int _mon_getc(int canblock) {
unsigned char c;
c = -1;
#ifdef UseVideo
MMCursor(1);
while(InpQueue[InpQueueHead]==0);
c=InpQueue[InpQueueHead];
InpQueue[InpQueueHead]=0;
MMCursor(0);
return c;
#endif
#ifdef UARTConsole
canblock=1;
if (canblock) {
while (!UARTIsPressed());
return UARTGetChar();
} else {
if (UARTIsPressed())
return UARTGetChar();
else
return -1;
}
#endif
}
//this is only my debug tool
void Terminal(char cmd)
{
char h,l;
unsigned char tmp;
int i;
struct list_entry *ptr;
char *values;
switch(cmd)
{
case 'i':
USBNStart();
break;
// write to usb register
case 'w':
//UARTWrite("write to USB reg:");
//USBNDEBUGPRINT("write to USB reg:");
h = UARTGetChar();
l = UARTGetChar();
SendHex(AsciiToHex(h,l));
tmp = AsciiToHex(h,l);
UARTWrite("value:");
h = UARTGetChar();
l = UARTGetChar();
SendHex(AsciiToHex(h,l));
//USBNWrite(tmp,AsciiToHex(h,l));
UARTWrite("result:");
SendHex(USBNRead(tmp));
UARTWrite("\r\n");
break;
// read from usb register
case 'r':
UARTWrite("read USB reg:");
h = UARTGetChar();
l = UARTGetChar();
SendHex(AsciiToHex(h,l));
UARTWrite("->");
SendHex(USBNRead(AsciiToHex(h,l)));
UARTWrite("\r\n");
break;
case 'h':
UARTWrite("i usbn init procedure\r\n");
UARTWrite("w write USBN Register <h,l>(address) <h,l> (value) e.g 05 00\r\n");
UARTWrite("r read USBN Register <h,l> e.g. 02 ( RID)\r\n");
UARTWrite("s show all USBN Registers\r\n");
UARTWrite("b send test data from func to host\r\n");
UARTWrite("d show descriptors\r\n");
break;
// show all registers
case 's':
for(i=0;i<=63;i++)
{
SendHex(i);
UARTWrite("->");
SendHex(USBNRead(i));
UARTWrite("\r\n");
}
break;
case 'd':
USBNDebug("\r\nDescriptor List\r\n");
ptr = DescriptorList;
while(ptr != NULL) {
values = (char*)ptr->data;
SendHex(ptr->type);
SendHex(ptr->len);
SendHex(ptr->conf);
SendHex(ptr->interf);
USBNDebug(" ");
for(i=0;i<ptr->len;i++)
SendHex(values[i]);
USBNDebug("\r\n");
ptr=ptr->next;
}
break;
case 'b':
UARTWrite("send test data from fifo1\r\n");
int j,i;
char stat;
USBNWrite(TXC1,FLUSH);
USBNWrite(TXD1,0x01);
for(j=0;j<63;j++)
USBNBurstWrite((unsigned char)j);
USBNWrite(TXC1,TX_LAST+TX_EN);
//USBNWrite(TXC1,TX_LAST+TX_EN+TX_TOGL);
break;
case 'p':
USBNWrite(TXC1,TX_LAST+TX_EN);
break;
default:
UARTWrite("unknown command\r\n");
}
}
static void taskUARTRXControl(void *pvParameters)
{
struct CarMessage pxAllocMessage;
int8_t localVelocity = 0;
int8_t localAccleration = 0 ;
enum ButtonPressed localButton = NONE;
pxAllocMessage.Velocity = localVelocity;
pxAllocMessage.Acceleration = localAccleration;
xTaskParameter_t *pxTaskParameter;
portTickType xStartTime;
/* The parameter points to an xTaskParameters_t structure. */
pxTaskParameter = (xTaskParameter_t *) pvParameters;
struct UARTMessage *pxRxedMessage;
struct UARTMessage Message2;
pxRxedMessage = &Message2;
int valid_command = 0;
//char cRxedChar;
UART_DATA data;
//struct UARTMessage *pxRxedMessage;
//struct UARTMessage Message2;
//pxRxedMessage = &Message2;
int j;
int offset = 0;
int done = 0;
//Peripheral_Descriptor_t xConsole;
int8_t cRxedChar, cInputIndex = 0;
portBASE_TYPE xMoreDataToFollow;
/* The input and output buffers are declared static to keep them off the stack. */
static int8_t pcOutputString[ MAX_OUTPUT_LENGTH ], pcInputString[ MAX_INPUT_LENGTH ]; //= "task-stats\0";//help\0";
while(1)
{
//take the semaphor, wait forever if it is not ready yet.
xSemaphoreTake(
InputByteBuffer,
portMAX_DELAY
);
//get data from global variable by calling UARTGetChar()
cRxedChar = UARTGetChar();
//echo it on the tx buffer by queueing a message
Message2.ucMessage[0] = cRxedChar;
Message2.ucMessage[1] = 0;
if( xQueueSendToBack(
xUARTQueue, //QueueHandle_t xQueue,
&Message2, //const void * pvItemToQueue,
0 //TickType_t xTicksToWait
) != pdPASS )
{
//task was not able to be created after the xTicksToWait
//a = 0;
}
//only one char is recieved at a time, therefore an "enter" press will send a \r\n, but the \n will be cut off. Going to hack it by making it just look for a \r.
