' RD-03D radar module VT display
 OPTION EXPLICIT
 OPTION DEFAULT INTEGER
 OPTION BASE 0
 
 DIM record$, rec$
 DIM debug = 1
 DIM cmdDelay = 50
 DIM Xscale = 80
 DIM Yscale = 160
 DIM multi = 1
 DIM x1,x2,x3,y1,y2,y3,v1,v2,v3,prec1,prec2,prec3
 DIM dataAvailable
 DIM hdr$= hex2str$("AAFF0300")
 DIM foot$ = Hex2Str$("55CC")
 DIM cmdHdr$ = hex2str$("FDFCFBFA")
 DIM cmdFoot$ = hex2str$("04030201")
 DIM enableConf$ = hex2str$("FDFCFBFA0400FF00010004030201")
 DIM endConf$ = hex2str$("FDFCFBFA0200FE0004030201")
 DIM ackEnableConf$ = hex2str$("FDFCFBFA0800FF010100400004030201")
 DIM ackEndConf$ = hex2str$("FDFCFBFA0400FE01000004030201")
 DIM singleTarget$ = hex2str$("FDFCFBFA0200800004030201")
 DIM ackSingleTarget$ = hex2str$("FDFCFBFA04008001000004030201")
 DIM multiTarget$ = hex2str$("FDFCFBFA0200900004030201")
 DIM ackMultiTarget$ = hex2str$("FDFCFBFA04009001000004030201")
 
 
 SETPIN GP1, GP0, COM1
 OPEN "com1: 256000" AS #3
 PRINT CHR$(27)+"[2J";
 IF multi THEN setmulti ELSE setsingle
 IF debug THEN
   PAUSE 4000
 ENDIF
 CLOSE #3
 SETPIN GP1, GP0, COM1
 OPEN "com1: 256000, 1024,radar,10" AS #3
 DO
   rec$ = INPUT$(255,#3)
 LOOP UNTIL LEN(rec$) = 0
 PRINT CHR$(27)+"[2J";CHR$(27)+"[1;40H";
 
 DO
   IF dataAvailable THEN processIt
   'pause 10
   IF INKEY$="c" THEN PRINT CHR$(27)+"[2J";
   IF INKEY$="d" THEN debug = 1 - debug
 LOOP
 
SUB radar
 LOCAL st,fin, lenr
 
 lenr = LEN(rec$)
 rec$ = rec$+INPUT$(255-lenr,#3)
 st = INSTR(rec$,hdr$)
 IF st THEN
   rec$= MID$(rec$,st)
   fin = INSTR(rec$, foot$)
   IF fin THEN
     record$ = LEFT$(rec$,fin+1)
     rec$ = "" 'mid$(rec$,fin+2)
     dataAvailable = 1
   ENDIF
 ENDIF
 
END SUB
 
SUB processIt
 STATIC n
 dataAvailable = 0
 x1 = Signed16(STR2BIN(UINT16,MID$(record$,5,2)))
 y1 = Signed16(STR2BIN(UINT16,MID$(record$,7,2)))
 v1 = Signed16(STR2BIN(UINT16,MID$(record$,9,2)))
 prec1 = STR2BIN(UINT16,MID$(record$,11,2))
 ' if multi then
 x2 = Signed16(STR2BIN(UINT16,MID$(record$,13,2)))
 y2 = Signed16(STR2BIN(UINT16,MID$(record$,15,2)))
 v2 = Signed16(STR2BIN(UINT16,MID$(record$,17,2)))
 prec2 = STR2BIN(UINT16,MID$(record$,19,2))
 
 x3 = Signed16(STR2BIN(UINT16,MID$(record$,21,2)))
 y3 = Signed16(STR2BIN(UINT16,MID$(record$,23,2)))
 v3 = Signed16(STR2BIN(UINT16,MID$(record$,25,2)))
 prec3 = STR2BIN(UINT16,MID$(record$,27,2))
 ' endif
 INC n
 IF prec1 > 0 AND(n MOD 5) = 0 THEN
   plotit x1,y1,x2,y2
   IF debug THEN
     PRINT CHR$(27)+"[36;2H";x1,y1,v1,prec1,x2,y2,v2,x3,y3,v3
     ' for n = 1 to len(record$)
     '   print hex$(asc(mid$(record$,n,1)),2);
     ' next n
   ENDIF
 ENDIF
 
END SUB
 
FUNCTION Signed16(u AS INTEGER) AS INTEGER
 IF u AND &h8000 THEN Signed16 = u AND &h7FFF ELSE Signed16 = -u
END FUNCTION
 
FUNCTION Hex2Str$(txt$)
 LOCAL h
 FOR h = 1 TO LEN(txt$) STEP 2
   Hex2Str$=Hex2Str$+CHR$(VAL("&h"+MID$(txt$,h,2)))
 NEXT h
END FUNCTION
 
SUB plotit ax1, ay1, ax2,ay2
 LOCAL bx1,by1,bx2,by2
 STATIC cx1=40,cy1,cx2=40,cy2
 bx1 = ax1/Xscale +40
 by1 = ay1/Yscale
 PRINT CHR$(27)+"["+STR$(cy1)+";"+STR$(cx1)+"H"+"1";
 PRINT CHR$(27)+"["+STR$(by1)+";"+STR$(bx1)+"H"+"*";
 cx1=bx1
 cy1=by1
 IF ax2 THEN
   bx2 = ax2/Xscale +40
   by2 = ay2/Yscale
   PRINT CHR$(27)+"["+STR$(cy2)+";"+STR$(cx2)+"H"+"2";
   PRINT CHR$(27)+"["+STR$(by2)+";"+STR$(bx2)+"H"+"*";
   cx2=bx2
   cy2=by2
 ENDIF
END SUB
 
SUB setsingle
 LOCAL n
 LOCAL junk$
 junk$ = INPUT$(255,#3)
 PRINT #3, enableconf$;
 PAUSE cmdDelay
 junk$ = INPUT$(255,#3)
 IF debug THEN
   IF junk$ = ackEnableConf$ THEN
     PRINT "ACK conf OK"
   ELSE
     FOR n = 1 TO LEN(junk$)
       PRINT HEX$(ASC(MID$(junk$,n,1)),2);
     NEXT n
   ENDIF
   PRINT
 ENDIF
 PRINT #3, singleTarget$;
 PAUSE cmdDelay
 junk$ = INPUT$(255,#3)
 IF debug THEN
   IF junk$ = ackSingleTarget$ THEN
     PRINT "ACK single OK"
   ELSE
     FOR n = 1 TO LEN(junk$)
       PRINT HEX$(ASC(MID$(junk$,n,1)),2);
     NEXT n
   ENDIF
   PRINT
 ENDIF
 PRINT #3, endconf$;
 PAUSE cmdDelay
 junk$ = INPUT$(255,#3)
END SUB
 
SUB setmulti
 LOCAL junk$, n
 junk$ = INPUT$(255,#3)
 PRINT #3, enableconf$;
 PAUSE cmdDelay
 junk$ = INPUT$(255,#3)
 PRINT #3, multiTarget$;
 PAUSE cmdDelay
 junk$ = INPUT$(255,#3)
 IF debug THEN
   IF junk$ = ackMultiTarget$ THEN
     PRINT "ACK multi OK"
   ELSE
     FOR n = 1 TO LEN(junk$)
       PRINT HEX$(ASC(MID$(junk$,n,1)),2);
     NEXT n
     PRINT
   ENDIF
 ENDIF
 PRINT #3, endconf$;
 PAUSE cmdDelay
 junk$ = INPUT$(255,#3)
END SUB