     #include "gpt.h"
     #include <string.h>
     #include "keil/GPS_dekoduj.h"
     #include <../../os/various/chprintf.h>
     #include <chstreams.h.>
     /*MAX delka prikazu, ktery uzivatel muze zadat*/
     #define MAX_DELKA_PRIKAZU				10
     /*Velikost GPS bufferu*/
     #define GPS_BUFFER							500
     #define PWM_PERIODA_NORMAL			20000
     #define PWM_SIRKA_NORMAL				PWM_PERIODA_NORMAL/2
     extern NMEA_GPGGA GPGGA_informace;
     Thread *tp_odpal = NULL;
     uint8_t uvitaci_zprava[] = "\r\n\r\n* * * * * * * * * * * * * * * * * * * * * * * * * *\r\nVita vas Automaticky Vypoustec Meteobalonu 1.1\r\nZapojeni vyvodu:\r\n\tGPIOB10 - ventil\r\n\tGPIOB11 - lis\r\n\tGPIOB12 - zataveni balonu\r\n\tGPIOB13 - otevreni krytu\r\nPrikazy:\r\n\t<odpal> zahajeni sekvence vypousteni\n\r\t<zrus> zruseni vypousteni\n\r\t<help> napoveda\r\n* * * * * * * * * * * * * * * * * * * * * * * * * *\r\n\r\n";
     static PWMConfig pwmcfg = {
 ,                                    /* 10kHz PWM clock frequency.   */
       PWM_PERIODA_NORMAL,                                    /* PWM period 1S (in ticks).    */
       NULL,
+      {
         {PWM_OUTPUT_ACTIVE_HIGH, NULL},
         {PWM_OUTPUT_ACTIVE_HIGH, NULL},
         {PWM_OUTPUT_DISABLED, NULL},
         {PWM_OUTPUT_DISABLED, NULL}
       },
       /* HW dependent part.*/
     };
     /*
      * Konfigurace USART2
      */
-...
     };
     /*
     * GPT2 callback.
     */
      /*
     	* GPT2 callback.
     	*/
     static void gpt2cb(GPTDriver *gptp)
+    {
       (void)gptp;
     		palTogglePad(GPIOB, GPIOB_LED4);
     	 /* Wakes up the thread.*/
       chSysLockFromIsr();
       if (tp_odpal != NULL) {
-...
       chSysUnlockFromIsr();
+    }
      /*
       *Konfigurace casovace 2
       */
-...
     	static msg_t Thread_odpal(void *arg) {
     	uint8_t stav = 0; // rika, ve ktere fazi je odpalovani
     	uint8_t odpal_povolen = 0;
     	uint8_t msg_zrusen[] = "Odpal zrusen uzivatelem.\r\n";
     	uint8_t odpal_pomocna = 0;
     	uint8_t pocet_opakovani = 1;
     	uint16_t perioda_casovace = 500;
     	(void)arg;
       chRegSetThreadName("Odpal_vlakno");
-...
+    		{
     				odpal_povolen = 1;
     				odpal_pomocna++;
     				stav = 0;
     				pocet_opakovani = 1;
+    		}
     		else if (msg == 2) //Pokud se ma odpal zrusit v prubehu
     		else if (msg == 2) //Pokud se ma odpal zrusit v prubehu vypousteni
+    		{
     			/*
     			 * Pro jistotu se vypnou vsechny vystupy pri zruseni odpalu
-...
     			palClearPad(GPIOB, GPIOB_PIN12);
     			palClearPad(GPIOB, GPIOB_PIN13);
     			if(odpal_povolen == 1)
     				chprintf((BaseSequentialStream *)&SD1,"\r\nOdpal zrusen uzivatelem.\r\n");
     			else
     				chprintf((BaseSequentialStream *)&SD1,"Odpal nebyl aktivovan.\r\n");
     			odpal_povolen = 0;
     			odpal_pomocna = 0;
     			stav = 0;
     			sdWrite(&SD1, msg_zrusen, sizeof(msg_zrusen)/sizeof(uint8_t));
     			pocet_opakovani = 1;
+    		}
     		else if (msg == 50 && odpal_povolen == 1) // preruseni od GPT
+    		{
-...
