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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Copyright (c) 04.2007 Holger Buss

// + Nur für den privaten Gebrauch

// + www.MikroKopter.com

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),

// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.

// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt

// + bzgl. der Nutzungsbedingungen aufzunehmen.

// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,

// + Verkauf von Luftbildaufnahmen, usw.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,

// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts

// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"

// + eindeutig als Ursprung verlinkt und genannt werden

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion

// + Benutzung auf eigene Gefahr

// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur

// + mit unserer Zustimmung zulässig

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Redistributions of source code (with or without modifications) must retain the above copyright notice,

// + this list of conditions and the following disclaimer.

// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived

// +     from this software without specific prior written permission.

// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet

// +     for non-commercial use (directly or indirectly)

// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted

// +     with our written permission

// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be

// +     clearly linked as origin

// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed

// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE

// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE

// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR

// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF

// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS

// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN

// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)

// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

// +  POSSIBILITY OF SUCH DAMAGE.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include <avr/boot.h>

#include <avr/io.h>

#include <avr/interrupt.h>

#include "main.h"

#include "timer0.h"

#include "uart0.h"

#include "uart1.h"

#include "fat16.h"

#include "led.h"

#include "menu.h"

#include "printf_P.h"

#include "analog.h"

#include "ubx.h"

#ifdef USE_FOLLOWME

int16_t UBat = 120;

#endif

#define GPS_RX_TIMEOUT  0x0001

int main (void)

{

        static uint16_t GPS_Timer = 0;

        static uint16_t Error = 0;

        // disable interrupts global

        cli();

        // disable watchdog

    MCUSR &=~(1<<WDRF);

    WDTCSR |= (1<<WDCE)|(1<<WDE);

    WDTCSR = 0;

        // initalize modules

        LED_Init();

        LEDRED_ON;

    TIMER0_Init();

        USART0_Init();

        UBX_Init();

        USART1_Init();

        ADC_Init();

        // enable interrupts global

        sei();

        LEDRED_OFF;

        #ifdef USE_FOLLOWME

        LEDGRN_ON;

        #endif

        #ifdef USE_SDLOGGER

        printf("\n\rHW: SD-Logger");

        #endif

        #ifdef USE_FOLLOWME

        printf("\n\rHW: Follow-Me");

        #endif

        printf("\n\rFollow Me\n\rSoftware:V%d.%d%c ",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a');

        printf("\n\r==============================");

        printf("\n\r");

        /*

        // try to initialize the SD-Card File system

        printf("\n\rInit FAT16...");

        if(FAT16_Init())

        {

                printf("ok");

        }

        else

        {

                printf("failed");

        }*/

        #ifdef USE_FOLLOWME

        BeepTime = 2000;

        #endif

    LCD_Clear();

        GPS_Timer = SetDelay(1000);

        while (1)

        {

                // restart ADConversion if ready

                if(ADReady)

                {

                        DebugOut.Analog[0] = Adc0;

                        DebugOut.Analog[1] = Adc1;

                        DebugOut.Analog[2] = Adc2;

                        DebugOut.Analog[3] = Adc3;

                        DebugOut.Analog[4] = Adc4;

                        DebugOut.Analog[5] = Adc5;

                        DebugOut.Analog[6] = Adc6;

                        DebugOut.Analog[7] = Adc7;

                        #ifdef USE_FOLLOWME

                        // AVcc = 5V --> 5V = 1024 counts

                        // the voltage at the voltage divider reference point is 0.8V less that the UBat

                        // because of the silicon diode inbetween.

                        // voltage divider R2=10K, R3=1K

                        // UAdc4 = R3/(R3+R2)*UBat= 1k/(1k+10k)*UBat = UBat/11

                        // UAdc4 = R3/(R3+R2)*UBat= 3.9k/(3.9k+10k)*UBat = UBat/3.564

                        UBat = (3 * UBat + (69 * Adc4) / 128) / 4;

                        DebugOut.Analog[8] = UBat;

                        #endif

                        ADReady = 0;

                        ADC_Enable(); // restart ad conversion sequence

                }

                if(GPSData.Status == NEWDATA)

                {

                        Error &= ~GPS_RX_TIMEOUT;       // clear possible error

                        GPS_Timer = SetDelay(1000); // reset timeout

                        if(CheckGPSOkay >= 5)

                        {

                                // trigger transmission of FollowMe message here.

                                CheckGPSOkay = 0;

                        }

                        GPSData.Status = PROCESSED;

                }

                else // invalid or already processed

                {

                        if(CheckDelay(GPS_Timer))

                        {

                                Error |= GPS_RX_TIMEOUT;

                        }

                }

                USART0_ProcessRxData();

                USART0_TransmitTxData();

    }

        return (1);

}