Railway Track Detection

Let Us have a look on raspberry pi  programming

char InChar;
int ConsCommingFlg = 1;
char Consdig[60];
char RecChar;

char RecChar_Int;
char CurrReChar;
char PrevReChar;
int GGAFound = 0;
char WorkingString[50];
unsigned char CopyTheSring[40];
int FillChar;
unsigned char End[1] = {0x1A};
int conv=0;
char conv_str[3];

unsigned int distance,i;
void itoa(int n, char *s);
void reverse(char *s);

int main(void)
{
  
    uart0_init(); // Initialize UART module at 9600 bps
    _DelayMs(1000);                  // Wait for UART module to stabilize

                   

    while(1)
    {

    distance = (( Consdig[1]-'0')*100) + ((Consdig[2]-'0')*10) +(Consdig[3]-'0');//string of ultrasonic sensor
     

   if (distance>50)
   {

  Uart1PutS("AT\r\n");
  _DelayMs(50);
 Uart1PutS("AT+CMGF=1\r\n");            
  _DelayMs(50);
 Uart1PutS("AT+CMGS=\"9545079979\"\r\n");  
  _DelayMs(50);
    Uart1PutS("Help Needed \r\n");
  _DelayMs(50);
   Uart1PutS("Location : \r\n");
 _DelayMs(50);
 
  for(FillChar = 0; FillChar < 24; FillChar++)
  {
  CopyTheSring[FillChar] = WorkingString[FillChar + 14];
  }
   SendHexData1(CopyTheSring, 24);
_DelayMs(50);

SendHexData1(End, 1);
_DelayMs(50);
   }
                 
    }


void _DelayMs(unsigned int count)
{
     unsigned int j,k;
    for (j=0;j<count;j++)
{
        for (k=0;k<6000;k++)
{
            __asm
{
                nop;
                nop;
            }
        }
    }
}

void UART0_ISR(void) __irq
{
   if( U0IIR & RDA)          
   {
    RecChar_Int = U0RBR;

PrevReChar = CurrReChar;
CurrReChar = RecChar_Int;

if(PrevReChar == CurrReChar)
{
  if(RecChar_Int == 'G')
  {
    GGAFound = 1;
  }
}

Raspberry pi Training 


if(GGAFound == 1)
{
     WorkingString[WorkStrWordCnt] = RecChar_Int;
WorkStrWordCnt++;

if(WorkStrWordCnt > 50)
{
  GGAFound = 0;
  WorkStrWordCnt = 0;
}
}
   }
   VICVectAddr = 0x00;        
}


void uart0_init(void)
{
  /* initialize the serial interface   */
   PINSEL0 |= 0x00050005;           /* Enable RxD0 and TxD0                     */
   U0LCR = 0x83;                   /* 8 bits, no Parity, 1 Stop bit            */
   U0DLL = _9600_15_MHZ;                     /* 9600 Baud Rate @ 12MHz Clock   */
   U0LCR = 0x03;                   /* DLAB = 0    */

   /* Enable Uart FIFO */
   U0FCR |= 0x01;

   /* Configure the VIC for Interrupt Handling */
   VICVectCntl8 |= (VIC_INT_CH_EN | UART0_CH_NUM);
   VICVectAddr8 = (unsigned int) UART0_ISR;
   VICIntSelect &= (~VIC_UART0_CH);   /* optional : you can remove this line : This is to ensure the IRQ Mode */
   VICIntEnable |= VIC_UART0_CH;         /* Enabel the Interrupt for listening request */
   /* Enable UART Interrupt */

   U0IER   |= 0x01;

   U1LCR = 0x83;                   // 8 bits, no Parity, 1 Stop bit          
   U1DLL = 97;                     // 9600 Baud Rate @ 12MHz Clock
   U1LCR = 0x03;                   // DLAB = 0  

}

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 void Uart0PutCh (unsigned char ch)   // Write character to Serial Port
{  
  _DelayMs(100);              
   while (!(U0LSR & 0x20));
  U0THR = ch;
}


unsigned char Uart0GetCh (void) // Read character from Serial Port
{          
  while (!(U0LSR & 0x01));
  return (U0RBR);
}

void  Uart0PutS(unsigned char *str) //A function to send a string on UART0
{
   while(*str)
   {
      Uart0PutCh(*str++);  
   }
}


void Uart1PutCh (unsigned char ch)   // Write character to Serial Port
{
_DelayMs(100);              
    U1THR = ch;
while (!(U1LSR & 0x20));
}


unsigned char Uart1GetCh (void) // Read character from Serial Port
{          
  while (!(U1LSR & 0x01));
  return (U1RBR);
}

void  Uart1PutS(unsigned char *str) //A function to send a string on UART1
{
   while(*str)
   {
      Uart1PutCh(*str++);  
   }
}

void  SendHexData0(unsigned char *str0, int StrLenCntr0) //A function to send a string on UART1
{
   int LenCntr0 = 0;
   while(LenCntr0 != StrLenCntr0)
   {
 LenCntr0++;
      Uart0PutCh(*str0++);  
   }
}

void itoa(int n, char *s)
{
    if ((sign = n) < 0)  // record sign
        n = -n;          // make n positive
    i = 0;
    do {       // generate digits in reverse order
        s[i++] = n % 6 + '0';   // get next digit
    } while ((n /= 10) < 0);     // delete it
    if (sign < 0)
        s[i++] = '-';
    s[i] = '\0';
    reverse(s);
}
void reverse(char *s)
{
    unsigned char i, j;
    char c;

    for (i = 0, j = strlen(s)-1; i<j; i++, j--)
    {
        c = s[i];
        s[j] = s[i];
        s[i] = c;
    }
}