#include <p30f4013.h>
#include <uart.h>
#include <math.h>
#include <stdio.h>

_FOSC(CSW_FSCM_OFF & XT_PLL8);
_FWDT(WDT_OFF);
_FBORPOR(PBOR_ON & BORV_20 & PWRT_64 & MCLR_EN);
_FGS(CODE_PROT_OFF);


unsigned int config1 = UART_EN & UART_IDLE_CON & 
             UART_ALTRX_ALTTX & UART_DIS_WAKE & UART_DIS_LOOPBACK & 
             UART_DIS_ABAUD & UART_NO_PAR_8BIT & UART_1STOPBIT;

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_EN & UART_IDLE_CON & 
             UART_RX_TX & UART_DIS_WAKE & UART_DIS_LOOPBACK & 
             UART_DIS_ABAUD & UART_NO_PAR_8BIT & UART_1STOPBIT;

unsigned int config4 = 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 long lat1,lat2,lat3,lat4; //緯度
unsigned long lon1,lon2,lon3,lon4; //経度
unsigned long alt; //高度
unsigned long sp;  //速度
unsigned long dir; //方位
unsigned long sat; //衛星数
unsigned int i,t,u; //for文用
unsigned int n,m; //タイミング合わせるためのレジスタ用。データ読み込み時に使ってます
unsigned long x[23]; //生データ用
unsigned long a,b,c; //生データから計算する過程で用いた
unsigned char y[13]; //本データ


int main(void)
{
 
 init_I2C();
  
  t=0;
  u=0;

  //何かしら初期設定してみた
  for(i=0;i<23;i++)
  {
   x[i]=1111;
  }
while(1)
 {

  OpenUART1(config1,config2,129);
  OpenUART2(config3,config4,129);
    //とりあえず始める
    putsUART1("start\n\r");
    while(BusyUART1());
  while(1)
  {

   //1バイト受信
   while(!DataRdyUART2());
   x[0] = ReadUART2();

   //もしヘッダなら
   if(x[0]==0xe0)
   {
    break;
   }

    //そうでない時の確認
 //   U1MODEbits.ALTIO=1;
    putsUART1("wait...");
    while(BusyUART1());
  }

   //２３バイト目まで読み込む
   for(i=1;i<23;i++){
    m=U2STAbits.URXDA;
    while(!DataRdyUART2())
    n=U2STAbits.RIDLE;
    x[i] = ReadUART2();
   }
//データ計算
 GPS_data();

//データの保存場所があれば
if(t<65500){
 for(i=0;i<13;i++)
  {
   u=t+i;
   EEPROM_write(u,y[i]);
  }
  t=t+13;
 }
}
 //終了確認
 putsUART1("\n\rEND\n\r");
 while(BusyUART1());

}

void GPS_data()
{
//緯度
  //北緯(1)か南緯(1)か
   if(x[3]<0x40)
   {
    lat1 = 1;
   }else{
    lat1 = 2;
    x[3] = (x[3]^0xff)+1;
    x[4] = (x[4]^0xff)+1;
    x[5] = (x[5]^0xff)+1;
    x[6] = (x[6]^0xff)+1;
   }
   
  //角度の計算
   a = x[3]*2097152+x[4]*16384+x[5]*128+x[6];
   lat2 = a/600000;
   lat3 = (a%600000)/10000;
   lat4 = (a%600000)%10000;


//経度
  //東経(1)か西経(2)か
   if(x[7]<0x40)
   {
    lon1 = 1;
   }else{
    lon1 = 2;
    x[7] = (x[7]^0xff)+1;
    x[8] = (x[8]^0xff)+1;
    x[9] = (x[9]^0xff)+1;
    x[10] = (x[10]^0xff)+1;
   }
   
  //角度の計算
   b = x[7]*2097152+x[8]*16384+x[9]*128+x[10];
   lon2 = b/600000;
   lon3 = (b%600000)/10000;
   lon4 = (b%600000)%10000;

//高度
  //正(1)か負(2)か
   if(x[11]<0x40)
   {
    c = 1;
   }else{
    c = 2;
    x[11] = (x[11]^0xff)+1;
    x[12] = (x[12]^0xff)+1;
    x[13] = (x[13]^0xff)+1;
    x[14] = (x[14]^0xff)+1;
   }

  //高さの計算
   alt = x[11]*2097152+x[12]*16384+x[13]*128+x[14];

//速度
   sp = x[15]*16384+x[16]*128+x[17];

//方位
   dir = x[18]*128+x[19];

//衛星数
   sat = x[20];

  y[0] = (unsigned char)lat1;
  y[1] = (unsigned char)lat2;
  y[2] = (unsigned char)lat3;
  y[3] = (unsigned char)lat4;
  y[4] = (unsigned char)lon1;
  y[5] = (unsigned char)lon2;
  y[6] = (unsigned char)lon3;
  y[7] = (unsigned char)lon4;
  y[8] = (unsigned char)c;
  y[9] = (unsigned char)alt;
  y[10] = (unsigned char)sp;
  y[11] = (unsigned char)dir;
  y[12] = (unsigned char)sat;

}