X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fcommands_cobboard.c;h=669c4c8bc8589ac9753377c0ae9ebc6520e02dc2;hp=b822e4a98327b7c5c879ec218f6d147bdbd415d0;hb=aa68be2d5d596693bda1109e4ccd6489f613b4f7;hpb=8d6a47e9e21a9a31f4bc12d32fb3d11091a4b305 diff --git a/projects/microb2010/cobboard/commands_cobboard.c b/projects/microb2010/cobboard/commands_cobboard.c index b822e4a..669c4c8 100644 --- a/projects/microb2010/cobboard/commands_cobboard.c +++ b/projects/microb2010/cobboard/commands_cobboard.c @@ -1,6 +1,6 @@ /* * 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 @@ -17,7 +17,7 @@ * * Revision : $Id: commands_cobboard.c,v 1.6 2009-11-08 17:25:00 zer0 Exp $ * - * Olivier MATZ + * Olivier MATZ */ #include @@ -50,9 +50,8 @@ #include "state.h" #include "i2c_protocol.h" #include "actuator.h" -#include "actuator.h" - -extern uint16_t state_debug; +#include "spickle.h" +#include "shovel.h" struct cmd_event_result { fixed_string_t arg0; @@ -67,22 +66,24 @@ static void cmd_event_parsed(void *parsed_result, __attribute__((unused)) void * 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; } @@ -96,6 +97,8 @@ static void cmd_event_parsed(void *parsed_result, __attribute__((unused)) void * 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"))) @@ -108,13 +111,13 @@ static void cmd_event_parsed(void *parsed_result, __attribute__((unused)) void * } 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); @@ -125,9 +128,9 @@ parse_pgm_inst_t cmd_event = { .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, }, }; @@ -145,18 +148,18 @@ struct cmd_color_result { 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"; @@ -165,8 +168,8 @@ parse_pgm_inst_t cmd_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, }, }; @@ -185,23 +188,22 @@ static void cmd_state1_parsed(void *parsed_result, __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"; @@ -210,8 +212,8 @@ parse_pgm_inst_t cmd_state1 = { .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, }, }; @@ -231,26 +233,42 @@ static void cmd_state2_parsed(void *parsed_result, __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); @@ -261,9 +279,9 @@ parse_pgm_inst_t cmd_state2 = { .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, }, }; @@ -279,18 +297,17 @@ struct cmd_state3_result { }; /* 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"; @@ -305,9 +322,9 @@ parse_pgm_inst_t cmd_state3 = { .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, }, }; @@ -336,7 +353,7 @@ parse_pgm_inst_t cmd_state_machine = { .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, }, }; @@ -362,14 +379,14 @@ prog_char str_state_debug_arg0[] = "state_debug"; 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, }, }; @@ -392,11 +409,13 @@ static void cmd_servo_door_parsed(void *parsed_result, 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"; @@ -405,8 +424,95 @@ parse_pgm_inst_t cmd_servo_door = { .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, }, }; @@ -442,8 +548,213 @@ parse_pgm_inst_t cmd_servo_carry = { .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, + }, +}; + +/**********************************************************/ +/* 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 */ +static void cmd_spickle_parsed(void * parsed_result, + __attribute__((unused)) void *data) +{ + struct cmd_spickle_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("deploy"))) { + spickle_deploy(side); + } + else if (!strcmp_P(res->arg2, PSTR("pack"))) { + spickle_pack(side); + } + 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[] = "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_arg2, + NULL, + }, +}; + +/**********************************************************/ +/* Set Spickle Params */ + +/* this structure is filled when cmd_spickle_params is parsed successfully */ +struct cmd_spickle_params_result { + fixed_string_t arg0; + fixed_string_t arg1; + fixed_string_t arg2; + int32_t arg3; + int32_t arg4; + int32_t arg5; +}; + +/* function called when cmd_spickle_params is parsed successfully */ +static void cmd_spickle_params_parsed(void *parsed_result, + __attribute__((unused)) void *data) +{ + struct cmd_spickle_params_result * res = parsed_result; + uint8_t side; + + if (!strcmp_P(res->arg1, PSTR("show"))) { + spickle_dump_params(); + return; + } + + 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[] = "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_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); + +prog_char help_spickle_params_show[] = "show spickle params"; +parse_pgm_inst_t cmd_spickle_params_show = { + .f = cmd_spickle_params_parsed, /* function to call */ + .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, + 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, }, }; @@ -463,7 +774,8 @@ static void cmd_test_parsed(__attribute__((unused)) void *parsed_result, } 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 = { @@ -471,7 +783,7 @@ 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, }, };