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/* |
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/* |
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ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio |
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ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio |
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|
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|
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Licensed under the Apache License, Version 2.0 (the "License"); |
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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 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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You may obtain a copy of the License at |
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|
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|
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http://www.apache.org/licenses/LICENSE-2.0 |
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http://www.apache.org/licenses/LICENSE-2.0 |
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|
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|
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Unless required by applicable law or agreed to in writing, software |
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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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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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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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See the License for the specific language governing permissions and |
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limitations under the License. |
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limitations under the License. |
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*/ |
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*/ |
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|
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|
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#include "ch.h" |
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#include "ch.h" |
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#include "hal.h" |
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#include "hal.h" |
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#include "test.h" |
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#include "test.h" |
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#include "serial.h" |
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#include "serial.h" |
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#include "gpt.h" |
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#include "gpt.h" |
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#include <string.h> |
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#include <string.h> |
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#include "keil/GPS_dekoduj.h" |
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#include "keil/GPS_dekoduj.h" |
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#include <../../os/various/chprintf.h> |
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#include <../../os/various/chprintf.h> |
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#include <chstreams.h.> |
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#include <chstreams.h.> |
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|
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|
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/*MAX delka prikazu, ktery uzivatel muze zadat*/ |
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/*MAX delka prikazu, ktery uzivatel muze zadat*/ |
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#define MAX_DELKA_PRIKAZU 10 |
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#define MAX_DELKA_PRIKAZU 10 |
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|
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|
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/*Velikost GPS bufferu*/ |
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/*Velikost GPS bufferu*/ |
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#define GPS_BUFFER 500 |
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#define GPS_BUFFER 500 |
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#define PWM_PERIODA_NORMAL 20000 |
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#define PWM_PERIODA_NORMAL 20000 |
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#define PWM_SIRKA_NORMAL PWM_PERIODA_NORMAL/2 |
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#define PWM_SIRKA_NORMAL PWM_PERIODA_NORMAL/2 |
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|
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|
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/*Pocet opakovani pro jednotlive faze odpalu (pocet = cas[s]*8) pro kompenzaci 8xrychlejsiho casovace na desce STM32F10xRxT01A */ |
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/*Pocet opakovani pro jednotlive faze odpalu (pocet = cas[s]*8) pro kompenzaci 8xrychlejsiho casovace na desce STM32F10xRxT01A */ |
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|
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#define TIMER_COMPENSATION 16 |
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#define POCET_VENTIL (5*8) |
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#define POCET_VENTIL (5*TIMER_COMPENSATION) |
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#define POCET_LIS (1*8) |
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#define POCET_LIS (1*TIMER_COMPENSATION) |
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#define POCET_ZATAVENI (2*8) |
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#define POCET_ZATAVENI (10*TIMER_COMPENSATION) |
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#define POCET_STRECHA (5*8) |
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#define POCET_STRECHA (5*TIMER_COMPENSATION) |
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#define CEKANI_NA_STRECHU (10*8) |
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#define CEKANI_NA_STRECHU (10*TIMER_COMPENSATION) |
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#define CEKANI_NA_LIS (10*8) |
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#define CEKANI_NA_LIS (10*TIMER_COMPENSATION) |
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|
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|
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/*makra pro cteni switch sensoru*/ |
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/*makra pro cteni switch sensoru*/ |
