projects/microb2010/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_cobboard_show;
  74 extern parse_pgm_inst_t cmd_cobboard_setmode1;
  75 extern parse_pgm_inst_t cmd_cobboard_setmode2;
  76 extern parse_pgm_inst_t cmd_cobboard_setmode3;
  77 extern parse_pgm_inst_t cmd_ballboard_show;
  78 extern parse_pgm_inst_t cmd_ballboard_setmode1;
  79 extern parse_pgm_inst_t cmd_ballboard_setmode2;
  80 extern parse_pgm_inst_t cmd_ballboard_setmode3;
  81 extern parse_pgm_inst_t cmd_beacon_start;
  82 extern parse_pgm_inst_t cmd_servo_balls;
  83 extern parse_pgm_inst_t cmd_clitoid;
  84 extern parse_pgm_inst_t cmd_time_monitor;
  85 extern parse_pgm_inst_t cmd_strat_event;
  86 extern parse_pgm_inst_t cmd_climb;
  87 extern parse_pgm_inst_t cmd_sleep;
  88 extern parse_pgm_inst_t cmd_test;
  89
  90 /* commands_traj.c */
  91 extern parse_pgm_inst_t cmd_traj_speed;
  92 extern parse_pgm_inst_t cmd_traj_speed_show;
  93 extern parse_pgm_inst_t cmd_traj_acc;
  94 extern parse_pgm_inst_t cmd_traj_acc_show;
  95 extern parse_pgm_inst_t cmd_trajectory;
  96 extern parse_pgm_inst_t cmd_trajectory_show;
  97 extern parse_pgm_inst_t cmd_circle_coef;
  98 extern parse_pgm_inst_t cmd_circle_coef_show;
  99 extern parse_pgm_inst_t cmd_rs_gains;
 100 extern parse_pgm_inst_t cmd_rs_gains_show;
 101 extern parse_pgm_inst_t cmd_track;
 102 extern parse_pgm_inst_t cmd_track_show;
 103 extern parse_pgm_inst_t cmd_centrifugal;
 104 extern parse_pgm_inst_t cmd_centrifugal_show;
 105 extern parse_pgm_inst_t cmd_pt_list;
 106 extern parse_pgm_inst_t cmd_pt_list_append;
 107 extern parse_pgm_inst_t cmd_pt_list_del;
 108 extern parse_pgm_inst_t cmd_pt_list_show;
 109 extern parse_pgm_inst_t cmd_goto1;
 110 extern parse_pgm_inst_t cmd_goto2;
 111 extern parse_pgm_inst_t cmd_goto3;
 112 extern parse_pgm_inst_t cmd_position;
 113 extern parse_pgm_inst_t cmd_position_set;
 114 extern parse_pgm_inst_t cmd_strat_db;
 115 extern parse_pgm_inst_t cmd_strat_conf;
 116 extern parse_pgm_inst_t cmd_strat_conf2;
 117 extern parse_pgm_inst_t cmd_strat_conf3;
 118 extern parse_pgm_inst_t cmd_strat_conf4;
 119 extern parse_pgm_inst_t cmd_subtraj;
 120
 121 /* in progmem */
 122 parse_pgm_ctx_t main_ctx[] = {
 123
 124         /* commands_gen.c */
 125         (parse_pgm_inst_t *)&cmd_reset,
 126         (parse_pgm_inst_t *)&cmd_bootloader,
 127         (parse_pgm_inst_t *)&cmd_encoders,
 128         (parse_pgm_inst_t *)&cmd_pwm,
 129         (parse_pgm_inst_t *)&cmd_adc,
 130         (parse_pgm_inst_t *)&cmd_sensor,
 131         (parse_pgm_inst_t *)&cmd_log,
 132         (parse_pgm_inst_t *)&cmd_log_show,
 133         (parse_pgm_inst_t *)&cmd_log_type,
 134         (parse_pgm_inst_t *)&cmd_stack_space,
 135         (parse_pgm_inst_t *)&cmd_scheduler,
 136
 137         /* commands_ax12.c */
 138         (parse_pgm_inst_t *)&cmd_baudrate,
 139         (parse_pgm_inst_t *)&cmd_uint16_read,
 140         (parse_pgm_inst_t *)&cmd_uint16_write,
 141         (parse_pgm_inst_t *)&cmd_uint8_read,
 142         (parse_pgm_inst_t *)&cmd_uint8_write,
 143
 144         /* commands_cs.c */
 145         (parse_pgm_inst_t *)&cmd_gain,
 146         (parse_pgm_inst_t *)&cmd_gain_show,
 147         (parse_pgm_inst_t *)&cmd_speed,
