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231 | killagreg | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
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3 | // + Nur für den privaten Gebrauch |
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4 | // + www.MikroKopter.com |
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5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
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8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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11 | // + Verkauf von Luftbildaufnahmen, usw. |
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12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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18 | // + eindeutig als Ursprung verlinkt und genannt werden |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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21 | // + Benutzung auf eigene Gefahr |
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22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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25 | // + mit unserer Zustimmung zulässig |
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26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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30 | // + this list of conditions and the following disclaimer. |
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31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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32 | // + from this software without specific prior written permission. |
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33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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34 | // + for non-commercial use (directly or indirectly) |
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35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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36 | // + with our written permission |
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37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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38 | // + clearly linked as origin |
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39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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50 | // + POSSIBILITY OF SUCH DAMAGE. |
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51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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52 | #include <avr/boot.h> |
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53 | |||
54 | #include <avr/io.h> |
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55 | #include <avr/interrupt.h> |
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56 | |||
57 | #include "main.h" |
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58 | #include "timer0.h" |
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59 | #include "uart0.h" |
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60 | #include "uart1.h" |
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61 | #include "fat16.h" |
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62 | #include "led.h" |
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63 | #include "menu.h" |
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64 | #include "printf_P.h" |
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273 | killagreg | 65 | #include "analog.h" |
274 | killagreg | 66 | #include "ubx.h" |
276 | killagreg | 67 | #include "button.h" |
231 | killagreg | 68 | |
273 | killagreg | 69 | #ifdef USE_FOLLOWME |
70 | int16_t UBat = 120; |
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71 | #endif |
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72 | |||
274 | killagreg | 73 | #define GPS_RX_TIMEOUT 0x0001 |
74 | |||
75 | |||
231 | killagreg | 76 | int main (void) |
77 | { |
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274 | killagreg | 78 | static uint16_t GPS_Timer = 0; |
79 | static uint16_t Error = 0; |
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80 | |||
231 | killagreg | 81 | // disable interrupts global |
82 | cli(); |
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83 | |||
84 | // disable watchdog |
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85 | MCUSR &=~(1<<WDRF); |
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86 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
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87 | WDTCSR = 0; |
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88 | |||
89 | // initalize modules |
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90 | LED_Init(); |
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271 | killagreg | 91 | LEDRED_ON; |
231 | killagreg | 92 | TIMER0_Init(); |
93 | USART0_Init(); |
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274 | killagreg | 94 | UBX_Init(); |
231 | killagreg | 95 | USART1_Init(); |
273 | killagreg | 96 | ADC_Init(); |
276 | killagreg | 97 | Button_Init(); |
231 | killagreg | 98 | // enable interrupts global |
99 | sei(); |
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271 | killagreg | 100 | LEDRED_OFF; |
101 | #ifdef USE_FOLLOWME |
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102 | LEDGRN_ON; |
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103 | #endif |
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231 | killagreg | 104 | |
271 | killagreg | 105 | |
106 | |||
231 | killagreg | 107 | #ifdef USE_SDLOGGER |
108 | printf("\n\rHW: SD-Logger"); |
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109 | #endif |
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110 | #ifdef USE_FOLLOWME |
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111 | printf("\n\rHW: Follow-Me"); |
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112 | #endif |
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113 | printf("\n\rFollow Me\n\rSoftware:V%d.%d%c ",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a'); |
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114 | printf("\n\r=============================="); |
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115 | printf("\n\r"); |
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116 | |||
271 | killagreg | 117 | /* |
231 | killagreg | 118 | // try to initialize the SD-Card File system |
119 | printf("\n\rInit FAT16..."); |
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120 | if(FAT16_Init()) |
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121 | { |
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122 | printf("ok"); |
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123 | } |
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124 | else |
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125 | { |
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126 | printf("failed"); |
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271 | killagreg | 127 | }*/ |
231 | killagreg | 128 | |
271 | killagreg | 129 | #ifdef USE_FOLLOWME |
130 | BeepTime = 2000; |
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131 | #endif |
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132 | |||
231 | killagreg | 133 | LCD_Clear(); |
134 | |||
274 | killagreg | 135 | GPS_Timer = SetDelay(1000); |
231 | killagreg | 136 | while (1) |
137 | { |
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276 | killagreg | 138 | // check for button action |
139 | if(GetButton()) BeepTime = 200; |
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140 | |||
273 | killagreg | 141 | // restart ADConversion if ready |
142 | if(ADReady) |
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143 | { |
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144 | DebugOut.Analog[0] = Adc0; |
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145 | DebugOut.Analog[1] = Adc1; |
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146 | DebugOut.Analog[2] = Adc2; |
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147 | DebugOut.Analog[3] = Adc3; |
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148 | DebugOut.Analog[4] = Adc4; |
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149 | DebugOut.Analog[5] = Adc5; |
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150 | DebugOut.Analog[6] = Adc6; |
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151 | DebugOut.Analog[7] = Adc7; |
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152 | |||
153 | #ifdef USE_FOLLOWME |
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154 | // AVcc = 5V --> 5V = 1024 counts |
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155 | // the voltage at the voltage divider reference point is 0.8V less that the UBat |
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156 | // because of the silicon diode inbetween. |
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284 | killagreg | 157 | // voltage divider R2=10K, R3=3K9 |
158 | // UAdc4 = R3/(R3+R2)*UBat= 3.9/(3.9+10)*UBat = UBat/3.564 |
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159 | UBat = (3 * UBat + (64 * Adc4) / 368) / 4; |
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273 | killagreg | 160 | DebugOut.Analog[8] = UBat; |
161 | #endif |
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162 | ADReady = 0; |
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274 | killagreg | 163 | ADC_Enable(); // restart ad conversion sequence |
273 | killagreg | 164 | } |
274 | killagreg | 165 | |
166 | |||
167 | if(GPSData.Status == NEWDATA) |
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168 | { |
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169 | Error &= ~GPS_RX_TIMEOUT; // clear possible error |
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170 | GPS_Timer = SetDelay(1000); // reset timeout |
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171 | if(CheckGPSOkay >= 5) |
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172 | { |
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173 | // trigger transmission of FollowMe message here. |
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174 | |||
175 | CheckGPSOkay = 0; |
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176 | } |
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177 | GPSData.Status = PROCESSED; |
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178 | } |
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179 | else // invalid or already processed |
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180 | { |
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181 | if(CheckDelay(GPS_Timer)) |
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182 | { |
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183 | Error |= GPS_RX_TIMEOUT; |
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184 | } |
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185 | } |
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186 | |||
187 | USART0_ProcessRxData(); |
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188 | USART0_TransmitTxData(); |
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231 | killagreg | 189 | } |
190 | return (1); |
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191 | } |
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192 |