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#define CTI_STRECHU palReadPad(STRECHA_SENS_PORT, STRECHA_SENS_STATE) |
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#define CTI_STRECHU palReadPad(STRECHA_SENS_PORT, STRECHA_SENS_STATE) |
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#define CTI_LIS palReadPad(LIS_SENS_PORT, LIS_SENS_STATE) |
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#define CTI_LIS palReadPad(LIS_SENS_PORT, LIS_SENS_STATE) |
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|
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|
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extern NMEA_GPGGA GPGGA_informace; |
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extern NMEA_GPGGA GPGGA_informace; |
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Thread *tp_odpal = NULL; |
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Thread *tp_odpal = NULL; |
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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"; |
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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"; |
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|
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|
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//static PWMConfig pwmcfg = { |
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//static PWMConfig pwmcfg = { |
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//10000, /* 10kHz PWM clock frequency. */ |
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//10000, /* 10kHz PWM clock frequency. */ |
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//PWM_PERIODA_NORMAL, /* PWM period 1S (in ticks). */ |
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//PWM_PERIODA_NORMAL, /* PWM period 1S (in ticks). */ |
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/*NULL, |
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/*NULL, |
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{ |
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{ |
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{PWM_OUTPUT_ACTIVE_HIGH, NULL}, |
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{PWM_OUTPUT_ACTIVE_HIGH, NULL}, |
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{PWM_OUTPUT_ACTIVE_HIGH, NULL}, |
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{PWM_OUTPUT_ACTIVE_HIGH, NULL}, |
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{PWM_OUTPUT_DISABLED, NULL}, |
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{PWM_OUTPUT_DISABLED, NULL}, |
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{PWM_OUTPUT_DISABLED, NULL} |
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{PWM_OUTPUT_DISABLED, NULL} |
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}, |
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}, |
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HW dependent part.*/ |
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HW dependent part.*/ |
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//0 |
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//0 |
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//}; |
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//}; |
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|
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|
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/* |
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/* |
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* Konfigurace USART2 |
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* Konfigurace USART2 |
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*/ |
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*/ |
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|
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|
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static const SerialConfig USART2_config = |
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static const SerialConfig USART2_config = |
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{ |
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{ |
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/*Speed*/ |
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/*Speed*/ |
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9600, |
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9600, |
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/*Initialization value for the CR1 register.*/ |
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/*Initialization value for the CR1 register.*/ |
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0, |
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0, |
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/*Initialization value for the CR2 register.*/ |
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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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USART_CR2_STOP1_BITS | USART_CR2_LINEN, |
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/*Initialization value for the CR3 register.*/ |
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/*Initialization value for the CR3 register.*/ |
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0 |
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0 |
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}; |
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}; |
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|
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|
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|
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|
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/* |
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/* |
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* GPT2 callback. |
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* GPT2 callback. |
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*/ |
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*/ |
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static void gpt2cb(GPTDriver *gptp) |
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static void gpt2cb(GPTDriver *gptp) |
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{ |
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{ |
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(void)gptp; |
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(void)gptp; |
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/* Wakes up the thread.*/ |
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/* Wakes up the thread.*/ |
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chSysLockFromIsr(); |
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chSysLockFromIsr(); |
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if (tp_odpal != NULL) { |
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if (tp_odpal != NULL) { |
