#include <aversive/queue.h>
#include <aversive/endian.h>
#include <aversive/error.h>
+#include <aversive/wait.h>
#include <parse.h>
#include <rdline.h>
#include <parse_string.h>
#include "parse_neighbor.h"
#include "parse_monitor.h"
+#include "spi_servo.h"
#include "rc_proto.h"
#include "main.h"
#include "cmdline.h"
};
#endif
+/* this structure is filled when cmd_test_spi is parsed successfully */
+struct cmd_test_spi_result {
+ fixed_string_t arg0;
+};
+
+static void cmd_test_spi_parsed(void * parsed_result,
+ __attribute__((unused)) void *data)
+{
+ int i;
+
+
+ while (1) {
+ for (i = 0; i < 50; i++) {
+ spi_servo_set(0, 0);
+ wait_ms(100);
+ spi_servo_set(0, 500);
+ wait_ms(100);
+ }
+
+ spi_servo_bypass(1);
+ wait_ms(10000);
+ spi_servo_bypass(0);
+ wait_ms(1);
+ }
+}
+
+prog_char str_test_spi_arg0[] = "test_spi";
+parse_pgm_token_string_t cmd_test_spi_arg0 =
+ TOKEN_STRING_INITIALIZER(struct cmd_test_spi_result, arg0,
+ str_test_spi_arg0);
+
+prog_char help_test_spi[] = "Test the spi";
+parse_pgm_inst_t cmd_test_spi = {
+ .f = cmd_test_spi_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_test_spi,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_test_spi_arg0,
+ NULL,
+ },
+};
/* in progmem */
parse_pgm_ctx_t main_ctx[] = {
#ifndef USE_USB
(parse_pgm_inst_t *)&cmd_baudrate,
#endif
+ (parse_pgm_inst_t *)&cmd_test_spi,
NULL,
};