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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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|
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#include <../../os/various/chprintf.h> |
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|
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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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|
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#define PWM_PERIODA_NORMAL 20000 |
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|
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#define PWM_SIRKA_NORMAL PWM_PERIODA_NORMAL/2 |
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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 - 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"; |
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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 - 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"; |
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|
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|
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|
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static PWMConfig pwmcfg = { |
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|
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10000, /* 10kHz PWM clock frequency. */ |
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|
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PWM_PERIODA_NORMAL, /* PWM period 1S (in ticks). */ |
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|
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NULL, |
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|
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{ |
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|
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{PWM_OUTPUT_ACTIVE_HIGH, NULL}, |
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|
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{PWM_OUTPUT_ACTIVE_HIGH, NULL}, |
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|
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{PWM_OUTPUT_DISABLED, NULL}, |
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|
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{PWM_OUTPUT_DISABLED, NULL} |
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|
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}, |
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|
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/* HW dependent part.*/ |
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|
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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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palTogglePad(GPIOB, GPIOB_LED4); |
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|
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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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1000, /*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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/* |
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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 msg_zrusen[] = "Odpal zrusen uzivatelem.\r\n"; |
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|
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uint8_t odpal_pomocna = 0; |
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uint8_t odpal_pomocna = 0; |
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|
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uint8_t pocet_opakovani = 1; |
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|
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uint16_t perioda_casovace = 500; |
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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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|
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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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/* 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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|
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stav = 0; |
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|
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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 |
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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(GPIOB, GPIOB_PIN10); |
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palClearPad(GPIOB, GPIOB_PIN10); |
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palClearPad(GPIOB, GPIOB_PIN11); |
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palClearPad(GPIOB, GPIOB_PIN11); |
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palClearPad(GPIOB, GPIOB_PIN12); |
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palClearPad(GPIOB, GPIOB_PIN12); |
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palClearPad(GPIOB, GPIOB_PIN13); |
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palClearPad(GPIOB, GPIOB_PIN13); |
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|
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|
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|
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if(odpal_povolen == 1) |
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|
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chprintf((BaseSequentialStream *)&SD1,"\r\nOdpal zrusen uzivatelem.\r\n"); |
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|
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else |
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|
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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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sdWrite(&SD1, msg_zrusen, sizeof(msg_zrusen)/sizeof(uint8_t)); |
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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 nepretelkla tato promenna |
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odpal_pomocna = 2; // aby nepretelkla tato promenna |
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switch (stav) |
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switch (stav) |
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{ |
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{ |
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case 0: |
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case 0: |
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|
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if (pocet_opakovani == 1) |
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sdWrite(&SD1,"Vypousteni zahajeno!\r\n",sizeof("Vypousteni zahajeno!\r\n")/sizeof(char)); |