     			switch (stav)
+    			{
     				case 0:
     					sdWrite(&SD1,"Vypousteni zahajeno!\r\n",sizeof("Vypousteni zahajeno!\r\n")/sizeof(char));
     					sdWrite(&SD1,"(1/4)\tVentil otevren -> nafukovani balonu\r\n",sizeof("1/4)\tVentil otevren -> nafukovani balonu\r\n")/sizeof(char));
     					palSetPad(GPIOB, GPIOB_PIN10);
     					gptStartOneShot(&GPTD2,10000);
     					if (pocet_opakovani == 1)
     						chprintf((BaseSequentialStream *)&SD1,"Vypousteni zahajeno!\r\n");
     					if (pocet_opakovani <= 20)
+    					{
     						//sdWrite(&SD1,,sizeof("1/4)\tVentil otevren -> nafukovani balonu\r\n")/sizeof(char));
     						chprintf((BaseSequentialStream *)&SD1,"(1/4)\tVentil otevren -> nafukovani balonu %d%%\r",pocet_opakovani*5);
     						palSetPad(GPIOB, GPIOB_PIN10);
     						gptStartOneShot(&GPTD2,perioda_casovace);
     						pocet_opakovani++;
     						if (pocet_opakovani == 21)
+    						{
     							chprintf((BaseSequentialStream *)&SD1,"\r\n");
     							stav++;
     							pocet_opakovani = 1;
+    						}
+    					}
     				break;
     				case 1:
     					palClearPad(GPIOB, GPIOB_PIN10);
     					palSetPad(GPIOB, GPIOB_PIN11);
     					sdWrite(&SD1,"(2/4)\tPrepalovani lisu...\r\n",sizeof("(2/4)\tPrepalovani lisu...\r\n")/sizeof(char));
     					gptStartOneShot(&GPTD2,5000);
     					if (pocet_opakovani <= 10)
+    					{
     						palClearPad(GPIOB, GPIOB_PIN10);
     						palSetPad(GPIOB, GPIOB_PIN11);
     						chprintf((BaseSequentialStream *)&SD1,"(2/4)\tPrepalovani lisu... %d%%\r",pocet_opakovani*10);
     						gptStartOneShot(&GPTD2,perioda_casovace);
     						pocet_opakovani++;
     						if (pocet_opakovani == 11)
+    						{
     							chprintf((BaseSequentialStream *)&SD1,"\r\n");
     							stav++;
     							pocet_opakovani = 1;
+    						}
+    					}
     				break;
     				case 2:
     					palClearPad(GPIOB, GPIOB_PIN11);
     					palSetPad(GPIOB, GPIOB_PIN12);
     					sdWrite(&SD1,"(3/4)\tZatavovani balonu...\r\n",sizeof("(3/4)\tZatavovani balonu...\r\n")/sizeof(char));
     					gptStartOneShot(&GPTD2,5000);
     					if (pocet_opakovani <= 10)
+    					{
     						palClearPad(GPIOB, GPIOB_PIN11);
     						palSetPad(GPIOB, GPIOB_PIN12);
     						chprintf((BaseSequentialStream *)&SD1,"(3/4)\tZatavovani balonu... %d%%\r",pocet_opakovani*10);
     						gptStartOneShot(&GPTD2,perioda_casovace);
     						pocet_opakovani++;
     						if (pocet_opakovani == 11)
+    						{
     							chprintf((BaseSequentialStream *)&SD1,"\r\n");
     							stav++;
     							pocet_opakovani = 1;
+    						}
+    					}
     				break;
     				case 3:
     					palClearPad(GPIOB, GPIOB_PIN12);
     					palSetPad(GPIOB, GPIOB_PIN13);
     					sdWrite(&SD1,"(4/4)\tOtevirani vika...\r\n",sizeof("(4/4)\tOtevirani vika...\r\n")/sizeof(char));
     					gptStartOneShot(&GPTD2,3000);
     					if (pocet_opakovani <= 20)
+    					{
     						palClearPad(GPIOB, GPIOB_PIN12);
     						palSetPad(GPIOB, GPIOB_PIN13);
     						chprintf((BaseSequentialStream *)&SD1,"(4/4)\tOtevirani vika... %d%%\r",pocet_opakovani*5);
     						gptStartOneShot(&GPTD2,perioda_casovace);
     						pocet_opakovani++;
     						if (pocet_opakovani == 21)
+    						{
     							chprintf((BaseSequentialStream *)&SD1,"\r\n");
     							stav++;
     							pocet_opakovani = 1;
+    						}
+    					}
     				break;
     				case 4:
     					palClearPad(GPIOB, GPIOB_PIN13);
     					sdWrite(&SD1,"Vypousteni ukonceno!\r\n",sizeof("Vypousteni ukonceno!\r\n")/sizeof(char));
     					chprintf((BaseSequentialStream *)&SD1,"Vypousteni ukonceno!\r\n");
     					odpal_povolen = 0;
     					odpal_pomocna = 0;
     					stav = 0;
-...
