X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=commands.c;h=d67b6515ba1bc60b88620f9c798c9f030f399f3c;hp=fb67438cd64886b3ddb5dbd48f36acef76c0dc53;hb=HEAD;hpb=57895b3bb2fe0582c589685b7df34f3968b346ec diff --git a/commands.c b/commands.c index fb67438..d67b651 100644 --- a/commands.c +++ b/commands.c @@ -35,22 +35,22 @@ #include #include #include +#include +#include -#include "xbee_atcmd.h" -#include "xbee_neighbor.h" -#include "xbee_stats.h" -#include "xbee_proto.h" -#include "xbee.h" - -#include "callout.h" #include "parse_atcmd.h" #include "parse_neighbor.h" #include "parse_monitor.h" #include "spi_servo.h" #include "rc_proto.h" +#include "xbee_user.h" #include "main.h" #include "cmdline.h" +#include "beep.h" +#include "../fpv-common/i2c_commands.h" +#include "i2c_protocol.h" +#include "eeprom_config.h" /* commands_gen.c */ extern const parse_inst_t PROGMEM cmd_reset; @@ -59,7 +59,7 @@ extern const parse_inst_t PROGMEM cmd_log; extern const parse_inst_t PROGMEM cmd_log_show; extern const parse_inst_t PROGMEM cmd_log_type; extern const parse_inst_t PROGMEM cmd_stack_space; -extern const parse_inst_t PROGMEM cmd_scheduler; +extern const parse_inst_t PROGMEM cmd_callout; static int monitor_period_ms = 1000; static int monitor_running = 0; @@ -76,7 +76,7 @@ static struct callout range_event; static int range_count = 100; static int range_cur_count = 0; -static void monitor_cb(struct callout_manager *cm, +static void monitor_cb(struct callout_mgr *cm, struct callout *clt, void *dummy) { (void)clt; @@ -85,18 +85,18 @@ static void monitor_cb(struct callout_manager *cm, if (monitor_current == NULL) monitor_current = LIST_FIRST(&xbee_monitor_list); - xbeeapp_send_atcmd(monitor_current->atcmd, NULL, 0, 0, NULL, NULL); + /* no rx_cb given: the user must check the monitored values in logs */ + xbeeapp_send_atcmd(monitor_current->atcmd, NULL, 0, NULL, NULL); monitor_current = LIST_NEXT(monitor_current, next); - callout_reset(cm, &monitor_event, - monitor_period_ms / monitor_count, - SINGLE, monitor_cb, NULL); + callout_reschedule(cm, clt, monitor_period_ms / monitor_count); } -static void range_cb(struct callout_manager *cm, +static void range_cb(struct callout_mgr *cm, struct callout *clt, void *dummy) { + struct rc_proto_power_probe power_probe; + struct xbee_msg msg; uint8_t i, mask; - struct rc_proto_range rangepkt; (void)clt; (void)dummy; @@ -111,21 +111,76 @@ static void range_cb(struct callout_manager *cm, } range_power = ((range_power + i) & 0x7); - xbeeapp_send_atcmd("PL", &range_power, sizeof(range_power), 0, NULL, NULL); + xbeeapp_send_atcmd("PL", &range_power, sizeof(range_power), NULL, NULL); + + power_probe.type = RC_PROTO_POWER_PROBE; + power_probe.power_level = range_power; - rangepkt.type = RC_PROTO_TYPE_RANGE; - rangepkt.power_level = range_power; + msg.iovlen = 1; + msg.iov[0].buf = &power_probe; + msg.iov[0].len = sizeof(power_probe); - xbeeapp_send_msg(range_dstaddr, &rangepkt, sizeof(rangepkt), 0); + xbeeapp_send_msg(range_dstaddr, &msg, NULL, NULL); if (range_cur_count == 0) { range_running = 0; + callout_stop(cm, clt); return; } - callout_reset(cm, &range_event, - range_period_ms, - SINGLE, range_cb, NULL); + callout_reschedule(cm, clt, range_period_ms); +} + +/* callback invoked when a xbee_send is done */ +static int8_t send_msg_cb(int8_t