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chprintf((BaseSequentialStream *)&SD1,"Vypousteni zahajeno!\r\n"); |
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|
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|
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|
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if (pocet_opakovani <= 20) |
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|
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{ |
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sdWrite(&SD1,"(1/4)\tVentil otevren -> nafukovani balonu\r\n",sizeof("1/4)\tVentil otevren -> nafukovani balonu\r\n")/sizeof(char)); |
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//sdWrite(&SD1,,sizeof("1/4)\tVentil otevren -> nafukovani balonu\r\n")/sizeof(char)); |
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|
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chprintf((BaseSequentialStream *)&SD1,"(1/4)\tVentil otevren -> nafukovani balonu %d%%\r",pocet_opakovani*5); |
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palSetPad(GPIOB, GPIOB_PIN10); |
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palSetPad(GPIOB, GPIOB_PIN10); |
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gptStartOneShot(&GPTD2,10000); |
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gptStartOneShot(&GPTD2,perioda_casovace); |
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|
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pocet_opakovani++; |
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|
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if (pocet_opakovani == 21) |
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|
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{ |
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|
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chprintf((BaseSequentialStream *)&SD1,"\r\n"); |
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|
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stav++; |
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|
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pocet_opakovani = 1; |
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|
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} |
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|
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} |
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break; |
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break; |
137 |
case 1: |
177 |
case 1: |
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|
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if (pocet_opakovani <= 10) |
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|
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{ |
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palClearPad(GPIOB, GPIOB_PIN10); |
180 |
palClearPad(GPIOB, GPIOB_PIN10); |
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palSetPad(GPIOB, GPIOB_PIN11); |
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palSetPad(GPIOB, GPIOB_PIN11); |
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sdWrite(&SD1,"(2/4)\tPrepalovani lisu...\r\n",sizeof("(2/4)\tPrepalovani lisu...\r\n")/sizeof(char)); |
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chprintf((BaseSequentialStream *)&SD1,"(2/4)\tPrepalovani lisu... %d%%\r",pocet_opakovani*10); |
141 |
gptStartOneShot(&GPTD2,5000); |
183 |
gptStartOneShot(&GPTD2,perioda_casovace); |
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|
184 |
pocet_opakovani++; |
