Index: tag/rc_1/MORSY/sp4a12/main.c
===================================================================
--- tag/rc_1/MORSY/sp4a12/main.c	(nonexistent)
+++ tag/rc_1/MORSY/sp4a12/main.c	(revision 427)
@@ -0,0 +1,330 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <strings.h>
+#include<math.h>
+#include "trame.h"
+
+
+ #define PI 3.14159
+
+
+typedef struct {
+    float latitude;
+    float longtitude;
+    }position;
+
+
+
+//Trames de tests � modifier si n�cessaire.
+char * trames[]=  {"$GPGSV,3,2,10,15,03,077,,18,04,041,42,19,85,271,,20,08,214,*7C",
+                    "$GPGSV,3,3,10,22,39,053,50,28,15,320,*7E",
+                    "$GPRMC,141914.00,A,4545.6424,N,00306.6036,E,0.4,99.4,010206,,*0C",
+                    "$GPGLL,4545.6424,N,00306.6036,E,141914.00,A*0E",
+                    "$GPGGA,141914.00,4545.0000,N,00306.6036,E,1,05,3.4,499.3,M,,M,,*7D",
+                    "$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39",
+                    "$GPVTG,99.4,T,,M,0.4,N,0.7,K*57",
+                    "$GPZDA,141914.00,01,02,2006,00,00*69",
+                    0};
+
+//Fonction � modifier !!!!!
+void traitement(char * trame)
+{
+    static int cpt=0;
+    cpt++;
+    position p;
+
+    if (trame_cmp(trame, "GPGGA")==1){
+            printf("%s\n",trame);
+            decode_trame(trame,&p);
+            printf("latitude= %f , longtude= %f \n",p.latitude,p.longtitude);
+    }
+
+}
+int decode_int(char c){
+    int y;
+    int x=c;
+    if (x>=48 && x<=58){
+         y=x-48;
+    }
+    else{
+        y =-1;
+    }
+    return y;
+}
+
+int trame_cmp(char*trame , char*type){
+    int i=0,s=0,y;
+    while(trame[i+1]==type[i] && type[i]!="/0"){
+        i=i+1;
+        s=s+1;
+    }
+    int x=strlen(type);
+    if(s==x){
+        y=1;
+    }
+    else{
+        y=0;
+    }
+
+    return y;
+
+ }
+
+int decode_nombre(char *ch,int n){
+    int i,j,p;
+    int s=0;
+    for (i=0;i<n;i++){
+            p=1;
+        for(j=0;j<n-1-i;j++){
+            p=p*10;
+        }
+        int a=decode_int(ch[i]);
+        s=s+a*p;
+    }
+    return s;
+}
+
+/*float latitude (char*c){
+    int i=0,degre;
+    float secondes=0,sommes,minute=0;
+    degre=decode_int(c[0])*10+decode_int(c[1]) ;
+    secondes=(decode_int(c[5])*1000+decode_int(c[6])*100+decode_int(c[7])*10+decode_int(c[5]))/10000;
+    minute=(decode_int(c[2])*10+decode_int(c[3])+secondes)/60;
+    sommes=degre+minute;
+    return sommes;
+}*/
+
+
+
+/*float longtitude (char*c){
+    int i=0,degre;
+    float secondes=0,sommes,minute=0;
+    degre=decode_int(c[0])*100+decode_int(c[1])*10+decode_int(c[2]) ;
+    secondes=secondes+(decode_int(c[6])*1000+decode_int(c[7])*100+decode_int(c[8])*10+decode_int(c[9]))/10000;
+    minute=minute+(decode_int(c[3])*10+decode_int(c[4])+secondes)/60;
+    sommes=sommes+degre+minute;
+    return sommes;
+}*/
+
+
+float lat_long (char c[]) {
+    int n=0, degre=0,i=1,b;
+    float min=0, secondes=0, res=0,p;
+
+
+    do{
+        n++;
+    } while (c[n]!='.');
+
+    if (n==4) {
+        degre = (c[0]-48)*10+(c[1]-48);
+        min = (c[2]-48)*10+(c[3]-48);
+    } else {
+        degre = (c[0]-48)*100+(c[1]-48)*10+(c[2]-48);
+        min = (c[3]-48)*10+(c[4]-48);
+    }
+
+    n++;
+    do {
+        p=1;
+        for (b=0;b<i;b++) {
+            p=p*0.1;
+        }
+        secondes= secondes + (c[n]-48)*p;
+        i++;
+        n++;
+    } while (c[n]!='\0');
+
+     res = degre + (min+secondes)/60;
+
+    return res;
+
+}
+
+void decode_trame(char*c,position *p){
+    int i=0,degre_long,degre_lat;
+    float secondes_long=0,secondes_lat=0,sommes_lat=0,sommes_long=0,minute_lat=0,minute_long=0;
+    degre_long=decode_int(c[29])*100+decode_int(c[30])*10+decode_int(c[31]) ;
+    secondes_long=decode_int(c[35])*0.1+decode_int(c[36])*0.01+decode_int(c[37])*0.001+decode_int(c[38])*0.0001;
+    minute_long=(decode_int(c[32])*10+decode_int(c[33])+secondes_long)/60;
+    sommes_long=degre_long+minute_long;
+
+    degre_lat=decode_int(c[17])*10+decode_int(c[18]) ;
+    secondes_lat=(decode_int(c[21])*1000+decode_int(c[22])*100+decode_int(c[23])*10+decode_int(c[24]))/10000;
+    minute_lat=(decode_int(c[19])*10+decode_int(c[20])+secondes_lat)/60;
+    sommes_lat=degre_lat+minute_lat;
+
+   p ->latitude=sommes_lat;
+   p ->longtitude=sommes_long;
+
+
+
+}
+float calcul_distance(position*p1,position*p2){
+    float distance;
+    distance=acos(sin(PI * p1 ->latitude/180)*sin(PI * p2 ->latitude/180)+cos(PI* p1 ->latitude/180)*cos(PI* p2 ->latitude/180)*cos(PI*(fabs(p1 ->longtitude - p2 ->longtitude))/180))*6371;
+    return distance;
+}
+
+//Ajouter vos tests unitaires dans cette fonction.
