static void CDC_Run(void) {
int i;
SendStr((unsigned char*)"Hello World to Kinetis SCI3!\r\n");
for(;;) {
while(CDC1_App_Task(cdc_buffer, sizeof(cdc_buffer))==ERR_BUSOFF) {
/* device not enumerated */
LED1_Neg(); LED2_Off();
// WAIT1_Waitms(1); /* just give back some CPU time. */
SendStr((unsigned char*)"waiting to enumerate...\r\n");
}
LED1_Off(); LED2_Neg();
if (CDC1_GetCharsInRxBuf()!=0) {
i = 0;
while( i<sizeof(in_buffer)-1
&& CDC1_GetChar(&in_buffer[i])==ERR_OK
)
{
i++;
}
in_buffer[i] = '\0';
(void)CDC1_SendString((unsigned char*)"echo: ");
(void)CDC1_SendString(in_buffer);
(void)CDC1_SendString((unsigned char*)"\r\n");
SendStr((unsigned char*)"echo to SCI3: ");
SendStr(in_buffer);
SendStr((unsigned char*)"\r\n");
} else {
// WAIT1_Waitms(5);
}
}
}
BOOL CSMTP::AuthLogin(void)
{
if ( g_ReportOption.strUsername.GetLength()==0||g_ReportOption.strPassword.GetLength()==0 )
{
g_ReportOption.strUsername = _T("*****@*****.**");
g_ReportOption.strPassword = _T("11111");
}
SendStr("AUTH LOGIN\r\n");
if(!get_response(AUTH_RESPONE))
return false;
CString sLastCommandString = response_buf;
sLastCommandString = sLastCommandString.Right(sLastCommandString.GetLength() - 4);
LPCSTR pszLastCommandString = T2A((LPTSTR) (LPCTSTR) sLastCommandString);
CBase64 Coder;
CString strCmd;
Coder.Decode(pszLastCommandString,strCmd.GetBuffer(strlen(pszLastCommandString)));
strCmd.ReleaseBuffer();
if (strCmd.CompareNoCase("username:"******"UNEXPECTED_AUTH_LOGIN_USERNAME_REQUEST\n");
return false;
}
//send base64 encoded username
CString strUsr=Coder.Encode(g_ReportOption.strUsername,g_ReportOption.strUsername.GetLength())+"\r\n";
SendStr(strUsr);
if(!get_response(AUTH_RESPONE))
return false;
//Check that the response has a password request in it
sLastCommandString = response_buf;
sLastCommandString = sLastCommandString.Right(sLastCommandString.GetLength() - 4);
pszLastCommandString = T2A((LPTSTR) (LPCTSTR) sLastCommandString);
OutputDebugString("send base64 encoded username success.\n");
Coder.Decode(pszLastCommandString,strCmd.GetBuffer(strlen(pszLastCommandString)));
strCmd.ReleaseBuffer();
if (strCmd.CompareNoCase("password:"******"UNEXPECTED_AUTH_LOGIN_USERNAME_REQUEST\n");
return false;
}
//send base64 encoded username
CString strPw=Coder.Encode(g_ReportOption.strPassword,g_ReportOption.strPassword.GetLength())+"\r\n";
SendStr(strPw);
if(!get_response(AUTH_SUCCESS))
return false;
OutputDebugString("send base64 encoded password success.\n");
return true;
}
static void NmlOut( void ) {
//========================
byte PGM *nml;
byte len;
byte info;
PTYPE typ;
unsigned_32 num_elts;
byte PGM *data;
string scb;
lg_adv PGM *adv_ptr;
nml = (byte PGM *)(IOCB->fmtptr);
len = *nml; // get length of NAMELIST name
++nml;
Drop( ' ' );
Drop( '&' );
SendStr( (char *)nml, len );
nml += len;
SendEOR();
for(;;) {
len = *nml;
if( len == 0 ) break;
++nml;
Drop( ' ' );
SendStr( (char *)nml, len );
nml += len;
SendWSLStr( " = " );
info = *nml;
++nml;
typ = _GetNMLType( info );
IOCB->typ = typ;
if( _GetNMLSubScrs( info ) ) {
if( info & NML_LG_ADV ) {
adv_ptr = *(lg_adv PGM * PGM *)nml;
num_elts = adv_ptr->num_elts;
if( typ == PT_CHAR ) {
scb.len = adv_ptr->elt_size;
scb.strptr = (char PGM *)adv_ptr->origin;
} else {
data = (byte PGM *)adv_ptr->origin;
}
} else {
num_elts = *(unsigned_32 PGM *)nml;
nml += sizeof( unsigned_32 ) + _GetNMLSubScrs( info ) *
( sizeof( unsigned_32 ) + sizeof( int ) );
if( typ == PT_CHAR ) {
scb.len = *(uint PGM *)nml;
nml += sizeof( uint );
scb.strptr = *(char PGM * PGM *)nml;
} else {
static void OutInt( uint width, uint min ) {
//==============================================
char *number;
uint length;
uint space;
bool minus;
intstar4 iorslt;
if( UndefIntRtn( width ) ) return;
iorslt = IORslt.intstar4;
if( ( iorslt == 0 ) && ( min == 0 ) ) {
SendChar( ' ', width );
} else {
minus = ( iorslt < 0 );
number = IOCB->buffer;
if( minus ) {
number++; // skip the minus sign
}
ltoa( iorslt, IOCB->buffer, 10 );
length = strlen( number );
if( length > min ) {
min = length;
}
if( min <= width ) {
space = width - min;
if( minus || ( IOCB->flags & IOF_PLUS ) ) {
if( space != 0 ) {
SendChar( ' ', space - 1 );
if( minus ) {
Drop( '-' );
} else {
Drop( '+' );
}
SendChar( '0', min - length );
SendStr( number, length );
} else {
SendChar( '*', width );
}
} else {
SendChar( ' ', space );
SendChar( '0', min - length );
SendStr( number, length );
}
} else {
SendChar( '*', width );
}
}
}
/* USART2 init function */
void MX_USART2_UART_Init(void){
huart2.Instance = USART2;
huart2.Init.BaudRate = 115200;
huart2.Init.WordLength = UART_WORDLENGTH_8B;
huart2.Init.StopBits = UART_STOPBITS_1;
huart2.Init.Parity = UART_PARITY_NONE;
huart2.Init.Mode = UART_MODE_TX_RX;
huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart2.Init.OverSampling = UART_OVERSAMPLING_16;
HAL_UART_Init(&huart2);
// initilisation de l'affichage à chaque Reset
SendStr("\n\r UART ");
SendStr("\r\n control :# ");
}
int main(void){
//inicjalizacja peryferiow
SysTick_Config(SystemCoreClock/1000);
USART_ini();
NVIC_USART2_ini();
for (l=0; l<=29; l++)
{
zmienna[l]=0;
str[l]=0;
}
sprintf(str,"Elo Przemek");
Delay(500);
SendStr(str);
USART_SendData(USART2, i++);
while(1){
/*while((USART2->SR&USART_SR_RXNE)==0){};
zmienna[k] = USART_ReceiveData(USART2);
k++;
if(k==29){k=0;}
*/
}
}
IndexServerConn::IndexServerConn(const std::string &addr, int port)
{
DPRINT(INFO, "Contacting index server at %s ...",addr.c_str());
if(!ConnectTo( addr, port))
return;
SendInt((int)TS_MSG_VERSION);
SendStr("WIS");
}
/*------------------------------------------------
主函数
------------------------------------------------*/
void main (void)
{
InitUART();
SendStr("51单片机开发板串口测试程序\r\n\t南京爱思电子\r\n");
ES = 1;
while (1)
{
}
}
int ReadRxData(int PortNumber, char * RecvData)
{
byte tmpchr;
char MData[200];
int c, j;
int NbrOfReadBytes=0;
// printf ("Enter to ReadRxData(). PortNumber=%d\n", PortNumber);
// read a character, if no incomes, we got -1 and NbrOfReadBytes=0.
