WebSVN - Projects - Blame - Rev 426 - /FollowMe/trunk/main.c

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

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