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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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tp_odpal->p_u.rdymsg = (msg_t)50; /* Znaci, ze se vlakno probouzi kvuli preruseni od GPT*/ |
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chSchReadyI(tp_odpal); |
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chSchReadyI(tp_odpal); |
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tp_odpal = NULL; |
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tp_odpal = NULL; |
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} |
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} |
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chSysUnlockFromIsr(); |
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chSysUnlockFromIsr(); |
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} |
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} |
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|
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|
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|
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|
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/* |
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/* |
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*Konfigurace casovace 2 |
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*Konfigurace casovace 2 |
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*/ |
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*/ |
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static const GPTConfig gpt2cfg = |
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static const GPTConfig gpt2cfg = |
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{ |
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{ |
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500, /*500 Hz ? (puvodne 1000Hz) f*/ |
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1000, /* 1000Hz f*/ |
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gpt2cb /*callback fce*/ |
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gpt2cb /*callback fce*/ |
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}; |
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}; |
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|
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|
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/* |
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/* |
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* Vlakno pro blikani diodou |
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* Vlakno pro blikani diodou |
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*/ |
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*/ |
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static WORKING_AREA(waThread1, 128); |
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static WORKING_AREA(waThread1, 128); |
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static msg_t Thread1(void *arg) { |
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static msg_t Thread1(void *arg) { |
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(void)arg; |
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(void)arg; |
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chRegSetThreadName("blinker"); |
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chRegSetThreadName("blinker"); |
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while (TRUE) { |
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while (TRUE) { |
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palClearPad(GPIOB, GPIOB_LED4); |
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palClearPad(GPIOB, GPIOB_LED4); |
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chThdSleepMilliseconds(500); |
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chThdSleepMilliseconds(500); |
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palSetPad(GPIOB, GPIOB_LED4); |
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palSetPad(GPIOB, GPIOB_LED4); |
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chThdSleepMilliseconds(500); |
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chThdSleepMilliseconds(500); |
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} |
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} |
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} |
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} |
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|
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|
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/* |
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/* |
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* Vlakno pro ovladani odpalovaci sekvence |
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* Vlakno pro ovladani odpalovaci sekvence |
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*/ |
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*/ |
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static WORKING_AREA(waThread_odpal, 128); |
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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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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 stav = 0; // rika, ve ktere fazi je odpalovani |
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uint8_t odpal_povolen = 0; |
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uint8_t odpal_povolen = 0; |
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uint8_t odpal_pomocna = 0; |
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uint8_t odpal_pomocna = 0; |
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uint16_t pocet_opakovani = 1; |
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uint16_t pocet_opakovani = 1; |
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uint16_t perioda_casovace = 500; // changing to 8*500 = 400 |
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uint16_t perioda_casovace = 500; // changing to 8*500 = 400 |
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(void)arg; |
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(void)arg; |
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chRegSetThreadName("Odpal_vlakno"); |
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chRegSetThreadName("Odpal_vlakno"); |
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|
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|
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while (TRUE) |
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while (TRUE) |
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{ |
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{ |
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msg_t msg; |
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msg_t msg; |
