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/Designs/Measuring_instruments/ABL01A/DOC/Zaverecna zprava Zbynek/Popis_firmware_automaticky_vypoustec.tex
29,52 → 29,12
% zahlavi vpravo
\rhead{Bc. Zbynìk Poskoèil}
\section{Firmware}
\subsection{Real-time operaèní systém}
Pro ovládání celého systému byl zvolen real-time operaèní systém (ROS). Ten byl zvolen pøedevším pro zjednušení programování vypouštìèe, konkrétnì nastavování periférií procesoru a øízení vícevláknové aplikace na nìm bìžící.\\
Jako ROS pro tuto aplikaci tak byl zvolen ChibiOS, který splòuje standardní požadavky na ROS a také s ním máme zkušenosti s programováním jiných aplikací pod procesory ARM.
\subsection{Vysvìtlení funkce firmwaru}
Aplikace pro ovládání odpalování se dá rozdìlit na ètyøi funkèní bloky, které jsou realizovány pomocí vláken. Funkèní diagram je zobrazen na Obr. \cite{Diag_firmware}. V následujících kapitolách bude podrobnìji rozebrána funkce jednotlivých vláken aplikace.
\subsubsection{Blikání LED}
V tomto vláknì je realizované prosté blikání LED, které slouží pro signalizaci bìhu programu. Mezi tím, kdy dioda svítí a nebo je vypnutá je vlákno uspáno. Tím je vyøešeno jak èasování tak úspora prostøedkù procesoru.
\subsubsection{Vypouštìní}
Toto vlákno se stará o kompletní sekvenci pro vypuštìní balónu. Po spuštìní a inicializaci promìnných spadne program do nekoneèné smyèky ve které je následnì uspán a èeká na probuzení. To nastane ve tøech pøípadech:\\
\begin{enumerate}
\item Pøíjem pøíkazu pro odpal
\item Pøíjem pøíkazu pro zrušení odpalu
\item Probuzení od èasovaèe
\end{enumerate}
Ad. 1. Po pøíjmu pøíkazu, který zahajuje celou sekvenci odpalování se vypíše na terminál zpráva o zahájení vypouštìní a sepne se pin, na kterém je pøipojen aktuátor, který otevírá víko krabice, ve které je balón uložen (v dobì vykonávání každého kroku je na terminál vypisována informace o tom, kolik procent z daného kroku je již vykonáno). Pomocí koncového spínaèe je snímána informace o tom, zda se støecha opravdu otevøela, pokud se tak nestalo, je celá sekvence ukonèena. Pokud snímaè indikuje otevøení støechy, pøistupuje se k dalším kroku.\\
Tím je otevøení ventilu a tím pádem zahájení napouštìní balónu. Tento krok není nijak v souèasné chvíli zpìtnovazebnì snímán - je dán pouze èas kdy je ventil otevøen. Do budoucna bychom rádi použili mìøení prùtoku k získání informace, zda je balón opravdu napuštìn daným množstvím plynu.\\
Tøetím krokem celé sekvence je pøepálení plastové pojistky, která spouští tavící lis. Po pevnì dané èasové prodlevì, která by mìla staèit pro pøetavení, je pomocí koncového spínaèe zjištìno, zda se pojistka pøetavila. Pokud ano, pokraèuje se posledním krokem, pokud ne, dochází opìt k pøerušení sekvence a návrat do výchozího stavu.\\
Posledním krokem je zatavení naplnìného balónu. V tomto kroku je opìt nadefinován èas, po který dochází k zatavování balónu pomocí odporového drátu. Po uplynutí nadefinované doby je balón zataven a na terminál je vypsána informace o ukonèení vypouštìní a všechny výstupy jsou v neaktivním stavu.\\
Ad. 2. V pøípadì pøíjmu zprávy, která pøikazuje ukonèení procesu odpalování, se deaktivují výstupy aktivní bìhem vypouštìní a uživatel je informován o úspìšném pøerušení celé sekvence.\\
Ad. 3. Pro pøesné èasování bìhem celého procesu odpalování je využito funkce èasovaèe. Ten se v každém kroku odpalování sepne na urèitou dobu, která je celoèíselným násobkem celkové doby, kterou se èeká v daném kroku. Tento postup byl zvolen z toho dùvodu, aby mohla být prùbìžnì aktualizována zpráva pro uživatele vyjadøující èas, který zbývá do ukonèení daného úkolu.
