WebSVN - Projects - Blame - Rev 411 - /FollowMe/temp/FollowMe/main.c

Rev	Author	Line No.	Line
406	joko	1	#include <avr/boot.h>
		2
		3	#include <avr/io.h>
		4	#include <avr/interrupt.h>
		5
		6	#include "main.h"
		7	#include "timer0.h"
		8	#include "uart0.h"
		9	#include "uart1.h"
		10	#include "fat16.h"
		11	#include "led.h"
		12	#include "menu.h"
		13	#include "printf_P.h"
		14	#include "analog.h"
		15	#include "gps.h"
		16	#include "button.h"
411	killagreg	17	//#include "logging.h"
406	joko	18	#include "settings.h"
		19
		20	#define FOLLOWME_INTERVAL 1000 // 1 second update
		21	#define CELLUNDERVOLTAGE 32 // lowest allowed voltage/cell; 32 = 3.2V
		22
		23	#ifdef USE_FOLLOWME
		24	int16_t UBat = 120;
		25	int16_t Zellenzahl = 0;
		26	int16_t PowerOn = 0;
		27	int16_t i = 0;
		28	int16_t delay = 0;
		29	int16_t FollowMe_active = 0;
		30	#endif
		31
		32	uint16_t Error = 0;
		33
		34	typedef enum
		35	{
		36	STATE_UNDEFINED,
		37	STATE_IDLE,
		38	STATE_SEND_FOLLOWME
		39	} SysState_t;
		40
		41	int main (void)
		42	{
		43	static uint16_t FollowMe_Timer = 0;
		44	static SysState_t SysState = STATE_UNDEFINED;
		45
		46	// disable interrupts global
		47	cli();
		48
		49	// disable watchdog
		50	MCUSR &=~(1<<WDRF);
		51	WDTCSR \|= (1<<WDCE)\|(1<<WDE);
		52	WDTCSR = 0;
		53
		54	// initalize modules
		55	LED_Init();
		56	LEDRED_ON;
		57	TIMER0_Init();
		58	USART0_Init();
		59	UBX_Init();
		60	USART1_Init();
		61	ADC_Init();
		62	Button_Init();
		63	// enable interrupts global
		64	sei();
		65
		66	LEDRED_OFF;
		67	LEDGRN_ON;
		68
		69	// try to initialize the FAT 16 filesystem on the SD-Card
		70	Fat16_Init();
		71
		72	// initialize the settings
		73	Settings_Init();
		74	// initialize logging (needs settings)
411	killagreg	75	//Logging_Init();
406	joko	76
		77	#ifdef USE_SDLOGGER
		78	printf("\r\n\r\nHW: SD-Logger");
		79	#endif
		80	#ifdef USE_FOLLOWME
		81	printf("\r\n\r\nHW: Follow-Me");
		82	#endif
		83	printf("\r\nFollow Me\n\rSoftware:V%d.%d%c ",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a');
		84	printf("\r\n------------------------------");
		85	printf("\r\n");
		86
		87
		88	//BeepTime = 2000;
		89
		90	LCD_Clear();
		91
		92	FollowMe_Timer = SetDelay(FOLLOWME_INTERVAL);
		93
		94	while (1)
		95	{
		96	// get gps data to update the follow me position
		97	GPS_Update();
		98
		99	// check for button action and change state resectively
		100	if(GetButton())
		101	{
		102	BeepTime = 200;
		103
		104	switch(SysState)
		105	{
		106	case STATE_IDLE:
		107	if(!Error) SysState = STATE_SEND_FOLLOWME; // activate followme only of no error has occured
		108	break;
		109
		110	case STATE_SEND_FOLLOWME:
		111	SysState = STATE_IDLE;
		112	break;
		113
		114	default:
		115	SysState = STATE_IDLE;
		116	break;
		117	}
		118
		119	}
		120
		121	// state machine
		122	switch(SysState)
		123	{
		124	case STATE_SEND_FOLLOWME:
		125	if(CheckDelay(FollowMe_Timer)) // time for next message?
