#include "L76X.h"
#include "usart.h"
#include <math.h>
_SaveData Save_Data;

static const double pi = 3.14159265358979324;
static const double a = 6378245.0;
static const double ee = 0.00669342162296594323;
static const double x_pi = 3.14159265358979324 * 3000.0 / 180.0;
static double Lat_f,Lon_f;



void L76X_POWER_ON(void)
{
  PWR_CTRLL76C_H;
}

void L76X_POWER_OFF(void)
{
  PWR_CTRLL76C_L;
}

/******************************************************************************
function:	
	Latitude conversion
******************************************************************************/
static double transformLat(double x,double y)
{
	double ret = -100.0 + 2.0 * x + 3.0 * y + 0.2 * y * y + 0.1 * x * y + 0.2 *sqrt(abs(x));
    ret += (20.0 * sin(6.0 * x * pi) + 20.0 * sin(2.0 * x * pi)) * 2.0 / 3.0;
    ret += (20.0 * sin(y * pi) + 40.0 * sin(y / 3.0 * pi)) * 2.0 / 3.0;
    ret += (160.0 * sin(y / 12.0 * pi) + 320 * sin(y * pi / 30.0)) * 2.0 / 3.0;
    return ret;
}

/******************************************************************************
function:	
	Longitude conversion
******************************************************************************/
static double transformLon(double x,double y)
{
	double ret = 300.0 + x + 2.0 * y + 0.1 * x * x + 0.1 * x * y + 0.1 * sqrt(abs(x));
    ret += (20.0 * sin(6.0 * x * pi) + 20.0 * sin(2.0 * x * pi)) * 2.0 / 3.0;
    ret += (20.0 * sin(x * pi) + 40.0 * sin(x / 3.0 * pi)) * 2.0 / 3.0;
    ret += (150.0 * sin(x / 12.0 * pi) + 300.0 * sin(x / 30.0 * pi)) * 2.0 / 3.0;
    return ret;
}

/******************************************************************************
function:	
	GCJ-02 international standard converted to Baidu map BD-09 standard
******************************************************************************/
static Coordinates bd_encrypt(Coordinates gg)
{
	Coordinates bd;
    double x = gg.Lon, y = gg.Lat;
	double z = sqrt(x * x + y * y) + 0.00002 * sin(y * x_pi);
	double theta = atan2(y, x) + 0.000003 * cos(x * x_pi);
	bd.Lon = z * cos(theta) + 0.0065;
	bd.Lat = z * sin(theta) + 0.006;
	return bd;
}

/******************************************************************************
function:	
	GPS's WGS-84 standard is converted into GCJ-02 international standard
******************************************************************************/
static Coordinates transform(Coordinates gps)
{
	Coordinates gg;
  double sqrtMagic;
    double dLat = transformLat(gps.Lon - 105.0, gps.Lat - 35.0);
    double dLon = transformLon(gps.Lon - 105.0, gps.Lat - 35.0);
    double radLat = gps.Lat / 180.0 * pi;
    double magic = sin(radLat);
    magic = 1 - ee * magic * magic;
    sqrtMagic = sqrt(magic);
    dLat = (dLat * 180.0) / ((a * (1 - ee)) / (magic * sqrtMagic) * pi);
    dLon = (dLon * 180.0) / (a / sqrtMagic * cos(radLat) * pi);
    gg.Lat = gps.Lat + dLat;
    gg.Lon = gps.Lon + dLon;
	return gg;
}
/******************************************************************************
function:	
	Convert GPS latitude and longitude into GPS84 coordinates
******************************************************************************/
Coordinates L76X_GPS84_Coordinates()
{
    Coordinates temp;
    temp.Lat =((int)(Lat_f)) + (Lat_f - ((int)(Lat_f)))*100 / 60;
    temp.Lon =((int)(Lon_f)) + (Lon_f - ((int)(Lon_f)))*100 / 60;
   // temp = transform(temp);
    return temp;
}
/******************************************************************************
function:	
	Convert GPS latitude and longitude into Google Maps coordinates
******************************************************************************/
Coordinates L76X_Google_Coordinates()
{
    Coordinates temp;
    temp.Lat =((int)(Lat_f)) + (Lat_f - ((int)(Lat_f)))*100 / 60;
    temp.Lon =((int)(Lon_f)) + (Lon_f - ((int)(Lon_f)))*100 / 60;
    temp = transform(temp);
    return temp;
}

