0,0 → 1,462 |
/* |
ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio |
|
Licensed under the Apache License, Version 2.0 (the "License"); |
you may not use this file except in compliance with the License. |
You may obtain a copy of the License at |
|
http://www.apache.org/licenses/LICENSE-2.0 |
|
Unless required by applicable law or agreed to in writing, software |
distributed under the License is distributed on an "AS IS" BASIS, |
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
See the License for the specific language governing permissions and |
limitations under the License. |
*/ |
|
#include "ch.h" |
#include "hal.h" |
#include "test.h" |
#include "serial.h" |
#include "gpt.h" |
#include <string.h> |
#include "keil/GPS_dekoduj.h" |
#include <../../os/various/chprintf.h> |
#include <chstreams.h.> |
|
/*MAX delka prikazu, ktery uzivatel muze zadat*/ |
#define MAX_DELKA_PRIKAZU 10 |
|
/*Velikost GPS bufferu*/ |
#define GPS_BUFFER 700 |
#define PWM_PERIODA_NORMAL 20000 |
#define PWM_SIRKA_NORMAL PWM_PERIODA_NORMAL/2 |
|
extern NMEA_GPRMC GPRMC_informace; |
Thread *tp_odpal = NULL; |
uint8_t uvitaci_zprava[] = "\r\n\r\n* * * * * * * * * * * * * * * * * * * * * * * * * *\r\nVita vas Automaticky Vypoustec Meteobalonu 1.1\r\nZapojeni vyvodu:\r\n\tGPIOB10 - ventil\r\n\tGPIOB11 - lis\r\n\tGPIOB12 - zataveni balonu\r\n\tGPIOB13 - otevreni krytu\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"; |
|
static PWMConfig pwmcfg = { |
10000, /* 10kHz PWM clock frequency. */ |
PWM_PERIODA_NORMAL, /* PWM period 1S (in ticks). */ |
NULL, |
{ |
{PWM_OUTPUT_ACTIVE_HIGH, NULL}, |
{PWM_OUTPUT_ACTIVE_HIGH, NULL}, |
{PWM_OUTPUT_DISABLED, NULL}, |
{PWM_OUTPUT_DISABLED, NULL} |
}, |
/* HW dependent part.*/ |
0 |
}; |
|
/* |
* Konfigurace USART2 |
*/ |
|
static const SerialConfig USART2_config = |
{ |
/*Speed*/ |
9600, |
/*Initialization value for the CR1 register.*/ |
0, |
/*Initialization value for the CR2 register.*/ |
USART_CR2_STOP1_BITS | USART_CR2_LINEN, |
/*Initialization value for the CR3 register.*/ |
0 |
}; |
|
|
/* |
* GPT2 callback. |
*/ |
static void gpt2cb(GPTDriver *gptp) |
{ |
(void)gptp; |
/* Wakes up the thread.*/ |
chSysLockFromIsr(); |
if (tp_odpal != NULL) { |
tp_odpal->p_u.rdymsg = (msg_t)50; /* Znaci, ze se vlakno probouzi kvuli preruseni od GPT*/ |
chSchReadyI(tp_odpal); |
tp_odpal = NULL; |
} |
chSysUnlockFromIsr(); |
} |
|
|
/* |
*Konfigurace casovace 2 |
*/ |
static const GPTConfig gpt2cfg = |
{ |
1000, /*1000Hz f*/ |
gpt2cb /*callback fce*/ |
}; |
|
/* |
* Vypise cas a datum, pokud jsou tyto informace k dispozici |
*/ |
uint8_t Vypis_cas_datum() |
{ |
if(GPRMC_informace.Status_GPS[0] == 'A') |
{ |
chprintf((BaseSequentialStream *)&SD1,(char *)GPRMC_informace.Datum); |
chprintf((BaseSequentialStream *)&SD1,"\r\n"); |
chprintf((BaseSequentialStream *)&SD1,(char *)GPRMC_informace.UTC_time); |
chprintf((BaseSequentialStream *)&SD1,"\r\n"); |
return 1; |
} |
else |
return 0; |
} |
|
/* |
* Vlakno pro ovladani odpalovaci sekvence |
*/ |
static WORKING_AREA(waThread_odpal, 128); |
static msg_t Thread_odpal(void *arg) { |
