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poskozby |
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/* |
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ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio |
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Licensed under the Apache License, Version 2.0 (the "License"); |
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you may not use this file except in compliance with the License. |
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You may obtain a copy of the License at |
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http://www.apache.org/licenses/LICENSE-2.0 |
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Unless required by applicable law or agreed to in writing, software |
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distributed under the License is distributed on an "AS IS" BASIS, |
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
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See the License for the specific language governing permissions and |
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limitations under the License. |
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*/ |
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#include "ch.h" |
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#include "hal.h" |
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#include "test.h" |
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#include "serial.h" |
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#include "gpt.h" |
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#include <string.h> |
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#include "keil/GPS_dekoduj.h" |
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/*MAX delka prikazu, ktery uzivatel muze zadat*/ |
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#define MAX_DELKA_PRIKAZU 10 |
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/*Velikost GPS bufferu*/ |
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#define GPS_BUFFER 500 |
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extern NMEA_GPGGA GPGGA_informace; |
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Thread *tp_odpal = NULL; |
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/* |
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* Konfigurace USART2 |
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*/ |
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static const SerialConfig USART2_config = |
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{ |
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/*Speed*/ |
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9600, |
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/*Initialization value for the CR1 register.*/ |
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0, |
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/*Initialization value for the CR2 register.*/ |
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USART_CR2_STOP1_BITS | USART_CR2_LINEN, |
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/*Initialization value for the CR3 register.*/ |
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}; |
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poskozby |
49 |
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poskozby |
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/* |
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* GPT2 callback. |
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*/ |
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static void gpt2cb(GPTDriver *gptp) |
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{ |
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(void)gptp; |
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palTogglePad(GPIOB, GPIOB_LED4); |
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/* Wakes up the thread.*/ |
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chSysLockFromIsr(); |
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if (tp_odpal != NULL) { |
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poskozby |
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tp_odpal->p_u.rdymsg = (msg_t)50; /* Znaci, ze se vlakno probouzi kvuli preruseni od GPT*/ |
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poskozby |
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chSchReadyI(tp_odpal); |
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tp_odpal = NULL; |
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} |
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chSysUnlockFromIsr(); |
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} |
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/* |
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*Konfigurace casovace 2 |
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*/ |
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static const GPTConfig gpt2cfg = |
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{ |
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1000, /*1000Hz f*/ |
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gpt2cb /*callback fce*/ |
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}; |
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/* |
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* Vlakno pro ovladani odpalovaci sekvence |
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*/ |
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poskozby |
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static WORKING_AREA(waThread_odpal, 128); |
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static msg_t Thread_odpal(void *arg) { |
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uint8_t stav = 0; // rika, ve ktere fazi je odpalovani |
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uint8_t odpal_povolen = 0; |
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poskozby |
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uint8_t msg_zrusen[] = "Odpal zrusen uzivatelem.\r\n"; |
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uint8_t odpal_pomocna = 0; |
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poskozby |
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(void)arg; |
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chRegSetThreadName("Odpal_vlakno"); |
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poskozby |
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while (TRUE) |
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{ |
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msg_t msg; |
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poskozby |
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/* Waiting for the IRQ to happen.*/ |
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chSysLock(); |
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tp_odpal = chThdSelf(); |
