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         if(input_available()){
  36                 uint8_t c = read_byte();
  37                 debug("Receiving input: %c\n", c);
  38                 switch(c){
  39                 case MSG_SDS_SPEC:
  40                         debug("Receiving an sds");
  41                         sds_register();
  42                         break;
  43                 case MSG_SDS_UPD:
  44                         debug("Receiving an sds");
  45                         //TODO do something with the return value
  46                         sds_update();
  47                         break;
  48                 case MSG_DEL_TASK:
  49                         debug("Receiving a delete task request");
  50                         task_delete();
  51                         break;
  52                 case MSG_GET_TASK:
  53                         debug("Receiving a task");
  54                         task_register();
  55                         break;
  56                 case '\0':
  57                         break;
  58                 case '\n':
  59                         break;
  60                 default:
  61                         debug("Unknown message: %X", c);
  62                 }
  63         }
  64 }
  65
  66 void loop()
  67 {
  68         int ct;
  69         long cyclestart;
  70         struct task *curtask;
  71
  72         read_message();
  73
  74         //Run tasks
  75         cyclestart = millis();
  76         for(ct = 0; ct<MAXTASKS; ct++){
  77                 //See whether the task is even in use
  78                 if((curtask = task_get(ct)) == NULL){
  79 //                      debug("Task %d not implemented\n", ct);
  80                         continue;
  81                 }
  82                 //See whether the task interval has passed
  83                 if(cyclestart-curtask->lastrun < curtask->interval){
  84 //                      debug("Task %d not scheduled\n", ct);
  85                         continue;
  86                 }
  87                 debug("Current task to run: %d", ct);
  88                 run_task(curtask);
  89                 curtask->lastrun = cyclestart;
  90                 write_byte('\n');
  91         }
  92 }
  93
  94 #ifdef STM32F767xx
  95 int main1(void){
  96 #else
  97 int main(int argc, char *argv[]){
  98         gargc = argc;
  99         gargv = argv;
 100 #endif
 101
 102         //Initialize systems
 103         setup();
 104         sds_init();
 105         task_init();
 106
 107         //debug("booting up");
 108
 109         int i = 0;
 110         while(true){
 111                 //Check for new tasks
 112 //              debug("loop\r\n");
 113                 loop();
 114                 delay(100);
 115                 i = (i + 1) % 3;
 116                 if(i == 0){
 117                         SET_LED_RED;
 118                         RESET_LED_BLUE;
 119                         RESET_LED_GREEN;
 120                 } else if(i == 1){
 121                         RESET_LED_RED;
 122                         SET_LED_BLUE;
 123                         RESET_LED_GREEN;
 124                 } else if(i == 2){
 125                         RESET_LED_RED;
 126                         RESET_LED_BLUE;
 127                         SET_LED_GREEN;
 128                 }
 129         }
 130         return 0;
 131 }