Kayak GPS Navigation

Kayaking GPS: speed, time, latitude, longitude, distance and azimuth to waypoints, odometer, tide clock, battery monitoring.

Nov 6, 2017

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navigation

gps

Components and supplies

Arduino Nano R3

TinyShield GPS

TinyDuino Starter Kit – Lithium Version

Tools and machines

Soldering iron (generic)

Apps and platforms

Arduino IDE

Project description

Code

Kayak GPS

arduino

Navigation GPS powered by solar energy.

1/*
2*/
3
4#include <SoftwareSerial.h>
5#include <TinyGPS.h>
6#include   <LiquidCrystal.h>
7#include <EEPROM.h>
8
9#include <avr/pgmspace.h>
10LiquidCrystal   lcd(8, 9, 4, 5, 6, 7);  //8>RS,9>E, 4-7>D4-D7,RW>0V,
11SoftwareSerial gpsSerial(2,   3); //RX, TX 2>bleuTX, 3>VertRX
12TinyGPS gps;
13
14byte clo_n = 0;
15boolean   eco_mode = false;
16boolean pro_mode = false;
17static int vref = 211; // 1023/4.9   volts
18byte solPanel = 3;     //pin
19byte batt = 4;         //pin
20byte LCD_LED   = 11;
21byte power_pin = 12;
22byte sw_sel = 14;// select
23byte sw_up = 15;//   up
24byte sw_dwn = 16;//down
25byte fonction = 0;
26int gmt;//, hr ;
27long   Year_Min;
28long Tide_one;
29unsigned long time_On;
30unsigned long time_run;
31unsigned   long time_old;
32
33int year;//,  vinfo;
34int menu_index = 0;
35int cum_n;
36static   float rad2deg = 0.01745;
37float Odometre;
38char msg[6];
39byte LCD_LED_N =   220;  //OFF 0-a-255 ON
40byte col, row, nb = 0, bc = 0;                            //   general
41byte bb[8];
42byte month, day, hour, minute, second, sped; //hundredths,
43long   lat, lon;                 //,  latmin, lonmin; //angle
44long lat2 = 0;
45long   lon2 = 0;
46long wp_lat, wp_lon ;
47
48const char*azimuts[] = {"N  ", "NE   ", "E  ", "SE ", "S  ",  "SW ",  "W  ", "NW " };
49const char custom[][8]   PROGMEM = {                        // Custom character definitions
50  { 0x1F,   0x1F, 0x1F, 0x00, 0x00, 0x00, 0x00, 0x00 }, // char 1
51  { 0x18, 0x1C, 0x1E, 0x1F,   0x1F, 0x1F, 0x1F, 0x1F }, // char 2
52  { 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x0F, 0x07,   0x03 }, // char 3
53  { 0x00, 0x00, 0x00, 0x00, 0x00, 0x1F, 0x1F, 0x1F }, // char   4
54  { 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1E, 0x1C, 0x18 }, // char 5
55  { 0x1F,   0x1F, 0x1F, 0x00, 0x00, 0x00, 0x1F, 0x1F }, // char 6
56  { 0x1F, 0x00, 0x00, 0x00,   0x00, 0x1F, 0x1F, 0x1F }, // char 7
57  { 0x03, 0x07, 0x0F, 0x1F, 0x1F, 0x1F, 0x1F,   0x1F }, // char 8
58
59};
60const char bigChars[][8] PROGMEM = {
61  { 0x20,   0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }, // Space
62  { 0xFF, 0x07, 0x00, 0x00,   0x00, 0x00, 0x00, 0x00 }, // !
63  { 0x05, 0x05, 0x20, 0x20, 0x00, 0x00, 0x00,   0x00 }, // "
64  { 0x04, 0xFF, 0x04, 0xFF, 0x04, 0x01, 0xFF, 0x01 }, // #
65   { 0x08, 0xFF, 0x06, 0x07, 0xFF, 0x05, 0x00, 0x00 }, // $
66  { 0x01, 0x20, 0x04,   0x01, 0x04, 0x01, 0x20, 0x04 }, // %
67  { 0x08, 0x06, 0x02, 0x20, 0x03, 0x07,   0x02, 0x04 }, // &
68  { 0x05, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }, // '
69   { 0x08, 0x01, 0x03, 0x04, 0x00, 0x00, 0x00, 0x00 }, // (
70  { 0x01, 0x02, 0x04,   0x05, 0x00, 0x00, 0x00, 0x00 }, // )
71  { 0x01, 0x04, 0x04, 0x01, 0x04, 0x01,   0x01, 0x04 }, // *
72  { 0x04, 0xFF, 0x04, 0x01, 0xFF, 0x01, 0x00, 0x00 }, // +
73   { 0x20, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }, //
74  { 0x04, 0x04, 0x04,   0x20, 0x20, 0x20, 0x00, 0x00 }, // -
75  { 0x20, 0x01, 0x00, 0x00, 0x00, 0x00,   0x00, 0x00 }, // .
76  { 0x20, 0x20, 0x04, 0x01, 0x04, 0x01, 0x20, 0x20 }, // /
77   { 0x08, 0x01, 0x02, 0x03, 0x04, 0x05, 0x00, 0x00 }, // 0
78  { 0x01, 0x02, 0x20,   0x04, 0xFF, 0x04, 0x00, 0x00 }, // 1
79  { 0x06, 0x06, 0x02, 0xFF, 0x07, 0x07,   0x00, 0x00 }, // 2
80  { 0x01, 0x06, 0x02, 0x04, 0x07, 0x05, 0x00, 0x00 }, // 3
81   { 0x03, 0x04, 0xFF, 0x20, 0x20, 0xFF, 0x00, 0x00 }, // 4
82  { 0xFF, 0x06, 0x06,   0x07, 0x07, 0x05, 0x00, 0x00 }, // 5
83  { 0x08, 0x06, 0x06, 0x03, 0x07, 0x05,   0x00, 0x00 }, // 6
84  { 0x01, 0x01, 0x02, 0x20, 0x08, 0x20, 0x00, 0x00 }, // 7
85   { 0x08, 0x06, 0x02, 0x03, 0x07, 0x05, 0x00, 0x00 }, // 8
86  { 0x08, 0x06, 0x02,   0x07, 0x07, 0x05, 0x00, 0x00 }, // 9
87};
88
89const static byte gpsDefault[]   PROGMEM = {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00,   0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x07, 0x1F, 0x9E};
90const static byte gpsSave[]   PROGMEM = {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF,   0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0x31, 0xBF, 0x13};
91const static byte   gpsSleep[] = {0xB5, 0x62, 0x06, 0x04, 0x04, 0x00, 0x00, 0x00, 0x08, 0x00, 0x16,   0x74};
92const static byte gpsHot[]  = {0xB5, 0x62, 0x06, 0x04, 0x04, 0x00, 0x00,   0x00, 0x02, 0x00, 0x10, 0x68};
93const static byte Disable_GPDTM[] PROGMEM = {0x24,   0x45, 0x49, 0x47, 0x50, 0x51, 0x2c, 0x44, 0x54, 0x4d, 0x2a, 0x33, 0x42, 0x0d, 0x0a,   0xb5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xf0, 0x0a, 0x00, 0x04, 0x23}; //->Disable_GPDTM
94const   static byte Disable_GPGBS[] PROGMEM = {0x24, 0x45, 0x49, 0x47, 0x50, 0x51, 0x2c,   0x47, 0x42, 0x53, 0x2a, 0x33, 0x30, 0x0d, 0x0a, 0xb5, 0x62, 0x06, 0x01, 0x03, 0x00,   0xf0, 0x09, 0x00, 0x03, 0x21}; //->Disable_GPGBS
95const static byte Disable_GPGGA[]   PROGMEM = {0x24, 0x45, 0x49, 0x47, 0x50, 0x51, 0x2c, 0x47, 0x47, 0x41, 0x2a, 0x32,   0x37, 0x0d, 0x0a, 0xb5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xf0, 0x00, 0x00, 0xfa, 0x0f};   //>Disable_GPGGA
96const static byte Disable_GPGLL[] PROGMEM = {0x24, 0x45, 0x49,   0x47, 0x50, 0x51, 0x2c, 0x47, 0x4c, 0x4c, 0x2a, 0x32, 0x31, 0x0d, 0x0a, 0xb5, 0x62,   0x06, 0x01, 0x03, 0x00, 0xf0, 0x01, 0x00, 0xfb, 0x11}; //->Disable_GPGLL
97const   static byte Disable_GPGRS[] PROGMEM = {0x24, 0x45, 0x49, 0x47, 0x50, 0x51, 0x2c,   0x47, 0x52, 0x53, 0x2a, 0x32, 0x30, 0x0d, 0x0a, 0xb5, 0x62, 0x06, 0x01, 0x03, 0x00,   0xf0, 0x06, 0x00, 0x00, 0x1b}; //->Disable_GPGRS
98const static byte Disable_GPGSA[]   PROGMEM = {0x24, 0x45, 0x49, 0x47, 0x50, 0x51, 0x2c, 0x47, 0x53, 0x41, 0x2a, 0x33,   0x33, 0x0d, 0x0a, 0xb5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xf0, 0x02, 0x00, 0xfc, 0x13};   //->DisableGPGSA
99const static byte Disable_GPGST[] PROGMEM = {0x24, 0x45, 0x49,   0x47, 0x50, 0x51, 0x2c, 0x47, 0x53, 0x54, 0x2a, 0x32, 0x36, 0x0d, 0x0a, 0xb5, 0x62,   0x06, 0x01, 0x03, 0x00, 0xf0, 0x07, 0x00, 0x01, 0x1d}; //->Disable_GPGST
100const   static byte Disable_GPGSV[] PROGMEM = {0x24, 0x45, 0x49, 0x47, 0x50, 0x51, 0x2c,   0x47, 0x53, 0x56, 0x2a, 0x32, 0x34, 0x0d, 0x0a, 0xb5, 0x62, 0x06, 0x01, 0x03, 0x00,   0xf0, 0x03, 0x00, 0xfd, 0x15}; //->Disable_GPGSV
101const static byte Disable_GPRMC[]   PROGMEM = {0x24, 0x45, 0x49, 0x47, 0x50, 0x51, 0x2c, 0x52, 0x4d, 0x43, 0x2a, 0x33,   0x41, 0x0d, 0x0a, 0xb5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xf0, 0x04, 0x00, 0xfe, 0x17};   //->Disable_GPRMC
102const static byte Disable_GPVTG[] PROGMEM = {0x24, 0x45, 0x49,   0x47, 0x50, 0x51, 0x2c, 0x56, 0x54, 0x47, 0x2a, 0x32, 0x33, 0x0d, 0x0a, 0xb5, 0x62,   0x06, 0x01, 0x03, 0x00, 0xf0, 0x05, 0x00, 0xff, 0x19}; //->Disable_GPVTG
103const   static byte Disable_GPZDA[] PROGMEM = {0x24, 0x45, 0x49, 0x47, 0x50, 0x51, 0x2c,   0x5a, 0x44, 0x41, 0x2a, 0x33, 0x39, 0x0d, 0x0a, 0xb5, 0x62, 0x06, 0x01, 0x03, 0x00,   0xf0, 0x08, 0x00, 0x02, 0x1f}; //->Disable_GPZDA
104
105///////////////////////////////////////////////////////
106//            Minute depuis debut annee               //
107///////////////////////////////////////////////////////
108int   days[] = {0,  0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334}; // Number   of days at the beginning of the month in a not leap year.
109long DofY(int yr, int   mo, int dy, int h, int mi)
110{
111  int DfY;
112  long Min2Date;
113  if (mo ==   1 || mo == 2)
114  {
115    DfY = days[mo] + dy - 1;                 //for any type   of year, it calculate the number of days for January or february
116  }
117  else   if ((yr % 4 == 0 && yr % 100 != 0) ||  yr % 400 == 0)
118  {
119    DfY = days[mo]   + dy + 1 - 1;
120  }
121  else
122  {
123    DfY = days[mo] + dy - 1;
124  }
125   Min2Date = (long)DfY * 1440l + (long)h * 60l + (long)mi;
126  return (Min2Date);
127}
128///////////////////////////////////////////////////////
129//                       SETUP                        //
130///////////////////////////////////////////////////////
131void   setup()
132{
133  pinMode(power_pin, OUTPUT);
134  digitalWrite (power_pin, HIGH);    // POWER ON!
135  analogReference(DEFAULT);
136  pinMode(LED_BUILTIN, OUTPUT);
137   digitalWrite(LED_BUILTIN, LOW);
138  Serial.begin(9600);
139  gpsSerial.begin(9600);
140   pinMode(LCD_LED, OUTPUT);
141  //pinMode(buz, OUTPUT);
142  pinMode(sw_sel, INPUT);
143   pinMode(sw_up, INPUT);
144  pinMode(sw_dwn, INPUT);
145  lcd.begin(16, 2);
146   analogWrite(LCD_LED, 100);
147
148  ///////////////////////////////////////////////////////
149   //                    EE PROM Variable               //
150  ///////////////////////////////////////////////////////
151   hour = EEPROM.read(0);                //lire le gmt
152  pro_mode = EEPROM.read(4);
153   EEPROM.get(10, wp_lat);
154  EEPROM.get(15, wp_lon);
155  EEPROM.get(20, Tide_one);
156   EEPROM.get(25, Odometre);
157  EEPROM.get(30, time_On);
158  if (isnan(Odometre))   // test if NAN value
159  {
160    Odometre = 0;
161  }
162  if (hour > 127)                       //numbre   negatif
163  {
164    gmt =  hour - 256;
165  }
166  else
167  {
168    gmt = hour;
169   }
170  ///////////////////////////////////////////////////////
171  ///               R   E V                             ///
172  ///////////////////////////////////////////////////////
173   lcd.clear();
174  lcd.print(F("Ultimate YAK GPS"));
175  lcd.setCursor(0, 1);
176   lcd.print(F("GPS_1602B rev 92.1"));                                // Revision   Version<<<<
177  delay (2000);
178  lcd.clear();
179  lcd.print("GMT="); lcd.print(gmt);
180   float vbatt = (float) analogRead(batt) / vref + .21; //
181  lcd.setCursor(0,   1);
182  lcd.print(F("Batterie:"));
183  lcd.print(vbatt);
184  lcd.print("V");
185   delay (2000);
186  lcd.clear();
187  lcd.print(F("Odometre:"));
188  lcd.print(Odometre);
189   delay (2000);
190  lcd.clear();
191  lcd.print("WPLat:");
192  lcd.print(wp_lat);
193   lcd.setCursor(0, 1);
194  lcd.print("WPLon:");
195  lcd.print(wp_lon);
196  delay   (2000);
197  lcd.clear();
198  lcd.print("Last Time ON:");
199  lcd.setCursor(0,   1);
200  lcd.print(time_On / 60000); lcd.print("Min");
201  delay (4000);
202
203
204   /*lcd.clear();
205    lcd.print("TIDE: ");
206    lcd.print(Tide_one);
207    float   a = (float)Tide_one / 288;   //288 = 24hr * 60/ 5 min/hr)
208    int tide_jr = (int)a;
209     float b = (a - (float) tide_jr) * 24;
210    tide_hr = (int)b;
211    tide_min   = (b - (float) tide_hr) * 60 ;
212    lcd.setCursor(0, 1);
213    lcd.print(tide_jr   + 1);
214    lcd.print("Days ");
215    lcd.print(tide_hr);
216    lcd.print(":");
217     lcd.print(tide_min);
218    delay(2000);
219  */
220
221
222  if (vbatt < 2.8)//volts
223   {
224    lcd.setCursor(0, 1); lcd.print("Batt. LOW!");
225    delay (4000);
226     //digitalWrite(power_pin, LOW); //off
227  }
228  analogWrite(LCD_LED, 20);
229
230   ///////////////////////////////////////////////////////
231  //                    GPS   Reset                      //
232  ///////////////////////////////////////////////////////
233   lcd.clear();
234
235  if (gps.encode(gpsSerial.read()))
236  {
237    lcd.print("GPS   Reset");
238    gpsSerial.write(gpsHot, sizeof(gpsHot));  gpsSerial.flush();
239     gpsSerial.write( gpsDefault, sizeof( gpsDefault));  gpsSerial.flush();
240    gpsSerial.write(   Disable_GPDTM, sizeof( Disable_GPDTM));  gpsSerial.flush();
241    gpsSerial.write(   Disable_GPGBS, sizeof( Disable_GPGBS));  gpsSerial.flush();
242    gpsSerial.write(   Disable_GPGLL, sizeof( Disable_GPGLL));  gpsSerial.flush();
243    gpsSerial.write(   Disable_GPGRS, sizeof( Disable_GPGRS));  gpsSerial.flush();
244    gpsSerial.write(   Disable_GPGSA, sizeof( Disable_GPGSA));  gpsSerial.flush();
245    gpsSerial.write(   Disable_GPGSV, sizeof( Disable_GPGSV));  gpsSerial.flush();
246    gpsSerial.write(   Disable_GPVTG, sizeof( Disable_GPVTG));  gpsSerial.flush();
247    gpsSerial.write(   Disable_GPGGA, sizeof( Disable_GPGGA));  gpsSerial.flush();
248  }
249  lcd.setCursor(0,   1); lcd.println(F("Wait satellites."));
250  ///////////////////////////////////////////////////////
251   ///           create 8 custom characters            ///
252  ///////////////////////////////////////////////////////
253   for (nb = 0; nb < 8; nb++ )
254  {
255    for (bc = 0; bc < 8; bc++)
256      bb[bc]   = pgm_read_byte( &custom[nb][bc] );
257    lcd.createChar ( nb + 1, bb );
258  }
259}
260//////////////////////////////////////////////////////////////////////////////////////////////////////////////
261///                                     L O O P                                                             ///
262//////////////////////////////////////////////////////////////////////////////////////////////////////////////
263void   loop()
264{
265  while (gpsSerial.available())                       // check for   gps data
266  {
267    if (gps.encode(gpsSerial.read()))                 // encode   gps data
268    {
269      gps.get_position(&lat, &lon);                   // get   lat and long
270      gps.crack_datetime(&year, &month, &day, &hour, &minute, &second);
271       lat = lat / 100; //enlever les d-secondes
272      lon = lon / 100;
273      //      lcd.setCursor(0, 0); lcd.print (lat); lcd.print (" "); lcd.print (lon); delay   (4000);
274      hour = hour + gmt;
275      if (hour > 128) //        reference   a gmt
276      {
277        hour = hour + 24;
278        day = day - 1;
279      }
280       ////Serial.print ("DofY=");//Serial.println (DofY (year,month,day,hour,minute));
281       //Serial.print (year); //Serial.print ("/"); //Serial.print (month); //Serial.print   ("/"); //Serial.print (day); //Serial.print (" "); //Serial.print (hour); //Serial.print   (":"); //Serial.println (minute);
282      Year_Min = DofY ((int)year, (int)month,   (int)day, (int)hour, (int)minute);
283      //Serial.print ("Year2min ="); //Serial.println   (Year_Min);
284
285
286      if (digitalRead(sw_sel) == LOW) {
287        lcd.clear();
288         while (digitalRead(sw_sel) == 0) {} //  wait for release
289        menu(0);
290       }
291      if (digitalRead(sw_dwn) == LOW)
292      {
293        lcd.clear();
294         while (digitalRead(sw_dwn) == 0) {} //  wait for release
295        if (pro_mode   == false)
296        {
297          lcd.clear();  lcd.print("PRO Display        ");
298           delay (1500);
299          pro_mode = true;
300          EEPROM.write(4,   pro_mode);
301        }
302        else
303        {
304          lcd.clear();  lcd.print("Dashboard   MODE  ");
305          pro_mode = false;
306          EEPROM.write(4, pro_mode);
307           delay (1500);
308        }
309        lcd.clear ();
310      }
311      ///////////////////////////////////////////////////////
312       //           LCD LED  & test de batt                 //
313      ///////////////////////////////////////////////////////
314       float vsol = (float) analogRead(solPanel) / vref ; //    1024/2.5voltsRef
315       if (eco_mode == true) {
316        LCD_LED_N = 20;
317      }
318      else   {
319        LCD_LED_N = 150;
320      }
321      if (vsol > 1) {//volt
322        vsol   = 1;//volt
323      }
324      LCD_LED_N = LCD_LED_N - (vsol * LCD_LED_N);
325      analogWrite(LCD_LED,   LCD_LED_N);
326
327      float vbatt = (float) analogRead(batt) / vref + .21; //     1024/5voltsRef
328      if (vbatt < 2.8) // Volts  2.8
329      {
330        lcd.clear();   lcd.print("LOW BATT   ");
331        lcd.setCursor(0, 1); lcd.print(vbatt);   lcd.print("Volts");
332        EEPROM.put(25, Odometre); //save odometre
333        delay   (5000);
334        digitalWrite(power_pin, LOW);// power off
335      }
336      if   (vbatt > 4.2) // Volts
337      {
338        analogWrite(LCD_LED, 255);
339        digitalWrite(LED_BUILTIN,   HIGH);
340      }
341      else
342      {
343        digitalWrite(LED_BUILTIN,   LOW);
344      }
345      float speedf = gps.speed() * .01852;           // 1.852   /100  knot to kmph
346
347      if (speedf < .5)
348      {
349        speedf =   0;
350      }
351      ///////////////////////////////////////////////////////
352       ///                 ODOMETRE                        ///
353      ///////////////////////////////////////////////////////
354       if (cum_n >= 10)
355      {
356        if (lat2 == 0)
357        {
358          lat2   = lat;
359          lon2 = lon;
360        }
361        cum_n = 0;
362        float   lon2_dec = lon2 / 10000.0;
363        /////////////////////convert decimal degree   into radian////////////////
364        float lat1_Rad = lat / 10000.0 * rad2deg;
365         float lon1_Rad = lon / 10000.0 * rad2deg;
366        float lat2_Rad = lat2   / 10000.0 * rad2deg;
367        float lon2_Rad = lon2 / 10000.0 * rad2deg;
368
369         //Calculate the distance  KM
370        float latSin = sin((lat1_Rad - lat2_Rad)   / 2);
371        float lonSin = sin((lon1_Rad - lon2_Rad) / 2);
372
373        float   P2P = 2 * asin(sqrt((latSin * latSin) + cos(lat1_Rad) * cos(lat2_Rad) * (lonSin   * lonSin)));
374        P2P = P2P * 6371;                      //Earth radius =   6,371 km
375
376        if (P2P < 5 && speedf != 0)  // plus de 5 km est une erreur   ou speed =0kmh
377        {
378          Odometre += P2P;
379          lat2 = lat;
380           lon2 = lon;
381          EEPROM.put(25, Odometre);
382          time_run   = time_run + (millis() - time_old);
383          
384          EEPROM.put(30, millis());   //future reference
385        }
386        time_old = millis();
387      }
388      else
389       {
390        cum_n ++;
391      }
392      ///////////////////////////////////////////////////////
393       //                 V I T E S S E                     //
394      ///////////////////////////////////////////////////////
395
396       dtostrf (speedf, 3, 1, msg) ;
397      if (pro_mode == false)
398      {
399         writeBigString(msg, 0, 0);
400        lcd.setCursor(7, 0); lcd.print ("KM     ");
401        lcd.setCursor(7, 1); lcd.print ("/H    ");
402        lcd.setCursor(10,   0);
403        if (Odometre < 100)
404        {
405          dtostrf (Odometre,   1, 1, msg) ;
406        }
407        else
408        {
409          dtostrf (Odometre,   1, 0, msg) ;
410        }
411        lcd.print (msg); lcd.print ("KM   ");
412
413         horloge (10, 1);
414      }
415      else
416      {
417        lcd.setCursor(0,   0);
418        lcd.print(msg); lcd.print("KMH  ");//dtostrf (speedf, 3, 1, msg)   ;
419        Print_Azimut(8, 0);
420        horloge(0, 1) ;
421        ///////////////////////////////////////////////////////
422         //          Display Fonction Variable                //
423        ///////////////////////////////////////////////////////
424         fonction++;
425        switch (fonction / 3)
426        {
427          case   1:
428            {
429              Print_wpazimut(6, 1);
430              EEPROM.put(30,   millis());
431            }
432            break;
433          case 4:
434            {
435               Print_Tide(6, 1);
436            }
437            break;
438          case   2:
439            {
440              lcd.setCursor(6, 1);
441              if (Odometre   < 100)
442              {
443                dtostrf (Odometre, 1, 1, msg) ;
444               }
445              else
446              {
447                dtostrf   (Odometre, 1, 0, msg) ;
448              }
449              lcd.print ("Od:");   lcd.print (msg); lcd.print ("KM   ");
450            }
451            break;
452           case 3:
453            {
454              lcd.setCursor(6, 1);
455              lcd.print   ("Run:");
456              if (time_run > 10000000L)//msec
457              {
458                 lcd.print (time_run / 3600000L);//msec
459                lcd.print   ("Hr   ");
460              }
461              else
462              { 
463                lcd.print   (time_run / 60000L);//msec
464                lcd.print ("Min   ");
465              }
466             }
467            break;
468          default:
469            {
470              fonction   = 2;
471            }
472            break;
473        }
474        ///////////////////////////////////////////////////////
475         //                  eco  mode    
476        //
477        ///////////////////////////////////////////////////////
