X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=commands.c;h=6eb034c59b92ade35bdb1673f7b84b3e5f836a3b;hp=a14d098ac6215389da67c68be43260fb0899368e;hb=f97044f0c5ecbbc665bd7ac1d454fd9479476a78;hpb=50f42a7b2f1a2be5be2a2e4207e304ce046d1965

diff --git a/commands.c b/commands.c
index a14d098..6eb034c 100644
--- a/commands.c
+++ b/commands.c
@@ -29,6 +29,7 @@
 #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>
@@ -46,6 +47,7 @@
 #include "parse_neighbor.h"
 #include "parse_monitor.h"
 
+#include "spi_servo.h"
 #include "rc_proto.h"
 #include "main.h"
 #include "cmdline.h"
@@ -1258,6 +1260,47 @@ parse_pgm_inst_t cmd_baudrate = {
 };
 #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[] = {
@@ -1297,5 +1340,6 @@ parse_pgm_ctx_t main_ctx[] = {
 #ifndef USE_USB
 	(parse_pgm_inst_t *)&cmd_baudrate,
 #endif
+	(parse_pgm_inst_t *)&cmd_test_spi,
 	NULL,
 };