| 0,0 → 1,227 |
|---|
| #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 "gps.h" |
| #include "button.h" |
| #include "logging.h" |
| #include "settings.h" |
| |
| #define FOLLOWME_INTERVAL 1000 // 1 second update |
| #define CELLUNDERVOLTAGE 32 // lowest allowed voltage/cell; 32 = 3.2V |
| |
| #ifdef USE_FOLLOWME |
| int16_t UBat = 120; |
| int16_t Zellenzahl = 0; |
| int16_t PowerOn = 0; |
| int16_t i = 0; |
| int16_t delay = 0; |
| #endif |
| |
| uint16_t Error = 0; |
| SysState_t SysState = STATE_UNDEFINED; |
| |
| int main (void) |
| { |
| static uint16_t FollowMe_Timer = 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(); |
| Button_Init(); |
| // enable interrupts global |
| sei(); |
| |
| LEDRED_OFF; |
| LEDGRN_ON; |
| |
| // try to initialize the FAT 16 filesystem on the SD-Card |
| Fat16_Init(); |
| |
| // initialize the settings |
| Settings_Init(); |
| // initialize logging (needs settings) |
| Logging_Init(); |
| |
| #ifdef USE_SDLOGGER |
| printf("\r\n\r\nHW: SD-Logger"); |
| #endif |
| #ifdef USE_FOLLOWME |
| printf("\r\n\r\nHW: Follow-Me"); |
| #endif |
| printf("\r\nFollow Me\n\rSoftware:V%d.%d%c ",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a'); |
| printf("\r\n------------------------------"); |
| printf("\r\n"); |
| |
| |
| //BeepTime = 2000; |
| |
| LCD_Clear(); |
| |
| FollowMe_Timer = SetDelay(FOLLOWME_INTERVAL); |
| |
| while (1) |
| { |
| // get gps data to update the follow me position |
| GPS_Update(); |
| |
| // update logging |
| Logging_Update(); |
| |
| // check for button action and change state resectively |
| if(GetButton()) |
| { |
| BeepTime = 200; |
| |
| switch(SysState) |
| { |
| case STATE_IDLE: |
| if(!Error) SysState = STATE_SEND_FOLLOWME; // activate followme only of no error has occured |
| break; |
| |
| case STATE_SEND_FOLLOWME: |
| SysState = STATE_IDLE; |
| break; |
| |
| default: |
| SysState = STATE_IDLE; |
| break; |
| } |
| |
| } |
| |
| // state machine |
| switch(SysState) |
| { |
| case STATE_SEND_FOLLOWME: |
| if(CheckDelay(FollowMe_Timer)) // time for next message? |
| { |
| if(FollowMe.Position.Status == NEWDATA) // if new |
| { // update remaining data |
| FollowMe_Timer = SetDelay(FOLLOWME_INTERVAL); // reset timer |
| FollowMe.Heading = -1; // invalid heading |
| FollowMe.ToleranceRadius = 1; // 1 meter |
| FollowMe.HoldTime = 60; // go home after 60s without any update |
| FollowMe.Event_Flag = 0; // no event |
| FollowMe.reserve[0] = 0; // reserve |
| FollowMe.reserve[1] = 0; // reserve |
| FollowMe.reserve[2] = 0; // reserve |
| FollowMe.reserve[3] = 0; // reserve |
| Request_SendFollowMe = 1; // triggers serial tranmission |
| |
| } |
| else // now new position avalable (maybe bad gps signal condition) |
| { |
| FollowMe_Timer = SetDelay(FOLLOWME_INTERVAL/4); // reset timer on higer frequency |
| } |
| LEDGRN_TOGGLE; // indication of active follow me |
| } |
| break; |
| |
| case STATE_IDLE: |
| // do nothing |
| LEDGRN_ON; |
| break; |
| |
| default: |
| // triger to idle state |
| SysState = STATE_IDLE; |
| break; |
| |
| } |
| |
| |
| // 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=3K9 |
| // UAdc4 = R3/(R3+R2)*UBat= 3.9/(3.9+10)*UBat = UBat/3.564 |
| UBat = (3 * UBat + (64 * Adc4) / 368) / 4; |
| DebugOut.Analog[8] = UBat; |
| |
| // check for zellenzahl |
| if(PowerOn < 100) |
| { |
| if(UBat<=84) Zellenzahl = 2; |
| else Zellenzahl = 3; |
| PowerOn++; |
| } |
| DebugOut.Analog[16] = Zellenzahl; |
| DebugOut.Analog[17] = PowerOn; |
| |
| //show recognised Zellenzahl to user |
| if(i < Zellenzahl && PowerOn >= 100 && BeepTime == 0 && delay > 1000) |
| { |
| BeepTime = 100; |
| i++; |
| delay = 0; |
| } |
| if(delay < 1500) delay++; |
| |
| // monitor battery undervoltage [...||(UBat<74) as temporary workaround to protect 2s lipo packs] |
| if(((UBat < Zellenzahl * CELLUNDERVOLTAGE)||(UBat < 74)) && (PowerOn >= 100)) |
| { // sound for low battery |
| BeepModulation = 0x0300; |
| if(!BeepTime) |
| { |
| //BeepTime = 6000; // 0.6 seconds |
| } |
| Error |= ERROR_LOW_BAT; |
| } |
| else |
| { |
| Error &= ~ERROR_LOW_BAT; |
| } |
| #endif |
| ADReady = 0; |
| ADC_Enable(); // restart ad conversion sequence |
| } |
| |
| // serial communication |
| USART0_ProcessRxData(); |
| USART0_TransmitTxData(); |
| |
| // indicate error, blinking code tbd. |
| if(Error) LEDRED_ON; |
| else LEDRED_OFF; |
| |
| } |
| return (1); |
| } |
| |