\subsubsection{Pøíjem pøíkazu od uživatele}
Pro komunikaci s uživatelem je využito sériové linky. Ta se využívá jak pro informování uživatele o aktuálním stavu programu tak zároveò k pøíjmu pøíkazù od uživatele. Celý algoritmus pøíjmu pøíkazu spoèívá ve vyèítání znakù zadaných uživatelem znak za znakem až do té chvíle, kdy je stisknut ENTER a nebo je pøekroèena maximální délka pøíkazu. Poté se buï zadaný pøíkaz dekóduje a následnì provede a nebo je vypsána informace, že pøíkaz nebyl rozeznán.
\subsubsection{Pøíjem dat z GPS modulu}
Posledním vláknem využívaném ve firmwaru vypouštìèe je vlákno, které se stará o pøíjem a dekódování NMEA zprávy posílané po sériové lince z GPS modulu
\cite{GPS_ublox}. Každou vteøinu je vyèítána NMEA zpráva a z ní je vybrána GPRMC zpráva, ze které je následnì získána informace o aktuálním èase, datu a poloze stanice. Tato informace slouží jednat pro pøesné logování událostí a zároveò v budoucnu pro snadné lokalizování vypouštìcí stanice.\subsection{Uživatelské rozhraní terminálu}
Pøi spuštìní terminálu se po resetu programu procesoru vypíše úvodní zpráva s nápovìdou, na které výstupní kontakty procesoru jsou pøipojeny jednotlivé akèní èleny. Následnì je program v pohotovostním režimu a oèekává pøíkaz. Jednotlivé pøíkazy jsou:\\
\begin{enumerate}
\item odpal
\item zrus (nebo písmeno "s")
\item help
\item check
\end{enumerate}
Pøíkaz \textbf{odpal} spustí vypouštìcí sekvenci probuzením daného vlákna pro vypouštìní. Pøíkaz \textbf{zrus} zastaví vypouštìcí sekvenci, pokud byla zahájena a indormuje o tom výpisem o ukonèení vypouštìní. Zároveò jde vypouštìní zrušit okamžitì stisknutím "s" bez nutnosti potvrzovat pøíkaz enterem. Pøíkaz \textbf{help} vypíše stejnou úvodní zprávu jako po resetu programu. Poslední pøíkaz \textbf{check} lze použít pro kontrolu stavu vypouštìèe pøed zaèátkem vypouštìní. Po zadání tohoto pøíkazu jsou na terminál vypsány informace o aktuálních stavech použitých senzorù. Lze tak napøíklad zkontrolovat, že støecha není zajištìna, nebo že je lis již spuštìn.
\begin{figure}[hbtp]
\centering
\includegraphics[scale=0.6]{program_flow.png}
\caption{Funkèní diagram firmwaru Automatického vypouštìèe}
\label{Diag_firmware}
\end{figure}
\begin{flushleft}
\begin{thebibliography}{99}
\bibitem {GPS_ublox} $UBLOX. <i>LEA-6 series</i> [online]. 2013 [cit. 2013-05-12]. Dostupné z: http://www.u-blox.com/en/gps-modules/pvt-modules/lea-6-family.html$
\end{thebibliography}
\end{flushleft}

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zprávu<y:LabelModel>
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příkaz<y:LabelModel>
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přijat?<y:LabelModel>
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zpráva?<y:LabelModel>
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časový
limit?<y:LabelModel>
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\BOOKMARK [1][-]{section.3}{D\355lc\355 v\375sledky a jejich diskuze}{}
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/Designs/Measuring_instruments/ABL01A/DOC/src/zprava.cs.tex
145,16 → 145,50
přepalovaná výkonovým rezistorem) ke spínáni proudu do rezistorů může
být využit modul \href{/doku.php?id=cs:nfet4x}{NFET4X01B}
\hyperdef{}{firmware}{\paragraph{Firmware}\label{firmware}}
\section{Firmware}
\begin{itemize}
\item
Pozemní stanice by měla mít možnost odmítnout vypuštění na základě
zadané konfigurace jejího majitele.
