X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2009%2Fmainboard%2Fcommands_mainboard.c;h=62c73161dc1d71deb5ec7b67968306aada9ca6e1;hp=b379dc1bb0c18a58e3bdcc42f1c313d78fc6865e;hb=fca037e03b1b0fe462ad19e848cd77fce7719e3c;hpb=4a33e94c3809e67674577509044653bac4a4d87a

diff --git a/projects/microb2009/mainboard/commands_mainboard.c b/projects/microb2009/mainboard/commands_mainboard.c
index b379dc1..62c7316 100644
--- a/projects/microb2009/mainboard/commands_mainboard.c
+++ b/projects/microb2009/mainboard/commands_mainboard.c
@@ -2116,10 +2116,10 @@ parse_pgm_inst_t cmd_beacon_opp_dump = {
 #endif
 
 /**********************************************************/
-/* Test */
+/* Circle_Radius */
 
-/* this structure is filled when cmd_test is parsed successfully */
-struct cmd_test_result {
+/* this structure is filled when cmd_circle_radius is parsed successfully */
+struct cmd_circle_radius_result {
 	fixed_string_t arg0;
 	int32_t radius;
 };
@@ -2127,19 +2127,53 @@ void circle_get_da_speed_from_radius(struct trajectory *traj,
 				double radius_mm,
 				double *speed_d,
 				double *speed_a);
-/* function called when cmd_test is parsed successfully */
-static void cmd_test_parsed(void *parsed_result, void *data)
+/* function called when cmd_circle_radius is parsed successfully */
+static void cmd_circle_radius_parsed(void *parsed_result, void *data)
 {
-	struct cmd_test_result *res = parsed_result;
+	struct cmd_circle_radius_result *res = parsed_result;
 	double d,a;
 	strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW);
 	circle_get_da_speed_from_radius(&mainboard.traj, res->radius, &d, &a);
 	printf_P(PSTR("d=%2.2f a=%2.2f\r\n"), d, a);
 }
 
+prog_char str_circle_radius_arg0[] = "circle_radius";
+parse_pgm_token_string_t cmd_circle_radius_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_circle_radius_result, arg0, str_circle_radius_arg0);
+parse_pgm_token_num_t cmd_circle_radius_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_circle_radius_result, radius, INT32);
+
+prog_char help_circle_radius[] = "Circle_Radius function";
+parse_pgm_inst_t cmd_circle_radius = {
+	.f = cmd_circle_radius_parsed,  /* function to call */
+	.data = NULL,      /* 2nd arg of func */
+	.help_str = help_circle_radius,
+	.tokens = {        /* token list, NULL terminated */
+		(prog_void *)&cmd_circle_radius_arg0,
+		(prog_void *)&cmd_circle_radius_arg1,
+		NULL,
+	},
+};
+
+/**********************************************************/
+/* Test */
+
+/* this structure is filled when cmd_test is parsed successfully */
+struct cmd_test_result {
+	fixed_string_t arg0;
+	uint32_t mask;
+};
+
+extern uint32_t encmask;
+
+/* function called when cmd_test is parsed successfully */
+static void cmd_test_parsed(void *parsed_result, void *data)
+{
+	struct cmd_test_result *res = parsed_result;
+	encmask = res->mask;
+}
+
 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_num_t cmd_test_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_test_result, radius, INT32);
+parse_pgm_token_num_t cmd_test_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_test_result, mask, UINT32);
 
 prog_char help_test[] = "Test function";
 parse_pgm_inst_t cmd_test = {