/*
* Copyright Droids Corporation (2009)
- *
+ *
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
*
* Revision : $Id: commands_cobboard.c,v 1.6 2009-11-08 17:25:00 zer0 Exp $
*
- * Olivier MATZ <zer0@droids-corp.org>
+ * Olivier MATZ <zer0@droids-corp.org>
*/
#include <stdio.h>
#include "i2c_protocol.h"
#include "actuator.h"
#include "spickle.h"
-
-extern uint16_t state_debug;
+#include "shovel.h"
struct cmd_event_result {
fixed_string_t arg0;
u08 bit=0;
struct cmd_event_result * res = parsed_result;
-
+
if (!strcmp_P(res->arg1, PSTR("all"))) {
- bit = DO_ENCODERS | DO_CS | DO_BD | DO_POWER;
+ bit = 0xFF;
if (!strcmp_P(res->arg2, PSTR("on")))
cobboard.flags |= bit;
else if (!strcmp_P(res->arg2, PSTR("off")))
cobboard.flags &= bit;
else { /* show */
- printf_P(PSTR("encoders is %s\r\n"),
+ printf_P(PSTR("encoders is %s\r\n"),
(DO_ENCODERS & cobboard.flags) ? "on":"off");
- printf_P(PSTR("cs is %s\r\n"),
+ printf_P(PSTR("cs is %s\r\n"),
(DO_CS & cobboard.flags) ? "on":"off");
- printf_P(PSTR("bd is %s\r\n"),
+ printf_P(PSTR("bd is %s\r\n"),
(DO_BD & cobboard.flags) ? "on":"off");
- printf_P(PSTR("power is %s\r\n"),
+ printf_P(PSTR("power is %s\r\n"),
(DO_POWER & cobboard.flags) ? "on":"off");
+ printf_P(PSTR("errblock is %s\r\n"),
+ (DO_ERRBLOCKING & cobboard.flags) ? "on":"off");
}
return;
}
bit = DO_BD;
else if (!strcmp_P(res->arg1, PSTR("power")))
bit = DO_POWER;
+ else if (!strcmp_P(res->arg1, PSTR("errblock")))
+ bit = DO_ERRBLOCKING;
if (!strcmp_P(res->arg2, PSTR("on")))
}
cobboard.flags &= (~bit);
}
- printf_P(PSTR("%s is %s\r\n"), res->arg1,
+ printf_P(PSTR("%s is %s\r\n"), res->arg1,
(bit & cobboard.flags) ? "on":"off");
}
prog_char str_event_arg0[] = "event";
parse_pgm_token_string_t cmd_event_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_event_result, arg0, str_event_arg0);
-prog_char str_event_arg1[] = "all#encoders#cs#bd#power";
+prog_char str_event_arg1[] = "all#encoders#cs#bd#power#errblock";
parse_pgm_token_string_t cmd_event_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_event_result, arg1, str_event_arg1);
prog_char str_event_arg2[] = "on#off#show";
parse_pgm_token_string_t cmd_event_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_event_result, arg2, str_event_arg2);
.data = NULL, /* 2nd arg of func */
.help_str = help_event,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_event_arg0,
- (prog_void *)&cmd_event_arg1,
- (prog_void *)&cmd_event_arg2,
+ (prog_void *)&cmd_event_arg0,
+ (prog_void *)&cmd_event_arg1,
+ (prog_void *)&cmd_event_arg2,
NULL,
},
};
static void cmd_color_parsed(void *parsed_result, __attribute__((unused)) void *data)
{
struct cmd_color_result *res = (struct cmd_color_result *) parsed_result;
- if (!strcmp_P(res->color, PSTR("red"))) {
- cobboard.our_color = I2C_COLOR_RED;
+ if (!strcmp_P(res->color, PSTR("yellow"))) {
+ cobboard.our_color = I2C_COLOR_YELLOW;
}
- else if (!strcmp_P(res->color, PSTR("green"))) {
- cobboard.our_color = I2C_COLOR_GREEN;
+ else if (!strcmp_P(res->color, PSTR("blue"))) {
+ cobboard.our_color = I2C_COLOR_BLUE;
}
printf_P(PSTR("Done\r\n"));
}
prog_char str_color_arg0[] = "color";