\end{itemize}
Pro zajištění běhu nezávislých procesů by bylo možná vhodné využít
\href{http://www.chibios.org/dokuwiki/doku.php}{ChibiOS/RT}
\subsection{Real-time operační systém}
Pro ovládání celého systému byl zvolen real-time operační systém (ROS). Ten byl zvolen především pro zjednušení programování vypouštěče, konkrétně nastavování periférií procesoru a řízení vícevláknové aplikace na něm běžící.\\
Jako ROS pro tuto aplikaci tak byl zvolen ChibiOS, který splňuje standardní požadavky na ROS a také s ním máme zkušenosti s programováním jiných aplikací pod procesory ARM.
\subsection{Vysvětlení funkce firmwaru}
Aplikace pro ovládání odpalování se dá rozdělit na čtyři funkční bloky, které jsou realizovány pomocí vláken. Funkční diagram je zobrazen na Obr. \cite{Diag_firmware}. V následujících kapitolách bude podrobněji rozebrána funkce jednotlivých vláken aplikace.
\subsubsection{Blikání LED}
V tomto vlákně je realizované prosté blikání LED, které slouží pro signalizaci běhu programu. Mezi tím, kdy dioda svítí a nebo je vypnutá je vlákno uspáno. Tím je vyřešeno jak časování tak úspora prostředků procesoru.
\subsubsection{Vypouštění}
Toto vlákno se stará o kompletní sekvenci pro vypuštění balónu. Po spuštění a inicializaci proměnných spadne program do nekonečné smyčky ve které je následně uspán a čeká na probuzení. To nastane ve třech případech:\\
\begin{enumerate}
\item Příjem příkazu pro odpal
\item Příjem příkazu pro zrušení odpalu
\item Probuzení od časovače
\end{enumerate}
Ad. 1. Po příjmu příkazu, který zahajuje celou sekvenci odpalování se vypíše na terminál zpráva o zahájení vypouštění a sepne se pin, na kterém je připojen aktuátor, který otevírá víko krabice, ve které je balón uložen (v době vykonávání každého kroku je na terminál vypisována informace o tom, kolik procent z daného kroku je již vykonáno). Pomocí koncového spínače je snímána informace o tom, zda se střecha opravdu otevřela, pokud se tak nestalo, je celá sekvence ukončena. Pokud snímač indikuje otevření střechy, přistupuje se k dalším kroku.\\
Tím je otevření ventilu a tím pádem zahájení napouštění balónu. Tento krok není nijak v současné chvíli zpětnovazebně snímán - je dán pouze čas kdy je ventil otevřen. Do budoucna bychom rádi použili měření průtoku k získání informace, zda je balón opravdu napuštěn daným množstvím plynu.\\
Třetím krokem celé sekvence je přepálení plastové pojistky, která spouští tavící lis. Po pevně dané časové prodlevě, která by měla stačit pro přetavení, je pomocí koncového spínače zjištěno, zda se pojistka přetavila. Pokud ano, pokračuje se posledním krokem, pokud ne, dochází opět k přerušení sekvence a návrat do výchozího stavu.\\
Posledním krokem je zatavení naplněného balónu. V tomto kroku je opět nadefinován čas, po který dochází k zatavování balónu pomocí odporového drátu. Po uplynutí nadefinované doby je balón zataven a na terminál je vypsána informace o ukončení vypouštění a všechny výstupy jsou v neaktivním stavu.\\
Ad. 2. V případě příjmu zprávy, která přikazuje ukončení procesu odpalování, se deaktivují výstupy aktivní během vypouštění a uživatel je informován o úspěšném přerušení celé sekvence.\\
Ad. 3. Pro přesné časování během celého procesu odpalování je využito funkce časovače. Ten se v každém kroku odpalování sepne na určitou dobu, která je celočíselným násobkem celkové doby, kterou se čeká v daném kroku. Tento postup byl zvolen z toho důvodu, aby mohla být průběžně aktualizována zpráva pro uživatele vyjadřující čas, který zbývá do ukončení daného úkolu.