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|
185 |
if (pocet_opakovani == 11) |
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|
186 |
{ |
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|
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chprintf((BaseSequentialStream *)&SD1,"\r\n"); |
- |
|
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stav++; |
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|
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pocet_opakovani = 1; |
- |
|
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} |
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|
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} |
142 |
break; |
192 |
break; |
143 |
case 2: |
193 |
case 2: |
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|
194 |
if (pocet_opakovani <= 10) |
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|
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{ |
144 |
palClearPad(GPIOB, GPIOB_PIN11); |
196 |
palClearPad(GPIOB, GPIOB_PIN11); |
145 |
palSetPad(GPIOB, GPIOB_PIN12); |
197 |
palSetPad(GPIOB, GPIOB_PIN12); |
146 |
sdWrite(&SD1,"(3/4)\tZatavovani balonu...\r\n",sizeof("(3/4)\tZatavovani balonu...\r\n")/sizeof(char)); |
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chprintf((BaseSequentialStream *)&SD1,"(3/4)\tZatavovani balonu... %d%%\r",pocet_opakovani*10); |
147 |
gptStartOneShot(&GPTD2,5000); |
199 |
gptStartOneShot(&GPTD2,perioda_casovace); |
- |
|
200 |
pocet_opakovani++; |
- |
|
201 |
if (pocet_opakovani == 11) |
- |
|
202 |
{ |
- |
|
203 |
chprintf((BaseSequentialStream *)&SD1,"\r\n"); |
- |
|
204 |
stav++; |
- |
|
205 |
pocet_opakovani = 1; |
- |
|
206 |
} |
- |
|
207 |
} |
148 |
break; |
208 |
break; |
149 |
case 3: |
209 |
case 3: |
- |
|
210 |
if (pocet_opakovani <= 20) |
- |
|
211 |
{ |
150 |
palClearPad(GPIOB, GPIOB_PIN12); |
212 |
palClearPad(GPIOB, GPIOB_PIN12); |
151 |
palSetPad(GPIOB, GPIOB_PIN13); |
213 |
palSetPad(GPIOB, GPIOB_PIN13); |
152 |
sdWrite(&SD1,"(4/4)\tOtevirani vika...\r\n",sizeof("(4/4)\tOtevirani vika...\r\n")/sizeof(char)); |
214 |
chprintf((BaseSequentialStream *)&SD1,"(4/4)\tOtevirani vika... %d%%\r",pocet_opakovani*5); |
153 |
gptStartOneShot(&GPTD2,3000); |
215 |
gptStartOneShot(&GPTD2,perioda_casovace); |
- |
|
216 |
pocet_opakovani++; |
- |
|
217 |
if (pocet_opakovani == 21) |
- |
|
218 |
{ |
- |
|
219 |
chprintf((BaseSequentialStream *)&SD1,"\r\n"); |
- |
|
220 |
stav++; |
- |
|
221 |
pocet_opakovani = 1; |
- |
|
222 |
} |
- |
|
223 |
} |
154 |
break; |
224 |
break; |
155 |
case 4: |
225 |
case 4: |
156 |
palClearPad(GPIOB, GPIOB_PIN13); |
226 |
palClearPad(GPIOB, GPIOB_PIN13); |
157 |
sdWrite(&SD1,"Vypousteni ukonceno!\r\n",sizeof("Vypousteni ukonceno!\r\n")/sizeof(char)); |
227 |
chprintf((BaseSequentialStream *)&SD1,"Vypousteni ukonceno!\r\n"); |
158 |
odpal_povolen = 0; |
228 |
odpal_povolen = 0; |
159 |
odpal_pomocna = 0; |
229 |
odpal_pomocna = 0; |
160 |
stav = 0; |
230 |
stav = 0; |
161 |
break; |
231 |
break; |
162 |
default: |
232 |
default: |
163 |
break; |
233 |
break; |
164 |
} |
234 |
} |
165 |
stav++; |
- |
|
166 |
} |
235 |
} |
167 |
} |
236 |
} |
168 |
} |
237 |
} |
169 |
|
238 |
|
170 |
|
239 |
|
171 |
/* |
240 |
/* |
172 |
* Vlakno pro obsluhu GPS prijimace |
241 |
* Vlakno pro obsluhu GPS prijimace |
173 |
*/ |
242 |
*/ |
174 |
static WORKING_AREA(waThread_GPS, 768); |
243 |
static WORKING_AREA(waThread_GPS, 768); |
175 |
static msg_t Thread_GPS(void *arg) { |
244 |
static msg_t Thread_GPS(void *arg) { |
176 |
/* |
245 |
/* |
177 |
