WebSVN - Projects - Blame - Rev 406 - /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"
		17	#include "logging.h"
		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	Fat16_Init();
		67
		68	LEDRED_OFF;
		69	LEDGRN_ON;
		70
		71	// try to initialize the FAT 16 filesystem on the SD-Card
		72	Fat16_Init();
		73
		74	// initialize the settings
		75	Settings_Init();
		76	// initialize logging (needs settings)
		77	Logging_Init();
		78
		79	#ifdef USE_SDLOGGER
		80	printf("\r\n\r\nHW: SD-Logger");
		81	#endif
		82	#ifdef USE_FOLLOWME
		83	printf("\r\n\r\nHW: Follow-Me");
		84	#endif
		85	printf("\r\nFollow Me\n\rSoftware:V%d.%d%c ",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a');
		86	printf("\r\n------------------------------");
		87	printf("\r\n");
		88
		89
		90	//BeepTime = 2000;
		91
		92	LCD_Clear();
		93
		94	FollowMe_Timer = SetDelay(FOLLOWME_INTERVAL);
		95
		96	while (1)
		97	{
		98	// get gps data to update the follow me position
		99	GPS_Update();
		100
		101	// check for button action and change state resectively
		102	if(GetButton())
		103	{
		104	BeepTime = 200;
		105
		106	switch(SysState)
		107	{
		108	case STATE_IDLE:
		109	if(!Error) SysState = STATE_SEND_FOLLOWME; // activate followme only of no error has occured
		110	break;
		111
		112	case STATE_SEND_FOLLOWME:
		113	SysState = STATE_IDLE;
		114	break;
		115
		116	default:
		117	SysState = STATE_IDLE;
		118	break;
		119	}
		120
		121	}
		122
		123	// state machine
		124	switch(SysState)
		125	{
		126	case STATE_SEND_FOLLOWME:
		127	if(CheckDelay(FollowMe_Timer)) // time for next message?
		128	{
		129	if(FollowMe.Position.Status == NEWDATA) // if new
		130	{ // update remaining data
		131	FollowMe_Timer = SetDelay(FOLLOWME_INTERVAL); // reset timer
		132	FollowMe.Heading = -1; // invalid heading
		133	FollowMe.ToleranceRadius = 1; // 1 meter
		134	FollowMe.HoldTime = 60; // go home after 60s without any update
		135	FollowMe.Event_Flag = 0; // no event
		136	FollowMe.reserve[0] = 0; // reserve
		137	FollowMe.reserve[1] = 0; // reserve
		138	FollowMe.reserve[2] = 0; // reserve
		139	FollowMe.reserve[3] = 0; // reserve
		140	Request_SendFollowMe = 1; // triggers serial tranmission
		141
		142	}
		143	else // now new position avalable (maybe bad gps signal condition)
		144	{
		145	FollowMe_Timer = SetDelay(FOLLOWME_INTERVAL/4); // reset timer on higer frequency
		146	}
		147	LEDGRN_TOGGLE; // indication of active follow me
		148	FollowMe_active = 1;
		149	}
		150	break;
		151
		152	case STATE_IDLE:
		153	// do nothing
		154	LEDGRN_ON;
		155	FollowMe_active = 0;
		156	break;
		157
		158	default:
		159	// triger to idle state
		160	SysState = STATE_IDLE;
		161	break;
		162
		163	}
		164
		165
		166	// restart ADConversion if ready
		167	if(ADReady)
		168	{
		169	DebugOut.Analog[0] = Adc0;
		170	DebugOut.Analog[1] = Adc1;
		171	DebugOut.Analog[2] = Adc2;
		172	DebugOut.Analog[3] = Adc3;
		173	DebugOut.Analog[4] = Adc4;
		174	DebugOut.Analog[5] = Adc5;
		175	DebugOut.Analog[6] = Adc6;
		176	DebugOut.Analog[7] = Adc7;
		177
		178	#ifdef USE_FOLLOWME
		179	// AVcc = 5V --> 5V = 1024 counts
		180	// the voltage at the voltage divider reference point is 0.8V less that the UBat
		181	// because of the silicon diode inbetween.
		182	// voltage divider R2=10K, R3=3K9
		183	// UAdc4 = R3/(R3+R2)UBat= 3.9/(3.9+10)UBat = UBat/3.564
		184	UBat = (3 * UBat + (64 * Adc4) / 368) / 4;
		185	DebugOut.Analog[8] = UBat;
		186
		187	// check for zellenzahl
		188	if(PowerOn < 100)
		189	{
		190	if(UBat<=84) Zellenzahl = 2;
		191	else Zellenzahl = 3;
		192	PowerOn++;
		193	}
		194	DebugOut.Analog[16] = Zellenzahl;
		195	DebugOut.Analog[17] = PowerOn;
		196
		197	//show recognised Zellenzahl to user
		198	if(i < Zellenzahl && PowerOn >= 100 && BeepTime == 0 && delay > 1000)
		199	{
		200	BeepTime = 100;
		201	i++;
		202	delay = 0;
		203	}
		204	if(delay < 1500) delay++;
		205
		206	// monitor battery undervoltage [...\|\|(UBat<74) as temporary workaround to protect 2s lipo packs]
		207	if(((UBat < Zellenzahl * CELLUNDERVOLTAGE)\|\|(UBat < 74)) && (PowerOn >= 100))
		208	{ // sound for low battery
		209	BeepModulation = 0x0300;
		210	if(!BeepTime)
		211	{
		212	BeepTime = 6000; // 0.6 seconds
		213	}
		214	Error \|= ERROR_LOW_BAT;
		215	}
		216	else
		217	{
		218	Error &= ~ERROR_LOW_BAT;
		219	}
		220	#endif
		221	ADReady = 0;
		222	ADC_Enable(); // restart ad conversion sequence
		223	}
		224
		225	// serial communication
		226	USART0_ProcessRxData();
		227	USART0_TransmitTxData();
		228
		229	// indicate error, blinking code tbd.
		230	if(Error) LEDRED_ON;
		231	else LEDRED_OFF;
		232
		233	}
		234	return (1);
		235	}
		236

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