projects/microb2010/mainboard/commands_cs.c

   1 /*
   2  *  Copyright Droids Corporation (2008)
   3  *
   4  *  This program is free software; you can redistribute it and/or modify
   5  *  it under the terms of the GNU General Public License as published by
   6  *  the Free Software Foundation; either version 2 of the License, or
   7  *  (at your option) any later version.
   8  *
   9  *  This program is distributed in the hope that it will be useful,
  10  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  *  GNU General Public License for more details.
  13  *
  14  *  You should have received a copy of the GNU General Public License
  15  *  along with this program; if not, write to the Free Software
  16  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  17  *
  18  *  Revision : $Id: commands_cs.c,v 1.4 2009-05-02 10:08:09 zer0 Exp $
  19  *
  20  *  Olivier MATZ <zer0@droids-corp.org>
  21  */
  22
  23 #include <stdio.h>
  24 #include <string.h>
  25
  26 #include <aversive/pgmspace.h>
  27 #include <aversive/wait.h>
  28 #include <aversive/error.h>
  29
  30 #include <hostsim.h>
  31 #include <ax12.h>
  32 #include <uart.h>
  33 #include <pwm_ng.h>
  34 #include <clock_time.h>
  35
  36 #include <pid.h>
  37 #include <quadramp.h>
  38 #include <control_system_manager.h>
  39 #include <trajectory_manager.h>
  40 #include <vect_base.h>
  41 #include <lines.h>
  42 #include <polygon.h>
  43 #include <obstacle_avoidance.h>
  44 #include <blocking_detection_manager.h>
  45 #include <robot_system.h>
  46 #include <position_manager.h>
  47
  48 #include <rdline.h>
  49 #include <parse.h>
  50 #include <parse_string.h>
  51 #include <parse_num.h>
  52
  53 #include "main.h"
  54 #include "cs.h"
  55 #include "cmdline.h"
  56
  57 struct csb_list {
  58         const prog_char *name;
  59         struct cs_block *csb;
  60 };
  61
  62 prog_char csb_angle_str[] = "angle";
  63 prog_char csb_distance_str[] = "distance";
  64 prog_char csb_left_cobroller_str[] = "left_cobroller";
  65 prog_char csb_right_cobroller_str[] = "right_cobroller";
  66 struct csb_list csb_list[] = {
  67         { .name = csb_angle_str, .csb = &mainboard.angle },
  68         { .name = csb_distance_str, .csb = &mainboard.distance },
  69         { .name = csb_left_cobroller_str, .csb = &mainboard.left_cobroller },
  70         { .name = csb_right_cobroller_str, .csb = &mainboard.right_cobroller },
  71 };
  72
  73 struct cmd_cs_result {
  74         fixed_string_t cmdname;
  75         fixed_string_t csname;
  76 };
  77
  78 /* token to be used for all cs-related commands */
  79 prog_char str_csb_name[] = "angle#distance#left_cobroller#right_cobroller";
  80 parse_pgm_token_string_t cmd_csb_name_tok = TOKEN_STRING_INITIALIZER(struct cmd_cs_result, csname, str_csb_name);
  81
  82 struct cs_block *cs_from_name(const char *name)
  83 {
  84         int i;
  85
  86         for (i=0; i<(sizeof(csb_list)/sizeof(*csb_list)); i++) {
  87                 if (!strcmp_P(name, csb_list[i].name))
  88                         return csb_list[i].csb;
  89         }
  90         return NULL;
  91 }
  92
  93 /**********************************************************/
  94 /* Gains for control system */
  95
  96 /* this structure is filled when cmd_gain is parsed successfully */
  97 struct cmd_gain_result {
  98         struct cmd_cs_result cs;
  99         int16_t p;
 100         int16_t i;
 101         int16_t d;
 102 };
 103
 104 /* function called when cmd_gain is parsed successfully */
 105 static void cmd_gain_parsed(void * parsed_result, void *show)
 106 {
 107         struct cmd_gain_result *res = parsed_result;
 108         struct cs_block *csb;
 109
 110         csb = cs_from_name(res->cs.csname);
 111         if (csb == NULL) {
 112                 printf_P(PSTR("null csb\r\n"));
 113                 return;
 114         }
 115
