Rev Author Line No. Line
2971 jichapav 1 /*
2 ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
3  
4 Licensed under the Apache License, Version 2.0 (the "License");
5 you may not use this file except in compliance with the License.
6 You may obtain a copy of the License at
7  
8 http://www.apache.org/licenses/LICENSE-2.0
9  
10 Unless required by applicable law or agreed to in writing, software
11 distributed under the License is distributed on an "AS IS" BASIS,
12 WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 See the License for the specific language governing permissions and
14 limitations under the License.
15 */
16  
17 #include "ch.h"
18 #include "hal.h"
19 #include "test.h"
20 #include "serial.h"
21 #include "gpt.h"
22 #include <string.h>
23 #include "keil/GPS_dekoduj.h"
24 #include <../../os/various/chprintf.h>
25 #include <chstreams.h.>
26  
27 /*MAX delka prikazu, ktery uzivatel muze zadat*/
28 #define MAX_DELKA_PRIKAZU 10
29  
30 /*Velikost GPS bufferu*/
31 #define GPS_BUFFER 500
32 #define PWM_PERIODA_NORMAL 20000
33 #define PWM_SIRKA_NORMAL PWM_PERIODA_NORMAL/2
34  
35 /*Pocet opakovani pro jednotlive faze odpalu (pocet = cas[s]*8) pro kompenzaci 8xrychlejsiho casovace na desce STM32F10xRxT01A */
36 #define POCET_VENTIL (5*8)
2972 jichapav 37 #define POCET_LIS (1*8)
38 #define POCET_ZATAVENI (2*8)
39 #define POCET_STRECHA (5*8)
2971 jichapav 40 #define CEKANI_NA_STRECHU (10*8)
41 #define CEKANI_NA_LIS (10*8)
42  
43 /*makra pro cteni switch sensoru*/
44 #define CTI_STRECHU palReadPad(STRECHA_SENS_PORT, STRECHA_SENS_STATE)
45 #define CTI_LIS palReadPad(LIS_SENS_PORT, LIS_SENS_STATE)
46  
47 extern NMEA_GPGGA GPGGA_informace;
48 Thread *tp_odpal = NULL;
2972 jichapav 49 uint8_t uvitaci_zprava[] = "\r\n\r\n* * * * * * * * * * * * * * * * * * * * * * * * * *\r\nVita vas Automaticky Vypoustec Meteobalonu 1.1\r\nZapojeni vyvodu:\r\n\tGPIOB10 - strecha\r\n\tGPIOB11 - ventil\r\n\tGPIOB12 - lis\r\n\tGPIOB13 - zataveni/odpojeni\r\nPrikazy:\r\n\t<odpal> zahajeni sekvence vypousteni\n\r\t<zrus> zruseni vypousteni\n\r\t<help> napoveda\r\n* * * * * * * * * * * * * * * * * * * * * * * * * *\r\n\r\n";
2971 jichapav 50  
51 //static PWMConfig pwmcfg = {
52 //10000, /* 10kHz PWM clock frequency. */
53 //PWM_PERIODA_NORMAL, /* PWM period 1S (in ticks). */
54 /*NULL,
55 {
56 {PWM_OUTPUT_ACTIVE_HIGH, NULL},
57 {PWM_OUTPUT_ACTIVE_HIGH, NULL},
58 {PWM_OUTPUT_DISABLED, NULL},
59 {PWM_OUTPUT_DISABLED, NULL}
60 },
61 HW dependent part.*/
62 //0
63 //};
64  
65 /*
66 * Konfigurace USART2
67 */
68  
69 static const SerialConfig USART2_config =
70 {
71 /*Speed*/
72 9600,
73 /*Initialization value for the CR1 register.*/
74 0,
75 /*Initialization value for the CR2 register.*/
76 USART_CR2_STOP1_BITS | USART_CR2_LINEN,
77 /*Initialization value for the CR3 register.*/
78  
79 };
80  
81  
82 /*
83 * GPT2 callback.