478         if (eco_mode == true)
479        {
480          //char buffer[4]; //2del
481           gpsSerial.write(gpsSleep, sizeof(gpsSleep));
482          gpsSerial.flush();
483           for (int n = 0; n < 6 ; n++)//Sec.
484          {
485            lcd.setCursor(15,   0); lcd.print (n);
486            Print_Tide(6, 1);
487            delay (1500);
488             Print_wpazimut(6, 1);
489            delay (1500);
490            if   (digitalRead(sw_sel) == 0)
491            {
492              lcd.clear ();
493              while   (digitalRead(sw_sel) == 0) {}; delay(10); // debounce
494              menu(0);
495             }
496          }
497          gpsSerial.write(gpsHot, sizeof(gpsHot));
498           gpsSerial.flush();
499          delay (2000); //
500          //vinfo   = 1;
501        }
502      }
503    }
504  }
505}
506
507///////////////////////////////////////////////////////
508//                      MENU                          //
509///////////////////////////////////////////////////////
510static   char* menu_items [] = {"Sel-UP-down", "Power OFF", "Lat-Long & WP ", "Power   Moniteur",
511                              "Eco Mode",  "GMT set  ", "TIDE   set" , "Display Mode", "Odometre", "Retour", "Sel-up-DOWN"
512                             };
513void   menu(int menu_index)
514{
515  lcd.clear();  lcd.print(menu_items[menu_index]);
516   while (digitalRead(sw_sel) == LOW) {}; delay(5);             //Debounce
517  while   (digitalRead(sw_sel) != LOW)// Select
518  {
519    if (digitalRead(sw_up) == LOW)
520     {
521      lcd.clear();
522      while (digitalRead(sw_up) == LOW) {}; delay(10);              //Debounce
523      menu_index ++;
524      if (menu_index > 8)
525       {
526        menu_index = 0;
527      }
528      lcd.clear();
529      //lcd.setCursor(0,   0); lcd.print(menu_items[0]);
530      lcd.setCursor(0, 1);
531      lcd.print(menu_items[menu_index]);
532     }
533    if (digitalRead(sw_dwn) == LOW)
534    {
535      lcd.clear();
536       while (digitalRead(sw_dwn) == LOW) {}; delay(10);               //Debounce
537       menu_index -= 1;
538      if (menu_index < 0)
539      {
540        menu_index   = 8;
541      }
542      lcd.clear();
543      lcd.print(menu_items[0]);
544      lcd.setCursor(0,   1);
545      lcd.print(menu_items[menu_index]);
546    }
547  }
548  lcd.clear();
549   while (digitalRead(sw_sel) == LOW) {}; delay(100);               //Debounce
550   switch (menu_index)
551  {
552    case 1:
553      ///////////////////////////////////////////////////////
554       //          POWER OFF                                //
555      ///////////////////////////////////////////////////////
556       {
557        lcd.clear();
558        lcd.print ("POWER OFF....");
559        delay   (1500);
560        digitalWrite(power_pin, LOW);
561        delay (50);
562        asm   volatile ("  jmp 0");
563      }
564      break;
565    case 2:
566      ///////////////////////////////////////////////////////
567       //          LAT et LONG MEMO                         //
568      ///////////////////////////////////////////////////////
569       {
570        lcd.clear ();
571        lcd.setCursor (0, 0);
572        lcd.print("Push   DWN to Save") ;
573        lcd.setCursor (0, 1);
574        lcd.print("WayPoint   ") ;
575        delay (1000); lcd.clear ();
576        while (digitalRead(sw_sel)   != LOW)
577        {
578          Print_Latitude (0, 0);
579          Print_Longitude   (0, 1);
580          if (digitalRead(sw_dwn) == LOW)
581          {
582            wp_lat   = lat;
583            wp_lon  = lon;
584            EEPROM.put(10, lat);
585            EEPROM.put(15,   lon);
586            lcd.clear ();
587            lcd.setCursor (0, 0);
588            lcd.print("WayPoint   SAVED") ;
589            delay (1500);
590            break;
591          }
592           if (digitalRead(sw_up) == LOW)
593          {
594            lcd.clear   ();
595            lcd.setCursor (0, 0);
596            lcd.print("Push DWN to   Save") ;
597            while (digitalRead(sw_up) == LOW) {};
598            delay(1000);
599             lcd.clear ();
600          }
601          gps.get_position(&lat, &lon);
602           lat = lat / 100; //enlever les d-secondes
603          lon = lon / 100;
604         }
605        lcd.clear ();
606        while (digitalRead(sw_sel) == LOW)   {};
607      }
608      break;
609    case 3:
610      ///////////////////////////////////////////////////////
611       //          POWER MONITOR batt sol                   //
612      ///////////////////////////////////////////////////////
613       {
614        gpsSerial.write(gpsSleep, sizeof(gpsSleep));
615        while   (3)
616        {
617          float vsol = (float) analogRead(solPanel) / 204; //     1024/5voltsRef
618          dtostrf (vsol, 3, 1, msg) ;
619          lcd.setCursor(0,   0);
620          lcd.print ("Solaire=");
621          lcd.print (msg);
622          lcd.print   ("V ");
623          float vbatt = (float) analogRead(batt) / vref + .21; //    1024/5voltsRef
624           dtostrf (vbatt, 3, 1, msg) ;
625          lcd.setCursor(0, 1);
626          lcd.print   ("Batterie=");
627          lcd.print (msg); lcd.print ("V ");
628          if   ((vsol - vbatt) > .4)//volts
629          {
630            lcd.setCursor(12, 1);   lcd.print ("V Charge ");
631          }
632          else
633          {
634            lcd.setCursor(12,   1); lcd.print ("V        ");
635          }
636          delay (1000);
637          if   (digitalRead(sw_sel) == LOW)
638          {
639            lcd.clear();
640            while   (digitalRead(sw_sel) == LOW) {}              ;
641            gpsSerial.write(gpsHot,   sizeof(gpsHot));
642            return;
643          }
644          delay (1000);
645         }
646      }
647      break;
648    case 4:
649      ///////////////////////////////////////////////////////
650       ///               ECO MODE select                   ///
651      ///////////////////////////////////////////////////////
652       {
653        if (eco_mode == false)
654        {
655          lcd.setCursor(0,   0); lcd.print("ECONO MODE ON    ");
656          delay (1500);
657          eco_mode   = true;
658          analogWrite(LCD_LED, 0);              // off lcd led
659        }
660         else
661        {
662          lcd.setCursor(0, 0); lcd.print("ECONO MODE   OFF    ");
663          eco_mode = false;
664          delay (1500);
665          analogWrite(LCD_LED,   LCD_LED_N);              // off lcd led
666        }
667        lcd.clear ();
668       }
669      break;
670    case 5:
671      ///////////////////////////////////////////////////////
672       //                     GMT                           //
673      ///////////////////////////////////////////////////////
674       {
675        //gmt = 0;
676        while (digitalRead(sw_sel) != LOW)
677         {
678          if (digitalRead(sw_up) == LOW)
679          {
680            lcd.clear   ();
681            while (digitalRead(sw_up) == LOW) {} ;
682            gmt ++;
683           }
684          if (digitalRead(sw_dwn) == LOW)
685          {
686            lcd.clear   ();
687            while (digitalRead(sw_dwn) == LOW) {} ;
688            gmt --;
689           }
690          lcd.clear();
691          lcd.print ("GMT");
692          lcd.print(gmt);
693           delay (300);
694        }
695        lcd.clear ();
696        while (digitalRead(sw_sel)   == LOW) {} ;
697        lcd.setCursor (0, 1);
698        lcd.print ("SET GMT");
699         lcd.print(gmt);
700        EEPROM.write(0, gmt);
701        delay(1000);
702         return;
703      }
704      break;
705    case 6:
706      ///////////////////////////////////////////////////////
707       //                     SET TIDE                      //
708      ///////////////////////////////////////////////////////
709       {
710        //int tide_min, tide_hr;
711        lcd.setCursor (0, 0);
712         lcd.print ("Set ");
713        lcd.setCursor (0, 1);
714        lcd.print   ("FullMoonHighTide");
715        EEPROM.get(20, Tide_one);
716        int tide_mth   = 1;
717        //float a = (float)Tide_one / 288;   //288 = 24hr * 60/ 5 min/hr)
718         int tide_jr = 12;           //(int)a;
719        //float b = (a - (float)   tide_jr) * 24;
720        int tide_hr = 7;                // (int)b;
721        int   tide_min = 45;              //(b - (float) tide_hr) * 60 ;
722
723        ///////////////////////////////////////////////////////
724         lcd.clear ();
725        while (digitalRead(sw_sel) != LOW)
726        {
727           lcd.setCursor (0, 1);
728          lcd.print (tide_mth); lcd.print("/");
729           lcd.setCursor (3, 1); lcd.print(tide_jr); lcd.print(" ");
730          lcd.setCursor   (8, 1); lcd.print(tide_hr); lcd.print(":"); lcd.print(tide_min); lcd.print("   ");
731          lcd.setCursor (0, 0)  ;
732          lcd.print("v--Month  ");
733           delay (350);
734          if (digitalRead(sw_up) == LOW)
735          {
736             tide_mth ++;
737          }
738          if (digitalRead(sw_dwn) ==   LOW)
739          {
740            tide_mth --;
741          }
742        }
743         ///////////////////////////////////////////////////////
744        lcd.clear   ();
745        while (digitalRead(sw_sel) == LOW) {}; delay (100);
746        while   (digitalRead(sw_sel) != LOW)
747        {
748          lcd.setCursor (0, 1);
749           lcd.print (tide_mth); lcd.print("/");
750          lcd.setCursor (3,   1); lcd.print(tide_jr ); lcd.print(" ");
751          lcd.setCursor (8, 1); lcd.print(tide_hr);   lcd.print(":"); lcd.print(tide_min); lcd.print("  ");
752          lcd.setCursor   (3, 0);
753          delay (350);
754          lcd.print("v--Day  ");
755          if   (digitalRead(sw_up) == LOW)
756          {
757            tide_jr ++;
758          }
759           if (digitalRead(sw_dwn) == LOW)
760          {
761            tide_jr   --;
762          }
763        }
764        ///////////////////////////////////////////////////////
765
766         lcd.clear ();
767        while (digitalRead(sw_sel) == LOW) {}; delay (100);
768         while (digitalRead(sw_sel) != LOW)
769        {
770          lcd.setCursor   (0, 1);
771          lcd.print (tide_mth); lcd.print("/");
772          lcd.setCursor   (3, 1); lcd.print(tide_jr ); lcd.print(" ");
773          lcd.setCursor (8, 1);   lcd.print(tide_hr); lcd.print(":"); lcd.print(tide_min); lcd.print("  ");
774           lcd.setCursor (8, 0);
775          lcd.print("v--Hr  ");
776          delay   (350);
777          if (digitalRead(sw_up) == LOW)
778          {
779            tide_hr   ++;
780          }
781          if (digitalRead(sw_dwn) == LOW)
782          {
783             tide_hr --;
784          }
785        }
786        ///////////////////////////////////////////////////////
787         lcd.clear ();
788        while (digitalRead(sw_sel) == LOW) {}; delay (100);
789         while (digitalRead(sw_sel) != LOW)
790        {
791          lcd.setCursor   (0, 1);
792          lcd.print (tide_mth); lcd.print("/");
793          lcd.setCursor   (3, 1); lcd.print(tide_jr ); lcd.print(" ");
794          lcd.setCursor (8, 1);   lcd.print(tide_hr); lcd.print(":"); lcd.print(tide_min); lcd.print("  ");
795           lcd.setCursor (5, 0);
796          lcd.print("Min--v  ");
797          delay   (350);
798          if (digitalRead(sw_up) == LOW)
799          {
800            tide_min   += 5;
801          }
802          if (digitalRead(sw_dwn) == LOW)
803          {
804             tide_min -= 5;
805          }
806          if (tide_min < 1) {
807            tide_min   = 1; // prevention 0/5
808          }
809        }
810        lcd.clear ();
811         while (digitalRead(sw_sel) == LOW) {}
812        Tide_one =  DofY (year,   tide_mth, tide_jr, tide_hr, tide_min);
813        lcd.setCursor (0, 0);
814        lcd.print   ("Tide_one="); lcd.print (Tide_one); lcd.print ("  ");
815        lcd.setCursor   (0, 1);
816        lcd.print (tide_mth); lcd.print("/"); lcd.print (tide_jr );   lcd.print (" "); lcd.print (tide_hr); lcd.print (":"); lcd.print (tide_min);
817         delay (3500);
818        while (digitalRead(sw_sel) == LOW) { }
819        lcd.clear   ();
820        lcd.print ("Push Dwn to Save");
821        while (digitalRead(sw_sel)   != LOW)
822        {
823          if (digitalRead(sw_dwn) == LOW)
824          {
825             if (Tide_one > 0)
826            {
827              EEPROM.put(20, Tide_one);
828               lcd.clear ();
829              lcd.print ("TIDE SAVED");
830              lcd.setCursor   (0, 1);
831              lcd.print (Tide_one);
832              delay (2000);
833               while (digitalRead(sw_dwn) == LOW) { }
834              lcd.clear   ();
835              return;
836            }
837            else
838            {
839               lcd.clear ();
840              lcd.print ("TIDE E R R O R");
841               lcd.setCursor (0, 1);
842              lcd.print (Tide_one);
843              delay   (2500);
844              lcd.clear ();
845              return;
846            }
847           }
848          delay (50);
849        }
850        lcd.clear ();
851        return;
852       }
853      break;
854    case 7:
855      ///////////////////////////////////////////////////////
856       //                    PRO MODE                       //
857      ///////////////////////////////////////////////////////
858       {
859        if (pro_mode == false)
860        {
861          lcd.clear();   lcd.print("PRO Display ");
862          delay (1500);
863          pro_mode   = true;
864          EEPROM.write(4, pro_mode);
865        }
866        else
867         {
868          lcd.clear();  lcd.print("Dashboard    ");
869          pro_mode   = false;
870          EEPROM.write(4, pro_mode);
871          delay (1500);
872         }
873        lcd.clear ();
874      }
875      break;
876    case 8:
877       ///////////////////////////////////////////////////////
878      //                     ODOMETRE                       //
879      ///////////////////////////////////////////////////////
880       {
881        Odometre = 0;
882        time_run = 0;
883        lat2 = lat;
884         lon2 = lon;
885        lcd.clear();  lcd.print("Odometre Reset");
886         delay (1500); lcd.clear ();
887      }
888      break;
889    default:
890       {
891      }
892      return;
893  }
894}
895/////////////////////////////////////////////////////////////////////////////////////
896//                               SUBROUTINES                                        //
897/////////////////////////////////////////////////////////////////////////////////////
898//   writeBigChar: writes big character 'ch' to column x, row y; returns number of columns   used by 'ch'
899int writeBigChar(char ch, byte x, byte y) {
900  if (ch < ' ' ||   ch > '_') return 0;               // If outside table range, do nothing
901  nb   = 0;                                           // character byte counter
902  for   (bc = 0; bc < 8; bc++) {
903    bb[bc] = pgm_read_byte( &bigChars[ch - ' '][bc]   ); // read 8 bytes from PROGMEM
904    if (bb[bc] != 0) nb++;
905  }
906  bc = 0;
907   for (row = y; row < y + 2; row++) {
908    for (col = x; col < x + nb / 2; col++   ) {
909      lcd.setCursor(col, row);                      // move to position
910       lcd.write(bb[bc++]);                          // write byte and increment   to next
911    }
912  }
913  return nb / 2 - 1;                                  //   returns number of columns used by char
914}
915// writeBigString: writes out each   letter of string
916void writeBigString(char *str, byte x, byte y)
917{
918  char   c;
919  while ((c = *str++))
920    x += writeBigChar(c, x, y) + 1;
921}
922///////////////////////////////////////////////////////
923//                   HORLOGE                          //
924///////////////////////////////////////////////////////
925void   horloge(int C, int R)
926{
927  lcd.setCursor(C, R);
928  lcd.print(hour); lcd.print(":");
929   if (minute < 10)
930  {
931    lcd.print("0");
932  }
933  lcd.print(minute);
934   lcd.print(" ");
935}
936///////////////////////////////////////////////////////
937//                     LATITUDE                       //
938///////////////////////////////////////////////////////
939void   Print_Latitude(int C, int R)
940{
941  long latdeg = (lat / 10000);
942  lcd.setCursor(C,   R);
943  lcd.print("Lat:");
944  lcd.print(abs(latdeg));
945  lcd.print((char)223);
946   float x = (float)(lat - latdeg * 10000) * .6 / 100;
947  lcd.print(x); lcd.print("'");
948   if (lat > 0)
949  {
950    lcd.print ("N");
951  }
952  else
953  {
954    lcd.print("S");
955   }
956}
957///////////////////////////////////////////////////////
958//            PRINT   LONGITUDE                      //
959///////////////////////////////////////////////////////
960void   Print_Longitude(int C, int R)
961{
962  long londeg = (lon / 10000);
963  lcd.setCursor(C,   R);
964  lcd.print("Lon:");
965  lcd.print(abs(londeg));
966  lcd.print((char)223);
967   float x = (float) (abs(lon) - abs(londeg) * 10000) * .6 / 100;
968  lcd.print(x);   lcd.print("'");
969  if (lon > 0) {
970    lcd.print("E");
971  }
972  else   {
973    lcd.print("W");
974  }
975}
976
977///////////////////////////////////////////////////////
978//                TIDE CLOCK display                  //
979///////////////////////////////////////////////////////
980void   Print_Tide(int C, int R)
981{
982  EEPROM.get(20, Tide_one);
983  const char*tideclock   [] {"HIGH   ", "L 5Hr  ", "L 4Hr  ", "L 3Hr  ", "L 2Hr  ", "L 1Hr  ",   "LOW    ", "H 5Hr  ", "H 4Hr  ", "H 3Hr  ", "H 2Hr  ", "H 1Hr  ", "HIGH    ", "ERR   "};
984  //Serial.print ("y min="); //Serial.println (Year_Min);
985   //Serial.print ("tide 1="); //Serial.println (Tide_one);
986  long tide_cycle   = (Year_Min - Tide_one);
987  //Serial.print ("tide cycle="); //Serial.println   (tide_cycle);
988  float tide_cyclef = (float)tide_cycle / 745.233333f;        //Tide   12h25m14sec (745.23 min)
989  dtostrf (tide_cyclef, 1, 6, msg) ;
990  //Serial.print   ("tide cyclef="); //Serial.println (msg);
991  tide_cyclef = tide_cyclef - int(tide_cyclef);
992   dtostrf (tide_cyclef, 1, 6, msg) ;
993  //Serial.print ("tide cyclefraction=");   //Serial.println (msg);
994  tide_cyclef = tide_cyclef * 12;
995  dtostrf (tide_cyclef,   1, 6, msg) ;
996  tide_cycle = round (tide_cyclef);
997  lcd.setCursor(C, R);
998   lcd.print ("Tide:");
999  lcd.print (tideclock[tide_cycle]);
1000  //; break;
1001   //delay (1000);  lcd.setCursor(C, R);  lcd.print ("Tide:");  lcd.print (tide_cyclef);   delay (700);
1002}
1003///////////////////////////////////////////////////////
1004//                   Azimut                           //
1005///////////////////////////////////////////////////////
1006void   Print_Azimut(int C, int R)
1007{
1008  int azimut = gps.course() / 100;
1009  lcd.setCursor(C,   R);
1010  lcd.print(azimut);
1011  lcd.print((char)223);
1012  azimut = (int)((azimut   + 22.5f) / 45);
1013  lcd.print (azimuts[azimut % 8]); lcd.print ("   ");
1014}
1015///////////////////////////////////////////////////////
1016//       Print DISTANCE et azimut to wp               //
1017///////////////////////////////////////////////////////
1018void   Print_wpazimut(int C, int R)
1019{
1020
1021  float lat_Rad = lat / 10000.0 * rad2deg;//               convert decimal degree into radian
1022  float lon_Rad = lon / 10000.0   * rad2deg;
1023  float wp_lat_Rad = wp_lat / 10000.0 * rad2deg;
1024  float wp_lon_Rad   = wp_lon / 10000.0 * rad2deg;
1025  float latSin = sin((lat_Rad - wp_lat_Rad) / 2);//   Calculate the distance  KM
1026  float lonSin = sin((lon_Rad - wp_lon_Rad) / 2);
1027   float distancekm = 2 * asin(sqrt((latSin * latSin) + cos(lat_Rad) * cos(wp_lat_Rad)   * (lonSin * lonSin)));
1028  distancekm *= 6371;                      //Earth radius   = 6,371 km
1029  float yy = sin(wp_lon_Rad - lon_Rad) * cos(wp_lat_Rad);
1030  float   xx = cos(lat_Rad) * sin(wp_lat_Rad) - sin(lat_Rad) * cos(wp_lat_Rad) * cos(wp_lon_Rad   - lon_Rad);
1031  float fwd_azimut = atan2(yy, xx);
1032  fwd_azimut = round(fwd_azimut   * 57.2958);   //rad 2 deg
1033  if (fwd_azimut < 0 )
1034  {
1035    fwd_azimut =  360   + fwd_azimut;
1036  }
1037  if (distancekm < 10)
1038  {
1039    dtostrf (distancekm,   2, 2, msg) ;
1040  }
1041  else
1042  {
1043    dtostrf (distancekm, 2, 0, msg) ;
1044   }
1045  lcd.setCursor(C, R); lcd.print (msg); lcd.print ("km");
1046  dtostrf   (fwd_azimut, 2, 0, msg) ;
1047  lcd.print (msg); lcd.print((char)223); lcd.print   ("  ");
1048}
1049
1050
1051