// if something wes read, still "suck" it till no more characters.
// results are in RecvData string.
if (TRUE == ActivePort[PortNumber])
{
while ( (c = CPort[PortNumber]->ReadFromPort() ) != -1 )
{
*(RecvData++)=(char)c;
NbrOfReadBytes++;
}
}
// check for capture
if ( (CaptureComInput[PortNumber] && NbrOfReadBytes))
{
if (CaptureMode == 1) // Hex binary
{
for (j=0; j < NbrOfReadBytes; j++)
{
tmpchr=(byte)*(RecvData-NbrOfReadBytes+j);
sprintf(MData,"\\x%X",tmpchr);
SendStr(MData,origin,strlen(MData));
}
}
else
{
RecvData[NbrOfReadBytes]=0;
SendStr( (RecvData-NbrOfReadBytes),origin,NbrOfReadBytes);
}
}
//printf (" return NbrOfReadBytes=%d\n", NbrOfReadBytes);
return NbrOfReadBytes;
}
int TxData(int PortNumber, char * Data,int NbrOfBytes)
{
char MData[200];
byte tmpchr;
int i,j,Ret;
//printf ("sending message from port %d\n", PortNumber);
if ( CaptureComOutput[PortNumber])
{
if (CaptureMode == 1) // Hex binary
{
for (j=0; j < NbrOfBytes; j++)
{
tmpchr=(byte)*(Data+j);
sprintf(MData,"\\x%x",tmpchr);
SendStr(MData,origin,strlen(MData));
}
}
else // raw binary
{
SendStr(Data,origin,NbrOfBytes);
}
}
if (TRUE == ActivePort[PortNumber])
{
for (i=0; i<NbrOfBytes; i++)
{
Ret = CPort[PortNumber]->WriteToPort(*(Data++));
if (!Ret)
{
return(i);
}
}
}
else
{
printf ("ERROR! Comm port %d was not open!\n", PortNumber);
i = 0;
}
return(i);
}
static void R_FEH( uint dummy1 , char dummy2 ) {
//======================
ftnfile *fcb;
uint len;
char PGM *str;
fcb = IOCB->fileinfo;
if( IOCB->flags & IOF_OUTPT ) {
len = IOCB->fmtptr->fmtstring.fld1;
if( fcb->col + len > fcb->bufflen ) {
IOErr( IO_BUFF_LEN );
}
str = IOCB->fmtptr->fmtstring.str;
SendStr( str, len );
} else {
RTErr( FM_NOT_INP );
}
R_ChkRecLen();
IOCB->fmtptr = (fmt_desc PGM *)((char PGM *)IOCB->fmtptr + sizeof( fmt4 ) +
len * sizeof( char ));
}
void main(void)
{
Uart_init();
SendStr("\r\n\r\nCommand List:\r\n");
SendStr("v:Get C51 boodload Version\r\n");
SendStr("r:reset cpu\r\n");
while(1)
{
cmd=0;
if(GetByte_NoWait(&cmd)==0)
{
SendByte(cmd);
SendStr("\r\n");
}
switch(cmd)
{
case 'v':
case 'V':
SendStr("C51 BootLoaad V0.01\r\n");
break;
case 'r':
case 'R':
SendStr("Reset broad ...\r\n");
((void (code *) (void)) 0x0000) ();
break;
case 't':
break;
}
}
}
bool
ReqSocket::Send(const string &data)
{
return SendStr(*m_socket, data);
}
static void ExecuteCmd(const char const *input, const u32 base)
{
SendStr("\r\n", base);
// Tokenize the command
#define MAX_CMD_WORDS 4
char *token[MAX_CMD_WORDS];
char *cmd = (char *)input;
u8 numTokens = 0;
while (1)
{
// Skip leading whitespace.
while ((*cmd) && isspace(*cmd))
cmd++;
// If we get here and we are at the end of the string, then the last
// token must have had trailing white spaces. Let's ignore them
if (!(*cmd))
break;
// If we have exceeded the maximum number of allowable tokens, then
// return as error
if (numTokens >= MAX_CMD_WORDS)
{
SendStr(NO_ANSWER, base);
return;
}
// Store the token.
token[numTokens] = cmd;
numTokens++;
// Everything that isn't a whitespace is part of the token. Let's make
// sure it is in UPPER CASE
while ((*cmd) && (!isspace(*cmd)))
{
*cmd = toupper(*cmd);
cmd++;
}
// When we get here, we are just past the current token, either because
// it ended on a whitespace or because it is the end of the user input.
// If the former, then let's force a null termination for that token. If
// the latter, then we are done tokenizing.