84 */
85 static void gpt2cb(GPTDriver *gptp)
86 {
87 (void)gptp;
88 /* Wakes up the thread.*/
89 chSysLockFromIsr();
90 if (tp_odpal != NULL) {
91 tp_odpal->p_u.rdymsg = (msg_t)50; /* Znaci, ze se vlakno probouzi kvuli preruseni od GPT*/
92 chSchReadyI(tp_odpal);
93 tp_odpal = NULL;
94 }
95 chSysUnlockFromIsr();
96 }
97  
98  
99 /*
100 *Konfigurace casovace 2
101 */
102 static const GPTConfig gpt2cfg =
103 {
104 500, /*500 Hz ? (puvodne 1000Hz) f*/
105 gpt2cb /*callback fce*/
106 };
107  
108 /*
109 * Vlakno pro blikani diodou
110 */
111 static WORKING_AREA(waThread1, 128);
112 static msg_t Thread1(void *arg) {
113 (void)arg;
114 chRegSetThreadName("blinker");
115 while (TRUE) {
116 palClearPad(GPIOB, GPIOB_LED4);
117 chThdSleepMilliseconds(500);
118 palSetPad(GPIOB, GPIOB_LED4);
119 chThdSleepMilliseconds(500);
120 }
121 }
122  
123 /*
124 * Vlakno pro ovladani odpalovaci sekvence
125 */
126 static WORKING_AREA(waThread_odpal, 128);
127 static msg_t Thread_odpal(void *arg) {
128 uint8_t stav = 0; // rika, ve ktere fazi je odpalovani
129 uint8_t odpal_povolen = 0;
130 uint8_t odpal_pomocna = 0;
131 uint16_t pocet_opakovani = 1;
132 uint16_t perioda_casovace = 500; // changing to 8*500 = 400
133 (void)arg;
134 chRegSetThreadName("Odpal_vlakno");
135  
136 while (TRUE)
137 {
138 msg_t msg;
139  
140 /* Waiting for the IRQ to happen.*/
141 chSysLock();
142 tp_odpal = chThdSelf();
143 chSchGoSleepS(THD_STATE_SUSPENDED);
144 msg = chThdSelf()->p_u.rdymsg; /* Retrieving the message, optional.*/
145 chSysUnlock();
146  
147 /* Perform processing here.*/
148 if(msg == 1)
149 {
150 odpal_povolen = 1;
151 odpal_pomocna++;
152 stav = 0;
153 pocet_opakovani = 1;
154 }
155 else if (msg == 2) //Pokud se ma odpal zrusit v prubehu vypousteni
156 {
157 /*
158 * Pro jistotu se vypnou vsechny vystupy pri zruseni odpalu
159 */
160 palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN10);
161 palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN11);
162 palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN12);
163 palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN13);
164 palSetPad(IND_LEDS_PORT, LED_STRECHA);
165 palSetPad(IND_LEDS_PORT, LED_LIS);
166 palSetPad(IND_LEDS_PORT, LED_VENTIL);
167 palSetPad(IND_LEDS_PORT, LED_ZATAVENI);
168  
169 if(odpal_povolen == 1)
170 chprintf((BaseSequentialStream *)&SD1,"\r\nOdpal zrusen uzivatelem.\r\n");
171 else
172 chprintf((BaseSequentialStream *)&SD1,"Odpal nebyl aktivovan.\r\n");
173  
174 odpal_povolen = 0;
175 odpal_pomocna = 0;
176 stav = 0;
177 pocet_opakovani = 1;
178 }
179 else if (msg == 50 && odpal_povolen == 1) // preruseni od GPT
180 {
181 odpal_pomocna = 1;
182 }
183 if (odpal_povolen == 1 && odpal_pomocna <= 1)
184 {
185 odpal_pomocna = 2; // aby nepretekla tato promenna
186 switch (stav)
187 {
188 case 0: // ukonceni tohoto stavu pouze v pripade, ze je otevrena strecha