/*
*/

#include <SoftwareSerial.h>
#include <TinyGPS.h>
#include   <LiquidCrystal.h>
#include <EEPROM.h>

#include <avr/pgmspace.h>
LiquidCrystal   lcd(8, 9, 4, 5, 6, 7);  //8>RS,9>E, 4-7>D4-D7,RW>0V,
SoftwareSerial gpsSerial(2,   3); //RX, TX 2>bleuTX, 3>VertRX
TinyGPS gps;

byte clo_n = 0;
boolean   eco_mode = false;
boolean pro_mode = false;
static int vref = 211; // 1023/4.9   volts
byte solPanel = 3;     //pin
byte batt = 4;         //pin
byte LCD_LED   = 11;
byte power_pin = 12;
byte sw_sel = 14;// select
byte sw_up = 15;//   up
byte sw_dwn = 16;//down
byte fonction = 0;
int gmt;//, hr ;
long   Year_Min;
long Tide_one;
unsigned long time_On;
unsigned long time_run;
unsigned   long time_old;

int year;//,  vinfo;
int menu_index = 0;
int cum_n;
static   float rad2deg = 0.01745;
float Odometre;
char msg[6];
byte LCD_LED_N =   220;  //OFF 0-a-255 ON
byte col, row, nb = 0, bc = 0;                            //   general
byte bb[8];
byte month, day, hour, minute, second, sped; //hundredths,
long   lat, lon;                 //,  latmin, lonmin; //angle
long lat2 = 0;
long   lon2 = 0;
long wp_lat, wp_lon ;

const char*azimuts[] = {"N  ", "NE   ", "E  ", "SE ", "S  ",  "SW ",  "W  ", "NW " };
const char custom[][8]   PROGMEM = {                        // Custom character definitions
  { 0x1F,   0x1F, 0x1F, 0x00, 0x00, 0x00, 0x00, 0x00 }, // char 1
  { 0x18, 0x1C, 0x1E, 0x1F,   0x1F, 0x1F, 0x1F, 0x1F }, // char 2
  { 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x0F, 0x07,   0x03 }, // char 3
  { 0x00, 0x00, 0x00, 0x00, 0x00, 0x1F, 0x1F, 0x1F }, // char   4
  { 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1E, 0x1C, 0x18 }, // char 5
  { 0x1F,   0x1F, 0x1F, 0x00, 0x00, 0x00, 0x1F, 0x1F }, // char 6
  { 0x1F, 0x00, 0x00, 0x00,   0x00, 0x1F, 0x1F, 0x1F }, // char 7
  { 0x03, 0x07, 0x0F, 0x1F, 0x1F, 0x1F, 0x1F,   0x1F }, // char 8

};
const char bigChars[][8] PROGMEM = {
  { 0x20,   0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }, // Space
  { 0xFF, 0x07, 0x00, 0x00,   0x00, 0x00, 0x00, 0x00 }, // !
  { 0x05, 0x05, 0x20, 0x20, 0x00, 0x00, 0x00,   0x00 }, // "
  { 0x04, 0xFF, 0x04, 0xFF, 0x04, 0x01, 0xFF, 0x01 }, // #
   { 0x08, 0xFF, 0x06, 0x07, 0xFF, 0x05, 0x00, 0x00 }, // $
  { 0x01, 0x20, 0x04,   0x01, 0x04, 0x01, 0x20, 0x04 }, // %
  { 0x08, 0x06, 0x02, 0x20, 0x03, 0x07,   0x02, 0x04 }, // &
  { 0x05, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }, // '
   { 0x08, 0x01, 0x03, 0x04, 0x00, 0x00, 0x00, 0x00 }, // (
  { 0x01, 0x02, 0x04,   0x05, 0x00, 0x00, 0x00, 0x00 }, // )
  { 0x01, 0x04, 0x04, 0x01, 0x04, 0x01,   0x01, 0x04 }, // *
  { 0x04, 0xFF, 0x04, 0x01, 0xFF, 0x01, 0x00, 0x00 }, // +
   { 0x20, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }, //
  { 0x04, 0x04, 0x04,   0x20, 0x20, 0x20, 0x00, 0x00 }, // -
  { 0x20, 0x01, 0x00, 0x00, 0x00, 0x00,   0x00, 0x00 }, // .
  { 0x20, 0x20, 0x04, 0x01, 0x04, 0x01, 0x20, 0x20 }, // /
   { 0x08, 0x01, 0x02, 0x03, 0x04, 0x05, 0x00, 0x00 }, // 0
  { 0x01, 0x02, 0x20,   0x04, 0xFF, 0x04, 0x00, 0x00 }, // 1
  { 0x06, 0x06, 0x02, 0xFF, 0x07, 0x07,   0x00, 0x00 }, // 2
  { 0x01, 0x06, 0x02, 0x04, 0x07, 0x05, 0x00, 0x00 }, // 3
   { 0x03, 0x04, 0xFF, 0x20, 0x20, 0xFF, 0x00, 0x00 }, // 4
  { 0xFF, 0x06, 0x06,   0x07, 0x07, 0x05, 0x00, 0x00 }, // 5
  { 0x08, 0x06, 0x06, 0x03, 0x07, 0x05,   0x00, 0x00 }, // 6
  { 0x01, 0x01, 0x02, 0x20, 0x08, 0x20, 0x00, 0x00 }, // 7
   { 0x08, 0x06, 0x02, 0x03, 0x07, 0x05, 0x00, 0x00 }, // 8
  { 0x08, 0x06, 0x02,   0x07, 0x07, 0x05, 0x00, 0x00 }, // 9
};

const static byte gpsDefault[]   PROGMEM = {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00,   0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x07, 0x1F, 0x9E};
const static byte gpsSave[]   PROGMEM = {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF,   0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0x31, 0xBF, 0x13};
const static byte   gpsSleep[] = {0xB5, 0x62, 0x06, 0x04, 0x04, 0x00, 0x00, 0x00, 0x08, 0x00, 0x16,   0x74};
const static byte gpsHot[]  = {0xB5, 0x62, 0x06, 0x04, 0x04, 0x00, 0x00,   0x00, 0x02, 0x00, 0x10, 0x68};
const static byte Disable_GPDTM[] PROGMEM = {0x24,   0x45, 0x49, 0x47, 0x50, 0x51, 0x2c, 0x44, 0x54, 0x4d, 0x2a, 0x33, 0x42, 0x0d, 0x0a,   0xb5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xf0, 0x0a, 0x00, 0x04, 0x23}; //->Disable_GPDTM
const   static byte Disable_GPGBS[] PROGMEM = {0x24, 0x45, 0x49, 0x47, 0x50, 0x51, 0x2c,   0x47, 0x42, 0x53, 0x2a, 0x33, 0x30, 0x0d, 0x0a, 0xb5, 0x62, 0x06, 0x01, 0x03, 0x00,   0xf0, 0x09, 0x00, 0x03, 0x21}; //->Disable_GPGBS
const static byte Disable_GPGGA[]   PROGMEM = {0x24, 0x45, 0x49, 0x47, 0x50, 0x51, 0x2c, 0x47, 0x47, 0x41, 0x2a, 0x32,   0x37, 0x0d, 0x0a, 0xb5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xf0, 0x00, 0x00, 0xfa, 0x0f};   //>Disable_GPGGA
const static byte Disable_GPGLL[] PROGMEM = {0x24, 0x45, 0x49,   0x47, 0x50, 0x51, 0x2c, 0x47, 0x4c, 0x4c, 0x2a, 0x32, 0x31, 0x0d, 0x0a, 0xb5, 0x62,   0x06, 0x01, 0x03, 0x00, 0xf0, 0x01, 0x00, 0xfb, 0x11}; //->Disable_GPGLL
const   static byte Disable_GPGRS[] PROGMEM = {0x24, 0x45, 0x49, 0x47, 0x50, 0x51, 0x2c,   0x47, 0x52, 0x53, 0x2a, 0x32, 0x30, 0x0d, 0x0a, 0xb5, 0x62, 0x06, 0x01, 0x03, 0x00,   0xf0, 0x06, 0x00, 0x00, 0x1b}; //->Disable_GPGRS
const static byte Disable_GPGSA[]   PROGMEM = {0x24, 0x45, 0x49, 0x47, 0x50, 0x51, 0x2c, 0x47, 0x53, 0x41, 0x2a, 0x33,   0x33, 0x0d, 0x0a, 0xb5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xf0, 0x02, 0x00, 0xfc, 0x13};   //->DisableGPGSA
const static byte Disable_GPGST[] PROGMEM = {0x24, 0x45, 0x49,   0x47, 0x50, 0x51, 0x2c, 0x47, 0x53, 0x54, 0x2a, 0x32, 0x36, 0x0d, 0x0a, 0xb5, 0x62,   0x06, 0x01, 0x03, 0x00, 0xf0, 0x07, 0x00, 0x01, 0x1d}; //->Disable_GPGST
const   static byte Disable_GPGSV[] PROGMEM = {0x24, 0x45, 0x49, 0x47, 0x50, 0x51, 0x2c,   0x47, 0x53, 0x56, 0x2a, 0x32, 0x34, 0x0d, 0x0a, 0xb5, 0x62, 0x06, 0x01, 0x03, 0x00,   0xf0, 0x03, 0x00, 0xfd, 0x15}; //->Disable_GPGSV
const static byte Disable_GPRMC[]   PROGMEM = {0x24, 0x45, 0x49, 0x47, 0x50, 0x51, 0x2c, 0x52, 0x4d, 0x43, 0x2a, 0x33,   0x41, 0x0d, 0x0a, 0xb5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xf0, 0x04, 0x00, 0xfe, 0x17};   //->Disable_GPRMC
const static byte Disable_GPVTG[] PROGMEM = {0x24, 0x45, 0x49,   0x47, 0x50, 0x51, 0x2c, 0x56, 0x54, 0x47, 0x2a, 0x32, 0x33, 0x0d, 0x0a, 0xb5, 0x62,   0x06, 0x01, 0x03, 0x00, 0xf0, 0x05, 0x00, 0xff, 0x19}; //->Disable_GPVTG
const   static byte Disable_GPZDA[] PROGMEM = {0x24, 0x45, 0x49, 0x47, 0x50, 0x51, 0x2c,   0x5a, 0x44, 0x41, 0x2a, 0x33, 0x39, 0x0d, 0x0a, 0xb5, 0x62, 0x06, 0x01, 0x03, 0x00,   0xf0, 0x08, 0x00, 0x02, 0x1f}; //->Disable_GPZDA

///////////////////////////////////////////////////////
//            Minute depuis debut annee               //
///////////////////////////////////////////////////////
int   days[] = {0,  0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334}; // Number   of days at the beginning of the month in a not leap year.
long DofY(int yr, int   mo, int dy, int h, int mi)
{
  int DfY;
  long Min2Date;
  if (mo ==   1 || mo == 2)
  {
    DfY = days[mo] + dy - 1;                 //for any type   of year, it calculate the number of days for January or february
  }
  else   if ((yr % 4 == 0 && yr % 100 != 0) ||  yr % 400 == 0)
  {
    DfY = days[mo]   + dy + 1 - 1;
  }
  else
  {
    DfY = days[mo] + dy - 1;
  }
   Min2Date = (long)DfY * 1440l + (long)h * 60l + (long)mi;
  return (Min2Date);
}
///////////////////////////////////////////////////////
//                       SETUP                        //
///////////////////////////////////////////////////////
void   setup()
{
  pinMode(power_pin, OUTPUT);
  digitalWrite (power_pin, HIGH);    // POWER ON!
  analogReference(DEFAULT);
  pinMode(LED_BUILTIN, OUTPUT);
   digitalWrite(LED_BUILTIN, LOW);
  Serial.begin(9600);
  gpsSerial.begin(9600);
   pinMode(LCD_LED, OUTPUT);
  //pinMode(buz, OUTPUT);
  pinMode(sw_sel, INPUT);
   pinMode(sw_up, INPUT);
  pinMode(sw_dwn, INPUT);
  lcd.begin(16, 2);
   analogWrite(LCD_LED, 100);

  ///////////////////////////////////////////////////////
   //                    EE PROM Variable               //
  ///////////////////////////////////////////////////////
   hour = EEPROM.read(0);                //lire le gmt
  pro_mode = EEPROM.read(4);
   EEPROM.get(10, wp_lat);
  EEPROM.get(15, wp_lon);
  EEPROM.get(20, Tide_one);
   EEPROM.get(25, Odometre);
  EEPROM.get(30, time_On);
  if (isnan(Odometre))   // test if NAN value
  {
    Odometre = 0;
  }
  if (hour > 127)                       //numbre   negatif
  {
    gmt =  hour - 256;
  }
  else
  {
    gmt = hour;
   }
  ///////////////////////////////////////////////////////
  ///               R   E V                             ///
  ///////////////////////////////////////////////////////
   lcd.clear();
  lcd.print(F("Ultimate YAK GPS"));
  lcd.setCursor(0, 1);
   lcd.print(F("GPS_1602B rev 92.1"));                                // Revision   Version<<<<
  delay (2000);
  lcd.clear();
  lcd.print("GMT="); lcd.print(gmt);
   float vbatt = (float) analogRead(batt) / vref + .21; //
  lcd.setCursor(0,   1);
  lcd.print(F("Batterie:"));
  lcd.print(vbatt);
  lcd.print("V");
   delay (2000);
  lcd.clear();
  lcd.print(F("Odometre:"));
  lcd.print(Odometre);
   delay (2000);
  lcd.clear();
  lcd.print("WPLat:");
  lcd.print(wp_lat);
   lcd.setCursor(0, 1);
  lcd.print("WPLon:");
  lcd.print(wp_lon);
  delay   (2000);
  lcd.clear();
  lcd.print("Last Time ON:");
  lcd.setCursor(0,   1);
  lcd.print(time_On / 60000); lcd.print("Min");
  delay (4000);


   /*lcd.clear();
    lcd.print("TIDE: ");
    lcd.print(Tide_one);
    float   a = (float)Tide_one / 288;   //288 = 24hr * 60/ 5 min/hr)
    int tide_jr = (int)a;
     float b = (a - (float) tide_jr) * 24;
    tide_hr = (int)b;
    tide_min   = (b - (float) tide_hr) * 60 ;
    lcd.setCursor(0, 1);
    lcd.print(tide_jr   + 1);
    lcd.print("Days ");
    lcd.print(tide_hr);
    lcd.print(":");
     lcd.print(tide_min);
    delay(2000);
  */


  if (vbatt < 2.8)//volts
   {
    lcd.setCursor(0, 1); lcd.print("Batt. LOW!");
    delay (4000);
     //digitalWrite(power_pin, LOW); //off
  }
  analogWrite(LCD_LED, 20);

   ///////////////////////////////////////////////////////
  //                    GPS   Reset                      //
  ///////////////////////////////////////////////////////
   lcd.clear();

  if (gps.encode(gpsSerial.read()))
  {
    lcd.print("GPS   Reset");
    gpsSerial.write(gpsHot, sizeof(gpsHot));  gpsSerial.flush();
     gpsSerial.write( gpsDefault, sizeof( gpsDefault));  gpsSerial.flush();
    gpsSerial.write(   Disable_GPDTM, sizeof( Disable_GPDTM));  gpsSerial.flush();
    gpsSerial.write(   Disable_GPGBS, sizeof( Disable_GPGBS));  gpsSerial.flush();
    gpsSerial.write(   Disable_GPGLL, sizeof( Disable_GPGLL));  gpsSerial.flush();
    gpsSerial.write(   Disable_GPGRS, sizeof( Disable_GPGRS));  gpsSerial.flush();
    gpsSerial.write(   Disable_GPGSA, sizeof( Disable_GPGSA));  gpsSerial.flush();
    gpsSerial.write(   Disable_GPGSV, sizeof( Disable_GPGSV));  gpsSerial.flush();
    gpsSerial.write(   Disable_GPVTG, sizeof( Disable_GPVTG));  gpsSerial.flush();
    gpsSerial.write(   Disable_GPGGA, sizeof( Disable_GPGGA));  gpsSerial.flush();
  }
  lcd.setCursor(0,   1); lcd.println(F("Wait satellites."));
  ///////////////////////////////////////////////////////
   ///           create 8 custom characters            ///
  ///////////////////////////////////////////////////////
   for (nb = 0; nb < 8; nb++ )
  {
    for (bc = 0; bc < 8; bc++)
      bb[bc]   = pgm_read_byte( &custom[nb][bc] );
    lcd.createChar ( nb + 1, bb );
  }
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
///                                     L O O P                                                             ///
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
void   loop()
{
  while (gpsSerial.available())                       // check for   gps data
  {
    if (gps.encode(gpsSerial.read()))                 // encode   gps data
    {
      gps.get_position(&lat, &lon);                   // get   lat and long
      gps.crack_datetime(&year, &month, &day, &hour, &minute, &second);
       lat = lat / 100; //enlever les d-secondes
      lon = lon / 100;
      //      lcd.setCursor(0, 0); lcd.print (lat); lcd.print (" "); lcd.print (lon); delay   (4000);
      hour = hour + gmt;
      if (hour > 128) //        reference   a gmt
      {
        hour = hour + 24;
        day = day - 1;
      }
       ////Serial.print ("DofY=");//Serial.println (DofY (year,month,day,hour,minute));
       //Serial.print (year); //Serial.print ("/"); //Serial.print (month); //Serial.print   ("/"); //Serial.print (day); //Serial.print (" "); //Serial.print (hour); //Serial.print   (":"); //Serial.println (minute);
      Year_Min = DofY ((int)year, (int)month,   (int)day, (int)hour, (int)minute);
      //Serial.print ("Year2min ="); //Serial.println   (Year_Min);


      if (digitalRead(sw_sel) == LOW) {
        lcd.clear();
         while (digitalRead(sw_sel) == 0) {} //  wait for release
        menu(0);
       }
      if (digitalRead(sw_dwn) == LOW)
      {
        lcd.clear();
         while (digitalRead(sw_dwn) == 0) {} //  wait for release
        if (pro_mode   == false)
        {
          lcd.clear();  lcd.print("PRO Display        ");
           delay (1500);
          pro_mode = true;
          EEPROM.write(4,   pro_mode);
        }
        else
        {
          lcd.clear();  lcd.print("Dashboard   MODE  ");
          pro_mode = false;
          EEPROM.write(4, pro_mode);
           delay (1500);
        }
        lcd.clear ();
      }
      ///////////////////////////////////////////////////////
       //           LCD LED  & test de batt                 //
      ///////////////////////////////////////////////////////
       float vsol = (float) analogRead(solPanel) / vref ; //    1024/2.5voltsRef
       if (eco_mode == true) {
        LCD_LED_N = 20;
      }
      else   {
        LCD_LED_N = 150;
      }
      if (vsol > 1) {//volt
        vsol   = 1;//volt
      }
      LCD_LED_N = LCD_LED_N - (vsol * LCD_LED_N);
      analogWrite(LCD_LED,   LCD_LED_N);

      float vbatt = (float) analogRead(batt) / vref + .21; //     1024/5voltsRef
      if (vbatt < 2.8) // Volts  2.8
      {
        lcd.clear();   lcd.print("LOW BATT   ");
        lcd.setCursor(0, 1); lcd.print(vbatt);   lcd.print("Volts");
        EEPROM.put(25, Odometre); //save odometre
        delay   (5000);
        digitalWrite(power_pin, LOW);// power off
      }
      if   (vbatt > 4.2) // Volts
      {
        analogWrite(LCD_LED, 255);
        digitalWrite(LED_BUILTIN,   HIGH);
      }
      else
      {
        digitalWrite(LED_BUILTIN,   LOW);
      }
      float speedf = gps.speed() * .01852;           // 1.852   /100  knot to kmph

      if (speedf < .5)
      {
        speedf =   0;
      }
      ///////////////////////////////////////////////////////
       ///                 ODOMETRE                        ///
      ///////////////////////////////////////////////////////
       if (cum_n >= 10)
      {
        if (lat2 == 0)
        {
          lat2   = lat;
          lon2 = lon;
        }
        cum_n = 0;
        float   lon2_dec = lon2 / 10000.0;
        /////////////////////convert decimal degree   into radian////////////////
        float lat1_Rad = lat / 10000.0 * rad2deg;
         float lon1_Rad = lon / 10000.0 * rad2deg;
        float lat2_Rad = lat2   / 10000.0 * rad2deg;
        float lon2_Rad = lon2 / 10000.0 * rad2deg;

         //Calculate the distance  KM
        float latSin = sin((lat1_Rad - lat2_Rad)   / 2);
        float lonSin = sin((lon1_Rad - lon2_Rad) / 2);

        float   P2P = 2 * asin(sqrt((latSin * latSin) + cos(lat1_Rad) * cos(lat2_Rad) * (lonSin   * lonSin)));
        P2P = P2P * 6371;                      //Earth radius =   6,371 km

        if (P2P < 5 && speedf != 0)  // plus de 5 km est une erreur   ou speed =0kmh
        {
          Odometre += P2P;
          lat2 = lat;
           lon2 = lon;
          EEPROM.put(25, Odometre);
          time_run   = time_run + (millis() - time_old);
          