\subsubsection{Příjem příkazu od uživatele}
Pro komunikaci s uživatelem je využito sériové linky. Ta se využívá jak pro informování uživatele o aktuálním stavu programu tak zároveň k příjmu příkazů od uživatele. Celý algoritmus příjmu příkazu spočívá ve vyčítání znaků zadaných uživatelem znak za znakem až do té chvíle, kdy je stisknut ENTER a nebo je překročena maximální délka příkazu. Poté se buď zadaný příkaz dekóduje a následně provede a nebo je vypsána informace, že příkaz nebyl rozeznán.
\subsubsection{Příjem dat z GPS modulu}
Posledním vláknem využívaném ve firmwaru vypouštěče je vlákno, které se stará o příjem a dekódování NMEA zprávy posílané po sériové lince z GPS modulu
\cite{GPS_ublox}. Každou vteřinu je vyčítána NMEA zpráva a z ní je vybrána GPRMC zpráva, ze které je následně získána informace o aktuálním čase, datu a poloze stanice. Tato informace slouží jednat pro přesné logování událostí a zároveň v budoucnu pro snadné lokalizování vypouštěcí stanice.\subsection{Uživatelské rozhraní terminálu}
Při spuštění terminálu se po resetu programu procesoru vypíše úvodní zpráva s nápovědou, na které výstupní kontakty procesoru jsou připojeny jednotlivé akční členy. Následně je program v pohotovostním režimu a očekává příkaz. Jednotlivé příkazy jsou:\\
\begin{enumerate}
\item odpal
\item zrus (nebo písmeno "s")
\item help
\item check
\end{enumerate}
Příkaz \textbf{odpal} spustí vypouštěcí sekvenci probuzením daného vlákna pro vypouštění. Příkaz \textbf{zrus} zastaví vypouštěcí sekvenci, pokud byla zahájena a indormuje o tom výpisem o ukončení vypouštění. Zároveň jde vypouštění zrušit okamžitě stisknutím "s" bez nutnosti potvrzovat příkaz enterem. Příkaz \textbf{help} vypíše stejnou úvodní zprávu jako po resetu programu. Poslední příkaz \textbf{check} lze použít pro kontrolu stavu vypouštěče před začátkem vypouštění. Po zadání tohoto příkazu jsou na terminál vypsány informace o aktuálních stavech použitých senzorů. Lze tak například zkontrolovat, že střecha není zajištěna, nebo že je lis již spuštěn.