uint8_t stav = 0; // rika, ve ktere fazi je odpalovani |
uint8_t odpal_povolen = 0; |
uint8_t odpal_pomocna = 0; |
uint8_t pocet_opakovani = 1; |
uint16_t perioda_casovace = 500; |
(void)arg; |
chRegSetThreadName("Odpal_vlakno"); |
|
|
while (TRUE) |
{ |
msg_t msg; |
|
/* Waiting for the IRQ to happen.*/ |
chSysLock(); |
tp_odpal = chThdSelf(); |
chSchGoSleepS(THD_STATE_SUSPENDED); |
msg = chThdSelf()->p_u.rdymsg; /* Retrieving the message, optional.*/ |
chSysUnlock(); |
/* Perform processing here.*/ |
if(msg == 1) |
{ |
odpal_povolen = 1; |
odpal_pomocna++; |
stav = 0; |
pocet_opakovani = 1; |
} |
else if (msg == 2) //Pokud se ma odpal zrusit v prubehu vypousteni |
{ |
/* |
* Pro jistotu se vypnou vsechny vystupy pri zruseni odpalu |
*/ |
palClearPad(GPIOB, GPIOB_PIN10); |
palClearPad(GPIOB, GPIOB_PIN11); |
palClearPad(GPIOB, GPIOB_PIN12); |
palClearPad(GPIOB, GPIOB_PIN13); |
|
if(odpal_povolen == 1) |
chprintf((BaseSequentialStream *)&SD1,"\r\nOdpal zrusen uzivatelem.\r\n"); |
else |
chprintf((BaseSequentialStream *)&SD1,"Odpal nebyl aktivovan.\r\n"); |
|
Vypis_cas_datum(); |
odpal_povolen = 0; |
odpal_pomocna = 0; |
stav = 0; |
pocet_opakovani = 1; |
} |
else if (msg == 50 && odpal_povolen == 1) // preruseni od GPT |
{ |
odpal_pomocna = 1; |
} |
if (odpal_povolen == 1 && odpal_pomocna <= 1) |
{ |
odpal_pomocna = 2; // aby nepretelkla tato promenna |
switch (stav) |
{ |
case 0: |
if (pocet_opakovani == 1) |
{ |
chprintf((BaseSequentialStream *)&SD1,"Vypousteni zahajeno!\r\n"); |
Vypis_cas_datum(); |
} |
|
if (pocet_opakovani <= 20) |
{ |
//sdWrite(&SD1,,sizeof("1/4)\tVentil otevren -> nafukovani balonu\r\n")/sizeof(char)); |
chprintf((BaseSequentialStream *)&SD1,"(1/4)\tVentil otevren -> nafukovani balonu %d%%\r",pocet_opakovani*5); |
palSetPad(GPIOB, GPIOB_PIN10); |
gptStartOneShot(&GPTD2,perioda_casovace); |
pocet_opakovani++; |
if (pocet_opakovani == 21) |
{ |
chprintf((BaseSequentialStream *)&SD1,"\r\n"); |
stav++; |
pocet_opakovani = 1; |
} |
} |
break; |
case 1: |
if (pocet_opakovani <= 10) |
{ |
palClearPad(GPIOB, GPIOB_PIN10); |
palSetPad(GPIOB, GPIOB_PIN11); |
chprintf((BaseSequentialStream *)&SD1,"(2/4)\tPrepalovani lisu... %d%%\r",pocet_opakovani*10); |
gptStartOneShot(&GPTD2,perioda_casovace); |
pocet_opakovani++; |
if (pocet_opakovani == 11) |
{ |
chprintf((BaseSequentialStream *)&SD1,"\r\n"); |
stav++; |
pocet_opakovani = 1; |
} |
} |
break; |
case 2: |
if (pocet_opakovani <= 10) |
{ |
palClearPad(GPIOB, GPIOB_PIN11); |
palSetPad(GPIOB, GPIOB_PIN12); |
chprintf((BaseSequentialStream *)&SD1,"(3/4)\tZatavovani balonu... %d%%\r",pocet_opakovani*10); |
gptStartOneShot(&GPTD2,perioda_casovace); |
pocet_opakovani++; |
if (pocet_opakovani == 11) |
{ |
chprintf((BaseSequentialStream *)&SD1,"\r\n"); |
stav++; |
pocet_opakovani = 1; |
} |
} |
break; |
case 3: |
if (pocet_opakovani <= 20) |
{ |
palClearPad(GPIOB, GPIOB_PIN12); |
palSetPad(GPIOB, GPIOB_PIN13); |
chprintf((BaseSequentialStream *)&SD1,"(4/4)\tOtevirani vika... %d%%\r",pocet_opakovani*5); |
gptStartOneShot(&GPTD2,perioda_casovace); |
pocet_opakovani++; |
if (pocet_opakovani == 21) |