 116         if (!show)
 117                 pid_set_gains(&csb->pid, res->p, res->i, res->d);
 118
 119         printf_P(PSTR("%s %s %d %d %d\r\n"),
 120                  res->cs.cmdname,
 121                  res->cs.csname,
 122                  pid_get_gain_P(&csb->pid),
 123                  pid_get_gain_I(&csb->pid),
 124                  pid_get_gain_D(&csb->pid));
 125 }
 126
 127 prog_char str_gain_arg0[] = "gain";
 128 parse_pgm_token_string_t cmd_gain_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_gain_result, cs.cmdname, str_gain_arg0);
 129 parse_pgm_token_num_t cmd_gain_p = TOKEN_NUM_INITIALIZER(struct cmd_gain_result, p, INT16);
 130 parse_pgm_token_num_t cmd_gain_i = TOKEN_NUM_INITIALIZER(struct cmd_gain_result, i, INT16);
 131 parse_pgm_token_num_t cmd_gain_d = TOKEN_NUM_INITIALIZER(struct cmd_gain_result, d, INT16);
 132
 133 prog_char help_gain[] = "Set gain values for PID";
 134 parse_pgm_inst_t cmd_gain = {
 135         .f = cmd_gain_parsed,  /* function to call */
 136         .data = NULL,      /* 2nd arg of func */
 137         .help_str = help_gain,
 138         .tokens = {        /* token list, NULL terminated */
 139                 (prog_void *)&cmd_gain_arg0,
 140                 (prog_void *)&cmd_csb_name_tok,
 141                 (prog_void *)&cmd_gain_p,
 142                 (prog_void *)&cmd_gain_i,
 143                 (prog_void *)&cmd_gain_d,
 144                 NULL,
 145         },
 146 };
 147
 148 /* show */
 149 /* this structure is filled when cmd_gain is parsed successfully */
 150 struct cmd_gain_show_result {
 151         struct cmd_cs_result cs;
 152         fixed_string_t show;
 153 };
 154
 155 prog_char str_gain_show_arg[] = "show";
 156 parse_pgm_token_string_t cmd_gain_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_gain_show_result, show, str_gain_show_arg);
 157
 158 prog_char help_gain_show[] = "Show gain values for PID";
 159 parse_pgm_inst_t cmd_gain_show = {
 160         .f = cmd_gain_parsed,  /* function to call */
 161         .data = (void *)1,      /* 2nd arg of func */
 162         .help_str = help_gain_show,
 163         .tokens = {        /* token list, NULL terminated */
 164                 (prog_void *)&cmd_gain_arg0,
 165                 (prog_void *)&cmd_csb_name_tok,
 166                 (prog_void *)&cmd_gain_show_arg,
 167                 NULL,
 168         },
 169 };
 170
 171 /**********************************************************/
 172 /* Speeds for control system */
 173
 174 /* this structure is filled when cmd_speed is parsed successfully */
 175 struct cmd_speed_result {
 176         struct cmd_cs_result cs;
 177         uint16_t s;
 178 };
 179
 180 /* function called when cmd_speed is parsed successfully */
 181 static void cmd_speed_parsed(void *parsed_result, void *show)
 182 {
 183         struct cmd_speed_result * res = parsed_result;
 184
 185         struct cs_block *csb;
 186
 187         csb = cs_from_name(res->cs.csname);
 188         if (csb == NULL) {
 189                 printf_P(PSTR("null csb\r\n"));
 190                 return;
 191         }
 192
 193 #if notyet
 194         if (!show)
 195                 ramp_set_vars(&csb->ramp, res->s, res->s); /* set speed */
 196
 197         printf_P(PSTR("%s %"PRIu32"\r\n"),
 198                  res->cs.csname,
 199                  ext.r_b.var_pos);
 200 #else
 201         printf_P(PSTR("TODO\r\n"));
 202 #endif
 203 }
 204
 205 prog_char str_speed_arg0[] = "speed";
 206 parse_pgm_token_string_t cmd_speed_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_speed_result, cs.cmdname, str_speed_arg0);
 207 parse_pgm_token_num_t cmd_speed_s = TOKEN_NUM_INITIALIZER(struct cmd_speed_result, s, UINT16);
 208
 209 prog_char help_speed[] = "Set speed values for ramp filter";
 210 parse_pgm_inst_t cmd_speed = {
 211         .f = cmd_speed_parsed,  /* function to call */