if (!(*cmd))
break;
*cmd = '\0';
cmd++;
}
if (0 == numTokens)
{
SendStr(NO_ANSWER, base);
return;
}
// Process the command
switch (token[0][0])
{
case 'R':
{
if (2 != numTokens)
SendStr(NO_ANSWER, base);
else
{
u32 regAddr;
u32 regValue;
if (StrToU32(token[1], ®Addr) && RegRead(regAddr, ®Value))
{
SendStr("Y ", base);
char regValStr[9];
U32ToStr(regValue, regValStr);
SendStr(regValStr, base);
SendStr("\r\n", base);
}
else
SendStr(NO_ANSWER, base);
}
break;
}
case 'W':
{
if (3 != numTokens)
SendStr(NO_ANSWER, base);
else
{
u32 regAddr;
u32 regValue;
if (StrToU32(token[1], ®Addr) && StrToU32(token[2], ®Value) && RegWrite(regAddr, regValue))
SendStr(YES_ANSWER, base);
else
SendStr(NO_ANSWER, base);
}
break;
}
case 'V':
{
SendStr("FPGA=0x", base);
char versionStr[9];
FpgaRegisters * FPGARegs = (FpgaRegisters *)(REGISTER_BASE | BYPASS_DCACHE_MASK);
U32ToStr(FPGARegs->fpgaVersion, versionStr);
SendStr(versionStr, base);
SendStr(" NIOS=0x", base);
U32ToStr(NIOS_VERSION, versionStr);
SendStr(versionStr, base);
SendStr("\r\n", base);
break;
}
case 'F':
{
if (4 != numTokens)
SendStr(NO_ANSWER, base);
else
{
u32 startAddr;
u32 length;
u32 checksum;
StrToU32(token[1], &startAddr);
StrToU32(token[2], &length);
StrToU32(token[3], &checksum);
// Transfer two chunks to get a full sector worth
#define FLASH_SECTOR_SIZE (64*1024)
#define TRANSFER_SIZE (4*1024)
u8 buffer[FLASH_SECTOR_SIZE];
// Validate the requested transfer size
if (length != TRANSFER_SIZE)
SendStr(NO_ANSWER, base);
else
{
u32 bufferIndex = startAddr % FLASH_SECTOR_SIZE;
u32 runningSum = 0;
u32 numBytesReceived = 0;
// Clear the input buffer
FlushRx(base);
// Acknowledge that the command is good. This will tell the
// sender to actually send the specified number of bytes
SendStr(YES_ANSWER, base);
// We must receive the correct number of bytes
while (true)
{
while (IORD_FIFOED_AVALON_UART_STATUS(base) & FIFOED_AVALON_UART_CONTROL_RRDY_MSK)
{
// Read the Uart
u8 rx = IORD_FIFOED_AVALON_UART_RXDATA(base);
runningSum += rx;
buffer[bufferIndex++] = rx;
numBytesReceived++;
if (numBytesReceived >= length)
break;
}
if (numBytesReceived >= length)
break;
}
// check the checksum
if (runningSum != checksum)
SendStr(NO_ANSWER, base);
else
{
// If we don't have a full sector worth of data, then ACK and wait for more
if (bufferIndex != FLASH_SECTOR_SIZE)
SendStr(YES_ANSWER, base);
else
{
u32 totalWriteBufferChecksum = 0;
int i;
for (i=0; i<sizeof(buffer); i++)
{
totalWriteBufferChecksum += buffer[i];
}
alt_flash_fd* fd = alt_flash_open_dev(SERIAL_FLASH_NAME);
if (NULL == fd)
SendStr(NO_ANSWER, base);
else
{
u32 sectorStartAddr = (startAddr / FLASH_SECTOR_SIZE) * FLASH_SECTOR_SIZE;
if (0 == alt_write_flash(fd, sectorStartAddr, buffer, length))
{
memset(buffer, 0x99, sizeof(buffer));
if (0 == alt_read_flash(fd, sectorStartAddr, buffer, sizeof(buffer)))
{
u32 totalReadBufferChecksum = 0;
for (i=0; i<sizeof(buffer); i++)
{
totalReadBufferChecksum += buffer[i];
}
if (totalReadBufferChecksum == totalWriteBufferChecksum)
SendStr(YES_ANSWER, base);
else
SendStr(NO_ANSWER, base);
}
else
SendStr(NO_ANSWER, base);
}
else
SendStr(NO_ANSWER, base);
alt_flash_close_dev(fd);
}
}
}
}
}
break;
}
default:
SendStr(NO_ANSWER, base);
break;
}
return;
}
int main()//OPTIMIZATION LEVEL = 0
{
HAL_Init();
SystemClockConfig();
ConfigLED();
ConfigTimer();
rtksvrstart(&svr);
ConfigUART(svr.format[0]);
fobs[0]=fobs[1]=0;
//svr.raw[1].time.time = 1429540822;//test SS2 data
//svr.raw[1].time.time = 1429539852;//test SS2 data
while (HAL_UART_Receive_DMA(&UartGPSHandle,svr.buff[0],MAX_RAW_LEN) != HAL_OK);
while (HAL_UART_Receive_DMA(&UartRFHandle,svr.buff[1],MAX_RAW_LEN) != HAL_OK);
HAL_Delay(3000);
sendRequest(svr.format[0]);
// test();
while(1)
{
#ifndef _TEST_RESULT
if (flagTimeout)
{
int index,temp;
flagTimeout=0;
//SendIntStr(UartGPSHandle.Instance->SR);
//SendIntStr(UartRFHandle.Instance->SR);
for (index=0;index<2;index++)
{
if (index==0)
temp = UartGPSHandle.hdmarx->Instance->NDTR & 0xffff;
else
temp = UartRFHandle.hdmarx->Instance->NDTR & 0xffff;
if (temp + svr.buffPtr[index] <= MAX_RAW_LEN)
svr.nb[index] = MAX_RAW_LEN - svr.buffPtr[index] - temp;
else
svr.nb[index] = 2*MAX_RAW_LEN - temp - svr.buffPtr[index];
fobs[index] = decode_raw(&svr,index);
svr.buffPtr[index] = MAX_RAW_LEN - temp;
}
// temp = UartGPSHandle.hdmarx->Instance->NDTR & 0xffff;
// if (temp + svr.buffPtr[0] <= MAX_RAW_LEN)
// svr.nb[0] = MAX_RAW_LEN - svr.buffPtr[0] - temp;
// else
// svr.nb[0] = 2*MAX_RAW_LEN - temp - svr.buffPtr[0];
// if (svr.buffPtr[0] + svr.nb[0] <= MAX_RAW_LEN)
// {
// for (i = svr.buff[0] + svr.buffPtr[0] ;
// i < svr.buff[0] + svr.buffPtr[0] + svr.nb[0]; i++)
// {
// HAL_UART_Transmit(&UartResultHandle,i,1,1);
// }
// }
// else
// {
// for (i = svr.buff[0] + svr.buffPtr[0] ;
// i < svr.buff[0] + MAX_RAW_LEN; i++)
// {
// HAL_UART_Transmit(&UartResultHandle,i,1,1);
// }
// for (i = svr.buff[0] ;
// i < svr.buff[0] + svr.nb[0] + svr.buffPtr[0] - MAX_RAW_LEN ; i++)
// {
// HAL_UART_Transmit(&UartResultHandle,i,1,1);
// }
// }
// svr.buffPtr[0] = MAX_RAW_LEN - temp;
//rtk positioning**********************************************************************
// if (0)
if (fobs[1])
{
fobs[1]=0;
LED4_TOGGLE;
}
if (fobs[0])
{
int i;
fobs[0]=0;