* Nacita se jen nekolik NMEA zprav, aby se neplytvalo pameti na ulozeni kompletniho |
246 |
* Nacita se jen nekolik NMEA zprav, aby se neplytvalo pameti na ulozeni kompletniho |
178 |
* setu s tím rizikem, ze se nekdy nenacte aktualni informace o poloze. |
247 |
* setu s tím rizikem, ze se nekdy nenacte aktualni informace o poloze. |
179 |
*/ |
248 |
*/ |
180 |
uint8_t inBuffer[GPS_BUFFER]; |
249 |
uint8_t inBuffer[GPS_BUFFER]; |
181 |
char *zacatek_retezce; |
250 |
char *zacatek_retezce; |
182 |
char *konec_retezce; |
251 |
char *konec_retezce; |
183 |
uint8_t pocet_znaku; |
252 |
uint8_t pocet_znaku; |
184 |
uint8_t NMEA_zprava[100]; |
253 |
uint8_t NMEA_zprava[100]; |
185 |
|
254 |
|
186 |
(void)arg; |
255 |
(void)arg; |
187 |
chRegSetThreadName("GPS_NMEA"); |
256 |
chRegSetThreadName("GPS_NMEA"); |
188 |
|
257 |
|
189 |
while (TRUE) { |
258 |
while (TRUE) { |
190 |
chThdSleepMilliseconds(1000); //neni potreba data vycitat rychleji |
259 |
chThdSleepMilliseconds(1000); //neni potreba data vycitat rychleji |
191 |
sdRead(&SD2,inBuffer,GPS_BUFFER); |
260 |
sdRead(&SD2,inBuffer,GPS_BUFFER); |
192 |
|
261 |
|
193 |
/* |
262 |
/* |
194 |
*Nejprve se vycte cast NMEA dat, pote se vyhleda retezec GPGGA zpravy, ta se vyparsuje a pomoci fce |
263 |
*Nejprve se vycte cast NMEA dat, pote se vyhleda retezec GPGGA zpravy, ta se vyparsuje a pomoci fce |
195 |
*dekoduj_zpravu_GPS, ktera vyparsuje data o poloze a jine, a ulozi je do struktury GPGGA_informace. |
264 |
*dekoduj_zpravu_GPS, ktera vyparsuje data o poloze a jine, a ulozi je do struktury GPGGA_informace. |
196 |
*/ |
265 |
*/ |
197 |
|
266 |
|
198 |
if ((zacatek_retezce = strstr((char *)inBuffer,"$GPGGA")) != NULL) |
267 |
if ((zacatek_retezce = strstr((char *)inBuffer,"$GPGGA")) != NULL) |
199 |
{ |
268 |
{ |
200 |
if ((konec_retezce = strstr(zacatek_retezce,"*")) != NULL) |
269 |
if ((konec_retezce = strstr(zacatek_retezce,"*")) != NULL) |
201 |
{ |
270 |
{ |
202 |
pocet_znaku = (konec_retezce-zacatek_retezce)/sizeof(char); |
271 |
pocet_znaku = (konec_retezce-zacatek_retezce)/sizeof(char); |
203 |
if (pocet_znaku > 100) |
272 |
if (pocet_znaku > 100) |
204 |
{ |
273 |
{ |
205 |
pocet_znaku = 100; |
274 |
pocet_znaku = 100; |
206 |
} |
275 |
} |
207 |
strncpy((char *)NMEA_zprava,zacatek_retezce,pocet_znaku); |
276 |
strncpy((char *)NMEA_zprava,zacatek_retezce,pocet_znaku); |
208 |
dekoduj_zpravu_GPS(&NMEA_zprava[0],pocet_znaku); |
277 |
dekoduj_zpravu_GPS(&NMEA_zprava[0],pocet_znaku); |
209 |
sdWrite(&SD2,"Latitude: ",sizeof("Latitude: ")/sizeof(char)); |
278 |
sdWrite(&SD2,"Latitude: ",sizeof("Latitude: ")/sizeof(char)); |
210 |
sdWrite(&SD2,GPGGA_informace.Latitude,sizeof(GPGGA_informace.Latitude)/sizeof(uint8_t)); |
279 |
sdWrite(&SD2,GPGGA_informace.Latitude,sizeof(GPGGA_informace.Latitude)/sizeof(uint8_t)); |
211 |
sdWrite(&SD2,"\r\n",2); |
280 |
sdWrite(&SD2,"\r\n",2); |
212 |
sdWrite(&SD2,"Longitude: ",sizeof("Longitude: ")/sizeof(char)); |
281 |
sdWrite(&SD2,"Longitude: ",sizeof("Longitude: ")/sizeof(char)); |
213 |
sdWrite(&SD2,GPGGA_informace.Longitude,sizeof(GPGGA_informace.Longitude)/sizeof(uint8_t)); |
282 |
sdWrite(&SD2,GPGGA_informace.Longitude,sizeof(GPGGA_informace.Longitude)/sizeof(uint8_t)); |
214 |
sdWrite(&SD2,"\r\n",2); |
283 |
sdWrite(&SD2,"\r\n",2); |
215 |
sdWrite(&SD2,"Altitude: ",sizeof("Altitude: ")/sizeof(char)); |
284 |
sdWrite(&SD2,"Altitude: ",sizeof("Altitude: ")/sizeof(char)); |
216 |
sdWrite(&SD2,GPGGA_informace.Altitude,sizeof(GPGGA_informace.Altitude)/sizeof(uint8_t)); |
285 |