 212         .data = NULL,      /* 2nd arg of func */
 213         .help_str = help_speed,
 214         .tokens = {        /* token list, NULL terminated */
 215                 (prog_void *)&cmd_speed_arg0,
 216                 (prog_void *)&cmd_csb_name_tok,
 217                 (prog_void *)&cmd_speed_s,
 218                 NULL,
 219         },
 220 };
 221
 222 /* show */
 223 struct cmd_speed_show_result {
 224         struct cmd_cs_result cs;
 225         fixed_string_t show;
 226 };
 227
 228 prog_char str_speed_show_arg[] = "show";
 229 parse_pgm_token_string_t cmd_speed_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_speed_show_result, show, str_speed_show_arg);
 230
 231 prog_char help_speed_show[] = "Show speed values for ramp filter";
 232 parse_pgm_inst_t cmd_speed_show = {
 233         .f = cmd_speed_parsed,  /* function to call */
 234         .data = (void *)1,      /* 2nd arg of func */
 235         .help_str = help_speed_show,
 236         .tokens = {        /* token list, NULL terminated */
 237                 (prog_void *)&cmd_speed_arg0,
 238                 (prog_void *)&cmd_csb_name_tok,
 239                 (prog_void *)&cmd_speed_show_arg,
 240                 NULL,
 241         },
 242 };
 243
 244 /**********************************************************/
 245 /* Derivate_Filters for control system */
 246
 247 /* this structure is filled when cmd_derivate_filter is parsed successfully */
 248 struct cmd_derivate_filter_result {
 249         struct cmd_cs_result cs;
 250         fixed_string_t show;
 251         uint8_t size;
 252 };
 253
 254 /* function called when cmd_derivate_filter is parsed successfully */
 255 static void cmd_derivate_filter_parsed(void *parsed_result, void *show)
 256 {
 257         struct cmd_derivate_filter_result * res = parsed_result;
 258         struct cs_block *csb;
 259
 260         csb = cs_from_name(res->cs.csname);
 261         if (csb == NULL) {
 262                 printf_P(PSTR("null csb\r\n"));
 263                 return;
 264         }
 265
 266         if (!show)
 267                 pid_set_derivate_filter(&csb->pid, res->size);
 268
 269         printf_P(PSTR("%s %s %u\r\n"),
 270                  res->cs.cmdname,
 271                  res->cs.csname,
 272                  pid_get_derivate_filter(&csb->pid));
 273 }
 274
 275 prog_char str_derivate_filter_arg0[] = "derivate_filter";
 276 parse_pgm_token_string_t cmd_derivate_filter_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_derivate_filter_result, cs.cmdname, str_derivate_filter_arg0);
 277 parse_pgm_token_num_t cmd_derivate_filter_size = TOKEN_NUM_INITIALIZER(struct cmd_derivate_filter_result, size, UINT8);
 278
 279 prog_char help_derivate_filter[] = "Set derivate_filter values for PID (in, I, out)";
 280 parse_pgm_inst_t cmd_derivate_filter = {
 281         .f = cmd_derivate_filter_parsed,  /* function to call */
 282         .data = NULL,      /* 2nd arg of func */
 283         .help_str = help_derivate_filter,
 284         .tokens = {        /* token list, NULL terminated */
 285                 (prog_void *)&cmd_derivate_filter_arg0,
 286                 (prog_void *)&cmd_csb_name_tok,
 287                 (prog_void *)&cmd_derivate_filter_size,
 288                 NULL,
 289         },
 290 };
 291
 292 /* show */
 293
 294 prog_char str_derivate_filter_show_arg[] = "show";
 295 parse_pgm_token_string_t cmd_derivate_filter_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_derivate_filter_result, show, str_derivate_filter_show_arg);
 296
 297 prog_char help_derivate_filter_show[] = "Show derivate_filter values for PID";
 298 parse_pgm_inst_t cmd_derivate_filter_show = {
 299         .f = cmd_derivate_filter_parsed,  /* function to call */
 300         .data = (void *)1,      /* 2nd arg of func */
 301         .help_str = help_derivate_filter_show,