+
+void tests_unitaires(void){
+        position p,p1,p2;
+        p1.latitude=35.968723;
+        p1.longtitude=256.652056;
+        p2.longtitude=156.831330;
+        p2.latitude=55.806160;
+     if (5!=5){
+     printf ("Erreur Test unitaire basique.\n");
+     exit(-1);
+     }
+     if (trame_cmp("$GPGGA suite chaine","GPGGA")!=1){
+     printf ("Erreur Test unitaire trame_cmp.\n");
+     exit(-1);
+     }
+     if (trame_cmp("$GPRMC suite chaine","GPGGA")!=0){
+     printf ("Erreur Test unitaire trame_cmp.\n");
+     exit(-1);
+     }
+     if (trame_cmp("$GPRMC... ", "GPRMC" )!=1){
+     printf ("Erreur Test unitaire trame_cmp.\n");
+     exit(-1);
+     }
+     if (trame_cmp("$APRMC...", "GPGGA")!=0){
+     printf ("Erreur Test unitaire trame_cmp.\n");
+     exit(-1);
+     }
+
+     //****************************
+
+     if (5!=5){
+     printf ("Erreur Test unitaire basique.\n");
+     exit(-1);
+     }
+
+    if(decode_int('5')!= 5){
+         printf ("Erreur Test unitaire trame_cmp50.\n");
+         exit(-1);
+    }
+
+     if(decode_int('a')!= -1){
+            printf ("Erreur Test unitaire trame_cmp3.\n");
+            exit(-1);
+     }
+
+     //**********************
+
+     if (5!=5){
+         printf ("Erreur Test unitaire basique.\n");
+         exit(-1);
+     }
+     if (decode_nombre("35789",3)!=357){
+            printf ("Erreur Test unitaire trame_cmp16.\n");
+            exit(-1);
+         }
+
+     if (decode_nombre("25986452235",7)!=2598645){
+            printf ("Erreur Test unitaire trame_cmp2.\n");
+            exit(-1);
+         }
+     if (decode_nombre("2",1)!=2){
+            printf ("Erreur Test unitaire trame_cmp3.\n");
+            exit(-1);
+         }
+     if (decode_nombre("25986452235",7)==2578963){
+            printf ("Erreur Test unitaire trame_cmp4.\n");
+            exit(-1);
+         }
+//********************************
+       /* if (5!=5){
+         printf ("Erreur Test unitaire basique.\n");
+         exit(-1);
+        }
+        if (longtitude("13558.8889")-135,981481<0.000001 && 135,981481-longtitude("13558.8889")<0.000001){
+            printf ("Erreur Test unitaire trame_cmp1.\n");
+            exit(-1);
+         }
+        if (longtitude("10112.1415")-101,202358<0.000001 && 101,202358-longtitude("10112.1415")<0.000001){
+            printf ("Erreur Test unitaire trame_cmp2.\n");
+            exit(-1);
+         }*/
+//***********************************
+       /* if (5!=5){
+             printf ("Erreur Test unitaire basique.\n");
+             exit(-1);
+         }
+          if (latitude("3558.8889")-35,981481<0.000001 && 35,981481-latitude("3558.8889")<0.000001){
+            printf ("Erreur Test unitaire trame_cmp1.\n");
+            exit(-1);
+         }
+          if (latitude("0112.1415")-01,202358<0.000001 && 01,202358-latitude("0112.1415")<0.000001){
+            printf ("Erreur Test unitaire trame_cmp2.\n");
+            exit(-1);
+         }*/
+//*****************************
+        if (5!=5){
+         printf ("Erreur Test unitaire basique.\n");
+         exit(-1);
+         }
+         if (lat_long("13558.8889")-135.981481>0.000001 && 135.981481-lat_long("13358.8889")<0.000001){
+                printf ("Erreur Test unitaire trame_cmp18.\n");
+                exit(-1);
+             }
+        /* if (lat_long("10112.1415")-101.2023583>0.000001 && 101.2023583-lat_long("10112.1415")<0.000001){
+                printf ("Erreur Test unitaire trame_cmp21.\n");
+                exit(-1);
+         }*/
+         /* if (lat_long("3558.8889")-35.981481>0.000001 && 35.981481-lat_long("3558.8889")<0.000001){
+                printf ("Erreur Test unitaire trame_cmp12.\n");
+                exit(-1);
+             }*/
+         if (lat_long("0112.1415")-01.202358>0.000001 && 01.202358-lat_long("0112.1415")<0.000001){
+                printf ("Erreur Test unitaire trame_cmp22.\n");
+                exit(-1);
+             }
+         /////////////////////////////////////////
+        decode_trame("$GPGGA,141914.00,3558.8889,N,10112.1415,E,1,05,3.4,499.3,M,,M,,*7D",&p);
+        if(fabs(fabs(p.latitude)-46.759373 >10-6)){
+            printf ("Erreur Test unitaire trame_cmp21\n");
+            exit(-1);
+        }
+        decode_trame("$GPGGA,141914.00,4645.5624,N,10112.1415,E,1,05,3.4,499.3,M,,M,,*7D",&p);
+        if(fabs(fabs(p.longtitude)-101.202358 >10-6)){
+            printf ("Erreur Test unitaire trame_cmp25\n");
+            exit(-1);
+    }
+    //////////
+
+      if(fabs(calcul_distance(&p1,&p2)-7328.429126) >0.000001){
+            printf ("Erreur Test unitaire trame_cmp30\n");
+             printf("a");
+            exit(-1);
+
+
+      }
+      float a= calcul_distance(&p1,&p2);
+      printf("%f",a);
+
+     }
+// Ne pas modifier cette fonction
+int main(int argc,char ** argv)
+{
+
+    tests_unitaires();
+
+    // Affichage des trames definies dans la table trames.