//if( cRxedChar == '\n' )
if( cRxedChar == '\r' )
{
/*
//echo a newline
Message2.ucMessage[0] = '\n';
Message2.ucMessage[1] = 0;
if( xQueueSendToBack(
xUARTQueue, //QueueHandle_t xQueue,
&Message2, //const void * pvItemToQueue,
0 //TickType_t xTicksToWait
) != pdPASS )
{
//task was not able to be created after the xTicksToWait
//a = 0;
}
*/
//pcInputString[ cInputIndex ] = '\n';
//pcInputString[ cInputIndex + 1 ] = '\0';
/* A newline character was received, so the input command stirng is
complete and can be processed. Transmit a line separator, just to
make the output easier to read. */
//FreeRTOS_write( xConsole, "\r\n", strlen( "\r\n" );
/* The command interpreter is called repeatedly until it returns
pdFALSE. See the ?Implementing a command? documentation for an
exaplanation of why this is. */
do
{
/* Send the command string to the command interpreter. Any
output generated by the command interpreter will be placed in the
pcOutputString buffer. */
xMoreDataToFollow = FreeRTOS_CLIProcessCommand
(
pcInputString, /* The command string.*/
pcOutputString, /* The output buffer. */
MAX_OUTPUT_LENGTH/* The size of the output buffer. */
);
/* Write the output generated by the command interpreter to the
console. */
for(j = 0; j < 49 & pcOutputString[j] != 0; j++)
{
Message2.ucMessage[j] = pcOutputString[j];
}
Message2.ucMessage[j] = STATICNULL;
if( xQueueSendToBack(
xUARTQueue, //QueueHandle_t xQueue,
&Message2, //const void * pvItemToQueue,
0 //TickType_t xTicksToWait
) != pdPASS )
{
//task was not able to be created after the xTicksToWait
//a = 0;
}
if(j > 48)
{
done = 1;
}
while(done == 1)
{
offset = offset + 49;
for(j = 0; j < 49 & pcOutputString[j+offset] != 0; j++)
{
Message2.ucMessage[j] = pcOutputString[j+offset];
}
if(j < 48)
{
done = 0;
for(; j < 49; j++)
{
Message2.ucMessage[j] = STATICNULL;
}
}
//Message2.ucMessage[j] = STATICNULL;
if( xQueueSendToBack(
xUARTQueue, //QueueHandle_t xQueue,
&Message2, //const void * pvItemToQueue,
0 //TickType_t xTicksToWait
) != pdPASS )
{
//task was not able to be created after the xTicksToWait
//a = 0;
}
}
offset = 0;
//FreeRTOS_write( xConsole, pcOutputString, strlen( pcOutputString ) );
} while( xMoreDataToFollow != pdFALSE );
/* All the strings generated by the input command have been sent.