189 if (pocet_opakovani == 1)
190 chprintf((BaseSequentialStream *)&SD1,"Vypousteni zahajeno!\r\n");
191  
192 if (pocet_opakovani <= POCET_STRECHA)
193 {
194 chprintf((BaseSequentialStream *)&SD1,"(1/4)\tOtevirani vika... Strecha: %d, Zbyva: %3d \r",CTI_STRECHU,(POCET_STRECHA-pocet_opakovani));
195 palSetPad(GPIOB, GPIOB_PIN10);
196 palClearPad(IND_LEDS_PORT, LED_STRECHA);
197 gptStartOneShot(&GPTD2,perioda_casovace);
198 pocet_opakovani++;
199 if (pocet_opakovani == (POCET_STRECHA+1))
200 {
201 chprintf((BaseSequentialStream *)&SD1,"\r\n");
202 stav++;
203 pocet_opakovani = 1;
204 }
205 }
206 break;
207 case 1:
208 // kontrola strechy - maximalni cas prepalovani
209 gptStartOneShot(&GPTD2,perioda_casovace);
210 if (CTI_STRECHU)
211 {
212 chprintf((BaseSequentialStream *)&SD1,"Strecha otevrena. Pokracovani v napousteni.\r\n");
213 pocet_opakovani = 1;
214 stav++;
215 }
216 else
217 {
218 if(pocet_opakovani <= CEKANI_NA_STRECHU){
219 chprintf((BaseSequentialStream *)&SD1,"Cekani na otevreni strechy.\r");
220 pocet_opakovani++;
221 }
222 else { // prekroceni maximalni doby pro odpaleni strechy
223 palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN10);
224 palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN11);
225 palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN12);
226 palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN13);
227 palSetPad(IND_LEDS_PORT, LED_STRECHA);
228 palSetPad(IND_LEDS_PORT, LED_LIS);
229 palSetPad(IND_LEDS_PORT, LED_VENTIL);
230 palSetPad(IND_LEDS_PORT, LED_ZATAVENI);
231 chprintf((BaseSequentialStream *)&SD1,"\r\nNelze otevrit strechu.\r\n");
232  
233 odpal_povolen = 0;
234 odpal_pomocna = 0;
235 stav = 0;
236 pocet_opakovani = 1;
237 }
238 }
239 break;
240 case 2:
241 if (pocet_opakovani <= POCET_VENTIL)
242 {
243 palClearPad(GPIOB, GPIOB_PIN10);
244 palSetPad(IND_LEDS_PORT, LED_STRECHA);
245 palSetPad(GPIOB, GPIOB_PIN11);
246 palClearPad(IND_LEDS_PORT, LED_VENTIL);
247 chprintf((BaseSequentialStream *)&SD1,"(2/4)\tVentil otevren -> nafukovani balonu... Strecha: %d, Zbyva: %3d\r",CTI_STRECHU,(POCET_VENTIL-pocet_opakovani));
248 gptStartOneShot(&GPTD2,perioda_casovace);
249 pocet_opakovani++;
250 if (pocet_opakovani == (POCET_VENTIL+1))
251 {
252 chprintf((BaseSequentialStream *)&SD1,"\r\n");
253 stav++;
254 pocet_opakovani = 1;
255 }
256 }
257 break;
258 case 3:
259 if (pocet_opakovani <= POCET_LIS)
260 {
261 palClearPad(GPIOB, GPIOB_PIN11);
262 palSetPad(IND_LEDS_PORT, LED_VENTIL);
263 palSetPad(GPIOB, GPIOB_PIN12);
264 palClearPad(IND_LEDS_PORT, LED_LIS);
265 chprintf((BaseSequentialStream *)&SD1,"(3/4)\tPrepalovani lisu... Lis: %d, Zbyva: %3d\r",CTI_LIS,(POCET_LIS-pocet_opakovani));
266 gptStartOneShot(&GPTD2,perioda_casovace);
267 pocet_opakovani++;
268 if (pocet_opakovani == (POCET_LIS+1))
269 {
270 chprintf((BaseSequentialStream *)&SD1,"\r\n");
271 stav++;
272 pocet_opakovani = 1;
273 }
274 }
