WebSVN - Projects - Diff - Rev 691 and 759


#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();
 
        // try to initialize the FAT 16 filesystem on the SD-Card
        Fat16_Init();
        // initialize the settings
        Settings_Init();
        // initialize logging (needs settings)
        Logging_Init();
 
        LEDRED_OFF;
        LEDGRN_ON;
 
        #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\r\nSoftware: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
                DebugOut.Analog[9] = SysState;
                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.Index = 1;             // 2st wp
                                                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);
}
 
 

Rev 691	Rev 759
1	#include <avr/boot.h>	1	#include <avr/boot.h>
2		2
3	#include <avr/io.h>	3	#include <avr/io.h>
4	#include <avr/interrupt.h>	4	#include <avr/interrupt.h>
5		5
6	#include "main.h"	6	#include "main.h"
7	#include "timer0.h"	7	#include "timer0.h"
8	#include "uart0.h"	8	#include "uart0.h"
9	#include "uart1.h"	9	#include "uart1.h"
10	#include "fat16.h"	10	#include "fat16.h"
11	#include "led.h"	11	#include "led.h"
12	#include "menu.h"	12	#include "menu.h"
13	#include "printf_P.h"	13	#include "printf_P.h"
14	#include "analog.h"	14	#include "analog.h"
15	#include "gps.h"	15	#include "gps.h"
16	#include "button.h"	16	#include "button.h"
17	#include "logging.h"	17	#include "logging.h"
18	#include "settings.h"	18	#include "settings.h"
19		19
20	#define FOLLOWME_INTERVAL 1000 // 1 second update	20	#define FOLLOWME_INTERVAL 1000 // 1 second update
21	#define CELLUNDERVOLTAGE 32 // lowest allowed voltage/cell; 32 = 3.2V	21	#define CELLUNDERVOLTAGE 32 // lowest allowed voltage/cell; 32 = 3.2V
22		22
23	#ifdef USE_FOLLOWME	23	#ifdef USE_FOLLOWME
24	int16_t UBat = 120;	24	int16_t UBat = 120;
25	int16_t Zellenzahl = 0;	25	int16_t Zellenzahl = 0;
26	int16_t PowerOn = 0;	26	int16_t PowerOn = 0;
27	int16_t i = 0;	27	int16_t i = 0;
28	int16_t delay = 0;	28	int16_t delay = 0;
29	#endif	29	#endif
30		30
31	uint16_t Error = 0;	31	uint16_t Error = 0;
32	SysState_t SysState = STATE_UNDEFINED;	32	SysState_t SysState = STATE_UNDEFINED;
33		33
34	int main (void)	34	int main (void)
35	{	35	{
36	static uint16_t FollowMe_Timer = 0;	36	static uint16_t FollowMe_Timer = 0;
37		37
38	// disable interrupts global	38	// disable interrupts global
39	//cli();	39	//cli();
40		40
41	// disable watchdog	41	// disable watchdog
42	MCUSR &=~(1<<WDRF);	42	MCUSR &=~(1<<WDRF);
43	WDTCSR \|= (1<<WDCE)\|(1<<WDE);	43	WDTCSR \|= (1<<WDCE)\|(1<<WDE);
44	WDTCSR = 0;	44	WDTCSR = 0;
45		45
46	// initalize modules	46	// initalize modules
47	LED_Init();	47	LED_Init();
48	LEDRED_ON;	48	LEDRED_ON;
49	TIMER0_Init();	49	TIMER0_Init();
50	USART0_Init();	50	USART0_Init();
51	UBX_Init();	51	UBX_Init();
52	USART1_Init();	52	USART1_Init();
53	ADC_Init();	53	ADC_Init();
54	Button_Init();	54	Button_Init();
55	// enable interrupts global	55	// enable interrupts global
56	sei();	56	sei();
57		57
58	// try to initialize the FAT 16 filesystem on the SD-Card	58	// try to initialize the FAT 16 filesystem on the SD-Card
59	Fat16_Init();	59	Fat16_Init();
60	// initialize the settings	60	// initialize the settings
61	Settings_Init();	61	Settings_Init();
62	// initialize logging (needs settings)	62	// initialize logging (needs settings)
63	Logging_Init();	63	Logging_Init();
64		64
65	LEDRED_OFF;	65	LEDRED_OFF;
66	LEDGRN_ON;	66	LEDGRN_ON;
67		67
68	#ifdef USE_SDLOGGER	68	#ifdef USE_SDLOGGER
69	printf("\r\n\r\nHW: SD-Logger");	69	printf("\r\n\r\nHW: SD-Logger");
70	#endif	70	#endif
71	#ifdef USE_FOLLOWME	71	#ifdef USE_FOLLOWME
72	printf("\r\n\r\nHW: Follow-Me");	72	printf("\r\n\r\nHW: Follow-Me");
73	#endif	73	#endif