+    printf ("Trames de tests tableau trames:\n");
+    int i=0;
+    while (trames[i])
+        traitement(trames[i++]);
+
+    if (!trame_init())
+        exit(-1);
+    // Affichage des trames du fichier gps.log
+    char *trame;
+    printf ("Trames de tests du fichier gps.log\n");
+    while  ((trame = trame_suivante()))
+        traitement(trame);
+
+    return 0;
+}
Index: tag/rc_1/MORSY/sp4a12/gps.log
===================================================================
--- tag/rc_1/MORSY/sp4a12/gps.log	(nonexistent)
+++ tag/rc_1/MORSY/sp4a12/gps.log	(revision 427)
@@ -0,0 +1,111 @@
+$GPGSV,3,2,10,15,03,077,,18,04,041,42,19,85,271,,20,08,214,*7C
+$GPGSV,3,3,10,22,39,053,50,28,15,320,*7E
+$GPRMC,141914.00,A,4545.6424,N,00306.6036,E,0.4,99.4,010206,,*0C
+$GPGLL,4545.6424,N,00306.6036,E,141914.00,A*0E
+$GPGGA,141914.00,4545.0000,N,00306.6036,E,1,05,3.4,499.3,M,,M,,*79
+$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
+$GPVTG,99.4,T,,M,0.4,N,0.7,K*57
+$GPZDA,141914.00,01,02,2006,00,00*69
+$GPGSV,3,1,10,01,13,142,46,03,48,144,47,11,41,277,,14,27,104,42*75
+$GPGSV,3,2,10,15,03,077,,18,04,041,41,19,85,271,,20,08,214,*7F
+$GPGSV,3,3,10,22,39,053,48,28,15,320,*77
+$GPRMC,141915.00,A,4545.6423,N,00306.6039,E,0.6,110.2,010206,,*31
+$GPGLL,4545.6423,N,00306.6039,E,141915.00,A*07
+$GPGGA,141915.00,4545.0242,N,00306.6039,E,1,05,3.4,499.5,M,,M,,*75
+$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
+$GPVTG,110.2,T,,M,0.6,N,1.2,K*67
+$GPZDA,141915.00,01,02,2006,00,00*68
+$GPGSV,3,1,10,01,13,142,45,03,48,144,47,11,41,277,,14,27,104,41*75
+$GPGSV,3,2,10,15,03,077,,18,04,041,42,19,85,271,,20,08,214,*7C
+$GPGSV,3,3,10,22,39,053,49,28,15,320,*76
+$GPRMC,141916.00,A,4545.6422,N,00306.6037,E,0.1,211.1,010206,,*3B
+$GPGLL,4545.6422,N,00306.6037,E,141916.00,A*0B
+$GPGGA,141916.00,4545.0484,N,00306.6037,E,1,05,3.4,500.0,M,,M,,*70
+$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
+$GPVTG,211.1,T,,M,0.1,N,0.2,K*60
+$GPZDA,141916.00,01,02,2006,00,00*6B
+$GPGSV,3,1,10,01,13,142,45,03,48,144,48,11,41,277,,14,27,104,43*78
+$GPGSV,3,2,10,15,03,077,,18,04,041,44,19,85,271,,20,08,214,*7A
+$GPGSV,3,3,10,22,39,053,48,28,15,320,*77
+$GPRMC,141917.00,A,4545.6422,N,00306.6039,E,0.3,122.3,010206,,*37
+$GPGLL,4545.6422,N,00306.6039,E,141917.00,A*04
+$GPGGA,141917.00,4545.0726,N,00306.6039,E,1,05,3.4,499.6,M,,M,,*73
+$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
+$GPVTG,122.3,T,,M,0.3,N,0.5,K*64
+$GPZDA,141917.00,01,02,2006,00,00*6A
+$GPGSV,3,1,10,01,13,142,45,03,48,144,46,11,41,277,,14,27,104,41*74
+$GPGSV,3,2,10,15,03,077,,18,04,041,42,19,85,271,,20,08,214,*7C
+$GPGSV,3,3,10,22,39,053,48,28,15,320,*77
+$GPRMC,141918.00,A,4545.6421,N,00306.6034,E,0.5,252.2,010206,,*35
+$GPGLL,4545.6421,N,00306.6034,E,141918.00,A*05
+$GPGGA,141918.00,4545.0968,N,00306.6034,E,1,05,3.4,498.8,M,,M,,*7A
+$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
+$GPVTG,252.2,T,,M,0.5,N,1.0,K*63
+$GPZDA,141918.00,01,02,2006,00,00*65
+$GPGSV,3,1,10,01,13,142,45,03,48,144,48,11,41,277,,14,27,104,42*79
+$GPGSV,3,2,10,15,03,077,,18,04,041,42,19,85,271,,20,08,214,*7C
+$GPGSV,3,3,10,22,38,053,49,28,15,320,*77
+$GPRMC,141919.00,A,4545.6420,N,00306.6040,E,0.6,95.2,010206,,*0C
+$GPGLL,4545.6420,N,00306.6040,E,141919.00,A*06
+$GPGGA,141919.00,4545.1210,N,00306.6040,E,1,05,3.4,500.2,M,,M,,*77
+$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
+$GPVTG,95.2,T,,M,0.6,N,1.2,K*5B
+$GPZDA,141919.00,01,02,2006,00,00*64
+$GPGSV,3,1,10,01,13,142,46,03,48,144,49,11,41,277,,14,27,104,42*7B
+$GPGSV,3,2,10,15,03,077,,18,04,041,43,19,85,271,,20,08,214,*7D
+$GPGSV,3,3,10,22,38,053,49,28,15,320,*77
+$GPRMC,141920.00,A,4545.6419,N,00306.6039,E,0.2,133.1,010206,,*38
+$GPGLL,4545.6419,N,00306.6039,E,141920.00,A*08
+$GPGGA,141920.00,4545.1410,N,00306.6039,E,1,05,3.4,500.0,M,,M,,*77