		126	{
		127	if(FollowMe.Position.Status == NEWDATA) // if new
		128	{ // update remaining data
		129	FollowMe_Timer = SetDelay(FOLLOWME_INTERVAL); // reset timer
		130	FollowMe.Heading = -1; // invalid heading
		131	FollowMe.ToleranceRadius = 1; // 1 meter
		132	FollowMe.HoldTime = 60; // go home after 60s without any update
		133	FollowMe.Event_Flag = 0; // no event
		134	FollowMe.reserve[0] = 0; // reserve
		135	FollowMe.reserve[1] = 0; // reserve
		136	FollowMe.reserve[2] = 0; // reserve
		137	FollowMe.reserve[3] = 0; // reserve
		138	Request_SendFollowMe = 1; // triggers serial tranmission
		139
		140	}
		141	else // now new position avalable (maybe bad gps signal condition)
		142	{
		143	FollowMe_Timer = SetDelay(FOLLOWME_INTERVAL/4); // reset timer on higer frequency
		144	}
		145	LEDGRN_TOGGLE; // indication of active follow me
		146	FollowMe_active = 1;
		147	}
		148	break;
		149
		150	case STATE_IDLE:
		151	// do nothing
		152	LEDGRN_ON;
		153	FollowMe_active = 0;
		154	break;
		155
		156	default:
		157	// triger to idle state
		158	SysState = STATE_IDLE;
		159	break;
		160
		161	}
		162
		163
		164	// restart ADConversion if ready
		165	if(ADReady)
		166	{
		167	DebugOut.Analog[0] = Adc0;
		168	DebugOut.Analog[1] = Adc1;
		169	DebugOut.Analog[2] = Adc2;
		170	DebugOut.Analog[3] = Adc3;
		171	DebugOut.Analog[4] = Adc4;
		172	DebugOut.Analog[5] = Adc5;
		173	DebugOut.Analog[6] = Adc6;
		174	DebugOut.Analog[7] = Adc7;
		175
		176	#ifdef USE_FOLLOWME
		177	// AVcc = 5V --> 5V = 1024 counts
		178	// the voltage at the voltage divider reference point is 0.8V less that the UBat
		179	// because of the silicon diode inbetween.
		180	// voltage divider R2=10K, R3=3K9
		181	// UAdc4 = R3/(R3+R2)UBat= 3.9/(3.9+10)UBat = UBat/3.564
		182	UBat = (3 * UBat + (64 * Adc4) / 368) / 4;
		183	DebugOut.Analog[8] = UBat;
		184
		185	// check for zellenzahl
		186	if(PowerOn < 100)
		187	{
		188	if(UBat<=84) Zellenzahl = 2;
		189	else Zellenzahl = 3;
		190	PowerOn++;
		191	}
		192	DebugOut.Analog[16] = Zellenzahl;
		193	DebugOut.Analog[17] = PowerOn;
		194
		195	//show recognised Zellenzahl to user
		196	if(i < Zellenzahl && PowerOn >= 100 && BeepTime == 0 && delay > 1000)
		197	{
		198	BeepTime = 100;
		199	i++;
		200	delay = 0;
		201	}
		202	if(delay < 1500) delay++;
		203
		204	// monitor battery undervoltage [...\|\|(UBat<74) as temporary workaround to protect 2s lipo packs]
		205	if(((UBat < Zellenzahl * CELLUNDERVOLTAGE)\|\|(UBat < 74)) && (PowerOn >= 100))
		206	{ // sound for low battery
		207	BeepModulation = 0x0300;
		208	if(!BeepTime)
		209	{
411	killagreg	210	//BeepTime = 6000; // 0.6 seconds
406	joko	211	}
		212	Error \|= ERROR_LOW_BAT;
		213	}
		214	else
		215	{
		216	Error &= ~ERROR_LOW_BAT;
		217	}
		218	#endif
		219	ADReady = 0;
		220	ADC_Enable(); // restart ad conversion sequence
		221	}
		222
		223	// serial communication
		224	USART0_ProcessRxData();
		225	USART0_TransmitTxData();
		226
		227	// indicate error, blinking code tbd.
		228	if(Error) LEDRED_ON;
		229	else LEDRED_OFF;
		230
		231	}
		232	return (1);
		233	}
		234

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