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chSchGoSleepS(THD_STATE_SUSPENDED); |
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msg = chThdSelf()->p_u.rdymsg; /* Retrieving the message, optional.*/ |
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chSysUnlock(); |
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/* Perform processing here.*/ |
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if(msg == 1) |
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{ |
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odpal_povolen = 1; |
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odpal_pomocna++; |
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poskozby |
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} |
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else if (msg == 2) //Pokud se ma odpal zrusit v prubehu |
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{ |
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odpal_povolen = 0; |
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odpal_pomocna = 0; |
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stav = 0; |
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sdWrite(&SD1, msg_zrusen, sizeof(msg_zrusen)/sizeof(uint8_t)); |
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} |
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else if (msg == 50 && odpal_povolen == 1) // preruseni od GPT |
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{ |
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odpal_pomocna = 1; |
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} |
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if (odpal_povolen == 1 && odpal_pomocna <= 1) |
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{ |
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odpal_pomocna = 2; // aby nepretelkla tato promenna |
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poskozby |
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switch (stav) |
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{ |
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case 0: |
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sdWrite(&SD1,"0\r\n",3); |
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gptStartOneShot(&GPTD2,1000); |
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break; |
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case 1: |
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sdWrite(&SD1,"1\r\n",3); |
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gptStartOneShot(&GPTD2,1500); |
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break; |
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case 2: |
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sdWrite(&SD1,"2\r\n",3); |
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gptStartOneShot(&GPTD2,2000); |
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break; |
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case 3: |
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sdWrite(&SD1,"3\r\n",3); |
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gptStartOneShot(&GPTD2,3000); |
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break; |
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case 4: |
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sdWrite(&SD1,"4\r\n",3); |
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gptStartOneShot(&GPTD2,5000); |
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break; |
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default: |
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sdWrite(&SD1,"konec\r\n",7); //posledni krok |
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odpal_povolen = 0; |
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odpal_pomocna = 0; |
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stav = 0; |
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break; |
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} |
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stav++; |
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} |
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poskozby |
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} |
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poskozby |
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} |
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/* |
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* Vlakno pro obsluhu GPS prijimace |
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*/ |
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static WORKING_AREA(waThread_GPS, 768); |
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static msg_t Thread_GPS(void *arg) { |
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/* |
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* Nacita se jen nekolik NMEA zprav, aby se neplytvalo pameti na ulozeni kompletniho |
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* setu s tím rizikem, ze se nekdy nenacte aktualni informace o poloze. |
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*/ |
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uint8_t inBuffer[GPS_BUFFER]; |
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char *zacatek_retezce; |
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char *konec_retezce; |
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uint8_t pocet_znaku; |
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uint8_t NMEA_zprava[100]; |
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(void)arg; |
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poskozby |
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chRegSetThreadName("GPS_NMEA"); |
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poskozby |
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while (TRUE) { |
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chThdSleepMilliseconds(1000); //neni potreba data vycitat rychleji |
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sdRead(&SD2,inBuffer,GPS_BUFFER); |
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/* |
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*Nejprve se vycte cast NMEA dat, pote se vyhleda retezec GPGGA zpravy, ta se vyparsuje a pomoci fce |
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*dekoduj_zpravu_GPS, ktera vyparsuje data o poloze a jine, a ulozi je do struktury GPGGA_informace. |
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*/ |
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if ((zacatek_retezce = strstr((char *)inBuffer,"$GPGGA")) != NULL) |
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{ |
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if ((konec_retezce = strstr(zacatek_retezce,"*")) != NULL) |
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{ |
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pocet_znaku = (konec_retezce-zacatek_retezce)/sizeof(char); |