 148         (parse_pgm_inst_t *)&cmd_speed_show,
 149         (parse_pgm_inst_t *)&cmd_consign,
 150         (parse_pgm_inst_t *)&cmd_derivate_filter,
 151         (parse_pgm_inst_t *)&cmd_derivate_filter_show,
 152         (parse_pgm_inst_t *)&cmd_maximum,
 153         (parse_pgm_inst_t *)&cmd_maximum_show,
 154         (parse_pgm_inst_t *)&cmd_quadramp,
 155         (parse_pgm_inst_t *)&cmd_quadramp_show,
 156         (parse_pgm_inst_t *)&cmd_cs_status,
 157         (parse_pgm_inst_t *)&cmd_blocking_i,
 158         (parse_pgm_inst_t *)&cmd_blocking_i_show,
 159
 160         /* commands_mainboard.c */
 161         (parse_pgm_inst_t *)&cmd_event,
 162         (parse_pgm_inst_t *)&cmd_spi_test,
 163         (parse_pgm_inst_t *)&cmd_opponent,
 164         (parse_pgm_inst_t *)&cmd_opponent_set,
 165         (parse_pgm_inst_t *)&cmd_start,
 166         (parse_pgm_inst_t *)&cmd_interact,
 167         (parse_pgm_inst_t *)&cmd_color,
 168         (parse_pgm_inst_t *)&cmd_rs,
 169         (parse_pgm_inst_t *)&cmd_i2cdebug,
 170         (parse_pgm_inst_t *)&cmd_cobboard_show,
 171         (parse_pgm_inst_t *)&cmd_cobboard_setmode1,
 172         (parse_pgm_inst_t *)&cmd_cobboard_setmode2,
 173         (parse_pgm_inst_t *)&cmd_cobboard_setmode3,
 174         (parse_pgm_inst_t *)&cmd_ballboard_show,
 175         (parse_pgm_inst_t *)&cmd_ballboard_setmode1,
 176         (parse_pgm_inst_t *)&cmd_ballboard_setmode2,
 177         (parse_pgm_inst_t *)&cmd_ballboard_setmode3,
 178         (parse_pgm_inst_t *)&cmd_servo_balls,
 179         (parse_pgm_inst_t *)&cmd_clitoid,
 180         (parse_pgm_inst_t *)&cmd_time_monitor,
 181         (parse_pgm_inst_t *)&cmd_strat_event,
 182         (parse_pgm_inst_t *)&cmd_climb,
 183         (parse_pgm_inst_t *)&cmd_sleep,
 184         (parse_pgm_inst_t *)&cmd_test,
 185
 186         /* commands_traj.c */
 187         (parse_pgm_inst_t *)&cmd_traj_speed,
 188         (parse_pgm_inst_t *)&cmd_traj_speed_show,
 189         (parse_pgm_inst_t *)&cmd_traj_acc,
 190         (parse_pgm_inst_t *)&cmd_traj_acc_show,
 191         (parse_pgm_inst_t *)&cmd_trajectory,
 192         (parse_pgm_inst_t *)&cmd_trajectory_show,
 193         (parse_pgm_inst_t *)&cmd_circle_coef,
 194         (parse_pgm_inst_t *)&cmd_circle_coef_show,
 195         (parse_pgm_inst_t *)&cmd_rs_gains,
 196         (parse_pgm_inst_t *)&cmd_rs_gains_show,
 197         (parse_pgm_inst_t *)&cmd_track,
 198         (parse_pgm_inst_t *)&cmd_track_show,
 199         (parse_pgm_inst_t *)&cmd_centrifugal,
 200         (parse_pgm_inst_t *)&cmd_centrifugal_show,
 201         (parse_pgm_inst_t *)&cmd_pt_list,
 202         (parse_pgm_inst_t *)&cmd_pt_list_append,
 203         (parse_pgm_inst_t *)&cmd_pt_list_del,
 204         (parse_pgm_inst_t *)&cmd_pt_list_show,
 205         (parse_pgm_inst_t *)&cmd_goto1,
 206         (parse_pgm_inst_t *)&cmd_goto2,
 207         (parse_pgm_inst_t *)&cmd_position,
 208         (parse_pgm_inst_t *)&cmd_position_set,
 209         (parse_pgm_inst_t *)&cmd_strat_db,
 210         (parse_pgm_inst_t *)&cmd_strat_conf,
 211         (parse_pgm_inst_t *)&cmd_strat_conf2,
 212         (parse_pgm_inst_t *)&cmd_strat_conf3,
 213         (parse_pgm_inst_t *)&cmd_subtraj,
 214         NULL,
 215 };