 302         .tokens = {        /* token list, NULL terminated */
 303                 (prog_void *)&cmd_derivate_filter_arg0,
 304                 (prog_void *)&cmd_csb_name_tok,
 305                 (prog_void *)&cmd_derivate_filter_show_arg,
 306                 NULL,
 307         },
 308 };
 309
 310
 311 /**********************************************************/
 312 /* Consign for control system */
 313
 314 /* this structure is filled when cmd_consign is parsed successfully */
 315 struct cmd_consign_result {
 316         struct cmd_cs_result cs;
 317         int32_t p;
 318 };
 319
 320 /* function called when cmd_consign is parsed successfully */
 321 static void cmd_consign_parsed(void * parsed_result, void *data)
 322 {
 323         struct cmd_consign_result * res = parsed_result;
 324         struct cs_block *csb;
 325
 326         csb = cs_from_name(res->cs.csname);
 327         if (csb == NULL) {
 328                 printf_P(PSTR("null csb\r\n"));
 329                 return;
 330         }
 331
 332         cs_set_consign(&csb->cs, res->p);
 333 }
 334
 335 prog_char str_consign_arg0[] = "consign";
 336 parse_pgm_token_string_t cmd_consign_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_consign_result, cs.cmdname, str_consign_arg0);
 337 parse_pgm_token_num_t cmd_consign_p = TOKEN_NUM_INITIALIZER(struct cmd_consign_result, p, INT32);
 338
 339 prog_char help_consign[] = "Set consign value";
 340 parse_pgm_inst_t cmd_consign = {
 341         .f = cmd_consign_parsed,  /* function to call */
 342         .data = NULL,      /* 2nd arg of func */
 343         .help_str = help_consign,
 344         .tokens = {        /* token list, NULL terminated */
 345                 (prog_void *)&cmd_consign_arg0,
 346                 (prog_void *)&cmd_csb_name_tok,
 347                 (prog_void *)&cmd_consign_p,
 348                 NULL,
 349         },
 350 };
 351
 352
 353 /**********************************************************/
 354 /* Maximums for control system */
 355
 356 /* this structure is filled when cmd_maximum is parsed successfully */
 357 struct cmd_maximum_result {
 358         struct cmd_cs_result cs;
 359         uint32_t in;
 360         uint32_t i;
 361         uint32_t out;
 362 };
 363
 364 /* function called when cmd_maximum is parsed successfully */
 365 static void cmd_maximum_parsed(void *parsed_result, void *show)
 366 {
 367         struct cmd_maximum_result * res = parsed_result;
 368
 369         struct cs_block *csb;
 370
 371         csb = cs_from_name(res->cs.csname);
 372         if (csb == NULL) {
 373                 printf_P(PSTR("null csb\r\n"));
 374                 return;
 375         }
 376
 377         if (!show)
 378                 pid_set_maximums(&csb->pid, res->in, res->i, res->out);
 379
 380         printf_P(PSTR("maximum %s %"PRIu32" %"PRIu32" %"PRIu32"\r\n"),
 381                  res->cs.csname,
 382                  pid_get_max_in(&csb->pid),
 383                  pid_get_max_I(&csb->pid),
 384                  pid_get_max_out(&csb->pid));
 385 }
 386
 387 prog_char str_maximum_arg0[] = "maximum";
 388 parse_pgm_token_string_t cmd_maximum_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_maximum_result, cs.cmdname, str_maximum_arg0);
 389 parse_pgm_token_num_t cmd_maximum_in = TOKEN_NUM_INITIALIZER(struct cmd_maximum_result, in, UINT32);
 390 parse_pgm_token_num_t cmd_maximum_i = TOKEN_NUM_INITIALIZER(struct cmd_maximum_result, i, UINT32);
 391 parse_pgm_token_num_t cmd_maximum_out = TOKEN_NUM_INITIALIZER(struct cmd_maximum_result, out, UINT32);
 392
 393 prog_char help_maximum[] = "Set maximum values for PID (in, I, out)";
 394 parse_pgm_inst_t cmd_maximum = {
 395         .f = cmd_maximum_parsed,  /* function to call */
 396         .data = NULL,      /* 2nd arg of func */
 397         .help_str = help_maximum,
 398         .tokens = {        /* token list, NULL terminated */