{ |
chprintf((BaseSequentialStream *)&SD1,"\r\n"); |
stav++; |
pocet_opakovani = 1; |
} |
} |
break; |
case 4: |
palClearPad(GPIOB, GPIOB_PIN13); |
chprintf((BaseSequentialStream *)&SD1,"Vypousteni ukonceno!\r\n"); |
Vypis_cas_datum(); |
odpal_povolen = 0; |
odpal_pomocna = 0; |
stav = 0; |
break; |
default: |
break; |
} |
} |
} |
} |
|
|
/* |
* Vlakno pro obsluhu GPS prijimace |
*/ |
static WORKING_AREA(waThread_GPS, 1024); |
static msg_t Thread_GPS(void *arg) { |
/* |
* Nacita se jen nekolik NMEA zprav, aby se neplytvalo pameti na ulozeni kompletniho |
* setu s tím rizikem, ze se nekdy nenacte aktualni informace o poloze. |
*/ |
uint8_t inBuffer[GPS_BUFFER]; |
char *zacatek_retezce; |
char *konec_retezce; |
uint8_t pocet_znaku; |
uint8_t NMEA_zprava[100]; |
|
|
(void)arg; |
chRegSetThreadName("GPS_NMEA"); |
|
while (TRUE) { |
chThdSleepMilliseconds(900); //neni potreba data vycitat rychleji |
|
sdRead(&SD2,inBuffer,GPS_BUFFER); |
|
/* |
*Nejprve se vycte cast NMEA dat, pote se vyhleda retezec GPGGA zpravy, ta se vyparsuje a pomoci fce |
*dekoduj_zpravu_GPS, ktera vyparsuje data o poloze a jine, a ulozi je do struktury GPGGA_informace. |
*/ |
|
if ((zacatek_retezce = strstr((char *)inBuffer,"$GPRMC")) != NULL) |
{ |
if ((konec_retezce = strstr(zacatek_retezce,"*")) != NULL) |
{ |
pocet_znaku = (konec_retezce-zacatek_retezce)/sizeof(char); |
if (pocet_znaku > 100) |
{ |
pocet_znaku = 100; |
} |
strncpy((char *)NMEA_zprava,zacatek_retezce,pocet_znaku); |
dekoduj_zpravu_GPS(&NMEA_zprava[0],pocet_znaku); |
|
chprintf((BaseSequentialStream *)&SD2,"Latitude: %s\r\n",GPRMC_informace.Latitude); |
chprintf((BaseSequentialStream *)&SD2,"Longitude: %s\r\n",GPRMC_informace.Longitude); |
chprintf((BaseSequentialStream *)&SD2,"Datum: %s\r\n",GPRMC_informace.Datum); |
chprintf((BaseSequentialStream *)&SD2,"Status: %s\r\n",GPRMC_informace.Status_GPS); |
chprintf((BaseSequentialStream *)&SD2,"Cas: %s\r\n",GPRMC_informace.UTC_time); |
NMEA_zprava[pocet_znaku] = 0; |
chprintf((BaseSequentialStream *)&SD2,(char *)NMEA_zprava); |
sdWrite(&SD2,"\r\n",2); |
} |
else |
{ |
sdWrite(&SD2,"\r\n",2); |
chprintf((BaseSequentialStream *)&SD2,"Nenalezen ukoncovaci znak NMEA zpravy *\r\n"); |
sdWrite(&SD2,inBuffer,GPS_BUFFER); |
} |
} |
else |
chprintf((BaseSequentialStream *)&SD2,"Nenalezen zacatek GPRMC zpravy\r\n"); |
} |
} |
|
void dekodujPrikaz(char *prikaz) |
{ |
if(strcmp(prikaz,"odpal") == 0) |
{ |
/* Wakes up the thread.*/ |
chSysLockFromIsr(); |
if (tp_odpal != NULL) { |
tp_odpal->p_u.rdymsg = (msg_t)1; /* odpal povolen*/ |
chSchReadyI(tp_odpal); |
tp_odpal = NULL; |
} |
chSysUnlockFromIsr(); |
|
} |
else if (strcmp(prikaz,"zrus") == 0) |
{ |
/* Wakes up the thread.*/ |
chSysLockFromIsr(); |
if (tp_odpal != NULL) { |
tp_odpal->p_u.rdymsg = (msg_t)2; /* zakazano pokracovat v odpalovaci sekvenci*/ |
chSchReadyI(tp_odpal); |
tp_odpal = NULL; |
} |
chSysUnlockFromIsr(); |
} |
else if (strcmp(prikaz,"help") == 0) |
{ |
chprintf((BaseSequentialStream *)&SD1,(char *)uvitaci_zprava); |
} |
else |
{ |
