// Copyright (C) 2026 Association Exergie <association.exergie@gmail.com>
// SPDX-License-Identifier: GPL-3.0-or-later

/*
 * This code is an archive of the original code running on the V1 wiring harness
 * for the Murphy prototype.
 *
 * This code is unmaintained and is only to be used as a reference to understand
 * undocumented wiring and functioning of the V1 wiring harness.
 */

// Importation des bibliothèques
// ****************************************************************************
#include <LiquidCrystal_I2C.h>
#include <LoRa.h>
#include <SPI.h>
#include <SoftwareSerial.h>
#include <TinyGPS.h>
#include <Wire.h>
#include <math.h>
#include <max6675.h>

// Déclaration des variables
// ********************************************************************************
// Ecran LCD
#define rs 31
#define e 33
#define d4 27
#define d5 25
#define d6 23
#define d7 29
// Thermocouple
#define MAX6675_CS A1
#define MAX6675_SO A0
#define MAX6675_SCK A2
MAX6675 thermocouple(MAX6675_SCK, MAX6675_CS, MAX6675_SO);
// LoRa
#define DIO0 2
#define rst 36
#define NSS 53
// Autre
#define capt_roue A4 // 21
#define inter_test 10
#define injection 37
#define Relais_LED A10
#define frein_av A5
#define frein_ar A6

float vout = 0.0;
float Tbat = 0.0;
float Tcarte = 0.0;
float R1 = 30000.0;
float R2 = 7500.0;
float R3 = 100.0;
float R4 = 220.0;
int valeur = 0;
unsigned long tps = 0;
unsigned long T;
unsigned long tThermo = 0;
unsigned long tTour = 0;
unsigned long mTour = 0;
unsigned long sTour = 0;
unsigned long msTour = 0;
unsigned long mTourFait = 0;
unsigned long sTourFait = 0;
unsigned long msTourFait = 0;
unsigned long tMoy = 0;
unsigned long tgps = 0;
unsigned long IndMoy = 0;
unsigned long TempsDepart = 0;
#define p 10
long P_of_10[p] = {1,      10,      100,      1000,      10000,
                   100000, 1000000, 10000000, 100000000, 1000000000};
float f;
float Vi;
float Vmoy = 0.0;
float perimetre_roue = 1.62;
float Tmot;
float distance = 0.0;
float DistanceTot = 0.0;
float DistTourFait = 0.0;
int Nb_tour_roue = 0;
uint16_t va;
long longitudeTest;            // degré décimaux 10^-5
long latitudeTest;             // degré décimaux 10^-5
long latitude = 999999;        // degré décimaux 10^-5
long longitude = 999999;       // degré décimaux 10^-5
long vieux_latitude = 999999;  // degré décimaux 10^-5
long vieux_longitude = 999999; // degré décimaux 10^-5
int nbr_tour = 1;
int Nb_boucle = 0;
bool cercle = false;
int injec;
bool demarage = false;
int choix = 4; // Le choix se fait entre 0-ParkingPolytechLigneDroite,
               // 1-ParkingPolytechBoucle, 2-CircuitMer, 3-Maison, 4-Circuit
               // Paul Armagnac de Nogaro, 5-DunoisKart.
bool lora = true;

// Caractéristiques des différentes pistes

// ParkingPolytechLigneDroite
float LatParkingPolytechLigneDepartdebut = 47844095.0; // degré décimaux 10^-5
float LongParkingPolytechLigneDepartdebut = 1937724.0; // degré décimaux 10^-5
float LatParkingPolytechLigneDepartfin = 47844064.0;   // degré décimaux 10^-5
float LongParkingPolytechLigneDepartfin = 1937810.0;   // degré décimaux 10^-5
long LatParkingPolytechLigneDepartmilieu =
    (LatParkingPolytechLigneDepartdebut + LatParkingPolytechLigneDepartfin) / 2;
long LongParkingPolytechLigneDepartmilieu =
    (LongParkingPolytechLigneDepartdebut + LongParkingPolytechLigneDepartfin) /
    2;
long LongeurLigneDepartParkingPolytechDeg = sqrt(
    pow((LatParkingPolytechLigneDepartdebut - LatParkingPolytechLigneDepartfin),
        2) +
    pow((LongParkingPolytechLigneDepartdebut -
         LongParkingPolytechLigneDepartfin),
        2));                                      // distance en degré 10^-5
long LongeurLigneDepartParkingPolytechMetre = 11; // distance en metre