parse_pgm_token_string_t cmd_color_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_color_result, arg0, str_color_arg0);
-prog_char str_color_color[] = "green#red";
+prog_char str_color_color[] = "blue#yellow";
parse_pgm_token_string_t cmd_color_color = TOKEN_STRING_INITIALIZER(struct cmd_color_result, color, str_color_color);
prog_char help_color[] = "Set our color";
.data = NULL, /* 2nd arg of func */
.help_str = help_color,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_color_arg0,
- (prog_void *)&cmd_color_color,
+ (prog_void *)&cmd_color_arg0,
+ (prog_void *)&cmd_color_color,
NULL,
},
};
__attribute__((unused)) void *data)
{
struct cmd_state1_result *res = parsed_result;
- struct i2c_cmd_cobboard_set_mode command;
- if (!strcmp_P(res->arg1, PSTR("init"))) {
+ if (!strcmp_P(res->arg1, PSTR("init")))
state_init();
- return;
- }
-
- if (!strcmp_P(res->arg1, PSTR("manual")))
- command.mode = I2C_COBBOARD_MODE_MANUAL;
- else if (!strcmp_P(res->arg1, PSTR("harvest")))
- command.mode = I2C_COBBOARD_MODE_HARVEST;
- state_set_mode(&command);
+ else if (!strcmp_P(res->arg1, PSTR("eject")))
+ state_set_mode(I2C_COBBOARD_MODE_EJECT);
+ else if (!strcmp_P(res->arg1, PSTR("ignore_i2c")))
+ state_set_i2c_ignore(1);
+ else if (!strcmp_P(res->arg1, PSTR("care_i2c")))
+ state_set_i2c_ignore(0);
+
+ /* other commands */
}
prog_char str_state1_arg0[] = "cobboard";
parse_pgm_token_string_t cmd_state1_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state1_result, arg0, str_state1_arg0);
-prog_char str_state1_arg1[] = "init#manual";
+prog_char str_state1_arg1[] = "init#eject#ignore_i2c#care_i2c";
parse_pgm_token_string_t cmd_state1_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_state1_result, arg1, str_state1_arg1);
prog_char help_state1[] = "set cobboard mode";
.data = NULL, /* 2nd arg of func */
.help_str = help_state1,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_state1_arg0,
- (prog_void *)&cmd_state1_arg1,
+ (prog_void *)&cmd_state1_arg0,
+ (prog_void *)&cmd_state1_arg1,
NULL,
},
};
__attribute__((unused)) void *data)
{
struct cmd_state2_result *res = parsed_result;
- struct i2c_cmd_cobboard_set_mode command;
uint8_t side;
if (!strcmp_P(res->arg2, PSTR("left")))
side = I2C_LEFT_SIDE;
- else if (!strcmp_P(res->arg2, PSTR("right")))
+ else
side = I2C_RIGHT_SIDE;
- if (!strcmp_P(res->arg1, PSTR("yyy"))) {
+ if (!strcmp_P(res->arg1, PSTR("pack"))) {
+ state_set_mode(I2C_COBBOARD_MODE_HARVEST);
+ state_set_spickle(side, 0);
}
- else if (!strcmp_P(res->arg1, PSTR("xxx"))) {
+ else if (!strcmp_P(res->arg1, PSTR("deploy"))) {
+ state_set_mode(I2C_COBBOARD_MODE_HARVEST);
+ state_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY);
+ }
+ else if (!strcmp_P(res->arg1, PSTR("harvest"))) {
+ state_set_mode(I2C_COBBOARD_MODE_HARVEST);
+ state_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY |
+ I2C_COBBOARD_SPK_AUTOHARVEST);
+ }
+ else if (!strcmp_P(res->arg1, PSTR("deploy_nomove"))) {
+ state_set_mode(I2C_COBBOARD_MODE_HARVEST);
+ state_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY |
+ I2C_COBBOARD_SPK_NO_MOVE);
+ }
+ else if (!strcmp_P(res->arg1, PSTR("harvest_nomove"))) {
+ state_set_mode(I2C_COBBOARD_MODE_HARVEST);
+ state_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY |
+ I2C_COBBOARD_SPK_AUTOHARVEST |
+ I2C_COBBOARD_SPK_NO_MOVE);
}
-
-
- state_set_mode(&command);
}
prog_char str_state2_arg0[] = "cobboard";
parse_pgm_token_string_t cmd_state2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg0, str_state2_arg0);
-prog_char str_state2_arg1[] = "xxx";
+prog_char str_state2_arg1[] = "harvest#deploy#pack#harvest_nomove#deploy_nomove";
parse_pgm_token_string_t cmd_state2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg1, str_state2_arg1);
prog_char str_state2_arg2[] = "left#right";
parse_pgm_token_string_t cmd_state2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg2, str_state2_arg2);
.data = NULL, /* 2nd arg of func */
.help_str = help_state2,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_state2_arg0,
- (prog_void *)&cmd_state2_arg1,
- (prog_void *)&cmd_state2_arg2,
+ (prog_void *)&cmd_state2_arg0,
+ (prog_void *)&cmd_state2_arg1,
+ (prog_void *)&cmd_state2_arg2,
NULL,
},
};
};
/* function called when cmd_state3 is parsed successfully */
-static void cmd_state3_parsed(void *parsed_result,
+static void cmd_state3_parsed(void *parsed_result,
__attribute__((unused)) void *data)
{
struct cmd_state3_result *res = parsed_result;
- struct i2c_cmd_cobboard_set_mode command;
if (!strcmp_P(res->arg1, PSTR("xxx"))) {
/* xxx = res->arg2 */
}
else if (!strcmp_P(res->arg1, PSTR("yyy"))) {
}
- state_set_mode(&command);
+ state_set_mode(0);
}
prog_char str_state3_arg0[] = "cobboard";
.data = NULL, /* 2nd arg of func */
.help_str = help_state3,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_state3_arg0,
- (prog_void *)&cmd_state3_arg1,
- (prog_void *)&cmd_state3_arg2,
+ (prog_void *)&cmd_state3_arg0,
+ (prog_void *)&cmd_state3_arg1,
+ (prog_void *)&cmd_state3_arg2,
NULL,
},
};
.data = NULL, /* 2nd arg of func */
.help_str = help_state_machine,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_state_machine_arg0,
+ (prog_void *)&cmd_state_machine_arg0,
NULL,
},
};
parse_pgm_token_string_t cmd_state_debug_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state_debug_result, arg0, str_state_debug_arg0);
parse_pgm_token_num_t cmd_state_debug_on = TOKEN_NUM_INITIALIZER(struct cmd_state_debug_result, on, UINT8);
-prog_char help_state_debug[] = "Set debug timer for state machine";
+prog_char help_state_debug[] = "Set debug for state machine";
parse_pgm_inst_t cmd_state_debug = {
.f = cmd_state_debug_parsed, /* function to call */
.data = NULL, /* 2nd arg of func */
.help_str = help_state_debug,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_state_debug_arg0,
- (prog_void *)&cmd_state_debug_on,
+ (prog_void *)&cmd_state_debug_arg0,
+ (prog_void *)&cmd_state_debug_on,
NULL,
},
};
servo_door_open();
else if (!strcmp_P(res->arg1, PSTR("closed")))
servo_door_close();
+ else if (!strcmp_P(res->arg1, PSTR("block")))
+ servo_door_close();
}
prog_char str_servo_door_arg0[] = "door";
parse_pgm_token_string_t cmd_servo_door_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_servo_door_result, arg0, str_servo_door_arg0);
-prog_char str_servo_door_arg1[] = "open#closed";
+prog_char str_servo_door_arg1[] = "open#closed#block";