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if (pocet_znaku > 100) |
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{ |
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pocet_znaku = 100; |
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} |
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strncpy((char *)NMEA_zprava,zacatek_retezce,pocet_znaku); |
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dekoduj_zpravu_GPS(&NMEA_zprava[0],pocet_znaku); |
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sdWrite(&SD2,"Latitude: ",sizeof("Latitude: ")/sizeof(char)); |
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sdWrite(&SD2,GPGGA_informace.Latitude,sizeof(GPGGA_informace.Latitude)/sizeof(uint8_t)); |
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sdWrite(&SD2,"\r\n",2); |
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sdWrite(&SD2,"Longitude: ",sizeof("Longitude: ")/sizeof(char)); |
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sdWrite(&SD2,GPGGA_informace.Longitude,sizeof(GPGGA_informace.Longitude)/sizeof(uint8_t)); |
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sdWrite(&SD2,"\r\n",2); |
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sdWrite(&SD2,"Altitude: ",sizeof("Altitude: ")/sizeof(char)); |
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sdWrite(&SD2,GPGGA_informace.Altitude,sizeof(GPGGA_informace.Altitude)/sizeof(uint8_t)); |
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sdWrite(&SD2,"\r\n",2); |
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sdWrite(&SD2,"Status: ",sizeof("Status: ")/sizeof(char)); |
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sdWrite(&SD2,&GPGGA_informace.Status_GPS,sizeof(GPGGA_informace.Status_GPS)/sizeof(uint8_t)); |
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sdWrite(&SD2,"\r\n",2); |
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sdWrite(&SD2,NMEA_zprava,pocet_znaku); |
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sdWrite(&SD2,"\r\n",2); |
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} |
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else |
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{ |
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sdWrite(&SD2,"\r\n",2); |
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poskozby |
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sdWrite(&SD2,"Nenalezen ukoncovaci znak NMEA zpravy *\r\n",sizeof("Nenalezen ukoncovaci znak NMEA zpravy *\r\n")/sizeof(char)); |
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poskozby |
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sdWrite(&SD2,inBuffer,GPS_BUFFER); |
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} |
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} |
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else |
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poskozby |
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sdWrite(&SD2,"Nenalezen zacatek GPGGA zpravy\r\n",sizeof("Nenalezen zacatek GPGGA zpravy\r\n")/sizeof(char)); |
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poskozby |
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} |
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} |
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void dekodujPrikaz(char *prikaz) |
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{ |
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poskozby |
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if(strcmp(prikaz,"odpal") == 0) |
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poskozby |
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{ |
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poskozby |
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/* Wakes up the thread.*/ |
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chSysLockFromIsr(); |
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if (tp_odpal != NULL) { |
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tp_odpal->p_u.rdymsg = (msg_t)1; /* odpal povolen*/ |
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chSchReadyI(tp_odpal); |
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tp_odpal = NULL; |
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} |
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chSysUnlockFromIsr(); |
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poskozby |
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palTogglePad(GPIOB, GPIOB_LED4); |
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} |
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poskozby |
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else if (strcmp(prikaz,"zrus") == 0) |
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poskozby |
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{ |
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poskozby |
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/* Wakes up the thread.*/ |
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chSysLockFromIsr(); |
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if (tp_odpal != NULL) { |
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tp_odpal->p_u.rdymsg = (msg_t)2; /* zakazano pokracovat v odpalovaci sekvenci*/ |
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chSchReadyI(tp_odpal); |
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tp_odpal = NULL; |
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} |
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chSysUnlockFromIsr(); |
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poskozby |
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} |
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else |
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{ |
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uint8_t zp_neplatny[] = "Neplatny prikaz, spravny format *<prikaz>\n\r"; |
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sdWrite(&SD1,zp_neplatny,sizeof(zp_neplatny)/sizeof(uint8_t)); |
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palTogglePad(GPIOB, GPIOB_LED3); |
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} |
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} |
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/* |
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* Application entry point. |
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*/ |
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int main(void) { |
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poskozby |
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poskozby |
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uint8_t znaky[20]; |
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char prikaz[MAX_DELKA_PRIKAZU + 1]; |
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poskozby |
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uint8_t pocet_znaku = 0; |
