X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=commands.c;h=b58594ad58aae930a449ba07768159207f4afaeb;hp=083f85fa4fe17bb68f640a616ead8893fb7673b5;hb=9a43add2f0ed382ce1f180bba65fdc077d03b6fb;hpb=cc6ac756becd992b51ddc7127846ff0fc3d4c662 diff --git a/commands.c b/commands.c index 083f85f..b58594a 100644 --- a/commands.c +++ b/commands.c @@ -51,6 +51,7 @@ #include "rc_proto.h" #include "main.h" #include "cmdline.h" +#include "beep.h" /* commands_gen.c */ extern const parse_inst_t PROGMEM cmd_reset; @@ -1299,6 +1300,150 @@ const parse_inst_t PROGMEM cmd_baudrate = { }, }; + +/**********************************************************/ + +/* 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 { fixed_string_t arg0; @@ -1312,13 +1457,13 @@ static void cmd_test_spi_parsed(void * parsed_result, void *data) (void)parsed_result; (void)data; - spi_servo_bypass(0); - spi_servo_ppm(0); + 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()) { + while (!cmdline_keypressed()) { wait_time++; if (wait_time > 20) @@ -1334,14 +1479,13 @@ static void cmd_test_spi_parsed(void * parsed_result, void *data) spi_servo_set(i, val); wait_ms(wait_time); - - for (i = 0; i < 6; i++) - printf_P(PSTR("%d: %d\r\n"), i, spi_servo_get(i)); - printf_P(PSTR("\r\n")); + 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_bypass(1); + spi_servo_set_bypass(1); /* test bypass mode */ while (!cmdline_keypressed()) { @@ -1360,15 +1504,14 @@ static void cmd_test_spi_parsed(void * parsed_result, void *data) spi_servo_set(i, val); wait_ms(wait_time); - - for (i = 0; i < 6; i++) - printf_P(PSTR("%d: %d\r\n"), i, spi_servo_get(i)); - printf_P(PSTR("\r\n")); + 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_bypass(0); - spi_servo_ppm(0); + spi_servo_set_bypass(0); + spi_servo_set_ppm(0); /* test PPM to servo (bypass) mode */ while (!cmdline_keypressed()) { @@ -1379,8 +1522,8 @@ static void cmd_test_spi_parsed(void * parsed_result, void *data) } printf_P(PSTR("PPM to (servo + PPM)\r\n")); - spi_servo_bypass(0); - spi_servo_ppm(1); + spi_servo_set_bypass(0); + spi_servo_set_ppm(1); /* test PPM to servo (bypass) mode */ while (!cmdline_keypressed()) { @@ -1443,6 +1586,10 @@ const parse_ctx_t PROGMEM main_ctx[] = { &cmd_dump, &cmd_debug, &cmd_baudrate, + &cmd_beep, + &cmd_servo_set, + &cmd_servo_bypassppm, + &cmd_servo_show, &cmd_test_spi, NULL, };