Rev 303 | Go to most recent revision | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 303 | Rev 333 | ||
|---|---|---|---|
| 1 | #include <avr/boot.h> |
1 | #include <avr/boot.h> |
| 2 | 2 | ||
| 3 | #include <avr/io.h> |
3 | #include <avr/io.h> |
| 4 | #include <avr/interrupt.h> |
4 | #include <avr/interrupt.h> |
| 5 | 5 | ||
| 6 | #include "main.h" |
6 | #include "main.h" |
| 7 | #include "timer0.h" |
7 | #include "timer0.h" |
| 8 | #include "uart0.h" |
8 | #include "uart0.h" |
| 9 | #include "uart1.h" |
9 | #include "uart1.h" |
| 10 | #include "fat16.h" |
10 | #include "fat16.h" |
| 11 | #include "led.h" |
11 | #include "led.h" |
| 12 | #include "menu.h" |
12 | #include "menu.h" |
| 13 | #include "printf_P.h" |
13 | #include "printf_P.h" |
| 14 | #include "analog.h" |
14 | #include "analog.h" |
| 15 | #include "ubx.h" |
15 | #include "gps.h" |
| 16 | #include "button.h" |
16 | #include "button.h" |
| - | 17 | ||
| - | 18 | ||
| - | 19 | #define FOLLOWME_INTERVAL 1000 // 1 second update |
|
| 17 | 20 | ||
| 18 | #ifdef USE_FOLLOWME |
21 | #ifdef USE_FOLLOWME |
| 19 | int16_t UBat = 120; |
22 | int16_t UBat = 120; |
| 20 | int16_t Zellenzahl = 0; |
23 | int16_t Zellenzahl = 0; |
| 21 | int16_t PowerOn = 0; |
24 | int16_t PowerOn = 0; |
| 22 | int16_t i = 0; |
25 | int16_t i = 0; |
| 23 | int16_t delay = 0; |
26 | int16_t delay = 0; |
| 24 | #endif |
27 | #endif |
| 25 | 28 | ||
| - | 29 | uint16_t Error = 0; |
|
| - | 30 | ||
| - | 31 | typedef enum |
|
| - | 32 | { |
|
| - | 33 | STATE_UNDEFINED, |
|
| - | 34 | STATE_IDLE, |
|
| 26 | #define GPS_RX_TIMEOUT 0x0001 |
35 | STATE_SEND_FOLLOWME |
| 27 | 36 | } SysState_t; |
|
| 28 | 37 | ||
| 29 | int main (void) |
38 | int main (void) |
| 30 | { |
39 | { |
| 31 | static uint16_t GPS_Timer = 0; |
40 | static uint16_t FollowMe_Timer = 0; |
| 32 | static uint16_t Error = 0; |
41 | static SysState_t SysState = STATE_UNDEFINED; |
| 33 | 42 | ||
| 34 | // disable interrupts global |
43 | // disable interrupts global |
| 35 | cli(); |
44 | cli(); |
| 36 | 45 | ||
| 37 | // disable watchdog |
46 | // disable watchdog |
| 38 | MCUSR &=~(1<<WDRF); |
47 | MCUSR &=~(1<<WDRF); |
| 39 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
48 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
| 40 | WDTCSR = 0; |
49 | WDTCSR = 0; |
| 41 | 50 | ||
| 42 | // initalize modules |
51 | // initalize modules |
| 43 | LED_Init(); |
52 | LED_Init(); |
| 44 | LEDRED_ON; |
53 | LEDRED_ON; |
| 45 | TIMER0_Init(); |
54 | TIMER0_Init(); |
| 46 | USART0_Init(); |
55 | USART0_Init(); |
| 47 | UBX_Init(); |
56 | UBX_Init(); |
| 48 | USART1_Init(); |
57 | USART1_Init(); |
| 49 | ADC_Init(); |
58 | ADC_Init(); |
| 50 | Button_Init(); |
59 | Button_Init(); |
| 51 | // enable interrupts global |
60 | // enable interrupts global |
