projects/microb2010/ballboard/commands_gen.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_gen.c,v 1.4 2009-05-27 20:04:07 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 <ax12.h>
  31 #include <uart.h>
  32 #include <pwm_ng.h>
  33 #include <clock_time.h>
  34 #include <encoders_spi.h>
  35 #include <adc.h>
  36
  37 #include <scheduler.h>
  38 #include <pid.h>
  39 #include <quadramp.h>
  40 #include <control_system_manager.h>
  41 #include <blocking_detection_manager.h>
  42
  43 #include <rdline.h>
  44 #include <parse.h>
  45 #include <parse_string.h>
  46 #include <parse_num.h>
  47
  48 #include <diagnostic.h>
  49
  50 #include "main.h"
  51 #include "cmdline.h"
  52 #include "sensor.h"
  53
  54 /**********************************************************/
  55 /* Reset */
  56
  57 /* this structure is filled when cmd_reset is parsed successfully */
  58 struct cmd_reset_result {
  59         fixed_string_t arg0;
  60 };
  61
  62 /* function called when cmd_reset is parsed successfully */
  63 static void cmd_reset_parsed(void * parsed_result, void * data)
  64 {
  65         reset();
  66 }
  67
  68 prog_char str_reset_arg0[] = "reset";
  69 parse_pgm_token_string_t cmd_reset_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_reset_result, arg0, str_reset_arg0);
  70
  71 prog_char help_reset[] = "Reset the board";
  72 parse_pgm_inst_t cmd_reset = {
  73         .f = cmd_reset_parsed,  /* function to call */
  74         .data = NULL,      /* 2nd arg of func */
  75         .help_str = help_reset,
  76         .tokens = {        /* token list, NULL terminated */
  77                 (prog_void *)&cmd_reset_arg0,
  78                 NULL,
  79         },
  80 };
  81
  82 /**********************************************************/
  83 /* Bootloader */
  84
  85 /* this structure is filled when cmd_bootloader is parsed successfully */
  86 struct cmd_bootloader_result {
  87         fixed_string_t arg0;
  88 };
  89
  90 /* function called when cmd_bootloader is parsed successfully */
  91 static void cmd_bootloader_parsed(void *parsed_result, void *data)
  92 {
  93         bootloader();
  94 }
  95
  96 prog_char str_bootloader_arg0[] = "bootloader";
  97 parse_pgm_token_string_t cmd_bootloader_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_bootloader_result, arg0, str_bootloader_arg0);
  98
  99 prog_char help_bootloader[] = "Launch the bootloader";
 100 parse_pgm_inst_t cmd_bootloader = {
 101         .f = cmd_bootloader_parsed,  /* function to call */
 102         .data = NULL,      /* 2nd arg of func */
 103         .help_str = help_bootloader,
 104         .tokens = {        /* token list, NULL terminated */
 105                 (prog_void *)&cmd_bootloader_arg0,
 106                 NULL,
 107         },
 108 };
 109
 110 /**********************************************************/
 111 /* Encoders tests */
 112
 113 /* this structure is filled when cmd_encoders is parsed successfully */
 114 struct cmd_encoders_result {
 115         fixed_string_t arg0;
 116         fixed_string_t arg1;
 117 };
 118
 119 /* function called when cmd_encoders is parsed successfully */
 120 static void cmd_encoders_parsed(void *parsed_result, void *data)
 121 {
 122         struct cmd_encoders_result *res = parsed_result;
 123
 124         if (!strcmp_P(res->arg1, PSTR("reset"))) {
 125                 encoders_spi_set_value((void *)0, 0);
 126                 encoders_spi_set_value((void *)1, 0);
 127                 encoders_spi_set_value((void *)2, 0);
 128                 encoders_spi_set_value((void *)3, 0);
 129                 return;
 130         }
 131
 132         /* show */
 133         while(!cmdline_keypressed()) {
 134                 printf_P(PSTR("% .8ld % .8ld % .8ld % .8ld\r\n"),
 135                          encoders_spi_get_value((void *)0),
 136                          encoders_spi_get_value((void *)1),
 137                          encoders_spi_get_value((void *)2),
 138                          encoders_spi_get_value((void *)3));
 139                 wait_ms(100);
 140         }
 141 }
 142
 143 prog_char str_encoders_arg0[] = "encoders";
 144 parse_pgm_token_string_t cmd_encoders_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_encoders_result, arg0, str_encoders_arg0);
