X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=commands.c;h=2e025519f5e285655bd32115e4105e1e35befd8b;hp=fb67438cd64886b3ddb5dbd48f36acef76c0dc53;hb=013bac441997a3a008507835aa4c745458422786;hpb=57895b3bb2fe0582c589685b7df34f3968b346ec diff --git a/commands.c b/commands.c index fb67438..2e02551 100644 --- a/commands.c +++ b/commands.c @@ -35,12 +35,7 @@ #include #include #include - -#include "xbee_atcmd.h" -#include "xbee_neighbor.h" -#include "xbee_stats.h" -#include "xbee_proto.h" -#include "xbee.h" +#include #include "callout.h" #include "parse_atcmd.h" @@ -51,6 +46,8 @@ #include "rc_proto.h" #include "main.h" #include "cmdline.h" +#include "beep.h" +#include "eeprom_config.h" /* commands_gen.c */ extern const parse_inst_t PROGMEM cmd_reset; @@ -69,7 +66,7 @@ struct monitor_reg *monitor_current; static int range_period_ms = 1000; static int range_powermask = 0x1F; -static uint8_t range_power = 0; +//static uint8_t range_power = 0; static int range_running = 0; static uint64_t range_dstaddr = 0xFFFF; /* broadcast by default */ static struct callout range_event; @@ -95,6 +92,10 @@ static void monitor_cb(struct callout_manager *cm, static void range_cb(struct callout_manager *cm, struct callout *clt, void *dummy) { + (void)cm; + (void)clt; + (void)dummy; +#if 0 uint8_t i, mask; struct rc_proto_range rangepkt; @@ -126,6 +127,7 @@ static void range_cb(struct callout_manager *cm, callout_reset(cm, &range_event, range_period_ms, SINGLE, range_cb, NULL); +#endif } /* this structure is filled when cmd_help is parsed successfully */ @@ -567,6 +569,105 @@ const parse_inst_t PROGMEM cmd_sendmsg = { /* ************* */ +/* this structure is filled when cmd_send_hello is parsed successfully */ +struct cmd_send_hello_result { + fixed_string_t send_hello; + uint64_t addr; + struct xbee_neigh *neigh; + uint16_t period; + uint16_t count; + fixed_string_t data; +}; + +/* function called when cmd_send_hello is parsed successfully */ +static void cmd_send_hello_parsed(void *parsed_result, void *use_neigh) +{ + struct cmd_send_hello_result *res = parsed_result; + uint16_t now, next, diff; + uint8_t flags; + uint64_t addr; + + if (use_neigh) + addr = res->neigh->addr; + else + addr = res->addr; + + IRQ_LOCK(flags); + now = global_ms; + IRQ_UNLOCK(flags); + + next = now; + + while (!cmdline_keypressed() && res->count != 0) { + IRQ_LOCK(flags); + now = global_ms; + IRQ_UNLOCK(flags); + + diff = now - next; + if (diff < res->period) + continue; + + rc_proto_send_hello(addr, res->data, strlen(res->data)); + next += res->period; + res->count--; + } +} + +const char PROGMEM str_send_hello[] = "send_hello"; + +const parse_token_string_t PROGMEM cmd_send_hello_send_hello = + TOKEN_STRING_INITIALIZER(struct cmd_send_hello_result, send_hello, + str_send_hello); + +const parse_token_num_t PROGMEM cmd_send_hello_addr = + TOKEN_NUM_INITIALIZER(struct cmd_send_hello_result, addr, UINT64); + +const parse_token_num_t PROGMEM cmd_send_hello_period = + TOKEN_NUM_INITIALIZER(struct cmd_send_hello_result, period, UINT16); + +const parse_token_num_t PROGMEM cmd_send_hello_count = + TOKEN_NUM_INITIALIZER(struct cmd_send_hello_result, count, UINT16); + +const parse_token_string_t PROGMEM cmd_send_hello_data = + TOKEN_STRING_INITIALIZER(struct cmd_send_hello_result, data, NULL); + +const char PROGMEM help_send_hello[] = + "Send hello msg to a node: addr, period_ms, count, str"; + +const parse_inst_t PROGMEM cmd_send_hello = { + .f = cmd_send_hello_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_send_hello, + .tokens = { /* token list, NULL terminated */ + (PGM_P)&cmd_send_hello_send_hello, + (PGM_P)&cmd_send_hello_addr, + (PGM_P)&cmd_send_hello_period, + (PGM_P)&cmd_send_hello_count, + (PGM_P)&cmd_send_hello_data, + NULL, + }, +}; + +const parse_token_neighbor_t PROGMEM cmd_send_hello_neigh = + TOKEN_NEIGHBOR_INITIALIZER(struct cmd_send_hello_result, neigh, + &xbee_dev); + +const parse_inst_t PROGMEM cmd_send_hello_name = { + .f = cmd_send_hello_parsed, /* function to call */ + .data = (void *)1, /* 2nd arg of func */ + .help_str = help_send_hello, + .tokens = { /* token list, NULL terminated */ + (PGM_P)&cmd_send_hello_send_hello, + (PGM_P)&cmd_send_hello_neigh, + (PGM_P)&cmd_send_hello_period, + (PGM_P)&cmd_send_hello_count, + (PGM_P)&cmd_send_hello_data, + NULL, + }, +}; + +/* ************* */ + /* this structure is filled when cmd_sendmsg_name is parsed successfully */ struct cmd_sendmsg_name_result { fixed_string_t sendmsg_name; @@ -1260,7 +1361,6 @@ const parse_inst_t PROGMEM cmd_debug = { }, }; -#ifndef USE_USB /**********************************************************/ /* this structure is filled when cmd_baudrate is parsed successfully */ @@ -1299,7 +1399,150 @@ const parse_inst_t PROGMEM cmd_baudrate = { NULL, }, }; -#endif + + +/**********************************************************/ + +/* this structure is filled when cmd_beep is parsed successfully */ +struct cmd_beep_result { + fixed_string_t beep; +}; + +/* function called when cmd_beep is parsed successfully */ +static void cmd_beep_parsed(void *parsed_result, void *data) +{ + (void)parsed_result; + (void)data; + + beep(0, 3, 3); + beep(1, 3, 3); + beep(2, 3, 3); + beep(0, 1, 1); + beep(1, 1, 1); + beep(2, 1, 1); +} + +const char PROGMEM str_beep[] = "beep"; +const parse_token_string_t PROGMEM cmd_beep_beep = + TOKEN_STRING_INITIALIZER(struct cmd_beep_result, beep, + str_beep); + +const char PROGMEM help_beep[] = "Send a beep"; + +const parse_inst_t PROGMEM cmd_beep = { + .f = cmd_beep_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_beep, + .tokens = { /* token list, NULL terminated */ + (PGM_P)&cmd_beep_beep, + NULL, + }, +}; + +/**********************************************************/ + +/* this structure is filled when cmd_servo is parsed successfully */ +struct cmd_servo_result { + fixed_string_t arg0; + fixed_string_t arg1; + uint16_t num; + uint16_t val; +}; + +/* function called when cmd_servo is parsed successfully */ +static void cmd_servo_parsed(void * parsed_result, void *data) +{ + struct cmd_servo_result *res = parsed_result; + + (void)data; + + if (!strcmp_P(res->arg1, PSTR("set"))) { + if (res->num >= N_SERVO) { + printf_P(PSTR("bad servo num\n")); + return; + } + if (res->val >= 1024) { + printf_P(PSTR("bad servo val\n")); + return; + } + spi_servo_set(res->num, res->val); + } + else if (!strcmp_P(res->arg1, PSTR("bypass"))) { + spi_servo_set_bypass(!!res->val); + } + else if (!strcmp_P(res->arg1, PSTR("ppm"))) { + spi_servo_set_ppm(!!res->val); + } + else if (!strcmp_P(res->arg1, PSTR("show"))) { + spi_servo_dump(); + } +} + +const char PROGMEM str_servo_arg0[] = "servo"; +const parse_token_string_t PROGMEM cmd_servo_arg0 = + TOKEN_STRING_INITIALIZER(struct cmd_servo_result, arg0, + str_servo_arg0); +const char PROGMEM str_servo_arg1_set[] = "set"; +const parse_token_string_t PROGMEM cmd_servo_arg1_set = + TOKEN_STRING_INITIALIZER(struct cmd_servo_result, arg1, + str_servo_arg1_set); +const parse_token_num_t PROGMEM cmd_servo_num = + TOKEN_NUM_INITIALIZER(struct cmd_servo_result, num, + UINT16); +const parse_token_num_t PROGMEM cmd_servo_val = + TOKEN_NUM_INITIALIZER(struct cmd_servo_result, val, + UINT16); + +const char PROGMEM help_servo_set[] = "set servo