 399                 (prog_void *)&cmd_maximum_arg0,
 400                 (prog_void *)&cmd_csb_name_tok,
 401                 (prog_void *)&cmd_maximum_in,
 402                 (prog_void *)&cmd_maximum_i,
 403                 (prog_void *)&cmd_maximum_out,
 404                 NULL,
 405         },
 406 };
 407
 408 /* show */
 409
 410 /* this structure is filled when cmd_maximum is parsed successfully */
 411 struct cmd_maximum_show_result {
 412         struct cmd_cs_result cs;
 413         fixed_string_t show;
 414 };
 415 prog_char str_maximum_show_arg[] = "show";
 416 parse_pgm_token_string_t cmd_maximum_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_maximum_show_result, show, str_maximum_show_arg);
 417
 418 prog_char help_maximum_show[] = "Show maximum values for PID";
 419 parse_pgm_inst_t cmd_maximum_show = {
 420         .f = cmd_maximum_parsed,  /* function to call */
 421         .data = (void *)1,      /* 2nd arg of func */
 422         .help_str = help_maximum_show,
 423         .tokens = {        /* token list, NULL terminated */
 424                 (prog_void *)&cmd_maximum_arg0,
 425                 (prog_void *)&cmd_csb_name_tok,
 426                 (prog_void *)&cmd_maximum_show_arg,
 427                 NULL,
 428         },
 429 };
 430
 431 /**********************************************************/
 432 /* Quadramp for control system */
 433
 434 /* this structure is filled when cmd_quadramp is parsed successfully */
 435 struct cmd_quadramp_result {
 436         struct cmd_cs_result cs;
 437         double ap;
 438         double an;
 439         double sp;
 440         double sn;
 441 };
 442
 443 /* function called when cmd_quadramp is parsed successfully */
 444 static void cmd_quadramp_parsed(void *parsed_result, void *show)
 445 {
 446         struct cmd_quadramp_result * res = parsed_result;
 447
 448         struct cs_block *csb;
 449
 450         csb = cs_from_name(res->cs.csname);
 451         if (csb == NULL) {
 452                 printf_P(PSTR("null csb\r\n"));
 453                 return;
 454         }
 455
 456         if (!show)  {
 457                 quadramp_set_1st_order_vars(&csb->qr, res->sp, res->sn);
 458                 quadramp_set_2nd_order_vars(&csb->qr, res->ap, res->an);
 459         }
 460
 461         printf_P(PSTR("quadramp %s %2.2f %2.2f %2.2f %2.2f\r\n"),
 462                  res->cs.csname,
 463                  csb->qr.var_2nd_ord_pos,
 464                  csb->qr.var_2nd_ord_neg,
 465                  csb->qr.var_1st_ord_pos,
 466                  csb->qr.var_1st_ord_neg);
 467 }
 468
 469 prog_char str_quadramp_arg0[] = "quadramp";
 470 parse_pgm_token_string_t cmd_quadramp_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_quadramp_result, cs.cmdname, str_quadramp_arg0);
 471 parse_pgm_token_num_t cmd_quadramp_ap = TOKEN_NUM_INITIALIZER(struct cmd_quadramp_result, ap, FLOAT);
 472 parse_pgm_token_num_t cmd_quadramp_an = TOKEN_NUM_INITIALIZER(struct cmd_quadramp_result, an, FLOAT);
 473 parse_pgm_token_num_t cmd_quadramp_sp = TOKEN_NUM_INITIALIZER(struct cmd_quadramp_result, sp, FLOAT);
 474 parse_pgm_token_num_t cmd_quadramp_sn = TOKEN_NUM_INITIALIZER(struct cmd_quadramp_result, sn, FLOAT);
 475
 476 prog_char help_quadramp[] = "Set quadramp values (acc+, acc-, speed+, speed-)";
 477 parse_pgm_inst_t cmd_quadramp = {
 478         .f = cmd_quadramp_parsed,  /* function to call */
 479         .data = NULL,      /* 2nd arg of func */
 480         .help_str = help_quadramp,
 481         .tokens = {        /* token list, NULL terminated */
 482                 (prog_void *)&cmd_quadramp_arg0,
 483                 (prog_void *)&cmd_csb_name_tok,
 484                 (prog_void *)&cmd_quadramp_ap,
 485                 (prog_void *)&cmd_quadramp_an,
 486                 (prog_void *)&cmd_quadramp_sp,
 487                 (prog_void *)&cmd_quadramp_sn,