// ParkingPolytechBoucle
float LatParkingPolytechBoucleLigneDepartdebut =
    47844287.0; // degré décimaux 10^-5
float LongParkingPolytechBoucleLigneDepartdebut =
    1938343.0; // degré décimaux 10^-5
float LatParkingPolytechBoucleLigneDepartfin =
    47844345.0; // degré décimaux 10^-5
float LongParkingPolytechBoucleLigneDepartfin =
    1938382.0; // degré décimaux 10^-5
long LatParkingPolytechBoucleLigneDepartmilieu =
    (LatParkingPolytechBoucleLigneDepartdebut +
     LatParkingPolytechBoucleLigneDepartfin) /
    2;
long LongParkingPolytechBoucleLigneDepartmilieu =
    (LongParkingPolytechBoucleLigneDepartdebut +
     LongParkingPolytechBoucleLigneDepartfin) /
    2;
long LongeurLigneDepartParkingPolytechBoucleDeg =
    sqrt(pow((LatParkingPolytechBoucleLigneDepartdebut -
              LatParkingPolytechBoucleLigneDepartfin),
             2) +
         pow((LongParkingPolytechBoucleLigneDepartdebut -
              LongParkingPolytechBoucleLigneDepartfin),
             2)); // distance en degré 10^-5
long LongeurLigneDepartParkingPolytechBoucleMetre = 6; // distance en metre

// Circuit de Mer (CapKarting)
float LatCircuitMerLigneDepartdebut = 47728053.0; // degré décimaux 10^-5
float LongCircuitMerLigneDepartdebut = 1488901.0; // degré décimaux 10^-5
float LatCircuitMerLigneDepartfin = 47728097.0;   // degré décimaux 10^-5
float LongCircuitMerLigneDepartfin = 1489006.0;   // degré décimaux 10^-5
long LatCircuitMerLigneDepartmilieu =
    (LatCircuitMerLigneDepartdebut + LatCircuitMerLigneDepartfin) / 2;
long LongCircuitMerLigneDepartmilieu =
    (LongCircuitMerLigneDepartdebut + LongCircuitMerLigneDepartfin) / 2;
long LongeurLigneDepartCircuitMerDeg =
    sqrt(pow((LatCircuitMerLigneDepartdebut - LatCircuitMerLigneDepartfin), 2) +
         pow((LongCircuitMerLigneDepartdebut - LongCircuitMerLigneDepartfin),
             2));                            // distance en degré 10^-5
long LongeurLigneDepartCircuitMerMetre = 10; // distance en metre

// Circuit de Maison (test)
float LatCircuitMaisonLigneDepartdebut = 47938637.0; // degré décimaux 10^-5
float LongCircuitMaisonLigneDepartdebut = 1811129.0; // degré décimaux 10^-5
float LatCircuitMaisonLigneDepartfin = 47938680.0;   // degré décimaux 10^-5
float LongCircuitMaisonLigneDepartfin = 1811203.0;   // degré décimaux 10^-5
long LatCircuitMaisonLigneDepartmilieu =
    (LatCircuitMaisonLigneDepartdebut + LatCircuitMaisonLigneDepartfin) / 2;
long LongCircuitMaisonLigneDepartmilieu =
    (LongCircuitMaisonLigneDepartdebut + LongCircuitMaisonLigneDepartfin) / 2;
long LongeurLigneDepartCircuitMaisonDeg = sqrt(
    pow((LatCircuitMaisonLigneDepartdebut - LatCircuitMaisonLigneDepartfin),
        2) +
    pow((LongCircuitMaisonLigneDepartdebut - LongCircuitMaisonLigneDepartfin),
        2));                                   // distance en degré 10^-5
long LongeurLigneDepartCircuitMaisonMetre = 7; // distance en metre

// Circuit de Paul Armagnac (Nogaro)
float LatCircuitNogaroLigneDepartdebut = 43770616.0;
float LongCircuitNogaroLigneDepartdebut = -40627.0; // attention nombre négatif
float LatCircuitNogaroLigneDepartfin = 43770691.0;
float LongCircuitNogaroLigneDepartfin = -40463.0; // attention nombre négatif
long LatCircuitNogaroLigneDepartmilieu =
    (LatCircuitNogaroLigneDepartdebut + LatCircuitNogaroLigneDepartfin) / 2;
long LongCircuitNogaroLigneDepartmilieu =
    (LongCircuitNogaroLigneDepartdebut + LongCircuitNogaroLigneDepartfin) / 2;
long LongeurLigneDepartCircuitNogaroDeg = sqrt(
    pow((LatCircuitNogaroLigneDepartdebut - LatCircuitNogaroLigneDepartfin),
        2) +
    pow((LongCircuitNogaroLigneDepartdebut - LongCircuitNogaroLigneDepartfin),
        2));                                    // distance en degré 10^-5
long LongeurLigneDepartCircuitNogaroMetre = 15; // distance en metre

