// MCU BASIC: https://www.basic4mcu.com
// DateTime : 2019-08-21 오전 10:26:22
// by Ok-Hyun Park
//
#include <avr/io.h>
#include <avr/interrupt.h>
#define F_CPU 16000000UL // 16 MHz
#include <util/delay.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
//
#define null  0
#define TRIG  6           //TRIG: 출력  PA6
#define ECHO  (PINA&0x80) //ECHO: 입력  PA7
//
unsigned char NAME[10]="$GPGGA",NAME1[10]="$GPGSA",NAME2[10]="$GPRMC";
unsigned char GPS_DATA[100],GPS_DATA1[100],GPS_DATA2[100],GPS_DATA3[100];
unsigned char test0[20],test1[20],test2[20],test3[20];
char          *GPS_cut=null,*GPS_Dcut[15]={null},*GPS_Dcut1[15]={null},*GPS_Dcut2[15]={null};
int           i,GPScnt,GPScnt1,GPSflag;
//
char RX0_CHAR(){ while(!(UCSR0A&0x80)); return UDR0; }
void TX0_CHAR(char c){ while(!(UCSR0A&0x20)); UDR0=c; }
void TX0_STR(char *s){ while(*s)TX0_CHAR(*s++); }
//
void buz(int c){
  int i;
  for(i=0;i<c;i++){ PORTB^=0x10; _delay_ms(1); } // 500Hz
}
//
void GPS_Time(){
  unsigned char HH,MM,SS; unsigned long Zulu_time;
  Zulu_time=atol(GPS_Dcut[1]);
  HH=((Zulu_time/10000)+9); MM=((Zulu_time%10000)/100); SS=((Zulu_time%10000)%100); if(HH>23)HH-=24;
  sprintf(test0,"TIME:%02d:%02d:%02d \r\n",HH,MM,SS); TX0_STR(test0);
  _delay_ms(500);
}
//
void GPS_Latitude(){
  unsigned char DO,BOON; double CHO,Latitude;
  Latitude=atof(GPS_Dcut[2]);
  DO=Latitude/100; BOON=(int)Latitude%100; CHO=(Latitude-(int)Latitude)*60;
  sprintf(test2,"LATIT:%2d'%2d`%0.02lf%s \r\n",DO,BOON,CHO,GPS_Dcut[3]); TX0_STR(test2);
  _delay_ms(500);
}
//
void GPS_Longitude(){
  unsigned char DO,BOON; double CHO,Longitude;
  Longitude=atof(GPS_Dcut[4]);
  DO=(int)Longitude/100; BOON=((int)Longitude%100); CHO=(Longitude-(int)Longitude)*60;
  sprintf(test3,"LONGI:%3d'%02d`%0.02lf%s \r\n",DO,BOON,CHO,GPS_Dcut[5]); TX0_STR(test3);
  _delay_ms(500);
}
//
ISR(USART1_RX_vect){
  unsigned char RX;
  RX=UDR1;
  if(RX=='$'){ GPS_DATA[0]='$'; GPScnt=1; GPSflag=0; }
  else{
    GPS_DATA[GPScnt]=RX;
    if(GPS_DATA[GPScnt]==0x0a){
      GPScnt1=GPScnt;
      if(strncmp(NAME,GPS_DATA,6)==0){ // "$GPGGA"
        memmove(GPS_DATA1,GPS_DATA,GPScnt1); GPS_cut=strtok(GPS_DATA1,",");
        for(i=0; GPS_cut!=null; i++){ GPS_Dcut[i]=GPS_cut; GPS_cut=strtok(null,","); }
        GPSflag=1; // flag=1
      }
      if(strncmp(NAME1,GPS_DATA,6)==0){ // "$GPGSA"
        memmove(GPS_DATA2,GPS_DATA,GPScnt1);
        GPS_cut=strtok(GPS_DATA2,",");
        for(i=0; GPS_cut!=null; i++){ GPS_Dcut1[i]=GPS_cut; GPS_cut=strtok(null,","); }
      }
      if(strncmp(NAME2,GPS_DATA,6)==0){ // "$GPRMC"
        memmove(GPS_DATA3,GPS_DATA,GPScnt1); GPS_cut=strtok(GPS_DATA3,",");
        for(i=0; GPS_cut!=null; i++){ GPS_Dcut2[i]=GPS_cut; GPS_cut=strtok(null,","); }
      }
    }
    GPScnt++;
  }
}
//
int main(void){
  unsigned int distance;
  int Position_Fix,HH,MM,SS,DO,BOON,CHO;
  //
  DDRB=0x10; //피에조 부저: 출력
  DDRA=0x40; //TRIG=출력,ECHO=입력
  //
  UCSR0B=0x18; UBRR0L=103;
  UCSR1B=0x98; UBRR1L=103;
  sei();
  while(1){
    PORTA|=0x40; _delay_us(10); PORTA&=~0x40; //TRIG
    while(!ECHO); TCCR1B=2; TCNT1=0;
    while(ECHO); TCCR1B=0; distance=TCNT1/116;
    //
    if     (distance<  50){ buz( 10); } // 5cm 이내 접근  // 10ms
    else if(distance< 300){ buz(100); } // 30cm 이내 접근 // 100ms
    else if(distance<1000){ buz(500); } // 1m  이내 접근  // 500ms
    _delay_ms(100);
    //-----------------------------------------------------
    Position_Fix=atoi(GPS_Dcut[6]);
    if(Position_Fix==0){
      sprintf(test1," Position_Fix LOADING \n\r"); TX0_STR(test1); _delay_ms(1000);
    }
    else{ // 0 LOADING,1 위성으로만 계산,2 지상 안테나에서 수신
      if(GPSflag==1){ // flag==1이면
        GPS_Time(); GPS_Latitude(); GPS_Longitude();
      }
    }
  }
}