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|
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|
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/* Waiting for the IRQ to happen.*/ |
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/* Waiting for the IRQ to happen.*/ |
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chSysLock(); |
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chSysLock(); |
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tp_odpal = chThdSelf(); |
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tp_odpal = chThdSelf(); |
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chSchGoSleepS(THD_STATE_SUSPENDED); |
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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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msg = chThdSelf()->p_u.rdymsg; /* Retrieving the message, optional.*/ |
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chSysUnlock(); |
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chSysUnlock(); |
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|
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|
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/* Perform processing here.*/ |
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/* Perform processing here.*/ |
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if(msg == 1) |
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if(msg == 1) |
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{ |
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{ |
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odpal_povolen = 1; |
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odpal_povolen = 1; |
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odpal_pomocna++; |
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odpal_pomocna++; |
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stav = 0; |
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stav = 0; |
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pocet_opakovani = 1; |
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pocet_opakovani = 1; |
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} |
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} |
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else if (msg == 2) //Pokud se ma odpal zrusit v prubehu vypousteni |
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else if (msg == 2) //Pokud se ma odpal zrusit v prubehu vypousteni |
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{ |
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{ |
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/* |
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/* |
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* Pro jistotu se vypnou vsechny vystupy pri zruseni odpalu |
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* Pro jistotu se vypnou vsechny vystupy pri zruseni odpalu |
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*/ |
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*/ |
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palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN10); |
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palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN10); |
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palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN11); |
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palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN11); |
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palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN12); |
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palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN12); |
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palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN13); |
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palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN13); |
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palSetPad(IND_LEDS_PORT, LED_STRECHA); |
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palSetPad(IND_LEDS_PORT, LED_STRECHA); |
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palSetPad(IND_LEDS_PORT, LED_LIS); |
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palSetPad(IND_LEDS_PORT, LED_LIS); |
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palSetPad(IND_LEDS_PORT, LED_VENTIL); |
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palSetPad(IND_LEDS_PORT, LED_VENTIL); |
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palSetPad(IND_LEDS_PORT, LED_ZATAVENI); |
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palSetPad(IND_LEDS_PORT, LED_ZATAVENI); |
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|
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|
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if(odpal_povolen == 1) |
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if(odpal_povolen == 1) |
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chprintf((BaseSequentialStream *)&SD1,"\r\nOdpal zrusen uzivatelem.\r\n"); |
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chprintf((BaseSequentialStream *)&SD1,"\r\nOdpal zrusen uzivatelem.\r\n"); |
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else |
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else |
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chprintf((BaseSequentialStream *)&SD1,"Odpal nebyl aktivovan.\r\n"); |
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chprintf((BaseSequentialStream *)&SD1,"Odpal nebyl aktivovan.\r\n"); |
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|
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|
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odpal_povolen = 0; |
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odpal_povolen = 0; |
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odpal_pomocna = 0; |
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odpal_pomocna = 0; |
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stav = 0; |
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stav = 0; |
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pocet_opakovani = 1; |
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pocet_opakovani = 1; |
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} |
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} |
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else if (msg == 50 && odpal_povolen == 1) // preruseni od GPT |
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else if (msg == 50 && odpal_povolen == 1) // preruseni od GPT |
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{ |
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{ |
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odpal_pomocna = 1; |
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odpal_pomocna = 1; |
