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Rev | Author | Line No. | Line |
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231 | killagreg | 1 | #include <avr/boot.h> |
2 | |||
3 | #include <avr/io.h> |
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4 | #include <avr/interrupt.h> |
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5 | |||
6 | #include "main.h" |
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7 | #include "timer0.h" |
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8 | #include "uart0.h" |
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9 | #include "uart1.h" |
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10 | #include "fat16.h" |
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11 | #include "led.h" |
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12 | #include "menu.h" |
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13 | #include "printf_P.h" |
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273 | killagreg | 14 | #include "analog.h" |
333 | killagreg | 15 | #include "gps.h" |
276 | killagreg | 16 | #include "button.h" |
231 | killagreg | 17 | |
333 | killagreg | 18 | |
19 | #define FOLLOWME_INTERVAL 1000 // 1 second update |
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340 | joko | 20 | #define CELLUNDERVOLTAGE 31 // lowest allowed voltage/cell; 31 = 3.1V |
333 | killagreg | 21 | |
273 | killagreg | 22 | #ifdef USE_FOLLOWME |
23 | int16_t UBat = 120; |
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303 | joko | 24 | int16_t Zellenzahl = 0; |
25 | int16_t PowerOn = 0; |
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26 | int16_t i = 0; |
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27 | int16_t delay = 0; |
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273 | killagreg | 28 | #endif |
29 | |||
333 | killagreg | 30 | uint16_t Error = 0; |
274 | killagreg | 31 | |
333 | killagreg | 32 | typedef enum |
33 | { |
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34 | STATE_UNDEFINED, |
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35 | STATE_IDLE, |
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36 | STATE_SEND_FOLLOWME |
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37 | } SysState_t; |
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274 | killagreg | 38 | |
231 | killagreg | 39 | int main (void) |
40 | { |
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333 | killagreg | 41 | static uint16_t FollowMe_Timer = 0; |
42 | static SysState_t SysState = STATE_UNDEFINED; |
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274 | killagreg | 43 | |
231 | killagreg | 44 | // disable interrupts global |
45 | cli(); |
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46 | |||
47 | // disable watchdog |
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48 | MCUSR &=~(1<<WDRF); |
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49 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
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50 | WDTCSR = 0; |
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51 | |||
52 | // initalize modules |
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53 | LED_Init(); |
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271 | killagreg | 54 | LEDRED_ON; |
231 | killagreg | 55 | TIMER0_Init(); |
56 | USART0_Init(); |
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274 | killagreg | 57 | UBX_Init(); |
231 | killagreg | 58 | USART1_Init(); |
273 | killagreg | 59 | ADC_Init(); |
276 | killagreg | 60 | Button_Init(); |
231 | killagreg | 61 | // enable interrupts global |
62 | sei(); |
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297 | killagreg | 63 | |
333 | killagreg | 64 | Fat16_Init(); |
65 | |||
271 | killagreg | 66 | LEDRED_OFF; |
67 | LEDGRN_ON; |
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231 | killagreg | 68 | |
297 | killagreg | 69 | // try to initialize the FAT 16 filesystem on the SD-Card |
70 | Fat16_Init(); |
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71 | |||
231 | killagreg | 72 | #ifdef USE_SDLOGGER |
297 | killagreg | 73 | printf("\r\n\r\nHW: SD-Logger"); |
231 | killagreg | 74 | #endif |
75 | #ifdef USE_FOLLOWME |
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297 | killagreg | 76 | printf("\r\n\r\nHW: Follow-Me"); |
231 | killagreg | 77 | #endif |
297 | killagreg | 78 | printf("\r\nFollow Me\n\rSoftware:V%d.%d%c ",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a'); |
79 | printf("\r\n------------------------------"); |
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80 | printf("\r\n"); |
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231 | killagreg | 81 | |
82 | |||
303 | joko | 83 | //BeepTime = 2000; |
271 | killagreg | 84 | |
231 | killagreg | 85 | LCD_Clear(); |
86 | |||
333 | killagreg | 87 | FollowMe_Timer = SetDelay(FOLLOWME_INTERVAL); |
88 | |||
231 | killagreg | 89 | while (1) |
90 | { |
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333 | killagreg | 91 | // get gps data to update the follow me position |
92 | GPS_Update(); |
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93 | |||
94 | // check for button action and change state resectively |
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294 | killagreg | 95 | if(GetButton()) |
96 | { |
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303 | joko | 97 | BeepTime = 200; |
297 | killagreg | 98 | |
333 | killagreg | 99 | switch(SysState) |
100 | { |
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101 | case STATE_IDLE: |
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102 | if(!Error) SysState = STATE_SEND_FOLLOWME; // activate followme only of no error has occured |
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103 | break; |
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104 | |||
105 | case STATE_SEND_FOLLOWME: |
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106 | SysState = STATE_IDLE; |
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107 | break; |
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108 | |||
109 | default: |
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110 | SysState = STATE_IDLE; |
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111 | break; |
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112 | } |
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113 | |||
294 | killagreg | 114 | } |
276 | killagreg | 115 | |
333 | killagreg | 116 | // state machine |
117 | switch(SysState) |
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118 | { |
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119 | case STATE_SEND_FOLLOWME: |
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120 | if(CheckDelay(FollowMe_Timer)) // time for next message? |
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121 | { |
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122 | if(FollowMe.Position.Status == NEWDATA) // if new |
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123 | { // update remaining data |
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124 | FollowMe_Timer = SetDelay(FOLLOWME_INTERVAL); // reset timer |