sdWrite(&SD2,GPGGA_informace.Altitude,sizeof(GPGGA_informace.Altitude)/sizeof(uint8_t)); |
217 |
sdWrite(&SD2,"\r\n",2); |
286 |
sdWrite(&SD2,"\r\n",2); |
218 |
sdWrite(&SD2,"Status: ",sizeof("Status: ")/sizeof(char)); |
287 |
sdWrite(&SD2,"Status: ",sizeof("Status: ")/sizeof(char)); |
219 |
sdWrite(&SD2,&GPGGA_informace.Status_GPS,sizeof(GPGGA_informace.Status_GPS)/sizeof(uint8_t)); |
288 |
sdWrite(&SD2,&GPGGA_informace.Status_GPS,sizeof(GPGGA_informace.Status_GPS)/sizeof(uint8_t)); |
220 |
sdWrite(&SD2,"\r\n",2); |
289 |
sdWrite(&SD2,"\r\n",2); |
221 |
sdWrite(&SD2,NMEA_zprava,pocet_znaku); |
290 |
sdWrite(&SD2,NMEA_zprava,pocet_znaku); |
222 |
sdWrite(&SD2,"\r\n",2); |
291 |
sdWrite(&SD2,"\r\n",2); |
223 |
} |
292 |
} |
224 |
else |
293 |
else |
225 |
{ |
294 |
{ |
226 |
sdWrite(&SD2,"\r\n",2); |
295 |
sdWrite(&SD2,"\r\n",2); |
227 |
sdWrite(&SD2,"Nenalezen ukoncovaci znak NMEA zpravy *\r\n",sizeof("Nenalezen ukoncovaci znak NMEA zpravy *\r\n")/sizeof(char)); |
296 |
sdWrite(&SD2,"Nenalezen ukoncovaci znak NMEA zpravy *\r\n",sizeof("Nenalezen ukoncovaci znak NMEA zpravy *\r\n")/sizeof(char)); |
228 |
sdWrite(&SD2,inBuffer,GPS_BUFFER); |
297 |
sdWrite(&SD2,inBuffer,GPS_BUFFER); |
229 |
} |
298 |
} |
230 |
} |
299 |
} |
231 |
else |
300 |
else |
232 |
sdWrite(&SD2,"Nenalezen zacatek GPGGA zpravy\r\n",sizeof("Nenalezen zacatek GPGGA zpravy\r\n")/sizeof(char)); |
301 |
sdWrite(&SD2,"Nenalezen zacatek GPGGA zpravy\r\n",sizeof("Nenalezen zacatek GPGGA zpravy\r\n")/sizeof(char)); |
233 |
|
302 |
|
234 |
} |
303 |
} |
235 |
} |
304 |
} |
236 |
|
305 |
|
237 |
void dekodujPrikaz(char *prikaz) |
306 |
void dekodujPrikaz(char *prikaz) |
238 |
{ |
307 |
{ |
239 |
if(strcmp(prikaz,"odpal") == 0) |
308 |
if(strcmp(prikaz,"odpal") == 0) |
240 |
{ |
309 |
{ |
241 |
/* Wakes up the thread.*/ |
310 |
/* Wakes up the thread.*/ |
242 |
chSysLockFromIsr(); |
311 |
chSysLockFromIsr(); |
243 |
if (tp_odpal != NULL) { |
312 |
if (tp_odpal != NULL) { |
244 |
tp_odpal->p_u.rdymsg = (msg_t)1; /* odpal povolen*/ |
313 |
tp_odpal->p_u.rdymsg = (msg_t)1; /* odpal povolen*/ |
245 |
chSchReadyI(tp_odpal); |
314 |
chSchReadyI(tp_odpal); |
246 |
tp_odpal = NULL; |
315 |
tp_odpal = NULL; |
247 |
} |
316 |
} |
248 |
chSysUnlockFromIsr(); |
317 |
chSysUnlockFromIsr(); |
249 |
palTogglePad(GPIOB, GPIOB_LED4); |
- |
|
- |
|
318 |
|
250 |
} |
319 |
} |
251 |
else if (strcmp(prikaz,"zrus") == 0) |
320 |
else if (strcmp(prikaz,"zrus") == 0) |
252 |
{ |
321 |
{ |
253 |
/* Wakes up the thread.*/ |
322 |
/* Wakes up the thread.*/ |
254 |
chSysLockFromIsr(); |
323 |
chSysLockFromIsr(); |
255 |
if (tp_odpal != NULL) { |
324 |
if (tp_odpal != NULL) { |
256 |
tp_odpal->p_u.rdymsg = (msg_t)2; /* zakazano pokracovat v odpalovaci sekvenci*/ |
325 |
tp_odpal->p_u.rdymsg = (msg_t)2; /* zakazano pokracovat v odpalovaci sekvenci*/ |
257 |
chSchReadyI(tp_odpal); |
326 |
chSchReadyI(tp_odpal); |
258 |
tp_odpal = NULL; |
327 |
tp_odpal = NULL; |
259 |
} |
328 |
} |
260 |
chSysUnlockFromIsr(); |
329 |
chSysUnlockFromIsr(); |
261 |
} |
330 |
} |
262 |
else if (strcmp(prikaz,"help") == 0) |
331 |
else if (strcmp(prikaz,"help") == 0) |
263 |
{ |
332 |
{ |
264 |
sdWrite(&SD1, uvitaci_zprava, sizeof(uvitaci_zprava)/sizeof(uint8_t)); |
333 |
sdWrite(&SD1, uvitaci_zprava, sizeof(uvitaci_zprava)/sizeof(uint8_t)); |
265 |
} |
334 |
} |
266 |
else |
335 |
else |
267 |
{ |
336 |
{ |
268 |
uint8_t zp_neplatny[] = "Neplatny prikaz, napiste <odpal> pro zahajeni sekvence\n\r ci <zrus> pro zruseni vypousteni\n\r"; |
337 |