// Circuit de karting Dunois (Dunois Kart)
float LatCircuitDunoisKartLigneDepartdebut = 48052815.0;
float LongCircuitDunoisKartLigneDepartdebut =
    1427610.0; // attention nombre négatif
float LatCircuitDunoisKartLigneDepartfin = 48052898.0;
float LongCircuitDunoisKartLigneDepartfin =
    1427644.0; // attention nombre négatif
long LatCircuitDunoisKartLigneDepartmilieu =
    (LatCircuitDunoisKartLigneDepartdebut +
     LatCircuitDunoisKartLigneDepartfin) /
    2;
long LongCircuitDunoisKartLigneDepartmilieu =
    (LongCircuitDunoisKartLigneDepartdebut +
     LongCircuitDunoisKartLigneDepartfin) /
    2;
long LongeurLigneDepartCircuitDunoisKartDeg =
    sqrt(pow((LatCircuitDunoisKartLigneDepartdebut -
              LatCircuitDunoisKartLigneDepartfin),
             2) +
         pow((LongCircuitDunoisKartLigneDepartdebut -
              LongCircuitDunoisKartLigneDepartfin),
             2));                                   // distance en degré 10^-5
long LongeurLigneDepartCircuitDunoisKartMetre = 10; // distance en metre

// Piste Choisie
float LatLigneDepartdebut[] = {
    LatParkingPolytechLigneDepartdebut,
    LatParkingPolytechBoucleLigneDepartdebut,
    LatCircuitMerLigneDepartdebut,
    LatCircuitMaisonLigneDepartdebut,
    LatCircuitNogaroLigneDepartdebut,
    LatCircuitDunoisKartLigneDepartdebut}; // degré décimaux 10^-5
float LongLigneDepartdebut[] = {
    LongParkingPolytechLigneDepartdebut,
    LongParkingPolytechBoucleLigneDepartdebut,
    LongCircuitMerLigneDepartdebut,
    LongCircuitMaisonLigneDepartdebut,
    LongCircuitNogaroLigneDepartdebut,
    LongCircuitDunoisKartLigneDepartdebut}; // degré décimaux 10^-5
float LatLigneDepartfin[] = {
    LatParkingPolytechLigneDepartfin,
    LatParkingPolytechBoucleLigneDepartfin,
    LatCircuitMerLigneDepartfin,
    LatCircuitMaisonLigneDepartfin,
    LatCircuitNogaroLigneDepartfin,
    LatCircuitDunoisKartLigneDepartfin}; // degré décimaux 10^-5
float LongLigneDepartfin[] = {
    LongParkingPolytechLigneDepartfin,
    LongParkingPolytechBoucleLigneDepartfin,
    LongCircuitMerLigneDepartfin,
    LongCircuitMaisonLigneDepartfin,
    LongCircuitNogaroLigneDepartfin,
    LongCircuitDunoisKartLigneDepartfin}; // degré décimaux 10^-5
float AngleLigneDepartDeg =
    atan(2 * (LatLigneDepartfin[choix] - LatLigneDepartdebut[choix]) /
         (LongLigneDepartfin[choix] - LongLigneDepartdebut[choix])) *
    360 / (2 * 3.14159);
long LatLigneDepartmilieu[] = {LatParkingPolytechLigneDepartmilieu,
                               LatParkingPolytechBoucleLigneDepartmilieu,
                               LatCircuitMerLigneDepartmilieu,
                               LatCircuitMaisonLigneDepartmilieu,
                               LatCircuitNogaroLigneDepartmilieu,
                               LatCircuitDunoisKartLigneDepartmilieu};
long LongLigneDepartmilieu[] = {LongParkingPolytechLigneDepartmilieu,
                                LongParkingPolytechBoucleLigneDepartmilieu,
                                LongCircuitMerLigneDepartmilieu,
                                LongCircuitMaisonLigneDepartmilieu,
                                LongCircuitNogaroLigneDepartmilieu,
                                LongCircuitDunoisKartLigneDepartmilieu};
long LongeurLigneDepartDeg[] = {LongeurLigneDepartParkingPolytechDeg,
                                LongeurLigneDepartParkingPolytechBoucleDeg,
                                LongeurLigneDepartCircuitMerDeg,
                                LongeurLigneDepartCircuitMaisonDeg,
                                LongeurLigneDepartCircuitNogaroDeg,
                                LongeurLigneDepartCircuitDunoisKartDeg};
long LongeurLigneDepartMetre[] = {LongeurLigneDepartParkingPolytechMetre,
                                  LongeurLigneDepartParkingPolytechBoucleMetre,
                                  LongeurLigneDepartCircuitMerMetre,
                                  LongeurLigneDepartCircuitMaisonMetre,
                                  LongeurLigneDepartCircuitNogaroMetre,
                                  LongeurLigneDepartCircuitDunoisKartMetre};
int signe[] = {1, 1, 1, 1, 1, 1};

long DistanceProto_LdD;
float AngleProtoDeg;
long AncienneDistanceProto_LdD;
float AncienAngleProtoDegDeg;
bool passage = false;

const int taille_message_test = 6;
int message_test[taille_message_test] = {
    0, 0, 0, 0,
    0, 0}; // #vitesse,vitesse moyenne,tension batterie,tension
           // carte,température moteur,accélération$
const int taille_message_piste = 15;
long message_piste[taille_message_piste] = {
    0, 0, 0, 0, 0, 0, 0, 0,
    0, 0, 0, 0, 0, 0, 0}; // #latitude,latitude,latitude,longitude,longitude,longitude,vitesse,vitesse
                          // moyenne,tension batterie,tension carte,température
                          // moteur,nombre de tour,accélération,frein
                          // avant,frein arrière$

