
	 	c = ' ';
	 	putch(c);
	 	putch(c);
	 	
	 	sprintf(string,"%2d",(int)d_hokui);
	 	i = 0;
	 	while(string[i] !='\0')
	 	{
	 		c = string[i];
	 		putch(c);
	 		i++;
	 	}
	 	c = 0xDF;
	 	putch(c);
	 	//while(1);OK
	 	
	 	sprintf(string,"%2d",(int)m2_hokui);
	 	i = 0;
	 	while(string[i] !='\0')
	 	{
	 		c = string[i];
	 		putch(c);
	 		i++;
	 	}
	 	c = 0x27;
	 	putch(c);
	 	//while(1);OK
	 	sprintf(string,"%02.3f",s_hokui);
	 	i = 0;
	 	while(string[i] !='\0')
	 	{
	 		c = string[i];
	 		putch(c);
	 		i++;
	 	}
	 	c = '"';
	 	putch(c);
	 	//while(1);OK
	 // -------------------------
	 
	   lcd_goto(0x96);
	   c = 'E';
	   putch(c);
	   c = ':';
	   putch(c);
	   c = ' ';
	   putch(c);
	   
	   sprintf(string,"%3d",(int)d_tokei);
	   i = 0;
	   while(string[i] !='\0')
	   {
	   	   c = string[i];
	   	   putch(c);
	   	   i++;
	   }
	   c = 0xDF;
	   putch(c);
	   //while(1);
	   sprintf(string,"%2d",(int)m2_tokei);
	   i = 0;
	   while(string[i] !='\0')
	   {
	   		c = string[i];
	   		putch(c);
	   		i++;
	   }
	   c = 0x27;
	   putch(c);
	   
	   sprintf(string,"%02.3f",s_tokei);
	   i = 0;
	   while (string[i] !='\0')
	   {
	   		c = string[i];
	   		putch(c);
	   		i++;
	   }
	   c = '"';
	   putch(c);
	   
	 // -------------------------
	  lcd_goto(0xD6);
	  i = 0;
	  while(ken[i] !='\0')
	  {
	  		c = ken[i];
	  		putch(c);
	  		i++;
	  }	  	
	 	
	 } // else
	 	
	 	// -----------------------------
	 	
	 	
	 } // if
	 OpenUART1(config1,config2,129); // 9600bps **
 } //while(1)
} // main 
	 
 
//***************************************************
void lcd_send4(unsigned char c)
{
	LCD_DATA = (LCD_DATA & 0xF0) | c;
	lcd_strobe();
}


//-----　ｺﾏﾝﾄﾞ処理　------------------------------------

void lcd_cmd(unsigned char cmd)
{
	LCD_RS = 0;  //ｺﾏﾝﾄﾞ
	LCD_DATA = (LCD_DATA & 0xF0) | ((cmd >> 4) & 0x0F);// 上位ﾋﾞｯﾄ
	lcd_strobe();
	
	LCD_DATA = (LCD_DATA & 0xF0) | (cmd & 0x0F);// 下位ﾋﾞｯﾄ
	lcd_strobe();
	__delay_us(50);
}


//------ 文字ﾃﾞｰﾀ処理 ---------------------------------

void lcd_asci(unsigned char cmd)
{
	LCD_RS = 1;
	LCD_DATA = (LCD_DATA & 0xF0) | ((cmd >> 4) & 0x0F);// 上位ビット
	lcd_strobe();
	
	LCD_DATA = (LCD_DATA & 0xF0) | (cmd & 0x0F);// 下位ビット
	lcd_strobe();
	__delay_us(50);


}

//-------------------------------------

void lcd_goto(unsigned char pos)
{
	lcd_cmd(pos);
}
	

//============================================

void lcd_clear()
{
	lcd_cmd(0x1);
	__delay_ms(15);
}

//==============================================

void lcd_strobe()
{
	__delay_us(1);
	LCD_EN = 1;
	__delay_us(2);
	LCD_EN = 0;
}

//================================================

char ken_getch()
{
	while(!DataRdyUART1());
	temp = ReadUART1();
	cx = temp;
	return(cx);
}

// ----------------------------------------------

void putch(unsigned char c)
{
	lcd_asci(c);
}

//----------------------------------------------

void lcd_4012_init()
{

	TRISB = 0x00;
	PORTB = 0x00;
	LATB = 0x00;
}

//-------------------------------

void lcd_init()
{
	__delay_ms(15);
	LCD_RS = 0;
	LCD_EN = 0;
	
	lcd_send4(0x03);
	__delay_ms(5);
	
	lcd_send4(0x03);
	__delay_ms(1);
	
	lcd_send4(0x03);
	__delay_ms(1);
	
	lcd_send4(0x02);
	__delay_ms(1);
	
	
	lcd_cmd(0x28);   // ﾌｧﾝｸｼｮﾝ DL="0" 4BIT設定
	lcd_cmd(0x08);   // 表示ON/OFF ｺﾝﾄﾛｰﾙ D="0" 表示 OFF , C="0" ｶｰｿﾙ OFF
	lcd_cmd(0x0C);   // 表示ON/OFF ｺﾝﾄﾛｰﾙ D="1" 表示 ON  , C="0" ｶｰｿﾙ OFF
	lcd_cmd(0x06);   // ｴﾝﾄﾘｰ ﾓｰﾄﾞ I/D="1" ｱﾄﾞﾚｽを+１　ｶｰｿﾙを右へ
	lcd_cmd(0x01);   // 表示ｸﾘｱ
	__delay_ms(2);
}