 488
 489                 NULL,
 490         },
 491 };
 492
 493 /* show */
 494
 495 struct cmd_quadramp_show_result {
 496         struct cmd_cs_result cs;
 497         fixed_string_t show;
 498 };
 499
 500 prog_char str_quadramp_show_arg[] = "show";
 501 parse_pgm_token_string_t cmd_quadramp_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_quadramp_show_result, show, str_quadramp_show_arg);
 502
 503 prog_char help_quadramp_show[] = "Get quadramp values for control system";
 504 parse_pgm_inst_t cmd_quadramp_show = {
 505         .f = cmd_quadramp_parsed,  /* function to call */
 506         .data = (void *)1,      /* 2nd arg of func */
 507         .help_str = help_quadramp_show,
 508         .tokens = {        /* token list, NULL terminated */
 509                 (prog_void *)&cmd_quadramp_arg0,
 510                 (prog_void *)&cmd_csb_name_tok,
 511                 (prog_void *)&cmd_quadramp_show_arg,
 512                 NULL,
 513         },
 514 };
 515
 516
 517
 518 /**********************************************************/
 519 /* cs_status show for control system */
 520
 521 /* this structure is filled when cmd_cs_status is parsed successfully */
 522 struct cmd_cs_status_result {
 523         struct cmd_cs_result cs;
 524         fixed_string_t arg;
 525 };
 526
 527 /* function called when cmd_cs_status is parsed successfully */
 528 static void cmd_cs_status_parsed(void *parsed_result, void *data)
 529 {
 530         struct cmd_cs_status_result *res = parsed_result;
 531         struct cs_block *csb;
 532         uint8_t loop = 0;
 533         uint8_t print_pid = 0, print_cs = 0;
 534
 535         csb = cs_from_name(res->cs.csname);
 536         if (csb == NULL) {
 537                 printf_P(PSTR("null csb\r\n"));
 538                 return;
 539         }
 540         if (strcmp_P(res->arg, PSTR("on")) == 0) {
 541                 csb->on = 1;
 542                 printf_P(PSTR("%s is on\r\n"), res->cs.csname);
 543                 return;
 544         }
 545         else if (strcmp_P(res->arg, PSTR("off")) == 0) {
 546                 csb->on = 0;
 547                 printf_P(PSTR("%s is off\r\n"), res->cs.csname);
 548                 return;
 549         }
 550         else if (strcmp_P(res->arg, PSTR("show")) == 0) {
 551                 print_cs = 1;
 552         }
 553         else if (strcmp_P(res->arg, PSTR("loop_show")) == 0) {
 554                 loop = 1;
 555                 print_cs = 1;
 556         }
 557         else if (strcmp_P(res->arg, PSTR("pid_show")) == 0) {
 558                 print_pid = 1;
 559         }
 560         else if (strcmp_P(res->arg, PSTR("pid_loop_show")) == 0) {
 561                 print_pid = 1;
 562                 loop = 1;
 563         }
 564
 565         printf_P(PSTR("%s cs is %s\r\n"), res->cs.csname, csb->on ? "on":"off");
 566         do {
 567                 if (print_cs)
 568                         dump_cs(res->cs.csname, &csb->cs);
 569                 if (print_pid)
 570                         dump_pid(res->cs.csname, &csb->pid);
 571                 wait_ms(100);
 572         } while(loop && !cmdline_keypressed());
 573 }
 574
 575 prog_char str_cs_status_arg0[] = "cs_status";
 576 parse_pgm_token_string_t cmd_cs_status_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cs_status_result, cs.cmdname, str_cs_status_arg0);
 577 prog_char str_cs_status_arg[] = "pid_show#pid_loop_show#show#loop_show#on#off";
 578 parse_pgm_token_string_t cmd_cs_status_arg = TOKEN_STRING_INITIALIZER(struct cmd_cs_status_result, arg, str_cs_status_arg);
 579
 580 prog_char help_cs_status[] = "Show cs status";
 581 parse_pgm_inst_t cmd_cs_status = {
 582         .f = cmd_cs_status_parsed,  /* function to call */
 583         .data = NULL,      /* 2nd arg of func */
 584         .help_str = help_cs_status,
 585         .tokens = {        /* token list, NULL terminated */