String NomCircuit[] = {"Parking Polytech",     "Polytech Boucle",
                       "Cap Karting",          "Maison",
                       "Nogaro Paul Armagnac", "Dunois Kart"};
char temp;
#define bt_lenmax 150
int bt_ind;
int bt_v;
int bt_rxok;

// Variable de défaut
int k = 0;
int Tk = 0;
int Tkmot = 0;
bool InitGPSFailed = false;
bool PerteGPSAff = false;
bool PerteGPS = false;
bool GPSRetrouveAff = false;
int Perte = 0;
bool TFaibleAff = false;
bool TmotAff = false;
float TlimitLow = 12.3;
int TmotlimitLow = 65;
int TmotlimitHigh = 95;

// Déclaration des
// objets************************************************************************************
LiquidCrystal_I2C lcd(0x27, 20, 4);
LiquidCrystal_I2C *_display = new LiquidCrystal_I2C(0x27, 20, 4);
TinyGPS gps;

// Déclaration des sous programmes
// **************************************************************************

void LCD() {
  if (Nb_boucle > 50) {
    lcd.clear();
    Nb_boucle = 0;
  }
  lcd.setCursor(0, 0);
  lcd.print("Vi=");
  lcd.setCursor(3, 0);
  if (Vi < 10) {
    lcd.print("0");
    lcd.setCursor(4, 0);
  }
  lcd.print(Vi);
  lcd.setCursor(10, 0);
  lcd.print("Vmoy=");
  lcd.setCursor(15, 0);
  if (Vmoy < 10) {
    lcd.print("0");
    lcd.setCursor(16, 0);
  }
  lcd.print(Vmoy);
  lcd.setCursor(0, 1);
  lcd.print("Tmot=");
  lcd.setCursor(5, 1);
  lcd.print(Tmot);
  if (Tmot < TmotlimitLow && TmotAff == true) {
    TmotAff = false;
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("   !!! DEFAUT !!!");
    lcd.setCursor(0, 1);
    lcd.print("!! Tempe. moteur !!");
    lcd.setCursor(0, 2);
    lcd.print("   !!! Faible !!!   ");
    delay(2500);
    lcd.clear();
  }
  if (Tmot > TmotlimitHigh && TmotAff == true) {
    TmotAff = false;
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("   !!! DEFAUT !!!");
    lcd.setCursor(0, 1);
    lcd.print("!! Tempe. moteur !!");
    lcd.setCursor(0, 2);
    lcd.print("   !!! Haute !!!   ");
    delay(2500);
    lcd.clear();
  }
  lcd.setCursor(15, 1);
  lcd.print("GPS:");
  lcd.setCursor(19, 1);
  if (InitGPSFailed == true) {
    if (latitude == longitude) {
      lcd.print("X");
    } else {
      InitGPSFailed = false;
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print("Initialisation Proto");
      lcd.setCursor(0, 1);
      lcd.print("Init. GPS: Ok!");
      Serial.println("Init. GPS: Ok!");
      delay(1500);
      lcd.clear();
    }
  } else {
    if (PerteGPSAff) {
      PerteGPSAff = false;
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print("   !!! DEFAUT !!!");
      lcd.setCursor(0, 1);
      lcd.print("!!! GPS Perdu !!!");
      Serial.println("!!! GPS Perdu !!!");
      delay(1500);
      lcd.clear();
    }
    if (GPSRetrouveAff) {
      GPSRetrouveAff = false;
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print("   !!! DEFAUT !!!");
      lcd.setCursor(0, 1);
      lcd.print("!!! GPS OK !!!");
      Serial.println("!!! GPS OK !!!");
      delay(1500);
      lcd.clear();
    }
    if (PerteGPS) {
      lcd.print("X");
    } else {
      lcd.print("V");
    }
  }
  lcd.setCursor(0, 2);
  lcd.print("Tour=00");
  lcd.setCursor(5, 2);
  if (nbr_tour < 10) {
    lcd.setCursor(6, 2);
  }
  lcd.print(nbr_tour);
  if (passage) {
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("    !!! INFO !!!");
    lcd.setCursor(0, 1);
    lcd.print("!! Tour Effectue !!");
    lcd.setCursor(0, 2);
    lcd.print("t/Tour=0m00s0");
    lcd.setCursor(7, 2);
    lcd.print(mTourFait);
    lcd.setCursor(9, 2);
    if (sTour < 10) {
      lcd.setCursor(10, 2);
    }
    lcd.print(sTourFait);
    lcd.setCursor(12, 2);
    lcd.print(msTourFait);
    lcd.setCursor(0, 3);
    lcd.print("Dist=");
    lcd.setCursor(5, 3);
    lcd.print(Nb_tour_roue); // DistTourFait);
    delay(4500);
    lcd.clear();
  }
  lcd.setCursor(9, 2);
  lcd.print("Tbat=00.00V");
  if (Tbat < 10) {
    lcd.setCursor(15, 2);
    lcd.print(Tbat);
  }
  if (Tbat >= 10) {
    lcd.setCursor(14, 2);
    lcd.print(Tbat);
  }
  if (Tbat < TlimitLow && TFaibleAff == true) {
    TFaibleAff = false;
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("   !!! DEFAUT !!!");
    lcd.setCursor(0, 1);
    lcd.print("!! Tension Faible !!");
    delay(2500);
    lcd.clear();
  }
  lcd.setCursor(0, 3);
  lcd.print("t/Tour=0m00s0");
  if (demarage == true) {
    mTour = (millis() - tTour) / 60000;
    sTour = ((millis() - tTour) / 1000) % 60;
    msTour = (millis() - tTour) % 1000 / 100;
    lcd.setCursor(7, 3);
    lcd.print(mTour);
    lcd.setCursor(9, 3);
    if (sTour < 10) {
      lcd.setCursor(10, 3);
    }
    lcd.print(sTour);
    lcd.setCursor(12, 3);
    lcd.print(msTour);
  }
  lcd.setCursor(17, 3);
  lcd.print("L=");
  lcd.setCursor(19, 3);
  lcd.print(lora);
}

