X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=commands.c;h=befd1c90aa020d2d332510ed931af66b06877b75;hp=ff8954ded9272c5cd00a552f933cbeb05446250e;hb=8f96511dd4a3a354a6a8c18bae5ade21b221fd95;hpb=84aa7ae041e790da370b7bac9a3340b73d7dc4b3

diff --git a/commands.c b/commands.c
index ff8954d..befd1c9 100644
--- a/commands.c
+++ b/commands.c
@@ -48,6 +48,7 @@
 #include "main.h"
 #include "cmdline.h"
 #include "beep.h"
+#include "i2c_protocol.h"
 #include "eeprom_config.h"
 
 /* commands_gen.c */
@@ -1613,6 +1614,93 @@ const parse_inst_t PROGMEM cmd_rc_proto_stats = {
 
 /**********************************************************/
 
+/* this structure is filled when cmd_rc_proto_timers is parsed successfully */
+struct cmd_rc_proto_timers_result {
+	fixed_string_t arg0;
+	fixed_string_t arg1;
+	uint16_t servo_min;
+	uint16_t servo_max;
+	uint16_t power_probe;
+	uint16_t autobypass;
+};
+
+static void cmd_rc_proto_timers_parsed(void *parsed_result, void *data)
+{
+	struct cmd_rc_proto_timers_result *res = parsed_result;
+	(void)data;
+
+	if (!strcmp_P(res->arg1, PSTR("set"))) {
+		rc_proto_timers.send_servo_min_ms = res->servo_min;
+		rc_proto_timers.send_servo_max_ms = res->servo_max;
+		rc_proto_timers.send_power_probe_ms = res->power_probe;
+		rc_proto_timers.autobypass_ms = res->autobypass;
+	}
+
+	printf_P(PSTR("rc_proto_timers: min=%d, max=%d, "
+			"power_probe=%d autobypass=%d\n"),
+		rc_proto_timers.send_servo_min_ms,
+		rc_proto_timers.send_servo_max_ms,
+		rc_proto_timers.send_power_probe_ms,
+		rc_proto_timers.autobypass_ms);
+}
+
+const char PROGMEM str_rc_proto_timers_arg0[] = "rc_proto_timers";
+const parse_token_string_t PROGMEM cmd_rc_proto_timers_arg0 =
+	TOKEN_STRING_INITIALIZER(struct cmd_rc_proto_timers_result, arg0,
+				 str_rc_proto_timers_arg0);
+const char PROGMEM str_rc_proto_timers_arg1[] = "set";
+const parse_token_string_t PROGMEM cmd_rc_proto_timers_arg1 =
+	TOKEN_STRING_INITIALIZER(struct cmd_rc_proto_timers_result, arg1,
+				 str_rc_proto_timers_arg1);
+const parse_token_num_t PROGMEM cmd_rc_proto_timers_servo_min =
+	TOKEN_NUM_INITIALIZER(struct cmd_rc_proto_timers_result, servo_min,
+		UINT16);
+const parse_token_num_t PROGMEM cmd_rc_proto_timers_servo_max =
+	TOKEN_NUM_INITIALIZER(struct cmd_rc_proto_timers_result, servo_max,
+		UINT16);
+const parse_token_num_t PROGMEM cmd_rc_proto_timers_power_probe =
+	TOKEN_NUM_INITIALIZER(struct cmd_rc_proto_timers_result, power_probe,
+		UINT16);
+const parse_token_num_t PROGMEM cmd_rc_proto_timers_autobypass =
+	TOKEN_NUM_INITIALIZER(struct cmd_rc_proto_timers_result, autobypass,
+		UINT16);
+
+const char PROGMEM help_rc_proto_timers[] = "set rc_proto_timers (servo_min, "
+	"servo_max, pow_probe, autobypass)";
+const parse_inst_t PROGMEM cmd_rc_proto_timers = {
+	.f = cmd_rc_proto_timers_parsed,  /* function to call */
+	.data = NULL,      /* 2nd arg of func */
+	.help_str = help_rc_proto_timers,
+	.tokens = {        /* token list, NULL terminated */
+		(PGM_P)&cmd_rc_proto_timers_arg0,
+		(PGM_P)&cmd_rc_proto_timers_arg1,
+		(PGM_P)&cmd_rc_proto_timers_servo_min,
+		(PGM_P)&cmd_rc_proto_timers_servo_max,
+		(PGM_P)&cmd_rc_proto_timers_power_probe,
+		(PGM_P)&cmd_rc_proto_timers_autobypass,
+		NULL,
+	},
+};
+
+const char PROGMEM str_rc_proto_timers_show_arg1[] = "show";
+const parse_token_string_t PROGMEM cmd_rc_proto_timers_show_arg1 =
+	TOKEN_STRING_INITIALIZER(struct cmd_rc_proto_timers_result, arg1,
+				 str_rc_proto_timers_show_arg1);
+
+const char PROGMEM help_rc_proto_timers_show[] = "show rc_proto timers value";
+const parse_inst_t PROGMEM cmd_rc_proto_timers_show = {
+	.f = cmd_rc_proto_timers_parsed,  /* function to call */
+	.data = NULL,      /* 2nd arg of func */
+	.help_str = help_rc_proto_timers_show,
+	.tokens = {        /* token list, NULL terminated */
+		(PGM_P)&cmd_rc_proto_timers_arg0,
+		(PGM_P)&cmd_rc_proto_timers_show_arg1,
+		NULL,
+	},
+};
+
+/**********************************************************/
+
 /* this structure is filled when cmd_rc_proto_mode is parsed successfully */
 struct cmd_rc_proto_mode_result {
 	fixed_string_t arg0;
@@ -1655,6 +1743,12 @@ static void cmd_rc_proto_mode_parsed(void *parsed_result, void *data)
 		else
 			flags &= ~RC_PROTO_FLAGS_TX_POW_PROBE;
 	}
+	else if (!strcmp_P(res->cmd, PSTR("compute_best_pow"))) {
+		if (on == 1)
+			flags |= RC_PROTO_FLAGS_COMPUTE_BEST_POW;
+		else
+			flags &= ~RC_PROTO_FLAGS_COMPUTE_BEST_POW;
+	}
 	else if (!strcmp_P(res->cmd, PSTR("tx"))) {
 		flags &= ~RC_PROTO_FLAGS_TX_MASK;
 		if (!strcmp_P(res->val, PSTR("bypass")))
@@ -1679,6 +1773,8 @@ static void cmd_rc_proto_mode_parsed(void *parsed_result, void *data)
 		(flags & RC_PROTO_FLAGS_TX_STATS) ? "on" : "off");
 	printf_P(PSTR("rc_proto_mode tx_power_probe %s\n"),
 		(flags & RC_PROTO_FLAGS_TX_POW_PROBE) ? "on" : "off");
+	printf_P(PSTR("rc_proto_mode compute_best_pow %s\n"),
+		(flags & RC_PROTO_FLAGS_COMPUTE_BEST_POW) ? "on" : "off");
 }
 
