projects/microb2009/mainboard/commands.c

   1 /*
   2  *  Copyright Droids Corporation (2009)
   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.c,v 1.9 2009-11-08 17:24:33 zer0 Exp $
  19  *
  20  *  Olivier MATZ <zer0@droids-corp.org>
  21  */
  22
  23 #include <stdlib.h>
  24 #include <aversive/pgmspace.h>
  25 #include <parse.h>
  26
  27 /* commands_gen.c */
  28 extern parse_pgm_inst_t cmd_reset;
  29 extern parse_pgm_inst_t cmd_bootloader;
  30 extern parse_pgm_inst_t cmd_encoders;
  31 extern parse_pgm_inst_t cmd_pwm;
  32 extern parse_pgm_inst_t cmd_adc;
  33 extern parse_pgm_inst_t cmd_sensor;
  34 extern parse_pgm_inst_t cmd_log;
  35 extern parse_pgm_inst_t cmd_log_show;
  36 extern parse_pgm_inst_t cmd_log_type;
  37 extern parse_pgm_inst_t cmd_stack_space;
  38 extern parse_pgm_inst_t cmd_scheduler;
  39
  40 /* commands_ax12.c */
  41 extern parse_pgm_inst_t cmd_baudrate;
  42 extern parse_pgm_inst_t cmd_uint16_read;
  43 extern parse_pgm_inst_t cmd_uint16_write;
  44 extern parse_pgm_inst_t cmd_uint8_read;
  45 extern parse_pgm_inst_t cmd_uint8_write;
  46
  47 /* commands_cs.c */
  48 extern parse_pgm_inst_t cmd_gain;
  49 extern parse_pgm_inst_t cmd_gain_show;
  50 extern parse_pgm_inst_t cmd_speed;
  51 extern parse_pgm_inst_t cmd_speed_show;
  52 extern parse_pgm_inst_t cmd_derivate_filter;
  53 extern parse_pgm_inst_t cmd_derivate_filter_show;
  54 extern parse_pgm_inst_t cmd_consign;
  55 extern parse_pgm_inst_t cmd_maximum;
  56 extern parse_pgm_inst_t cmd_maximum_show;
  57 extern parse_pgm_inst_t cmd_quadramp;
  58 extern parse_pgm_inst_t cmd_quadramp_show;
  59 extern parse_pgm_inst_t cmd_cs_status;
  60 extern parse_pgm_inst_t cmd_blocking_i;
  61 extern parse_pgm_inst_t cmd_blocking_i_show;
  62
  63 /* commands_mainboard.c */
  64 extern parse_pgm_inst_t cmd_event;
  65 extern parse_pgm_inst_t cmd_spi_test;
  66 extern parse_pgm_inst_t cmd_opponent;
  67 extern parse_pgm_inst_t cmd_opponent_set;
  68 extern parse_pgm_inst_t cmd_start;
  69 extern parse_pgm_inst_t cmd_interact;
  70 extern parse_pgm_inst_t cmd_color;
  71 extern parse_pgm_inst_t cmd_rs;
  72 extern parse_pgm_inst_t cmd_i2cdebug;
  73 extern parse_pgm_inst_t cmd_mechboard_show;
  74 extern parse_pgm_inst_t cmd_mechboard_setmode1;
  75 extern parse_pgm_inst_t cmd_mechboard_setmode2;
  76 extern parse_pgm_inst_t cmd_mechboard_setmode3;
  77 extern parse_pgm_inst_t cmd_mechboard_setmode4;
  78 extern parse_pgm_inst_t cmd_mechboard_setmode5;
  79 extern parse_pgm_inst_t cmd_pickup_wheels;
  80 extern parse_pgm_inst_t cmd_beacon_start;
  81 extern parse_pgm_inst_t cmd_pump_current;
  82 extern parse_pgm_inst_t cmd_build_test;
  83 extern parse_pgm_inst_t cmd_column_test;
  84 extern parse_pgm_inst_t cmd_column_test2;
  85 extern parse_pgm_inst_t cmd_lintel_test;
  86 extern parse_pgm_inst_t cmd_pickup_test;
  87 extern parse_pgm_inst_t cmd_scan_test;
  88 extern parse_pgm_inst_t cmd_scan_test2;
  89 extern parse_pgm_inst_t cmd_time_monitor;
  90 extern parse_pgm_inst_t cmd_scanner;