+$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
+$GPVTG,133.1,T,,M,0.2,N,0.4,K*66
+$GPZDA,141920.00,01,02,2006,00,00*6E
+$GPGSV,3,1,10,01,13,142,45,03,48,144,46,11,41,277,,14,27,104,43*76
+$GPGSV,3,2,10,15,03,077,,18,04,041,41,19,85,271,,20,08,214,*7F
+$GPGSV,3,3,10,22,38,053,50,28,15,320,*7F
+$GPRMC,141921.00,A,4545.6419,N,00306.6043,E,0.6,103.1,010206,,*33
+$GPGLL,4545.6419,N,00306.6043,E,141921.00,A*04
+$GPGGA,141921.00,4545.1610,N,00306.6043,E,1,05,3.4,499.8,M,,M,,*70
+$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
+$GPVTG,103.1,T,,M,0.6,N,1.1,K*65
+$GPZDA,141921.00,01,02,2006,00,00*6F
+$GPGSV,3,1,10,01,13,142,46,03,48,144,48,11,41,277,,14,27,104,42*7A
+$GPGSV,3,2,10,15,03,077,,18,04,041,42,19,85,271,,20,08,214,*7C
+$GPGSV,3,3,10,22,38,053,48,28,15,320,*76
+$GPRMC,141922.00,A,4545.6418,N,00306.6046,E,0.7,96.9,010206,,*00
+$GPGLL,4545.6418,N,00306.6046,E,141922.00,A*03
+$GPGGA,141922.00,4545.1810,N,00306.6046,E,1,05,3.4,500.6,M,,M,,*77
+$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
+$GPVTG,96.9,T,,M,0.7,N,1.3,K*53
+$GPZDA,141922.00,01,02,2006,00,00*6C
+$GPGSV,3,1,10,01,13,142,47,03,48,144,46,11,41,277,,14,27,104,43*74
+$GPGSV,3,2,10,15,03,077,,18,04,041,43,19,85,271,,20,08,214,*7D
+$GPGSV,3,3,10,22,38,053,48,28,15,320,*76
+$GPRMC,141923.00,A,4545.6417,N,00306.6046,E,0.3,113.6,010206,,*39
+$GPGLL,4545.6417,N,00306.6046,E,141923.00,A*0D
+$GPGGA,141923.00,4545.2010,N,00306.6046,E,1,05,3.4,500.6,M,,M,,*7D
+$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
+$GPVTG,113.6,T,,M,0.3,N,0.7,K*61
+$GPZDA,141923.00,01,02,2006,00,00*6D
+$GPGSV,3,1,10,01,13,142,45,03,48,144,47,11,41,277,,14,27,104,41*75
+$GPGSV,3,2,10,15,03,077,,18,04,041,43,19,85,271,,20,08,214,*7D
+$GPGSV,3,3,10,22,38,053,49,28,15,320,*77
+$GPRMC,141924.00,A,4545.6416,N,00306.6044,E,0.2,197.7,010206,,*31
+$GPGLL,4545.6416,N,00306.6044,E,141924.00,A*09
+$GPGGA,141924.00,4545.2210,N,00306.6044,E,1,05,3.4,500.5,M,,M,,*79
+$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
+$GPVTG,197.7,T,,M,0.2,N,0.4,K*6E
+$GPZDA,141924.00,01,02,2006,00,00*6A
+$GPGSV,3,1,10,01,13,142,45,03,48,144,47,11,41,277,,14,27,104,40*74
+$GPGSV,3,2,10,15,03,077,,18,04,041,43,19,85,271,,20,08,214,*7D
+$GPGSV,3,3,10,22,38,053,49,28,15,320,*77
+$GPRMC,141925.00,A,4545.6415,N,00306.6046,E,0.2,130.8,010206,,*33
+$GPGLL,4545.6415,N,00306.6046,E,141925.00,A*09
+$GPGGA,141925.00,4545.2410,N,00306.6046,E,1,05,3.4,501.4,M,,M,,*7C
+$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
+$GPVTG,130.8,T,,M,0.2,N,0.5,K*6D
+$GPZDA,141925.00,01,02,2006,00,00*6B
+$GPGSV,3,1,10,01,13,142,45,03,48,144,47,11,41,277,,14,27,104,40*74
+$GPGSV,3,2,10,15,03,077,,18,04,041,41,19,85,271,,20,08,214,*7F
+$GPGSV,3,3,10,22,38,053,47,28,15,320,*79
+$GPRMC,141926.�E,0.2,260.8,010206,,*34
Index: tag/rc_1/MORSY/sp4a12/trame.c
===================================================================
--- tag/rc_1/MORSY/sp4a12/trame.c	(nonexistent)
+++ tag/rc_1/MORSY/sp4a12/trame.c	(revision 427)
@@ -0,0 +1,28 @@
+/* Fichier trames.c - Gestion et decodage des trames */
+/* Ce fichier sera fourni */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include "trame.h"
+
+#define FICHIER_TRAMES "gps.log"  /* Par exemple */
+
+#define MAX_FRAME_LENGTH 80
+
+static char trame_buf[MAX_FRAME_LENGTH];
+static FILE *trame_fic;
+
+int trame_init(void)
+{
+    trame_fic = fopen(FICHIER_TRAMES, "r");
+    if (trame_fic)
+        return 1;
+
+    fprintf(stderr, "Impossible d'ouvrir le fichier %s\n", FICHIER_TRAMES);
+    return 0;
+}
+
+char *trame_suivante(void)
+{
+  return fgets(trame_buf, MAX_FRAME_LENGTH-1, trame_fic);
+}
Index: tag/rc_1/MORSY/sp4a12/sp4a.cbp
===================================================================
--- tag/rc_1/MORSY/sp4a12/sp4a.cbp	(nonexistent)
+++ tag/rc_1/MORSY/sp4a12/sp4a.cbp	(revision 427)