retcode, void *frame, unsigned len, + void *arg) +{ + struct xbee_xmit_status_hdr *recvframe = frame; + uint8_t *done = arg; + + *done = 1; + if (retcode == XBEE_USER_RETCODE_TIMEOUT) { + printf_P(PSTR("timeout\r\n")); + return retcode; + } + if (retcode == XBEE_USER_RETCODE_BAD_FRAME || + len != sizeof(*recvframe)) { + printf_P(PSTR("invalid frame\r\n")); + return XBEE_USER_RETCODE_BAD_FRAME; + } + + printf_P(PSTR("ok\r\n")); + return XBEE_USER_RETCODE_OK; +} + +/* callback invoked to dump the response to AT command */ +static int8_t dump_xbee_atresp_cb(int8_t retcode, void *frame, unsigned len, + void *arg) +{ + struct xbee_atresp_hdr *recvframe = frame; + char atcmd_str[3]; + char buf[32]; + uint8_t *done = arg; + + *done = 1; + if (retcode == XBEE_USER_RETCODE_TIMEOUT) { + printf_P(PSTR("timeout\r\n")); + return retcode; + } + if (retcode == XBEE_USER_RETCODE_BAD_FRAME || + len < sizeof(*recvframe)) { + printf_P(PSTR("invalid frame\r\n")); + return XBEE_USER_RETCODE_BAD_FRAME; + } + + /* get AT command from frame */ + memcpy(atcmd_str, &recvframe->cmd, 2); + atcmd_str[2] = '\0'; + + atresp_to_str(buf, sizeof(buf), frame, len); + len -= sizeof(*recvframe); + printf_P(PSTR("status ok, len=%d, %s\n"), len, buf); + return XBEE_USER_RETCODE_OK; } /* this structure is filled when cmd_help is parsed successfully */ @@ -325,9 +380,6 @@ const parse_inst_t PROGMEM cmd_neigh_list = { }, }; - - - /* ************* */ /* this structure is filled when cmd_read is parsed successfully */ @@ -343,12 +395,14 @@ static void cmd_read_parsed(void *parsed_result, struct cmd_read_result *res = parsed_result; struct xbee_atcmd copy; char cmd[3]; + volatile uint8_t done = 0; (void)data; memcpy_P(©, res->cmd, sizeof(copy)); memcpy_P(&cmd, copy.name, 2); cmd[2] = '\0'; - xbeeapp_send_atcmd(cmd, NULL, 0, 1, NULL, NULL); + xbeeapp_send_atcmd(cmd, NULL, 0, dump_xbee_atresp_cb, (void *)&done); + while (done == 0); } const char PROGMEM str_read_read[] = "read"; @@ -395,6 +449,7 @@ static void cmd_write_parsed(void *parsed_result, void *data) char cmd[3]; int len; void *param; + volatile uint8_t done = 0; (void)data; memcpy_P(©, res->cmd, sizeof(copy)); @@ -423,7 +478,8 @@ static void cmd_write_parsed(void *parsed_result, void *data) } memcpy_P(&cmd, copy.name, 2); cmd[2] = '\0'; - xbeeapp_send_atcmd(cmd, param, len, 1, NULL, NULL); + xbeeapp_send_atcmd(cmd, param, len, dump_xbee_atresp_cb, (void *)&done); + while (done == 0); } const char PROGMEM str_write_none[] = "write"; @@ -534,9 +590,17 @@ struct cmd_sendmsg_result { static void cmd_sendmsg_parsed(void *parsed_result, void *data) { struct cmd_sendmsg_result *res = parsed_result; + struct xbee_msg msg; + volatile uint8_t done = 0; (void)data; - xbeeapp_send_msg(res->addr, res->data, strlen(res->data), 1); + + msg.iovlen = 1; + msg.iov[0].buf = res->data; + msg.iov[0].len = strlen(res->data); + + xbeeapp_send_msg(res->addr, &msg, send_msg_cb, (void *)&done); + while (done == 0); } const char PROGMEM str_sendmsg[] = "sendmsg"; @@ -578,9 +642,17 @@ struct cmd_sendmsg_name_result { static void cmd_sendmsg_name_parsed(void *parsed_result, void *data) { struct cmd_sendmsg_name_result *res = parsed_result; + struct xbee_msg msg; + volatile uint8_t done = 0; (void)data; - xbeeapp_send_msg(res->neigh->addr, res->data, strlen(res->data), 