          EEPROM.put(30, millis());   //future reference
        }
        time_old = millis();
      }
      else
       {
        cum_n ++;
      }
      ///////////////////////////////////////////////////////
       //                 V I T E S S E                     //
      ///////////////////////////////////////////////////////

       dtostrf (speedf, 3, 1, msg) ;
      if (pro_mode == false)
      {
         writeBigString(msg, 0, 0);
        lcd.setCursor(7, 0); lcd.print ("KM     ");
        lcd.setCursor(7, 1); lcd.print ("/H    ");
        lcd.setCursor(10,   0);
        if (Odometre < 100)
        {
          dtostrf (Odometre,   1, 1, msg) ;
        }
        else
        {
          dtostrf (Odometre,   1, 0, msg) ;
        }
        lcd.print (msg); lcd.print ("KM   ");

         horloge (10, 1);
      }
      else
      {
        lcd.setCursor(0,   0);
        lcd.print(msg); lcd.print("KMH  ");//dtostrf (speedf, 3, 1, msg)   ;
        Print_Azimut(8, 0);
        horloge(0, 1) ;
        ///////////////////////////////////////////////////////
         //          Display Fonction Variable                //
        ///////////////////////////////////////////////////////
         fonction++;
        switch (fonction / 3)
        {
          case   1:
            {
              Print_wpazimut(6, 1);
              EEPROM.put(30,   millis());
            }
            break;
          case 4:
            {
               Print_Tide(6, 1);
            }
            break;
          case   2:
            {
              lcd.setCursor(6, 1);
              if (Odometre   < 100)
              {
                dtostrf (Odometre, 1, 1, msg) ;
               }
              else
              {
                dtostrf   (Odometre, 1, 0, msg) ;
              }
              lcd.print ("Od:");   lcd.print (msg); lcd.print ("KM   ");
            }
            break;
           case 3:
            {
              lcd.setCursor(6, 1);
              lcd.print   ("Run:");
              if (time_run > 10000000L)//msec
              {
                 lcd.print (time_run / 3600000L);//msec
                lcd.print   ("Hr   ");
              }
              else
              { 
                lcd.print   (time_run / 60000L);//msec
                lcd.print ("Min   ");
              }
             }
            break;
          default:
            {
              fonction   = 2;
            }
            break;
        }
        ///////////////////////////////////////////////////////
         //                  eco  mode    
        //
        ///////////////////////////////////////////////////////
         if (eco_mode == true)
        {
          //char buffer[4]; //2del
           gpsSerial.write(gpsSleep, sizeof(gpsSleep));
          gpsSerial.flush();
           for (int n = 0; n < 6 ; n++)//Sec.
          {
            lcd.setCursor(15,   0); lcd.print (n);
            Print_Tide(6, 1);
            delay (1500);
             Print_wpazimut(6, 1);
            delay (1500);
            if   (digitalRead(sw_sel) == 0)
            {
              lcd.clear ();
              while   (digitalRead(sw_sel) == 0) {}; delay(10); // debounce
              menu(0);
             }
          }
          gpsSerial.write(gpsHot, sizeof(gpsHot));
           gpsSerial.flush();
          delay (2000); //
          //vinfo   = 1;
        }
      }
    }
  }
}

///////////////////////////////////////////////////////
//                      MENU                          //
///////////////////////////////////////////////////////
static   char* menu_items [] = {"Sel-UP-down", "Power OFF", "Lat-Long & WP ", "Power   Moniteur",
                              "Eco Mode",  "GMT set  ", "TIDE   set" , "Display Mode", "Odometre", "Retour", "Sel-up-DOWN"
                             };
void   menu(int menu_index)
{
  lcd.clear();  lcd.print(menu_items[menu_index]);
   while (digitalRead(sw_sel) == LOW) {}; delay(5);             //Debounce
  while   (digitalRead(sw_sel) != LOW)// Select
  {
    if (digitalRead(sw_up) == LOW)
     {
      lcd.clear();
      while (digitalRead(sw_up) == LOW) {}; delay(10);              //Debounce
      menu_index ++;
      if (menu_index > 8)
       {
        menu_index = 0;
      }
      lcd.clear();
      //lcd.setCursor(0,   0); lcd.print(menu_items[0]);
      lcd.setCursor(0, 1);
      lcd.print(menu_items[menu_index]);
     }
    if (digitalRead(sw_dwn) == LOW)
    {
      lcd.clear();
       while (digitalRead(sw_dwn) == LOW) {}; delay(10);               //Debounce
       menu_index -= 1;
      if (menu_index < 0)
      {
        menu_index   = 8;
      }
      lcd.clear();
      lcd.print(menu_items[0]);
      lcd.setCursor(0,   1);
      lcd.print(menu_items[menu_index]);
    }
  }
  lcd.clear();
   while (digitalRead(sw_sel) == LOW) {}; delay(100);               //Debounce
   switch (menu_index)
  {
    case 1:
      ///////////////////////////////////////////////////////
       //          POWER OFF                                //
      ///////////////////////////////////////////////////////
       {
        lcd.clear();
        lcd.print ("POWER OFF....");
        delay   (1500);
        digitalWrite(power_pin, LOW);
        delay (50);
        asm   volatile ("  jmp 0");
      }
      break;
    case 2:
      ///////////////////////////////////////////////////////
       //          LAT et LONG MEMO                         //
      ///////////////////////////////////////////////////////
       {
        lcd.clear ();
        lcd.setCursor (0, 0);
        lcd.print("Push   DWN to Save") ;
        lcd.setCursor (0, 1);
        lcd.print("WayPoint   ") ;
        delay (1000); lcd.clear ();
        while (digitalRead(sw_sel)   != LOW)
        {
          Print_Latitude (0, 0);
          Print_Longitude   (0, 1);
          if (digitalRead(sw_dwn) == LOW)
          {
            wp_lat   = lat;
            wp_lon  = lon;
            EEPROM.put(10, lat);
            EEPROM.put(15,   lon);
            lcd.clear ();
            lcd.setCursor (0, 0);
            lcd.print("WayPoint   SAVED") ;
            delay (1500);
            break;
          }
           if (digitalRead(sw_up) == LOW)
          {
            lcd.clear   ();
            lcd.setCursor (0, 0);
            lcd.print("Push DWN to   Save") ;
            while (digitalRead(sw_up) == LOW) {};
            delay(1000);
             lcd.clear ();
          }
          gps.get_position(&lat, &lon);
           lat = lat / 100; //enlever les d-secondes
          lon = lon / 100;
         }
        lcd.clear ();
        while (digitalRead(sw_sel) == LOW)   {};
      }
      break;
    case 3:
      ///////////////////////////////////////////////////////
       //          POWER MONITOR batt sol                   //
      ///////////////////////////////////////////////////////
       {
        gpsSerial.write(gpsSleep, sizeof(gpsSleep));
        while   (3)
        {
          float vsol = (float) analogRead(solPanel) / 204; //     1024/5voltsRef
          dtostrf (vsol, 3, 1, msg) ;
          lcd.setCursor(0,   0);
          lcd.print ("Solaire=");
          lcd.print (msg);
          lcd.print   ("V ");
          float vbatt = (float) analogRead(batt) / vref + .21; //    1024/5voltsRef
           dtostrf (vbatt, 3, 1, msg) ;
          lcd.setCursor(0, 1);
          lcd.print   ("Batterie=");
          lcd.print (msg); lcd.print ("V ");
          if   ((vsol - vbatt) > .4)//volts
          {
            lcd.setCursor(12, 1);   lcd.print ("V Charge ");
          }
          else
          {
            lcd.setCursor(12,   1); lcd.print ("V        ");
          }
          delay (1000);
          if   (digitalRead(sw_sel) == LOW)
          {
            lcd.clear();
            while   (digitalRead(sw_sel) == LOW) {}              ;
            gpsSerial.write(gpsHot,   sizeof(gpsHot));
            return;
          }
          delay (1000);
         }
      }
      break;
    case 4:
      ///////////////////////////////////////////////////////
       ///               ECO MODE select                   ///
      ///////////////////////////////////////////////////////
       {
        if (eco_mode == false)
        {
          lcd.setCursor(0,   0); lcd.print("ECONO MODE ON    ");
          delay (1500);
          eco_mode   = true;
          analogWrite(LCD_LED, 0);              // off lcd led
        }
         else
        {
          lcd.setCursor(0, 0); lcd.print("ECONO MODE   OFF    ");
          eco_mode = false;
          delay (1500);
          analogWrite(LCD_LED,   LCD_LED_N);              // off lcd led
        }
        lcd.clear ();
       }
      break;
    case 5:
      ///////////////////////////////////////////////////////
       //                     GMT                           //
      ///////////////////////////////////////////////////////
       {
        //gmt = 0;
        while (digitalRead(sw_sel) != LOW)
         {
          if (digitalRead(sw_up) == LOW)
          {
            lcd.clear   ();
            while (digitalRead(sw_up) == LOW) {} ;
            gmt ++;
           }
          if (digitalRead(sw_dwn) == LOW)
          {
            lcd.clear   ();
            while (digitalRead(sw_dwn) == LOW) {} ;
            gmt --;
           }
          lcd.clear();
          lcd.print ("GMT");
          lcd.print(gmt);
           delay (300);
        }
        lcd.clear ();
        while (digitalRead(sw_sel)   == LOW) {} ;
        lcd.setCursor (0, 1);
        lcd.print ("SET GMT");
         lcd.print(gmt);
        EEPROM.write(0, gmt);
        delay(1000);
         return;
      }
      break;
    case 6:
      ///////////////////////////////////////////////////////
       //                     SET TIDE                      //
      ///////////////////////////////////////////////////////
       {
        //int tide_min, tide_hr;
        lcd.setCursor (0, 0);
         lcd.print ("Set ");
        lcd.setCursor (0, 1);
        lcd.print   ("FullMoonHighTide");
        EEPROM.get(20, Tide_one);
        int tide_mth   = 1;
        //float a = (float)Tide_one / 288;   //288 = 24hr * 60/ 5 min/hr)
         int tide_jr = 12;           //(int)a;
        //float b = (a - (float)   tide_jr) * 24;
        int tide_hr = 7;                // (int)b;
        int   tide_min = 45;              //(b - (float) tide_hr) * 60 ;

        ///////////////////////////////////////////////////////
         lcd.clear ();
        while (digitalRead(sw_sel) != LOW)
        {
           lcd.setCursor (0, 1);
          lcd.print (tide_mth); lcd.print("/");
           lcd.setCursor (3, 1); lcd.print(tide_jr); lcd.print(" ");
          lcd.setCursor   (8, 1); lcd.print(tide_hr); lcd.print(":"); lcd.print(tide_min); lcd.print("   ");
          lcd.setCursor (0, 0)  ;
          lcd.print("v--Month  ");
           delay (350);
          if (digitalRead(sw_up) == LOW)
          {
             tide_mth ++;
          }
          if (digitalRead(sw_dwn) ==   LOW)
          {
            tide_mth --;
          }
        }
         ///////////////////////////////////////////////////////
        lcd.clear   ();
        while (digitalRead(sw_sel) == LOW) {}; delay (100);
        while   (digitalRead(sw_sel) != LOW)
        {
          lcd.setCursor (0, 1);
           lcd.print (tide_mth); lcd.print("/");
          lcd.setCursor (3,   1); lcd.print(tide_jr ); lcd.print(" ");
          lcd.setCursor (8, 1); lcd.print(tide_hr);   lcd.print(":"); lcd.print(tide_min); lcd.print("  ");
          lcd.setCursor   (3, 0);
          delay (350);
          lcd.print("v--Day  ");
          if   (digitalRead(sw_up) == LOW)
          {
            tide_jr ++;
          }
           if (digitalRead(sw_dwn) == LOW)
          {
            tide_jr   --;
          }
        }
        ///////////////////////////////////////////////////////

         lcd.clear ();
        while (digitalRead(sw_sel) == LOW) {}; delay (100);
         while (digitalRead(sw_sel) != LOW)
        {
          lcd.setCursor   (0, 1);
          lcd.print (tide_mth); lcd.print("/");
          lcd.setCursor   (3, 1); lcd.print(tide_jr ); lcd.print(" ");
          lcd.setCursor (8, 1);   lcd.print(tide_hr); lcd.print(":"); lcd.print(tide_min); lcd.print("  ");
           lcd.setCursor (8, 0);
          lcd.print("v--Hr  ");
          delay   (350);
          if (digitalRead(sw_up) == LOW)
          {
            tide_hr   ++;
          }
          if (digitalRead(sw_dwn) == LOW)
          {
             tide_hr --;
          }
        }
        ///////////////////////////////////////////////////////
         lcd.clear ();
        while (digitalRead(sw_sel) == LOW) {}; delay (100);
         while (digitalRead(sw_sel) != LOW)
        {
          lcd.setCursor   (0, 1);
          lcd.print (tide_mth); lcd.print("/");
          lcd.setCursor   (3, 1); lcd.print(tide_jr ); lcd.print(" ");
          lcd.setCursor (8, 1);   lcd.print(tide_hr); lcd.print(":"); lcd.print(tide_min); lcd.print("  ");
           lcd.setCursor (5, 0);
          lcd.print("Min--v  ");
          delay   (350);
          if (digitalRead(sw_up) == LOW)
          {
            tide_min   += 5;
          }
          if (digitalRead(sw_dwn) == LOW)
          {
             tide_min -= 5;
          }
          if (tide_min < 1) {
            tide_min   = 1; // prevention 0/5
          }
        }
        lcd.clear ();
         while (digitalRead(sw_sel) == LOW) {}
        Tide_one =  DofY (year,   tide_mth, tide_jr, tide_hr, tide_min);
        lcd.setCursor (0, 0);
        lcd.print   ("Tide_one="); lcd.print (Tide_one); lcd.print ("  ");
        lcd.setCursor   (0, 1);
        lcd.print (tide_mth); lcd.print("/"); lcd.print (tide_jr );   lcd.print (" "); lcd.print (tide_hr); lcd.print (":"); lcd.print (tide_min);
         delay (3500);
        while (digitalRead(sw_sel) == LOW) { }
        lcd.clear   ();
        lcd.print ("Push Dwn to Save");
        while (digitalRead(sw_sel)   != LOW)
        {
          if (digitalRead(sw_dwn) == LOW)
          {
             if (Tide_one > 0)
            {
              EEPROM.put(20, Tide_one);
               lcd.clear ();
              lcd.print ("TIDE SAVED");
              lcd.setCursor   (0, 1);
              lcd.print (Tide_one);
              delay (2000);
               while (digitalRead(sw_dwn) == LOW) { }
              lcd.clear   ();
              return;
            }
            else
            {
               lcd.clear ();
              lcd.print ("TIDE E R R O R");
               lcd.setCursor (0, 1);
              lcd.print (Tide_one);
              delay   (2500);
              lcd.clear ();
              return;
            }
           }
          delay (50);
        }
        lcd.clear ();
        return;
       }
      break;
    case 7:
      ///////////////////////////////////////////////////////
       //                    PRO MODE                       //
      ///////////////////////////////////////////////////////
       {
        if (pro_mode == false)
        {
          lcd.clear();   lcd.print("PRO Display ");
          delay (1500);
          pro_mode   = true;
          EEPROM.write(4, pro_mode);
        }
        else
         {
          lcd.clear();  lcd.print("Dashboard    ");
          pro_mode   = false;
          EEPROM.write(4, pro_mode);
          delay (1500);
         }
        lcd.clear ();
      }
      break;
    case 8:
       ///////////////////////////////////////////////////////
      //                     ODOMETRE                       //
      ///////////////////////////////////////////////////////
       {
        Odometre = 0;
        time_run = 0;
        lat2 = lat;
         lon2 = lon;
        lcd.clear();  lcd.print("Odometre Reset");
         delay (1500); lcd.clear ();
      }
      break;
    default:
       {
      }
      return;
  }
}
/////////////////////////////////////////////////////////////////////////////////////
//                               SUBROUTINES                                        //
/////////////////////////////////////////////////////////////////////////////////////
//   writeBigChar: writes big character 'ch' to column x, row y; returns number of columns   used by 'ch'
int writeBigChar(char ch, byte x, byte y) {
  if (ch < ' ' ||   ch > '_') return 0;               // If outside table range, do nothing
  nb   = 0;                                           // character byte counter
  for   (bc = 0; bc < 8; bc++) {
    bb[bc] = pgm_read_byte( &bigChars[ch - ' '][bc]   ); // read 8 bytes from PROGMEM
    if (bb[bc] != 0) nb++;
  }
  bc = 0;
   for (row = y; row < y + 2; row++) {
    for (col = x; col < x + nb / 2; col++   ) {
      lcd.setCursor(col, row);                      // move to position
       lcd.write(bb[bc++]);                          // write byte and increment   to next
    }
  }
  return nb / 2 - 1;                                  //   returns number of columns used by char
}
// writeBigString: writes out each   letter of string
void writeBigString(char *str, byte x, byte y)
{
  char   c;
  while ((c = *str++))
    x += writeBigChar(c, x, y) + 1;
}
///////////////////////////////////////////////////////
//                   HORLOGE                          //
///////////////////////////////////////////////////////
void   horloge(int C, int R)
{
  lcd.setCursor(C, R);
  lcd.print(hour); lcd.print(":");
   if (minute < 10)
  {
    lcd.print("0");
  }
  lcd.print(minute);
   lcd.print(" ");
}
///////////////////////////////////////////////////////
//                     LATITUDE                       //
///////////////////////////////////////////////////////
void   Print_Latitude(int C, int R)
{
  long latdeg = (lat / 10000);
  lcd.setCursor(C,   R);
  lcd.print("Lat:");
  lcd.print(abs(latdeg));
  lcd.print((char)223);
   float x = (float)(lat - latdeg * 10000) * .6 / 100;
  lcd.print(x); lcd.print("'");
   if (lat > 0)
  {
    lcd.print ("N");
  }
  else
  {
    lcd.print("S");
   }
}
///////////////////////////////////////////////////////
//            PRINT   LONGITUDE                      //
///////////////////////////////////////////////////////
void   Print_Longitude(int C, int R)
{
  long londeg = (lon / 10000);
  lcd.setCursor(C,   R);
  lcd.print("Lon:");
  lcd.print(abs(londeg));
  lcd.print((char)223);
   float x = (float) (abs(lon) - abs(londeg) * 10000) * .6 / 100;
  lcd.print(x);   lcd.print("'");
  if (lon > 0) {
    lcd.print("E");
  }
  else   {
    lcd.print("W");
  }
}

///////////////////////////////////////////////////////
//                TIDE CLOCK display                  //
///////////////////////////////////////////////////////
void   Print_Tide(int C, int R)
{
  EEPROM.get(20, Tide_one);
  const char*tideclock   [] {"HIGH   ", "L 5Hr  ", "L 4Hr  ", "L 3Hr  ", "L 2Hr  ", "L 1Hr  ",   "LOW    ", "H 5Hr  ", "H 4Hr  ", "H 3Hr  ", "H 2Hr  ", "H 1Hr  ", "HIGH    ", "ERR   "};
  //Serial.print ("y min="); //Serial.println (Year_Min);
   //Serial.print ("tide 1="); //Serial.println (Tide_one);
  long tide_cycle   = (Year_Min - Tide_one);
  //Serial.print ("tide cycle="); //Serial.println   (tide_cycle);
  float tide_cyclef = (float)tide_cycle / 745.233333f;        //Tide   12h25m14sec (745.23 min)
  dtostrf (tide_cyclef, 1, 6, msg) ;
  //Serial.print   ("tide cyclef="); //Serial.println (msg);
  tide_cyclef = tide_cyclef - int(tide_cyclef);
   dtostrf (tide_cyclef, 1, 6, msg) ;
  //Serial.print ("tide cyclefraction=");   //Serial.println (msg);
  tide_cyclef = tide_cyclef * 12;
  dtostrf (tide_cyclef,   1, 6, msg) ;
  tide_cycle = round (tide_cyclef);
  lcd.setCursor(C, R);
   lcd.print ("Tide:");
  lcd.print (tideclock[tide_cycle]);
  //; break;
   //delay (1000);  lcd.setCursor(C, R);  lcd.print ("Tide:");  lcd.print (tide_cyclef);   delay (700);
}
///////////////////////////////////////////////////////
//                   Azimut                           //
///////////////////////////////////////////////////////
void   Print_Azimut(int C, int R)
{
  int azimut = gps.course() / 100;
  lcd.setCursor(C,   R);
  lcd.print(azimut);
  lcd.print((char)223);
  azimut = (int)((azimut   + 22.5f) / 45);
  lcd.print (azimuts[azimut % 8]); lcd.print ("   ");
}
///////////////////////////////////////////////////////
//       Print DISTANCE et azimut to wp               //
///////////////////////////////////////////////////////
void   Print_wpazimut(int C, int R)
{

  float lat_Rad = lat / 10000.0 * rad2deg;//               convert decimal degree into radian
  float lon_Rad = lon / 10000.0   * rad2deg;
  float wp_lat_Rad = wp_lat / 10000.0 * rad2deg;
  float wp_lon_Rad   = wp_lon / 10000.0 * rad2deg;
  float latSin = sin((lat_Rad - wp_lat_Rad) / 2);//   Calculate the distance  KM
  float lonSin = sin((lon_Rad - wp_lon_Rad) / 2);
   float distancekm = 2 * asin(sqrt((latSin * latSin) + cos(lat_Rad) * cos(wp_lat_Rad)   * (lonSin * lonSin)));
  distancekm *= 6371;                      //Earth radius   = 6,371 km
  float yy = sin(wp_lon_Rad - lon_Rad) * cos(wp_lat_Rad);
  float   xx = cos(lat_Rad) * sin(wp_lat_Rad) - sin(lat_Rad) * cos(wp_lat_Rad) * cos(wp_lon_Rad   - lon_Rad);
  float fwd_azimut = atan2(yy, xx);
  fwd_azimut = round(fwd_azimut   * 57.2958);   //rad 2 deg
  if (fwd_azimut < 0 )
  {
    fwd_azimut =  360   + fwd_azimut;
  }
  if (distancekm < 10)
  {
    dtostrf (distancekm,   2, 2, msg) ;
  }
  else
  {
    dtostrf (distancekm, 2, 0, msg) ;
   }
  lcd.setCursor(C, R); lcd.print (msg); lcd.print ("km");
  dtostrf   (fwd_azimut, 2, 0, msg) ;
  lcd.print (msg); lcd.print((char)223); lcd.print   ("  ");
}

Kayak GPS

arduino

Navigation GPS powered by solar energy.