@@ -0,0 +1,37 @@
+<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
+<CodeBlocks_project_file>
+	<FileVersion major="1" minor="6" />
+	<Project>
+		<Option title="sp4a" />
+		<Option pch_mode="2" />
+		<Option compiler="gcc" />
+		<Build>
+			<Target title="Debug">
+				<Option output="sp4a" prefix_auto="1" extension_auto="1" />
+				<Option object_output=".\debug" />
+				<Option type="1" />
+				<Option compiler="gcc" />
+				<Compiler>
+					<Add option="-g" />
+				</Compiler>
+			</Target>
+		</Build>
+		<Compiler>
+			<Add option="-Wall" />
+		</Compiler>
+		<Unit filename="gps.log" />
+		<Unit filename="main.c">
+			<Option compilerVar="CC" />
+		</Unit>
+		<Unit filename="trame.c">
+			<Option compilerVar="CC" />
+		</Unit>
+		<Unit filename="trame.h" />
+		<Extensions>
+			<code_completion />
+			<envvars />
+			<debugger />
+			<lib_finder disable_auto="1" />
+		</Extensions>
+	</Project>
+</CodeBlocks_project_file>
Index: tag/rc_1/MORSY/sp4a12/trame.h
===================================================================
--- tag/rc_1/MORSY/sp4a12/trame.h	(nonexistent)
+++ tag/rc_1/MORSY/sp4a12/trame.h	(revision 427)
@@ -0,0 +1,3 @@
+
+int trame_init(void);
+char * trame_suivante(void);
Index: tag/rc_1/MORSY/sp4a3/sp4a3_kalman.cbp
===================================================================
--- tag/rc_1/MORSY/sp4a3/sp4a3_kalman.cbp	(nonexistent)
+++ tag/rc_1/MORSY/sp4a3/sp4a3_kalman.cbp	(revision 427)
@@ -0,0 +1,49 @@
+<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
+<CodeBlocks_project_file>
+	<FileVersion major="1" minor="6" />
+	<Project>
+		<Option title="sp4a3_kalman" />
+		<Option pch_mode="2" />
+		<Option compiler="gcc" />
+		<Build>
+			<Target title="Debug">
+				<Option output="./test_kalman" prefix_auto="1" extension_auto="1" />
+				<Option object_output="." />
+				<Option type="1" />
+				<Option compiler="gcc" />
+				<Option parameters="debug" />
+				<Compiler>
+					<Add option="-g" />
+				</Compiler>
+			</Target>
+			<Target title="Release">
+				<Option output="./test_kalman" prefix_auto="1" extension_auto="1" />
+				<Option object_output="." />
+				<Option type="1" />
+				<Option compiler="gcc" />
+				<Compiler>
+					<Add option="-O2" />
+				</Compiler>
+				<Linker>
+					<Add option="-s" />
+				</Linker>
+			</Target>
+		</Build>
+		<Compiler>
+			<Add option="-Wall" />
+		</Compiler>
+		<Unit filename="sp4a3_kalman.c">
+			<Option compilerVar="CC" />
+		</Unit>
+		<Unit filename="sp4a3_kalman_extra.c">
+			<Option compilerVar="CC" />
+		</Unit>
+		<Unit filename="sp4a3_kalman_extra.h" />
+		<Extensions>
+			<code_completion />
+			<envvars />
+			<debugger />
+			<lib_finder disable_auto="1" />
+		</Extensions>
+	</Project>
+</CodeBlocks_project_file>
Index: tag/rc_1/MORSY/sp4a3/sp4a3_kalman_extra.c
===================================================================
--- tag/rc_1/MORSY/sp4a3/sp4a3_kalman_extra.c	(nonexistent)
+++ tag/rc_1/MORSY/sp4a3/sp4a3_kalman_extra.c	(revision 427)
@@ -0,0 +1,36 @@
+#include <stdlib.h>
+#include <stdio.h>
+#include <math.h>
+
+
+#define error(a) _error(__LINE__,a)
+void _error(int l,char * r){
+	printf("Erreur Ligne (%d) : %s",l,r);
+	exit(1);
+}
+
+int debug=1;
+void _Plot_Mat(int n,int m,double in[n][m], const char* name){
+	int i,j;
+	if (!debug)	return;
+	printf("\n%s[%d][%d]\n",name,n,m);
+	for (i=0;i<n;i++)
+	{
+		for (j=0;j<m;j++)
+			printf("%f\t",in[i][j]);
+		printf("\n");
+	}
+}
+
+#define Equal_Mat_Mat(Mat_A,Mat_B) _Equal_Mat_Mat(sizeof(Mat_A)/sizeof(Mat_A[0]),sizeof(Mat_A[0])/sizeof(Mat_A[0][0]),Mat_A,sizeof(Mat_B)/sizeof(Mat_B[0]),sizeof(Mat_B[0])/sizeof(Mat_B[0][0]),Mat_B)
+int _Equal_Mat_Mat(int na,int ma,double A[na][ma],int nb,int mb,double B[nb][mb]){
+	int i,j;
+	if (na!=nb) return 0;
+	if (ma!=mb) return 0;