  91 extern parse_pgm_inst_t cmd_build_z1;
  92 #ifdef TEST_BEACON
  93 extern parse_pgm_inst_t cmd_beacon_opp_dump;
  94 #endif
  95 extern parse_pgm_inst_t cmd_circle_radius;
  96 extern parse_pgm_inst_t cmd_test;
  97
  98 /* commands_traj.c */
  99 extern parse_pgm_inst_t cmd_traj_speed;
 100 extern parse_pgm_inst_t cmd_traj_speed_show;
 101 extern parse_pgm_inst_t cmd_trajectory;
 102 extern parse_pgm_inst_t cmd_trajectory_show;
 103 extern parse_pgm_inst_t cmd_circle_coef;
 104 extern parse_pgm_inst_t cmd_circle_coef_show;
 105 extern parse_pgm_inst_t cmd_rs_gains;
 106 extern parse_pgm_inst_t cmd_rs_gains_show;
 107 extern parse_pgm_inst_t cmd_track;
 108 extern parse_pgm_inst_t cmd_track_show;
 109 extern parse_pgm_inst_t cmd_pt_list;
 110 extern parse_pgm_inst_t cmd_pt_list_append;
 111 extern parse_pgm_inst_t cmd_pt_list_del;
 112 extern parse_pgm_inst_t cmd_pt_list_show;
 113 extern parse_pgm_inst_t cmd_goto1;
 114 extern parse_pgm_inst_t cmd_goto2;
 115 extern parse_pgm_inst_t cmd_goto3;
 116 extern parse_pgm_inst_t cmd_goto4;
 117 extern parse_pgm_inst_t cmd_position;
 118 extern parse_pgm_inst_t cmd_position_set;
 119 extern parse_pgm_inst_t cmd_strat_infos;
 120 extern parse_pgm_inst_t cmd_strat_conf;
 121 extern parse_pgm_inst_t cmd_strat_conf2;
 122 extern parse_pgm_inst_t cmd_strat_conf3;
 123 extern parse_pgm_inst_t cmd_strat_conf4;
 124 extern parse_pgm_inst_t cmd_subtraj;
 125
 126 /* in progmem */
 127 parse_pgm_ctx_t main_ctx[] = {
 128
 129         /* commands_gen.c */
 130         (parse_pgm_inst_t *)&cmd_reset,
 131         (parse_pgm_inst_t *)&cmd_bootloader,
 132         (parse_pgm_inst_t *)&cmd_encoders,
 133         (parse_pgm_inst_t *)&cmd_pwm,
 134         (parse_pgm_inst_t *)&cmd_adc,
 135         (parse_pgm_inst_t *)&cmd_sensor,
 136         (parse_pgm_inst_t *)&cmd_log,
 137         (parse_pgm_inst_t *)&cmd_log_show,
 138         (parse_pgm_inst_t *)&cmd_log_type,
 139         (parse_pgm_inst_t *)&cmd_stack_space,
 140         (parse_pgm_inst_t *)&cmd_scheduler,
 141
 142         /* commands_ax12.c */
 143         (parse_pgm_inst_t *)&cmd_baudrate,
 144         (parse_pgm_inst_t *)&cmd_uint16_read,
 145         (parse_pgm_inst_t *)&cmd_uint16_write,
 146         (parse_pgm_inst_t *)&cmd_uint8_read,
 147         (parse_pgm_inst_t *)&cmd_uint8_write,
 148
 149         /* commands_cs.c */
 150         (parse_pgm_inst_t *)&cmd_gain,
 151         (parse_pgm_inst_t *)&cmd_gain_show,
 152         (parse_pgm_inst_t *)&cmd_speed,
 153         (parse_pgm_inst_t *)&cmd_speed_show,
 154         (parse_pgm_inst_t *)&cmd_consign,
 155         (parse_pgm_inst_t *)&cmd_derivate_filter,
 156         (parse_pgm_inst_t *)&cmd_derivate_filter_show,
 157         (parse_pgm_inst_t *)&cmd_maximum,
 158         (parse_pgm_inst_t *)&cmd_maximum_show,
 159         (parse_pgm_inst_t *)&cmd_quadramp,
 160         (parse_pgm_inst_t *)&cmd_quadramp_show,
 161         (parse_pgm_inst_t *)&cmd_cs_status,
 162         (parse_pgm_inst_t *)&cmd_blocking_i,