| 52 | sei(); |
61 | sei(); |
| - | 62 | ||
| - | 63 | Fat16_Init(); |
|
| 53 | 64 | ||
| 54 | LEDRED_OFF; |
- | |
| 55 | #ifdef USE_FOLLOWME |
65 | LEDRED_OFF; |
| 56 | LEDGRN_ON; |
- | |
| 57 | #endif |
66 | LEDGRN_ON; |
| 58 | 67 | ||
| 59 | // try to initialize the FAT 16 filesystem on the SD-Card |
68 | // try to initialize the FAT 16 filesystem on the SD-Card |
| 60 | Fat16_Init(); |
69 | Fat16_Init(); |
| 61 | 70 | ||
| 62 | #ifdef USE_SDLOGGER |
71 | #ifdef USE_SDLOGGER |
| 63 | printf("\r\n\r\nHW: SD-Logger"); |
72 | printf("\r\n\r\nHW: SD-Logger"); |
| 64 | #endif |
73 | #endif |
| 65 | #ifdef USE_FOLLOWME |
74 | #ifdef USE_FOLLOWME |
| 66 | printf("\r\n\r\nHW: Follow-Me"); |
75 | printf("\r\n\r\nHW: Follow-Me"); |
| 67 | #endif |
76 | #endif |
| 68 | printf("\r\nFollow Me\n\rSoftware:V%d.%d%c ",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a'); |
77 | printf("\r\nFollow Me\n\rSoftware:V%d.%d%c ",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a'); |
| 69 | printf("\r\n------------------------------"); |
78 | printf("\r\n------------------------------"); |
| 70 | printf("\r\n"); |
79 | printf("\r\n"); |
| 71 | 80 | ||
| 72 | - | ||
| 73 | #ifdef USE_FOLLOWME |
81 | |
| 74 | //BeepTime = 2000; |
- | |
| 75 | #endif |
82 | //BeepTime = 2000; |
| 76 | 83 | ||
| 77 | LCD_Clear(); |
84 | LCD_Clear(); |
| 78 | 85 | ||
| - | 86 | FollowMe_Timer = SetDelay(FOLLOWME_INTERVAL); |
|
| 79 | GPS_Timer = SetDelay(1000); |
87 | |
| 80 | while (1) |
88 | while (1) |
| - | 89 | { |
|
| - | 90 | // get gps data to update the follow me position |
|
| - | 91 | GPS_Update(); |
|
| 81 | { |
92 | |
| 82 | // check for button action |
93 | // check for button action and change state resectively |
| 83 | if(GetButton()) |
94 | if(GetButton()) |
| 84 | { |
95 | { |
| 85 | BeepTime = 200; |
96 | BeepTime = 200; |
| - | 97 | ||
| 86 | Fat16_Init(); |
98 | switch(SysState) |
| - | 99 | { |
|
| - | 100 | case STATE_IDLE: |
|
| - | 101 | if(!Error) SysState = STATE_SEND_FOLLOWME; // activate followme only of no error has occured |
|
| - | 102 | break; |
|
| - | 103 | ||
| - | 104 | case STATE_SEND_FOLLOWME: |
|
| - | 105 | SysState = STATE_IDLE; |
|
| - | 106 | break; |
|
| - | 107 | ||
| - | 108 | default: |
|
| - | 109 | SysState = STATE_IDLE; |
|
| - | 110 | break; |
|
| - | 111 | } |
|
| 87 | 112 | ||
| 88 | } |
113 | } |
| - | 114 | ||
| - | 115 | // state machine |
|
| - | 116 | switch(SysState) |
|
| - | 117 | { |
|
| - | 118 | case STATE_SEND_FOLLOWME: |
|
| - | 119 | if(CheckDelay(FollowMe_Timer)) // time for next message? |
|
| - | 120 | { |
|
| - | 121 | if(FollowMe.Position.Status == NEWDATA) // if new |
|
| - | 122 | { // update remaining data |
|
| - | 123 | FollowMe_Timer = SetDelay(FOLLOWME_INTERVAL); // reset timer |
|