1/*
2*/
3
4#include <SoftwareSerial.h>
5#include <TinyGPS.h>
6#include  <LiquidCrystal.h>
7#include <EEPROM.h>
8
9#include <avr/pgmspace.h>
10LiquidCrystal  lcd(8, 9, 4, 5, 6, 7);  //8>RS,9>E, 4-7>D4-D7,RW>0V,
11SoftwareSerial gpsSerial(2,  3); //RX, TX 2>bleuTX, 3>VertRX
12TinyGPS gps;
13
14byte clo_n = 0;
15boolean  eco_mode = false;
16boolean pro_mode = false;
17static int vref = 211; // 1023/4.9  volts
18byte solPanel = 3;     //pin
19byte batt = 4;         //pin
20byte LCD_LED  = 11;
21byte power_pin = 12;
22byte sw_sel = 14;// select
23byte sw_up = 15;//  up
24byte sw_dwn = 16;//down
25byte fonction = 0;
26int gmt;//, hr ;
27long  Year_Min;
28long Tide_one;
29unsigned long time_On;
30unsigned long time_run;
31unsigned  long time_old;
32
33int year;//,  vinfo;
34int menu_index = 0;
35int cum_n;
36static  float rad2deg = 0.01745;
37float Odometre;
38char msg[6];
39byte LCD_LED_N =  220;  //OFF 0-a-255 ON
40byte col, row, nb = 0, bc = 0;                            //  general
41byte bb[8];
42byte month, day, hour, minute, second, sped; //hundredths,
43long  lat, lon;                 //,  latmin, lonmin; //angle
44long lat2 = 0;
45long  lon2 = 0;
46long wp_lat, wp_lon ;
47
48const char*azimuts[] = {"N  ", "NE  ", "E  ", "SE ", "S  ",  "SW ",  "W  ", "NW " };
49const char custom[][8]  PROGMEM = {                        // Custom character definitions
50  { 0x1F,  0x1F, 0x1F, 0x00, 0x00, 0x00, 0x00, 0x00 }, // char 1
51  { 0x18, 0x1C, 0x1E, 0x1F,  0x1F, 0x1F, 0x1F, 0x1F }, // char 2
52  { 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x0F, 0x07,  0x03 }, // char 3
53  { 0x00, 0x00, 0x00, 0x00, 0x00, 0x1F, 0x1F, 0x1F }, // char  4
54  { 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1E, 0x1C, 0x18 }, // char 5
55  { 0x1F,  0x1F, 0x1F, 0x00, 0x00, 0x00, 0x1F, 0x1F }, // char 6
56  { 0x1F, 0x00, 0x00, 0x00,  0x00, 0x1F, 0x1F, 0x1F }, // char 7
57  { 0x03, 0x07, 0x0F, 0x1F, 0x1F, 0x1F, 0x1F,  0x1F }, // char 8
58
59};
60const char bigChars[][8] PROGMEM = {
61  { 0x20,  0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }, // Space
62  { 0xFF, 0x07, 0x00, 0x00,  0x00, 0x00, 0x00, 0x00 }, // !
63  { 0x05, 0x05, 0x20, 0x20, 0x00, 0x00, 0x00,  0x00 }, // "
64  { 0x04, 0xFF, 0x04, 0xFF, 0x04, 0x01, 0xFF, 0x01 }, // #
65  { 0x08, 0xFF, 0x06, 0x07, 0xFF, 0x05, 0x00, 0x00 }, // $
66  { 0x01, 0x20, 0x04,  0x01, 0x04, 0x01, 0x20, 0x04 }, // %
67  { 0x08, 0x06, 0x02, 0x20, 0x03, 0x07,  0x02, 0x04 }, // &
68  { 0x05, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }, // '
69  { 0x08, 0x01, 0x03, 0x04, 0x00, 0x00, 0x00, 0x00 }, // (
70  { 0x01, 0x02, 0x04,  0x05, 0x00, 0x00, 0x00, 0x00 }, // )
71  { 0x01, 0x04, 0x04, 0x01, 0x04, 0x01,  0x01, 0x04 }, // *
72  { 0x04, 0xFF, 0x04, 0x01, 0xFF, 0x01, 0x00, 0x00 }, // +
73  { 0x20, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }, //
74  { 0x04, 0x04, 0x04,  0x20, 0x20, 0x20, 0x00, 0x00 }, // -
75  { 0x20, 0x01, 0x00, 0x00, 0x00, 0x00,  0x00, 0x00 }, // .
76  { 0x20, 0x20, 0x04, 0x01, 0x04, 0x01, 0x20, 0x20 }, // /
77  { 0x08, 0x01, 0x02, 0x03, 0x04, 0x05, 0x00, 0x00 }, // 0
78  { 0x01, 0x02, 0x20,  0x04, 0xFF, 0x04, 0x00, 0x00 }, // 1
79  { 0x06, 0x06, 0x02, 0xFF, 0x07, 0x07,  0x00, 0x00 }, // 2
80  { 0x01, 0x06, 0x02, 0x04, 0x07, 0x05, 0x00, 0x00 }, // 3
81  { 0x03, 0x04, 0xFF, 0x20, 0x20, 0xFF, 0x00, 0x00 }, // 4
82  { 0xFF, 0x06, 0x06,  0x07, 0x07, 0x05, 0x00, 0x00 }, // 5
83  { 0x08, 0x06, 0x06, 0x03, 0x07, 0x05,  0x00, 0x00 }, // 6
84  { 0x01, 0x01, 0x02, 0x20, 0x08, 0x20, 0x00, 0x00 }, // 7
85  { 0x08, 0x06, 0x02, 0x03, 0x07, 0x05, 0x00, 0x00 }, // 8
86  { 0x08, 0x06, 0x02,  0x07, 0x07, 0x05, 0x00, 0x00 }, // 9
87};
88
89const static byte gpsDefault[]  PROGMEM = {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00,  0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x07, 0x1F, 0x9E};
90const static byte gpsSave[]  PROGMEM = {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF,  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0x31, 0xBF, 0x13};
91const static byte  gpsSleep[] = {0xB5, 0x62, 0x06, 0x04, 0x04, 0x00, 0x00, 0x00, 0x08, 0x00, 0x16,  0x74};
92const static byte gpsHot[]  = {0xB5, 0x62, 0x06, 0x04, 0x04, 0x00, 0x00,  0x00, 0x02, 0x00, 0x10, 0x68};
93const static byte Disable_GPDTM[] PROGMEM = {0x24,  0x45, 0x49, 0x47, 0x50, 0x51, 0x2c, 0x44, 0x54, 0x4d, 0x2a, 0x33, 0x42, 0x0d, 0x0a,  0xb5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xf0, 0x0a, 0x00, 0x04, 0x23}; //->Disable_GPDTM
94const  static byte Disable_GPGBS[] PROGMEM = {0x24, 0x45, 0x49, 0x47, 0x50, 0x51, 0x2c,  0x47, 0x42, 0x53, 0x2a, 0x33, 0x30, 0x0d, 0x0a, 0xb5, 0x62, 0x06, 0x01, 0x03, 0x00,  0xf0, 0x09, 0x00, 0x03, 0x21}; //->Disable_GPGBS
95const static byte Disable_GPGGA[]  PROGMEM = {0x24, 0x45, 0x49, 0x47, 0x50, 0x51, 0x2c, 0x47, 0x47, 0x41, 0x2a, 0x32,  0x37, 0x0d, 0x0a, 0xb5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xf0, 0x00, 0x00, 0xfa, 0x0f};  //>Disable_GPGGA
96const static byte Disable_GPGLL[] PROGMEM = {0x24, 0x45, 0x49,  0x47, 0x50, 0x51, 0x2c, 0x47, 0x4c, 0x4c, 0x2a, 0x32, 0x31, 0x0d, 0x0a, 0xb5, 0x62,  0x06, 0x01, 0x03, 0x00, 0xf0, 0x01, 0x00, 0xfb, 0x11}; //->Disable_GPGLL
97const  static byte Disable_GPGRS[] PROGMEM = {0x24, 0x45, 0x49, 0x47, 0x50, 0x51, 0x2c,  0x47, 0x52, 0x53, 0x2a, 0x32, 0x30, 0x0d, 0x0a, 0xb5, 0x62, 0x06, 0x01, 0x03, 0x00,  0xf0, 0x06, 0x00, 0x00, 0x1b}; //->Disable_GPGRS
98const static byte Disable_GPGSA[]  PROGMEM = {0x24, 0x45, 0x49, 0x47, 0x50, 0x51, 0x2c, 0x47, 0x53, 0x41, 0x2a, 0x33,  0x33, 0x0d, 0x0a, 0xb5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xf0, 0x02, 0x00, 0xfc, 0x13};  //->DisableGPGSA
99const static byte Disable_GPGST[] PROGMEM = {0x24, 0x45, 0x49,  0x47, 0x50, 0x51, 0x2c, 0x47, 0x53, 0x54, 0x2a, 0x32, 0x36, 0x0d, 0x0a, 0xb5, 0x62,  0x06, 0x01, 0x03, 0x00, 0xf0, 0x07, 0x00, 0x01, 0x1d}; //->Disable_GPGST
100const  static byte Disable_GPGSV[] PROGMEM = {0x24, 0x45, 0x49, 0x47, 0x50, 0x51, 0x2c,  0x47, 0x53, 0x56, 0x2a, 0x32, 0x34, 0x0d, 0x0a, 0xb5, 0x62, 0x06, 0x01, 0x03, 0x00,  0xf0, 0x03, 0x00, 0xfd, 0x15}; //->Disable_GPGSV
101const static byte Disable_GPRMC[]  PROGMEM = {0x24, 0x45, 0x49, 0x47, 0x50, 0x51, 0x2c, 0x52, 0x4d, 0x43, 0x2a, 0x33,  0x41, 0x0d, 0x0a, 0xb5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xf0, 0x04, 0x00, 0xfe, 0x17};  //->Disable_GPRMC
102const static byte Disable_GPVTG[] PROGMEM = {0x24, 0x45, 0x49,  0x47, 0x50, 0x51, 0x2c, 0x56, 0x54, 0x47, 0x2a, 0x32, 0x33, 0x0d, 0x0a, 0xb5, 0x62,  0x06, 0x01, 0x03, 0x00, 0xf0, 0x05, 0x00, 0xff, 0x19}; //->Disable_GPVTG
103const  static byte Disable_GPZDA[] PROGMEM = {0x24, 0x45, 0x49, 0x47, 0x50, 0x51, 0x2c,  0x5a, 0x44, 0x41, 0x2a, 0x33, 0x39, 0x0d, 0x0a, 0xb5, 0x62, 0x06, 0x01, 0x03, 0x00,  0xf0, 0x08, 0x00, 0x02, 0x1f}; //->Disable_GPZDA
104
105///////////////////////////////////////////////////////
106//           Minute depuis debut annee               //
107///////////////////////////////////////////////////////
108int  days[] = {0,  0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334}; // Number  of days at the beginning of the month in a not leap year.
109long DofY(int yr, int  mo, int dy, int h, int mi)
110{
111  int DfY;
112  long Min2Date;
113  if (mo ==  1 || mo == 2)
114  {
115    DfY = days[mo] + dy - 1;                 //for any type  of year, it calculate the number of days for January or february
116  }
117  else  if ((yr % 4 == 0 && yr % 100 != 0) ||  yr % 400 == 0)
118  {
119    DfY = days[mo]  + dy + 1 - 1;
120  }
121  else
122  {
123    DfY = days[mo] + dy - 1;
124  }
125  Min2Date = (long)DfY * 1440l + (long)h * 60l + (long)mi;
126  return (Min2Date);
127}
128///////////////////////////////////////////////////////
129//                      SETUP                        //
130///////////////////////////////////////////////////////
131void  setup()
132{
133  pinMode(power_pin, OUTPUT);
134  digitalWrite (power_pin, HIGH);   // POWER ON!
135  analogReference(DEFAULT);
136  pinMode(LED_BUILTIN, OUTPUT);
137  digitalWrite(LED_BUILTIN, LOW);
138  Serial.begin(9600);
139  gpsSerial.begin(9600);
140  pinMode(LCD_LED, OUTPUT);
141  //pinMode(buz, OUTPUT);
142  pinMode(sw_sel, INPUT);
143  pinMode(sw_up, INPUT);
144  pinMode(sw_dwn, INPUT);
145  lcd.begin(16, 2);
146  analogWrite(LCD_LED, 100);
147
148  ///////////////////////////////////////////////////////
149  //                    EE PROM Variable               //
150  ///////////////////////////////////////////////////////
151  hour = EEPROM.read(0);                //lire le gmt
152  pro_mode = EEPROM.read(4);
153  EEPROM.get(10, wp_lat);
154  EEPROM.get(15, wp_lon);
155  EEPROM.get(20, Tide_one);
156  EEPROM.get(25, Odometre);
157  EEPROM.get(30, time_On);
158  if (isnan(Odometre))  // test if NAN value
159  {
160    Odometre = 0;
161  }
162  if (hour > 127)                       //numbre  negatif
163  {
164    gmt =  hour - 256;
165  }
166  else
167  {
168    gmt = hour;
169  }
170  ///////////////////////////////////////////////////////
171  ///               R  E V                             ///
172  ///////////////////////////////////////////////////////
173  lcd.clear();
174  lcd.print(F("Ultimate YAK GPS"));
175  lcd.setCursor(0, 1);
176  lcd.print(F("GPS_1602B rev 92.1"));                                // Revision  Version<<<<
177  delay (2000);
178  lcd.clear();
179  lcd.print("GMT="); lcd.print(gmt);
180  float vbatt = (float) analogRead(batt) / vref + .21; //
181  lcd.setCursor(0,  1);
182  lcd.print(F("Batterie:"));
183  lcd.print(vbatt);
184  lcd.print("V");
185  delay (2000);
186  lcd.clear();
187  lcd.print(F("Odometre:"));
188  lcd.print(Odometre);
189  delay (2000);
190  lcd.clear();
191  lcd.print("WPLat:");
192  lcd.print(wp_lat);
193  lcd.setCursor(0, 1);
194  lcd.print("WPLon:");
195  lcd.print(wp_lon);
196  delay  (2000);
197  lcd.clear();
198  lcd.print("Last Time ON:");
199  lcd.setCursor(0,  1);
200  lcd.print(time_On / 60000); lcd.print("Min");
201  delay (4000);
202
203
204  /*lcd.clear();
205    lcd.print("TIDE: ");
206    lcd.print(Tide_one);
207    float  a = (float)Tide_one / 288;   //288 = 24hr * 60/ 5 min/hr)
208    int tide_jr = (int)a;
209    float b = (a - (float) tide_jr) * 24;
210    tide_hr = (int)b;
211    tide_min  = (b - (float) tide_hr) * 60 ;
212    lcd.setCursor(0, 1);
213    lcd.print(tide_jr  + 1);
214    lcd.print("Days ");
215    lcd.print(tide_hr);
216    lcd.print(":");
217    lcd.print(tide_min);
218    delay(2000);
219  */
220
221
222  if (vbatt < 2.8)//volts
223  {
224    lcd.setCursor(0, 1); lcd.print("Batt. LOW!");
225    delay (4000);
226    //digitalWrite(power_pin, LOW); //off
227  }
228  analogWrite(LCD_LED, 20);
229
230  ///////////////////////////////////////////////////////
231  //                    GPS  Reset                      //
232  ///////////////////////////////////////////////////////
233  lcd.clear();
234
235  if (gps.encode(gpsSerial.read()))
236  {
237    lcd.print("GPS  Reset");
238    gpsSerial.write(gpsHot, sizeof(gpsHot));  gpsSerial.flush();
239    gpsSerial.write( gpsDefault, sizeof( gpsDefault));  gpsSerial.flush();
240    gpsSerial.write(  Disable_GPDTM, sizeof( Disable_GPDTM));  gpsSerial.flush();
241    gpsSerial.write(  Disable_GPGBS, sizeof( Disable_GPGBS));  gpsSerial.flush();
242    gpsSerial.write(  Disable_GPGLL, sizeof( Disable_GPGLL));  gpsSerial.flush();
243    gpsSerial.write(  Disable_GPGRS, sizeof( Disable_GPGRS));  gpsSerial.flush();
244    gpsSerial.write(  Disable_GPGSA, sizeof( Disable_GPGSA));  gpsSerial.flush();
245    gpsSerial.write(  Disable_GPGSV, sizeof( Disable_GPGSV));  gpsSerial.flush();
246    gpsSerial.write(  Disable_GPVTG, sizeof( Disable_GPVTG));  gpsSerial.flush();
247    gpsSerial.write(  Disable_GPGGA, sizeof( Disable_GPGGA));  gpsSerial.flush();
248  }
249  lcd.setCursor(0,  1); lcd.println(F("Wait satellites."));
250  ///////////////////////////////////////////////////////
251  ///           create 8 custom characters            ///
252  ///////////////////////////////////////////////////////
253  for (nb = 0; nb < 8; nb++ )
254  {
255    for (bc = 0; bc < 8; bc++)
256      bb[bc]  = pgm_read_byte( &custom[nb][bc] );
257    lcd.createChar ( nb + 1, bb );
258  }
259}
260//////////////////////////////////////////////////////////////////////////////////////////////////////////////
261///                                    L O O P                                                             ///
262//////////////////////////////////////////////////////////////////////////////////////////////////////////////
263void  loop()
264{
265  while (gpsSerial.available())                       // check for  gps data
266  {
267    if (gps.encode(gpsSerial.read()))                 // encode  gps data
268    {
269      gps.get_position(&lat, &lon);                   // get  lat and long
270      gps.crack_datetime(&year, &month, &day, &hour, &minute, &second);
271      lat = lat / 100; //enlever les d-secondes
272      lon = lon / 100;
273      //     lcd.setCursor(0, 0); lcd.print (lat); lcd.print (" "); lcd.print (lon); delay  (4000);
274      hour = hour + gmt;
275      if (hour > 128) //        reference  a gmt
276      {
277        hour = hour + 24;
278        day = day - 1;
279      }
280      ////Serial.print ("DofY=");//Serial.println (DofY (year,month,day,hour,minute));
281      //Serial.print (year); //Serial.print ("/"); //Serial.print (month); //Serial.print  ("/"); //Serial.print (day); //Serial.print (" "); //Serial.print (hour); //Serial.print  (":"); //Serial.println (minute);
282      Year_Min = DofY ((int)year, (int)month,  (int)day, (int)hour, (int)minute);
283      //Serial.print ("Year2min ="); //Serial.println  (Year_Min);
284
285
286      if (digitalRead(sw_sel) == LOW) {
287        lcd.clear();
288        while (digitalRead(sw_sel) == 0) {} //  wait for release
289        menu(0);
290      }
291      if (digitalRead(sw_dwn) == LOW)
292      {
293        lcd.clear();
294        while (digitalRead(sw_dwn) == 0) {} //  wait for release
295        if (pro_mode  == false)
296        {
297          lcd.clear();  lcd.print("PRO Display        ");
298          delay (1500);
299          pro_mode = true;
300          EEPROM.write(4,  pro_mode);
301        }
302        else
303        {
304          lcd.clear();  lcd.print("Dashboard  MODE  ");
305          pro_mode = false;
306          EEPROM.write(4, pro_mode);
307          delay (1500);
308        }
309        lcd.clear ();
310      }
311      ///////////////////////////////////////////////////////
312      //           LCD LED  & test de batt                 //
313      ///////////////////////////////////////////////////////
314      float vsol = (float) analogRead(solPanel) / vref ; //    1024/2.5voltsRef
315      if (eco_mode == true) {
316        LCD_LED_N = 20;
317      }
318      else  {
319        LCD_LED_N = 150;
320      }
321      if (vsol > 1) {//volt
322        vsol  = 1;//volt
323      }
324      LCD_LED_N = LCD_LED_N - (vsol * LCD_LED_N);
325      analogWrite(LCD_LED,  LCD_LED_N);
326
327      float vbatt = (float) analogRead(batt) / vref + .21; //    1024/5voltsRef
328      if (vbatt < 2.8) // Volts  2.8
329      {
330        lcd.clear();  lcd.print("LOW BATT   ");
331        lcd.setCursor(0, 1); lcd.print(vbatt);  lcd.print("Volts");
332        EEPROM.put(25, Odometre); //save odometre
333        delay  (5000);
334        digitalWrite(power_pin, LOW);// power off
335      }
336      if  (vbatt > 4.2) // Volts
337      {
338        analogWrite(LCD_LED, 255);
339        digitalWrite(LED_BUILTIN,  HIGH);
340      }
341      else
342      {
343        digitalWrite(LED_BUILTIN,  LOW);
344      }
345      float speedf = gps.speed() * .01852;           // 1.852  /100  knot to kmph
346
347      if (speedf < .5)
348      {
349        speedf =  0;
350      }
351      ///////////////////////////////////////////////////////
352      ///                 ODOMETRE                        ///
353      ///////////////////////////////////////////////////////
354      if (cum_n >= 10)
355      {
356        if (lat2 == 0)
357        {
358          lat2  = lat;
359          lon2 = lon;
360        }
361        cum_n = 0;
362        float  lon2_dec = lon2 / 10000.0;
363        /////////////////////convert decimal degree  into radian////////////////
364        float lat1_Rad = lat / 10000.0 * rad2deg;
365        float lon1_Rad = lon / 10000.0 * rad2deg;
366        float lat2_Rad = lat2  / 10000.0 * rad2deg;
367        float lon2_Rad = lon2 / 10000.0 * rad2deg;
368
369        //Calculate the distance  KM
370        float latSin = sin((lat1_Rad - lat2_Rad)  / 2);
371        float lonSin = sin((lon1_Rad - lon2_Rad) / 2);
372
373        float  P2P = 2 * asin(sqrt((latSin * latSin) + cos(lat1_Rad) * cos(lat2_Rad) * (lonSin  * lonSin)));
374        P2P = P2P * 6371;                      //Earth radius =  6,371 km
375
376        if (P2P < 5 && speedf != 0)  // plus de 5 km est une erreur  ou speed =0kmh
377        {
378          Odometre += P2P;
379          lat2 = lat;
380          lon2 = lon;
381          EEPROM.put(25, Odometre);
382          time_run  = time_run + (millis() - time_old);
383          
384          EEPROM.put(30, millis());  //future reference
385        }
386        time_old = millis();
387      }
388      else
389      {
390        cum_n ++;
391      }
392      ///////////////////////////////////////////////////////
393      //                 V I T E S S E                     //
394      ///////////////////////////////////////////////////////
395
396      dtostrf (speedf, 3, 1, msg) ;
397      if (pro_mode == false)
398      {
399        writeBigString(msg, 0, 0);
400        lcd.setCursor(7, 0); lcd.print ("KM    ");
401        lcd.setCursor(7, 1); lcd.print ("/H    ");
402        lcd.setCursor(10,  0);
403        if (Odometre < 100)
404        {
405          dtostrf (Odometre,  1, 1, msg) ;
406        }
407        else
408        {
409          dtostrf (Odometre,  1, 0, msg) ;
410        }
411        lcd.print (msg); lcd.print ("KM   ");
412
413        horloge (10, 1);
414      }
415      else
416      {
417        lcd.setCursor(0,  0);
418        lcd.print(msg); lcd.print("KMH  ");//dtostrf (speedf, 3, 1, msg)  ;
419        Print_Azimut(8, 0);
420        horloge(0, 1) ;
421        ///////////////////////////////////////////////////////
422        //          Display Fonction Variable                //
423        ///////////////////////////////////////////////////////
424        fonction++;
425        switch (fonction / 3)
426        {
427          case  1:
428            {
429              Print_wpazimut(6, 1);
430              EEPROM.put(30,  millis());
431            }
432            break;
433          case 4:
434            {
435              Print_Tide(6, 1);
436            }
437            break;
438          case  2:
439            {
440              lcd.setCursor(6, 1);
441              if (Odometre  < 100)
442              {
443                dtostrf (Odometre, 1, 1, msg) ;
444              }
445              else
446              {
447                dtostrf  (Odometre, 1, 0, msg) ;
448              }
449              lcd.print ("Od:");  lcd.print (msg); lcd.print ("KM   ");
450            }
451            break;
452          case 3:
453            {
454              lcd.setCursor(6, 1);
455              lcd.print  ("Run:");
456              if (time_run > 10000000L)//msec
457              {
458                lcd.print (time_run / 3600000L);//msec
459                lcd.print  ("Hr   ");
460              }
461              else
462              { 
463                lcd.print  (time_run / 60000L);//msec
464                lcd.print ("Min   ");
465              }
466            }
467            break;
468          default:
469            {
470              fonction  = 2;
471            }
472            break;
473        }
474        ///////////////////////////////////////////////////////
475        //                  eco  mode    
476        //
477        ///////////////////////////////////////////////////////
478        if (eco_mode == true)
479        {
480          //char buffer[4]; //2del
481          gpsSerial.write(gpsSleep, sizeof(gpsSleep));
482          gpsSerial.flush();
483          for (int n = 0; n < 6 ; n++)//Sec.
484          {