1); + + msg.iovlen = 1; + msg.iov[0].buf = res->data; + msg.iov[0].len = strlen(res->data); + + xbeeapp_send_msg(res->neigh->addr, &msg, send_msg_cb, (void *)&done); + while (done == 0); } const parse_token_string_t PROGMEM cmd_sendmsg_name_sendmsg_name = @@ -643,18 +715,18 @@ static void cmd_range_parsed(void *parsed_result, void *data) return; } range_cur_count = range_count; - callout_init(&range_event); - callout_reset(&cm, &range_event, 0, - SINGLE, range_cb, NULL); + callout_init(&range_event, range_cb, NULL, LOW_PRIO); range_running = 1; + callout_schedule(&xbeeboard.intr_cm, + &range_event, 0); /* immediate */ } else if (!strcmp(res->action, "end")) { if (range_running == 0) { printf_P(PSTR("not running\r\n")); return; } + callout_stop(&xbeeboard.intr_cm, &range_event); range_running = 0; - callout_stop(&cm, &range_event); } } @@ -893,10 +965,11 @@ static void cmd_monitor_parsed(void *parsed_result, void *data) printf_P(PSTR("no regs to be monitored\r\n")); return; } - callout_init(&monitor_event); - callout_reset(&cm, &monitor_event, 0, SINGLE, monitor_cb, NULL); + callout_init(&monitor_event, monitor_cb, NULL, 1); monitor_running = 1; monitor_current = LIST_FIRST(&xbee_monitor_list); + callout_schedule(&xbeeboard.intr_cm, + &monitor_event, 0); /* immediate */ printf_P(PSTR("monitor cb: %S %s\r\n"), monitor_current->desc, monitor_current->atcmd); @@ -907,8 +980,8 @@ static void cmd_monitor_parsed(void *parsed_result, void *data) printf_P(PSTR("not running\r\n")); return; } + callout_stop(&xbeeboard.intr_cm, &monitor_event); monitor_running = 0; - callout_stop(&cm, &monitor_event); } } @@ -1071,7 +1144,7 @@ static void cmd_monitor_del_parsed(void *parsed_result, void *data) monitor_count --; if (monitor_count == 0) { printf_P(PSTR("Disable monitoring, no more event\r\n")); - callout_stop(&cm, &monitor_event); + callout_stop(&xbeeboard.intr_cm, &monitor_event); monitor_running = 0; return; } @@ -1114,9 +1187,12 @@ struct cmd_ping_result { /* function called when cmd_ping is parsed successfully */ static void cmd_ping_parsed(void *parsed_result, void *data) { + volatile uint8_t done = 0; + (void)parsed_result; (void)data; - xbeeapp_send_atcmd("VL", NULL, 0, 1, NULL, NULL); + xbeeapp_send_atcmd("VL", NULL, 0, dump_xbee_atresp_cb, (void *)&done); + while (done == 0); } const char PROGMEM str_ping[] = "ping"; @@ -1149,6 +1225,11 @@ static void cmd_raw_parsed(void *parsed_result, void *data) { (void)parsed_result; (void)data; + + if (range_running || monitor_running) { + printf_P(PSTR("stop running range or monitor first\r\n")); + return; + } printf_P(PSTR("switched to raw mode, CTRL-D to exit\r\n")); rdline_stop(&xbeeboard.rdl); /* don't display prompt when return */ xbee_raw = 1; @@ -1172,134 +1253,188 @@ const parse_inst_t PROGMEM cmd_raw = { }, }; -/* ************* */ +/**********************************************************/ -/* this structure is filled when cmd_dump is parsed successfully */ -struct cmd_dump_result { - fixed_string_t dump; - fixed_string_t onoff; +/* this structure is filled when cmd_baudrate is parsed successfully */ +struct cmd_baudrate_result { + fixed_string_t arg0; + uint32_t arg1; }; -/* function called when cmd_dump is parsed successfully */ -static void cmd_dump_parsed(void *parsed_result, void *data) +/* function called when