275 break;
276 case 4: // kontrola prepaleni lisu
277 gptStartOneShot(&GPTD2,perioda_casovace);
278 if (CTI_LIS)
279 {
280 chprintf((BaseSequentialStream *)&SD1,"Lis stlacen. Pokracovani v pretavovani.\r\n");
281 pocet_opakovani = 1;
282 stav++;
283 }
284 else
285 {
286 if(pocet_opakovani <= CEKANI_NA_LIS){
287 chprintf((BaseSequentialStream *)&SD1,"Cekani na stlaceni lisu.\r");
288 pocet_opakovani++;
289 }
290 else { // prekroceni maximalni doby pro slisovani
291 palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN10);
292 palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN11);
293 palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN12);
294 palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN13);
295 palSetPad(IND_LEDS_PORT, LED_STRECHA);
296 palSetPad(IND_LEDS_PORT, LED_LIS);
297 palSetPad(IND_LEDS_PORT, LED_VENTIL);
298 palSetPad(IND_LEDS_PORT, LED_ZATAVENI);
299 chprintf((BaseSequentialStream *)&SD1,"\r\nNelze spustit lis.\r\n");
300  
301 odpal_povolen = 0;
302 odpal_pomocna = 0;
303 stav = 0;
304 pocet_opakovani = 1;
305 }
306 }
307 break;
308 case 5:
309 if (pocet_opakovani <= POCET_ZATAVENI)
310 {
311 palClearPad(GPIOB, GPIOB_PIN12);
312 palSetPad(IND_LEDS_PORT, LED_LIS);
313 palSetPad(GPIOB, GPIOB_PIN13);
314 palClearPad(IND_LEDS_PORT, LED_ZATAVENI);
315 chprintf((BaseSequentialStream *)&SD1,"(4/4)\tZatavovani balonu... Lis: %d, Zbyva: %3d \r",CTI_LIS,(POCET_ZATAVENI-pocet_opakovani));
316 gptStartOneShot(&GPTD2,perioda_casovace);
317 pocet_opakovani++;
318 if (pocet_opakovani == (POCET_ZATAVENI+1))
319 {
320 chprintf((BaseSequentialStream *)&SD1,"\r\n");
321 stav++;
322 pocet_opakovani = 1;
323 }
324 }
325 break;
326 case 6:
327 palClearPad(GPIOB, GPIOB_PIN13);
328 palSetPad(IND_LEDS_PORT, LED_ZATAVENI);
329 chprintf((BaseSequentialStream *)&SD1,"Vypousteni ukonceno!\r\n");
330 odpal_povolen = 0;
331 odpal_pomocna = 0;
332 stav = 0;
333 break;
334 default:
335 chprintf((BaseSequentialStream *)&SD1,"NIC!\r\n");
336 break;
337 }
338 }
339 }
340 }
341  
342  
343 /*
344 * Vlakno pro obsluhu GPS prijimace
345 */
346 static WORKING_AREA(waThread_GPS, 768);
347 static msg_t Thread_GPS(void *arg) {
348 /*
349 * Nacita se jen nekolik NMEA zprav, aby se neplytvalo pameti na ulozeni kompletniho
350 * setu s tím rizikem, ze se nekdy nenacte aktualni informace o poloze.
351 */
352 uint8_t inBuffer[GPS_BUFFER];
353 char *zacatek_retezce;
354 char *konec_retezce;
355 uint8_t pocet_znaku;
356 uint8_t NMEA_zprava[100];
357  
358 (void)arg;
359 chRegSetThreadName("GPS_NMEA");
360  
361 while (TRUE) {
362 chThdSleepMilliseconds(1000); //neni potreba data vycitat rychleji
363 sdRead(&SD2,inBuffer,GPS_BUFFER);
364  
365 /*
366 *Nejprve se vycte cast NMEA dat, pote se vyhleda retezec GPGGA zpravy, ta se vyparsuje a pomoci fce
367 *dekoduj_zpravu_GPS, ktera vyparsuje data o poloze a jine, a ulozi je do struktury GPGGA_informace.