+	for(i=0;i<na;i++)
+		for(j=0;j<ma;j++){
+			if (fabs(A[i][j]-B[i][j])>1e-6)
+				return 0;
+		}
+	return 1;
+}
Index: tag/rc_1/MORSY/sp4a3/vitesse_reelle.dat
===================================================================
--- tag/rc_1/MORSY/sp4a3/vitesse_reelle.dat	(nonexistent)
+++ tag/rc_1/MORSY/sp4a3/vitesse_reelle.dat	(revision 427)
@@ -0,0 +1,1926 @@
+120000.100000	0.000000
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Index: tag/rc_1/MORSY/sp4a3/sp4a3_kalman_extra.h
===================================================================
--- tag/rc_1/MORSY/sp4a3/sp4a3_kalman_extra.h	(nonexistent)
+++ tag/rc_1/MORSY/sp4a3/sp4a3_kalman_extra.h	(revision 427)
@@ -0,0 +1,11 @@
+
+#define error(a) _error(__LINE__,a)
+void _error(int l,char * r);
+
+#define Plot_Mat(Mat,titre) _Plot_Mat(sizeof(Mat)/sizeof(Mat[0]),sizeof(Mat[0])/sizeof(Mat[0][0]),Mat,titre)
+void _Plot_Mat(int n,int m,double in[n][m], const char* name);
+
+#define Equal_Mat_Mat(Mat_A,Mat_B) _Equal_Mat_Mat(sizeof(Mat_A)/sizeof(Mat_A[0]),sizeof(Mat_A[0])/sizeof(Mat_A[0][0]),Mat_A,sizeof(Mat_B)/sizeof(Mat_B[0]),sizeof(Mat_B[0])/sizeof(Mat_B[0][0]),Mat_B)
+int _Equal_Mat_Mat(int na,int ma,double A[na][ma],int nb,int mb,double B[nb][mb]);
+
+extern int debug;
Index: tag/rc_1/MORSY/sp4a3/pos_t_x_y.dat
===================================================================
--- tag/rc_1/MORSY/sp4a3/pos_t_x_y.dat	(nonexistent)
+++ tag/rc_1/MORSY/sp4a3/pos_t_x_y.dat	(revision 427)
@@ -0,0 +1,1927 @@
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+120187.400000	4457482.626420	239963.359274
+120187.500000	4457481.632291	239965.825110
+120187.600000	4457488.963777	239967.351515
+120187.700000	4457487.280623	239966.554252
+120187.800000	4457489.597627	239968.327618
+120187.900000	4457489.810106	239970.518795
+120188.000000	4457489.124354	239968.144908
+120188.100000	4457494.671365	239969.569506
+120188.200000	4457496.318841	239966.969620
+120188.300000	4457496.877353	239972.238449
+120188.400000	4457497.833333	239972.279123
+120188.500000	4457500.977730	239970.089787
+120188.600000	4457499.016034	239973.871676
+120188.700000	4457503.438323	239972.729847
+120188.800000	4457501.364138	239973.006248
+120188.900000	4457501.746293	239974.701983
+120189.000000	4457504.245834	239971.249978
+120189.100000	4457500.710369	239976.623610
+120189.200000	4457508.103288	239975.300638
+120189.300000	4457504.928743	239974.825232
+120189.400000	4457508.844185	239975.411448
+120189.500000	4457508.862206	239974.140553
+120189.600000	4457505.737614	239977.230167
+120189.700000	4457509.607256	239976.880881
+120189.800000	4457508.603219	239973.365057
+120189.900000	4457509.452983	239975.032208
+120190.000000	4457511.059472	239977.648686
+120190.100000	4457508.244315	239973.445281
+120190.200000	4457512.943207	239977.706614
+120190.300000	4457508.099295	239977.263921
+120190.400000	4457512.591981	239979.363816
+120190.500000	4457513.198926	239981.220468
+120190.600000	4457508.964702	239978.028202
+120190.700000	4457510.218633	239980.828120
+120190.800000	4457512.939774	239979.332815
+120190.900000	4457513.061948	239978.096017
+120191.000000	4457517.896118	239974.944467
+120191.100000	4457511.805544	239978.845093
+120191.200000	4457511.304901	239978.667204
+120191.300000	4457514.565729	239978.064264
+120191.400000	4457512.906943	239975.340643
+120191.500000	4457514.806200	239980.909065
+120191.600000	4457511.662910	239975.847067
+120191.700000	4457511.410179	239977.235174
+120191.800000	4457517.148099	239977.898486
+120191.900000	4457508.409854	239977.249715
+120192.000000	4457514.793859	239978.117250
+120192.100000	4457512.559334	239975.590472
+120192.200000	4457509.908968	239977.108721
+120192.300000	4457510.941232	239979.879654
+120192.400000	4457515.152851	239978.049051