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poskozby |
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/* |
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* System initializations. |
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* - HAL initialization, this also initializes the configured device drivers |
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* and performs the board-specific initializations. |
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* - Kernel initialization, the main() function becomes a thread and the |
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* RTOS is active. |
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*/ |
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halInit(); |
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chSysInit(); |
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poskozby |
273 |
/* |
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poskozby |
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* Activates the serial driver 1 using the driver default configuration. |
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* PA9 and PA10 are routed to USART1. |
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poskozby |
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* Komunikace s uzivatelem |
2943 |
poskozby |
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*/ |
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sdStart(&SD1, NULL); |
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poskozby |
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palSetPadMode(GPIOA, 9, PAL_MODE_ALTERNATE(7)); //TX |
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palSetPadMode(GPIOA, 10, PAL_MODE_ALTERNATE(7)); //RX |
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poskozby |
281 |
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/* |
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poskozby |
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* Activates the serial driver 2 using the driver default configuration. |
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* PA2 and PA3 are routed to USART2. |
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*GPS |
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poskozby |
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*/ |
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poskozby |
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sdStart(&SD2, &USART2_config); |
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palSetPadMode(GPIOA, 2, PAL_MODE_ALTERNATE(7)); //TX |
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palSetPadMode(GPIOA, 3, PAL_MODE_ALTERNATE(7)); //RX |
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2943 |
poskozby |
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/* |
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poskozby |
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* LED na vyvojove desce |
2943 |
poskozby |
293 |
*/ |
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palSetPadMode(GPIOB, GPIOB_LED4, PAL_MODE_OUTPUT_PUSHPULL); |
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palSetPadMode(GPIOB, GPIOB_LED3, PAL_MODE_OUTPUT_PUSHPULL); |
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poskozby |
296 |
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2943 |
poskozby |
297 |
/* |
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poskozby |
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* Porty pro vypousteci sekvenci |
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*/ |
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palSetPadMode(GPIOB, 10, PAL_MODE_OUTPUT_PUSHPULL); |
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palSetPadMode(GPIOB, 11, PAL_MODE_OUTPUT_PUSHPULL); |
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palSetPadMode(GPIOB, 12, PAL_MODE_OUTPUT_PUSHPULL); |
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palSetPadMode(GPIOB, 13, PAL_MODE_OUTPUT_PUSHPULL); |
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/* |
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* Aktivuje timer2 a prejde tak do aktivniho stavu |
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*/ |
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gptStart(&GPTD2,&gpt2cfg); |
2943 |
poskozby |
308 |
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2950 |
poskozby |
309 |
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2943 |
poskozby |
310 |
/* |
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* Vytvori vlakno pro prijem dat z GPS modulu |
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312 |
*/ |
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313 |
chThdCreateStatic(waThread_GPS, sizeof(waThread_GPS), NORMALPRIO, Thread_GPS, NULL); |
2950 |
poskozby |
314 |
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2943 |
poskozby |
315 |
/* |
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* Vytvori vlakno pro odpalovaci sekvenci |
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317 |
*/ |
2950 |
poskozby |
318 |
chThdCreateStatic (waThread_odpal, sizeof(waThread_odpal), NORMALPRIO, Thread_odpal, NULL); |
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2943 |
poskozby |
320 |
/* |
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* Normal main() thread activity, in this demo it does nothing except |
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* sleeping in a loop and check the button state, when the button is |
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* pressed the test procedure is launched with output on the serial |
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* driver 1. |
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*/ |
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while (TRUE) { |
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sdRead(&SD1,znaky,1); |
2950 |
poskozby |
328 |
/*Kdyz uzivatel stiskne enter -> dekoduj a vykonej prikaz, nebo pokud je prikaz delsi, nez by mel byt, |
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*prestane ukladat a upozorni uzivatele |
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330 |
*/ |
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331 |
if (znaky[0] == '\r' || pocet_znaku >= MAX_DELKA_PRIKAZU) |
2943 |
poskozby |
332 |
{ |
2946 |
poskozby |
333 |
pocet_znaku = 0; |
2943 |
poskozby |
334 |
dekodujPrikaz(prikaz); |
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prikaz[0] = 0; |
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336 |
} |
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337 |
/*Uklada prikaz*/ |
2950 |
poskozby |
338 |
else |
2943 |
poskozby |
339 |
{ |
2946 |
poskozby |
340 |
prikaz[pocet_znaku + 1] = 0; |
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341 |
prikaz[pocet_znaku++] = znaky[0]; |
2943 |
poskozby |
342 |
} |
|
|
343 |
} |
|
|
344 |
} |