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} |
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} |
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if (odpal_povolen == 1 && odpal_pomocna <= 1) |
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if (odpal_povolen == 1 && odpal_pomocna <= 1) |
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{ |
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{ |
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odpal_pomocna = 2; // aby nepretekla tato promenna |
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odpal_pomocna = 2; // aby nepretekla tato promenna |
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switch (stav) |
187 |
switch (stav) |
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{ |
188 |
{ |
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case 0: // ukonceni tohoto stavu pouze v pripade, ze je otevrena strecha |
189 |
case 0: // ukonceni tohoto stavu pouze v pripade, ze je otevrena strecha |
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if (pocet_opakovani == 1) |
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if (pocet_opakovani == 1) |
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chprintf((BaseSequentialStream *)&SD1,"Vypousteni zahajeno!\r\n"); |
191 |
chprintf((BaseSequentialStream *)&SD1,"Vypousteni zahajeno!\r\n"); |
191 |
|
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|
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if (pocet_opakovani <= POCET_STRECHA) |
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if (pocet_opakovani <= POCET_STRECHA) |
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{ |
194 |
{ |
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chprintf((BaseSequentialStream *)&SD1,"(1/4)\tOtevirani vika... Strecha: %d, Zbyva: %3d \r",CTI_STRECHU,(POCET_STRECHA-pocet_opakovani)); |
195 |
chprintf((BaseSequentialStream *)&SD1,"(1/4)\tOtevirani vika... Strecha: %d, Zbyva: %3d \r",CTI_STRECHU,(POCET_STRECHA-pocet_opakovani)); |
195 |
palSetPad(GPIOB, GPIOB_PIN10); |
196 |
palSetPad(GPIOB, GPIOB_PIN10); |
196 |
palClearPad(IND_LEDS_PORT, LED_STRECHA); |
197 |
palClearPad(IND_LEDS_PORT, LED_STRECHA); |
197 |
gptStartOneShot(&GPTD2,perioda_casovace); |
198 |
gptStartOneShot(&GPTD2,perioda_casovace); |
198 |
pocet_opakovani++; |
199 |
pocet_opakovani++; |
199 |
if (pocet_opakovani == (POCET_STRECHA+1)) |
200 |
if (pocet_opakovani == (POCET_STRECHA+1)) |
200 |
{ |
201 |
{ |
201 |
chprintf((BaseSequentialStream *)&SD1,"\r\n"); |
202 |
chprintf((BaseSequentialStream *)&SD1,"\r\n"); |
202 |
stav++; |
203 |
stav++; |
203 |
pocet_opakovani = 1; |
204 |
pocet_opakovani = 1; |
204 |
} |
205 |
} |
205 |
} |
206 |
} |
206 |
break; |
207 |
break; |
207 |
case 1: |
208 |
case 1: |
208 |
// kontrola strechy - maximalni cas prepalovani |
209 |
// kontrola strechy - maximalni cas prepalovani |
209 |
gptStartOneShot(&GPTD2,perioda_casovace); |
210 |
gptStartOneShot(&GPTD2,perioda_casovace); |
210 |
if (CTI_STRECHU) |
211 |
if (CTI_STRECHU) |
211 |
{ |
212 |
{ |
212 |
chprintf((BaseSequentialStream *)&SD1,"Strecha otevrena. Pokracovani v napousteni.\r\n"); |
213 |
chprintf((BaseSequentialStream *)&SD1,"Strecha otevrena. Pokracovani v napousteni.\r\n"); |
213 |
pocet_opakovani = 1; |
214 |
pocet_opakovani = 1; |
214 |
stav++; |
215 |
stav++; |
215 |
} |
216 |
} |
216 |
else |
217 |
else |
217 |
{ |
218 |
{ |
218 |
if(pocet_opakovani <= CEKANI_NA_STRECHU){ |
219 |
if(pocet_opakovani <= CEKANI_NA_STRECHU){ |
219 |
chprintf((BaseSequentialStream *)&SD1,"Cekani na otevreni strechy.\r"); |
220 |
chprintf((BaseSequentialStream *)&SD1,"Cekani na otevreni strechy.\r"); |
220 |
pocet_opakovani++; |
221 |
pocet_opakovani++; |
221 |
} |
222 |
} |
222 |
else { // prekroceni maximalni doby pro odpaleni strechy |
223 |
else { // prekroceni maximalni doby pro odpaleni strechy |
223 |
palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN10); |
224 |
palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN10); |
224 |
palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN11); |
225 |
palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN11); |
225 |
palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN12); |
226 |
palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN12); |
226 |
palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN13); |
227 |
palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN13); |
227 |
palSetPad(IND_LEDS_PORT, LED_STRECHA); |
228 |
palSetPad(IND_LEDS_PORT, LED_STRECHA); |
228 |
palSetPad(IND_LEDS_PORT, LED_LIS); |
229 |
palSetPad(IND_LEDS_PORT, LED_LIS); |
229 |
palSetPad(IND_LEDS_PORT, LED_VENTIL); |
230 |
palSetPad(IND_LEDS_PORT, LED_VENTIL); |
230 |
palSetPad(IND_LEDS_PORT, LED_ZATAVENI); |
231 |
palSetPad(IND_LEDS_PORT, LED_ZATAVENI); |
231 |
chprintf((BaseSequentialStream *)&SD1,"\r\nNelze otevrit strechu.\r\n"); |
232 |
chprintf((BaseSequentialStream *)&SD1,"\r\nNelze otevrit strechu.\r\n"); |
232 |
|
233 |
|
233 |
odpal_povolen = 0; |
234 |
odpal_povolen = 0; |
234 |
odpal_pomocna = 0; |
235 |
odpal_pomocna = 0; |
235 |
stav = 0; |
236 |
stav = 0; |
236 |
pocet_opakovani = 1; |
237 |
pocet_opakovani = 1; |
237 |
} |
238 |
} |
238 |
} |
239 |
} |
239 |
break; |
240 |
break; |
240 |
case 2: |
241 |
case 2: |
241 |
if (pocet_opakovani <= POCET_VENTIL) |
242 |
if (pocet_opakovani <= POCET_VENTIL) |
242 |
{ |
243 |
{ |
243 |
palClearPad(GPIOB, GPIOB_PIN10); |
244 |
palClearPad(GPIOB, GPIOB_PIN10); |
244 |
palSetPad(IND_LEDS_PORT, LED_STRECHA); |
245 |
palSetPad(IND_LEDS_PORT, LED_STRECHA); |
245 |
palSetPad(GPIOB, GPIOB_PIN11); |
246 |
palSetPad(GPIOB, GPIOB_PIN11); |
246 |
palClearPad(IND_LEDS_PORT, LED_VENTIL); |
247 |
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 |
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 |
gptStartOneShot(&GPTD2,perioda_casovace); |
249 |
pocet_opakovani++; |
250 |
pocet_opakovani++; |
250 |
if (pocet_opakovani == (POCET_VENTIL+1)) |
251 |
if (pocet_opakovani == (POCET_VENTIL+1)) |
251 |
{ |
252 |
{ |
252 |
chprintf((BaseSequentialStream *)&SD1,"\r\n"); |
253 |
chprintf((BaseSequentialStream *)&SD1,"\r\n"); |
253 |
stav++; |
254 |
stav++; |
254 |
pocet_opakovani = 1; |
255 |
pocet_opakovani = 1; |
255 |
} |
256 |
} |
256 |
} |
257 |
} |
257 |
break; |
258 |
break; |
258 |
case 3: |
259 |
case 3: |
259 |
if (pocet_opakovani <= POCET_LIS) |
260 |
if (pocet_opakovani <= POCET_LIS) |
260 |
{ |
261 |
{ |
261 |
palClearPad(GPIOB, GPIOB_PIN11); |
262 |
palClearPad(GPIOB, GPIOB_PIN11); |
262 |
palSetPad(IND_LEDS_PORT, LED_VENTIL); |
263 |
palSetPad(IND_LEDS_PORT, LED_VENTIL); |
263 |
palSetPad(GPIOB, GPIOB_PIN12); |
264 |
palSetPad(GPIOB, GPIOB_PIN12); |
264 |
palClearPad(IND_LEDS_PORT, LED_LIS); |
265 |
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 |
chprintf((BaseSequentialStream *)&SD1,"(3/4)\tPrepalovani lisu... Lis: %d, Zbyva: %3d\r",CTI_LIS,(POCET_LIS-pocet_opakovani)); |
266 |
