int/nucleo-f767-blinky/src/main.c

   1 #include <stdbool.h>
   2 #include <stdint.h>
   3 #include <stdlib.h>
   4 #include <string.h>
   5
   6 #ifdef STM32F767xx
   7 #include "stm32f7xx_hal.h"
   8 #include "gpio.h"
   9 #include "usart.h"
  10 #else
  11 #include <stdio.h>
  12 #include <netdb.h>
  13 #include <netinet/in.h>
  14 #include <signal.h>
  15 #include <sys/socket.h>
  16 #include <sys/time.h>
  17 #include <sys/types.h>
  18 #include <unistd.h>
  19 #endif
  20
  21 #include "interpret.h"
  22 #include "mTaskSymbols.h"
  23 #include "sds.h"
  24 #include "task.h"
  25 #include "interface.h"
  26
  27 #define MSG_GET_TASK 't'
  28 #define MSG_DEL_TASK 'd'
  29 #define MSG_SDS_SPEC 's'
  30 #define MSG_SDS_UPD 'u'
  31
  32 void read_message()
  33 {
  34         //Find next task
  35         uint8_t c = read_byte();
  36         debug("Receiving input: %c\n", c);
  37         switch(c){
  38         case MSG_SDS_SPEC:
  39                 debug("Receiving an sds\n");
  40                 sds_register();
  41                 break;
  42         case MSG_SDS_UPD:
  43                 debug("Receiving an sds\n");
  44                 //TODO do something with the return value
  45                 sds_update();
  46                 break;
  47         case MSG_DEL_TASK:
  48                 debug("Receiving a delete task request\n");
  49                 task_delete();
  50                 break;
  51         case MSG_GET_TASK:
  52                 debug("Receiving a task\n");
  53                 c = task_register();
  54                 break;
  55         case '\n':
  56                 break;
  57         default:
  58                 debug("Unknown message: %X\n", c);
  59         }
  60 }
  61
  62 void loop()
  63 {
  64         int ct;
  65         long cyclestart;
  66         struct task *curtask;
  67
  68         if(input_available())
  69                 read_message();
  70
  71         //Run tasks
  72         cyclestart = millis();
  73         for(ct = 0; ct<MAXTASKS; ct++){
  74                 //See whether the task is even in use
  75                 if((curtask = task_get(ct)) == NULL){
  76 //                      debug("Task %d not implemented\n", ct);
  77                         continue;
  78                 }
  79                 //See whether the task interval has passed
  80                 if(cyclestart-curtask->lastrun < curtask->interval){
  81 //                      debug("Task %d not scheduled\n", ct);
  82                         continue;
  83                 }
  84                 debug("Current task to run: %d\n", ct);
  85                 run_task(curtask);
  86                 curtask->lastrun = cyclestart;
  87                 write_byte('\n');
  88         }
  89 }
  90
  91 #ifdef STM32F767xx
  92 char s[128] = "";
  93 int main1(void){
  94 #else
  95 int main(int argc, char *argv[]){
  96         gargc = argc;
  97         gargv = argv;
  98 #endif
  99         debug("booting up\r\n");
 100
 101         //Initialize systems
 102         setup();
 103         sds_init();
 104         task_init();
 105
 106         write_byte('\n');
 107
 108         while(true){
 109                 //Check for new tasks
 110                 debug("loop\r\n");
 111                 loop();
 112                 delay(100);
 113         }
 114         return 0;
 115 }