LED3_TOGGLE;
#ifdef TIME_MEASURE
start=HAL_GetTick();
#endif
temp=svr.obs[0].n;
for (i=0;i<temp;i++)
{
obsd[i]=svr.obs[0].data[i];
}
for (i=0;(i<svr.obs[1].n)&&(i+temp<MAX_OBS);i++)
{
obsd[i+temp]=svr.obs[1].data[i];
}
if (!rtkpos(&svr.rtk,obsd,i+temp,&svr.nav))
// if (1)
{
LED5_TOGGLE;
#ifdef TIME_MEASURE
t=HAL_GetTick()-start;
svr.rtk.sol.processTime = t;
#endif
if (svr.rtk.sol.stat==SOLQ_FIX)
LED6_TOGGLE;
outsol(&svr.rtk.sol,svr.rtk.rb);
SendStr(svr.rtk.sol.result);
}
else
{
HAL_UART_Transmit_DMA(&UartResultHandle,(unsigned char*)svr.rtk.errbuf,svr.rtk.errLen);
}
}
}
#else
if (flagTimeout)
{
static int i;
char* res = svr.rtk.sol.result;
flagTimeout = 0;
res+=sprintf(res,
"%04.0f/%02.0f/%02.0f %02.0f:%02.0f:%06.3f %14.4f %14.4f %14.4f %3d %3d %8.4f %8.4f %8.4f %8.4f %8.4f %8.4f %6.2f %6.1f",
2015.0,10.0,12.0,3.0,45.0,18.0,//time yy/mm/dd hh:mm:ss.ssss
1.0,2.0,1.0,
1,1,
1.0,1.0,1.0,
1.0,1.0,1.0,
1.0,1.0);
res+=sprintf(res," %4d",i++);
res[0]='\n';
SendStr(svr.rtk.sol.result);
}
#endif
}
}
static void FOHex( uint width ) {
//===============================
uint len;
int trunc;
ftnfile *fcb;
PTYPE typ;
char *buff;
fcb = IOCB->fileinfo;
typ = IOCB->typ;
len = GetLen();
trunc = 0;
// Use this method when real and imaginary parts are formatted using
// one edit descriptor:
/*
if( ( IOCB->typ == PT_CPLX_8 ) || ( IOCB->typ == PT_CPLX_16 ) ) {
len *= 2;
IOCB->flags &= ~IOF_FMTREALPART; // we'll print both parts at once
}
*/
// Use this method when real and imaginary parts each require an
// edit descriptor:
if( IOCB->typ == PT_CPLX_8 ) {
if( !(IOCB->flags & IOF_FMTREALPART) ) {
IORslt.scomplex.realpart = IORslt.scomplex.imagpart;
}
} else if( IOCB->typ == PT_CPLX_16 ) {
if( !(IOCB->flags & IOF_FMTREALPART) ) {
IORslt.dcomplex.realpart = IORslt.dcomplex.imagpart;
}
} else if( IOCB->typ == PT_CPLX_32 ) {
if( !(IOCB->flags & IOF_FMTREALPART) ) {
IORslt.xcomplex.realpart = IORslt.xcomplex.imagpart;
}
}
if( width == 0 ) {
width = 2*len;
}
trunc = ( len * 2 ) - width;
if( trunc < 0 ) {
SendChar( ' ', -trunc );
}
if( trunc <= 0 ) {
trunc = 0;
}
if( typ != PT_CHAR ) {
len *= 2;
HexFlip( (char *)&IORslt, len );
BToHS( (char *)&IORslt , len, IOCB->buffer );
strupr( IOCB->buffer );
SendStr( IOCB->buffer + trunc, len - trunc );
} else {
buff = IOCB->buffer;
len *= 2;
if( len > IO_FIELD_BUFF ) {
buff = RChkAlloc( len + 1 );
}
pgm_BToHS( IORslt.string.strptr, len, buff );
strupr( buff );
SendStr( buff + trunc, len - trunc );
if( len > IO_FIELD_BUFF ) {
RMemFree( buff );
}
}
}
int main(void)
{
// Prepare for UART communication with external world. The default baud rate
// is 921,600 bps
IOWR_FIFOED_AVALON_UART_DIVISOR(UART_BASE, BAUD_RATE(921600.0f));
// Make sure UART interrupts are disabled
alt_ic_irq_disable(UART_IRQ_INTERRUPT_CONTROLLER_ID, UART_IRQ);
// Clear the input and output buffers
FlushRx(UART_BASE);
FlushTx(UART_BASE);
#define MAX_CMD_LEN 64
char cmd[MAX_CMD_LEN];
s8 cmdIndex = 0;
// Sit in an infinite loop waiting for serial commands
while(1)
{
while (IORD_FIFOED_AVALON_UART_STATUS(UART_BASE) & FIFOED_AVALON_UART_CONTROL_RRDY_MSK)
{
// Read the Uart
char rx = IORD_FIFOED_AVALON_UART_RXDATA(UART_BASE);
// If this is the end of a command, then try to parse it
if (('\r' == rx) || ('\n' == rx))
{
cmd[cmdIndex] = '\0';
ExecuteCmd(cmd, UART_BASE);
FlushRx(UART_BASE);
FlushTx(UART_BASE);
cmdIndex = 0;
}
// If this is a backspace
else if ('\b' == rx)
{
SendStr("\b \b", UART_BASE);
if (cmdIndex > 0)
cmdIndex--;
}
// This is any other character
else
{
// echo the character
SendChar(rx, UART_BASE);
// Add it to the buffer, if possible, making sure to save the
// space for the null terminator (when completing the command)
if (cmdIndex < (MAX_CMD_LEN - 1))
cmd[cmdIndex++] = rx;
// Otherwise, report the error and reset the buffer
else
{
cmdIndex = 0;
SendStr(NO_ANSWER, UART_BASE);
}
}
}
}
}
void InterpretMessage()
{
char t1[100];
int NbrOfFatalErrors=0;
int NbrOfSevereErrors=0;
int NbrOfNormalErrors=0;
int NbrOfWarnings=0;
int NbrOfInfo=0;
int i;
char bigbuffer[500];
if (Message[0] == 'D')
{
// Display frequency setting
if ( (Message[1] > 0x2F) && (Message[1] <0x3A) )
{
if ( (Message[2] > 0x2F) && (Message[2] <0x3A) )
DispFreq=(int)(Message[1]-0X30)*10+(int)(Message[2]-0x30);
else
DispFreq=(int)(Message[1]-0x30);
FreqCounter=DispFreq;
sprintf(tempbuf,TX0019,FreqCounter);
SendStr(tempbuf,origin,strlen(tempbuf));
}
// remote monitor sent an exit command (somehow it is different than remoute GPS monitoring)
if ((Message[1]=='Q') && (Message[2]=='U') &&
(Message[3]=='I') && (Message[4]=='T'))//"QUIT"
{
//SendCommand_104 (strlen(TX0071), TX0071);
gbConnectGPS_104 = FALSE;
gbConnectMON_104 = FALSE;
}
// COM port redirection
if ( (Message[1] == 'C') && (Message[2] == 'O')
&& (Message[3] == 'M') )
{
if ( (Message[4] > 0x30) && (Message[4] < 0x37 ))
{
if ( Message[5] == 'I')
{
CaptureComInput[Message[4]-0x30]=TRUE;
sprintf(tempbuf,TX0020,(int)Message[4]-0x30);
SendStr(tempbuf, origin, strlen(tempbuf));
}
if ( Message[5] == 'O')
{
CaptureComOutput[Message[4]-0x30]=TRUE;
sprintf(tempbuf,TX0021,(int)Message[4]-0x30);
SendStr(tempbuf, origin, strlen(tempbuf));
}
if ( Message[6] == 'H')
{
CaptureMode=1;
}
else
{
CaptureMode=0;
}
}
}
// Version number asked ?