74	printf("\r\nFollow Me\n\rSoftware:V%d.%d%c ",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a');	74	printf("\r\nFollow Me\r\nSoftware:V%d.%d%c ",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a');
75	printf("\r\n------------------------------");	75	printf("\r\n------------------------------");
76	printf("\r\n");	76	printf("\r\n");
77		77
78		78
79	//BeepTime = 2000;	79	//BeepTime = 2000;
80		80
81	LCD_Clear();	81	LCD_Clear();
82		82
83	FollowMe_Timer = SetDelay(FOLLOWME_INTERVAL);	83	FollowMe_Timer = SetDelay(FOLLOWME_INTERVAL);
84		84
85	while (1)	85	while (1)
86	{	86	{
87	// get gps data to update the follow me position	87	// get gps data to update the follow me position
88	GPS_Update();	88	GPS_Update();
89		89
90	// update logging	90	// update logging
91	Logging_Update();	91	Logging_Update();
92		92
93	// check for button action and change state resectively	93	// check for button action and change state resectively
94	if(GetButton())	94	if(GetButton())
95	{	95	{
96	BeepTime = 200;	96	BeepTime = 200;
97		97
98	switch(SysState)	98	switch(SysState)
99	{	99	{
100	case STATE_IDLE:	100	case STATE_IDLE:
101	if(!Error) SysState = STATE_SEND_FOLLOWME; // activate followme only of no error has occured	101	if(!Error) SysState = STATE_SEND_FOLLOWME; // activate followme only of no error has occured
102	break;	102	break;
103		103
104	case STATE_SEND_FOLLOWME:	104	case STATE_SEND_FOLLOWME:
105	SysState = STATE_IDLE;	105	SysState = STATE_IDLE;
106	break;	106	break;
107		107
108	default:	108	default:
109	SysState = STATE_IDLE;	109	SysState = STATE_IDLE;
110	break;	110	break;
111	}	111	}
112		112
113	}	113	}
114		114
115	// state machine	115	// state machine
116	DebugOut.Analog[9] = SysState;	116	DebugOut.Analog[9] = SysState;
117	switch(SysState)	117	switch(SysState)
118	{	118	{
119	case STATE_SEND_FOLLOWME:	119	case STATE_SEND_FOLLOWME:
120	if(CheckDelay(FollowMe_Timer)) // time for next message?	120	if(CheckDelay(FollowMe_Timer)) // time for next message?
121	{	121	{
122	if(FollowMe.Position.Status == NEWDATA) // if new	122	if(FollowMe.Position.Status == NEWDATA) // if new
123	{ // update remaining data	123	{ // update remaining data
124	FollowMe_Timer = SetDelay(FOLLOWME_INTERVAL); // reset timer	124	FollowMe_Timer = SetDelay(FOLLOWME_INTERVAL); // reset timer
125	FollowMe.Heading = -1; // invalid heading	125	FollowMe.Heading = -1; // invalid heading
126	FollowMe.ToleranceRadius = 1; // 1 meter	126	FollowMe.ToleranceRadius = 1; // 1 meter
127	FollowMe.HoldTime = 60; // go home after 60s without any update	127	FollowMe.HoldTime = 60; // go home after 60s without any update
128	FollowMe.Event_Flag = 0; // no event	128	FollowMe.Event_Flag = 0; // no event
129	FollowMe.Index = 1; // 2st wp	129	FollowMe.Index = 1; // 2st wp
130	FollowMe.reserve[0] = 0; // reserve	130	FollowMe.reserve[0] = 0; // reserve
131	FollowMe.reserve[1] = 0; // reserve	131	FollowMe.reserve[1] = 0; // reserve
132	FollowMe.reserve[2] = 0; // reserve	132	FollowMe.reserve[2] = 0; // reserve
133	FollowMe.reserve[3] = 0; // reserve	133	FollowMe.reserve[3] = 0; // reserve
134	Request_SendFollowMe = 1; // triggers serial tranmission	134	Request_SendFollowMe = 1; // triggers serial tranmission
135		135
136	}	136	}
137	else // now new position avalable (maybe bad gps signal condition)	137	else // now new position avalable (maybe bad gps signal condition)
138	{	138	{
139	FollowMe_Timer = SetDelay(FOLLOWME_INTERVAL/4); // reset timer on higer frequency	139	FollowMe_Timer = SetDelay(FOLLOWME_INTERVAL/4); // reset timer on higer frequency
140	}	140	}
141	LEDGRN_TOGGLE; // indication of active follow me	141	LEDGRN_TOGGLE; // indication of active follow me
142	}	142	}
143	break;	143	break;
144		144
145	case STATE_IDLE:	145	case STATE_IDLE:
146	// do nothing	146	// do nothing
147	LEDGRN_ON;	147	LEDGRN_ON;
148	break;	148	break;
149		149
150	default:	150	default:
151	// triger to idle state	151	// triger to idle state