 145 prog_char str_encoders_arg1[] = "show#reset";
 146 parse_pgm_token_string_t cmd_encoders_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_encoders_result, arg1, str_encoders_arg1);
 147
 148 prog_char help_encoders[] = "Show encoders values";
 149 parse_pgm_inst_t cmd_encoders = {
 150         .f = cmd_encoders_parsed,  /* function to call */
 151         .data = NULL,      /* 2nd arg of func */
 152         .help_str = help_encoders,
 153         .tokens = {        /* token list, NULL terminated */
 154                 (prog_void *)&cmd_encoders_arg0,
 155                 (prog_void *)&cmd_encoders_arg1,
 156                 NULL,
 157         },
 158 };
 159
 160 /**********************************************************/
 161 /* Scheduler show */
 162
 163 /* this structure is filled when cmd_scheduler is parsed successfully */
 164 struct cmd_scheduler_result {
 165         fixed_string_t arg0;
 166         fixed_string_t arg1;
 167 };
 168
 169 /* function called when cmd_scheduler is parsed successfully */
 170 static void cmd_scheduler_parsed(void *parsed_result, void *data)
 171 {
 172         scheduler_dump_events();
 173 }
 174
 175 prog_char str_scheduler_arg0[] = "scheduler";
 176 parse_pgm_token_string_t cmd_scheduler_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_scheduler_result, arg0, str_scheduler_arg0);
 177 prog_char str_scheduler_arg1[] = "show";
 178 parse_pgm_token_string_t cmd_scheduler_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_scheduler_result, arg1, str_scheduler_arg1);
 179
 180 prog_char help_scheduler[] = "Show scheduler events";
 181 parse_pgm_inst_t cmd_scheduler = {
 182         .f = cmd_scheduler_parsed,  /* function to call */
 183         .data = NULL,      /* 2nd arg of func */
 184         .help_str = help_scheduler,
 185         .tokens = {        /* token list, NULL terminated */
 186                 (prog_void *)&cmd_scheduler_arg0,
 187                 (prog_void *)&cmd_scheduler_arg1,
 188                 NULL,
 189         },
 190 };
 191
 192 /**********************************************************/
 193 /* Pwms tests */
 194
 195 /* this structure is filled when cmd_pwm is parsed successfully */
 196 struct cmd_pwm_result {
 197         fixed_string_t arg0;
 198         fixed_string_t arg1;
 199         int16_t arg2;
 200 };
 201
 202 /* function called when cmd_pwm is parsed successfully */
 203 static void cmd_pwm_parsed(void * parsed_result, void * data)
 204 {
 205         void * pwm_ptr = NULL;
 206         struct cmd_pwm_result * res = parsed_result;
 207
 208         if (!strcmp_P(res->arg1, PSTR("1(4A)")))
 209                 pwm_ptr = &gen.pwm1_4A;
 210         else if (!strcmp_P(res->arg1, PSTR("2(4B)")))
 211                 pwm_ptr = &gen.pwm2_4B;
 212         else if (!strcmp_P(res->arg1, PSTR("3(1A)")))
 213                 pwm_ptr = &gen.pwm3_1A;
 214         else if (!strcmp_P(res->arg1, PSTR("4(1B)")))
 215                 pwm_ptr = &gen.pwm4_1B;
 216
 217         else if (!strcmp_P(res->arg1, PSTR("s1(3C)")))
 218                 pwm_ptr = &gen.servo1;
 219         else if (!strcmp_P(res->arg1, PSTR("s2(5A)")))
 220                 pwm_ptr = &gen.servo2;
 221         else if (!strcmp_P(res->arg1, PSTR("s3(5B)")))
 222                 pwm_ptr = &gen.servo3;
 223         else if (!strcmp_P(res->arg1, PSTR("s3(5C)")))
 224                 pwm_ptr = &gen.servo4;
 225
 226         if (pwm_ptr)
 227                 pwm_ng_set(pwm_ptr, res->arg2);
 228
 229         printf_P(PSTR("done\r\n"));
 230 }
 231
 232 prog_char str_pwm_arg0[] = "pwm";
 233 parse_pgm_token_string_t cmd_pwm_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_pwm_result, arg0, str_pwm_arg0);
 234 prog_char str_pwm_arg1[] = "1(4A)#2(4B)#3(1A)#4(1B)#s1(3C)#s2(5A)#s3(5B)#s4(5C)";
 235 parse_pgm_token_string_t cmd_pwm_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_pwm_result, arg1, str_pwm_arg1);
 236 parse_pgm_token_num_t cmd_pwm_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_pwm_result, arg2, INT16);
 237
 238 prog_char help_pwm[] = "Set pwm values [-4096 ; 4095]";
 239 parse_pgm_inst_t cmd_pwm = {
 240         .f = cmd_pwm_parsed,  /* function to call */