485            lcd.setCursor(15,  0); lcd.print (n);
486            Print_Tide(6, 1);
487            delay (1500);
488            Print_wpazimut(6, 1);
489            delay (1500);
490            if  (digitalRead(sw_sel) == 0)
491            {
492              lcd.clear ();
493              while  (digitalRead(sw_sel) == 0) {}; delay(10); // debounce
494              menu(0);
495            }
496          }
497          gpsSerial.write(gpsHot, sizeof(gpsHot));
498          gpsSerial.flush();
499          delay (2000); //
500          //vinfo  = 1;
501        }
502      }
503    }
504  }
505}
506
507///////////////////////////////////////////////////////
508//                     MENU                          //
509///////////////////////////////////////////////////////
510static  char* menu_items [] = {"Sel-UP-down", "Power OFF", "Lat-Long & WP ", "Power  Moniteur",
511                              "Eco Mode",  "GMT set  ", "TIDE  set" , "Display Mode", "Odometre", "Retour", "Sel-up-DOWN"
512                             };
513void  menu(int menu_index)
514{
515  lcd.clear();  lcd.print(menu_items[menu_index]);
516  while (digitalRead(sw_sel) == LOW) {}; delay(5);             //Debounce
517  while  (digitalRead(sw_sel) != LOW)// Select
518  {
519    if (digitalRead(sw_up) == LOW)
520    {
521      lcd.clear();
522      while (digitalRead(sw_up) == LOW) {}; delay(10);             //Debounce
523      menu_index ++;
524      if (menu_index > 8)
525      {
526        menu_index = 0;
527      }
528      lcd.clear();
529      //lcd.setCursor(0,  0); lcd.print(menu_items[0]);
530      lcd.setCursor(0, 1);
531      lcd.print(menu_items[menu_index]);
532    }
533    if (digitalRead(sw_dwn) == LOW)
534    {
535      lcd.clear();
536      while (digitalRead(sw_dwn) == LOW) {}; delay(10);               //Debounce
537      menu_index -= 1;
538      if (menu_index < 0)
539      {
540        menu_index  = 8;
541      }
542      lcd.clear();
543      lcd.print(menu_items[0]);
544      lcd.setCursor(0,  1);
545      lcd.print(menu_items[menu_index]);
546    }
547  }
548  lcd.clear();
549  while (digitalRead(sw_sel) == LOW) {}; delay(100);               //Debounce
550  switch (menu_index)
551  {
552    case 1:
553      ///////////////////////////////////////////////////////
554      //          POWER OFF                                //
555      ///////////////////////////////////////////////////////
556      {
557        lcd.clear();
558        lcd.print ("POWER OFF....");
559        delay  (1500);
560        digitalWrite(power_pin, LOW);
561        delay (50);
562        asm  volatile ("  jmp 0");
563      }
564      break;
565    case 2:
566      ///////////////////////////////////////////////////////
567      //          LAT et LONG MEMO                         //
568      ///////////////////////////////////////////////////////
569      {
570        lcd.clear ();
571        lcd.setCursor (0, 0);
572        lcd.print("Push  DWN to Save") ;
573        lcd.setCursor (0, 1);
574        lcd.print("WayPoint  ") ;
575        delay (1000); lcd.clear ();
576        while (digitalRead(sw_sel)  != LOW)
577        {
578          Print_Latitude (0, 0);
579          Print_Longitude  (0, 1);
580          if (digitalRead(sw_dwn) == LOW)
581          {
582            wp_lat  = lat;
583            wp_lon  = lon;
584            EEPROM.put(10, lat);
585            EEPROM.put(15,  lon);
586            lcd.clear ();
587            lcd.setCursor (0, 0);
588            lcd.print("WayPoint  SAVED") ;
589            delay (1500);
590            break;
591          }
592          if (digitalRead(sw_up) == LOW)
593          {
594            lcd.clear  ();
595            lcd.setCursor (0, 0);
596            lcd.print("Push DWN to  Save") ;
597            while (digitalRead(sw_up) == LOW) {};
598            delay(1000);
599            lcd.clear ();
600          }
601          gps.get_position(&lat, &lon);
602          lat = lat / 100; //enlever les d-secondes
603          lon = lon / 100;
604        }
605        lcd.clear ();
606        while (digitalRead(sw_sel) == LOW)  {};
607      }
608      break;
609    case 3:
610      ///////////////////////////////////////////////////////
611      //          POWER MONITOR batt sol                   //
612      ///////////////////////////////////////////////////////
613      {
614        gpsSerial.write(gpsSleep, sizeof(gpsSleep));
615        while  (3)
616        {
617          float vsol = (float) analogRead(solPanel) / 204; //    1024/5voltsRef
618          dtostrf (vsol, 3, 1, msg) ;
619          lcd.setCursor(0,  0);
620          lcd.print ("Solaire=");
621          lcd.print (msg);
622          lcd.print  ("V ");
623          float vbatt = (float) analogRead(batt) / vref + .21; //    1024/5voltsRef
624          dtostrf (vbatt, 3, 1, msg) ;
625          lcd.setCursor(0, 1);
626          lcd.print  ("Batterie=");
627          lcd.print (msg); lcd.print ("V ");
628          if  ((vsol - vbatt) > .4)//volts
629          {
630            lcd.setCursor(12, 1);  lcd.print ("V Charge ");
631          }
632          else
633          {
634            lcd.setCursor(12,  1); lcd.print ("V        ");
635          }
636          delay (1000);
637          if  (digitalRead(sw_sel) == LOW)
638          {
639            lcd.clear();
640            while  (digitalRead(sw_sel) == LOW) {}              ;
641            gpsSerial.write(gpsHot,  sizeof(gpsHot));
642            return;
643          }
644          delay (1000);
645        }
646      }
647      break;
648    case 4:
649      ///////////////////////////////////////////////////////
650      ///               ECO MODE select                   ///
651      ///////////////////////////////////////////////////////
652      {
653        if (eco_mode == false)
654        {
655          lcd.setCursor(0,  0); lcd.print("ECONO MODE ON    ");
656          delay (1500);
657          eco_mode  = true;
658          analogWrite(LCD_LED, 0);              // off lcd led
659        }
660        else
661        {
662          lcd.setCursor(0, 0); lcd.print("ECONO MODE  OFF    ");
663          eco_mode = false;
664          delay (1500);
665          analogWrite(LCD_LED,  LCD_LED_N);              // off lcd led
666        }
667        lcd.clear ();
668      }
669      break;
670    case 5:
671      ///////////////////////////////////////////////////////
672      //                     GMT                           //
673      ///////////////////////////////////////////////////////
674      {
675        //gmt = 0;
676        while (digitalRead(sw_sel) != LOW)
677        {
678          if (digitalRead(sw_up) == LOW)
679          {
680            lcd.clear  ();
681            while (digitalRead(sw_up) == LOW) {} ;
682            gmt ++;
683          }
684          if (digitalRead(sw_dwn) == LOW)
685          {
686            lcd.clear  ();
687            while (digitalRead(sw_dwn) == LOW) {} ;
688            gmt --;
689          }
690          lcd.clear();
691          lcd.print ("GMT");
692          lcd.print(gmt);
693          delay (300);
694        }
695        lcd.clear ();
696        while (digitalRead(sw_sel)  == LOW) {} ;
697        lcd.setCursor (0, 1);
698        lcd.print ("SET GMT");
699        lcd.print(gmt);
700        EEPROM.write(0, gmt);
701        delay(1000);
702        return;
703      }
704      break;
705    case 6:
706      ///////////////////////////////////////////////////////
707      //                     SET TIDE                      //
708      ///////////////////////////////////////////////////////
709      {
710        //int tide_min, tide_hr;
711        lcd.setCursor (0, 0);
712        lcd.print ("Set ");
713        lcd.setCursor (0, 1);
714        lcd.print  ("FullMoonHighTide");
715        EEPROM.get(20, Tide_one);
716        int tide_mth  = 1;
717        //float a = (float)Tide_one / 288;   //288 = 24hr * 60/ 5 min/hr)
718        int tide_jr = 12;           //(int)a;
719        //float b = (a - (float)  tide_jr) * 24;
720        int tide_hr = 7;                // (int)b;
721        int  tide_min = 45;              //(b - (float) tide_hr) * 60 ;
722
723        ///////////////////////////////////////////////////////
724        lcd.clear ();
725        while (digitalRead(sw_sel) != LOW)
726        {
727          lcd.setCursor (0, 1);
728          lcd.print (tide_mth); lcd.print("/");
729          lcd.setCursor (3, 1); lcd.print(tide_jr); lcd.print(" ");
730          lcd.setCursor  (8, 1); lcd.print(tide_hr); lcd.print(":"); lcd.print(tide_min); lcd.print("  ");
731          lcd.setCursor (0, 0)  ;
732          lcd.print("v--Month  ");
733          delay (350);
734          if (digitalRead(sw_up) == LOW)
735          {
736            tide_mth ++;
737          }
738          if (digitalRead(sw_dwn) ==  LOW)
739          {
740            tide_mth --;
741          }
742        }
743        ///////////////////////////////////////////////////////
744        lcd.clear  ();
745        while (digitalRead(sw_sel) == LOW) {}; delay (100);
746        while  (digitalRead(sw_sel) != LOW)
747        {
748          lcd.setCursor (0, 1);
749          lcd.print (tide_mth); lcd.print("/");
750          lcd.setCursor (3,  1); lcd.print(tide_jr ); lcd.print(" ");
751          lcd.setCursor (8, 1); lcd.print(tide_hr);  lcd.print(":"); lcd.print(tide_min); lcd.print("  ");
752          lcd.setCursor  (3, 0);
753          delay (350);
754          lcd.print("v--Day  ");
755          if  (digitalRead(sw_up) == LOW)
756          {
757            tide_jr ++;
758          }
759          if (digitalRead(sw_dwn) == LOW)
760          {
761            tide_jr  --;
762          }
763        }
764        ///////////////////////////////////////////////////////
765
766        lcd.clear ();
767        while (digitalRead(sw_sel) == LOW) {}; delay (100);
768        while (digitalRead(sw_sel) != LOW)
769        {
770          lcd.setCursor  (0, 1);
771          lcd.print (tide_mth); lcd.print("/");
772          lcd.setCursor  (3, 1); lcd.print(tide_jr ); lcd.print(" ");
773          lcd.setCursor (8, 1);  lcd.print(tide_hr); lcd.print(":"); lcd.print(tide_min); lcd.print("  ");
774          lcd.setCursor (8, 0);
775          lcd.print("v--Hr  ");
776          delay  (350);
777          if (digitalRead(sw_up) == LOW)
778          {
779            tide_hr  ++;
780          }
781          if (digitalRead(sw_dwn) == LOW)
782          {
783            tide_hr --;
784          }
785        }
786        ///////////////////////////////////////////////////////
787        lcd.clear ();
788        while (digitalRead(sw_sel) == LOW) {}; delay (100);
789        while (digitalRead(sw_sel) != LOW)
790        {
791          lcd.setCursor  (0, 1);
792          lcd.print (tide_mth); lcd.print("/");
793          lcd.setCursor  (3, 1); lcd.print(tide_jr ); lcd.print(" ");
794          lcd.setCursor (8, 1);  lcd.print(tide_hr); lcd.print(":"); lcd.print(tide_min); lcd.print("  ");
795          lcd.setCursor (5, 0);
796          lcd.print("Min--v  ");
797          delay  (350);
798          if (digitalRead(sw_up) == LOW)
799          {
800            tide_min  += 5;
801          }
802          if (digitalRead(sw_dwn) == LOW)
803          {
804            tide_min -= 5;
805          }
806          if (tide_min < 1) {
807            tide_min  = 1; // prevention 0/5
808          }
809        }
810        lcd.clear ();
811        while (digitalRead(sw_sel) == LOW) {}
812        Tide_one =  DofY (year,  tide_mth, tide_jr, tide_hr, tide_min);
813        lcd.setCursor (0, 0);
814        lcd.print  ("Tide_one="); lcd.print (Tide_one); lcd.print ("  ");
815        lcd.setCursor  (0, 1);
816        lcd.print (tide_mth); lcd.print("/"); lcd.print (tide_jr );  lcd.print (" "); lcd.print (tide_hr); lcd.print (":"); lcd.print (tide_min);
817        delay (3500);
818        while (digitalRead(sw_sel) == LOW) { }
819        lcd.clear  ();
820        lcd.print ("Push Dwn to Save");
821        while (digitalRead(sw_sel)  != LOW)
822        {
823          if (digitalRead(sw_dwn) == LOW)
824          {
825            if (Tide_one > 0)
826            {
827              EEPROM.put(20, Tide_one);
828              lcd.clear ();
829              lcd.print ("TIDE SAVED");
830              lcd.setCursor  (0, 1);
831              lcd.print (Tide_one);
832              delay (2000);
833              while (digitalRead(sw_dwn) == LOW) { }
834              lcd.clear  ();
835              return;
836            }
837            else
838            {
839              lcd.clear ();
840              lcd.print ("TIDE E R R O R");
841              lcd.setCursor (0, 1);
842              lcd.print (Tide_one);
843              delay  (2500);
844              lcd.clear ();
845              return;
846            }
847          }
848          delay (50);
849        }
850        lcd.clear ();
851        return;
852      }
853      break;
854    case 7:
855      ///////////////////////////////////////////////////////
856      //                    PRO MODE                       //
857      ///////////////////////////////////////////////////////
858      {
859        if (pro_mode == false)
860        {
861          lcd.clear();  lcd.print("PRO Display ");
862          delay (1500);
863          pro_mode  = true;
864          EEPROM.write(4, pro_mode);
865        }
866        else
867        {
868          lcd.clear();  lcd.print("Dashboard    ");
869          pro_mode  = false;
870          EEPROM.write(4, pro_mode);
871          delay (1500);
872        }
873        lcd.clear ();
874      }
875      break;
876    case 8:
877      ///////////////////////////////////////////////////////
878      //                     ODOMETRE                      //
879      ///////////////////////////////////////////////////////
880      {
881        Odometre = 0;
882        time_run = 0;
883        lat2 = lat;
884        lon2 = lon;
885        lcd.clear();  lcd.print("Odometre Reset");
886        delay (1500); lcd.clear ();
887      }
888      break;
889    default:
890      {
891      }
892      return;
893  }
894}
895/////////////////////////////////////////////////////////////////////////////////////
896//                              SUBROUTINES                                        //
897/////////////////////////////////////////////////////////////////////////////////////
898//  writeBigChar: writes big character 'ch' to column x, row y; returns number of columns  used by 'ch'
899int writeBigChar(char ch, byte x, byte y) {
900  if (ch < ' ' ||  ch > '_') return 0;               // If outside table range, do nothing
901  nb  = 0;                                           // character byte counter
902  for  (bc = 0; bc < 8; bc++) {
903    bb[bc] = pgm_read_byte( &bigChars[ch - ' '][bc]  ); // read 8 bytes from PROGMEM
904    if (bb[bc] != 0) nb++;
905  }
906  bc = 0;
907  for (row = y; row < y + 2; row++) {
908    for (col = x; col < x + nb / 2; col++  ) {
909      lcd.setCursor(col, row);                      // move to position
910      lcd.write(bb[bc++]);                          // write byte and increment  to next
911    }
912  }
913  return nb / 2 - 1;                                  //  returns number of columns used by char
914}
915// writeBigString: writes out each  letter of string
916void writeBigString(char *str, byte x, byte y)
917{
918  char  c;
919  while ((c = *str++))
920    x += writeBigChar(c, x, y) + 1;
921}
922///////////////////////////////////////////////////////
923//                  HORLOGE                          //
924///////////////////////////////////////////////////////
925void  horloge(int C, int R)
926{
927  lcd.setCursor(C, R);
928  lcd.print(hour); lcd.print(":");
929  if (minute < 10)
930  {
931    lcd.print("0");
932  }
933  lcd.print(minute);
934  lcd.print(" ");
935}
936///////////////////////////////////////////////////////
937//                    LATITUDE                       //
938///////////////////////////////////////////////////////
939void  Print_Latitude(int C, int R)
940{
941  long latdeg = (lat / 10000);
942  lcd.setCursor(C,  R);
943  lcd.print("Lat:");
944  lcd.print(abs(latdeg));
945  lcd.print((char)223);
946  float x = (float)(lat - latdeg * 10000) * .6 / 100;
947  lcd.print(x); lcd.print("'");
948  if (lat > 0)
949  {
950    lcd.print ("N");
951  }
952  else
953  {
954    lcd.print("S");
955  }
956}
957///////////////////////////////////////////////////////
958//            PRINT  LONGITUDE                      //
959///////////////////////////////////////////////////////
960void  Print_Longitude(int C, int R)
961{
962  long londeg = (lon / 10000);
963  lcd.setCursor(C,  R);
964  lcd.print("Lon:");
965  lcd.print(abs(londeg));
966  lcd.print((char)223);
967  float x = (float) (abs(lon) - abs(londeg) * 10000) * .6 / 100;
968  lcd.print(x);  lcd.print("'");
969  if (lon > 0) {
970    lcd.print("E");
971  }
972  else  {
973    lcd.print("W");
974  }
975}
976
977///////////////////////////////////////////////////////
978//               TIDE CLOCK display                  //
979///////////////////////////////////////////////////////
980void  Print_Tide(int C, int R)
981{
982  EEPROM.get(20, Tide_one);
983  const char*tideclock  [] {"HIGH   ", "L 5Hr  ", "L 4Hr  ", "L 3Hr  ", "L 2Hr  ", "L 1Hr  ",  "LOW    ", "H 5Hr  ", "H 4Hr  ", "H 3Hr  ", "H 2Hr  ", "H 1Hr  ", "HIGH   ", "ERR   "};
984  //Serial.print ("y min="); //Serial.println (Year_Min);
985  //Serial.print ("tide 1="); //Serial.println (Tide_one);
986  long tide_cycle  = (Year_Min - Tide_one);
987  //Serial.print ("tide cycle="); //Serial.println  (tide_cycle);
988  float tide_cyclef = (float)tide_cycle / 745.233333f;        //Tide  12h25m14sec (745.23 min)
989  dtostrf (tide_cyclef, 1, 6, msg) ;
990  //Serial.print  ("tide cyclef="); //Serial.println (msg);
991  tide_cyclef = tide_cyclef - int(tide_cyclef);
992  dtostrf (tide_cyclef, 1, 6, msg) ;
993  //Serial.print ("tide cyclefraction=");  //Serial.println (msg);
994  tide_cyclef = tide_cyclef * 12;
995  dtostrf (tide_cyclef,  1, 6, msg) ;
996  tide_cycle = round (tide_cyclef);
997  lcd.setCursor(C, R);
998  lcd.print ("Tide:");
999  lcd.print (tideclock[tide_cycle]);
1000  //; break;
1001  //delay (1000);  lcd.setCursor(C, R);  lcd.print ("Tide:");  lcd.print (tide_cyclef);  delay (700);
1002}
1003///////////////////////////////////////////////////////
1004//                  Azimut                           //
1005///////////////////////////////////////////////////////
1006void  Print_Azimut(int C, int R)
1007{
1008  int azimut = gps.course() / 100;
1009  lcd.setCursor(C,  R);
1010  lcd.print(azimut);
1011  lcd.print((char)223);
1012  azimut = (int)((azimut  + 22.5f) / 45);
1013  lcd.print (azimuts[azimut % 8]); lcd.print ("   ");
1014}
1015///////////////////////////////////////////////////////
1016//      Print DISTANCE et azimut to wp               //
1017///////////////////////////////////////////////////////
1018void  Print_wpazimut(int C, int R)
1019{
1020
1021  float lat_Rad = lat / 10000.0 * rad2deg;//              convert decimal degree into radian
1022  float lon_Rad = lon / 10000.0  * rad2deg;
1023  float wp_lat_Rad = wp_lat / 10000.0 * rad2deg;
1024  float wp_lon_Rad  = wp_lon / 10000.0 * rad2deg;
1025  float latSin = sin((lat_Rad - wp_lat_Rad) / 2);//  Calculate the distance  KM
1026  float lonSin = sin((lon_Rad - wp_lon_Rad) / 2);
1027  float distancekm = 2 * asin(sqrt((latSin * latSin) + cos(lat_Rad) * cos(wp_lat_Rad)  * (lonSin * lonSin)));
1028  distancekm *= 6371;                      //Earth radius  = 6,371 km
1029  float yy = sin(wp_lon_Rad - lon_Rad) * cos(wp_lat_Rad);
1030  float  xx = cos(lat_Rad) * sin(wp_lat_Rad) - sin(lat_Rad) * cos(wp_lat_Rad) * cos(wp_lon_Rad  - lon_Rad);
1031  float fwd_azimut = atan2(yy, xx);
1032  fwd_azimut = round(fwd_azimut  * 57.2958);   //rad 2 deg
1033  if (fwd_azimut < 0 )
1034  {
1035    fwd_azimut =  360  + fwd_azimut;
1036  }
1037  if (distancekm < 10)
1038  {
1039    dtostrf (distancekm,  2, 2, msg) ;
1040  }
1041  else
1042  {
1043    dtostrf (distancekm, 2, 0, msg) ;
1044  }
1045  lcd.setCursor(C, R); lcd.print (msg); lcd.print ("km");
1046  dtostrf  (fwd_azimut, 2, 0, msg) ;
1047  lcd.print (msg); lcd.print((char)223); lcd.print  ("  ");
1048}
1049
1050
1051

