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                 //debug("Receiving input: %c\n", c);
  37                 switch(bt){
  38                 case MSG_SDS_SPEC:
  39                         debug("Receiving an sds");
  40                         sds_register();
  41                         break;
  42                 case MSG_SDS_UPD:
  43                         debug("Receiving an sds");
  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");
  49                         task_delete();
  50                         break;
  51                 case MSG_GET_TASK:
  52                         debug("Receiving a task");
  53                         task_register();
  54                         break;
  55                 case '\0':
  56                         break;
  57                 case '\n':
  58                         break;
  59                 default:
  60                         debug("Unknown message: %X", bt);
  61                 }
  62         }
  63 }
  64
  65 void loop()
  66 {
  67         int ct;
  68         long cyclestart;
  69         struct task *curtask;
  70
  71         read_message();
  72
  73         //Run tasks
  74         cyclestart = millis();
  75         for(ct = 0; ct<MAXTASKS; ct++){
  76                 //See whether the task is even in use
  77                 if((curtask = task_get(ct)) == NULL){
  78 //                      debug("Task %d not implemented\n", ct);
  79                         continue;
  80                 }
  81                 //See whether the task interval has passed
  82                 if(cyclestart-curtask->lastrun < curtask->interval){
  83 //                      debug("Task %d not scheduled\n", ct);
  84                         continue;
  85                 }
  86                 debug("Current task to run: %d", ct);
  87                 run_task(curtask);
  88                 curtask->lastrun = cyclestart;
  89                 write_byte('\n');
  90         }
  91 }
  92
  93 #ifdef STM32F767xx
  94 char s[128] = "";
  95 int main1(void){
  96         uint8_t bt;
  97         HAL_UART_Receive(&huart3, &bt, 1, 100000);
  98 #else
  99 int main(int argc, char *argv[]){
 100         gargc = argc;
 101         gargv = argv;
 102 #endif
 103         debug("booting up");
 104
 105         //Initialize systems
 106         setup();
 107         sds_init();
 108         task_init();
 109
 110         write_byte('\n');
 111
 112         while(true){
 113                 //Check for new tasks
 114 //              debug("loop\r\n");
 115                 loop();
 116                 delay(100);
 117         }
 118         return 0;
 119 }