if ((Message[1]=='V') && (Message[2]=='E') && ( Message[3]=='R'))
{
sprintf(t1,TX0023,__DATE__,__TIME__);
strcat(tempbuf,t1);
SendStr(tempbuf,origin,strlen(tempbuf));
strcpy(bigbuffer,"\n\r");
if (PING_SAV)
strcat(bigbuffer,"PING messages sending ON\n\r");
#ifdef TRIMBLE_950
strcat(bigbuffer,"TRIMBLE_950\n\r");
#endif
#if defined PENTIUM
strcat(bigbuffer,"PENTIUM\n\r");
#endif
#ifdef RANDOM_MESSAGE
strcat(bigbuffer,"RANDOM_MESSAGE ON\n\r");
sprintf(t1, "RND_MESSAGE size %d\n\r", nSize);
strcat(bigbuffer,t1);
sprintf(t1, "RND_MESSAGE PORT %d\n\r", nCOM);
strcat(bigbuffer, t1);
#endif
strcat(bigbuffer, COMFILE_VERSION);
SendStr(bigbuffer,origin,strlen(bigbuffer));
}
// Give directory
if ((Message[1]=='C') && (Message[2]=='A') && ( Message[3]=='T'))
{
system("dir *.log /w");
}
// Toggle Label display
if ((Message[1]=='L') && (Message[2]=='B') && ( Message[3]=='L'))
{
if (DispWithoutLabels)
{
DispWithoutLabels=FALSE;
sprintf(tempbuf,TX0024);
SendStr(tempbuf,origin,strlen(tempbuf));
}
else
{
DispWithoutLabels=TRUE;
sprintf(tempbuf,TX0025);
SendStr(tempbuf,origin,strlen(tempbuf));
}
}
// Display Errors
if ((Message[1]=='E') && (Message[2]=='R') && ( Message[3]=='R'))
{
if (Message[4] == 'R')
{
// display removed errors
for (i=0; i<RStackPtr;i++)
{
sprintf(tempbuf,TX0035,RemovedErrorsStack[i].Code,
RemovedErrorsStack[i].Time,RemovedErrorsStack[i].Counter);
if (Message[4] == 'R')
{
SendStr(tempbuf,origin,strlen(tempbuf));
}
}
}
else
{
for (i=0; i<EStackPtr;i++)
{
sprintf(tempbuf,TX0034,ErrStack[i].Code,ErrStack[i].Par1,
ErrStack[i].Par2,ErrStack[i].Time,ErrStack[i].Counter);
if (ErrStack[i].Code < 5000)
{
if (Message[4] == 'F')
{
SendStr(tempbuf,origin,strlen(tempbuf));
}
NbrOfFatalErrors++;
}
else if (ErrStack[i].Code < 10000)
{
if (Message[4] == 'S')
{
SendStr(tempbuf,origin,strlen(tempbuf));
}
NbrOfSevereErrors++;
}
else if (ErrStack[i].Code < 15000)
{
if (Message[4] == 'N')
{
SendStr(tempbuf,origin,strlen(tempbuf));
}
NbrOfNormalErrors++;
}
else if (ErrStack[i].Code < 20000)
{
if(Message[4] == 'W')
{
SendStr(tempbuf,origin,strlen(tempbuf));
}
NbrOfWarnings++;
}
else
{
if(Message[4] == 'I')
{
SendStr(tempbuf,origin,strlen(tempbuf));
}
NbrOfInfo++;
}
}
if ( Message[4]=='A' )
{
sprintf(tempbuf,TX0029,NbrOfFatalErrors);
SendStr(tempbuf,origin,strlen(tempbuf));
sprintf(tempbuf,TX0030,NbrOfSevereErrors);
SendStr(tempbuf,origin,strlen(tempbuf));
sprintf(tempbuf,TX0031,NbrOfNormalErrors);
SendStr(tempbuf,origin,strlen(tempbuf));
sprintf(tempbuf,TX0032,NbrOfWarnings);
SendStr(tempbuf,origin,strlen(tempbuf));
sprintf(tempbuf,TX0033,NbrOfInfo);
SendStr(tempbuf,origin,strlen(tempbuf));
sprintf(tempbuf,TX0036,RStackPtr);
SendStr(tempbuf,origin,strlen(tempbuf));
}
}
}
}
//**********104 connection commands*********'
if ((Message[1]=='C') && (Message[2]=='O') && ( Message[3]=='N') &&
(Message[4]=='N') && (Message[5]=='E') && (Message[6]=='C') && (Message[7]=='T'))//"CONNECT" == connect to ...
{
if (0)//strcmp(gMARK, "master") == 0)
{
if (!gbConnectGPS_104)
{
gbConnectGPS_104 = TRUE;
//ConnectStatus_104 = CONNECT_PROCESSING;
//printf ("Before SendCommand_104(%d, %s)\n", strlen(TX0125), TX0125);
#ifdef TRIMBLE_950
if (SendCommand_BD950(DUMP)) // send "Hi"
{
sprintf(tempbuf, TX0129); //"104: CONNECTING..... \n"
SendStr(tempbuf, origin, strlen(tempbuf));
ConnectStatus_104 = CONNECT_ESTABLISHED;
LOG_ON = 1;
}
#else // usual app
//if (SendCommand_104(strlen(TX0125), TX0125)) // send "HELLO"
//{
// sprintf(tempbuf, TX0129); //"104: CONNECTING..... \n"
// SendStr(tempbuf, origin, strlen(tempbuf));
//}
#endif // TRIMBLE_950
}
}
else // not allow to active connect in SLAVE mode!
{
sprintf(tempbuf, TX0100);
SendStr(tempbuf, origin, strlen(tempbuf));
}
}
if ((Message[1]=='C') && (Message[2]=='O') && ( Message[3]=='N') &&
(Message[4]==' ') && (Message[5]=='-') && ( Message[6]=='S') &&
(Message[7]=='Y') && (Message[8]=='N') && ( Message[9]=='C'))
//"CON -SYNC" == syncronize time with 104
{
if(0) // (strcmp(gMARK, "master") == 0)
{
SendSynchroTime_104();
}
else // not allow to active connect in SLAVE mode!
{
sprintf(tempbuf, TX0100);
SendStr(tempbuf, origin, strlen(tempbuf));
}
}
//**********104 disconnection command*********'
if ( gbConnectGPS_104 == 0)
{
if ((Message[0]=='Q') && (Message[1]=='U') && ( Message[2]=='I') && (Message[3]=='T')) //
{
if (0)// (SendCommand_104(strlen(TX0126), TX0126)) // BYE...