/*
*/

#include <SoftwareSerial.h>
#include <TinyGPS.h>
#include  <LiquidCrystal.h>
#include <EEPROM.h>

#include <avr/pgmspace.h>
LiquidCrystal  lcd(8, 9, 4, 5, 6, 7);  //8>RS,9>E, 4-7>D4-D7,RW>0V,
SoftwareSerial gpsSerial(2,  3); //RX, TX 2>bleuTX, 3>VertRX
TinyGPS gps;

byte clo_n = 0;
boolean  eco_mode = false;
boolean pro_mode = false;
static int vref = 211; // 1023/4.9  volts
byte solPanel = 3;     //pin
byte batt = 4;         //pin
byte LCD_LED  = 11;
byte power_pin = 12;
byte sw_sel = 14;// select
byte sw_up = 15;//  up
byte sw_dwn = 16;//down
byte fonction = 0;
int gmt;//, hr ;
long  Year_Min;
long Tide_one;
unsigned long time_On;
unsigned long time_run;
unsigned  long time_old;

int year;//,  vinfo;
int menu_index = 0;
int cum_n;
static  float rad2deg = 0.01745;
float Odometre;
char msg[6];
byte LCD_LED_N =  220;  //OFF 0-a-255 ON
byte col, row, nb = 0, bc = 0;                            //  general
byte bb[8];
byte month, day, hour, minute, second, sped; //hundredths,
long  lat, lon;                 //,  latmin, lonmin; //angle
long lat2 = 0;
long  lon2 = 0;
long wp_lat, wp_lon ;

const char*azimuts[] = {"N  ", "NE  ", "E  ", "SE ", "S  ",  "SW ",  "W  ", "NW " };
const char custom[][8]  PROGMEM = {                        // Custom character definitions
  { 0x1F,  0x1F, 0x1F, 0x00, 0x00, 0x00, 0x00, 0x00 }, // char 1
  { 0x18, 0x1C, 0x1E, 0x1F,  0x1F, 0x1F, 0x1F, 0x1F }, // char 2
  { 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x0F, 0x07,  0x03 }, // char 3
  { 0x00, 0x00, 0x00, 0x00, 0x00, 0x1F, 0x1F, 0x1F }, // char  4
  { 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1E, 0x1C, 0x18 }, // char 5
  { 0x1F,  0x1F, 0x1F, 0x00, 0x00, 0x00, 0x1F, 0x1F }, // char 6
  { 0x1F, 0x00, 0x00, 0x00,  0x00, 0x1F, 0x1F, 0x1F }, // char 7
  { 0x03, 0x07, 0x0F, 0x1F, 0x1F, 0x1F, 0x1F,  0x1F }, // char 8

};
const char bigChars[][8] PROGMEM = {
  { 0x20,  0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }, // Space
  { 0xFF, 0x07, 0x00, 0x00,  0x00, 0x00, 0x00, 0x00 }, // !
  { 0x05, 0x05, 0x20, 0x20, 0x00, 0x00, 0x00,  0x00 }, // "
  { 0x04, 0xFF, 0x04, 0xFF, 0x04, 0x01, 0xFF, 0x01 }, // #
  { 0x08, 0xFF, 0x06, 0x07, 0xFF, 0x05, 0x00, 0x00 }, // $
  { 0x01, 0x20, 0x04,  0x01, 0x04, 0x01, 0x20, 0x04 }, // %
  { 0x08, 0x06, 0x02, 0x20, 0x03, 0x07,  0x02, 0x04 }, // &
  { 0x05, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }, // '
  { 0x08, 0x01, 0x03, 0x04, 0x00, 0x00, 0x00, 0x00 }, // (
  { 0x01, 0x02, 0x04,  0x05, 0x00, 0x00, 0x00, 0x00 }, // )
  { 0x01, 0x04, 0x04, 0x01, 0x04, 0x01,  0x01, 0x04 }, // *
  { 0x04, 0xFF, 0x04, 0x01, 0xFF, 0x01, 0x00, 0x00 }, // +
  { 0x20, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }, //
  { 0x04, 0x04, 0x04,  0x20, 0x20, 0x20, 0x00, 0x00 }, // -
  { 0x20, 0x01, 0x00, 0x00, 0x00, 0x00,  0x00, 0x00 }, // .
  { 0x20, 0x20, 0x04, 0x01, 0x04, 0x01, 0x20, 0x20 }, // /
  { 0x08, 0x01, 0x02, 0x03, 0x04, 0x05, 0x00, 0x00 }, // 0
  { 0x01, 0x02, 0x20,  0x04, 0xFF, 0x04, 0x00, 0x00 }, // 1
  { 0x06, 0x06, 0x02, 0xFF, 0x07, 0x07,  0x00, 0x00 }, // 2
  { 0x01, 0x06, 0x02, 0x04, 0x07, 0x05, 0x00, 0x00 }, // 3
  { 0x03, 0x04, 0xFF, 0x20, 0x20, 0xFF, 0x00, 0x00 }, // 4
  { 0xFF, 0x06, 0x06,  0x07, 0x07, 0x05, 0x00, 0x00 }, // 5
  { 0x08, 0x06, 0x06, 0x03, 0x07, 0x05,  0x00, 0x00 }, // 6
  { 0x01, 0x01, 0x02, 0x20, 0x08, 0x20, 0x00, 0x00 }, // 7
  { 0x08, 0x06, 0x02, 0x03, 0x07, 0x05, 0x00, 0x00 }, // 8
  { 0x08, 0x06, 0x02,  0x07, 0x07, 0x05, 0x00, 0x00 }, // 9
};

const static byte gpsDefault[]  PROGMEM = {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00,  0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x07, 0x1F, 0x9E};
const static byte gpsSave[]  PROGMEM = {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF,  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0x31, 0xBF, 0x13};
const static byte  gpsSleep[] = {0xB5, 0x62, 0x06, 0x04, 0x04, 0x00, 0x00, 0x00, 0x08, 0x00, 0x16,  0x74};
const static byte gpsHot[]  = {0xB5, 0x62, 0x06, 0x04, 0x04, 0x00, 0x00,  0x00, 0x02, 0x00, 0x10, 0x68};
const static byte Disable_GPDTM[] PROGMEM = {0x24,  0x45, 0x49, 0x47, 0x50, 0x51, 0x2c, 0x44, 0x54, 0x4d, 0x2a, 0x33, 0x42, 0x0d, 0x0a,  0xb5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xf0, 0x0a, 0x00, 0x04, 0x23}; //->Disable_GPDTM
const  static byte Disable_GPGBS[] PROGMEM = {0x24, 0x45, 0x49, 0x47, 0x50, 0x51, 0x2c,  0x47, 0x42, 0x53, 0x2a, 0x33, 0x30, 0x0d, 0x0a, 0xb5, 0x62, 0x06, 0x01, 0x03, 0x00,  0xf0, 0x09, 0x00, 0x03, 0x21}; //->Disable_GPGBS
const static byte Disable_GPGGA[]  PROGMEM = {0x24, 0x45, 0x49, 0x47, 0x50, 0x51, 0x2c, 0x47, 0x47, 0x41, 0x2a, 0x32,  0x37, 0x0d, 0x0a, 0xb5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xf0, 0x00, 0x00, 0xfa, 0x0f};  //>Disable_GPGGA
const static byte Disable_GPGLL[] PROGMEM = {0x24, 0x45, 0x49,  0x47, 0x50, 0x51, 0x2c, 0x47, 0x4c, 0x4c, 0x2a, 0x32, 0x31, 0x0d, 0x0a, 0xb5, 0x62,  0x06, 0x01, 0x03, 0x00, 0xf0, 0x01, 0x00, 0xfb, 0x11}; //->Disable_GPGLL
const  static byte Disable_GPGRS[] PROGMEM = {0x24, 0x45, 0x49, 0x47, 0x50, 0x51, 0x2c,  0x47, 0x52, 0x53, 0x2a, 0x32, 0x30, 0x0d, 0x0a, 0xb5, 0x62, 0x06, 0x01, 0x03, 0x00,  0xf0, 0x06, 0x00, 0x00, 0x1b}; //->Disable_GPGRS
const static byte Disable_GPGSA[]  PROGMEM = {0x24, 0x45, 0x49, 0x47, 0x50, 0x51, 0x2c, 0x47, 0x53, 0x41, 0x2a, 0x33,  0x33, 0x0d, 0x0a, 0xb5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xf0, 0x02, 0x00, 0xfc, 0x13};  //->DisableGPGSA
const static byte Disable_GPGST[] PROGMEM = {0x24, 0x45, 0x49,  0x47, 0x50, 0x51, 0x2c, 0x47, 0x53, 0x54, 0x2a, 0x32, 0x36, 0x0d, 0x0a, 0xb5, 0x62,  0x06, 0x01, 0x03, 0x00, 0xf0, 0x07, 0x00, 0x01, 0x1d}; //->Disable_GPGST
const  static byte Disable_GPGSV[] PROGMEM = {0x24, 0x45, 0x49, 0x47, 0x50, 0x51, 0x2c,  0x47, 0x53, 0x56, 0x2a, 0x32, 0x34, 0x0d, 0x0a, 0xb5, 0x62, 0x06, 0x01, 0x03, 0x00,  0xf0, 0x03, 0x00, 0xfd, 0x15}; //->Disable_GPGSV
const static byte Disable_GPRMC[]  PROGMEM = {0x24, 0x45, 0x49, 0x47, 0x50, 0x51, 0x2c, 0x52, 0x4d, 0x43, 0x2a, 0x33,  0x41, 0x0d, 0x0a, 0xb5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xf0, 0x04, 0x00, 0xfe, 0x17};  //->Disable_GPRMC
const static byte Disable_GPVTG[] PROGMEM = {0x24, 0x45, 0x49,  0x47, 0x50, 0x51, 0x2c, 0x56, 0x54, 0x47, 0x2a, 0x32, 0x33, 0x0d, 0x0a, 0xb5, 0x62,  0x06, 0x01, 0x03, 0x00, 0xf0, 0x05, 0x00, 0xff, 0x19}; //->Disable_GPVTG
const  static byte Disable_GPZDA[] PROGMEM = {0x24, 0x45, 0x49, 0x47, 0x50, 0x51, 0x2c,  0x5a, 0x44, 0x41, 0x2a, 0x33, 0x39, 0x0d, 0x0a, 0xb5, 0x62, 0x06, 0x01, 0x03, 0x00,  0xf0, 0x08, 0x00, 0x02, 0x1f}; //->Disable_GPZDA

///////////////////////////////////////////////////////
//           Minute depuis debut annee               //
///////////////////////////////////////////////////////
int  days[] = {0,  0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334}; // Number  of days at the beginning of the month in a not leap year.
long DofY(int yr, int  mo, int dy, int h, int mi)
{
  int DfY;
  long Min2Date;
  if (mo ==  1 || mo == 2)
  {
    DfY = days[mo] + dy - 1;                 //for any type  of year, it calculate the number of days for January or february
  }
  else  if ((yr % 4 == 0 && yr % 100 != 0) ||  yr % 400 == 0)
  {
    DfY = days[mo]  + dy + 1 - 1;
  }
  else
  {
    DfY = days[mo] + dy - 1;
  }
  Min2Date = (long)DfY * 1440l + (long)h * 60l + (long)mi;
  return (Min2Date);
}
///////////////////////////////////////////////////////
//                      SETUP                        //
///////////////////////////////////////////////////////
void  setup()
{
  pinMode(power_pin, OUTPUT);
  digitalWrite (power_pin, HIGH);   // POWER ON!
  analogReference(DEFAULT);
  pinMode(LED_BUILTIN, OUTPUT);
  digitalWrite(LED_BUILTIN, LOW);
  Serial.begin(9600);
  gpsSerial.begin(9600);
  pinMode(LCD_LED, OUTPUT);
  //pinMode(buz, OUTPUT);
  pinMode(sw_sel, INPUT);
  pinMode(sw_up, INPUT);
  pinMode(sw_dwn, INPUT);
  lcd.begin(16, 2);
  analogWrite(LCD_LED, 100);

  ///////////////////////////////////////////////////////
  //                    EE PROM Variable               //
  ///////////////////////////////////////////////////////
  hour = EEPROM.read(0);                //lire le gmt
  pro_mode = EEPROM.read(4);
  EEPROM.get(10, wp_lat);
  EEPROM.get(15, wp_lon);
  EEPROM.get(20, Tide_one);
  EEPROM.get(25, Odometre);
  EEPROM.get(30, time_On);
  if (isnan(Odometre))  // test if NAN value
  {
    Odometre = 0;
  }
  if (hour > 127)                       //numbre  negatif
  {
    gmt =  hour - 256;
  }
  else
  {
    gmt = hour;
  }
  ///////////////////////////////////////////////////////
  ///               R  E V                             ///
  ///////////////////////////////////////////////////////
  lcd.clear();
  lcd.print(F("Ultimate YAK GPS"));
  lcd.setCursor(0, 1);
  lcd.print(F("GPS_1602B rev 92.1"));                                // Revision  Version<<<<
  delay (2000);
  lcd.clear();
  lcd.print("GMT="); lcd.print(gmt);
  float vbatt = (float) analogRead(batt) / vref + .21; //
  lcd.setCursor(0,  1);
  lcd.print(F("Batterie:"));
  lcd.print(vbatt);
  lcd.print("V");
  delay (2000);
  lcd.clear();
  lcd.print(F("Odometre:"));
  lcd.print(Odometre);
  delay (2000);
  lcd.clear();
  lcd.print("WPLat:");
  lcd.print(wp_lat);
  lcd.setCursor(0, 1);
  lcd.print("WPLon:");
  lcd.print(wp_lon);
  delay  (2000);
  lcd.clear();
  lcd.print("Last Time ON:");
  lcd.setCursor(0,  1);
  lcd.print(time_On / 60000); lcd.print("Min");
  delay (4000);


  /*lcd.clear();
    lcd.print("TIDE: ");
    lcd.print(Tide_one);
    float  a = (float)Tide_one / 288;   //288 = 24hr * 60/ 5 min/hr)
    int tide_jr = (int)a;
    float b = (a - (float) tide_jr) * 24;
    tide_hr = (int)b;
    tide_min  = (b - (float) tide_hr) * 60 ;
    lcd.setCursor(0, 1);
    lcd.print(tide_jr  + 1);
    lcd.print("Days ");
    lcd.print(tide_hr);
    lcd.print(":");
    lcd.print(tide_min);
    delay(2000);
  */


  if (vbatt < 2.8)//volts
  {
    lcd.setCursor(0, 1); lcd.print("Batt. LOW!");
    delay (4000);
    //digitalWrite(power_pin, LOW); //off
  }
  analogWrite(LCD_LED, 20);

  ///////////////////////////////////////////////////////
  //                    GPS  Reset                      //
  ///////////////////////////////////////////////////////
  lcd.clear();

  if (gps.encode(gpsSerial.read()))
  {
    lcd.print("GPS  Reset");
    gpsSerial.write(gpsHot, sizeof(gpsHot));  gpsSerial.flush();
    gpsSerial.write( gpsDefault, sizeof( gpsDefault));  gpsSerial.flush();
    gpsSerial.write(  Disable_GPDTM, sizeof( Disable_GPDTM));  gpsSerial.flush();
    gpsSerial.write(  Disable_GPGBS, sizeof( Disable_GPGBS));  gpsSerial.flush();
    gpsSerial.write(  Disable_GPGLL, sizeof( Disable_GPGLL));  gpsSerial.flush();
    gpsSerial.write(  Disable_GPGRS, sizeof( Disable_GPGRS));  gpsSerial.flush();
    gpsSerial.write(  Disable_GPGSA, sizeof( Disable_GPGSA));  gpsSerial.flush();
    gpsSerial.write(  Disable_GPGSV, sizeof( Disable_GPGSV));  gpsSerial.flush();
    gpsSerial.write(  Disable_GPVTG, sizeof( Disable_GPVTG));  gpsSerial.flush();
    gpsSerial.write(  Disable_GPGGA, sizeof( Disable_GPGGA));  gpsSerial.flush();
  }
  lcd.setCursor(0,  1); lcd.println(F("Wait satellites."));
  ///////////////////////////////////////////////////////
  ///           create 8 custom characters            ///
  ///////////////////////////////////////////////////////
  for (nb = 0; nb < 8; nb++ )
  {
    for (bc = 0; bc < 8; bc++)
      bb[bc]  = pgm_read_byte( &custom[nb][bc] );
    lcd.createChar ( nb + 1, bb );
  }
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
///                                    L O O P                                                             ///
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
void  loop()
{
  while (gpsSerial.available())                       // check for  gps data
  {
    if (gps.encode(gpsSerial.read()))                 // encode  gps data
    {
      gps.get_position(&lat, &lon);                   // get  lat and long
      gps.crack_datetime(&year, &month, &day, &hour, &minute, &second);
      lat = lat / 100; //enlever les d-secondes
      lon = lon / 100;
      //     lcd.setCursor(0, 0); lcd.print (lat); lcd.print (" "); lcd.print (lon); delay  (4000);
      hour = hour + gmt;
      if (hour > 128) //        reference  a gmt
      {
        hour = hour + 24;
        day = day - 1;
      }
      ////Serial.print ("DofY=");//Serial.println (DofY (year,month,day,hour,minute));
      //Serial.print (year); //Serial.print ("/"); //Serial.print (month); //Serial.print  ("/"); //Serial.print (day); //Serial.print (" "); //Serial.print (hour); //Serial.print  (":"); //Serial.println (minute);
      Year_Min = DofY ((int)year, (int)month,  (int)day, (int)hour, (int)minute);
      //Serial.print ("Year2min ="); //Serial.println  (Year_Min);


      if (digitalRead(sw_sel) == LOW) {
        lcd.clear();
        while (digitalRead(sw_sel) == 0) {} //  wait for release
        menu(0);
      }
      if (digitalRead(sw_dwn) == LOW)
      {
        lcd.clear();
        while (digitalRead(sw_dwn) == 0) {} //  wait for release
        if (pro_mode  == false)
        {
          lcd.clear();  lcd.print("PRO Display        ");
          delay (1500);
          pro_mode = true;
          EEPROM.write(4,  pro_mode);
        }
        else
        {
          lcd.clear();  lcd.print("Dashboard  MODE  ");
          pro_mode = false;
          EEPROM.write(4, pro_mode);
          delay (1500);
        }
        lcd.clear ();
      }
      ///////////////////////////////////////////////////////
      //           LCD LED  & test de batt                 //
      ///////////////////////////////////////////////////////
      float vsol = (float) analogRead(solPanel) / vref ; //    1024/2.5voltsRef
      if (eco_mode == true) {
        LCD_LED_N = 20;
      }
      else  {
        LCD_LED_N = 150;
      }
      if (vsol > 1) {//volt
        vsol  = 1;//volt
      }
      LCD_LED_N = LCD_LED_N - (vsol * LCD_LED_N);
      analogWrite(LCD_LED,  LCD_LED_N);

      float vbatt = (float) analogRead(batt) / vref + .21; //    1024/5voltsRef
      if (vbatt < 2.8) // Volts  2.8
      {
        lcd.clear();  lcd.print("LOW BATT   ");
        lcd.setCursor(0, 1); lcd.print(vbatt);  lcd.print("Volts");
        EEPROM.put(25, Odometre); //save odometre
        delay  (5000);
        digitalWrite(power_pin, LOW);// power off
      }
      if  (vbatt > 4.2) // Volts
      {
        analogWrite(LCD_LED, 255);
        digitalWrite(LED_BUILTIN,  HIGH);
      }
      else
      {
        digitalWrite(LED_BUILTIN,  LOW);
      }
      float speedf = gps.speed() * .01852;           // 1.852  /100  knot to kmph

      if (speedf < .5)
      {
        speedf =  0;
      }
      ///////////////////////////////////////////////////////
      ///                 ODOMETRE                        ///
      ///////////////////////////////////////////////////////
      if (cum_n >= 10)
      {
        if (lat2 == 0)
        {
          lat2  = lat;
          lon2 = lon;
        }
        cum_n = 0;
        float  lon2_dec = lon2 / 10000.0;
        /////////////////////convert decimal degree  into radian////////////////
        float lat1_Rad = lat / 10000.0 * rad2deg;
        float lon1_Rad = lon / 10000.0 * rad2deg;
        float lat2_Rad = lat2  / 10000.0 * rad2deg;
        float lon2_Rad = lon2 / 10000.0 * rad2deg;

        //Calculate the distance  KM
        float latSin = sin((lat1_Rad - lat2_Rad)  / 2);
        float lonSin = sin((lon1_Rad - lon2_Rad) / 2);

        float  P2P = 2 * asin(sqrt((latSin * latSin) + cos(lat1_Rad) * cos(lat2_Rad) * (lonSin  * lonSin)));
        P2P = P2P * 6371;                      //Earth radius =  6,371 km

        if (P2P < 5 && speedf != 0)  // plus de 5 km est une erreur  ou speed =0kmh
        {
          Odometre += P2P;
          lat2 = lat;
          lon2 = lon;
          EEPROM.put(25, Odometre);
          time_run  = time_run + (millis() - time_old);
          