void tension_batterie() {
  valeur = analogRead(A3);
  vout = (valeur * 5.0) / 1023.0; // see text
  Tbat = (vout * (10000.0 + 33000.0)) / 10000.0;
  if (Tbat < TlimitLow) {
    Tk++;
  }
  if (Tk > 99) {
    Tk = 0;
    TFaibleAff = true;
  } else {
    TFaibleAff = false;
  }

  //  Serial.print("valeur =");
  //  Serial.print(valeur);
  //  Serial.print("     vout =");
  //  Serial.print(vout);
  //  Serial.print("     Tbat =");
  //  Serial.println(Tbat);
}

void tension_carte() {
  valeur = analogRead(A4);
  vout = (valeur * 5.0) / 1023.0; // see text
  Tcarte = vout / (10000.0 / (10000.0 + 27000.0));
  //  Serial.print("     valeur =");
  //  Serial.print(valeur);
  //  Serial.print("     vout =");
  //  Serial.print(vout);
  //  Serial.print("     Tcarte =");
  //  Serial.println(Tcarte);
}

void vitesse() {
  if (micros() - tps > 50000) {
    T = micros() - tps;
    tps = micros();
    f = 1000000.0 / T;

    Vi = f * perimetre_roue * 3.6;
    if (Vi > 45) {
      Vi = 45;
    }
    Serial.print(f);
    Serial.print(",  ");
    Serial.println(Vi);
    distance = distance + perimetre_roue;
    DistanceTot = DistanceTot + perimetre_roue;
    Nb_tour_roue++;
  }
}

void tempmot() {
  if (micros() - tThermo >= 2000000) {
    float TmotThermo;
    TmotThermo = thermocouple.readCelsius() - 2; //-12;
    Tmot = TmotThermo;                           //*0.7995759526+17.1336552466;
    tThermo = micros();
    if (Tmot < TmotlimitLow || Tmot > TmotlimitHigh) {
      if (Tkmot == 0) {
        TmotAff = true;
      } else {
        TmotAff = false;
      }
      Tkmot++;
    }
    if (Tkmot > 49) {
      Tkmot = 0;
    }
  }
}