{
gbConnectGPS_104 = FALSE;
gbConnectMON_104 = FALSE;
ConnectStatus_104= NO_CONNECT;
LOG_ON = 0;
sprintf(tempbuf, TX0127);
SendStr(tempbuf, origin, strlen(tempbuf));
}
}
}
#ifdef TRIMBLE_950
//**********104 connection commands END*********'
if ( gbConnectGPS_104)
{
//**********command GETSTAT1*********'
if ((Message[0]=='G') && (Message[1]=='E') && ( Message[2]=='T') && (Message[3]=='S') && ( Message[4]=='T')
&& (Message[5]=='A') && ( Message[6]=='T')) //
{
//printf ("Command GETSTAT1 ready to be sent to GPS card!\n");
SendCommand_BD950(GETSTAT);
}
//**********command GETSERIAL*********'
if ((Message[0]=='G') && (Message[1]=='E') && ( Message[2]=='T') && (Message[3]=='S') && ( Message[4]=='E')
&& (Message[5]=='R') && ( Message[6]=='I') && (Message[7]=='A') && ( Message[8]=='L')) //
{
//printf ("Command GETSERIAL ready to be sent to GPS card!\n");
SendCommand_BD950(GETSERIAL);
}
//**********command GETSERIAL*********'
if ((Message[0]=='G') && (Message[1]=='E') && ( Message[2]=='T') && (Message[3]=='R') && ( Message[4]=='A')
&& (Message[5]=='W')) //
{
//printf ("Command GETRAW ready to be sent to GPS card!\n");
SendCommand_BD950(GETRAW);
}
//**********command DUMP*********'
if (( Message[0]=='D') && (Message[1]=='U') && (Message[2]=='M') && ( Message[3]=='P'))
{
//printf ("Command ready to be sent Dump from a GPS card!\n");
SendCommand_BD950(DUMP);
}
//**********command STATUS*********'
if (( Message[0]=='S') && (Message[1]=='T') && (Message[2]=='A') && ( Message[3]=='T'))
{
//printf ("Command ready to be sent Dump from a GPS card!\n");
SendCommand_BD950(STATUS);
}
//**********command CLEAR*********'
if (( Message[0]=='C') && (Message[1]=='L') && (Message[2]=='E') && ( Message[3]=='A') && ( Message[4]=='R'))
{
//printf ("Command ready to be sent Dump from a GPS card!\n");
SendCommand_BD950(CLEAR);
}
//**********command CLEAR*********'
if (( Message[0]=='P') && (Message[1]=='O') && (Message[2]=='S'))
{
//printf ("Command ready to be sent POS from a GPS card!\n");
SendCommand_BD950(POSITION);
}
//**********command CLEAR*********'
if (( Message[0]=='S') && (Message[1]=='A') && (Message[2]=='T') && ( Message[3]=='I') &&
( Message[4]=='N') && ( Message[5]=='F') && ( Message[6]=='O'))
{
//printf ("Command ready to be sent POS from a GPS card!\n");
SendCommand_BD950(SATINFO);
}
//**********command CLEAR*********'
if (( Message[0]=='S') && (Message[1]=='E') && (Message[2]=='S') && ( Message[3]=='S') &&
( Message[4]=='I') && ( Message[5]=='O') && ( Message[6]=='N'))
{
//printf ("Command ready to be sent POS from a GPS card!\n");
SendCommand_BD950(SESSION);
}
//**********command CLEAR*********'
if (( Message[0]=='P') && (Message[1]=='O') && (Message[2]=='W') && ( Message[3]=='E') &&
( Message[4]=='R'))
{
//printf ("Command ready to be sent POS from a GPS card!\n");
SendCommand_BD950(POWER);
}
//**********command CLEAR*********'
if (( Message[0]=='N') && (Message[1]=='E') && (Message[2]=='X') && ( Message[3]=='T'))
{
//printf ("Command ready to be sent POS from a GPS card!\n");
SendCommand_BD950(NEXT);
}
//**********command CLEAR*********'
if (( Message[0]=='C') && (Message[1]=='O') && (Message[2]=='N') && ( Message[3]=='T') &&
( Message[4]=='R') && ( Message[5]=='O') && ( Message[6]=='L'))
{
//printf ("Command ready to be sent POS from a GPS card!\n");
SendCommand_BD950(CONTROL);
}
//**********command CLEAR*********'
if (( Message[0]=='P') && (Message[1]=='O') && (Message[2]=='S'))
{
//printf ("Command ready to be sent POS from a GPS card!\n");
SendCommand_BD950(POSITION);
}
//**********command CLEAR*********'
if (( Message[0]=='O') && (Message[1]=='N') && (Message[2]=='E'))
{
//printf ("Command ready to be sent POS from a GPS card!\n");
SendCommand_BD950(ONE);
}
//**********command CLEAR*********'
if (( Message[0]=='T') && (Message[1]=='W') && (Message[2]=='O'))
{
//printf ("Command ready to be sent POS from a GPS card!\n");
SendCommand_BD950(TWO);
}
//**********command CLEAR*********'
if (( Message[0]=='T') && (Message[1]=='R') && (Message[2]=='E'))
{
//printf ("Command ready to be sent POS from a GPS card!\n");
SendCommand_BD950(TRE);
}
//**********command CLEAR*********'
if (( Message[0]=='F') && (Message[1]=='O') && (Message[2]=='R'))
{
//printf ("Command ready to be sent POS from a GPS card!\n");
SendCommand_BD950(FOR);
}
//**********command LOG - ULOG*********'
if (( Message[0]=='L') && (Message[1]=='O') && (Message[2]=='G'))
{
//printf ("Command ready to be sent POS from a GPS card!\n");
LOG_ON = 1;
}
if (( Message[0]=='U') && (Message[1]=='N') && (Message[2]=='L') && (Message[3]=='O') && (Message[4]=='G'))
{
//printf ("Command ready to be sent POS from a GPS card!\n");
LOG_ON = 0;
}
if (( Message[0]=='S') && (Message[1]=='T') && (Message[2]=='O') && (Message[3]=='P'))
{
//printf ("Command ready to be sent POS from a GPS card!\n");
LOG_ON = 0;
}
//**********commands END*********'
} // if ( gbConnectGPS_104)
#endif // #ifdef TRIMBLE_950
}
int monitor(int DSync)
{
char InputQueue[20];
static int RecvPtr =0;
static char OutStr[2*BUFFER_SIZE];
static int Status;
//static unsigned long TimeoutCounter=0;
static int WaitCommandLine=FALSE;
//char sPtr[15];
// wait for next character
NewChar=0;
if (kbhit()) // has anything been pressed from keyboard ?
{
NewChar=(unsigned char)getch();
origin=ORIGIN_KB;
GPS_TimeoutCounter=0;
//TimeoutCounter=0;
}
// printf ("monitor. in\n");
/*
if (ReadRxData(MONITOR_PORT,InputQueue)) // anything from remote terminal ?