368 */
369  
370 if ((zacatek_retezce = strstr((char *)inBuffer,"$GPGGA")) != NULL)
371 {
372 if ((konec_retezce = strstr(zacatek_retezce,"*")) != NULL)
373 {
374 pocet_znaku = (konec_retezce-zacatek_retezce)/sizeof(char);
375 if (pocet_znaku > 100)
376 {
377 pocet_znaku = 100;
378 }
379 strncpy((char *)NMEA_zprava,zacatek_retezce,pocet_znaku);
380 dekoduj_zpravu_GPS(&NMEA_zprava[0],pocet_znaku);
381 sdWrite(&SD2,"Latitude: ",sizeof("Latitude: ")/sizeof(char));
382 sdWrite(&SD2,GPGGA_informace.Latitude,sizeof(GPGGA_informace.Latitude)/sizeof(uint8_t));
383 sdWrite(&SD2,"\r\n",2);
384 sdWrite(&SD2,"Longitude: ",sizeof("Longitude: ")/sizeof(char));
385 sdWrite(&SD2,GPGGA_informace.Longitude,sizeof(GPGGA_informace.Longitude)/sizeof(uint8_t));
386 sdWrite(&SD2,"\r\n",2);
387 sdWrite(&SD2,"Altitude: ",sizeof("Altitude: ")/sizeof(char));
388 sdWrite(&SD2,GPGGA_informace.Altitude,sizeof(GPGGA_informace.Altitude)/sizeof(uint8_t));
389 sdWrite(&SD2,"\r\n",2);
390 sdWrite(&SD2,"Status: ",sizeof("Status: ")/sizeof(char));
391 sdWrite(&SD2,&GPGGA_informace.Status_GPS,sizeof(GPGGA_informace.Status_GPS)/sizeof(uint8_t));
392 sdWrite(&SD2,"\r\n",2);
393 sdWrite(&SD2,NMEA_zprava,pocet_znaku);
394 sdWrite(&SD2,"\r\n",2);
395 }
396 else
397 {
398 sdWrite(&SD2,"\r\n",2);
399 sdWrite(&SD2,"Nenalezen ukoncovaci znak NMEA zpravy *\r\n",sizeof("Nenalezen ukoncovaci znak NMEA zpravy *\r\n")/sizeof(char));
400 sdWrite(&SD2,inBuffer,GPS_BUFFER);
401 }
402 }
403 else
404 sdWrite(&SD2,"Nenalezen zacatek GPGGA zpravy\r\n",sizeof("Nenalezen zacatek GPGGA zpravy\r\n")/sizeof(char));
405  
406 }
407 }
408  
409 void dekodujPrikaz(char *prikaz)
410 {
411 if(strcmp(prikaz,"odpal") == 0)
412 {
413 /* Wakes up the thread.*/
414 chSysLockFromIsr();
415 if (tp_odpal != NULL) {
416 tp_odpal->p_u.rdymsg = (msg_t)1; /* odpal povolen*/
417 chSchReadyI(tp_odpal);
418 tp_odpal = NULL;
419 }
420 chSysUnlockFromIsr();
421  
422 }
423 else if (strcmp(prikaz,"zrus") == 0)
424 {
425 /* Wakes up the thread.*/
426 chSysLockFromIsr();
427 if (tp_odpal != NULL) {
428 tp_odpal->p_u.rdymsg = (msg_t)2; /* zakazano pokracovat v odpalovaci sekvenci*/
429 chSchReadyI(tp_odpal);
430 tp_odpal = NULL;
431 }
432 chSysUnlockFromIsr();
433 }
434 else if (strcmp(prikaz,"help") == 0)
435 {
436 sdWrite(&SD1, uvitaci_zprava, sizeof(uvitaci_zprava)/sizeof(uint8_t));
437 }
438 else
439 {
440 uint8_t zp_neplatny[] = "Neplatny prikaz!\r\n\t<odpal> pro zahajeni sekvence\n\r\t<zrus> pro zruseni vypousteni\n\r";
441 sdWrite(&SD1,zp_neplatny,sizeof(zp_neplatny)/sizeof(uint8_t));
442 palTogglePad(GPIOB, GPIOB_LED3);
443 }
444 }
445  
446 /*
447 * Application entry point.
448 */
449 int main(void) {
450  
451 uint8_t znaky[20];
452 char prikaz[MAX_DELKA_PRIKAZU + 1];
453 uint8_t pocet_znaku = 0;
454  
455 /*
456 * System initializations.
457 * - HAL initialization, this also initializes the configured device drivers
458 * and performs the board-specific initializations.
459 * - Kernel initialization, the main() function becomes a thread and the
460 * RTOS is active.
461 */
462 halInit();
463 chSysInit();
464  
465 /*
466 * Activates the serial driver 1 using the driver default configuration.
467 * PA9 and PA10 are routed to USART1.
468 * Komunikace s uzivatelem
469 */
470 sdStart(&SD1, NULL);
471 palSetPadMode(GPIOA, 9, PAL_MODE_STM32_ALTERNATE_OPENDRAIN); //TX
472 //palSetPadMode(GPIOA, 10, PAL_MODE_STM32_ALTERNATE_OPENDRAIN); //RX
473  
474 /*
475 * Activates the serial driver 2 using the driver default configuration.
476 * PA2 and PA3 are routed to USART2.