+120192.500000	4457514.568830	239974.833223
+120192.600000	4457513.294279	239979.068249
Index: tag/rc_1/MORSY/sp4a3/sp4a3_kalman.c
===================================================================
--- tag/rc_1/MORSY/sp4a3/sp4a3_kalman.c	(nonexistent)
+++ tag/rc_1/MORSY/sp4a3/sp4a3_kalman.c	(revision 427)
@@ -0,0 +1,194 @@
+//  Pour compiler : gcc sp4a3_kalman.c  -lm
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <math.h>
+
+#include "sp4a3_kalman_extra.h"
+
+
+void Add_Mat_Mat(int na,int ma,double A[na][ma],int nb,int mb,double B[nb][mb], double R[na][ma]){
+
+}
+
+void Inverse_Mat_22(int n,int m,double A[n][m],double B[n][m]){
+
+}
+
+void Transpose_Mat(int n,int m,double A[n][m],double R[m][n]){
+	int i,j;
+	for (i=0;i<n;i++)
+		for (j=0;j<m;j++)
+			R[j][i]=A[i][j];
+}
+
+void Sub_Mat_Mat(int na,int ma,double A[na][ma],int nb,int mb,double B[nb][mb], double R[na][ma]){
+
+}
+
+void Mul_Mat_Mat(int na,int ma,double A[na][ma], int nb,int mb,double B[nb][mb], double R[na][mb]){
+
+}
+
+
+
+void tests_unitaires(void){
+	//Matrices d'entrée
+	double T21a[2][1]={{7},{-5}};
+	double T21b[2][1]={{-3},{46}};
+	double T22a[2][2]={{12,78},{-5,13}};
+	double T22b[2][2]={{-25,36},{7,42}};
+	double T24[2][4]={{7,-71,-12,3},{41,123,-5,10}};
+	double T41a[4][1]={{45},{-123},{-78},{-410}};
+	double T41b[4][1]={{-10},{45},{27},{-9}};
+	double T42a[4][2]={{-73,45},{10,12},{-41,-35},{8,-23}};
+	double T44a[4][4]={{1,2,7,4},{6,5,7,8},{9,8,7,6},{5,4,3,2}};
+	double T44b[4][4]={{12,13,14,15},{21,22,23,40},{78,45,12,3},{54,10,12,47}};
+
+	//Matrices résultat
+	double R21[2][1],R22[2][2],R24[2][4],R41[4][1],R42[4][2],R44[4][4];
+
+	//Matrices de validation
+	double RST21[2][1]={{10},{-51}};
+	double RInvT22[2][2]={{0.02380952380952381,-0.1428571428571428},{0.009157509157509158,0.02197802197802198}};
+	double RAT22[2][2]={{-13,114},{2,55}};
+	double RTT24[4][2]={{7,41},{-71,123},{-12,-5},{3,10}};
+	double RMT24T41[2][1]={{8754},{-16994}};
+	double RMT24T42[2][2]={{-705,-186},{-1478,3266}};
+	double RMT24T44[2][4]={{-512,-425,-523,-606},{784,697,1143,1138}};
+	double RAT41[4][1]={{35},{-78},{-51},{-419}};
+	double RMT42T21[4][1]={{-736},{10},{-112},{171}};
+	double RMT42T22[4][2]={{-1101,-5109},{60,936},{-317,-3653},{211,325}};
+	double RMT42T24[4][4]={{1334,10718,651,231},{562,766,-180,150},{-1722,-1394,667,-473},{-887,-3397,19,-206}};
+	double RTT44[4][4]={{1,6,9,5},{2,5,8,4},{7,7,7,3},{4,8,6,2}};
+	double RMT44T41[4][1]={{-2387},{-4171},{-3585},{-1321}};
+	double RMT44T42[4][2]={{-308,-268},{-611,-99},{-816,118},{-432,122}};
+	double RAT44[4][4]={{13,15,21,19},{27,27,30,48},{87,53,19,9},{59,14,15,49}};
+	double RST44[4][4]={{-11,-11,-7,-11},{-15,-17,-16,-32},{-69,-37,-5,3},{-49,-6,-9,-45}};
+	double RMT44T44[4][4]={{816,412,192,304},{1155,583,379,687},{1146,668,466,758},{486,308,222,338}};
+
+	printf("Execution des tests unitaires.\n");
+	Transpose_Mat(2,4,T24,R42);		if (!Equal_Mat_Mat(RTT24,R42)) 		error("Erreur calcul Transposition 2x4");
+	Transpose_Mat(4,4,T44a,R44);	if (!Equal_Mat_Mat(RTT44,R44)) 		error("Erreur calcul Transposition 4x4");
+	Inverse_Mat_22(2,2,T22a,R22);	if (!Equal_Mat_Mat(RInvT22,R22)) 	error("Erreur calcul Inversion 2x2");
+	Add_Mat_Mat(2,2,T22a,2,2,T22b,R22);	if (!Equal_Mat_Mat(RAT22,R22)) 		error("Erreur calcul Addition 2x2");
+	Add_Mat_Mat(4,4,T44a,4,4,T44b,R44);	if (!Equal_Mat_Mat(RAT44,R44)) 		error("Erreur calcul Addition 4x4");
+	Add_Mat_Mat(4,1,T41a,4,1,T41b,R41);	if (!Equal_Mat_Mat(RAT41,R41)) 		error("Erreur calcul Addition 4x1");
+	Sub_Mat_Mat(2,1,T21a,2,1,T21b,R21);	if (!Equal_Mat_Mat(RST21,R21)) 		error("Erreur calcul Soustraction 2x1");
+	Sub_Mat_Mat(4,4,T44a,4,4,T44b,R44);	if (!Equal_Mat_Mat(RST44,R44)) 		error("Erreur calcul Soustraction 4x4");
+	Mul_Mat_Mat(4,4,T44a,4,4,T44b,R44);	if (!Equal_Mat_Mat(RMT44T44,R44)) 	error("Erreur calcul Multiplication 4x4 4x4");