parse_pgm_token_string_t cmd_servo_door_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_servo_door_result, arg1, str_servo_door_arg1);
prog_char help_servo_door[] = "Servo door function";
.data = NULL, /* 2nd arg of func */
.help_str = help_servo_door,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_servo_door_arg0,
- (prog_void *)&cmd_servo_door_arg1,
+ (prog_void *)&cmd_servo_door_arg0,
+ (prog_void *)&cmd_servo_door_arg1,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* cobroller */
+
+/* this structure is filled when cmd_cobroller is parsed successfully */
+struct cmd_cobroller_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ fixed_string_t arg2;
+};
+
+/* function called when cmd_cobroller is parsed successfully */
+static void cmd_cobroller_parsed(void *parsed_result,
+ __attribute__((unused)) void *data)
+{
+ struct cmd_cobroller_result *res = parsed_result;
+ uint8_t side;
+
+ if (!strcmp_P(res->arg1, PSTR("left")))
+ side = I2C_LEFT_SIDE;
+ else
+ side = I2C_RIGHT_SIDE;
+
+ if (!strcmp_P(res->arg2, PSTR("on")))
+ cobroller_on(side);
+ else if (!strcmp_P(res->arg2, PSTR("off")))
+ cobroller_off(side);
+}
+
+prog_char str_cobroller_arg0[] = "cobroller";
+parse_pgm_token_string_t cmd_cobroller_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cobroller_result, arg0, str_cobroller_arg0);
+prog_char str_cobroller_arg1[] = "left#right";
+parse_pgm_token_string_t cmd_cobroller_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_cobroller_result, arg1, str_cobroller_arg1);
+prog_char str_cobroller_arg2[] = "on#off";
+parse_pgm_token_string_t cmd_cobroller_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_cobroller_result, arg2, str_cobroller_arg2);
+
+prog_char help_cobroller[] = "Servo door function";
+parse_pgm_inst_t cmd_cobroller = {
+ .f = cmd_cobroller_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_cobroller,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_cobroller_arg0,
+ (prog_void *)&cmd_cobroller_arg1,
+ (prog_void *)&cmd_cobroller_arg2,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* shovel */
+
+/* this structure is filled when cmd_shovel is parsed successfully */
+struct cmd_shovel_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+};
+
+/* function called when cmd_shovel is parsed successfully */
+static void cmd_shovel_parsed(void *parsed_result,
+ __attribute__((unused)) void *data)
+{
+ struct cmd_shovel_result *res = parsed_result;
+ if (!strcmp_P(res->arg1, PSTR("down")))
+ shovel_down();
+ else if (!strcmp_P(res->arg1, PSTR("up")))
+ shovel_up();
+ else if (!strcmp_P(res->arg1, PSTR("mid")))
+ shovel_mid();
+}
+
+prog_char str_shovel_arg0[] = "shovel";
+parse_pgm_token_string_t cmd_shovel_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_shovel_result, arg0, str_shovel_arg0);
+prog_char str_shovel_arg1[] = "down#up#mid";
+parse_pgm_token_string_t cmd_shovel_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_shovel_result, arg1, str_shovel_arg1);
+
+prog_char help_shovel[] = "Servo shovel function";
+parse_pgm_inst_t cmd_shovel = {
+ .f = cmd_shovel_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_shovel,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_shovel_arg0,
+ (prog_void *)&cmd_shovel_arg1,