| - | 124 | FollowMe.Heading = -1; // invalid heading |
|
| - | 125 | FollowMe.ToleranceRadius = 1; // 1 meter |
|
| - | 126 | FollowMe.HoldTime = 60; // go home after 60s without any update |
|
| - | 127 | FollowMe.Event_Flag = 0; // no event |
|
| - | 128 | FollowMe.reserve[0] = 0; // reserve |
|
| - | 129 | FollowMe.reserve[1] = 0; // reserve |
|
| - | 130 | FollowMe.reserve[2] = 0; // reserve |
|
| - | 131 | FollowMe.reserve[3] = 0; // reserve |
|
| - | 132 | Request_SendFollowMe = 1; // triggers serial tranmission |
|
| - | 133 | ||
| - | 134 | } |
|
| - | 135 | else // now new position avalable (maybe bad gps signal condition) |
|
| - | 136 | { |
|
| - | 137 | FollowMe_Timer = SetDelay(FOLLOWME_INTERVAL/4); // reset timer on higer frequency |
|
| - | 138 | } |
|
| - | 139 | LEDGRN_TOGGLE; // indication of active follow me |
|
| - | 140 | } |
|
| - | 141 | break; |
|
| - | 142 | ||
| - | 143 | case STATE_IDLE: |
|
| - | 144 | // do nothing |
|
| - | 145 | LEDGRN_ON; |
|
| - | 146 | break; |
|
| - | 147 | ||
| - | 148 | default: |
|
| - | 149 | // triger to idle state |
|
| - | 150 | SysState = STATE_IDLE; |
|
| - | 151 | break; |
|
| - | 152 | ||
| - | 153 | } |
|
| - | 154 | ||
| 89 | 155 | ||
| 90 | // restart ADConversion if ready |
156 | // restart ADConversion if ready |
| 91 | if(ADReady) |
157 | if(ADReady) |
| 92 | { |
158 | { |
| 93 | DebugOut.Analog[0] = Adc0; |
159 | DebugOut.Analog[0] = Adc0; |
| 94 | DebugOut.Analog[1] = Adc1; |
160 | DebugOut.Analog[1] = Adc1; |
| 95 | DebugOut.Analog[2] = Adc2; |
161 | DebugOut.Analog[2] = Adc2; |
| 96 | DebugOut.Analog[3] = Adc3; |
162 | DebugOut.Analog[3] = Adc3; |
| 97 | DebugOut.Analog[4] = Adc4; |
163 | DebugOut.Analog[4] = Adc4; |
| 98 | DebugOut.Analog[5] = Adc5; |
164 | DebugOut.Analog[5] = Adc5; |
| 99 | DebugOut.Analog[6] = Adc6; |
165 | DebugOut.Analog[6] = Adc6; |
| 100 | DebugOut.Analog[7] = Adc7; |
166 | DebugOut.Analog[7] = Adc7; |
| 101 | 167 | ||
| 102 | #ifdef USE_FOLLOWME |
168 | #ifdef USE_FOLLOWME |
| 103 | // AVcc = 5V --> 5V = 1024 counts |
169 | // AVcc = 5V --> 5V = 1024 counts |
| 104 | // the voltage at the voltage divider reference point is 0.8V less that the UBat |
170 | // the voltage at the voltage divider reference point is 0.8V less that the UBat |
| 105 | // because of the silicon diode inbetween. |
171 | // because of the silicon diode inbetween. |
| 106 | // voltage divider R2=10K, R3=3K9 |
172 | // voltage divider R2=10K, R3=3K9 |
| 107 | // UAdc4 = R3/(R3+R2)*UBat= 3.9/(3.9+10)*UBat = UBat/3.564 |
173 | // UAdc4 = R3/(R3+R2)*UBat= 3.9/(3.9+10)*UBat = UBat/3.564 |
| 108 | UBat = (3 * UBat + (64 * Adc4) / 368) / 4; |
174 | UBat = (3 * UBat + (64 * Adc4) / 368) / 4; |
| 109 | DebugOut.Analog[8] = UBat; |
175 | DebugOut.Analog[8] = UBat; |
| 110 | 176 | ||
| 111 | // check for zellenzahl |