gptStartOneShot(&GPTD2,perioda_casovace); |
267 |
gptStartOneShot(&GPTD2,perioda_casovace); |
267 |
pocet_opakovani++; |
268 |
pocet_opakovani++; |
268 |
if (pocet_opakovani == (POCET_LIS+1)) |
269 |
if (pocet_opakovani == (POCET_LIS+1)) |
269 |
{ |
270 |
{ |
270 |
chprintf((BaseSequentialStream *)&SD1,"\r\n"); |
271 |
chprintf((BaseSequentialStream *)&SD1,"\r\n"); |
271 |
stav++; |
272 |
stav++; |
272 |
pocet_opakovani = 1; |
273 |
pocet_opakovani = 1; |
273 |
} |
274 |
} |
274 |
} |
275 |
} |
275 |
break; |
276 |
break; |
276 |
case 4: // kontrola prepaleni lisu |
277 |
case 4: // kontrola prepaleni lisu |
277 |
gptStartOneShot(&GPTD2,perioda_casovace); |
278 |
gptStartOneShot(&GPTD2,perioda_casovace); |
278 |
if (CTI_LIS) |
279 |
if (CTI_LIS) |
279 |
{ |
280 |
{ |
280 |
chprintf((BaseSequentialStream *)&SD1,"Lis stlacen. Pokracovani v pretavovani.\r\n"); |
281 |
chprintf((BaseSequentialStream *)&SD1,"Lis stlacen. Pokracovani v pretavovani.\r\n"); |
281 |
pocet_opakovani = 1; |
282 |
pocet_opakovani = 1; |
282 |
stav++; |
283 |
stav++; |
283 |
} |
284 |
} |
284 |
else |
285 |
else |
285 |
{ |
286 |
{ |
286 |
if(pocet_opakovani <= CEKANI_NA_LIS){ |
287 |
if(pocet_opakovani <= CEKANI_NA_LIS){ |
287 |
chprintf((BaseSequentialStream *)&SD1,"Cekani na stlaceni lisu.\r"); |
288 |
chprintf((BaseSequentialStream *)&SD1,"Cekani na stlaceni lisu.\r"); |
288 |
pocet_opakovani++; |
289 |
pocet_opakovani++; |
289 |
} |
290 |
} |
290 |
else { // prekroceni maximalni doby pro slisovani |
291 |
else { // prekroceni maximalni doby pro slisovani |
291 |
palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN10); |
292 |
palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN10); |
292 |
palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN11); |
293 |
palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN11); |
293 |
palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN12); |
294 |
palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN12); |
294 |
palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN13); |
295 |
palClearPad(NFET_OUTPUTS_PORT, GPIOB_PIN13); |
295 |
palSetPad(IND_LEDS_PORT, LED_STRECHA); |
296 |
palSetPad(IND_LEDS_PORT, LED_STRECHA); |
296 |
palSetPad(IND_LEDS_PORT, LED_LIS); |
297 |
palSetPad(IND_LEDS_PORT, LED_LIS); |
297 |
palSetPad(IND_LEDS_PORT, LED_VENTIL); |
298 |
palSetPad(IND_LEDS_PORT, LED_VENTIL); |
298 |
palSetPad(IND_LEDS_PORT, LED_ZATAVENI); |
299 |
palSetPad(IND_LEDS_PORT, LED_ZATAVENI); |
299 |
chprintf((BaseSequentialStream *)&SD1,"\r\nNelze spustit lis.\r\n"); |
300 |
chprintf((BaseSequentialStream *)&SD1,"\r\nNelze spustit lis.\r\n"); |
300 |
|
301 |
|
301 |
odpal_povolen = 0; |
302 |
odpal_povolen = 0; |
302 |
odpal_pomocna = 0; |
303 |
odpal_pomocna = 0; |
303 |
stav = 0; |
304 |
stav = 0; |
304 |
pocet_opakovani = 1; |
305 |
pocet_opakovani = 1; |
305 |
} |
306 |
} |
306 |
} |
307 |
} |
307 |
break; |
308 |
break; |
308 |
case 5: |
309 |
case 5: |
309 |
if (pocet_opakovani <= POCET_ZATAVENI) |
310 |
if (pocet_opakovani <= POCET_ZATAVENI) |
310 |
{ |
311 |
{ |
311 |
palClearPad(GPIOB, GPIOB_PIN12); |
312 |
palClearPad(GPIOB, GPIOB_PIN12); |
312 |
palSetPad(IND_LEDS_PORT, LED_LIS); |
313 |
palSetPad(IND_LEDS_PORT, LED_LIS); |
313 |
palSetPad(GPIOB, GPIOB_PIN13); |
314 |
palSetPad(GPIOB, GPIOB_PIN13); |
314 |
palClearPad(IND_LEDS_PORT, LED_ZATAVENI); |
315 |
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 |
chprintf((BaseSequentialStream *)&SD1,"(4/4)\tZatavovani balonu... Lis: %d, Zbyva: %3d \r",CTI_LIS,(POCET_ZATAVENI-pocet_opakovani)); |
316 |
gptStartOneShot(&GPTD2,perioda_casovace); |
317 |
gptStartOneShot(&GPTD2,perioda_casovace); |
317 |
pocet_opakovani++; |
318 |
pocet_opakovani++; |
318 |
if (pocet_opakovani == (POCET_ZATAVENI+1)) |
319 |
if (pocet_opakovani == (POCET_ZATAVENI+1)) |
319 |
{ |
320 |
{ |
320 |
chprintf((BaseSequentialStream *)&SD1,"\r\n"); |
321 |
chprintf((BaseSequentialStream *)&SD1,"\r\n"); |
321 |
stav++; |
322 |
stav++; |
322 |
pocet_opakovani = 1; |
323 |
pocet_opakovani = 1; |
323 |
} |
324 |
} |
324 |
} |
325 |
} |
325 |
break; |
326 |
break; |
326 |
case 6: |
327 |
case 6: |
327 |
palClearPad(GPIOB, GPIOB_PIN13); |
328 |
palClearPad(GPIOB, GPIOB_PIN13); |
328 |
palSetPad(IND_LEDS_PORT, LED_ZATAVENI); |
329 |
palSetPad(IND_LEDS_PORT, LED_ZATAVENI); |
329 |
chprintf((BaseSequentialStream *)&SD1,"Vypousteni ukonceno!\r\n"); |
330 |
chprintf((BaseSequentialStream *)&SD1,"Vypousteni ukonceno!\r\n"); |
330 |
odpal_povolen = 0; |
331 |
odpal_povolen = 0; |
331 |
odpal_pomocna = 0; |
332 |
odpal_pomocna = 0; |
332 |
stav = 0; |
333 |
stav = 0; |
333 |
break; |
334 |
break; |
334 |
default: |
335 |
default: |
335 |
chprintf((BaseSequentialStream *)&SD1,"NIC!\r\n"); |
336 |
chprintf((BaseSequentialStream *)&SD1,"NIC!\r\n"); |
336 |
break; |
337 |
break; |
337 |
} |
338 |
} |
338 |
} |
339 |
} |
339 |
} |
340 |
} |
340 |
} |
341 |
} |
341 |
|
342 |
|
342 |
|
343 |
|
343 |
/* |
344 |
/* |
344 |
* Vlakno pro obsluhu GPS prijimace |
345 |
* Vlakno pro obsluhu GPS prijimace |
345 |
*/ |
346 |
*/ |
346 |
static WORKING_AREA(waThread_GPS, 768); |
347 |
static WORKING_AREA(waThread_GPS, 768); |
347 |
static msg_t Thread_GPS(void *arg) { |
348 |
static msg_t Thread_GPS(void *arg) { |
348 |
/* |
349 |
/* |
349 |
* Nacita se jen nekolik NMEA zprav, aby se neplytvalo pameti na ulozeni kompletniho |
350 |
* 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 |
* setu s tím rizikem, ze se nekdy nenacte aktualni informace o poloze. |
351 |
*/ |
352 |
*/ |
352 |
uint8_t inBuffer[GPS_BUFFER]; |
353 |
uint8_t inBuffer[GPS_BUFFER]; |
353 |
char *zacatek_retezce; |
354 |
char *zacatek_retezce; |
354 |
char *konec_retezce; |
355 |
char *konec_retezce; |
355 |
uint8_t pocet_znaku; |
356 |
uint8_t pocet_znaku; |
356 |
uint8_t NMEA_zprava[100]; |
357 |
uint8_t NMEA_zprava[100]; |
357 |
|
358 |
|
358 |
(void)arg; |
359 |
(void)arg; |
359 |
chRegSetThreadName("GPS_NMEA"); |
360 |
chRegSetThreadName("GPS_NMEA"); |
360 |
|
361 |
|
361 |
while (TRUE) { |
362 |
while (TRUE) { |
362 |
chThdSleepMilliseconds(1000); //neni potreba data vycitat rychleji |
363 |
chThdSleepMilliseconds(1000); //neni potreba data vycitat rychleji |
363 |
sdRead(&SD2,inBuffer,GPS_BUFFER); |
364 |
sdRead(&SD2,inBuffer,GPS_BUFFER); |
364 |
|
365 |
|
365 |
/* |
366 |
/* |
366 |
*Nejprve se vycte cast NMEA dat, pote se vyhleda retezec GPGGA zpravy, ta se vyparsuje a pomoci fce |
367 |
*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 |
*dekoduj_zpravu_GPS, ktera vyparsuje data o poloze a jine, a ulozi je do struktury GPGGA_informace. |
368 |
*/ |
369 |
*/ |
369 |
|
370 |
|
370 |
if ((zacatek_retezce = strstr((char *)inBuffer,"$GPGGA")) != NULL) |
371 |
if ((zacatek_retezce = strstr((char *)inBuffer,"$GPGGA")) != NULL) |
371 |
{ |
372 |
{ |
372 |
if ((konec_retezce = strstr(zacatek_retezce,"*")) != NULL) |
373 |
if ((konec_retezce = strstr(zacatek_retezce,"*")) != NULL) |
373 |
{ |
374 |
{ |
374 |