NULL,
},
};
.data = NULL, /* 2nd arg of func */
.help_str = help_servo_carry,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_servo_carry_arg0,
- (prog_void *)&cmd_servo_carry_arg1,
+ (prog_void *)&cmd_servo_carry_arg0,
+ (prog_void *)&cmd_servo_carry_arg1,
NULL,
},
};
/**********************************************************/
-/* Spickles tests */
+/* Spickle tests */
/* this structure is filled when cmd_spickle is parsed successfully */
struct cmd_spickle_result {
fixed_string_t arg0;
fixed_string_t arg1;
+ fixed_string_t arg2;
};
/* function called when cmd_spickle is parsed successfully */
__attribute__((unused)) void *data)
{
struct cmd_spickle_result * res = parsed_result;
-
- if (!strcmp_P(res->arg1, PSTR("up"))) {
- spickle_up();
- }
- else if (!strcmp_P(res->arg1, PSTR("down"))) {
- spickle_down();
+ uint8_t side;
+
+ if (!strcmp_P(res->arg1, PSTR("left")))
+ side = I2C_LEFT_SIDE;
+ else
+ side = I2C_RIGHT_SIDE;
+
+ if (!strcmp_P(res->arg2, PSTR("deploy"))) {
+ spickle_deploy(side);
}
- else if (!strcmp_P(res->arg1, PSTR("stop"))) {
- spickle_stop();
+ else if (!strcmp_P(res->arg2, PSTR("pack"))) {
+ spickle_pack(side);
}
- else if (!strcmp_P(res->arg1, PSTR("auto"))) {
- spickle_auto();
+ else if (!strcmp_P(res->arg2, PSTR("mid"))) {
+ spickle_mid(side);
}
-
printf_P(PSTR("done\r\n"));
}
prog_char str_spickle_arg0[] = "spickle";
-parse_pgm_token_string_t cmd_spickle_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_spickle_result, arg0, str_spickle_arg0);
-prog_char str_spickle_arg1[] = "auto#up#down#stop";
-parse_pgm_token_string_t cmd_spickle_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_spickle_result, arg1, str_spickle_arg1);
-
-prog_char help_spickle[] = "spickle auto mode: spickle auto delay_up delay_down";
+parse_pgm_token_string_t cmd_spickle_arg0 =
+ TOKEN_STRING_INITIALIZER(struct cmd_spickle_result, arg0, str_spickle_arg0);
+prog_char str_spickle_arg1[] = "left#right";
+parse_pgm_token_string_t cmd_spickle_arg1 =
+ TOKEN_STRING_INITIALIZER(struct cmd_spickle_result, arg1, str_spickle_arg1);
+prog_char str_spickle_arg2[] = "deploy#pack#mid";
+parse_pgm_token_string_t cmd_spickle_arg2 =
+ TOKEN_STRING_INITIALIZER(struct cmd_spickle_result, arg2, str_spickle_arg2);
+
+prog_char help_spickle[] = "move spickle";
parse_pgm_inst_t cmd_spickle = {
.f = cmd_spickle_parsed, /* function to call */
.data = NULL, /* 2nd arg of func */
.help_str = help_spickle,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_spickle_arg0,
- (prog_void *)&cmd_spickle_arg1,
+ (prog_void *)&cmd_spickle_arg0,
+ (prog_void *)&cmd_spickle_arg1,
+ (prog_void *)&cmd_spickle_arg2,
NULL,
},
};
struct cmd_spickle_params_result {
fixed_string_t arg0;
fixed_string_t arg1;
- int32_t arg2;
+ fixed_string_t arg2;
int32_t arg3;
+ int32_t arg4;
+ int32_t arg5;
};
/* function called when cmd_spickle_params is parsed successfully */
__attribute__((unused)) void *data)
{
struct cmd_spickle_params_result * res = parsed_result;
-
-
- if (!strcmp_P(res->arg1, PSTR("delay"))) {
- spickle_set_delays(res->arg2, res->arg3);
- }
- else if (!strcmp_P(res->arg1, PSTR("coef"))) {
- spickle_set_coefs(res->arg2, res->arg3);
- }
- else if (!strcmp_P(res->arg1, PSTR("pos"))) {