void message() {
  int Distance = distance * 100;
  if (digitalRead(inter_test)) // envoi de la trame par liaison Série
  { // #vitesse,vitesse moyenne,tension batterie,tension carte,température
    // moteur,accélération$
    message_test[0] = Vi * 100;
    message_test[1] = Vmoy * 100;
    message_test[2] = Tbat * 100;
    message_test[3] = Tcarte * 100;
    message_test[4] = Tmot * 100;
    message_test[5] = Nb_tour_roue / 1000;
    message_test[6] = Nb_tour_roue - message_test[5] * 1000;
    // message_test[7]=int(Distance-message_test[5]*1000000-message_test[6]*1000);
    Serial1.print('#');
    Serial1.print(message_test[0]);
    Serial1.print(",");
    Serial1.print(message_test[1]);
    Serial1.print(",");
    Serial1.print(message_test[2]);
    Serial1.print(",");
    Serial1.print(message_test[3]);
    Serial1.print(",");
    Serial1.print(message_test[4]);
    Serial1.print(",");
    Serial1.print(message_test[5]);
    Serial1.print(",");
    Serial1.print(message_test[6]);
    Serial1.print(
        ","); // Serial1.print(message_test[7]);Serial1.print(",");//Serial1.print(message_test[5]);Serial1.print(",");
    Serial1.println('$');
    Serial.print('#');
    Serial.print(message_test[0]);
    Serial.print(",");
    Serial.print(message_test[1]);
    Serial.print(",");
    Serial.print(message_test[2]);
    Serial.print(",");
    Serial.print(message_test[3]);
    Serial.print(",");
    Serial.print(message_test[4]);
    Serial.print(",");
    Serial.print(message_test[5]);
    Serial.print(",");
    Serial.print(message_test[6]);
    Serial.print(
        ","); // Serial.print(message_test[7]);Serial.print(",");//Serial.print(message_test[5]);Serial.print(",");
    Serial.println('$');
    // Serial.println("message test envoyé");
  }
  if (!digitalRead(inter_test) &&
      lora) // envoi de la trame par onde radio via le Lora
  { // #latitude,latitude,latitude,longitude,longitude,longitude,vitesse,vitesse
    // moyenne,tension batterie,tension carte,température moteur,nombre de
    // tour,accélération,frein avant,frein arrière$
    message_piste[0] = latitude / 1000000;
    message_piste[1] = (latitude - message_piste[0] * 1000000) / 1000;
    message_piste[2] =
        latitude - message_piste[0] * 1000000 - message_piste[1] * 1000;
    message_piste[3] = longitude / 1000000;
    message_piste[4] = (longitude - message_piste[3] * 1000000) / 1000;
    message_piste[5] =
        longitude - message_piste[3] * 1000000 - message_piste[4] * 1000;
    message_piste[6] = Vi * 100;
    message_piste[7] = Vmoy * 100;
    message_piste[8] = Tbat * 100;
    message_piste[9] = Tcarte * 100;
    message_piste[10] = Tmot * 100;
    message_piste[10] = nbr_tour;
    message_piste[11] = injec;
    message_piste[12] = digitalRead(frein_av);
    message_piste[13] = digitalRead(frein_ar);
    LoRa.beginPacket();
    LoRa.print('#');
    LoRa.print(message_piste[0]);
    LoRa.print(message_piste[1]);
    LoRa.print(message_piste[2]);
    LoRa.print(",");
    LoRa.print(message_piste[3]);
    LoRa.print(message_piste[4]);
    LoRa.print(message_piste[5]);
    LoRa.print(",");
    LoRa.print(message_piste[6]);
    LoRa.print(",");
    LoRa.print(message_piste[7]);
    LoRa.print(",");
    LoRa.print(message_piste[8]);
    LoRa.print(",");
    LoRa.print(message_piste[9]);
    LoRa.print(",");
    LoRa.print(message_piste[10]);
    LoRa.print(",");
    LoRa.print(message_piste[11]);
    LoRa.print(",");
    LoRa.print(message_piste[12]);
    LoRa.print(",");
    LoRa.print(message_piste[13]);
    LoRa.print(",");
    LoRa.print(mTour);
    LoRa.print(",");
    LoRa.print(sTour);
    LoRa.print(",");
    LoRa.print(msTour);
    LoRa.print(",");
    LoRa.print(int((distance / 1000)));
    LoRa.print(",");
    LoRa.print(int((distance) - (int(distance / 1000) * 1000)));
    LoRa.print(",");
    LoRa.print(int((distance * 1000) - (int(distance) * 1000)));
    LoRa.print(","); //;LoRa.print(message_piste[14]);LoRa.print(",")
    LoRa.print('$');
    LoRa.endPacket();
    // Serial.println(int((distance*100)/1000));
    //    Serial.print('#');
    //    Serial.print(message_piste[0]);Serial.print(message_piste[1]);Serial.print(message_piste[2]);Serial.print(",");Serial.print(message_piste[3]);Serial.print(message_piste[4]);Serial.print(message_piste[5]);Serial.print(",");Serial.print(message_piste[6]);Serial.print(",");Serial.print(message_piste[7]);Serial.print(",");Serial.print(message_piste[8]);Serial.print(",");Serial.print(message_piste[9]);Serial.print(",");Serial.print(message_piste[10]);Serial.print(",");Serial.print(message_piste[11]);Serial.print(",");Serial.print(message_piste[12]);Serial.print(",");Serial.print(message_piste[13]);Serial.print(",");Serial.print(mTour);Serial.print(",");Serial.print(sTour);Serial.print(",");Serial.print(msTour);Serial.print(",");Serial.print(int((distance/1000)));Serial.print(",");Serial.print(int((distance)-(int(distance/1000)*1000)));Serial.print(",");Serial.print(int((distance*1000)-(int(distance)*1000)));Serial.print(",");//;LoRa.print(message_piste[14]);LoRa.print(",")
    //    Serial.println('$');
  }
}
void frein() {
  if (digitalRead(frein_av) || digitalRead(frein_ar)) {
    digitalWrite(Relais_LED, HIGH);
  }
  if (!digitalRead(frein_av) && !digitalRead(frein_ar)) {
    digitalWrite(Relais_LED, LOW);
  }
}