177 | // check for zellenzahl |
| 112 | if(PowerOn < 100) |
178 | if(PowerOn < 100) |
| 113 | { |
179 | { |
| 114 | if(UBat<=84) Zellenzahl = 2; |
180 | if(UBat<=84) Zellenzahl = 2; |
| 115 | else Zellenzahl = 3; |
181 | else Zellenzahl = 3; |
| 116 | PowerOn++; |
182 | PowerOn++; |
| 117 | } |
183 | } |
| 118 | DebugOut.Analog[16] = Zellenzahl; |
184 | DebugOut.Analog[16] = Zellenzahl; |
| 119 | DebugOut.Analog[17] = PowerOn; |
185 | DebugOut.Analog[17] = PowerOn; |
| 120 | 186 | ||
| 121 | //show recognised Zellenzahl to user |
187 | //show recognised Zellenzahl to user |
| 122 | if(i < Zellenzahl && PowerOn >= 100 && BeepTime == 0 && delay > 1000) |
188 | if(i < Zellenzahl && PowerOn >= 100 && BeepTime == 0 && delay > 1000) |
| 123 | { |
189 | { |
| 124 | BeepTime = 100; |
190 | BeepTime = 100; |
| 125 | i++; |
191 | i++; |
| 126 | delay = 0; |
192 | delay = 0; |
| 127 | } |
193 | } |
| 128 | if(delay < 1500) delay++; |
194 | if(delay < 1500) delay++; |
| 129 | - | ||
| 130 | // monitor battery undervoltage |
- | |
| 131 | if(UBat < Zellenzahl * 31 && PowerOn >= 100) BeepTime = 200; |
- | |
| 132 | #endif |
- | |
| 133 | ADReady = 0; |
- | |
| 134 | ADC_Enable(); // restart ad conversion sequence |
- | |
| 135 | } |
- | |
| 136 | - | ||
| 137 | 195 | ||
| 138 | if(GPSData.Status == NEWDATA) |
- | |
| 139 | { |
196 | // monitor battery undervoltage |
| 140 | Error &= ~GPS_RX_TIMEOUT; // clear possible error |
197 | if((UBat < Zellenzahl * 31) && (PowerOn >= 100)) |
| - | 198 | { // sound for low battery |
|
| 141 | GPS_Timer = SetDelay(1000); // reset timeout |
199 | BeepModulation = 0x0300; |
| 142 | if(CheckGPSOkay >= 5) |
200 | if(!BeepTime) |
| 143 | { |
201 | { |
| 144 | // trigger transmission of FollowMe message here. |
202 | BeepTime = 6000; // 0.6 seconds |
| 145 | 203 | } |
|
| 146 | CheckGPSOkay = 0; |
204 | Error |= ERROR_LOW_BAT; |
| 147 | } |
- | |
| 148 | GPSData.Status = PROCESSED; |
- | |
| 149 | } |
- | |
| 150 | else // invalid or already processed |
205 | } |
| 151 | { |
- | |
| 152 | if(CheckDelay(GPS_Timer)) |
206 | else |
| 153 | { |
207 | { |
| 154 | Error |= GPS_RX_TIMEOUT; |
208 | Error &= ~ERROR_LOW_BAT; |
| - | 209 | } |
|
| - | 210 | #endif |
|
| - | 211 | ADReady = 0; |
|
| 155 | } |
212 | ADC_Enable(); // restart ad conversion sequence |
| - | 213 | } |
|
| 156 | } |
214 | |
| 157 | 215 | // serial communication |
|
| - | 216 | USART0_ProcessRxData(); |
|
| - | 217 | USART0_TransmitTxData(); |
|
| - | 218 | ||
| - | 219 | // indicate error, blinking code tbd. |
|
| - | 220 | if(Error) LEDRED_ON; |
|
| 158 | USART0_ProcessRxData(); |
221 | else LEDRED_OFF; |
| 159 | USART0_TransmitTxData(); |
222 | |
| 160 | } |
223 | } |
| 161 | return (1); |
224 | return (1); |
| 162 | } |
225 | } |
| 163 | 226 | ||
| 164 | 227 | ||