477 *GPS
478 */
479 sdStart(&SD2, &USART2_config);
2972 jichapav 480 palSetPadMode(GPIOA, 2, PAL_MODE_STM32_ALTERNATE_PUSHPULL); //TX
481 //palSetPadMode(GPIOA, 3, PAL_MODE_STM32_ALTERNATE_OPENDRAIN); //RX - overrides board.h PadValues
2971 jichapav 482  
483 /*
484 * LED na vyvojove desce
485 */
486 palSetPadMode(GPIOB, GPIOB_LED3, PAL_MODE_OUTPUT_PUSHPULL);
487  
488 /*
489 * Initializes the PWM driver 4, routes the TIM4 outputs to the board LEDs.
490 */
491 /*pwmStart(&PWMD4, &pwmcfg);
492 palSetPadMode(GPIOB, GPIOB_LED4, PAL_MODE_STM32_ALTERNATE_OPENDRAIN);
493 pwmEnableChannel(&PWMD4,0,PWM_SIRKA_NORMAL);*/
494  
495  
496 /*
497 * Porty pro vypousteci sekvenci
498 */
499 palSetPadMode(GPIOB, GPIOB_PIN10, PAL_MODE_OUTPUT_PUSHPULL);
500 palClearPad(GPIOB, GPIOB_PIN10);
501 palSetPadMode(GPIOB, GPIOB_PIN11, PAL_MODE_OUTPUT_PUSHPULL);
502 palClearPad(GPIOB, GPIOB_PIN11);
503 palSetPadMode(GPIOB, GPIOB_PIN12, PAL_MODE_OUTPUT_PUSHPULL);
504 palClearPad(GPIOB, GPIOB_PIN12);
505 palSetPadMode(GPIOB, GPIOB_PIN13, PAL_MODE_OUTPUT_PUSHPULL);
506 palClearPad(GPIOB, GPIOB_PIN13);
507 palSetPad(IND_LEDS_PORT, LED_STRECHA);
508 palSetPad(IND_LEDS_PORT, LED_LIS);
509 palSetPad(IND_LEDS_PORT, LED_VENTIL);
510 palSetPad(IND_LEDS_PORT, LED_ZATAVENI);
511  
512 /*
513 * Aktivuje timer2 a timer3 prejde tak do aktivniho stavu
514 */
515 gptStart(&GPTD2,&gpt2cfg);
516  
517 chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
518 /*
519 * Vytvori vlakno pro prijem dat z GPS modulu
520 */
521 chThdCreateStatic(waThread_GPS, sizeof(waThread_GPS), NORMALPRIO, Thread_GPS, NULL);
522  
523 /*
524 * Vytvori vlakno pro odpalovaci sekvenci
525 */
526 chThdCreateStatic (waThread_odpal, sizeof(waThread_odpal), NORMALPRIO, Thread_odpal, NULL);
527  
528 sdWrite(&SD1, uvitaci_zprava, sizeof(uvitaci_zprava)/sizeof(uint8_t));
529 /*
530 * Normal main() thread activity, in this demo it does nothing except
531 * sleeping in a loop and check the button state, when the button is
532 * pressed the test procedure is launched with output on the serial
533 * driver 1.
534 */
535  
536 while (TRUE) {
537  
538 sdRead(&SD1,znaky,1);
539 /*Kdyz uzivatel stiskne enter -> dekoduj a vykonej prikaz, nebo pokud je prikaz delsi, nez by mel byt,
540 *prestane ukladat a upozorni uzivatele
541 */
542 if (znaky[0] == '\r' || pocet_znaku >= MAX_DELKA_PRIKAZU)
543 {
544 pocet_znaku = 0;
545 dekodujPrikaz(prikaz);
546 prikaz[0] = 0;
547 }
548 /*Uklada prikaz*/
2972 jichapav 549 else if (znaky[0] == 's') // ukonci odpalovani
550 {
551 chSysLockFromIsr();
552 if (tp_odpal != NULL) {
553 tp_odpal->p_u.rdymsg = (msg_t)2; /* zakazano pokracovat v odpalovaci sekvenci*/
554 chSchReadyI(tp_odpal);
555 tp_odpal = NULL;
556 }
557 chSysUnlockFromIsr();
558 }
2971 jichapav 559 else
560 {
561 prikaz[pocet_znaku + 1] = 0;
562 prikaz[pocet_znaku++] = znaky[0];
563 }
564 }
565 }