uint8_t zp_neplatny[] = "Neplatny prikaz!\r\n\t<odpal> pro zahajeni sekvence\n\r\t<zrus> pro zruseni vypousteni\n\r\t<help> pro napovedu\r\n"; |
chprintf((BaseSequentialStream *)&SD1,(char *)zp_neplatny); |
palTogglePad(GPIOB, GPIOB_LED3); |
} |
} |
|
/* |
* Application entry point. |
*/ |
int main(void) { |
|
uint8_t znaky[20]; |
char prikaz[MAX_DELKA_PRIKAZU + 1]; |
uint8_t pocet_znaku = 0; |
|
/* |
* System initializations. |
* - HAL initialization, this also initializes the configured device drivers |
* and performs the board-specific initializations. |
* - Kernel initialization, the main() function becomes a thread and the |
* RTOS is active. |
*/ |
halInit(); |
chSysInit(); |
|
/* |
* Activates the serial driver 1 using the driver default configuration. |
* PA9 and PA10 are routed to USART1. |
* Komunikace s uzivatelem |
*/ |
sdStart(&SD1, NULL); |
palSetPadMode(GPIOA, 9, PAL_MODE_ALTERNATE(7)); //TX |
palSetPadMode(GPIOA, 10, PAL_MODE_ALTERNATE(7)); //RX |
|
/* |
* Activates the serial driver 2 using the driver default configuration. |
* PA2 and PA3 are routed to USART2. |
*GPS |
*/ |
sdStart(&SD2, &USART2_config); |
palSetPadMode(GPIOA, 2, PAL_MODE_ALTERNATE(7)); //TX |
palSetPadMode(GPIOA, 3, PAL_MODE_ALTERNATE(7)); //RX |
|
/* |
* LED na vyvojove desce |
*/ |
palSetPadMode(GPIOB, GPIOB_LED3, PAL_MODE_OUTPUT_PUSHPULL); |
|
/* |
* Initializes the PWM driver 4, routes the TIM4 outputs to the board LEDs. |
*/ |
pwmStart(&PWMD4, &pwmcfg); |
palSetPadMode(GPIOB, GPIOB_LED4, PAL_MODE_ALTERNATE(2)); |
pwmEnableChannel(&PWMD4,0,PWM_SIRKA_NORMAL); |
|
|
/* |
* Porty pro vypousteci sekvenci |
*/ |
palSetPadMode(GPIOB, GPIOB_PIN10, PAL_MODE_OUTPUT_PUSHPULL); |
palClearPad(GPIOB, GPIOB_PIN10); |
palSetPadMode(GPIOB, GPIOB_PIN11, PAL_MODE_OUTPUT_PUSHPULL); |
palClearPad(GPIOB, GPIOB_PIN11); |
palSetPadMode(GPIOB, GPIOB_PIN12, PAL_MODE_OUTPUT_PUSHPULL); |
palClearPad(GPIOB, GPIOB_PIN12); |
palSetPadMode(GPIOB, GPIOB_PIN13, PAL_MODE_OUTPUT_PUSHPULL); |
palClearPad(GPIOB, GPIOB_PIN13); |
/* |
* Aktivuje timer2 a timer3 prejde tak do aktivniho stavu |
*/ |
gptStart(&GPTD2,&gpt2cfg); |
/* |
* Vytvori vlakno pro prijem dat z GPS modulu |
*/ |
chThdCreateStatic(waThread_GPS, sizeof(waThread_GPS), NORMALPRIO, Thread_GPS, NULL); |
|
/* |
* Vytvori vlakno pro odpalovaci sekvenci |
*/ |
chThdCreateStatic (waThread_odpal, sizeof(waThread_odpal), NORMALPRIO, Thread_odpal, NULL); |
|
chprintf((BaseSequentialStream *)&SD1,(char *) uvitaci_zprava); |
/* |
* Normal main() thread activity, in this demo it does nothing except |
* sleeping in a loop and check the button state, when the button is |
* pressed the test procedure is launched with output on the serial |
* driver 1. |
*/ |
|
while (TRUE) { |
|
sdRead(&SD1,znaky,1); |
/*Kdyz uzivatel stiskne enter -> dekoduj a vykonej prikaz, nebo pokud je prikaz delsi, nez by mel byt, |
*prestane ukladat a upozorni uzivatele |
*/ |
if (znaky[0] == '\r' || pocet_znaku >= MAX_DELKA_PRIKAZU) |
{ |
pocet_znaku = 0; |
dekodujPrikaz(prikaz); |
prikaz[0] = 0; |
} |
/*Uklada prikaz*/ |
else |
{ |
prikaz[pocet_znaku + 1] = 0; |
prikaz[pocet_znaku++] = znaky[0]; |
} |
} |
} |