 241         .data = NULL,      /* 2nd arg of func */
 242         .help_str = help_pwm,
 243         .tokens = {        /* token list, NULL terminated */
 244                 (prog_void *)&cmd_pwm_arg0,
 245                 (prog_void *)&cmd_pwm_arg1,
 246                 (prog_void *)&cmd_pwm_arg2,
 247                 NULL,
 248         },
 249 };
 250
 251 /**********************************************************/
 252 /* Adcs tests */
 253
 254 /* this structure is filled when cmd_adc is parsed successfully */
 255 struct cmd_adc_result {
 256         fixed_string_t arg0;
 257         fixed_string_t arg1;
 258 };
 259
 260 /* function called when cmd_adc is parsed successfully */
 261 static void cmd_adc_parsed(void *parsed_result, void *data)
 262 {
 263         struct cmd_adc_result *res = parsed_result;
 264         uint8_t i, loop = 0;
 265
 266         if (!strcmp_P(res->arg1, PSTR("loop_show")))
 267                 loop = 1;
 268
 269         do {
 270                 printf_P(PSTR("ADC values: "));
 271                 for (i=0; i<ADC_MAX; i++) {
 272                         printf_P(PSTR("%.4d "), sensor_get_adc(i));
 273                 }
 274                 printf_P(PSTR("\r\n"));
 275                 wait_ms(100);
 276         } while (loop && !cmdline_keypressed());
 277 }
 278
 279 prog_char str_adc_arg0[] = "adc";
 280 parse_pgm_token_string_t cmd_adc_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_adc_result, arg0, str_adc_arg0);
 281 prog_char str_adc_arg1[] = "show#loop_show";
 282 parse_pgm_token_string_t cmd_adc_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_adc_result, arg1, str_adc_arg1);
 283
 284 prog_char help_adc[] = "Show adc values";
 285 parse_pgm_inst_t cmd_adc = {
 286         .f = cmd_adc_parsed,  /* function to call */
 287         .data = NULL,      /* 2nd arg of func */
 288         .help_str = help_adc,
 289         .tokens = {        /* token list, NULL terminated */
 290                 (prog_void *)&cmd_adc_arg0,
 291                 (prog_void *)&cmd_adc_arg1,
 292                 NULL,
 293         },
 294 };
 295
 296
 297 /**********************************************************/
 298 /* Sensors tests */
 299
 300 /* this structure is filled when cmd_sensor is parsed successfully */
 301 struct cmd_sensor_result {
 302         fixed_string_t arg0;
 303         fixed_string_t arg1;
 304 };
 305
 306 /* function called when cmd_sensor is parsed successfully */
 307 static void cmd_sensor_parsed(void *parsed_result, void *data)
 308 {
 309         struct cmd_sensor_result *res = parsed_result;
 310         uint8_t i, loop = 0;
 311
 312         if (!strcmp_P(res->arg1, PSTR("loop_show")))
 313                 loop = 1;
 314
 315         do {
 316                 printf_P(PSTR("SENSOR values: "));
 317                 for (i=0; i<SENSOR_MAX; i++) {
 318                         printf_P(PSTR("%d "), !!sensor_get(i));
 319                 }
 320                 printf_P(PSTR("\r\n"));
 321                 wait_ms(100);
 322         } while (loop && !cmdline_keypressed());
 323 }
 324
 325 prog_char str_sensor_arg0[] = "sensor";
 326 parse_pgm_token_string_t cmd_sensor_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_sensor_result, arg0, str_sensor_arg0);
 327 prog_char str_sensor_arg1[] = "show#loop_show";
 328 parse_pgm_token_string_t cmd_sensor_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_sensor_result, arg1, str_sensor_arg1);
 329
 330 prog_char help_sensor[] = "Show sensor values";
 331 parse_pgm_inst_t cmd_sensor = {
 332         .f = cmd_sensor_parsed,  /* function to call */
 333         .data = NULL,      /* 2nd arg of func */
 334         .help_str = help_sensor,
 335         .tokens = {        /* token list, NULL terminated */
 336                 (prog_void *)&cmd_sensor_arg0,
 337                 (prog_void *)&cmd_sensor_arg1,
 338                 NULL,
 339         },
 340 };
 341
 342
 343 /**********************************************************/
 344 /* Log */
 345
 346 /* this structure is filled when cmd_log is parsed successfully */
 347 struct cmd_log_result {
 348         fixed_string_t arg0;
 349         fixed_string_t arg1;
 350         uint8_t arg2;
 351         fixed_string_t arg3;
 352 };
 353
