/**********************************************************
MAIN
**********************************************************/
int main (void) {
static int vbat1; //battery_voltage (lowpass-filtered)
init();
buzzer(OFF);
LL_write_init();
PTU_init();
ADC0triggerSampling(1<<VOLTAGE_1); //activate ADC sampling
HL_Status.up_time=0;
LED(1,ON);
while(1)
{
if(mainloop_trigger)
{
if(GPS_timeout<ControllerCyclesPerSecond) GPS_timeout++;
else if(GPS_timeout==ControllerCyclesPerSecond)
{
GPS_timeout=ControllerCyclesPerSecond+1;
GPS_Data.status=0;
GPS_Data.numSV=0;
}
//battery monitoring
ADC0getSamplingResults(0xFF,adcChannelValues);
vbat1=(vbat1*14+(adcChannelValues[VOLTAGE_1]*9872/579))/15; //voltage in mV
HL_Status.battery_voltage_1=vbat1;
mainloop_cnt++;
if(!(mainloop_cnt%10)) buzzer_handler(HL_Status.battery_voltage_1);
if(mainloop_trigger) mainloop_trigger--;
mainloop();
}
}
return 0;
}
/**********************************************************
MAIN
**********************************************************/
int main(void)
{
static int vbat1, vbat2;
int vbat;
static int bat_cnt = 0, bat_warning = 1000;
static char bat_warning_enabled = 1;
#ifdef GPS_BEEP
static unsigned int gps_beep_cnt;
#endif
IDISABLE;
init();
LL_write_init();
beeper(OFF);
HL_Status.up_time = 0;
printf("\n\nProgramm is running ... \n");
printf("Processor Clock Frequency: %d Hz\n", processorClockFrequency());
printf("Peripheral Clock Frequency: %d Hz\n", peripheralClockFrequency());
IENABLE;
packetsTemp = packets;
LED(1, ON);
GPS_init_status = GPS_STARTUP;
// GPS_init_status = GPS_NEEDS_CONFIGURATION;
sdkInit();
while (1)
{
if (mainloop_trigger > 0)
{
if (GPS_timeout < ControllerCyclesPerSecond)
GPS_timeout++;
else if (GPS_timeout == ControllerCyclesPerSecond)
{
GPS_timeout = ControllerCyclesPerSecond + 1;
GPS_Data.status = 0;
GPS_Data.numSV = 0;
// if (GPS_init_status == GPS_STARTUP) //no GPS packet after startup
// {
GPS_init_status = GPS_NEEDS_CONFIGURATION;
// }
}
mainloop_cnt++;
if (++bat_cnt == 100)
bat_cnt = 0;
//battery monitoring
vbat1 = (vbat1 * 29 + (ADC0Read(VOLTAGE_1) * 9872 / 579)) / 30; //voltage in mV //*9872/579
HL_Status.battery_voltage_1 = vbat1;
HL_Status.battery_voltage_2 = vbat2;
vbat = vbat1;
if (vbat < BATTERY_WARNING_VOLTAGE) //decide if it's really an empty battery
{
if (bat_warning < ControllerCyclesPerSecond * 2)
bat_warning++;
else
bat_warning_enabled = 1;
}
else
{
if (bat_warning > 10)
bat_warning -= 5;
else
{
bat_warning_enabled = 0;
beeper(OFF);//IOCLR1 = (1<<17); //Beeper off
}
}
if (bat_warning_enabled)
{
if (bat_cnt > ((vbat - 9000) / BAT_DIV))
beeper(ON);//IOSET1 = (1<<17); //Beeper on
else
beeper(OFF);//IOCLR1 = (1<<17); //Beeper off
}
#ifdef GPS_BEEP
//GPS_Beep
if((GPS_Data.status&0xFF)!=3) //no lock
{
gps_beep_cnt++;
if(gps_beep_cnt>=1500) gps_beep_cnt=0;
if(gps_beep_cnt<20) beeper(ON); //IOSET1 = (1<<17); //Beeper on
else if(gps_beep_cnt==40) beeper(OFF);// IOCLR1 = (1<<17); //Beeper off
}
#endif
if (mainloop_trigger)
mainloop_trigger--;
mainloop();
}
}
return 0;
}
/**********************************************************
MAIN
**********************************************************/
int main (void) {
static int vbat1; //battery_voltage (lowpass-filtered)
unsigned int TimerT1, TimerT2;
init();
buzzer(OFF);
LL_write_init();
//initialize AscTec Firefly LED fin on I2C1 (not necessary on AscTec Hummingbird or Pelican)
I2C1Init();
I2C1_setRGBLed(255,0,0);
/* Initialize I2C controller. by Xun */
I2CInit(I2CMASTER);
ADC0triggerSampling(1<<VOLTAGE_1); //activate ADC sampling
generateBuildInfo();
HL_Status.up_time=0;
LED(1,ON);
ACISDK(); //AscTec Communication Interface: publish variables, set callbacks, etc.
//update parameters stored by ACI:
//...
PTU_init(); //initialize camera PanTiltUnit
#ifdef MATLAB
//ee_read((unsigned int*)&matlab_params); //read params from eeprom
onboard_matlab_initialize(); //initialize matlab code
#endif
while(1)
{
if(mainloop_trigger)
{
TimerT1 = T0TC;
if(GPS_timeout<ControllerCyclesPerSecond) GPS_timeout++;
else if(GPS_timeout==ControllerCyclesPerSecond)
{
GPS_timeout=ControllerCyclesPerSecond+1;
GPS_Data.status=0;
GPS_Data.numSV=0;
}
//battery monitoring
ADC0getSamplingResults(0xFF,adcChannelValues);
vbat1=(vbat1*14+(adcChannelValues[VOLTAGE_1]*9872/579))/15; //voltage in mV
HL_Status.battery_voltage_1=vbat1;
mainloop_cnt++;
if(!(mainloop_cnt%10)) buzzer_handler(HL_Status.battery_voltage_1);
if(mainloop_trigger) mainloop_trigger--;
mainloop();
// CPU Usage calculation
TimerT2 = T0TC;
if (mainloop_trigger)
{
HL_Status.cpu_load = 1000;
mainloop_overflows++;
}
else if (TimerT2 < TimerT1)
HL_Status.cpu_load = (T0MR0 - TimerT1 + TimerT2)*1000/T0MR0; // load = "timer cycles" / "timer cycles per controller cycle" * 1000
else
HL_Status.cpu_load = (TimerT2 - TimerT1)*1000/T0MR0; // load = "timer cycles" / "timer cycles per controller cycle" * 1000
}
}
return 0;
}