value"; +const parse_inst_t PROGMEM cmd_servo_set = { + .f = cmd_servo_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_servo_set, + .tokens = { /* token list, NULL terminated */ + (PGM_P)&cmd_servo_arg0, + (PGM_P)&cmd_servo_arg1_set, + (PGM_P)&cmd_servo_num, + (PGM_P)&cmd_servo_val, + NULL, + }, +}; + +const char PROGMEM str_servo_arg1_show[] = "show"; +const parse_token_string_t PROGMEM cmd_servo_arg1_show = + TOKEN_STRING_INITIALIZER(struct cmd_servo_result, arg1, + str_servo_arg1_show); + +const char PROGMEM help_servo_show[] = "read servo and config"; +const parse_inst_t PROGMEM cmd_servo_show = { + .f = cmd_servo_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_servo_show, + .tokens = { /* token list, NULL terminated */ + (PGM_P)&cmd_servo_arg0, + (PGM_P)&cmd_servo_arg1_show, + NULL, + }, +}; + +const char PROGMEM str_servo_arg1_bypassppm[] = "bypass#ppm"; +const parse_token_string_t PROGMEM cmd_servo_arg1_bypassppm = + TOKEN_STRING_INITIALIZER(struct cmd_servo_result, arg1, + str_servo_arg1_bypassppm); + +const char PROGMEM help_servo_bypassppm[] = "change bypass/ppm"; +const parse_inst_t PROGMEM cmd_servo_bypassppm = { + .f = cmd_servo_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_servo_bypassppm, + .tokens = { /* token list, NULL terminated */ + (PGM_P)&cmd_servo_arg0, + (PGM_P)&cmd_servo_arg1_bypassppm, + (PGM_P)&cmd_servo_val, + NULL, + }, +}; + +/**********************************************************/ /* this structure is filled when cmd_test_spi is parsed successfully */ struct cmd_test_spi_result { @@ -1308,23 +1551,86 @@ struct cmd_test_spi_result { static void cmd_test_spi_parsed(void * parsed_result, void *data) { - int i; + uint8_t i, flags, wait_time = 0; + uint16_t val = 0; (void)parsed_result; (void)data; - 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_set_bypass(0); + spi_servo_set_ppm(0); + + /* stress test: send many commands, no wait between each servo + * of a series, and a variable delay between series */ + printf_P(PSTR("stress test\r\n")); + while (!cmdline_keypressed()) { + + wait_time++; + if (wait_time > 20) + wait_time = 0; + + IRQ_LOCK(flags); + val = global_ms; + IRQ_UNLOCK(flags); + val >>= 3; + val &= 1023; + + for (i = 0; i < 6; i++) + spi_servo_set(i, val); + + wait_ms(wait_time); + printf_P(PSTR("%4.4d %4.4d %4.4d %4.4d %4.4d %4.4d\r\n"), + spi_servo_get(0), spi_servo_get(1), spi_servo_get(2), + spi_servo_get(3), spi_servo_get(4), spi_servo_get(5)); + } + + printf_P(PSTR("bypass mode, with spi commands in background\r\n")); + spi_servo_set_bypass(1); + + /* test bypass mode */ + while (!cmdline_keypressed()) { + + wait_time++; + if (wait_time > 20) + wait_time = 0; + + IRQ_LOCK(flags); + val = global_ms; + IRQ_UNLOCK(flags); + val >>= 3; + val &= 1023; + + for (i = 0; i < 6; i++) + spi_servo_set(i, val); + + wait_ms(wait_time); + printf_P(PSTR("%4.4d %4.4d %4.4d %4.4d %4.4d %4.4d\r\n"), + spi_servo_get(0), spi_servo_get(1), spi_servo_get(2), + spi_servo_get(3), spi_servo_get(4), spi_servo_get(5)); + } + + printf_P(PSTR("PPM to servo\r\n")); + spi_servo_set_bypass(0); + spi_servo_set_ppm(0); + + /* test PPM to servo (bypass) mode */ + while (!cmdline_keypressed()) { + for (i = 0; i < 6; i++) { + val = spi_servo_get(i); + spi_servo_set(i, val); } + } - spi_servo_bypass(1); - wait_ms(10000); - spi_servo_bypass(0); - wait_ms(1); + printf_P(PSTR("PPM to (servo + PPM)\r\n")); + spi_servo_set_bypass(0); + spi_servo_set_ppm(1); + + /* test PPM to servo (bypass) mode */ + while (!cmdline_keypressed()) { + for (i = 0; i < 6; i++) { + val = spi_servo_get(i); + spi_servo_set(i, val); + } } } @@ -1344,6 +1650,243 @@ const parse_inst_t PROGMEM cmd_test_spi = { }, }; +/**********************************************************/ + +/* this structure is filled when cmd_dump_xbee_stats is parsed successfully */ +struct cmd_dump_xbee_stats_result { + fixed_string_t arg0; +}; + +static void cmd_dump_xbee_stats_parsed(void *parsed_result, void *data) +{ + (void)parsed_result; + (void)data; + + xbee_dump_stats(xbee_dev); +} + +const char PROGMEM str_dump_xbee_stats_arg0[] = "dump_xbee_stats"; +const parse_token_string_t PROGMEM cmd_dump_xbee_stats_arg0 = + TOKEN_STRING_INITIALIZER(struct cmd_dump_xbee_stats_result, arg0, + str_dump_xbee_stats_arg0); + +const char PROGMEM help_dump_xbee_stats[] = "Test the spi"; +const parse_inst_t PROGMEM cmd_dump_xbee_stats = { + .f = cmd_dump_xbee_stats_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_dump_xbee_stats, + .tokens = { /* token list, NULL terminated */ + (PGM_P)&cmd_dump_xbee_stats_arg0, + NULL, + }, +}; + +/**********************************************************/ + +/* this structure is filled when cmd_test_eeprom_config is parsed successfully */ +struct cmd_test_eeprom_config_result { + fixed_string_t arg0; +}; + +static void cmd_test_eeprom_config_parsed(void *parsed_result, void *data) +{ + (void)parsed_result; + (void)data; + + eeprom_dump_cmds(); + eeprom_append_cmd("salut1\n"); + eeprom_dump_cmds(); + eeprom_append_cmd("salut2\n"); + eeprom_append_cmd("salut3\n"); + eeprom_append_cmd("salut4\n"); + eeprom_dump_cmds(); + eeprom_insert_cmd_before("coin\n", 0); + eeprom_insert_cmd_before("coin2\n", 2); + eeprom_dump_cmds(); + eeprom_delete_cmd(2); + eeprom_delete_cmd(0); + eeprom_dump_cmds(); +} + +const char PROGMEM str_test_eeprom_config_arg0[] = "test_eeprom_config"; +const parse_token_string_t PROGMEM cmd_test_eeprom_config_arg0 = + TOKEN_STRING_INITIALIZER(struct cmd_test_eeprom_config_result, arg0, + str_test_eeprom_config_arg0); + +const char PROGMEM help_test_eeprom_config[] = "Test the eeprom configuration"; +const parse_inst_t PROGMEM cmd_test_eeprom_config = { + .f = cmd_test_eeprom_config_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_test_eeprom_config, + .tokens = { /* token list, NULL terminated */ + (PGM_P)&cmd_test_eeprom_config_arg0, + NULL, + }, +}; + +/* ************* */ + +struct cmd_eeprom_del_result { + fixed_string_t cmd; + fixed_string_t action; + uint8_t n; +}; + +static void cmd_eeprom_del_parsed(void *parsed_result, + void *data) +{ + struct cmd_eeprom_del_result *res = parsed_result; + + (void)data; + if (eeprom_delete_cmd(res->n) < 0) + printf_P(PSTR("cannot delete command\n")); + eeprom_dump_cmds(); +} + +const char PROGMEM str_eeprom_del_eeprom[] = "eeprom"; +const parse_token_string_t PROGMEM cmd_eeprom_del_cmd = + TOKEN_STRING_INITIALIZER(struct cmd_eeprom_del_result, cmd, + str_eeprom_del_eeprom); +const char PROGMEM str_eeprom_del_del[] = "del"; +const parse_token_string_t PROGMEM cmd_eeprom_del_action = + TOKEN_STRING_INITIALIZER(struct cmd_eeprom_del_result, action, + str_eeprom_del_del); +const parse_token_num_t PROGMEM cmd_eeprom_del_num = + TOKEN_NUM_INITIALIZER(struct cmd_eeprom_del_result, n, + UINT8); + +const char PROGMEM help_eeprom_del[] = "delete an eeprom init command"; +const parse_inst_t PROGMEM cmd_eeprom_del = { + .f = cmd_eeprom_del_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_eeprom_del, + .tokens = { /* token list, NULL terminated */ + (PGM_P)&cmd_eeprom_del_cmd, + (PGM_P)&cmd_eeprom_del_action, + (PGM_P)&cmd_eeprom_del_num, + NULL, + }, +}; + +/* ************* */ + +struct cmd_eeprom_add_result { + fixed_string_t cmd; + fixed_string_t action; + uint8_t