 354 /* keep it sync with string choice */
 355 static const prog_char uart_log[] = "uart";
 356 static const prog_char i2c_log[] = "i2c";
 357 static const prog_char i2cproto_log[] = "i2cproto";
 358 static const prog_char sensor_log[] = "sensor";
 359 static const prog_char block_log[] = "bd";
 360 static const prog_char state_log[] = "state";
 361
 362 struct log_name_and_num {
 363         const prog_char * name;
 364         uint8_t num;
 365 };
 366
 367 static const struct log_name_and_num log_name_and_num[] = {
 368         { uart_log, E_UART },
 369         { i2c_log, E_I2C },
 370         { i2cproto_log, E_USER_I2C_PROTO },
 371         { sensor_log, E_USER_SENSOR },
 372         { block_log, E_BLOCKING_DETECTION_MANAGER },
 373         { state_log, E_USER_ST_MACH },
 374 };
 375
 376 static uint8_t
 377 log_name2num(const char * s)
 378 {
 379         uint8_t i;
 380
 381         for (i=0; i<sizeof(log_name_and_num)/sizeof(struct log_name_and_num); i++) {
 382                 if (!strcmp_P(s, log_name_and_num[i].name)) {
 383                         return log_name_and_num[i].num;
 384                 }
 385         }
 386         return 0;
 387 }
 388
 389 const prog_char *
 390 log_num2name(uint8_t num)
 391 {
 392         uint8_t i;
 393
 394         for (i=0; i<sizeof(log_name_and_num)/sizeof(struct log_name_and_num); i++) {
 395                 if (num ==  log_name_and_num[i].num) {
 396                         return log_name_and_num[i].name;
 397                 }
 398         }
 399         return NULL;
 400 }
 401
 402 /* function called when cmd_log is parsed successfully */
 403 static void cmd_log_do_show(void)
 404 {
 405         uint8_t i, empty=1;
 406         const prog_char * name;
 407
 408         printf_P(PSTR("log level is %d\r\n"), gen.log_level);
 409         for (i=0; i<NB_LOGS; i++) {
 410                 name = log_num2name(gen.logs[i]);
 411                 if (name) {
 412                         printf_P(PSTR("log type %S is on\r\n"), name);
 413                         empty = 0;
 414                 }
 415         }
 416         if (empty)
 417                 printf_P(PSTR("no log configured\r\n"), gen.logs[i]);
 418 }
 419
 420 /* function called when cmd_log is parsed successfully */
 421 static void cmd_log_parsed(void * parsed_result, void * data)
 422 {
 423         struct cmd_log_result *res = (struct cmd_log_result *) parsed_result;
 424
 425         if (!strcmp_P(res->arg1, PSTR("level"))) {
 426                 gen.log_level = res->arg2;
 427         }
 428
 429         /* else it is a show */
 430         cmd_log_do_show();
 431 }
 432
 433 prog_char str_log_arg0[] = "log";
 434 parse_pgm_token_string_t cmd_log_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_log_result, arg0, str_log_arg0);
 435 prog_char str_log_arg1[] = "level";
 436 parse_pgm_token_string_t cmd_log_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_log_result, arg1, str_log_arg1);
 437 parse_pgm_token_num_t cmd_log_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_log_result, arg2, INT32);
 438
 439 prog_char help_log[] = "Set log options: level (0 -> 5)";
 440 parse_pgm_inst_t cmd_log = {
 441         .f = cmd_log_parsed,  /* function to call */
 442         .data = NULL,      /* 2nd arg of func */
 443         .help_str = help_log,
 444         .tokens = {        /* token list, NULL terminated */
 445                 (prog_void *)&cmd_log_arg0,
 446                 (prog_void *)&cmd_log_arg1,
 447                 (prog_void *)&cmd_log_arg2,
 448                 NULL,
 449         },
 450 };
 451
 452 prog_char str_log_arg1_show[] = "show";
 453 parse_pgm_token_string_t cmd_log_arg1_show = TOKEN_STRING_INITIALIZER(struct cmd_log_result, arg1, str_log_arg1_show);
 454
 455 prog_char help_log_show[] = "Show configured logs";
 456 parse_pgm_inst_t cmd_log_show = {
 457         .f = cmd_log_parsed,  /* function to call */
 458         .data = NULL,      /* 2nd arg of func */
 459         .help_str = help_log_show,
 460         .tokens = {        /* token list, NULL terminated */
 461                 (prog_void *)&cmd_log_arg0,
 462                 (prog_void *)&cmd_log_arg1_show,
 463                 NULL,
 464         },
 465 };
 466