- spickle_set_pos(res->arg2, res->arg3);
+ uint8_t side;
+
+ if (!strcmp_P(res->arg1, PSTR("show"))) {
+ spickle_dump_params();
+ return;
}
- /* else show */
- spickle_dump_params();
+ if (!strcmp_P(res->arg1, PSTR("left")))
+ side = I2C_LEFT_SIDE;
+ else
+ side = I2C_RIGHT_SIDE;
+
+ if (!strcmp_P(res->arg2, PSTR("pos")))
+ spickle_set_pos(side, res->arg3, res->arg4, res->arg5);
}
prog_char str_spickle_params_arg0[] = "spickle_params";
-parse_pgm_token_string_t cmd_spickle_params_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_spickle_params_result, arg0, str_spickle_params_arg0);
-prog_char str_spickle_params_arg1[] = "delay#pos#coef";
-parse_pgm_token_string_t cmd_spickle_params_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_spickle_params_result, arg1, str_spickle_params_arg1);
-parse_pgm_token_num_t cmd_spickle_params_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_spickle_params_result, arg2, INT32);
-parse_pgm_token_num_t cmd_spickle_params_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_spickle_params_result, arg3, INT32);
-
-prog_char help_spickle_params[] = "Set spickle_params values";
+parse_pgm_token_string_t cmd_spickle_params_arg0 =
+ TOKEN_STRING_INITIALIZER(struct cmd_spickle_params_result, arg0, str_spickle_params_arg0);
+prog_char str_spickle_params_arg1[] = "left#right";
+parse_pgm_token_string_t cmd_spickle_params_arg1 =
+ TOKEN_STRING_INITIALIZER(struct cmd_spickle_params_result, arg1, str_spickle_params_arg1);
+prog_char str_spickle_params_arg2[] = "pos";
+parse_pgm_token_string_t cmd_spickle_params_arg2 =
+ TOKEN_STRING_INITIALIZER(struct cmd_spickle_params_result, arg2, str_spickle_params_arg2);
+parse_pgm_token_num_t cmd_spickle_params_arg3 =
+ TOKEN_NUM_INITIALIZER(struct cmd_spickle_params_result, arg3, INT32);
+parse_pgm_token_num_t cmd_spickle_params_arg4 =
+ TOKEN_NUM_INITIALIZER(struct cmd_spickle_params_result, arg4, INT32);
+parse_pgm_token_num_t cmd_spickle_params_arg5 =
+ TOKEN_NUM_INITIALIZER(struct cmd_spickle_params_result, arg5, INT32);
+
+prog_char help_spickle_params[] = "Set spickle pos values: left|right pos INTPACK INTMID INTDEPL";
parse_pgm_inst_t cmd_spickle_params = {
.f = cmd_spickle_params_parsed, /* function to call */
.data = NULL, /* 2nd arg of func */
.help_str = help_spickle_params,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_spickle_params_arg0,
- (prog_void *)&cmd_spickle_params_arg1,
- (prog_void *)&cmd_spickle_params_arg2,
- (prog_void *)&cmd_spickle_params_arg3,
+ (prog_void *)&cmd_spickle_params_arg0,
+ (prog_void *)&cmd_spickle_params_arg1,
+ (prog_void *)&cmd_spickle_params_arg2,
+ (prog_void *)&cmd_spickle_params_arg3,
+ (prog_void *)&cmd_spickle_params_arg4,
+ (prog_void *)&cmd_spickle_params_arg5,
NULL,
},
};
prog_char str_spickle_params_arg1_show[] = "show";
-parse_pgm_token_string_t cmd_spickle_params_arg1_show = TOKEN_STRING_INITIALIZER(struct cmd_spickle_params_result, arg1, str_spickle_params_arg1_show);
+parse_pgm_token_string_t cmd_spickle_params_arg1_show =
+ TOKEN_STRING_INITIALIZER(struct cmd_spickle_params_result, arg1, str_spickle_params_arg1_show);
prog_char help_spickle_params_show[] = "show spickle params";