{
NewChar=InputQueue[0];
origin=MONITOR_PORT;
GPS_TimeoutCounter=0;
//TimeoutCounter=0;
}
*/
//printf ("monitor. 2\n");
if (NewChar)
{
if ( (NewChar == 'D') || (NewChar == 'd') )
{
WaitCommandLine=TRUE;
Status=DISPLAY_STOPPED;
RecvPtr=0;
ResetDisp();
SendStr("\n\n\r>D",origin,5);
}
else
{
if (WaitCommandLine)
{
sprintf(tempbuf,"%c",NewChar);
SendStr(tempbuf, origin, strlen(tempbuf));
}
}
if (RecvPtr >= BUFFER_SIZE)
{
SendStr(TX0026,origin,strlen(TX0026));
RecvPtr=0;
}
if ( ((NewChar & 0xff) == 24) && (!GMonActive) ) // CTRL-X pressed
{
return(TRUE);
}
if (WaitCommandLine)
{
RecvBuffer[RecvPtr++]=NewChar;
}
if (NewChar == 13) // End of Line
{
SendStr("\r\n",origin,2);
RecvBuffer[RecvPtr]=0;
// convert the message to upper case
Message=strupr(RecvBuffer);
InterpretMessage();
RecvPtr=0;
WaitCommandLine=FALSE;
Status=DISPLAY_RUNNING;
}
}
// Check if something has to be sent
if ( Status==DISPLAY_RUNNING )
{
if (FreqCounter-- <= 0)
{
ParseMessage(OutStr);
if (strlen(OutStr)>0)
{
strcat(OutStr,"\n\r");
sprintf(tempbuf,"%s",OutStr);
SendStr(tempbuf,origin,strlen(tempbuf));
}
else
Status=DISPLAY_STOPPED;
FreqCounter=DispFreq;
}
if (GPS_TimeoutCounter++ > (long)GPS_TIMEOUT)
{
//printf ("GPS_TimeoutCounter=%d\n", GPS_TimeoutCounter);
//Status=DISPLAY_STOPPED;
//ResetDisp();
//SendStr(TX0027,origin,strlen(TX0027));
}
}
return(FALSE);
}
/* MX_USART2_UART_Init */
void MX_USART2_UART_Init(void){
huart2.Instance = USART2;
huart2.Init.BaudRate = 115200;
huart2.Init.WordLength = UART_WORDLENGTH_8B;
huart2.Init.StopBits = UART_STOPBITS_1;
huart2.Init.Parity = UART_PARITY_NONE;
huart2.Init.Mode = UART_MODE_TX_RX;
huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart2.Init.OverSampling = UART_OVERSAMPLING_16;
HAL_UART_Init(&huart2);
/* Initialize display for each RESET */
SendStr("\r\n");
SendStr("\n\r ######## ## ## ###### #### ###### ###### ######## ####### ## ## ######## ");
SendStr("\n\r ## ### ## ## ## ## ## ## ## ## ## ## ## ## ## ## ## ## ");
SendStr("\n\r ## #### ## ## ## ## ## ## ## ## ## ## ## ## ## ");
SendStr("\n\r ###### ## ## ## ###### ## ####### ## ## #### ######## ## ## ## ## ######## ");
SendStr("\n\r ## ## #### ## ## ## ## ## ## ## ## ## ## ## ## ");
SendStr("\n\r ## ## ### ## ## ## ## ## ## ## ## ## ## ## ## ## ## ");
SendStr("\n\r ######## ## ## ###### #### ###### ###### ## ## ####### ####### ## ");
SendStr("\n\r \r");
SendStr("\n\r ENSI corp. with C group partnership\r\n");
SendStr(" computer interface of control module. Enter help to know the supported commands \r\n");
SendStr("\r control :# ");
}
/* Terminal writig */
void terminal( char * string){
int retPls = 0;
char string_save[200];
int n;
float m,o;
if(strcmp (string,"help")==0){
SendStr(" \n\r");
SendStr(" \r");
SendStr("\r\n ***********************************************************************************");
SendStr("\r\n ** help menu **");
SendStr("\r\n ***********************************************************************************");
SendStr("\r\n ");
SendStr(" \r auto start automatic mode and stop manual mode \r\n");
SendStr(" \r manual start manual mode and stop automatic mode \r\n");
SendStr(" \r speed update speed value (only in manual mode) \r\n");
SendStr(" \r steering update steering value (only in manual mode) \r\n");
SendStr(" \r camera update position and voltage analog values for propulsion module \r\n");
SendStr(" \r meas print currents and voltage analog values for propulsion module \r\n");
SendStr(" \r help print supported commands \r\n");
SendStr("\r control:# ");
}
else if(strcmp (string,"auto")==0){
SendStr("\n\r automatic mode is running\n\r");
i2c_cgroup_function(1);
SendStr("\r control:# ");
}
else if(strcmp (string,"manual")==0){
SendStr("\n\r manual mode is running\n\r");
SendStr("\r control:# ");
}
else if(strcmp (string,"speed")==0){
SendStr("\n\r enter a value between 0 (stop) and 254 (full speed), 255 (reverse, speed is fixed): \n\r");
char value[4];
int i;
GetStr(value);
if(value[0]=='-')
SendStr("\n\r error : failed value (0 to 255) ");
if ( value[0] == '2'){
if ( value[1] == '5'){
if (value[2] == '5'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH2_Pulse(retPls);
PWM_CH1_Pulse(0);
}
}
}
else if(value[3]=='\0'){
if(value[2]!='\0'){
if(value[0] =='2'){
if(value[1]<='5'){
if(value[2]<='5'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH1_Pulse(retPls);
PWM_CH2_Pulse(0);
}
else
SendStr("\n\r error : failed value (0 to 255) ");
}
else
SendStr("\n\r error : failed value (0 to 255) ");
}
else if (value[0]<='2'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH1_Pulse(retPls);
PWM_CH2_Pulse(0);
}
else
SendStr("\n\r error : failed value (0 to 255)");
}
else
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH1_Pulse(retPls);
PWM_CH2_Pulse(0);
}
else
SendStr("\n\r error : failed value (0 to 255) ");
SendStr("\n\r control:# ");
}
else if(strcmp (string,"steering")==0){
SendStr("\n\r enter value between -127 (full left) and 128 (full right), 0 is the middle position : \n\r");
char value[5];
int i;
GetStr(value);
if(value[0]=='-'){
if(value[1]=='0')
SendChar(value[1]);
else if (value[3]=='\0' || value[2]=='\0'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH3_Pulse(retPls);
HAL_Delay(500);
PWM_CH3_Pulse(65499);
HAL_Delay(500);
}
else if(value[4]=='\0'){
if(value[3]!='\0'){
if(value[1] =='1'){
if(value[2]<='2'){
if(value[3]<='7'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH3_Pulse(retPls);
HAL_Delay(500);
PWM_CH3_Pulse(65499);
HAL_Delay(500);
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH3_Pulse(retPls);
HAL_Delay(500);
PWM_CH3_Pulse(65499);
HAL_Delay(500);
}
else {
SendStr("\n\r error : failed value (-127 to 128) ");
}
}
else{
if(value[3]=='\0'){
if(value[2]!='\0'){
if(value[0] =='1'){
if(value[1]<='2'){
if(value[2]<='8'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH3_Pulse(retPls);
HAL_Delay(500);
PWM_CH3_Pulse(65499);
HAL_Delay(500);
