WebSVN - Projects - Blame - Rev 428 - /FollowMe/tags/FollowMe 0.1c/main.c

Rev	Author	Line No.	Line
428	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
		18
		19	#define FOLLOWME_INTERVAL 1000 // 1 second update
		20	#define CELLUNDERVOLTAGE 32 // lowest allowed voltage/cell; 32 = 3.2V
		21
		22	#ifdef USE_FOLLOWME
		23	int16_t UBat = 120;
		24	int16_t Zellenzahl = 0;
		25	int16_t PowerOn = 0;
		26	int16_t i = 0;
		27	int16_t delay = 0;
		28	int16_t FollowMe_active = 0;
		29	#endif
		30
		31	uint16_t Error = 0;
		32
		33	typedef enum
		34	{
		35	STATE_UNDEFINED,
		36	STATE_IDLE,
		37	STATE_SEND_FOLLOWME
		38	} SysState_t;
		39
		40	int main (void)
		41	{
		42	static uint16_t FollowMe_Timer = 0;
		43	static SysState_t SysState = STATE_UNDEFINED;
		44
		45	// disable interrupts global
		46	cli();
		47
		48	// disable watchdog
		49	MCUSR &=~(1<<WDRF);
		50	WDTCSR \|= (1<<WDCE)\|(1<<WDE);
		51	WDTCSR = 0;
		52
		53	// initalize modules
		54	LED_Init();
		55	LEDRED_ON;
		56	TIMER0_Init();
		57	USART0_Init();
		58	UBX_Init();
		59	USART1_Init();
		60	ADC_Init();
		61	Button_Init();
		62	// enable interrupts global
		63	sei();
		64
		65	Fat16_Init();
		66
		67	LEDRED_OFF;
		68	LEDGRN_ON;
		69
		70	// try to initialize the FAT 16 filesystem on the SD-Card
		71	Fat16_Init();
		72
		73	#ifdef USE_SDLOGGER
		74	printf("\r\n\r\nHW: SD-Logger");
		75	#endif
		76	#ifdef USE_FOLLOWME
		77	printf("\r\n\r\nHW: Follow-Me");
		78	#endif
		79	printf("\r\nFollow Me\n\rSoftware:V%d.%d%c ",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a');
		80	printf("\r\n------------------------------");
		81	printf("\r\n");
		82
		83
		84	//BeepTime = 2000;
		85
		86	LCD_Clear();
		87
		88	FollowMe_Timer = SetDelay(FOLLOWME_INTERVAL);
		89
		90	while (1)
		91	{
		92	// get gps data to update the follow me position
		93	GPS_Update();
		94
		95	// check for button action and change state resectively
		96	if(GetButton())
		97	{
		98	BeepTime = 200;
		99
		100	switch(SysState)
		101	{
		102	case STATE_IDLE:
		103	if(!Error) SysState = STATE_SEND_FOLLOWME; // activate followme only of no error has occured
		104	break;
		105
		106	case STATE_SEND_FOLLOWME:
		107	SysState = STATE_IDLE;
		108	break;
		109
		110	default:
		111	SysState = STATE_IDLE;
		112	break;
		113	}
		114
		115	}
		116
		117	// state machine
		118	switch(SysState)
		119	{
		120	case STATE_SEND_FOLLOWME:
		121	if(CheckDelay(FollowMe_Timer)) // time for next message?
		122	{
		123	if(FollowMe.Position.Status == NEWDATA) // if new
		124	{ // update remaining data
		125	FollowMe_Timer = SetDelay(FOLLOWME_INTERVAL); // reset timer
		126	FollowMe.Heading = -1; // invalid heading
		127	FollowMe.ToleranceRadius = 1; // 1 meter
		128	FollowMe.HoldTime = 60; // go home after 60s without any update
		129	FollowMe.Event_Flag = 0; // no event
		130	FollowMe.reserve[0] = 0; // reserve
		131	FollowMe.reserve[1] = 0; // reserve
		132	FollowMe.reserve[2] = 0; // reserve
		133	FollowMe.reserve[3] = 0; // reserve
		134	Request_SendFollowMe = 1; // triggers serial tranmission
		135
		136	}
		137	else // now new position avalable (maybe bad gps signal condition)
		138	{
		139	FollowMe_Timer = SetDelay(FOLLOWME_INTERVAL/4); // reset timer on higer frequency
		140	}
		141	LEDGRN_TOGGLE; // indication of active follow me
		142	FollowMe_active = 1;
		143	}
		144	break;
		145
		146	case STATE_IDLE:
		147	// do nothing
		148	LEDGRN_ON;
		149	FollowMe_active = 0;
		150	break;
		151
		152	default:
		153	// triger to idle state
		154	SysState = STATE_IDLE;
		155	break;
		156
		157	}
		158
		159
		160	// restart ADConversion if ready
		161	if(ADReady)
		162	{
		163	DebugOut.Analog[0] = Adc0;
		164	DebugOut.Analog[1] = Adc1;
		165	DebugOut.Analog[2] = Adc2;
		166	DebugOut.Analog[3] = Adc3;
		167	DebugOut.Analog[4] = Adc4;
		168	DebugOut.Analog[5] = Adc5;
		169	DebugOut.Analog[6] = Adc6;
		170	DebugOut.Analog[7] = Adc7;
		171
		172	#ifdef USE_FOLLOWME
		173	// AVcc = 5V --> 5V = 1024 counts
		174	// the voltage at the voltage divider reference point is 0.8V less that the UBat
		175	// because of the silicon diode inbetween.
		176	// voltage divider R2=10K, R3=3K9
		177	// UAdc4 = R3/(R3+R2)UBat= 3.9/(3.9+10)UBat = UBat/3.564
		178	UBat = (3 * UBat + (64 * Adc4) / 368) / 4;
		179	DebugOut.Analog[8] = UBat;
		180
		181	// check for zellenzahl
		182	if(PowerOn < 100)
		183	{
		184	if(UBat<=84) Zellenzahl = 2;
		185	else Zellenzahl = 3;
		186	PowerOn++;
		187	}
		188	DebugOut.Analog[16] = Zellenzahl;
		189	DebugOut.Analog[17] = PowerOn;
		190
		191	//show recognised Zellenzahl to user
		192	if(i < Zellenzahl && PowerOn >= 100 && BeepTime == 0 && delay > 1000)
		193	{
		194	BeepTime = 100;
		195	i++;
		196	delay = 0;
		197	}
		198	if(delay < 1500) delay++;
		199
		200	// monitor battery undervoltage [...\|\|(UBat<74) as temporary workaround to protect 2s lipo packs]
		201	if(((UBat < Zellenzahl * CELLUNDERVOLTAGE)\|\|(UBat < 74)) && (PowerOn >= 100))
		202	{ // sound for low battery
		203	BeepModulation = 0x0300;
		204	if(!BeepTime)
		205	{
		206	BeepTime = 6000; // 0.6 seconds
		207	}
		208	Error \|= ERROR_LOW_BAT;
		209	}
		210	else
		211	{
		212	Error &= ~ERROR_LOW_BAT;
		213	}
		214	#endif
		215	ADReady = 0;
		216	ADC_Enable(); // restart ad conversion sequence
		217	}
		218
		219	// serial communication
		220	USART0_ProcessRxData();
		221	USART0_TransmitTxData();
		222
		223	// indicate error, blinking code tbd.
		224	if(Error) LEDRED_ON;
		225	else LEDRED_OFF;
		226
		227	}
		228	return (1);
		229	}
		230

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