\begin{figure}[hbtp]
\centering
\includegraphics[scale=0.6]{./img/program_flow.png}
\caption{Funkční diagram firmwaru Automatického vypouštěče}
\label{Diag_firmware}
\end{figure}
\begin{figure}
\centering
\includegraphics[width=10cm, height=8cm]{img/blokoveschema1.png}
402,8 → 436,7
\url{http://en.wikipedia.org/wiki/CoCom\#Legacyi}
\bibitem{moguli}{projekt Mogul}
\url{http://cs.wikipedia.org/wiki/Projekt\_Moguli}
\bibitem {GPS_ublox}{UBLOX. LEA-6 series [online]. 2013 [cit. 2013-05-12]. Dostupné z: http://www.u-blox.com/en/gps-modules/pvt-modules/lea-6-family.html}
\bibitem {ChibiOS/RT}\url{http://www.chibios.org/dokuwiki/doku.php}
\end{thebibliography}
\end{document}

/Designs/Measuring_instruments/ABL01A/DOC/src/zprava.cs.toc
8,24 → 8,31
\contentsline {paragraph}{Meteorologick\IeC {\'a} data}{5}{section*.5}
\contentsline {paragraph}{Mechanick\IeC {\'a} konstrukce}{5}{section*.6}
\contentsline {subparagraph}{Ak\IeC {\v c}n\IeC {\'\i } \IeC {\v c}leny}{5}{section*.7}
\contentsline {paragraph}{Firmware}{5}{section*.8}
\contentsline {subsection}{\numberline {1.2}Bal\IeC {\'o}nov\IeC {\'a} sonda}{5}{subsection.1.2}
\contentsline {subsubsection}{\numberline {1.2.1}Technick\IeC {\'e} parametry}{6}{subsubsection.1.2.1}
\contentsline {paragraph}{Komunikace (Telemetrick\IeC {\'e} \IeC {\'u}daje)}{6}{section*.9}
\contentsline {paragraph}{Nap\IeC {\'a}jen\IeC {\'\i } sondy b\IeC {\v e}hem letu}{7}{section*.10}
\contentsline {paragraph}{Konstrukce}{7}{section*.11}
\contentsline {paragraph}{Firmware}{7}{section*.12}
\contentsline {subsubsection}{\numberline {1.2.2}Legislativn\IeC {\'\i } po\IeC {\v z}adavky}{7}{subsubsection.1.2.2}
\contentsline {paragraph}{Kategorie bal\IeC {\'o}nu}{7}{section*.13}
\contentsline {paragraph}{Povolen\IeC {\'\i } vyu\IeC {\v s}t\IeC {\v e}n\IeC {\'\i }}{8}{section*.14}
\contentsline {paragraph}{Materi\IeC {\'a}ly}{8}{section*.15}
\contentsline {paragraph}{Dostup}{8}{section*.16}
\contentsline {paragraph}{M\IeC {\'\i }sto vypu\IeC {\v s}t\IeC {\v e}n\IeC {\'\i }}{8}{section*.17}
\contentsline {paragraph}{\IeC {\v R}e\IeC {\v s}en\IeC {\'\i } legislativn\IeC {\'\i }ch probl\IeC {\'e}m\IeC {\r u}}{9}{section*.18}
\contentsline {subsection}{\numberline {1.3}\IeC {\v R}\IeC {\'\i }d\IeC {\'\i }c\IeC {\'\i } syst\IeC {\'e}m s\IeC {\'\i }t\IeC {\v e}}{9}{subsection.1.3}
\contentsline {subsubsection}{\numberline {1.3.1}Zpracov\IeC {\'a}n\IeC {\'\i } dostupn\IeC {\'y}ch dat}{9}{subsubsection.1.3.1}
\contentsline {subsubsection}{\numberline {1.3.2}Rozhodovac\IeC {\'\i } proces}{9}{subsubsection.1.3.2}
\contentsline {subsubsection}{\numberline {1.3.3}Spr\IeC {\'a}va syst\IeC {\'e}mu}{9}{subsubsection.1.3.3}
\contentsline {section}{\numberline {2}Probl\IeC {\'e}my a jejich \IeC {\v r}e\IeC {\v s}en\IeC {\'\i }}{10}{section.2}
\contentsline {section}{\numberline {3}D\IeC {\'\i }l\IeC {\v c}\IeC {\'\i } v\IeC {\'y}sledky a jejich diskuze}{11}{section.3}