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH3_Pulse(retPls);
HAL_Delay(500);
PWM_CH3_Pulse(65499);
HAL_Delay(500);
}
else{
SendStr("\n\r error : failed value (-127 to 128) ");
}
}
SendStr("\n\r control:# ");
}
else if(strcmp (string,"camera")==0){
SendStr("\n\r enter value between -127 (full left) and 128 (full right), 0 is the middle position : \n\r");
char value[5];
int i;
GetStr(value);
if(value[0]=='-'){
if(value[1]=='0'){
SendChar(value[1]);
retPls = atoi(value);
PWM_CH4_Pulse(retPls);
HAL_Delay(5000);
}
else if (value[3]=='\0' || value[2]=='\0'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH4_Pulse(retPls);
HAL_Delay(5000);
}
else if(value[4]=='\0'){
if(value[3]!='\0'){
if(value[1] =='1'){
if(value[2]<='2'){
if(value[3]<='7'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH4_Pulse(retPls);
HAL_Delay(5000);
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else{
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH4_Pulse(retPls);
HAL_Delay(5000);
}
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else{
if(value[3]=='\0'){
if(value[2]!='\0'){
if(value[0] =='1'){
if(value[1]<='2'){
if(value[2]<='8'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH4_Pulse(retPls);
HAL_Delay(5000);
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else{
for(i=0;i<=3;i++){
SendChar(value[i]);
}
retPls = atoi(value);
PWM_CH4_Pulse(retPls);
HAL_Delay(5000);
}
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
SendStr("\n\r control:# ");
}
else if(strcmp (string,"meas")==0){
SendStr("\n\r currents and voltage analog values for propulsion module : \n\r");
n=adc1();
m=n*3.3/255;
o=m*100/24;
sprintf(string_save," ADC value: adc1=%d, V=%f, I=%f \r\n control :# ", n,m,o);
SendStr(string_save);
SendStr("\n\r control:# ");
}
else{
SendStr("\n\r ERROR : command not supported. Enter help to know the supported command \n\r");
SendStr("\r control:# ");
}
}
void terminal( char * string){
if(strcmp (string,"help")==0){
SendStr(" \n\r");
SendStr(" \r");
SendStr("\r\n ***********************************************************************************");
SendStr("\r\n ** help menu **");
SendStr("\r\n ***********************************************************************************");
SendStr("\r\n ");
SendStr(" \r auto start automatic mode and stop manual mode \r\n");
SendStr(" \r manual start manual mode and stop automatic mode \r\n");
SendStr(" \r speed update speed value (only in manual mode) \r\n");
SendStr(" \r steering update steering value (only in manual mode) \r\n");
SendStr(" \r camera update position and voltage analog values for propulsion module \r\n");
SendStr(" \r meas print currents and voltage analog values for propulsion module \r\n");
SendStr(" \r help print supported commands \r\n");
SendStr("\r control:# ");
}
else if(strcmp (string,"auto")==0){
SendStr("\n\r automatic mode is running\n\r");
SendStr("\r control:# ");
}
else if(strcmp (string,"manual")==0){
SendStr("\n\r manual mode is running\n\r");
SendStr("\r control:# ");
}
else if(strcmp (string,"speed")==0){
SendStr("\n\r enter a value between 0 (stop) and 255 (full speed): \n\r");
char value[4];
int i;
GetStr(value);
if(value[0]=='-')
SendStr("\n\r error : failed value (0 to 255) ");
else if(value[3]=='\0'){
if(value[2]!='\0'){
if(value[0] =='2'){
if(value[1]<='5'){
if(value[2]<='5'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
}
else
SendStr("\n\r error : failed value (0 to 255) ");
}
else
SendStr("\n\r error : failed value (0 to 255) ");
}
else if (value[0]<='2'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
}
else
SendStr("\n\r error : failed value (0 to 255)");
}
else
for(i=0;i<=3;i++){
SendChar(value[i]);
}
}
else
SendStr("\n\r error : failed value (0 to 255) ");
SendStr("\n\r control:# ");
}
else if(strcmp (string,"steering")==0){
SendStr("\n\r enter value between -127 (full left) and 128 (full right), 0 is the middle position : \n\r");
char value[5];
int i;
GetStr(value);
if(value[0]=='-'){
if(value[1]=='0')
SendChar(value[1]);
else if (value[3]=='\0' || value[2]=='\0'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
}
else if(value[4]=='\0'){
if(value[3]!='\0'){
if(value[1] =='1'){
if(value[2]<='2'){
if(value[3]<='7'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
for(i=0;i<=3;i++){
SendChar(value[i]);
}
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
SendStr("\n\r control:# ");
}
else{
if(value[3]=='\0'){
if(value[2]!='\0'){
if(value[0] =='1'){
if(value[1]<='2'){
if(value[2]<='8'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
for(i=0;i<=3;i++){
SendChar(value[i]);
}
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
SendStr("\n\r control:# ");
}
}
else if(strcmp (string,"camera")==0){
SendStr("\n\r enter value between -127 (full left) and 128 (full right), 0 is the middle position : \n\r");
char value[5];
int i;
GetStr(value);
if(value[0]=='-'){
if(value[1]=='0')
SendChar(value[1]);
else if (value[3]=='\0' || value[2]=='\0'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
}
else if(value[4]=='\0'){
if(value[3]!='\0'){
if(value[1] =='1'){
if(value[2]<='2'){
if(value[3]<='7'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
for(i=0;i<=3;i++){
SendChar(value[i]);
}
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
SendStr("\n\r control:# ");
}
else{
if(value[3]=='\0'){
if(value[2]!='\0'){
if(value[0] =='1'){
if(value[1]<='2'){
if(value[2]<='8'){
for(i=0;i<=3;i++){
SendChar(value[i]);
}
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
}
else
for(i=0;i<=3;i++){
SendChar(value[i]);
}
}
else
SendStr("\n\r error : failed value (-127 to 128) ");
SendStr("\n\r control:# ");
}
}
else if(strcmp (string,"meas")==0){
SendStr("\n\r currents and voltage analog values for propulsion module : \n\r");
SendStr("\r NOT FINISH YET \r");
SendStr("\n\r control:# ");
}
else{
SendStr("\n\r ERROR : command not supported. Enter help to know the supported command \n\r");
SendStr("\r control:# ");
}
}