 163         (parse_pgm_inst_t *)&cmd_blocking_i_show,
 164
 165         /* commands_mainboard.c */
 166         (parse_pgm_inst_t *)&cmd_event,
 167         (parse_pgm_inst_t *)&cmd_spi_test,
 168         (parse_pgm_inst_t *)&cmd_opponent,
 169         (parse_pgm_inst_t *)&cmd_opponent_set,
 170         (parse_pgm_inst_t *)&cmd_start,
 171         (parse_pgm_inst_t *)&cmd_interact,
 172         (parse_pgm_inst_t *)&cmd_color,
 173         (parse_pgm_inst_t *)&cmd_rs,
 174         (parse_pgm_inst_t *)&cmd_i2cdebug,
 175         (parse_pgm_inst_t *)&cmd_mechboard_show,
 176         (parse_pgm_inst_t *)&cmd_mechboard_setmode1,
 177         (parse_pgm_inst_t *)&cmd_mechboard_setmode2,
 178         (parse_pgm_inst_t *)&cmd_mechboard_setmode3,
 179         (parse_pgm_inst_t *)&cmd_mechboard_setmode4,
 180         (parse_pgm_inst_t *)&cmd_mechboard_setmode5,
 181         (parse_pgm_inst_t *)&cmd_pickup_wheels,
 182         (parse_pgm_inst_t *)&cmd_beacon_start,
 183         (parse_pgm_inst_t *)&cmd_pump_current,
 184         (parse_pgm_inst_t *)&cmd_build_test,
 185         (parse_pgm_inst_t *)&cmd_column_test,
 186         (parse_pgm_inst_t *)&cmd_column_test2,
 187         (parse_pgm_inst_t *)&cmd_lintel_test,
 188         (parse_pgm_inst_t *)&cmd_pickup_test,
 189         (parse_pgm_inst_t *)&cmd_scan_test,
 190         (parse_pgm_inst_t *)&cmd_scan_test2,
 191         (parse_pgm_inst_t *)&cmd_time_monitor,
 192         (parse_pgm_inst_t *)&cmd_scanner,
 193         (parse_pgm_inst_t *)&cmd_build_z1,
 194 #ifdef TEST_BEACON
 195         (parse_pgm_inst_t *)&cmd_beacon_opp_dump,
 196 #endif
 197         (parse_pgm_inst_t *)&cmd_circle_radius,
 198         (parse_pgm_inst_t *)&cmd_test,
 199
 200         /* commands_traj.c */
 201         (parse_pgm_inst_t *)&cmd_traj_speed,
 202         (parse_pgm_inst_t *)&cmd_traj_speed_show,
 203         (parse_pgm_inst_t *)&cmd_trajectory,
 204         (parse_pgm_inst_t *)&cmd_trajectory_show,
 205         (parse_pgm_inst_t *)&cmd_circle_coef,
 206         (parse_pgm_inst_t *)&cmd_circle_coef_show,
 207         (parse_pgm_inst_t *)&cmd_rs_gains,
 208         (parse_pgm_inst_t *)&cmd_rs_gains_show,
 209         (parse_pgm_inst_t *)&cmd_track,
 210         (parse_pgm_inst_t *)&cmd_track_show,
 211         (parse_pgm_inst_t *)&cmd_pt_list,
 212         (parse_pgm_inst_t *)&cmd_pt_list_append,
 213         (parse_pgm_inst_t *)&cmd_pt_list_del,
 214         (parse_pgm_inst_t *)&cmd_pt_list_show,
 215         (parse_pgm_inst_t *)&cmd_goto1,
 216         (parse_pgm_inst_t *)&cmd_goto2,
 217         (parse_pgm_inst_t *)&cmd_goto4,
 218         (parse_pgm_inst_t *)&cmd_position,
 219         (parse_pgm_inst_t *)&cmd_position_set,
 220         (parse_pgm_inst_t *)&cmd_strat_infos,
 221         (parse_pgm_inst_t *)&cmd_strat_conf,
 222         (parse_pgm_inst_t *)&cmd_strat_conf2,
 223         (parse_pgm_inst_t *)&cmd_strat_conf3,
 224         (parse_pgm_inst_t *)&cmd_strat_conf4,
 225         (parse_pgm_inst_t *)&cmd_subtraj,
 226         NULL,
 227 };