\contentsline {section}{\numberline {4}Doporu\IeC {\v c}en\IeC {\'\i } pro p\IeC {\v r}\IeC {\'\i }\IeC {\v s}t\IeC {\'\i } cvi\IeC {\v c}en\IeC {\'\i }}{13}{section.4}
\contentsline {section}{\numberline {2}Firmware}{5}{section.2}
\contentsline {subsection}{\numberline {2.1}Real-time opera\IeC {\v c}n\IeC {\'\i } syst\IeC {\'e}m}{5}{subsection.2.1}
\contentsline {subsection}{\numberline {2.2}Vysv\IeC {\v e}tlen\IeC {\'\i } funkce firmwaru}{6}{subsection.2.2}
\contentsline {subsubsection}{\numberline {2.2.1}Blik\IeC {\'a}n\IeC {\'\i } LED}{6}{subsubsection.2.2.1}
\contentsline {subsubsection}{\numberline {2.2.2}Vypou\IeC {\v s}t\IeC {\v e}n\IeC {\'\i }}{6}{subsubsection.2.2.2}
\contentsline {subsubsection}{\numberline {2.2.3}P\IeC {\v r}\IeC {\'\i }jem p\IeC {\v r}\IeC {\'\i }kazu od u\IeC {\v z}ivatele}{7}{subsubsection.2.2.3}
\contentsline {subsubsection}{\numberline {2.2.4}P\IeC {\v r}\IeC {\'\i }jem dat z GPS modulu}{7}{subsubsection.2.2.4}
\contentsline {subsection}{\numberline {2.3}U\IeC {\v z}ivatelsk\IeC {\'e} rozhran\IeC {\'\i } termin\IeC {\'a}lu}{7}{subsection.2.3}
\contentsline {subsection}{\numberline {2.4}Bal\IeC {\'o}nov\IeC {\'a} sonda}{8}{subsection.2.4}
\contentsline {subsubsection}{\numberline {2.4.1}Technick\IeC {\'e} parametry}{8}{subsubsection.2.4.1}
\contentsline {paragraph}{Komunikace (Telemetrick\IeC {\'e} \IeC {\'u}daje)}{8}{section*.8}
\contentsline {paragraph}{Nap\IeC {\'a}jen\IeC {\'\i } sondy b\IeC {\v e}hem letu}{10}{section*.9}
\contentsline {paragraph}{Konstrukce}{10}{section*.10}
\contentsline {paragraph}{Firmware}{11}{section*.11}
\contentsline {subsubsection}{\numberline {2.4.2}Legislativn\IeC {\'\i } po\IeC {\v z}adavky}{11}{subsubsection.2.4.2}
\contentsline {paragraph}{Kategorie bal\IeC {\'o}nu}{11}{section*.12}
\contentsline {paragraph}{Povolen\IeC {\'\i } vyu\IeC {\v s}t\IeC {\v e}n\IeC {\'\i }}{11}{section*.13}
\contentsline {paragraph}{Materi\IeC {\'a}ly}{12}{section*.14}
\contentsline {paragraph}{Dostup}{12}{section*.15}
\contentsline {paragraph}{M\IeC {\'\i }sto vypu\IeC {\v s}t\IeC {\v e}n\IeC {\'\i }}{12}{section*.16}
\contentsline {paragraph}{\IeC {\v R}e\IeC {\v s}en\IeC {\'\i } legislativn\IeC {\'\i }ch probl\IeC {\'e}m\IeC {\r u}}{12}{section*.17}
\contentsline {subsection}{\numberline {2.5}\IeC {\v R}\IeC {\'\i }d\IeC {\'\i }c\IeC {\'\i } syst\IeC {\'e}m s\IeC {\'\i }t\IeC {\v e}}{12}{subsection.2.5}
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\contentsline {subsubsection}{\numberline {2.5.2}Rozhodovac\IeC {\'\i } proces}{12}{subsubsection.2.5.2}
\contentsline {subsubsection}{\numberline {2.5.3}Spr\IeC {\'a}va syst\IeC {\'e}mu}{13}{subsubsection.2.5.3}
\contentsline {section}{\numberline {3}Probl\IeC {\'e}my a jejich \IeC {\v r}e\IeC {\v s}en\IeC {\'\i }}{13}{section.3}
\contentsline {section}{\numberline {4}D\IeC {\'\i }l\IeC {\v c}\IeC {\'\i } v\IeC {\'y}sledky a jejich diskuze}{14}{section.4}
\contentsline {section}{\numberline {5}Doporu\IeC {\v c}en\IeC {\'\i } pro p\IeC {\v r}\IeC {\'\i }\IeC {\v s}t\IeC {\'\i } cvi\IeC {\v c}en\IeC {\'\i }}{16}{section.5}