 586                 (prog_void *)&cmd_cs_status_arg0,
 587                 (prog_void *)&cmd_csb_name_tok,
 588                 (prog_void *)&cmd_cs_status_arg,
 589                 NULL,
 590         },
 591 };
 592
 593
 594 /**********************************************************/
 595 /* Blocking_I for control system */
 596
 597 /* this structure is filled when cmd_blocking_i is parsed successfully */
 598 struct cmd_blocking_i_result {
 599         struct cmd_cs_result cs;
 600         int32_t k1;
 601         int32_t k2;
 602         uint32_t i;
 603         uint16_t cpt;
 604 };
 605
 606 /* function called when cmd_blocking_i is parsed successfully */
 607 static void cmd_blocking_i_parsed(void *parsed_result, void *show)
 608 {
 609         struct cmd_blocking_i_result * res = parsed_result;
 610
 611         struct cs_block *csb;
 612
 613         csb = cs_from_name(res->cs.csname);
 614         if (csb == NULL) {
 615                 printf_P(PSTR("null csb\r\n"));
 616                 return;
 617         }
 618
 619         if (!show)
 620                 bd_set_current_thresholds(&csb->bd, res->k1, res->k2,
 621                                           res->i, res->cpt);
 622
 623         printf_P(PSTR("%s %s %"PRIi32" %"PRIi32" %"PRIi32" %d\r\n"),
 624                  res->cs.cmdname,
 625                  res->cs.csname,
 626                  csb->bd.k1,
 627                  csb->bd.k2,
 628                  csb->bd.i_thres,
 629                  csb->bd.cpt_thres);
 630 }
 631
 632 prog_char str_blocking_i_arg0[] = "blocking";
 633 parse_pgm_token_string_t cmd_blocking_i_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_blocking_i_result, cs.cmdname, str_blocking_i_arg0);
 634 parse_pgm_token_num_t cmd_blocking_i_k1 = TOKEN_NUM_INITIALIZER(struct cmd_blocking_i_result, k1, INT32);
 635 parse_pgm_token_num_t cmd_blocking_i_k2 = TOKEN_NUM_INITIALIZER(struct cmd_blocking_i_result, k2, INT32);
 636 parse_pgm_token_num_t cmd_blocking_i_i = TOKEN_NUM_INITIALIZER(struct cmd_blocking_i_result, i, UINT32);
 637 parse_pgm_token_num_t cmd_blocking_i_cpt = TOKEN_NUM_INITIALIZER(struct cmd_blocking_i_result, cpt, UINT16);
 638
 639 prog_char help_blocking_i[] = "Set blocking detection values (k1, k2, i, cpt)";
 640 parse_pgm_inst_t cmd_blocking_i = {
 641         .f = cmd_blocking_i_parsed,  /* function to call */
 642         .data = NULL,      /* 2nd arg of func */
 643         .help_str = help_blocking_i,
 644         .tokens = {        /* token list, NULL terminated */
 645                 (prog_void *)&cmd_blocking_i_arg0,
 646                 (prog_void *)&cmd_csb_name_tok,
 647                 (prog_void *)&cmd_blocking_i_k1,
 648                 (prog_void *)&cmd_blocking_i_k2,
 649                 (prog_void *)&cmd_blocking_i_i,
 650                 (prog_void *)&cmd_blocking_i_cpt,
 651                 NULL,
 652         },
 653 };
 654
 655 /* show */
 656
 657 struct cmd_blocking_i_show_result {
 658         struct cmd_cs_result cs;
 659         fixed_string_t show;
 660 };
 661
 662 prog_char str_blocking_i_show_arg[] = "show";
 663 parse_pgm_token_string_t cmd_blocking_i_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_blocking_i_show_result, show, str_blocking_i_show_arg);
 664
 665 prog_char help_blocking_i_show[] = "Show blocking detection values";
 666 parse_pgm_inst_t cmd_blocking_i_show = {
 667         .f = cmd_blocking_i_parsed,  /* function to call */
 668         .data = (void *)1,      /* 2nd arg of func */
 669         .help_str = help_blocking_i_show,
 670         .tokens = {        /* token list, NULL terminated */
 671                 (prog_void *)&cmd_blocking_i_arg0,
 672                 (prog_void *)&cmd_csb_name_tok,
 673                 (prog_void *)&cmd_blocking_i_show_arg,
 674                 NULL,
 675         },
 676 };
 677
 678