/******************************************************************************
function:	
	Convert GPS latitude and longitude into Baidu map coordinates
******************************************************************************/
Coordinates L76X_Baidu_Coordinates()
{
    Coordinates temp;
    temp.Lat =((int)(Lat_f)) + (Lat_f - ((int)(Lat_f)))*100 / 60;
    temp.Lon =(int)(Lon_f) + (Lon_f - ((int)(Lon_f)))*100 / 60;
    temp = transform(temp);
    temp = bd_encrypt(temp);
    return temp;
}



/******************************************************************************
function:	
	Send a command to the L76X，Automatic calculation of the code
parameter:
    data ：The end of the command ends with ‘\0’ or it will go wrong, 
           no need to increase the validation code.
******************************************************************************/
void L76X_Send_Command(char *data)
{
//    char Check = data[1], Check_char[3]={0};
//    u8 i = 0;
//    //printf(" 1i = %d Check =%x \n", i, Check);
//    for(i=2; data[i] != '\0'; i++){
//        Check ^= data[i];       //Calculate the check value
//    }
    //printf(" i = %d Check =%x \n", i, Check);
//    Check_char[0] = Temp[Check/16%16];
//    Check_char[1] = Temp[Check%16];
//		Check_char[2] = '\0';
    
//    DEV_Uart_SendString(data);
//    DEV_Uart_SendByte('*');
//    DEV_Uart_SendString(Check_char);
//		DEV_Uart_SendByte('\r');
//		DEV_Uart_SendByte('\n');
}
/**************清除GPS数据***********************/
void L76X_Sturct_Clear(void)
{
	memset(Save_Data.GPS_Buffer,0,GPS_Buffer_Length-1) ;
	Save_Data.isGetData=0;
	Save_Data.isParseData=0;
	memset(Save_Data.UTCTime,0,UTCTime_Length) ;
	memset(Save_Data.latitude,0,latitude_Length) ;
	memset(Save_Data.N_S,0,N_S_Length) ;
	memset(Save_Data.longitude,0,longitude_Length) ;
	memset(Save_Data.E_W,0,E_W_Length) ;
	Save_Data.isUsefull=0;

}

void parseGpsBuffer(void)
{
	char *subString;
	char *subStringNext;
	char i = 0;
  char TempBuffer[10]; 
  char temp_time;
	if (Save_Data.isGetData)
	{
		Save_Data.isGetData = false;
		for (i = 0 ; i <= 9 ; i++)
		{
			if (i == 0)
			{
				if ((subString = strstr(Save_Data.GPS_Buffer, ",")) == NULL)
					;//解析错误
			}
			else
			{
				subString++;
				if ((subStringNext = strstr(subString, ",")) != NULL)
				{
					char usefullBuffer[2]; 
          char spdBuffer[10]; 
          char cogBuffer[10]; 
					switch(i)
					{
						case 1:memcpy(Save_Data.UTCTime, subString, subStringNext - subString);break;	//获取UTC时间
						case 2:memcpy(usefullBuffer, subString, subStringNext - subString);break;	//获取UTC时间
						case 3:memcpy(Save_Data.latitude, subString, subStringNext - subString);break;	//获取纬度信息
						case 4:memcpy(Save_Data.N_S, subString, subStringNext - subString);break;	//获取N/S
						case 5:memcpy(Save_Data.longitude, subString, subStringNext - subString);break;	//获取经度信息
						case 6:memcpy(Save_Data.E_W, subString, subStringNext - subString);break;	//获取E/W
            case 7:memcpy(spdBuffer, subString, subStringNext - subString);break;	//获取E/W
            case 8:memcpy(cogBuffer, subString, subStringNext - subString);break;	//获取E/W
            case 9:memcpy(Save_Data.UTCData, subString, subStringNext - subString);break;	//获取E/W

						default:break;
					}

					subString = subStringNext;
					Save_Data.isParseData = true;
					if((usefullBuffer[0] == 'A')&(Save_Data.UTCData[0]!=0))
          {
            Save_Data.isUsefull = true;
          }
						
					else if(usefullBuffer[0] == 'V')
						Save_Data.isUsefull = false;

				}
				else
				{
						//解析错误
				}
        
        
        Lat_f=(Save_Data.latitude[0]-'0')*10000000.0+(Save_Data.latitude[1]-'0')*1000000.0+(Save_Data.latitude[2]-'0')*100000.0+(Save_Data.latitude[3]-'0')*10000.0+(Save_Data.latitude[5]-'0')*1000.0
        +(Save_Data.latitude[6]-'0')*100.0+(Save_Data.latitude[7]-'0')*10.0+(Save_Data.latitude[8]-'0')*1.0;
        Lon_f=(Save_Data.longitude[0]-'0')*100000000.0+(Save_Data.longitude[1]-'0')*10000000.0+(Save_Data.longitude[2]-'0')*1000000.0+(Save_Data.longitude[3]-'0')*100000.0+(Save_Data.longitude[4]-'0')*10000.0
        +(Save_Data.longitude[6]-'0')*1000.0+(Save_Data.longitude[7]-'0')*100.0+(Save_Data.longitude[8]-'0')*10.0+(Save_Data.longitude[9]-'0')*1.0;
        Lat_f=Lat_f/1000000.0;
        Lon_f=Lon_f/1000000.0;
			}


