GPStracker/soft/main.h

#pragma once

#define __PROG_TYPES_COMPAT__

/* Standard library includes */
#include <inttypes.h>
#include <avr/io.h>
#include <avr/pgmspace.h>
#include <avr/interrupt.h>
#include <avr/sleep.h>
#include <avr/wdt.h>
#include <avr/eeprom.h>
#include <util/delay.h>
#include <util/crc16.h>
#include <string.h>
#include <stdlib.h>
#include <stddef.h>
#include <ctype.h>
#include <stdarg.h>
#include <math.h>

/* Project includes - basic headers without struct dependencies */
#include "stime.h"
#include "expander.h"
#include "settings.h"
#include "ff.h"
#include "diskio.h"
#include "uart0.h"
#include "uart1.h"
#include "xprintf.h"
#include "ds18b20.h"
#include "I2C.h"

/* LCD driver includes */
#if defined(LCD_GRAPHIC)
#include "UC1601S-I2C.h"
#elif defined(LCD_ALNUM)
#include "HD44780-I2C.h"
#else
#error No LCD type defined
#endif

#define	IVT_SYNC	180			/* f_sync() interval (0:no periodic sync) [sec] */
#define POWER_SW_TIME	300		/* power switch hold time to power off [10ms] */
#define BACKLIGHT_TIME	10000

//#define	VI_LVL		4.2			/* Blackout threshold [volt] */
//#define	VI_LVH		4.8			/* Recharge threshold [volt] */
#define	VI_LVL		3.1			/* Blackout threshold [volt] */
#define	VI_LVH		3.4			/* Recharge threshold [volt] */
#define	VI_MULT		(3.3 / 6.6 / 2.495 * 1024)

/* pin definitions */

#define BUZZER_PORT		PORTA
#define BUZZER			_BV(PA7)
#define BUZZER_DDR		DDRA

#define GPS_DIS_PORT	PORTC
#define GPS_DIS			_BV(PC6)
#define GPS_DIS_DDR		DDRC

#define LEDR_PORT		PORTA
#define LEDR			_BV(PA6)
#define LEDR_DDR		DDRA

#define SD_CS_PORT		PORTB
#define SD_CS			_BV(PB4)
#define SD_CS_DDR		DDRB

#define SD_PWROFF_PORT	PORTB
#define SD_PWROFF		_BV(PB3)
#define SD_PWROFF_DDR	DDRB
#define SD_PWROFF_PIN	PINB

#define SD_CD			_BV(PB1)
#define SD_CD_PIN		PINB

#define SD_WP			_BV(PB2)
#define SD_WP_PIN		PINB

#define POWER_ON		_BV(PA3)
#define POWER_ON_PORT	PORTA
#define POWER_ON_DDR	DDRA

#define POWER_SW		_BV(PC7)
#define POWER_SW_PIN	PINC

#define LEDG_PORT		1 /* expander */
#define LEDG			_BV(4)

#define LEDB_PORT		1 /* expander */
#define LEDB			_BV(5)

#define LEDW_PORT		1 /* expander */
#define LEDW			_BV(7)

/* on/off macros */

#define	BEEP_ON()		{BUZZER_PORT |= BUZZER;}
#define	BEEP_OFF()		{BUZZER_PORT &= ~BUZZER;}
#define LEDR_ON()		{LEDR_PORT |= LEDR;}
#define LEDR_OFF()		{LEDR_PORT &= ~LEDR;}
#define	LEDG_ON()		expander_set_bit(LEDG_PORT, LEDG, 1)
#define	LEDG_OFF()		expander_set_bit(LEDG_PORT, LEDG, 0)
#define	LEDB_ON()		expander_set_bit(LEDB_PORT, LEDB, 1)
#define	LEDB_OFF()		expander_set_bit(LEDB_PORT, LEDB, 0)
#define	LEDW_ON()		expander_set_bit(LEDW_PORT, LEDW, 1)
#define	LEDW_OFF()		expander_set_bit(LEDW_PORT, LEDW, 0)
#define GPS_ON()		{GPS_DIS_PORT &= ~GPS_DIS;}
#define GPS_OFF()		{GPS_DIS_PORT |= GPS_DIS;}
#define POWEROFF()		{POWER_ON_PORT &= ~POWER_ON;}
#define POWERON()		{POWER_ON_PORT |= POWER_ON;}

