#include <Wire.h>
#include <LiquidCrystal_I2C.h>

#include <Encoder.h>



#include <SoftwareSerial.h>
SoftwareSerial mySerial1(-1, 13,true); // RX, TX   Sounder

const int encoderPin1 = 2;
const int encoderPin2 = 3;
const int buttonPin = 4;
float vPow = 4.7;
int sensorPin1 = A0;
int sensorPin2 = A1;
int sensorValue1;

Encoder myEncoder(encoderPin1, encoderPin2);
float DHeading =0;
int buttonState = 0;
int lastButtonState = 0;
long encoderValue = 0;
#define I2C_ADDR 0x27
#define LCD_COLUMNS 16
#define LCD_ROWS 2
#define SCROLL_SPEED 50

LiquidCrystal_I2C lcd(I2C_ADDR, LCD_COLUMNS, LCD_ROWS);
char fixedText[] = "   NSSLGlobal";
char scrollingText[] = "               VSAT Heading Simmulator V0.9 ";

void setup() {
  Serial.begin(9600);
  pinMode(buttonPin, INPUT_PULLUP);
    pinMode(9, OUTPUT);   //  SW
    pinMode(8, OUTPUT);   //   SW
    pinMode(6, OUTPUT);   //  SW
    pinMode(7, OUTPUT);   //   SW


  lcd.begin(LCD_COLUMNS, LCD_ROWS);
  lcd.backlight();

  lcd.setCursor(0, 0);
  lcd.print(fixedText);

  delay(50); // Display fixed text for 2 seconds

  lcd.begin(LCD_COLUMNS, LCD_ROWS);
  lcd.backlight();

  lcd.setCursor(0, 0);
  lcd.print(fixedText);

  delay(500); // Display fixed text for 2 seconds

  lcd.clear(); // Clear the display before entering the loop

  int textLength = strlen(scrollingText);

  for (int i = 0; i < textLength + LCD_COLUMNS; i++) {
    // Create a circular buffer to store the scrolling text
    char circularBuffer[LCD_COLUMNS + 1];
    circularBuffer[LCD_COLUMNS] = '\0'; // Null-terminate the buffer

    // Copy a portion of the scrolling text into the circular buffer
    strncpy(circularBuffer, scrollingText + i, LCD_COLUMNS);

    // Print the fixed text on the first row
    lcd.setCursor(0, 0);
    lcd.print(fixedText);

    // Print the scrolling text on the second row
    lcd.setCursor(0, 1);
    lcd.print(circularBuffer);

    // Delay to control the scrolling speed
    delay(SCROLL_SPEED);

    // Clear the display at the end of scrolling
    if (i == textLength - 1) {
      lcd.clear();
      break; // Exit the loop after scrolling is complete
    }
  }
}
  

void loop(){
  float v = analogRead(0);

  float w = analogRead(1);

  Serial.println(v);
Serial.println(w);


if (digitalRead(4) == LOW && w >= 900) {
  lcd.setCursor(0, 0);
  lcd.print("Output baudrate");
  lcd.setCursor(0, 1);
  lcd.print("set to 4800");
  
  delay(1000);
  lcd.clear();
}

if (digitalRead(4) == LOW && w < 900) {
  lcd.setCursor(0, 0);
  lcd.print("Output baudrate  ");
  lcd.setCursor(0, 1);
  lcd.print("set to 38400");
  
  delay(1000);
  lcd.clear();
}

if (digitalRead(4) == LOW) {


  delay(10);
}


////SW
  if (v >= 900){
//Serial.println("$GPGLL,5441.4532,N,00546.9955,W,150114.00,A,D*7D");
//Serial.println("$GPGGA,150115.00,5441.4518,N,00546.9999,W,2,10,1.5,21,M,,M,,*41");
//Serial.println("$GPZDA,150114.00,12,10,2015,-02,00*4D");
//Serial.println("$GPVTG,242.3,T,245.9,M,10.4,N,19.3,K,D*25");  
 delay(10);
// mySerial1.println("$GPDTM,W84,,00.0000,N,00.0000,E,,W84*41");

     digitalWrite(8,  LOW);    //sw
    digitalWrite(9,  HIGH);
    lcd.setCursor(0, 0);
  lcd.print("GPSpos1 scheemda");
}   
/// SW
 if  (v<= 900){
Serial.println("$GPGLL,2441.1532,S,00546.9955,E,150114.00,A,D*7D");
Serial.println("$GPGGA,150115.00,2441.1518,S,00546.9955,E,2,10,1.5,21,M,,M,,*41");
Serial.println("$GPZDA,150114.00,12,10,2015,-02,00*4D");
Serial.println("$GPVTG,242.3,T,245.9,M,10.4,N,19.3,K,D*25");  

   digitalWrite(9,  LOW);    //sw
    digitalWrite(8,  HIGH);
   lcd.setCursor(0, 0);
  lcd.print("GPSpos2 REDhill ");  
 }

 {
  
   if (w >= 900){
    mySerial1.begin(4800);
     digitalWrite(6,  LOW);    //sw
    digitalWrite(7,  HIGH);
 }
 if  (w<= 900){
  mySerial1.begin(38400);
   digitalWrite(7,  LOW);    //sw
    digitalWrite(6,  HIGH);
 }
 }
CourseEncoder();

nmeaGYRO();
}

void CourseEncoder() {
  long encoderReading = myEncoder.read();

  buttonState = digitalRead(buttonPin);

  if (buttonState != lastButtonState) {
    if (buttonState == HIGH) {
      encoderValue = 0;
      Serial.println("Encoder value reset.");
    }
    delay(50);
  }

  lastButtonState = buttonState;

  double decimalValue = fmod(encoderReading / 20.0, 359.9);
  if (decimalValue < 0) {
    decimalValue += 360.0;
    delay(50);
  }

  Serial.print("Compass Course: ");
  Serial.print(decimalValue, 1);
  Serial.println(" degrees");

  DHeading = decimalValue;

  encoderValue = encoderReading;

  lcd.setCursor(0, 1);
  lcd.print("HDT");
  lcd.setCursor(4, 1);
  lcd.print(decimalValue, 1);
  lcd.setCursor(9, 1);
  lcd.print("deg");

  delay(200);
}

void nmeaGYRO() {
  float Heading = DHeading;

  // Round Heading to one decimal place
  Heading = round(Heading * 10) / 10.0;

  // Create a HDT NMEA sentence
  char hdtSentence[100];

  // "$HEHDT,240.9,T*20" ref
  // $HEHDT,261.0,T*2A out
  snprintf(hdtSentence, sizeof(hdtSentence), "$HEHDT,%03d.%d,T*",
           (int)Heading, int((Heading - (int)Heading) * 10));


  // Calculate the checksum
  byte checksum4 = 0;
  for (int i4 = 1; hdtSentence[i4] != '*'; i4++) {
    checksum4 ^= hdtSentence[i4];
  }

  // Print the hdt NMEA sentence with the checksum
  Serial.print(hdtSentence);
  Serial.println(checksum4, HEX);



  delay(10);
}