n; +}; + +static void cmd_eeprom_add_parsed(void *parsed_result, + void *data) +{ + struct cmd_eeprom_add_result *res = parsed_result; + struct rdline rdl; + const char *buffer; + int8_t ret; + int16_t c; + + rdline_init(&rdl, cmdline_write_char, NULL, NULL); + rdline_newline(&rdl, "> "); + + /* XXX bad: we should not block as we do not serve callout */ + while (1) { + c = cmdline_dev_recv(NULL); + if (c < 0) + continue; + + ret = rdline_char_in(&rdl, c); + if (ret == -2) { + printf_P(PSTR("abort\n")); + return; + } + if (ret == 1) + break; + } + + buffer = rdline_get_buffer(&rdl); + if (data == NULL) + eeprom_insert_cmd_before(buffer, res->n); + else + eeprom_append_cmd(buffer); + eeprom_dump_cmds(); +} + +const char PROGMEM str_eeprom_add_eeprom[] = "eeprom"; +const parse_token_string_t PROGMEM cmd_eeprom_add_cmd = + TOKEN_STRING_INITIALIZER(struct cmd_eeprom_add_result, cmd, + str_eeprom_add_eeprom); +const char PROGMEM str_eeprom_add_add[] = "add"; +const parse_token_string_t PROGMEM cmd_eeprom_add_action = + TOKEN_STRING_INITIALIZER(struct cmd_eeprom_add_result, action, + str_eeprom_add_add); +const parse_token_num_t PROGMEM cmd_eeprom_add_num = + TOKEN_NUM_INITIALIZER(struct cmd_eeprom_add_result, n, + UINT8); + +const char PROGMEM help_eeprom_add[] = "insert an eeprom init command"; +const parse_inst_t PROGMEM cmd_eeprom_add = { + .f = cmd_eeprom_add_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_eeprom_add, + .tokens = { /* token list, NULL terminated */ + (PGM_P)&cmd_eeprom_add_cmd, + (PGM_P)&cmd_eeprom_add_action, + (PGM_P)&cmd_eeprom_add_num, + NULL, + }, +}; + +const char PROGMEM help_eeprom_add2[] = "append an eeprom init command"; +const parse_inst_t PROGMEM cmd_eeprom_add2 = { + .f = cmd_eeprom_add_parsed, /* function to call */ + .data = (void *)1, /* 2nd arg of func */ + .help_str = help_eeprom_add2, + .tokens = { /* token list, NULL terminated */ + (PGM_P)&cmd_eeprom_add_cmd, + (PGM_P)&cmd_eeprom_add_action, + NULL, + }, +}; + +/* ************* */ + +struct cmd_eeprom_list_result { + fixed_string_t cmd; + fixed_string_t action; +}; + +static void cmd_eeprom_list_parsed(void *parsed_result, + void *data) +{ + (void)parsed_result; + (void)data; + eeprom_dump_cmds(); +} + +const char PROGMEM str_eeprom_list_eeprom[] = "eeprom"; +const parse_token_string_t PROGMEM cmd_eeprom_list_cmd = + TOKEN_STRING_INITIALIZER(struct cmd_eeprom_list_result, cmd, + str_eeprom_list_eeprom); +const char PROGMEM str_eeprom_list_list[] = "list"; +const parse_token_string_t PROGMEM cmd_eeprom_list_action = + TOKEN_STRING_INITIALIZER(struct cmd_eeprom_list_result, action, + str_eeprom_list_list); + +const char PROGMEM help_eeprom_list[] = "list all eeprom init commands"; +const parse_inst_t PROGMEM cmd_eeprom_list = { + .f = cmd_eeprom_list_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_eeprom_list, + .tokens = { /* token list, NULL terminated */ + (PGM_P)&cmd_eeprom_list_cmd, + (PGM_P)&cmd_eeprom_list_action, + NULL, + }, +}; + + +/* ************* */ + /* in progmem */ const parse_ctx_t PROGMEM main_ctx[] = { @@ -1365,6 +1908,8 @@ const parse_ctx_t PROGMEM main_ctx[] = { &cmd_write_u16, &cmd_write_u32, &cmd_sendmsg, + &cmd_send_hello, + &cmd_send_hello_name, &cmd_sendmsg_name, &cmd_range, &cmd_range_period, @@ -1379,9 +1924,17 @@ const parse_ctx_t PROGMEM main_ctx[] = { &cmd_raw, &cmd_dump, &cmd_debug, -#ifndef USE_USB &cmd_baudrate, -#endif + &cmd_beep, + &cmd_servo_set, + &cmd_servo_bypassppm, + &cmd_servo_show, &cmd_test_spi, + &cmd_dump_xbee_stats, + &cmd_test_eeprom_config, + &cmd_eeprom_del, + &cmd_eeprom_add, + &cmd_eeprom_add2, + &cmd_eeprom_list, NULL, };