 467 /* this structure is filled when cmd_log is parsed successfully */
 468 struct cmd_log_type_result {
 469         fixed_string_t arg0;
 470         fixed_string_t arg1;
 471         fixed_string_t arg2;
 472         fixed_string_t arg3;
 473 };
 474
 475 /* function called when cmd_log is parsed successfully */
 476 static void cmd_log_type_parsed(void * parsed_result, void * data)
 477 {
 478         struct cmd_log_type_result *res = (struct cmd_log_type_result *) parsed_result;
 479         uint8_t lognum;
 480         uint8_t i;
 481
 482         lognum = log_name2num(res->arg2);
 483         if (lognum == 0) {
 484                 printf_P(PSTR("Cannot find log num\r\n"));
 485                 return;
 486         }
 487
 488         if (!strcmp_P(res->arg3, PSTR("on"))) {
 489                 for (i=0; i<NB_LOGS; i++) {
 490                         if (gen.logs[i] == lognum) {
 491                                 printf_P(PSTR("Already on\r\n"));
 492                                 return;
 493                         }
 494                 }
 495                 for (i=0; i<NB_LOGS; i++) {
 496                         if (gen.logs[i] == 0) {
 497                                 gen.logs[i] = lognum;
 498                                 break;
 499                         }
 500                 }
 501                 if (i==NB_LOGS) {
 502                         printf_P(PSTR("no more room\r\n"));
 503                 }
 504         }
 505         else if (!strcmp_P(res->arg3, PSTR("off"))) {
 506                 for (i=0; i<NB_LOGS; i++) {
 507                         if (gen.logs[i] == lognum) {
 508                                 gen.logs[i] = 0;
 509                                 break;
 510                         }
 511                 }
 512                 if (i==NB_LOGS) {
 513                         printf_P(PSTR("already off\r\n"));
 514                 }
 515         }
 516         cmd_log_do_show();
 517 }
 518
 519 prog_char str_log_arg1_type[] = "type";
 520 parse_pgm_token_string_t cmd_log_arg1_type = TOKEN_STRING_INITIALIZER(struct cmd_log_type_result, arg1, str_log_arg1_type);
 521 /* keep it sync with log_name_and_num above */
 522 prog_char str_log_arg2_type[] = "uart#i2c#i2cproto#sensor#bd#state";
 523 parse_pgm_token_string_t cmd_log_arg2_type = TOKEN_STRING_INITIALIZER(struct cmd_log_type_result, arg2, str_log_arg2_type);
 524 prog_char str_log_arg3[] = "on#off";
 525 parse_pgm_token_string_t cmd_log_arg3 = TOKEN_STRING_INITIALIZER(struct cmd_log_type_result, arg3, str_log_arg3);
 526
 527 prog_char help_log_type[] = "Set log type";
 528 parse_pgm_inst_t cmd_log_type = {
 529         .f = cmd_log_type_parsed,  /* function to call */
 530         .data = NULL,      /* 2nd arg of func */
 531         .help_str = help_log_type,
 532         .tokens = {        /* token list, NULL terminated */
 533                 (prog_void *)&cmd_log_arg0,
 534                 (prog_void *)&cmd_log_arg1_type,
 535                 (prog_void *)&cmd_log_arg2_type,
 536                 (prog_void *)&cmd_log_arg3,
 537                 NULL,
 538         },
 539 };
 540
 541
 542 /**********************************************************/
 543 /* Stack_Space */
 544
 545 /* this structure is filled when cmd_stack_space is parsed successfully */
 546 struct cmd_stack_space_result {
 547         fixed_string_t arg0;
 548 };
 549
 550 /* function called when cmd_stack_space is parsed successfully */
 551 static void cmd_stack_space_parsed(void *parsed_result, void *data)
 552 {
 553         printf("res stack: %d\r\n", min_stack_space_available());
 554
 555 }
 556
 557 prog_char str_stack_space_arg0[] = "stack_space";
 558 parse_pgm_token_string_t cmd_stack_space_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_stack_space_result, arg0, str_stack_space_arg0);
 559
 560 prog_char help_stack_space[] = "Display remaining stack space";
 561 parse_pgm_inst_t cmd_stack_space = {
 562         .f = cmd_stack_space_parsed,  /* function to call */
 563         .data = NULL,      /* 2nd arg of func */
 564         .help_str = help_stack_space,
 565         .tokens = {        /* token list, NULL terminated */
 566                 (prog_void *)&cmd_stack_space_arg0,
 567                 NULL,
 568         },
 569 };