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125 | FollowMe.Heading = -1; // invalid heading |
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126 | FollowMe.ToleranceRadius = 1; // 1 meter |
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127 | FollowMe.HoldTime = 60; // go home after 60s without any update |
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128 | FollowMe.Event_Flag = 0; // no event |
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129 | FollowMe.reserve[0] = 0; // reserve |
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130 | FollowMe.reserve[1] = 0; // reserve |
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131 | FollowMe.reserve[2] = 0; // reserve |
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132 | FollowMe.reserve[3] = 0; // reserve |
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133 | Request_SendFollowMe = 1; // triggers serial tranmission |
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134 | |||
135 | } |
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136 | else // now new position avalable (maybe bad gps signal condition) |
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137 | { |
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138 | FollowMe_Timer = SetDelay(FOLLOWME_INTERVAL/4); // reset timer on higer frequency |
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139 | } |
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140 | LEDGRN_TOGGLE; // indication of active follow me |
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141 | } |
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142 | break; |
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143 | |||
144 | case STATE_IDLE: |
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145 | // do nothing |
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146 | LEDGRN_ON; |
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147 | break; |
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148 | |||
149 | default: |
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150 | // triger to idle state |
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151 | SysState = STATE_IDLE; |
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152 | break; |
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153 | |||
154 | } |
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155 | |||
156 | |||
273 | killagreg | 157 | // restart ADConversion if ready |
158 | if(ADReady) |
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159 | { |
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160 | DebugOut.Analog[0] = Adc0; |
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161 | DebugOut.Analog[1] = Adc1; |
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162 | DebugOut.Analog[2] = Adc2; |
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163 | DebugOut.Analog[3] = Adc3; |
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164 | DebugOut.Analog[4] = Adc4; |
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165 | DebugOut.Analog[5] = Adc5; |
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166 | DebugOut.Analog[6] = Adc6; |
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167 | DebugOut.Analog[7] = Adc7; |
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168 | |||
169 | #ifdef USE_FOLLOWME |
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170 | // AVcc = 5V --> 5V = 1024 counts |
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171 | // the voltage at the voltage divider reference point is 0.8V less that the UBat |
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172 | // because of the silicon diode inbetween. |
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284 | killagreg | 173 | // voltage divider R2=10K, R3=3K9 |
174 | // UAdc4 = R3/(R3+R2)*UBat= 3.9/(3.9+10)*UBat = UBat/3.564 |
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175 | UBat = (3 * UBat + (64 * Adc4) / 368) / 4; |
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273 | killagreg | 176 | DebugOut.Analog[8] = UBat; |
333 | killagreg | 177 | |
303 | joko | 178 | // check for zellenzahl |
179 | if(PowerOn < 100) |
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180 | { |
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181 | if(UBat<=84) Zellenzahl = 2; |
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182 | else Zellenzahl = 3; |
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183 | PowerOn++; |
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184 | } |
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185 | DebugOut.Analog[16] = Zellenzahl; |
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186 | DebugOut.Analog[17] = PowerOn; |
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333 | killagreg | 187 | |
303 | joko | 188 | //show recognised Zellenzahl to user |
333 | killagreg | 189 | if(i < Zellenzahl && PowerOn >= 100 && BeepTime == 0 && delay > 1000) |
303 | joko | 190 | { |
191 | BeepTime = 100; |
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192 | i++; |
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193 | delay = 0; |
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194 | } |
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195 | if(delay < 1500) delay++; |
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333 | killagreg | 196 | |
303 | joko | 197 | // monitor battery undervoltage |
340 | joko | 198 | if((UBat < Zellenzahl * CELLUNDERVOLTAGE) && (PowerOn >= 100)) |
333 | killagreg | 199 | { // sound for low battery |
200 | BeepModulation = 0x0300; |
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201 | if(!BeepTime) |
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202 | { |
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203 | BeepTime = 6000; // 0.6 seconds |
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204 | } |
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205 | Error |= ERROR_LOW_BAT; |
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206 | } |
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207 | else |
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208 | { |
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209 | Error &= ~ERROR_LOW_BAT; |
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210 | } |
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273 | killagreg | 211 | #endif |
212 | ADReady = 0; |
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274 | killagreg | 213 | ADC_Enable(); // restart ad conversion sequence |
273 | killagreg | 214 | } |
274 | killagreg | 215 | |
333 | killagreg | 216 | // serial communication |
217 | USART0_ProcessRxData(); |
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218 | USART0_TransmitTxData(); |
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274 | killagreg | 219 | |
333 | killagreg | 220 | // indicate error, blinking code tbd. |
221 | if(Error) LEDRED_ON; |
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222 | else LEDRED_OFF; |
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274 | killagreg | 223 | |
231 | killagreg | 224 | } |
225 | return (1); |
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226 | } |
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227 |