#define POWER_SW_PRESSED()	(POWER_SW_PIN & POWER_SW)

#define FLAGS	GPIOR0		/* Status flags and bit definitions */
#define	F_POW	0x80		/* Power */
#define F_POWEROFF	0x10	/* In process of switching off */
#define	F_GPSOK	0x08		/* GPS data valid */
#define	F_SYNC	0x04		/* Sync request */
#define F_FILEOPEN	0x02	/* File is open, logging in progress */
#define	F_LVD	0x01		/* Low battery detect */

/* System.global_error vals */
#define ERROR_NO	0
#define ERROR_I2C	1
#define ERROR_I2C_TIMEOUT	2
#define ERROR_TEMPERATURE	4
#define ERROR_DISK	8
#define ERROR_FILE_WRITE	16
#define ERROR_FILE_SYNC	32
#define ERROR_FILE_CLOSE	64
#define ERROR_FILE_OPEN	128

/* System.status vals */
#define STATUS_NO_POWER	0
#define STATUS_NO_DISK	1
#define STATUS_NO_GPS	2
#define STATUS_OK		3
#define STATUS_DISK_ERROR	4
#define STATUS_FILE_WRITE_ERROR	5
#define STATUS_FILE_SYNC_ERROR	6
#define STATUS_FILE_CLOSE_ERROR	7
#define STATUS_FILE_OPEN_ERROR	8

/* Keyboard */
#define K_UP	_BV(1)
#define K_DOWN	_BV(3)
#define K_LEFT	_BV(2)
#define K_RIGHT	_BV(0)
#define K_POWER	_BV(4)

/* System.location_valid values */
#define LOC_INVALID	0
#define LOC_VALID	1
#define LOC_VALID_NEW	2

/* System.gps_initialized values */
#define GPS_INIT_NOT_INITIALIZED	0
#define GPS_INIT_QUERY_SENT			1
#define GPS_INIT_INITIALIZED		2

#define ms(x) (x/10)

struct timers {
	unsigned int owire;
	unsigned int beep;
	unsigned int recv_timeout;
	unsigned int status_log;
	unsigned int lcd;
	unsigned int backlight;
};

/* System.fix_type values (from GSA) */
#define FIX_TYPE_UNKNOWN	0
#define FIX_TYPE_2D			2
#define FIX_TYPE_3D			3

struct system_s {
	struct timers timers;
	struct config_s conf;
	unsigned int global_error;
	unsigned char status;
	float bat_volt;
	float temperature;
	unsigned char display_state;
	unsigned char keypress;
	unsigned char working_mode;
	unsigned long int distance; // cm
	unsigned long int elevation_gain; // dm (decimeters, 0.1m resolution); filtered (dead-band+smoothed)
	unsigned long int elevation_loss; // dm; filtered (dead-band+smoothed)
	unsigned long int elevation_gain_raw; // dm; unfiltered, for log comparison only
	unsigned long int elevation_loss_raw; // dm; unfiltered, for log comparison only
	unsigned long int alt_max; // dm; highest smoothed altitude seen this session
	unsigned long int speed_accum_x100; // sum of instantaneous NMEA speed samples (km/h * 100) while not paused
	unsigned long int speed_sample_count; // number of samples in speed_accum_x100
	unsigned long int points_written; // count of accepted/written track points this session
	unsigned long int rejected_count; // count of rejected candidate points this session (unsigned long: a poor-fix session can reject far more than 65535 times)
	unsigned long int points_paused; // count of candidate points seen while tracking_is_paused(), this session
	unsigned long int points_skipped; // count of candidate points dropped by the skip_points warm-up (after boot or a fix gap), this session
	unsigned long int points_accepted; // count of candidate points that passed every reject check, this session; with filters enabled, points_accepted - points_written*AVG_COUNT is "averaged out, not yet flushed".
		// points_paused + points_skipped + rejected_count + points_accepted may fall a couple short of the true candidate-point total: the sliding window used for the distance/altitude spike checks needs a couple of points to refill after each reset (boot, or a fix gap) before it can even decide reject-vs-accept, and those few points aren't tallied anywhere.
	unsigned int hdop_x100; // HDOP * 100, from GSA
	unsigned char fix_type; // FIX_TYPE_* from GSA
	unsigned char speed; // km/h
	time_t time_start;
	time_t current_pause_start;
	time_t pause_time;
	float bat_volt_min; // lowest battery voltage seen this session
	unsigned temperature_ok:1;
	unsigned satellites_used:5;
	unsigned location_valid:2;
	unsigned dgps:1; /* GGA reports a DGPS-quality fix - the receiver's own doing, not CONFFLAG_ENABLE_SBAS (our SBAS-search request) */
	unsigned gps_initialized:2;
	unsigned gps_only:1;
	unsigned tracking_paused:1;
	unsigned tracking_auto_paused:1;
	unsigned open_new_file:1;
	unsigned sat_count_low:1;
};