+	Mul_Mat_Mat(4,4,T44a,4,1,T41a,R41);	if (!Equal_Mat_Mat(RMT44T41,R41)) 	error("Erreur calcul Multiplication 4x4 4x1");
+	Mul_Mat_Mat(4,4,T44a,4,2,T42a,R42);	if (!Equal_Mat_Mat(RMT44T42,R42)) 	error("Erreur calcul Multiplication 4x4 4x2");
+	Mul_Mat_Mat(4,2,T42a,2,1,T21a,R41);	if (!Equal_Mat_Mat(RMT42T21,R41)) 	error("Erreur calcul Multiplication 4x2 2x1");
+	Mul_Mat_Mat(4,2,T42a,2,2,T22a,R42);	if (!Equal_Mat_Mat(RMT42T22,R42)) 	error("Erreur calcul Multiplication 4x2 2x2");
+	Mul_Mat_Mat(4,2,T42a,2,4,T24,R44);	if (!Equal_Mat_Mat(RMT42T24,R44)) 	error("Erreur calcul Multiplication 4x2 2x4");
+	Mul_Mat_Mat(2,4,T24,4,1,T41a,R21);	if (!Equal_Mat_Mat(RMT24T41,R21)) 	error("Erreur calcul Multiplication 2x4 4x1");
+	Mul_Mat_Mat(2,4,T24,4,2,T42a,R22);	if (!Equal_Mat_Mat(RMT24T42,R22)) 	error("Erreur calcul Multiplication 2x4 4x2");
+	Mul_Mat_Mat(2,4,T24,4,4,T44a,R24);	if (!Equal_Mat_Mat(RMT24T44,R24)) 	error("Erreur calcul Multiplication 2x4 4x4");
+	printf("Test unitaires OK.\n");
+}
+
+int main(int argc,char **argv){
+
+	tests_unitaires();
+
+	FILE* fichier = fopen("pos_t_x_y.dat","r");
+	if (fichier == NULL)
+        error("Impossible d'ouvrir le fichier GPGGA_data.dat");
+
+    FILE * Fout = Fout = fopen("output.dat","w");
+	if (fichier == NULL)
+        error("Impossible d'ouvrir le fichier output.dat");
+
+	printf("Kalman\n");
+	double t = 0;
+	double t0,x0,y0;
+	double xobs,yobs;
+	double oldx,oldy;
+	double dx=0,dy=0,dt=0.1;
+	int cpt = 0;
+
+	// kalman param
+	double sigma_etat = 10.0;
+	double sigma_observation = 2.0;
+	double X[4][1] = {{0},{0},{0},{0}};
+
+	double P[4][4] = 	{{sigma_etat*sigma_etat, 0, 0, 0},
+						 {0, sigma_etat*sigma_etat, 0, 0},
+						 {0, 0, 0, 0},
+						 {0, 0, 0, 0}};
+
+	double Q[4][4] =	{{0, 0, 0, 0},
+						 {0, 0, 0, 0},
+						 {0, 0, 0.1, 0},
+						 {0, 0, 0, 0.1}};
+
+	double R[2][2] = 	{{sigma_observation*sigma_observation, 0},
+						 {0 , sigma_observation*sigma_observation}};
+
+	double K[4][2];
+	double H[2][4] = 	{{1, 0, 0, 0},
+						 {0, 1, 0, 0}};
+	double HT[4][2];
+	Transpose_Mat(2,4,H,HT);
+
+	double F[4][4] =	{{1, 0, dt, 0},
+						 {0, 1, 0, dt},
+						 {0, 0, 1, 0},
+						 {0, 0, 0, 1}};
+	double FT[4][4];
+	Transpose_Mat(4,4,F,FT);
+
+	while(fscanf(fichier, "%lf %lf %lf", &t, &xobs, &yobs)>0){
+		printf("-------------%04d--------------\n",cpt);
+
+		if (cpt ==0)
+		{
+			t0=t;x0=xobs;y0=yobs;
+			xobs=xobs-x0;yobs=yobs-y0;
+			Plot_Mat(F,"F = ");
+			Plot_Mat(H,"H = ");
+			Plot_Mat(R,"R = ");
+		}
+		else
+		{
+			t -= t0;xobs -= x0;yobs -= y0;
+
+			debug=0; ///Mettre à 1 pour afficher les matrices.
+			///Ajouter votre code ci-dessous///
+			// Kalman
+
+			// X = F*X
+			Plot_Mat(X," X(k+1|k) = ");
+
+			//P = F*P*F'+Q;
+			Plot_Mat(P,"P(k+1|k) = F.P(k|k).FT + Q = ");
+
+			// K = P*H' / ( H*P*H' + R);
+			Plot_Mat(K,"K = ");
+
+			//X = X + K*([xobs(i);yobs(i)]-H*X);
+			//Plot_Mat(Delta,"DELTA = Obs - H.X(k+1|k)");
+            Plot_Mat(X," X(k+1|k+1) = X(k+1|k) + K.Delta = ");
+
+			// P = P - K*H*P;
+            Plot_Mat(P," P(k+1|k+1) = P(k+1|k) - K.H.P(k+1|k) = ");
+
+			/// La matrice X doit contenir la position filtrée ///
+		}
+		t = cpt * dt;
+		dx = (xobs - oldx)/dt;
+		dy = (yobs - oldy)/dt;
+		fprintf(Fout,"%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\n",t,xobs,yobs,sqrt(dx*dx+dy*dy)*dt,X[0][0],X[1][0],X[2][0],X[3][0],sqrt(X[2][0]*X[2][0]+X[3][0]*X[3][0])*dt);
+		oldx = xobs;
+		oldy = yobs;
+		cpt ++;
+	}
+	fclose(Fout);
+	fclose(fichier);
+
+	system ("gnuplot -p -e \"plot 'output.dat' u 5:6 w l, '' u 2:3 w l\";");
+	system ("gnuplot -p -e \"plot 'output.dat' u 1:9 w l, '' u 1:4 w l\";");
+	system ("gnuplot -p -e \"plot 'output.dat' u 9 w l  , 'vitesse_reelle.dat' u 2 w l\";");
+	return 0;
+}