void Injection() {
  if (digitalRead(injection)) {
    injec = 1;
  }
  if (!digitalRead(injection)) {
    injec = 0;
  }
}

void Nbr_tour() {
  if ((sqrt(pow((LatLigneDepartmilieu[choix] - latitude), 2) +
            pow((LongLigneDepartmilieu[choix] - longitude), 2)) <=
           1.25 * LongeurLigneDepartDeg[choix] &&
       sqrt(pow((LatLigneDepartmilieu[choix] - vieux_latitude), 2) +
            pow((LongLigneDepartmilieu[choix] - vieux_longitude), 2)) <=
           1.25 * LongeurLigneDepartDeg[choix] &&
       passage == false)) //|| mTour>0)
  {
    AngleProtoDeg = atan(2 * (latitude - LatLigneDepartdebut[choix]) /
                         (longitude - LongLigneDepartdebut[choix])) *
                    360 / (2 * 3.14159);
    AncienAngleProtoDegDeg =
        atan(2 * (vieux_latitude - LatLigneDepartdebut[choix]) /
             (vieux_longitude - LongLigneDepartdebut[choix])) *
        360 / (2 * 3.14159);
    cercle = true;
    if ((signe[choix] * (AncienAngleProtoDegDeg - AngleLigneDepartDeg) <= 0 &&
         signe[choix] * (AngleProtoDeg - AngleLigneDepartDeg) >
             0)) //|| mTour>0)
    {
      nbr_tour++;
      passage = true;
      tTour = millis();
      mTourFait = mTour;
      sTourFait = sTour;
      msTourFait = msTour;
      DistTourFait = distance;
      mTour = 0;
      sTour = 0;
      msTour = 0;
      distance = 0;
    }
  }
  // if(sqrt(pow((LatLigneDepartmilieu[choix]-latitude),2)+pow((LongLigneDepartmilieu[choix]-longitude),2))>LongeurLigneDepartDeg[choix]
  // ||
  // sqrt(pow((LatLigneDepartmilieu[choix]-vieux_latitude),2)+pow((LongLigneDepartmilieu[choix]-vieux_longitude),2))>LongeurLigneDepartDeg[choix])
  else {
    cercle = false;
    passage = false;
  }
}

void Vmoyenne() {
  if (demarage == true) {
    // Vmoy=(Vmoy*(IndMoy)+Vi)/(IndMoy+1);
    // IndMoy++;
    Vmoy = (DistanceTot / (millis() - TempsDepart)) * 3.6;
  }
}

void GPS() {
  unsigned long chars;
  unsigned short sentences, failed;
  bool newdata = false;
  // float lat;
  // float lon;
  latitudeTest = latitude;
  longitudeTest = longitude;
  while (Serial2.available()) {
    char c = Serial2.read();
    // Serial.write(c); // uncomment this line if you want to see the GPS data
    // flowing
    if (gps.encode(c)) {
      vieux_latitude = latitude;
      vieux_longitude = longitude;
      gps.get_position(&latitude, &longitude);
      if (vieux_latitude == latitude && vieux_longitude == longitude) {
        Perte++;
        if (Perte > 3) {
          if (PerteGPS) {
            PerteGPSAff = false;
          } else {
            PerteGPSAff = true;
          }
          PerteGPS = true;
        }
      } else {
        Perte = 0;
        if (PerteGPS) {
          GPSRetrouveAff = true;
        }
        PerteGPS = false;
        PerteGPSAff = false;
      }
      Serial.println("                  Aqui GPS");
      //      Serial.print("     lati=");
      //      Serial.print(latitude);
      //      Serial.print("     long=");
      //      Serial.println(longitude);
      //      Serial.print("     latiTest=");
      //      Serial.print(latitudeTest);
      //      Serial.print("     longTest=");
      //      Serial.println(longitudeTest);
    }
  }
  //  Serial.println(" ");
  //  Serial.print("     lati=");
  //  Serial.print(latitude);
  //  Serial.print("     long=");
  //  Serial.println(longitude);
  //  Serial.print("     latiVieux=");
  //  Serial.print(vieux_latitude);
  //  Serial.print("     longVieux=");
  //  Serial.println(vieux_longitude);
  //  Serial.print("     Perte=");
  //  Serial.println(Perte);