pocet_znaku = (konec_retezce-zacatek_retezce)/sizeof(char); |
375 |
pocet_znaku = (konec_retezce-zacatek_retezce)/sizeof(char); |
375 |
if (pocet_znaku > 100) |
376 |
if (pocet_znaku > 100) |
376 |
{ |
377 |
{ |
377 |
pocet_znaku = 100; |
378 |
pocet_znaku = 100; |
378 |
} |
379 |
} |
379 |
strncpy((char *)NMEA_zprava,zacatek_retezce,pocet_znaku); |
380 |
strncpy((char *)NMEA_zprava,zacatek_retezce,pocet_znaku); |
380 |
dekoduj_zpravu_GPS(&NMEA_zprava[0],pocet_znaku); |
381 |
dekoduj_zpravu_GPS(&NMEA_zprava[0],pocet_znaku); |
381 |
sdWrite(&SD2,"Latitude: ",sizeof("Latitude: ")/sizeof(char)); |
382 |
sdWrite(&SD2,"Latitude: ",sizeof("Latitude: ")/sizeof(char)); |
382 |
sdWrite(&SD2,GPGGA_informace.Latitude,sizeof(GPGGA_informace.Latitude)/sizeof(uint8_t)); |
383 |
sdWrite(&SD2,GPGGA_informace.Latitude,sizeof(GPGGA_informace.Latitude)/sizeof(uint8_t)); |
383 |
sdWrite(&SD2,"\r\n",2); |
384 |
sdWrite(&SD2,"\r\n",2); |
384 |
sdWrite(&SD2,"Longitude: ",sizeof("Longitude: ")/sizeof(char)); |
385 |
sdWrite(&SD2,"Longitude: ",sizeof("Longitude: ")/sizeof(char)); |
385 |
sdWrite(&SD2,GPGGA_informace.Longitude,sizeof(GPGGA_informace.Longitude)/sizeof(uint8_t)); |
386 |
sdWrite(&SD2,GPGGA_informace.Longitude,sizeof(GPGGA_informace.Longitude)/sizeof(uint8_t)); |
386 |
sdWrite(&SD2,"\r\n",2); |
387 |
sdWrite(&SD2,"\r\n",2); |
387 |
sdWrite(&SD2,"Altitude: ",sizeof("Altitude: ")/sizeof(char)); |
388 |
sdWrite(&SD2,"Altitude: ",sizeof("Altitude: ")/sizeof(char)); |
388 |
sdWrite(&SD2,GPGGA_informace.Altitude,sizeof(GPGGA_informace.Altitude)/sizeof(uint8_t)); |
389 |
sdWrite(&SD2,GPGGA_informace.Altitude,sizeof(GPGGA_informace.Altitude)/sizeof(uint8_t)); |
389 |
sdWrite(&SD2,"\r\n",2); |
390 |
sdWrite(&SD2,"\r\n",2); |
390 |
sdWrite(&SD2,"Status: ",sizeof("Status: ")/sizeof(char)); |
391 |
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,&GPGGA_informace.Status_GPS,sizeof(GPGGA_informace.Status_GPS)/sizeof(uint8_t)); |
392 |
sdWrite(&SD2,"\r\n",2); |
393 |
sdWrite(&SD2,"\r\n",2); |
393 |
sdWrite(&SD2,NMEA_zprava,pocet_znaku); |
394 |
sdWrite(&SD2,NMEA_zprava,pocet_znaku); |
394 |
sdWrite(&SD2,"\r\n",2); |
395 |
sdWrite(&SD2,"\r\n",2); |
395 |
} |
396 |
} |
396 |
else |
397 |
else |
397 |
{ |
398 |
{ |
398 |
sdWrite(&SD2,"\r\n",2); |
399 |
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,"Nenalezen ukoncovaci znak NMEA zpravy *\r\n",sizeof("Nenalezen ukoncovaci znak NMEA zpravy *\r\n")/sizeof(char)); |
400 |
sdWrite(&SD2,inBuffer,GPS_BUFFER); |
401 |
sdWrite(&SD2,inBuffer,GPS_BUFFER); |
401 |
} |
402 |
} |
402 |
} |
403 |
} |
403 |
else |
404 |
else |
404 |
sdWrite(&SD2,"Nenalezen zacatek GPGGA zpravy\r\n",sizeof("Nenalezen zacatek GPGGA zpravy\r\n")/sizeof(char)); |
405 |
sdWrite(&SD2,"Nenalezen zacatek GPGGA zpravy\r\n",sizeof("Nenalezen zacatek GPGGA zpravy\r\n")/sizeof(char)); |
405 |
|
406 |
|
406 |
} |
407 |
} |
407 |
} |
408 |
} |
408 |
|
409 |
|
409 |
void dekodujPrikaz(char *prikaz) |
410 |
void dekodujPrikaz(char *prikaz) |
410 |
{ |
411 |
{ |
411 |
if(strcmp(prikaz,"odpal") == 0) |
412 |
if(strcmp(prikaz,"odpal") == 0) |
412 |
{ |
413 |
{ |
413 |
/* Wakes up the thread.*/ |
414 |
/* Wakes up the thread.*/ |
414 |
chSysLockFromIsr(); |
415 |
chSysLockFromIsr(); |
415 |
if (tp_odpal != NULL) { |
416 |
if (tp_odpal != NULL) { |
416 |
tp_odpal->p_u.rdymsg = (msg_t)1; /* odpal povolen*/ |
417 |
tp_odpal->p_u.rdymsg = (msg_t)1; /* odpal povolen*/ |
417 |
chSchReadyI(tp_odpal); |
418 |
chSchReadyI(tp_odpal); |
418 |
tp_odpal = NULL; |
419 |
tp_odpal = NULL; |
419 |
} |
420 |
} |
420 |
chSysUnlockFromIsr(); |
421 |
chSysUnlockFromIsr(); |
421 |
|
422 |
|
422 |
} |
423 |
} |
423 |
else if (strcmp(prikaz,"zrus") == 0) |
424 |
else if (strcmp(prikaz,"zrus") == 0) |
424 |
{ |
425 |
{ |
425 |
/* Wakes up the thread.*/ |
426 |
/* Wakes up the thread.*/ |
426 |
chSysLockFromIsr(); |
427 |
chSysLockFromIsr(); |
427 |
if (tp_odpal != NULL) { |
428 |
if (tp_odpal != NULL) { |
428 |
tp_odpal->p_u.rdymsg = (msg_t)2; /* zakazano pokracovat v odpalovaci sekvenci*/ |
429 |
tp_odpal->p_u.rdymsg = (msg_t)2; /* zakazano pokracovat v odpalovaci sekvenci*/ |
429 |
chSchReadyI(tp_odpal); |
430 |
chSchReadyI(tp_odpal); |
430 |
tp_odpal = NULL; |
431 |
tp_odpal = NULL; |
431 |
} |
432 |
} |
432 |
chSysUnlockFromIsr(); |
433 |
chSysUnlockFromIsr(); |
433 |
} |
434 |
} |
434 |
else if (strcmp(prikaz,"help") == 0) |
435 |
else if (strcmp(prikaz,"help") == 0) |
435 |
{ |
436 |
{ |
436 |
sdWrite(&SD1, uvitaci_zprava, sizeof(uvitaci_zprava)/sizeof(uint8_t)); |
437 |
sdWrite(&SD1, uvitaci_zprava, sizeof(uvitaci_zprava)/sizeof(uint8_t)); |
437 |
} |
438 |
} |
- |
|
439 |
else if(strcmp(prikaz,"check") == 0) |
- |
|
440 |
{ |
- |
|
441 |
chprintf((BaseSequentialStream *)&SD1,"\r\nStav strechy: "); |
- |
|
442 |
if(CTI_STRECHU) |
- |
|
443 |
chprintf((BaseSequentialStream *)&SD1,"Otevrena\r\n"); |
- |
|
444 |
else |
- |
|
445 |
chprintf((BaseSequentialStream *)&SD1,"Zavrena\r\n"); |
- |
|
446 |
chprintf((BaseSequentialStream *)&SD1,"Stav lisu: "); |
- |
|
447 |
if(CTI_LIS) |
- |
|
448 |
chprintf((BaseSequentialStream *)&SD1,"Aktivni\r\n"); |
- |
|
449 |
else |
- |
|
450 |
chprintf((BaseSequentialStream *)&SD1,"Rozepnuty\r\n"); |
- |
|
451 |
} |
438 |
else |
452 |
else |
439 |
{ |
453 |
{ |
440 |
uint8_t zp_neplatny[] = "Neplatny prikaz!\r\n\t<odpal> pro zahajeni sekvence\n\r\t<zrus> pro zruseni vypousteni\n\r"; |
454 |
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)); |
455 |
sdWrite(&SD1,zp_neplatny,sizeof(zp_neplatny)/sizeof(uint8_t)); |
442 |
palTogglePad(GPIOB, GPIOB_LED3); |
456 |
palTogglePad(GPIOB, GPIOB_LED3); |
443 |
} |
457 |
} |
444 |
} |
458 |
} |
445 |
|
459 |
|
446 |
/* |
460 |
/* |
447 |
* Application entry point. |
461 |
* Application entry point. |
448 |
*/ |
462 |
*/ |
449 |
int main(void) { |
463 |
int main(void) { |
450 |
|
464 |
|
451 |
uint8_t znaky[20]; |
465 |
uint8_t znaky[20]; |
452 |
char prikaz[MAX_DELKA_PRIKAZU + 1]; |
466 |
char prikaz[MAX_DELKA_PRIKAZU + 1]; |
453 |
uint8_t pocet_znaku = 0; |
467 |
uint8_t pocet_znaku = 0; |
454 |
|
468 |
|
455 |
/* |
469 |
/* |
456 |
* System initializations. |
470 |
* System initializations. |
457 |
* - HAL initialization, this also initializes the configured device drivers |
471 |
* - HAL initialization, this also initializes the configured device drivers |
458 |
* and performs the board-specific initializations. |
472 |
* and performs the board-specific initializations. |
459 |
* - Kernel initialization, the main() function becomes a thread and the |
473 |
* - Kernel initialization, the main() function becomes a thread and the |
460 |
* RTOS is active. |
474 |
* RTOS is active. |
461 |
*/ |
475 |
*/ |
462 |
halInit(); |
476 |
halInit(); |
463 |
chSysInit(); |
477 |
chSysInit(); |
464 |
|
478 |
|
465 |
/* |
479 |
/* |
466 |
* Activates the serial driver 1 using the driver default configuration. |
480 |
* Activates the serial driver 1 using the driver default configuration. |