Processing of the command is complete. Clear the input string ready
to receive the next command. */
cInputIndex = 0;
memset( pcInputString, 0x00, MAX_INPUT_LENGTH );
}
else
{
if( cRxedChar == 'q' ) // Keyboard ?q? ? Emergency Clear inside car
{
pxAllocMessage.button = Q;
if( xQueueSendToBack(
xCarMessageQueue, //QueueHandle_t xQueue,
&pxAllocMessage, //const void * pvItemToQueue,
0 //TickType_t xTicksToWait
) != pdPASS )
{
//task was not able to be created after the xTicksToWait
//a = 0;
}
}
else if( cRxedChar == 'w' ) //Keyboard ?w? ? P1Call DN outside car
{
pxAllocMessage.button = W;
if( xQueueSendToBack(
xCarMessageQueue, //QueueHandle_t xQueue,
&pxAllocMessage, //const void * pvItemToQueue,
0 //TickType_t xTicksToWait
) != pdPASS )
{
//task was not able to be created after the xTicksToWait
//a = 0;
}
}
else if( cRxedChar == 'e' ) //Keyboard ?e? ? P1Call UP outside car
{
pxAllocMessage.button = E;
if( xQueueSendToBack(
xCarMessageQueue, //QueueHandle_t xQueue,
&pxAllocMessage, //const void * pvItemToQueue,
0 //TickType_t xTicksToWait
) != pdPASS )
{
//task was not able to be created after the xTicksToWait
//a = 0;
}
}
else if( cRxedChar == 'r' ) //Keyboard ?r? ? P2 Call outside car
{
pxAllocMessage.button = R;
if( xQueueSendToBack(
xCarMessageQueue, //QueueHandle_t xQueue,
&pxAllocMessage, //const void * pvItemToQueue,
0 //TickType_t xTicksToWait
) != pdPASS )
{
//task was not able to be created after the xTicksToWait
//a = 0;
}
}
else if( cRxedChar == 't' ) //Keyboard ?t? ? GD Call button inside car
{
pxAllocMessage.button = T;
if( xQueueSendToBack(
xCarMessageQueue, //QueueHandle_t xQueue,
&pxAllocMessage, //const void * pvItemToQueue,
0 //TickType_t xTicksToWait
) != pdPASS )
{
//task was not able to be created after the xTicksToWait
//a = 0;
}
}
else if( cRxedChar == 'y' ) //Keyboard ?y? ? Emergency Stop inside car
{
pxAllocMessage.button = Y;
if( xQueueSendToBack(
xCarMessageQueue, //QueueHandle_t xQueue,
&pxAllocMessage, //const void * pvItemToQueue,
0 //TickType_t xTicksToWait
) != pdPASS )
{
//task was not able to be created after the xTicksToWait
//a = 0;
}
}
else if( cRxedChar == 'u' ) //Keyboard ?u? ? Emergency Clear inside car
{
pxAllocMessage.button = U;
if( xQueueSendToBack(
xCarMessageQueue, //QueueHandle_t xQueue,
&pxAllocMessage, //const void * pvItemToQueue,
0 //TickType_t xTicksToWait
) != pdPASS )
{
//task was not able to be created after the xTicksToWait
//a = 0;
}
}
else if( cRxedChar == 'i' ) //Keyboard ?i? ? Door Interference
{
pxAllocMessage.button = I;
if( xQueueSendToBack(
xCarMessageQueue, //QueueHandle_t xQueue,
&pxAllocMessage, //const void * pvItemToQueue,
0 //TickType_t xTicksToWait
) != pdPASS )
{
//task was not able to be created after the xTicksToWait
//a = 0;
}
}
else if( cRxedChar == '\r' )
{
/* Ignore carriage returns. */
}
else if( cRxedChar == '\b' )
{
/* Backspace was pressed. Erase the last character in the input
buffer - if there are any. */
if( cInputIndex > 0 )
{
cInputIndex--;
pcInputString[ cInputIndex ] = '\0';
}
}
else
{
/* A character was entered. It was not a new line, backspace
or carriage return, so it is accepted as part of the input and
placed into the input buffer. When a \n is entered the complete
string will be passed to the command interpreter. */
if( cInputIndex < MAX_INPUT_LENGTH )
{
pcInputString[ cInputIndex ] = cRxedChar;
cInputIndex++;
}
}
}
}
}
/*****************************************************************************
** Function name: GPSRetreiveData
**
** Descriptions: Reads and parses the next set of GPS data.
**
** parameters: None
** Returned value: The parsed information
**
*****************************************************************************/
const gpsData* GPSRetreiveData(void)
{
uint8_t * pattern = (uint8_t*)"GPGGA";
while (1) {
uint8_t buf[100];
uint8_t ch = 0;
uint8_t *ptr = 0;
int index = 0;
// Retrieve the first byte
if (!UARTGetChar(&ch))
continue;
// look for "$GPGGA," header
if (ch != '$') {
continue;
}
// Retrieve the next six bytes
for (index=0; index<6; index++) {
buf[index] = UARTGetCharBlock();
}
//Check if its Global Positioning System fixed Data
if(hasPattern((uint8_t*)&buf, pattern) == 0) {
continue;
}
//Retrieve the data from the GPS module
for (index=0; index<100; index++) {
buf[index] = UARTGetCharBlock();
if (buf[index] == '\r') {
buf[index] = END_OF_MESSAGE;
break;
}
}
ptr = &buf[0];
//parse UTC time
parseUTC(&ptr);
//parse Latitude
parseLatitude(&ptr);
// parse N/S field
parseNSIndicator(&ptr);
// parse Longitude
parseLongitude(&ptr);
// parse E/W field
parseEWIndicator(&ptr);
// parse fix position
parseFixIndicator(&ptr);
// parse satellites
parseSatellites(&ptr);
// parse horizontal-dilution-of-precision field
parseHDOP(&ptr);
// parse altitude
parseAltitudes(&ptr);
break;
}
return &data;
}