          EEPROM.put(30, millis());  //future reference
        }
        time_old = millis();
      }
      else
      {
        cum_n ++;
      }
      ///////////////////////////////////////////////////////
      //                 V I T E S S E                     //
      ///////////////////////////////////////////////////////

      dtostrf (speedf, 3, 1, msg) ;
      if (pro_mode == false)
      {
        writeBigString(msg, 0, 0);
        lcd.setCursor(7, 0); lcd.print ("KM    ");
        lcd.setCursor(7, 1); lcd.print ("/H    ");
        lcd.setCursor(10,  0);
        if (Odometre < 100)
        {
          dtostrf (Odometre,  1, 1, msg) ;
        }
        else
        {
          dtostrf (Odometre,  1, 0, msg) ;
        }
        lcd.print (msg); lcd.print ("KM   ");

        horloge (10, 1);
      }
      else
      {
        lcd.setCursor(0,  0);
        lcd.print(msg); lcd.print("KMH  ");//dtostrf (speedf, 3, 1, msg)  ;
        Print_Azimut(8, 0);
        horloge(0, 1) ;
        ///////////////////////////////////////////////////////
        //          Display Fonction Variable                //
        ///////////////////////////////////////////////////////
        fonction++;
        switch (fonction / 3)
        {
          case  1:
            {
              Print_wpazimut(6, 1);
              EEPROM.put(30,  millis());
            }
            break;
          case 4:
            {
              Print_Tide(6, 1);
            }
            break;
          case  2:
            {
              lcd.setCursor(6, 1);
              if (Odometre  < 100)
              {
                dtostrf (Odometre, 1, 1, msg) ;
              }
              else
              {
                dtostrf  (Odometre, 1, 0, msg) ;
              }
              lcd.print ("Od:");  lcd.print (msg); lcd.print ("KM   ");
            }
            break;
          case 3:
            {
              lcd.setCursor(6, 1);
              lcd.print  ("Run:");
              if (time_run > 10000000L)//msec
              {
                lcd.print (time_run / 3600000L);//msec
                lcd.print  ("Hr   ");
              }
              else
              { 
                lcd.print  (time_run / 60000L);//msec
                lcd.print ("Min   ");
              }
            }
            break;
          default:
            {
              fonction  = 2;
            }
            break;
        }
        ///////////////////////////////////////////////////////
        //                  eco  mode    
        //
        ///////////////////////////////////////////////////////
        if (eco_mode == true)
        {
          //char buffer[4]; //2del
          gpsSerial.write(gpsSleep, sizeof(gpsSleep));
          gpsSerial.flush();
          for (int n = 0; n < 6 ; n++)//Sec.
          {
            lcd.setCursor(15,  0); lcd.print (n);
            Print_Tide(6, 1);
            delay (1500);
            Print_wpazimut(6, 1);
            delay (1500);
            if  (digitalRead(sw_sel) == 0)
            {
              lcd.clear ();
              while  (digitalRead(sw_sel) == 0) {}; delay(10); // debounce
              menu(0);
            }
          }
          gpsSerial.write(gpsHot, sizeof(gpsHot));
          gpsSerial.flush();
          delay (2000); //
          //vinfo  = 1;
        }
      }
    }
  }
}

///////////////////////////////////////////////////////
//                     MENU                          //
///////////////////////////////////////////////////////
static  char* menu_items [] = {"Sel-UP-down", "Power OFF", "Lat-Long & WP ", "Power  Moniteur",
                              "Eco Mode",  "GMT set  ", "TIDE  set" , "Display Mode", "Odometre", "Retour", "Sel-up-DOWN"
                             };
void  menu(int menu_index)
{
  lcd.clear();  lcd.print(menu_items[menu_index]);
  while (digitalRead(sw_sel) == LOW) {}; delay(5);             //Debounce
  while  (digitalRead(sw_sel) != LOW)// Select
  {
    if (digitalRead(sw_up) == LOW)
    {
      lcd.clear();
      while (digitalRead(sw_up) == LOW) {}; delay(10);             //Debounce
      menu_index ++;
      if (menu_index > 8)
      {
        menu_index = 0;
      }
      lcd.clear();
      //lcd.setCursor(0,  0); lcd.print(menu_items[0]);
      lcd.setCursor(0, 1);
      lcd.print(menu_items[menu_index]);
    }
    if (digitalRead(sw_dwn) == LOW)
    {
      lcd.clear();
      while (digitalRead(sw_dwn) == LOW) {}; delay(10);               //Debounce
      menu_index -= 1;
      if (menu_index < 0)
      {
        menu_index  = 8;
      }
      lcd.clear();
      lcd.print(menu_items[0]);
      lcd.setCursor(0,  1);
      lcd.print(menu_items[menu_index]);
    }
  }
  lcd.clear();
  while (digitalRead(sw_sel) == LOW) {}; delay(100);               //Debounce
  switch (menu_index)
  {
    case 1:
      ///////////////////////////////////////////////////////
      //          POWER OFF                                //
      ///////////////////////////////////////////////////////
      {
        lcd.clear();
        lcd.print ("POWER OFF....");
        delay  (1500);
        digitalWrite(power_pin, LOW);
        delay (50);
        asm  volatile ("  jmp 0");
      }
      break;
    case 2:
      ///////////////////////////////////////////////////////
      //          LAT et LONG MEMO                         //
      ///////////////////////////////////////////////////////
      {
        lcd.clear ();
        lcd.setCursor (0, 0);
        lcd.print("Push  DWN to Save") ;
        lcd.setCursor (0, 1);
        lcd.print("WayPoint  ") ;
        delay (1000); lcd.clear ();
        while (digitalRead(sw_sel)  != LOW)
        {
          Print_Latitude (0, 0);
          Print_Longitude  (0, 1);
          if (digitalRead(sw_dwn) == LOW)
          {
            wp_lat  = lat;
            wp_lon  = lon;
            EEPROM.put(10, lat);
            EEPROM.put(15,  lon);
            lcd.clear ();
            lcd.setCursor (0, 0);
            lcd.print("WayPoint  SAVED") ;
            delay (1500);
            break;
          }
          if (digitalRead(sw_up) == LOW)
          {
            lcd.clear  ();
            lcd.setCursor (0, 0);
            lcd.print("Push DWN to  Save") ;
            while (digitalRead(sw_up) == LOW) {};
            delay(1000);
            lcd.clear ();
          }
          gps.get_position(&lat, &lon);
          lat = lat / 100; //enlever les d-secondes
          lon = lon / 100;
        }
        lcd.clear ();
        while (digitalRead(sw_sel) == LOW)  {};
      }
      break;
    case 3:
      ///////////////////////////////////////////////////////
      //          POWER MONITOR batt sol                   //
      ///////////////////////////////////////////////////////
      {
        gpsSerial.write(gpsSleep, sizeof(gpsSleep));
        while  (3)
        {
          float vsol = (float) analogRead(solPanel) / 204; //    1024/5voltsRef
          dtostrf (vsol, 3, 1, msg) ;
          lcd.setCursor(0,  0);
          lcd.print ("Solaire=");
          lcd.print (msg);
          lcd.print  ("V ");
          float vbatt = (float) analogRead(batt) / vref + .21; //    1024/5voltsRef
          dtostrf (vbatt, 3, 1, msg) ;
          lcd.setCursor(0, 1);
          lcd.print  ("Batterie=");
          lcd.print (msg); lcd.print ("V ");
          if  ((vsol - vbatt) > .4)//volts
          {
            lcd.setCursor(12, 1);  lcd.print ("V Charge ");
          }
          else
          {
            lcd.setCursor(12,  1); lcd.print ("V        ");
          }
          delay (1000);
          if  (digitalRead(sw_sel) == LOW)
          {
            lcd.clear();
            while  (digitalRead(sw_sel) == LOW) {}              ;
            gpsSerial.write(gpsHot,  sizeof(gpsHot));
            return;
          }
          delay (1000);
        }
      }
      break;
    case 4:
      ///////////////////////////////////////////////////////
      ///               ECO MODE select                   ///
      ///////////////////////////////////////////////////////
      {
        if (eco_mode == false)
        {
          lcd.setCursor(0,  0); lcd.print("ECONO MODE ON    ");
          delay (1500);
          eco_mode  = true;
          analogWrite(LCD_LED, 0);              // off lcd led
        }
        else
        {
          lcd.setCursor(0, 0); lcd.print("ECONO MODE  OFF    ");
          eco_mode = false;
          delay (1500);
          analogWrite(LCD_LED,  LCD_LED_N);              // off lcd led
        }
        lcd.clear ();
      }
      break;
    case 5:
      ///////////////////////////////////////////////////////
      //                     GMT                           //
      ///////////////////////////////////////////////////////
      {
        //gmt = 0;
        while (digitalRead(sw_sel) != LOW)
        {
          if (digitalRead(sw_up) == LOW)
          {
            lcd.clear  ();
            while (digitalRead(sw_up) == LOW) {} ;
            gmt ++;
          }
          if (digitalRead(sw_dwn) == LOW)
          {
            lcd.clear  ();
            while (digitalRead(sw_dwn) == LOW) {} ;
            gmt --;
          }
          lcd.clear();
          lcd.print ("GMT");
          lcd.print(gmt);
          delay (300);
        }
        lcd.clear ();
        while (digitalRead(sw_sel)  == LOW) {} ;
        lcd.setCursor (0, 1);
        lcd.print ("SET GMT");
        lcd.print(gmt);
        EEPROM.write(0, gmt);
        delay(1000);
        return;
      }
      break;
    case 6:
      ///////////////////////////////////////////////////////
      //                     SET TIDE                      //
      ///////////////////////////////////////////////////////
      {
        //int tide_min, tide_hr;
        lcd.setCursor (0, 0);
        lcd.print ("Set ");
        lcd.setCursor (0, 1);
        lcd.print  ("FullMoonHighTide");
        EEPROM.get(20, Tide_one);
        int tide_mth  = 1;
        //float a = (float)Tide_one / 288;   //288 = 24hr * 60/ 5 min/hr)
        int tide_jr = 12;           //(int)a;
        //float b = (a - (float)  tide_jr) * 24;
        int tide_hr = 7;                // (int)b;
        int  tide_min = 45;              //(b - (float) tide_hr) * 60 ;

        ///////////////////////////////////////////////////////
        lcd.clear ();
        while (digitalRead(sw_sel) != LOW)
        {
          lcd.setCursor (0, 1);
          lcd.print (tide_mth); lcd.print("/");
          lcd.setCursor (3, 1); lcd.print(tide_jr); lcd.print(" ");
          lcd.setCursor  (8, 1); lcd.print(tide_hr); lcd.print(":"); lcd.print(tide_min); lcd.print("  ");
          lcd.setCursor (0, 0)  ;
          lcd.print("v--Month  ");
          delay (350);
          if (digitalRead(sw_up) == LOW)
          {
            tide_mth ++;
          }
          if (digitalRead(sw_dwn) ==  LOW)
          {
            tide_mth --;
          }
        }
        ///////////////////////////////////////////////////////
        lcd.clear  ();
        while (digitalRead(sw_sel) == LOW) {}; delay (100);
        while  (digitalRead(sw_sel) != LOW)
        {
          lcd.setCursor (0, 1);
          lcd.print (tide_mth); lcd.print("/");
          lcd.setCursor (3,  1); lcd.print(tide_jr ); lcd.print(" ");
          lcd.setCursor (8, 1); lcd.print(tide_hr);  lcd.print(":"); lcd.print(tide_min); lcd.print("  ");
          lcd.setCursor  (3, 0);
          delay (350);
          lcd.print("v--Day  ");
          if  (digitalRead(sw_up) == LOW)
          {
            tide_jr ++;
          }
          if (digitalRead(sw_dwn) == LOW)
          {
            tide_jr  --;
          }
        }
        ///////////////////////////////////////////////////////

        lcd.clear ();
        while (digitalRead(sw_sel) == LOW) {}; delay (100);
        while (digitalRead(sw_sel) != LOW)
        {
          lcd.setCursor  (0, 1);
          lcd.print (tide_mth); lcd.print("/");
          lcd.setCursor  (3, 1); lcd.print(tide_jr ); lcd.print(" ");
          lcd.setCursor (8, 1);  lcd.print(tide_hr); lcd.print(":"); lcd.print(tide_min); lcd.print("  ");
          lcd.setCursor (8, 0);
          lcd.print("v--Hr  ");
          delay  (350);
          if (digitalRead(sw_up) == LOW)
          {
            tide_hr  ++;
          }
          if (digitalRead(sw_dwn) == LOW)
          {
            tide_hr --;
          }
        }
        ///////////////////////////////////////////////////////
        lcd.clear ();
        while (digitalRead(sw_sel) == LOW) {}; delay (100);
        while (digitalRead(sw_sel) != LOW)
        {
          lcd.setCursor  (0, 1);
          lcd.print (tide_mth); lcd.print("/");
          lcd.setCursor  (3, 1); lcd.print(tide_jr ); lcd.print(" ");
          lcd.setCursor (8, 1);  lcd.print(tide_hr); lcd.print(":"); lcd.print(tide_min); lcd.print("  ");
          lcd.setCursor (5, 0);
          lcd.print("Min--v  ");
          delay  (350);
          if (digitalRead(sw_up) == LOW)
          {
            tide_min  += 5;
          }
          if (digitalRead(sw_dwn) == LOW)
          {
            tide_min -= 5;
          }
          if (tide_min < 1) {
            tide_min  = 1; // prevention 0/5
          }
        }
        lcd.clear ();
        while (digitalRead(sw_sel) == LOW) {}
        Tide_one =  DofY (year,  tide_mth, tide_jr, tide_hr, tide_min);
        lcd.setCursor (0, 0);
        lcd.print  ("Tide_one="); lcd.print (Tide_one); lcd.print ("  ");
        lcd.setCursor  (0, 1);
        lcd.print (tide_mth); lcd.print("/"); lcd.print (tide_jr );  lcd.print (" "); lcd.print (tide_hr); lcd.print (":"); lcd.print (tide_min);
        delay (3500);
        while (digitalRead(sw_sel) == LOW) { }
        lcd.clear  ();
        lcd.print ("Push Dwn to Save");
        while (digitalRead(sw_sel)  != LOW)
        {
          if (digitalRead(sw_dwn) == LOW)
          {
            if (Tide_one > 0)
            {
              EEPROM.put(20, Tide_one);
              lcd.clear ();
              lcd.print ("TIDE SAVED");
              lcd.setCursor  (0, 1);
              lcd.print (Tide_one);
              delay (2000);
              while (digitalRead(sw_dwn) == LOW) { }
              lcd.clear  ();
              return;
            }
            else
            {
              lcd.clear ();
              lcd.print ("TIDE E R R O R");
              lcd.setCursor (0, 1);
              lcd.print (Tide_one);
              delay  (2500);
              lcd.clear ();
              return;
            }
          }
          delay (50);
        }
        lcd.clear ();
        return;
      }
      break;
    case 7:
      ///////////////////////////////////////////////////////
      //                    PRO MODE                       //
      ///////////////////////////////////////////////////////
      {
        if (pro_mode == false)
        {
          lcd.clear();  lcd.print("PRO Display ");
          delay (1500);
          pro_mode  = true;
          EEPROM.write(4, pro_mode);
        }
        else
        {
          lcd.clear();  lcd.print("Dashboard    ");
          pro_mode  = false;
          EEPROM.write(4, pro_mode);
          delay (1500);
        }
        lcd.clear ();
      }
      break;
    case 8:
      ///////////////////////////////////////////////////////
      //                     ODOMETRE                      //
      ///////////////////////////////////////////////////////
      {
        Odometre = 0;
        time_run = 0;
        lat2 = lat;
        lon2 = lon;
        lcd.clear();  lcd.print("Odometre Reset");
        delay (1500); lcd.clear ();
      }
      break;
    default:
      {
      }
      return;
  }
}
/////////////////////////////////////////////////////////////////////////////////////
//                              SUBROUTINES                                        //
/////////////////////////////////////////////////////////////////////////////////////
//  writeBigChar: writes big character 'ch' to column x, row y; returns number of columns  used by 'ch'
int writeBigChar(char ch, byte x, byte y) {
  if (ch < ' ' ||  ch > '_') return 0;               // If outside table range, do nothing
  nb  = 0;                                           // character byte counter
  for  (bc = 0; bc < 8; bc++) {
    bb[bc] = pgm_read_byte( &bigChars[ch - ' '][bc]  ); // read 8 bytes from PROGMEM
    if (bb[bc] != 0) nb++;
  }
  bc = 0;
  for (row = y; row < y + 2; row++) {
    for (col = x; col < x + nb / 2; col++  ) {
      lcd.setCursor(col, row);                      // move to position
      lcd.write(bb[bc++]);                          // write byte and increment  to next
    }
  }
  return nb / 2 - 1;                                  //  returns number of columns used by char
}
// writeBigString: writes out each  letter of string
void writeBigString(char *str, byte x, byte y)
{
  char  c;
  while ((c = *str++))
    x += writeBigChar(c, x, y) + 1;
}
///////////////////////////////////////////////////////
//                  HORLOGE                          //
///////////////////////////////////////////////////////
void  horloge(int C, int R)
{
  lcd.setCursor(C, R);
  lcd.print(hour); lcd.print(":");
  if (minute < 10)
  {
    lcd.print("0");
  }
  lcd.print(minute);
  lcd.print(" ");
}
///////////////////////////////////////////////////////
//                    LATITUDE                       //
///////////////////////////////////////////////////////
void  Print_Latitude(int C, int R)
{
  long latdeg = (lat / 10000);
  lcd.setCursor(C,  R);
  lcd.print("Lat:");
  lcd.print(abs(latdeg));
  lcd.print((char)223);
  float x = (float)(lat - latdeg * 10000) * .6 / 100;
  lcd.print(x); lcd.print("'");
  if (lat > 0)
  {
    lcd.print ("N");
  }
  else
  {
    lcd.print("S");
  }
}
///////////////////////////////////////////////////////
//            PRINT  LONGITUDE                      //
///////////////////////////////////////////////////////
void  Print_Longitude(int C, int R)
{
  long londeg = (lon / 10000);
  lcd.setCursor(C,  R);
  lcd.print("Lon:");
  lcd.print(abs(londeg));
  lcd.print((char)223);
  float x = (float) (abs(lon) - abs(londeg) * 10000) * .6 / 100;
  lcd.print(x);  lcd.print("'");
  if (lon > 0) {
    lcd.print("E");
  }
  else  {
    lcd.print("W");
  }
}

///////////////////////////////////////////////////////
//               TIDE CLOCK display                  //
///////////////////////////////////////////////////////
void  Print_Tide(int C, int R)
{
  EEPROM.get(20, Tide_one);
  const char*tideclock  [] {"HIGH   ", "L 5Hr  ", "L 4Hr  ", "L 3Hr  ", "L 2Hr  ", "L 1Hr  ",  "LOW    ", "H 5Hr  ", "H 4Hr  ", "H 3Hr  ", "H 2Hr  ", "H 1Hr  ", "HIGH   ", "ERR   "};
  //Serial.print ("y min="); //Serial.println (Year_Min);
  //Serial.print ("tide 1="); //Serial.println (Tide_one);
  long tide_cycle  = (Year_Min - Tide_one);
  //Serial.print ("tide cycle="); //Serial.println  (tide_cycle);
  float tide_cyclef = (float)tide_cycle / 745.233333f;        //Tide  12h25m14sec (745.23 min)
  dtostrf (tide_cyclef, 1, 6, msg) ;
  //Serial.print  ("tide cyclef="); //Serial.println (msg);
  tide_cyclef = tide_cyclef - int(tide_cyclef);
  dtostrf (tide_cyclef, 1, 6, msg) ;
  //Serial.print ("tide cyclefraction=");  //Serial.println (msg);
  tide_cyclef = tide_cyclef * 12;
  dtostrf (tide_cyclef,  1, 6, msg) ;
  tide_cycle = round (tide_cyclef);
  lcd.setCursor(C, R);
  lcd.print ("Tide:");
  lcd.print (tideclock[tide_cycle]);
  //; break;
  //delay (1000);  lcd.setCursor(C, R);  lcd.print ("Tide:");  lcd.print (tide_cyclef);  delay (700);
}
///////////////////////////////////////////////////////
//                  Azimut                           //
///////////////////////////////////////////////////////
void  Print_Azimut(int C, int R)
{
  int azimut = gps.course() / 100;
  lcd.setCursor(C,  R);
  lcd.print(azimut);
  lcd.print((char)223);
  azimut = (int)((azimut  + 22.5f) / 45);
  lcd.print (azimuts[azimut % 8]); lcd.print ("   ");
}
///////////////////////////////////////////////////////
//      Print DISTANCE et azimut to wp               //
///////////////////////////////////////////////////////
void  Print_wpazimut(int C, int R)
{

  float lat_Rad = lat / 10000.0 * rad2deg;//              convert decimal degree into radian
  float lon_Rad = lon / 10000.0  * rad2deg;
  float wp_lat_Rad = wp_lat / 10000.0 * rad2deg;
  float wp_lon_Rad  = wp_lon / 10000.0 * rad2deg;
  float latSin = sin((lat_Rad - wp_lat_Rad) / 2);//  Calculate the distance  KM
  float lonSin = sin((lon_Rad - wp_lon_Rad) / 2);
  float distancekm = 2 * asin(sqrt((latSin * latSin) + cos(lat_Rad) * cos(wp_lat_Rad)  * (lonSin * lonSin)));
  distancekm *= 6371;                      //Earth radius  = 6,371 km
  float yy = sin(wp_lon_Rad - lon_Rad) * cos(wp_lat_Rad);
  float  xx = cos(lat_Rad) * sin(wp_lat_Rad) - sin(lat_Rad) * cos(wp_lat_Rad) * cos(wp_lon_Rad  - lon_Rad);
  float fwd_azimut = atan2(yy, xx);
  fwd_azimut = round(fwd_azimut  * 57.2958);   //rad 2 deg
  if (fwd_azimut < 0 )
  {
    fwd_azimut =  360  + fwd_azimut;
  }
  if (distancekm < 10)
  {
    dtostrf (distancekm,  2, 2, msg) ;
  }
  else
  {
    dtostrf (distancekm, 2, 0, msg) ;
  }
  lcd.setCursor(C, R); lcd.print (msg); lcd.print ("km");
  dtostrf  (fwd_azimut, 2, 0, msg) ;
  lcd.print (msg); lcd.print((char)223); lcd.print  ("  ");
}

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YAK GPS Mk ii CASING

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