uint8_t zp_neplatny[] = "Neplatny prikaz!\r\n\t<odpal> pro zahajeni sekvence\n\r\t<zrus> pro zruseni vypousteni\n\r"; |
269 |
sdWrite(&SD1,zp_neplatny,sizeof(zp_neplatny)/sizeof(uint8_t)); |
338 |
sdWrite(&SD1,zp_neplatny,sizeof(zp_neplatny)/sizeof(uint8_t)); |
270 |
palTogglePad(GPIOB, GPIOB_LED3); |
339 |
palTogglePad(GPIOB, GPIOB_LED3); |
271 |
} |
340 |
} |
272 |
} |
341 |
} |
273 |
|
342 |
|
274 |
/* |
343 |
/* |
275 |
* Application entry point. |
344 |
* Application entry point. |
276 |
*/ |
345 |
*/ |
277 |
int main(void) { |
346 |
int main(void) { |
278 |
|
347 |
|
279 |
uint8_t znaky[20]; |
348 |
uint8_t znaky[20]; |
280 |
char prikaz[MAX_DELKA_PRIKAZU + 1]; |
349 |
char prikaz[MAX_DELKA_PRIKAZU + 1]; |
281 |
uint8_t pocet_znaku = 0; |
350 |
uint8_t pocet_znaku = 0; |
282 |
|
351 |
|
283 |
/* |
352 |
/* |
284 |
* System initializations. |
353 |
* System initializations. |
285 |
* - HAL initialization, this also initializes the configured device drivers |
354 |
* - HAL initialization, this also initializes the configured device drivers |
286 |
* and performs the board-specific initializations. |
355 |
* and performs the board-specific initializations. |
287 |
* - Kernel initialization, the main() function becomes a thread and the |
356 |
* - Kernel initialization, the main() function becomes a thread and the |
288 |
* RTOS is active. |
357 |
* RTOS is active. |
289 |
*/ |
358 |
*/ |
290 |
halInit(); |
359 |
halInit(); |
291 |
chSysInit(); |
360 |
chSysInit(); |
292 |
|
361 |
|
293 |
/* |
362 |
/* |
294 |
* Activates the serial driver 1 using the driver default configuration. |
363 |
* Activates the serial driver 1 using the driver default configuration. |
295 |
* PA9 and PA10 are routed to USART1. |
364 |
* PA9 and PA10 are routed to USART1. |
296 |
* Komunikace s uzivatelem |
365 |
* Komunikace s uzivatelem |
297 |
*/ |
366 |
*/ |
298 |
sdStart(&SD1, NULL); |
367 |
sdStart(&SD1, NULL); |
299 |
palSetPadMode(GPIOA, 9, PAL_MODE_ALTERNATE(7)); //TX |
368 |
palSetPadMode(GPIOA, 9, PAL_MODE_ALTERNATE(7)); //TX |
300 |
palSetPadMode(GPIOA, 10, PAL_MODE_ALTERNATE(7)); //RX |
369 |
palSetPadMode(GPIOA, 10, PAL_MODE_ALTERNATE(7)); //RX |
301 |
|
370 |
|
302 |
/* |
371 |
/* |
303 |
* Activates the serial driver 2 using the driver default configuration. |
372 |
* Activates the serial driver 2 using the driver default configuration. |
304 |
* PA2 and PA3 are routed to USART2. |
373 |
* PA2 and PA3 are routed to USART2. |
305 |
*GPS |
374 |
*GPS |
306 |
*/ |
375 |
*/ |
307 |
sdStart(&SD2, &USART2_config); |
376 |
sdStart(&SD2, &USART2_config); |
308 |
palSetPadMode(GPIOA, 2, PAL_MODE_ALTERNATE(7)); //TX |
377 |
palSetPadMode(GPIOA, 2, PAL_MODE_ALTERNATE(7)); //TX |
309 |
palSetPadMode(GPIOA, 3, PAL_MODE_ALTERNATE(7)); //RX |
378 |
palSetPadMode(GPIOA, 3, PAL_MODE_ALTERNATE(7)); //RX |
310 |
|
379 |
|
311 |
/* |
380 |
/* |
312 |
* LED na vyvojove desce |
381 |
* LED na vyvojove desce |
313 |
*/ |
382 |
*/ |
314 |
palSetPadMode(GPIOB, GPIOB_LED4, PAL_MODE_OUTPUT_PUSHPULL); |
- |
|
315 |
palSetPadMode(GPIOB, GPIOB_LED3, PAL_MODE_OUTPUT_PUSHPULL); |
383 |
palSetPadMode(GPIOB, GPIOB_LED3, PAL_MODE_OUTPUT_PUSHPULL); |
316 |
|
384 |
|
317 |
/* |
385 |
/* |
318 |
* Porty pro vypousteci sekvenci |
386 |
* Initializes the PWM driver 4, routes the TIM4 outputs to the board LEDs. |
319 |
*/ |
387 |
*/ |
320 |
palSetPadMode(GPIOB, 10, PAL_MODE_OUTPUT_PUSHPULL); |
388 |
pwmStart(&PWMD4, &pwmcfg); |
321 |
palSetPadMode(GPIOB, 11, PAL_MODE_OUTPUT_PUSHPULL); |
- |
|
322 |
palSetPadMode(GPIOB, 12, PAL_MODE_OUTPUT_PUSHPULL); |
389 |