  Vmoyenne();
}

void setup() {
  //************************************************************************************
  //Initialisation Proto
  lcd.init();
  lcd.backlight();
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("Initialisation Proto");
  delay(1000);
  //************************************************************************************
  //Initialisation des ports COM
  lcd.setCursor(0, 1);
  lcd.print("Init. Port COM ...");
  Serial.begin(9600);
  Serial1.begin(9600);
  Serial2.begin(9600);
  lcd.setCursor(0, 2);
  lcd.print("Init. Port COM: Ok!");
  delay(1000);
  tgps = millis();
  tTour = millis();
  pinMode(capt_roue, INPUT_PULLUP);
  pinMode(injection, INPUT);
  pinMode(Relais_LED, OUTPUT);
  pinMode(MAX6675_CS, OUTPUT);
  pinMode(MAX6675_SO, INPUT);
  pinMode(MAX6675_SCK, OUTPUT);
  attachInterrupt(1, vitesse, FALLING);
  //************************************************************************************
  //Initialisation LoRa
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("Initialisation Proto");
  lcd.setCursor(0, 1);
  lcd.print("Init. LoRa ...");
  delay(1000);
  LoRa.setPins(NSS, rst, DIO0); // NSS, NRESET, and DIO0 pins can be changed by
                                // using LoRa.setPins(ss, reset, dio0).
  LoRa.begin(433E6);
  LoRa.setTxPower(20);
  if (!LoRa.begin(433E6)) // porteuse de 433MHz
  {
    Serial.println("Starting LoRa failed!");
    lcd.setCursor(0, 2);
    lcd.print("Init. LoRa failed!");
    delay(1000);
    lora = false;
    lcd.clear();
  } else {
    lcd.setCursor(0, 2);
    lcd.print("Init. LoRa: Ok!");
    delay(1000);
  }
  LoRa.setSpreadingFactor(7);
  // LoRa.setSignalBandwidth(41.7E3);
  // LoRa.crc();
  // Serial.println("LoRa Initializing OK!");
  //************************************************************************************
  //Initialisation GPS
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("Initialisation Proto");
  lcd.setCursor(0, 1);
  lcd.print("Init. GPS: .");
  lcd.setCursor(0, 2);
  lcd.print("Lat:");
  lcd.setCursor(6, 2);
  lcd.print(latitude);
  lcd.setCursor(0, 3);
  lcd.print("Long:");
  lcd.setCursor(6, 3);
  lcd.print(longitude);
  delay(500);

  while (latitude == longitude && InitGPSFailed == false) {
    GPS();
    if (k == 3) {
      k = 0;
    }
    if (k == 0) {
      lcd.setCursor(0, 1);
      lcd.print("Init. GPS: .. ");
    } else if (k == 1) {
      lcd.setCursor(0, 1);
      lcd.print("Init. GPS: ...");
    } else if (k == 2) {
      lcd.setCursor(0, 1);
      lcd.print("Init. GPS: .  ");
    }
    lcd.setCursor(0, 2);
    lcd.print("Lat:");
    lcd.setCursor(6, 2);
    lcd.print(latitude);
    lcd.setCursor(0, 3);
    lcd.print("Long:");
    lcd.setCursor(6, 3);
    lcd.print(longitude);
    lcd.setCursor(15, 3);
    lcd.print(millis() - tgps);
    delay(500);
    k++;
    if (millis() - tgps > 25000) {
      InitGPSFailed = true;
    }
  }
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("Initialisation Proto");
  lcd.setCursor(0, 1);
  if (InitGPSFailed == true) {
    lcd.print("Init. GPS: Failed!");
  } else {
    lcd.print("Init. GPS: Ok!");
  }
  delay(1000);
  //************************************************************************************
  //Initialisation Piste
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("Piste selectionnee :");
  lcd.setCursor(0, 1);
  lcd.print(NomCircuit[choix]);
  lcd.setCursor(0, 2);
  lcd.print(AngleLigneDepartDeg);
  delay(3000);
  lcd.clear();
  LCD();
}

void loop() {
  if (LoRa.begin(433E6)) {
    lora = true;
  }
  if (!LoRa.begin(433E6)) {
    lora = false;
  }
  if (digitalRead(injection) == 1 &&
      demarage == false) // Initialise le démarrage des chronos au premier appui
                         // sur le bouton d'injection.
  {
    demarage = true;
    tTour = millis();
    tMoy = millis();
    TempsDepart = millis() / 1000;
  }
  if (micros() - tps > 4000000) {
    Vi = 0.0;
  }
  LCD();
  tension_batterie();
  tension_carte();
  tempmot();
  // frein();
  Injection();
  Nbr_tour();
  message();
  GPS();
  //  Serial.print("     lati=");
  //      Serial.print(latitude);
  //      Serial.print("     long=");
  //      Serial.println(longitude);
  //  Serial.println(digitalRead(capt_roue));
  Nb_boucle++;
}