struct location_s {
	float lon;
	float lat;
	float alt;
	time_t time;
};

extern volatile struct system_s System;
extern struct location_s location;
extern time_t utc;
extern volatile unsigned long int uptime_ms;
extern volatile unsigned char reset_cause;

void beep(unsigned int len, unsigned char cnt);

/* Project includes - headers that depend on struct definitions above */
#include "gpx.h"
#include "display.h"
#include "working_modes.h"
#include "timec.h"
#include "nmea.h"
#include "menu.h"
#include "syslog.h"
#include "autopause.h"

static inline void atomic_set_uint(volatile unsigned int *volatile data, unsigned int value) __attribute__((always_inline));
static inline void atomic_set_uint(volatile unsigned int *volatile data, unsigned int value){
	cli();
	*data = value;
	sei();
}
static inline unsigned int atomic_get_uint(volatile unsigned int *volatile data) __attribute__((always_inline));
static inline unsigned int atomic_get_uint(volatile unsigned int *volatile data){
	unsigned int ret;
	cli();
	ret = *data;
	sei();
	return ret;
}
static inline unsigned long int atomic_get_ulong(volatile unsigned long int *volatile data) __attribute__((always_inline));
static inline unsigned long int atomic_get_ulong(volatile unsigned long int *volatile data){
	unsigned long int ret;
	cli();
	ret = *data;
	sei();
	return ret;
}
#define get_uptime_ms() atomic_get_ulong(&uptime_ms)

#define set_timer(timer,val) set_timer_counts(timer, ms(val))
#define set_timer_counts(timer,val) atomic_set_uint(&System.timers.timer, val)
#define timer_expired(timer) !atomic_get_uint(&System.timers.timer)


void disk_timerproc (void); /* mmc.h */
char *get_iso_time(time_t time, unsigned char local);
void close_files(unsigned char flush_logs);
unsigned char getkey(void);
void sleep(void);
void reset_counters(void);
time_t get_pause_time(void);
unsigned int get_logging_time(void);
unsigned char tracking_is_paused(void);
void pause_time_start(void);
void pause_time_end(void);
unsigned char fix_gap_detected(time_t point_time);
unsigned int get_avg_speed_x100(void);
unsigned int get_dist_avg_speed_x100(void);

/* SD card I/O timing: longest single f_write()/f_sync() call observed since
 * the last time the status line reset the counter (io_get_and_reset_max). */
void io_mark(unsigned long int start_ms);
unsigned int io_get_and_reset_max(void);

/* Request that the next main-loop pass sync all open log files immediately,
 * instead of waiting for the periodic IVT_SYNC timer - used around events
 * (boot, low battery, fix lost, errors, shutdown) whose log lines must not be
 * lost to a brownout before the next periodic sync. */
void request_immediate_sync(void);

/* Stack headroom: bytes of the stack-painted region between the end of
 * .bss/.noinit and RAMEND that are still untouched. Falls only, monotonically,
 * as the deepest call/interrupt nesting grows over the session. */
unsigned int get_stack_free_bytes(void);