     				default:
     				break;
+    			}
     			stav++;
+    		}
+    	}
+    }
-...
     			chSchReadyI(tp_odpal);
     			tp_odpal = NULL;
+    		}
     		chSysUnlockFromIsr();
     		palTogglePad(GPIOB, GPIOB_LED4);
     		chSysUnlockFromIsr();
+    	}
     	else if (strcmp(prikaz,"zrus") == 0)
+    	{
-...
     			chSchReadyI(tp_odpal);
     			tp_odpal = NULL;
+    		}
     		chSysUnlockFromIsr();
     		chSysUnlockFromIsr();
+    	}
     	else if (strcmp(prikaz,"help") == 0)
+    	{
-...
+    	}
     	else
+    	{
     		uint8_t zp_neplatny[] = "Neplatny prikaz, napiste <odpal> pro zahajeni sekvence\n\r ci <zrus> pro zruseni vypousteni\n\r";
     		uint8_t zp_neplatny[] = "Neplatny prikaz!\r\n\t<odpal> pro zahajeni sekvence\n\r\t<zrus> pro zruseni vypousteni\n\r";
     		sdWrite(&SD1,zp_neplatny,sizeof(zp_neplatny)/sizeof(uint8_t));
     		palTogglePad(GPIOB, GPIOB_LED3);
+    	}
-...
     	/*
     	 * LED na vyvojove desce
     	 */
     	palSetPadMode(GPIOB, GPIOB_LED4, PAL_MODE_OUTPUT_PUSHPULL);
     	palSetPadMode(GPIOB, GPIOB_LED3, PAL_MODE_OUTPUT_PUSHPULL);
     	/*
     	 * Porty pro vypousteci sekvenci
     	 */
     	palSetPadMode(GPIOB, 10, PAL_MODE_OUTPUT_PUSHPULL);
     	palSetPadMode(GPIOB, 11, PAL_MODE_OUTPUT_PUSHPULL);
     	palSetPadMode(GPIOB, 12, PAL_MODE_OUTPUT_PUSHPULL);
     	palSetPadMode(GPIOB, 13, PAL_MODE_OUTPUT_PUSHPULL);
       /*
        * Initializes the PWM driver 4, routes the TIM4 outputs to the board LEDs.
        */
       pwmStart(&PWMD4, &pwmcfg);
       palSetPadMode(GPIOB, GPIOB_LED4, PAL_MODE_ALTERNATE(2));
     	pwmEnableChannel(&PWMD4,0,PWM_SIRKA_NORMAL);
      /*
     	* Aktivuje timer2 a prejde tak do aktivniho stavu
     	* Porty pro vypousteci sekvenci
     	*/
     	gptStart(&GPTD2,&gpt2cfg);
     	palSetPadMode(GPIOB, GPIOB_PIN10, PAL_MODE_OUTPUT_PUSHPULL);
     	palClearPad(GPIOB, GPIOB_PIN10);
     	palSetPadMode(GPIOB, GPIOB_PIN11, PAL_MODE_OUTPUT_PUSHPULL);
     	palClearPad(GPIOB, GPIOB_PIN11);
     	palSetPadMode(GPIOB, GPIOB_PIN12, PAL_MODE_OUTPUT_PUSHPULL);
     	palClearPad(GPIOB, GPIOB_PIN12);
     	palSetPadMode(GPIOB, GPIOB_PIN13, PAL_MODE_OUTPUT_PUSHPULL);
     	palClearPad(GPIOB, GPIOB_PIN13);
      /*
     	* Aktivuje timer2 a timer3 prejde tak do aktivniho stavu
     	*/
     	gptStart(&GPTD2,&gpt2cfg);
     	/*
        * Vytvori vlakno pro prijem dat z GPS modulu
        */
-...
        * pressed the test procedure is launched with output on the serial
        * driver 1.
        */
       while (TRUE) {
     			sdRead(&SD1,znaky,1);
     		/*Kdyz uzivatel stiskne enter -> dekoduj a vykonej prikaz, nebo pokud je prikaz delsi, nez by mel byt,
     		 *prestane ukladat a upozorni uzivatele