Rover::Rover(void) :
param_loader(var_info),
channel_steer(nullptr),
channel_throttle(nullptr),
channel_learn(nullptr),
DataFlash{FIRMWARE_STRING},
in_log_download(false),
modes(&g.mode1),
L1_controller(ahrs),
nav_controller(&L1_controller),
steerController(ahrs),
mission(ahrs,
FUNCTOR_BIND_MEMBER(&Rover::start_command, bool, const AP_Mission::Mission_Command&),
FUNCTOR_BIND_MEMBER(&Rover::verify_command_callback, bool, const AP_Mission::Mission_Command&),
FUNCTOR_BIND_MEMBER(&Rover::exit_mission, void)),
num_gcs(MAVLINK_COMM_NUM_BUFFERS),
ServoRelayEvents(relay),
#if CAMERA == ENABLED
camera(&relay),
#endif
#if MOUNT == ENABLED
camera_mount(ahrs, current_loc),
#endif
control_mode(INITIALISING),
ground_start_count(20),
throttle(500),
#if FRSKY_TELEM_ENABLED == ENABLED
frsky_telemetry(ahrs, battery, sonar),
#endif
home(ahrs.get_home()),
G_Dt(0.02)
{
}
Rover::Rover(void) :
param_loader(var_info),
channel_steer(nullptr),
channel_throttle(nullptr),
channel_learn(nullptr),
DataFlash{FIRMWARE_STRING, g.log_bitmask},
modes(&g.mode1),
L1_controller(ahrs, nullptr),
nav_controller(&L1_controller),
steerController(ahrs),
mission(ahrs,
FUNCTOR_BIND_MEMBER(&Rover::start_command, bool, const AP_Mission::Mission_Command&),
FUNCTOR_BIND_MEMBER(&Rover::verify_command_callback, bool, const AP_Mission::Mission_Command&),
FUNCTOR_BIND_MEMBER(&Rover::exit_mission, void)),
ServoRelayEvents(relay),
#if CAMERA == ENABLED
camera(&relay),
#endif
#if MOUNT == ENABLED
camera_mount(ahrs, current_loc),
#endif
control_mode(INITIALISING),
throttle(500),
#if FRSKY_TELEM_ENABLED == ENABLED
frsky_telemetry(ahrs, battery, rangefinder),
#endif
do_auto_rotation(false),
home(ahrs.get_home()),
G_Dt(0.02f)
{
}
int main (void)
{
clunet_init();
clunet_set_on_data_received(data_received);
time_init();
sei();
//eeprom_write_dword((void*)0, 0);
record_num = eeprom_read_dword((void*)0); // Читаем кол-во записей
mode_current = eeprom_read_byte((void*)4); // Режим
mode_temp = eeprom_read_byte((void*)5); // Временный режим
disk_initialize(0);
unset_bit(DDRA, 3); set_bit(PORTA, 3); // Определение сигнала в линии
//unset_bit(DDRA, 4); unset_bit(PORTA, 4); // Открывалка двери, напрямую
set_bit(DDRA, 4); unset_bit(PORTA, 4); // Открывалка двери, через реле
set_bit(DDRA, 5); HANGUP; // Реле снимания трубки
set_bit(DDRA, 6); MODE_NORMAL; // Реле выбора режима
unset_bit(DDRG, 0); set_bit(PORTG, 0); // Определение, лежит ли трубка
set_bit(DDRD, 6); set_bit(DDRD, 7); // Светодиоды
unset_bit(DDRA, 7); set_bit(PORTA, 7); // Счётчик оборотов диска
unset_bit(DDRF, 0); // ADC+
unset_bit(PORTF, 0);
unset_bit(DDRF, 1); // ADC-
unset_bit(PORTF, 1);
beep(500, 200);
beep(1500, 200);
beep(3000, 200);
_delay_ms(1000);
if (play_wav_pgm(STARTED_WAV) == 0)
{
LED_GREEN_ON;
while (sound_read() >= 0) ;
LED_GREEN_OFF;
sound_stop();
} else {
LED_RED_ON;
beep(3000, 200);
beep(1500, 200);
beep(500, 200);
LED_RED_OFF;
}
send_current_mode(CLUNET_BROADCAST_ADDRESS);
while(1)
{
if (is_LINE_POWER()) incoming_ring();
if (OFFHOOK) control_mode();
transfer_data(); // Передаём данные на досуге.
}
}