parse_pgm_inst_t cmd_spickle_params_show = {
.data = NULL, /* 2nd arg of func */
.help_str = help_spickle_params_show,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_spickle_params_arg0,
- (prog_void *)&cmd_spickle_params_arg1_show,
+ (prog_void *)&cmd_spickle_params_arg0,
+ (prog_void *)&cmd_spickle_params_arg1_show,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Set Spickle Params */
+
+/* this structure is filled when cmd_spickle_params2 is parsed successfully */
+struct cmd_spickle_params2_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ int32_t arg2;
+ int32_t arg3;
+};
+
+/* function called when cmd_spickle_params2 is parsed successfully */
+static void cmd_spickle_params2_parsed(void *parsed_result,
+ __attribute__((unused)) void *data)
+{
+ struct cmd_spickle_params2_result * res = parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("coef"))) {
+ spickle_set_coefs(res->arg2, res->arg3);
+ }
+
+ /* else show */
+ spickle_dump_params();
+}
+
+prog_char str_spickle_params2_arg0[] = "spickle_params2";
+parse_pgm_token_string_t cmd_spickle_params2_arg0 =
+ TOKEN_STRING_INITIALIZER(struct cmd_spickle_params2_result, arg0, str_spickle_params2_arg0);
+prog_char str_spickle_params2_arg1[] = "coef";
+parse_pgm_token_string_t cmd_spickle_params2_arg1 =
+ TOKEN_STRING_INITIALIZER(struct cmd_spickle_params2_result, arg1, str_spickle_params2_arg1);
+parse_pgm_token_num_t cmd_spickle_params2_arg2 =
+ TOKEN_NUM_INITIALIZER(struct cmd_spickle_params2_result, arg2, INT32);
+parse_pgm_token_num_t cmd_spickle_params2_arg3 =
+ TOKEN_NUM_INITIALIZER(struct cmd_spickle_params2_result, arg3, INT32);
+
+prog_char help_spickle_params2[] = "Set spickle_params2 values";
+parse_pgm_inst_t cmd_spickle_params2 = {
+ .f = cmd_spickle_params2_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_spickle_params2,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_spickle_params2_arg0,
+ (prog_void *)&cmd_spickle_params2_arg1,
+ (prog_void *)&cmd_spickle_params2_arg2,
+ (prog_void *)&cmd_spickle_params2_arg3,
+ NULL,
+ },
+};
+
+prog_char str_spickle_params2_arg1_show[] = "show";
+parse_pgm_token_string_t cmd_spickle_params2_arg1_show =
+ TOKEN_STRING_INITIALIZER(struct cmd_spickle_params2_result, arg1, str_spickle_params2_arg1_show);
+
+prog_char help_spickle_params2_show[] = "show spickle params";
+parse_pgm_inst_t cmd_spickle_params2_show = {
+ .f = cmd_spickle_params2_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_spickle_params2_show,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_spickle_params2_arg0,
+ (prog_void *)&cmd_spickle_params2_arg1_show,
NULL,
},
};
}
prog_char str_test_arg0[] = "test";
-parse_pgm_token_string_t cmd_test_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_test_result, arg0, str_test_arg0);
+parse_pgm_token_string_t cmd_test_arg0 =
+ TOKEN_STRING_INITIALIZER(struct cmd_test_result, arg0, str_test_arg0);
prog_char help_test[] = "Test function";
parse_pgm_inst_t cmd_test = {
.data = NULL, /* 2nd arg of func */
.help_str = help_test,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_test_arg0,
+ (prog_void *)&cmd_test_arg0,
NULL,
},
};
git.droids-corp.org / aversive.git / blobdiff