Problem with comparison.
/Designs/Measuring_instruments/ABL01A/SW/Pozemni stanice/Zkouska - STM32L152-DISCOVERY/main.c |
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0,0 → 1,365 |
/* |
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" |
/*MAX delka prikazu, ktery uzivatel muze zadat*/ |
#define MAX_DELKA_PRIKAZU 10 |
/*Velikost GPS bufferu*/ |
#define GPS_BUFFER 500 |
extern NMEA_GPGGA GPGGA_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"; |
/* |
* 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; |
palTogglePad(GPIOB, GPIOB_LED4); |
/* 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*/ |
}; |
/* |
* 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 msg_zrusen[] = "Odpal zrusen uzivatelem.\r\n"; |
uint8_t odpal_pomocna = 0; |
(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++; |
} |
else if (msg == 2) //Pokud se ma odpal zrusit v prubehu |
{ |
/* |
* 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); |
odpal_povolen = 0; |
odpal_pomocna = 0; |
stav = 0; |
sdWrite(&SD1, msg_zrusen, sizeof(msg_zrusen)/sizeof(uint8_t)); |
} |
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: |
sdWrite(&SD1,"Vypousteni zahajeno!\r\n",sizeof("Vypousteni zahajeno!\r\n")/sizeof(char)); |
sdWrite(&SD1,"(1/4)\tVentil otevren -> nafukovani balonu\r\n",sizeof("1/4)\tVentil otevren -> nafukovani balonu\r\n")/sizeof(char)); |
palSetPad(GPIOB, GPIOB_PIN10); |
gptStartOneShot(&GPTD2,10000); |
break; |
case 1: |
palClearPad(GPIOB, GPIOB_PIN10); |
palSetPad(GPIOB, GPIOB_PIN11); |
sdWrite(&SD1,"(2/4)\tPrepalovani lisu...\r\n",sizeof("(2/4)\tPrepalovani lisu...\r\n")/sizeof(char)); |
gptStartOneShot(&GPTD2,5000); |
break; |
case 2: |
palClearPad(GPIOB, GPIOB_PIN11); |
palSetPad(GPIOB, GPIOB_PIN12); |
sdWrite(&SD1,"(3/4)\tZatavovani balonu...\r\n",sizeof("(3/4)\tZatavovani balonu...\r\n")/sizeof(char)); |
gptStartOneShot(&GPTD2,5000); |
break; |
case 3: |
palClearPad(GPIOB, GPIOB_PIN12); |
palSetPad(GPIOB, GPIOB_PIN13); |
sdWrite(&SD1,"(4/4)\tOtevirani vika...\r\n",sizeof("(4/4)\tOtevirani vika...\r\n")/sizeof(char)); |
gptStartOneShot(&GPTD2,3000); |
break; |
case 4: |
palClearPad(GPIOB, GPIOB_PIN13); |
sdWrite(&SD1,"Vypousteni ukonceno!\r\n",sizeof("Vypousteni ukonceno!\r\n")/sizeof(char)); |
odpal_povolen = 0; |
odpal_pomocna = 0; |
stav = 0; |
break; |
default: |
break; |
} |
stav++; |
} |
} |
} |
/* |
* Vlakno pro obsluhu GPS prijimace |
*/ |
static WORKING_AREA(waThread_GPS, 768); |
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(1000); //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,"$GPGGA")) != 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); |
sdWrite(&SD2,"Latitude: ",sizeof("Latitude: ")/sizeof(char)); |
sdWrite(&SD2,GPGGA_informace.Latitude,sizeof(GPGGA_informace.Latitude)/sizeof(uint8_t)); |
sdWrite(&SD2,"\r\n",2); |
sdWrite(&SD2,"Longitude: ",sizeof("Longitude: ")/sizeof(char)); |
sdWrite(&SD2,GPGGA_informace.Longitude,sizeof(GPGGA_informace.Longitude)/sizeof(uint8_t)); |
sdWrite(&SD2,"\r\n",2); |
sdWrite(&SD2,"Altitude: ",sizeof("Altitude: ")/sizeof(char)); |
sdWrite(&SD2,GPGGA_informace.Altitude,sizeof(GPGGA_informace.Altitude)/sizeof(uint8_t)); |
sdWrite(&SD2,"\r\n",2); |
sdWrite(&SD2,"Status: ",sizeof("Status: ")/sizeof(char)); |
sdWrite(&SD2,&GPGGA_informace.Status_GPS,sizeof(GPGGA_informace.Status_GPS)/sizeof(uint8_t)); |
sdWrite(&SD2,"\r\n",2); |
sdWrite(&SD2,NMEA_zprava,pocet_znaku); |
sdWrite(&SD2,"\r\n",2); |
} |
else |
{ |
sdWrite(&SD2,"\r\n",2); |
sdWrite(&SD2,"Nenalezen ukoncovaci znak NMEA zpravy *\r\n",sizeof("Nenalezen ukoncovaci znak NMEA zpravy *\r\n")/sizeof(char)); |
sdWrite(&SD2,inBuffer,GPS_BUFFER); |
} |
} |
else |
sdWrite(&SD2,"Nenalezen zacatek GPGGA zpravy\r\n",sizeof("Nenalezen zacatek GPGGA zpravy\r\n")/sizeof(char)); |
} |
} |
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(); |
palTogglePad(GPIOB, GPIOB_LED4); |
} |
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) |
{ |
sdWrite(&SD1, uvitaci_zprava, sizeof(uvitaci_zprava)/sizeof(uint8_t)); |
} |
else |
{ |
uint8_t zp_neplatny[] = "Neplatny prikaz, napiste <odpal> pro zahajeni sekvence\n\r ci <zrus> pro zruseni vypousteni\n\r"; |
sdWrite(&SD1,zp_neplatny,sizeof(zp_neplatny)/sizeof(uint8_t)); |
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_LED4, PAL_MODE_OUTPUT_PUSHPULL); |
palSetPadMode(GPIOB, GPIOB_LED3, PAL_MODE_OUTPUT_PUSHPULL); |
/* |
* Porty pro vypousteci sekvenci |
*/ |
palSetPadMode(GPIOB, 10, PAL_MODE_OUTPUT_PUSHPULL); |
palSetPadMode(GPIOB, 11, PAL_MODE_OUTPUT_PUSHPULL); |
palSetPadMode(GPIOB, 12, PAL_MODE_OUTPUT_PUSHPULL); |
palSetPadMode(GPIOB, 13, PAL_MODE_OUTPUT_PUSHPULL); |
/* |
* Aktivuje timer2 a 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); |
sdWrite(&SD1, uvitaci_zprava, sizeof(uvitaci_zprava)/sizeof(uint8_t)); |
/* |
* 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]; |
} |
} |
} |