467 |
* PA9 and PA10 are routed to USART1. |
481 |
* PA9 and PA10 are routed to USART1. |
468 |
* Komunikace s uzivatelem |
482 |
* Komunikace s uzivatelem |
469 |
*/ |
483 |
*/ |
470 |
sdStart(&SD1, NULL); |
484 |
sdStart(&SD1, NULL); |
471 |
palSetPadMode(GPIOA, 9, PAL_MODE_STM32_ALTERNATE_OPENDRAIN); //TX |
485 |
palSetPadMode(GPIOA, 9, PAL_MODE_STM32_ALTERNATE_OPENDRAIN); //TX |
472 |
//palSetPadMode(GPIOA, 10, PAL_MODE_STM32_ALTERNATE_OPENDRAIN); //RX |
486 |
//palSetPadMode(GPIOA, 10, PAL_MODE_STM32_ALTERNATE_OPENDRAIN); //RX |
473 |
|
487 |
|
474 |
/* |
488 |
/* |
475 |
* Activates the serial driver 2 using the driver default configuration. |
489 |
* Activates the serial driver 2 using the driver default configuration. |
476 |
* PA2 and PA3 are routed to USART2. |
490 |
* PA2 and PA3 are routed to USART2. |
477 |
*GPS |
491 |
*GPS |
478 |
*/ |
492 |
*/ |
479 |
sdStart(&SD2, &USART2_config); |
493 |
sdStart(&SD2, &USART2_config); |
480 |
palSetPadMode(GPIOA, 2, PAL_MODE_STM32_ALTERNATE_PUSHPULL); //TX |
494 |
palSetPadMode(GPIOA, 2, PAL_MODE_STM32_ALTERNATE_PUSHPULL); //TX |
481 |
//palSetPadMode(GPIOA, 3, PAL_MODE_STM32_ALTERNATE_OPENDRAIN); //RX - overrides board.h PadValues |
495 |
//palSetPadMode(GPIOA, 3, PAL_MODE_STM32_ALTERNATE_OPENDRAIN); //RX - overrides board.h PadValues |
482 |
|
496 |
|
483 |
/* |
497 |
/* |
484 |
* LED na vyvojove desce |
498 |
* LED na vyvojove desce |
485 |
*/ |
499 |
*/ |
486 |
palSetPadMode(GPIOB, GPIOB_LED3, PAL_MODE_OUTPUT_PUSHPULL); |
500 |
palSetPadMode(GPIOB, GPIOB_LED3, PAL_MODE_OUTPUT_PUSHPULL); |
487 |
|
501 |
|
488 |
/* |
502 |
/* |
489 |
* Initializes the PWM driver 4, routes the TIM4 outputs to the board LEDs. |
503 |
* Initializes the PWM driver 4, routes the TIM4 outputs to the board LEDs. |
490 |
*/ |
504 |
*/ |
491 |
/*pwmStart(&PWMD4, &pwmcfg); |
505 |
/*pwmStart(&PWMD4, &pwmcfg); |
492 |
palSetPadMode(GPIOB, GPIOB_LED4, PAL_MODE_STM32_ALTERNATE_OPENDRAIN); |
506 |
palSetPadMode(GPIOB, GPIOB_LED4, PAL_MODE_STM32_ALTERNATE_OPENDRAIN); |
493 |
pwmEnableChannel(&PWMD4,0,PWM_SIRKA_NORMAL);*/ |
507 |
pwmEnableChannel(&PWMD4,0,PWM_SIRKA_NORMAL);*/ |
494 |
|
508 |
|
495 |
|
509 |
|
496 |
/* |
510 |
/* |
497 |
* Porty pro vypousteci sekvenci |
511 |
* Porty pro vypousteci sekvenci |
498 |
*/ |
512 |
*/ |
499 |
palSetPadMode(GPIOB, GPIOB_PIN10, PAL_MODE_OUTPUT_PUSHPULL); |
513 |
palSetPadMode(GPIOB, GPIOB_PIN10, PAL_MODE_OUTPUT_PUSHPULL); |
500 |
palClearPad(GPIOB, GPIOB_PIN10); |
514 |
palClearPad(GPIOB, GPIOB_PIN10); |
501 |
palSetPadMode(GPIOB, GPIOB_PIN11, PAL_MODE_OUTPUT_PUSHPULL); |
515 |
palSetPadMode(GPIOB, GPIOB_PIN11, PAL_MODE_OUTPUT_PUSHPULL); |
502 |
palClearPad(GPIOB, GPIOB_PIN11); |
516 |
palClearPad(GPIOB, GPIOB_PIN11); |
503 |
palSetPadMode(GPIOB, GPIOB_PIN12, PAL_MODE_OUTPUT_PUSHPULL); |
517 |
palSetPadMode(GPIOB, GPIOB_PIN12, PAL_MODE_OUTPUT_PUSHPULL); |
504 |
palClearPad(GPIOB, GPIOB_PIN12); |
518 |
palClearPad(GPIOB, GPIOB_PIN12); |
505 |
palSetPadMode(GPIOB, GPIOB_PIN13, PAL_MODE_OUTPUT_PUSHPULL); |
519 |
palSetPadMode(GPIOB, GPIOB_PIN13, PAL_MODE_OUTPUT_PUSHPULL); |
506 |
palClearPad(GPIOB, GPIOB_PIN13); |
520 |
palClearPad(GPIOB, GPIOB_PIN13); |
507 |
palSetPad(IND_LEDS_PORT, LED_STRECHA); |
521 |
palSetPad(IND_LEDS_PORT, LED_STRECHA); |
508 |
palSetPad(IND_LEDS_PORT, LED_LIS); |
522 |
palSetPad(IND_LEDS_PORT, LED_LIS); |
509 |
palSetPad(IND_LEDS_PORT, LED_VENTIL); |
523 |
palSetPad(IND_LEDS_PORT, LED_VENTIL); |
510 |
palSetPad(IND_LEDS_PORT, LED_ZATAVENI); |
524 |
palSetPad(IND_LEDS_PORT, LED_ZATAVENI); |
511 |
|
525 |
|
512 |
/* |
526 |
/* |
513 |
* Aktivuje timer2 a timer3 prejde tak do aktivniho stavu |
527 |
* Aktivuje timer2 a timer3 prejde tak do aktivniho stavu |
514 |
*/ |
528 |
*/ |
515 |
gptStart(&GPTD2,&gpt2cfg); |
529 |
gptStart(&GPTD2,&gpt2cfg); |
516 |
|
530 |
|
517 |
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL); |
531 |
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL); |
518 |
/* |
532 |
/* |
519 |
* Vytvori vlakno pro prijem dat z GPS modulu |
533 |
* Vytvori vlakno pro prijem dat z GPS modulu |
520 |
*/ |
534 |
*/ |
521 |
chThdCreateStatic(waThread_GPS, sizeof(waThread_GPS), NORMALPRIO, Thread_GPS, NULL); |
535 |
chThdCreateStatic(waThread_GPS, sizeof(waThread_GPS), NORMALPRIO, Thread_GPS, NULL); |
522 |
|
536 |
|
523 |
/* |
537 |
/* |
524 |
* Vytvori vlakno pro odpalovaci sekvenci |
538 |
* Vytvori vlakno pro odpalovaci sekvenci |
525 |
*/ |
539 |
*/ |
526 |
chThdCreateStatic (waThread_odpal, sizeof(waThread_odpal), NORMALPRIO, Thread_odpal, NULL); |
540 |
chThdCreateStatic (waThread_odpal, sizeof(waThread_odpal), NORMALPRIO, Thread_odpal, NULL); |
527 |
|
541 |
|
528 |
sdWrite(&SD1, uvitaci_zprava, sizeof(uvitaci_zprava)/sizeof(uint8_t)); |
542 |
sdWrite(&SD1, uvitaci_zprava, sizeof(uvitaci_zprava)/sizeof(uint8_t)); |
529 |
/* |
543 |
/* |
530 |
* Normal main() thread activity, in this demo it does nothing except |
544 |
* 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 |
545 |
* 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 |
546 |
* pressed the test procedure is launched with output on the serial |
533 |
* driver 1. |
547 |
* driver 1. |
534 |
*/ |
548 |
*/ |
535 |
|
549 |
|
536 |
while (TRUE) { |
550 |
while (TRUE) { |
537 |
|
551 |
|
538 |
sdRead(&SD1,znaky,1); |
552 |
sdRead(&SD1,znaky,1); |
539 |
/*Kdyz uzivatel stiskne enter -> dekoduj a vykonej prikaz, nebo pokud je prikaz delsi, nez by mel byt, |
553 |
/*Kdyz uzivatel stiskne enter -> dekoduj a vykonej prikaz, nebo pokud je prikaz delsi, nez by mel byt, |
540 |
*prestane ukladat a upozorni uzivatele |
554 |
*prestane ukladat a upozorni uzivatele |
541 |
*/ |
555 |
*/ |
542 |
if (znaky[0] == '\r' || pocet_znaku >= MAX_DELKA_PRIKAZU) |
556 |
if (znaky[0] == '\r' || pocet_znaku >= MAX_DELKA_PRIKAZU) |
543 |
{ |
557 |
{ |
544 |
pocet_znaku = 0; |
558 |
pocet_znaku = 0; |
545 |
dekodujPrikaz(prikaz); |
559 |
dekodujPrikaz(prikaz); |
546 |
prikaz[0] = 0; |
560 |
prikaz[0] = 0; |
547 |
} |
561 |
} |
548 |
/*Uklada prikaz*/ |
562 |
/*Uklada prikaz*/ |
549 |
else if (znaky[0] == 's') // ukonci odpalovani |
563 |
else if (znaky[0] == 's') // ukonci odpalovani |
550 |
{ |
564 |
{ |
551 |
chSysLockFromIsr(); |
565 |
chSysLockFromIsr(); |
552 |
if (tp_odpal != NULL) { |
566 |
if (tp_odpal != NULL) { |
553 |
tp_odpal->p_u.rdymsg = (msg_t)2; /* zakazano pokracovat v odpalovaci sekvenci*/ |
567 |
tp_odpal->p_u.rdymsg = (msg_t)2; /* zakazano pokracovat v odpalovaci sekvenci*/ |
554 |
chSchReadyI(tp_odpal); |
568 |
chSchReadyI(tp_odpal); |
555 |
tp_odpal = NULL; |
569 |
tp_odpal = NULL; |
556 |
} |
570 |
} |
557 |
chSysUnlockFromIsr(); |
571 |
chSysUnlockFromIsr(); |
558 |
} |
572 |
} |
559 |
else |
573 |
else |
560 |
{ |
574 |
{ |
561 |
prikaz[pocet_znaku + 1] = 0; |
575 |
prikaz[pocet_znaku + 1] = 0; |
562 |
prikaz[pocet_znaku++] = znaky[0]; |
576 |
prikaz[pocet_znaku++] = znaky[0]; |
563 |
} |
577 |
} |
564 |
} |
578 |
} |
565 |
} |
579 |
} |