		}
	}
  //转换日期
        memset(TempBuffer,0,10);
        TempBuffer[0] = Save_Data.UTCData[4];
        TempBuffer[1] = Save_Data.UTCData[5];
        TempBuffer[2] = '-';
        TempBuffer[3] = Save_Data.UTCData[2];
        TempBuffer[4] = Save_Data.UTCData[3];
        TempBuffer[5] = '-';
        TempBuffer[6] = Save_Data.UTCData[0];
        TempBuffer[7] = Save_Data.UTCData[1];
        memcpy(Save_Data.UTCData,TempBuffer,strlen(TempBuffer));
        memset(TempBuffer,0,10);
        //转换时间
        temp_time=(Save_Data.UTCTime[0]-'0')*10+(Save_Data.UTCTime[1]-'0')+8;
        Save_Data.UTCTime[0]=(char)((temp_time/10)+'0');
        Save_Data.UTCTime[1]=(char)((temp_time%10)+'0');
        TempBuffer[0] = Save_Data.UTCTime[0];
        TempBuffer[1] = Save_Data.UTCTime[1];
        TempBuffer[2] = ':';
        TempBuffer[3] = Save_Data.UTCTime[2];
        TempBuffer[4] = Save_Data.UTCTime[3];
        TempBuffer[5] = ':';
        TempBuffer[6] = Save_Data.UTCTime[4];
        TempBuffer[7] = Save_Data.UTCTime[5];
        memset(Save_Data.UTCTime,0,UTCTime_Length);
        memcpy(Save_Data.UTCTime,TempBuffer,strlen(TempBuffer));
        memset(TempBuffer,0,10);
  
}

void printGpsBuffer(void)
{
	int i=0;
  
	//输出UTC时间
	if (Save_Data.isParseData)
	{
		i=0;
		Save_Data.isParseData = false;	
		printf("Save_Data.UTCTime = "); 
		while(Save_Data.UTCTime[i] != 0)
		{		
			printf("%c",Save_Data.UTCTime[i]);
			i++;
		}			
		printf("\r\n");
//如果定位可用，输出定位信息
		if(Save_Data.isUsefull)
		{
			Save_Data.isUsefull = false;
			i=0;
		
			printf("Save_Data.latitude = ");
				while(Save_Data.latitude[i] != 0)
		{			
			printf("%c",Save_Data.latitude[i]);
			i++;
		}			
			printf("\r\n");
			
			i=0;
			printf("Save_Data.N_S = ");
			printf("%c",Save_Data.N_S[0]);	
			printf("%c",Save_Data.N_S[1]);
			printf("\r\n");
			
			i=0;
			printf("Save_Data.longitude = ");
			while(Save_Data.longitude[i]!=0)
			{
				
				printf("%c",Save_Data.longitude[i]);
				i++;
			}
			printf("\r\n");

			printf("Save_Data.E_W = ");
			printf("%c",Save_Data.E_W[0]);
			printf("%c",Save_Data.E_W[1]);
			printf("\r\n");
		}
		else
		{
			printf("GPS DATA is not usefull!\r\n");
		}
		
	}
}

void L76C_Process(void)
{
  u8 times=0;
  Coordinates GPS;
  Save_Data.Flag_finish_gnss=0;
  while(times<35)
    {
      //等待GPS信号     
      delay_ms(1000);
      if(Save_Data.isGetData)
        parseGpsBuffer();
      times++; 
      if(Save_Data.isUsefull)
      {
        GPS=L76X_GPS84_Coordinates();
        times=61;        
      }
      else
      {
        GPS.Lat=0.0;   
        GPS.Lon=0.0;
      }
    //  Set_GNSSTIME_Rtc();//RTC校准
    }
  //GPS=L76X_GPS84_Coordinates();
  sprintf(data_common1.GPS_DATA,"%.7f%c%s%c%.7f%c%s%c",GPS.Lat,',',Save_Data.N_S,',', GPS.Lon,',',Save_Data.E_W,',');//经纬度     
  L76X_Sturct_Clear();
  USART_DeInit(USART1);
  Save_Data.Flag_finish_gnss=1;
}