palSetPadMode(GPIOB, GPIOB_LED4, PAL_MODE_ALTERNATE(2)); |
323 |
palSetPadMode(GPIOB, 13, PAL_MODE_OUTPUT_PUSHPULL); |
390 |
pwmEnableChannel(&PWMD4,0,PWM_SIRKA_NORMAL); |
- |
|
391 |
|
- |
|
392 |
|
324 |
/* |
393 |
/* |
325 |
* Aktivuje timer2 a prejde tak do aktivniho stavu |
394 |
* Porty pro vypousteci sekvenci |
326 |
*/ |
395 |
*/ |
- |
|
396 |
palSetPadMode(GPIOB, GPIOB_PIN10, PAL_MODE_OUTPUT_PUSHPULL); |
- |
|
397 |
palClearPad(GPIOB, GPIOB_PIN10); |
- |
|
398 |
palSetPadMode(GPIOB, GPIOB_PIN11, PAL_MODE_OUTPUT_PUSHPULL); |
327 |
gptStart(&GPTD2,&gpt2cfg); |
399 |
palClearPad(GPIOB, GPIOB_PIN11); |
- |
|
400 |
palSetPadMode(GPIOB, GPIOB_PIN12, PAL_MODE_OUTPUT_PUSHPULL); |
- |
|
401 |
palClearPad(GPIOB, GPIOB_PIN12); |
- |
|
402 |
palSetPadMode(GPIOB, GPIOB_PIN13, PAL_MODE_OUTPUT_PUSHPULL); |
- |
|
403 |
palClearPad(GPIOB, GPIOB_PIN13); |
328 |
|
404 |
/* |
- |
|
405 |
* Aktivuje timer2 a timer3 prejde tak do aktivniho stavu |
329 |
|
406 |
*/ |
- |
|
407 |
gptStart(&GPTD2,&gpt2cfg); |
330 |
/* |
408 |
/* |
331 |
* Vytvori vlakno pro prijem dat z GPS modulu |
409 |
* Vytvori vlakno pro prijem dat z GPS modulu |
332 |
*/ |
410 |
*/ |
333 |
chThdCreateStatic(waThread_GPS, sizeof(waThread_GPS), NORMALPRIO, Thread_GPS, NULL); |
411 |
chThdCreateStatic(waThread_GPS, sizeof(waThread_GPS), NORMALPRIO, Thread_GPS, NULL); |
334 |
|
412 |
|
335 |
/* |
413 |
/* |
336 |
* Vytvori vlakno pro odpalovaci sekvenci |
414 |
* Vytvori vlakno pro odpalovaci sekvenci |
337 |
*/ |
415 |
*/ |
338 |
chThdCreateStatic (waThread_odpal, sizeof(waThread_odpal), NORMALPRIO, Thread_odpal, NULL); |
416 |
chThdCreateStatic (waThread_odpal, sizeof(waThread_odpal), NORMALPRIO, Thread_odpal, NULL); |
339 |
|
417 |
|
340 |
sdWrite(&SD1, uvitaci_zprava, sizeof(uvitaci_zprava)/sizeof(uint8_t)); |
418 |
sdWrite(&SD1, uvitaci_zprava, sizeof(uvitaci_zprava)/sizeof(uint8_t)); |
341 |
/* |
419 |
/* |
342 |
* Normal main() thread activity, in this demo it does nothing except |
420 |
* Normal main() thread activity, in this demo it does nothing except |
343 |
* sleeping in a loop and check the button state, when the button is |
421 |
* sleeping in a loop and check the button state, when the button is |
344 |
* pressed the test procedure is launched with output on the serial |
422 |
* pressed the test procedure is launched with output on the serial |
345 |
* driver 1. |
423 |
* driver 1. |
346 |
*/ |
424 |
*/ |
- |
|
425 |
|
347 |
while (TRUE) { |
426 |
while (TRUE) { |
- |
|
427 |
|
348 |
sdRead(&SD1,znaky,1); |
428 |
sdRead(&SD1,znaky,1); |
349 |
/*Kdyz uzivatel stiskne enter -> dekoduj a vykonej prikaz, nebo pokud je prikaz delsi, nez by mel byt, |
429 |
/*Kdyz uzivatel stiskne enter -> dekoduj a vykonej prikaz, nebo pokud je prikaz delsi, nez by mel byt, |
350 |
*prestane ukladat a upozorni uzivatele |
430 |
*prestane ukladat a upozorni uzivatele |
351 |
*/ |
431 |
*/ |
352 |
if (znaky[0] == '\r' || pocet_znaku >= MAX_DELKA_PRIKAZU) |
432 |
if (znaky[0] == '\r' || pocet_znaku >= MAX_DELKA_PRIKAZU) |
353 |
{ |
433 |
{ |
354 |
pocet_znaku = 0; |
434 |
pocet_znaku = 0; |
355 |
dekodujPrikaz(prikaz); |
435 |
dekodujPrikaz(prikaz); |
356 |
prikaz[0] = 0; |
436 |
prikaz[0] = 0; |
357 |
} |
437 |
} |
358 |
/*Uklada prikaz*/ |
438 |
/*Uklada prikaz*/ |
359 |
else |
439 |
else |
360 |
{ |
440 |
{ |
361 |
prikaz[pocet_znaku + 1] = 0; |
441 |
prikaz[pocet_znaku + 1] = 0; |
362 |
prikaz[pocet_znaku++] = znaky[0]; |
442 |
prikaz[pocet_znaku++] = znaky[0]; |
363 |
} |
443 |
} |
364 |
} |
444 |
} |
365 |
} |
445 |
} |