152	SysState = STATE_IDLE;	152	SysState = STATE_IDLE;
153	break;	153	break;
154		154
155	}	155	}
156		156
157		157
158	// restart ADConversion if ready	158	// restart ADConversion if ready
159	if(ADReady)	159	if(ADReady)
160	{	160	{
161	DebugOut.Analog[0] = Adc0;	161	DebugOut.Analog[0] = Adc0;
162	DebugOut.Analog[1] = Adc1;	162	DebugOut.Analog[1] = Adc1;
163	DebugOut.Analog[2] = Adc2;	163	DebugOut.Analog[2] = Adc2;
164	DebugOut.Analog[3] = Adc3;	164	DebugOut.Analog[3] = Adc3;
165	DebugOut.Analog[4] = Adc4;	165	DebugOut.Analog[4] = Adc4;
166	DebugOut.Analog[5] = Adc5;	166	DebugOut.Analog[5] = Adc5;
167	DebugOut.Analog[6] = Adc6;	167	DebugOut.Analog[6] = Adc6;
168	DebugOut.Analog[7] = Adc7;	168	DebugOut.Analog[7] = Adc7;
169		169
170	#ifdef USE_FOLLOWME	170	#ifdef USE_FOLLOWME
171	// AVcc = 5V --> 5V = 1024 counts	171	// AVcc = 5V --> 5V = 1024 counts
172	// the voltage at the voltage divider reference point is 0.8V less that the UBat	172	// the voltage at the voltage divider reference point is 0.8V less that the UBat
173	// because of the silicon diode inbetween.	173	// because of the silicon diode inbetween.
174	// voltage divider R2=10K, R3=3K9	174	// voltage divider R2=10K, R3=3K9
175	// UAdc4 = R3/(R3+R2)UBat= 3.9/(3.9+10)UBat = UBat/3.564	175	// UAdc4 = R3/(R3+R2)UBat= 3.9/(3.9+10)UBat = UBat/3.564
176	UBat = (3 * UBat + (64 * Adc4) / 368) / 4;	176	UBat = (3 * UBat + (64 * Adc4) / 368) / 4;
177	DebugOut.Analog[8] = UBat;	177	DebugOut.Analog[8] = UBat;
178		178
179	// check for zellenzahl	179	// check for zellenzahl
180	if(PowerOn < 100)	180	if(PowerOn < 100)
181	{	181	{
182	if(UBat<=84) Zellenzahl = 2;	182	if(UBat<=84) Zellenzahl = 2;
183	else Zellenzahl = 3;	183	else Zellenzahl = 3;
184	PowerOn++;	184	PowerOn++;
185	}	185	}
186	DebugOut.Analog[16] = Zellenzahl;	186	DebugOut.Analog[16] = Zellenzahl;
187	DebugOut.Analog[17] = PowerOn;	187	DebugOut.Analog[17] = PowerOn;
188		188
189	//show recognised Zellenzahl to user	189	//show recognised Zellenzahl to user
190	if(i < Zellenzahl && PowerOn >= 100 && BeepTime == 0 && delay > 1000)	190	if(i < Zellenzahl && PowerOn >= 100 && BeepTime == 0 && delay > 1000)
191	{	191	{
192	BeepTime = 100;	192	BeepTime = 100;
193	i++;	193	i++;
194	delay = 0;	194	delay = 0;
195	}	195	}
196	if(delay < 1500) delay++;	196	if(delay < 1500) delay++;
197		197
198	// monitor battery undervoltage [...\|\|(UBat<74) as temporary workaround to protect 2s lipo packs]	198	// monitor battery undervoltage [...\|\|(UBat<74) as temporary workaround to protect 2s lipo packs]
199	if(((UBat < Zellenzahl * CELLUNDERVOLTAGE)\|\|(UBat < 74)) && (PowerOn >= 100))	199	if(((UBat < Zellenzahl * CELLUNDERVOLTAGE)\|\|(UBat < 74)) && (PowerOn >= 100))
200	{ // sound for low battery	200	{ // sound for low battery
201	BeepModulation = 0x0300;	201	BeepModulation = 0x0300;
202	if(!BeepTime)	202	if(!BeepTime)
203	{	203	{
204	BeepTime = 6000; // 0.6 seconds	204	BeepTime = 6000; // 0.6 seconds
205	}	205	}
206	Error \|= ERROR_LOW_BAT;	206	Error \|= ERROR_LOW_BAT;
207	}	207	}
208	else	208	else
209	{	209	{
210	Error &= ~ERROR_LOW_BAT;	210	Error &= ~ERROR_LOW_BAT;
211	}	211	}
212	#endif	212	#endif
213	ADReady = 0;	213	ADReady = 0;
214	ADC_Enable(); // restart ad conversion sequence	214	ADC_Enable(); // restart ad conversion sequence
215	}	215	}
216		216
217	// serial communication	217	// serial communication
218	USART0_ProcessRxData();	218	USART0_ProcessRxData();
219	USART0_TransmitTxData();	219	USART0_TransmitTxData();
220		220
221	// indicate error, blinking code tbd.	221	// indicate error, blinking code tbd.
222	if(Error) LEDRED_ON;	222	if(Error) LEDRED_ON;
223	else LEDRED_OFF;	223	else LEDRED_OFF;
224		224
225	}	225	}
226	return (1);	226	return (1);
227	}	227	}
228		228
229		229

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(root)/FollowMe/trunk/main.c @ 765 - Rev 691 → 759