 const char PROGMEM str_rc_proto_mode_arg0[] = "rc_proto_mode";
@@ -1687,7 +1783,7 @@ const parse_token_string_t PROGMEM cmd_rc_proto_mode_arg0 =
 				 str_rc_proto_mode_arg0);
 
 const char PROGMEM str_rc_proto_mode_cmd[] =
-	"rx_copy_spi#rx_autobypass#tx_stats#tx_power_probe";
+	"rx_copy_spi#rx_autobypass#tx_stats#tx_power_probe#compute_best_pow";
 const parse_token_string_t PROGMEM cmd_rc_proto_mode_cmd =
 	TOKEN_STRING_INITIALIZER(struct cmd_rc_proto_mode_result, cmd,
 		str_rc_proto_mode_cmd);
@@ -2053,7 +2149,6 @@ static void cmd_eeprom_add_parsed(void *parsed_result,
 	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)
@@ -2150,6 +2245,38 @@ const parse_inst_t PROGMEM cmd_eeprom_list = {
 };
 
 
+/* ************* */
+
+struct cmd_test_result {
+	fixed_string_t cmd;
+};
+
+extern uint8_t imuboard; /* XXX test */
+static void cmd_test_parsed(void *parsed_result, void *data)
+{
+	(void)parsed_result;
+	(void)data;
+	printf("%d\n", imuboard);
+	i2c_protocol_debug();
+}
+
+const char PROGMEM str_test[] = "test";
+const parse_token_string_t PROGMEM cmd_test_cmd =
+	TOKEN_STRING_INITIALIZER(struct cmd_test_result, cmd,
+				 str_test);
+
+const char PROGMEM help_test[] = "test";
+const parse_inst_t PROGMEM cmd_test = {
+	.f = cmd_test_parsed,  /* function to call */
+	.data = NULL,      /* 2nd arg of func */
+	.help_str = help_test,
+	.tokens = {        /* token list, NULL terminated */
+		(PGM_P)&cmd_test_cmd,
+		NULL,
+	},
+};
+
+
 /* ************* */
 
 /* in progmem */
@@ -2193,6 +2320,8 @@ const parse_ctx_t PROGMEM main_ctx[] = {
 	&cmd_test_spi,
 	&cmd_dump_xbee_stats,
 	&cmd_rc_proto_stats,
+	&cmd_rc_proto_timers,
+	&cmd_rc_proto_timers_show,
 	&cmd_rc_proto_mode,
 	&cmd_rc_proto_mode2,
 	&cmd_rc_proto_mode3,
@@ -2205,5 +2334,6 @@ const parse_ctx_t PROGMEM main_ctx[] = {
 	&cmd_eeprom_add,
 	&cmd_eeprom_add2,
 	&cmd_eeprom_list,
+	&cmd_test,
 	NULL,
 };