cmd_baudrate is parsed successfully */ +static void cmd_baudrate_parsed(void * parsed_result, __attribute__((unused)) void *data) { - struct cmd_dump_result *res = parsed_result; + struct cmd_baudrate_result *res = parsed_result; + struct uart_config c; - (void)data; - if (!strcmp(res->onoff, "on")) - xbee_hexdump = 1; - else - xbee_hexdump = 0; + uart_getconf(XBEE_UART, &c); + c.baudrate = res->arg1; + uart_setconf(XBEE_UART, &c); } -const char PROGMEM str_dump[] = "dump"; -const char PROGMEM str_dump_onoff[] = "on#off"; - -const parse_token_string_t PROGMEM cmd_dump_dump = - TOKEN_STRING_INITIALIZER(struct cmd_dump_result, dump, - str_dump); - -const parse_token_string_t PROGMEM cmd_dump_onoff = - TOKEN_STRING_INITIALIZER(struct cmd_dump_result, onoff, - str_dump_onoff); - -const char PROGMEM help_dump[] = "enable/disable hexdump of received packets"; +const char PROGMEM str_baudrate_arg0[] = "baudrate"; +const parse_token_string_t PROGMEM cmd_baudrate_arg0 = + TOKEN_STRING_INITIALIZER(struct cmd_baudrate_result, arg0, + str_baudrate_arg0); +const parse_token_num_t PROGMEM cmd_baudrate_arg1 = + TOKEN_NUM_INITIALIZER(struct cmd_baudrate_result, arg1, + UINT32); -const parse_inst_t PROGMEM cmd_dump = { - .f = cmd_dump_parsed, /* function to call */ +const char PROGMEM help_baudrate[] = "Change xbee baudrate"; +const parse_inst_t PROGMEM cmd_baudrate = { + .f = cmd_baudrate_parsed, /* function to call */ .data = NULL, /* 2nd arg of func */ - .help_str = help_dump, + .help_str = help_baudrate, .tokens = { /* token list, NULL terminated */ - (PGM_P)&cmd_dump_dump, - (PGM_P)&cmd_dump_onoff, + (PGM_P)&cmd_baudrate_arg0, + (PGM_P)&cmd_baudrate_arg1, NULL, }, }; -/* ************* */ -/* this structure is filled when cmd_debug is parsed successfully */ -struct cmd_debug_result { - fixed_string_t debug; - fixed_string_t onoff; +/**********************************************************/ + +/* this structure is filled when cmd_beep is parsed successfully */ +struct cmd_beep_result { + fixed_string_t beep; }; -/* function called when cmd_debug is parsed successfully */ -static void cmd_debug_parsed(void *parsed_result, void *data) +/* function called when cmd_beep is parsed successfully */ +static void cmd_beep_parsed(void *parsed_result, void *data) { - struct cmd_debug_result *res = parsed_result; - + (void)parsed_result; (void)data; - if (!strcmp(res->onoff, "on")) - xbee_debug = 1; - else - xbee_debug = 0; -} -const char PROGMEM str_debug[] = "debug"; -const char PROGMEM str_debug_onoff[] = "on#off"; - -const parse_token_string_t PROGMEM cmd_debug_debug = - TOKEN_STRING_INITIALIZER(struct cmd_debug_result, debug, - str_debug); + 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 parse_token_string_t PROGMEM cmd_debug_onoff = - TOKEN_STRING_INITIALIZER(struct cmd_debug_result, onoff, - str_debug_onoff); +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_debug[] = "enable/disable additionnal debug"; +const char PROGMEM help_beep[] = "Send a beep"; -const parse_inst_t PROGMEM cmd_debug = { - .f = cmd_debug_parsed, /* function to call */ +const parse_inst_t PROGMEM cmd_beep = { + .f = cmd_beep_parsed, /* function to call */ .data = NULL, /* 2nd arg of func */ - .help_str = help_debug, + .help_str = help_beep, .tokens = { /* token list, NULL terminated */ - (PGM_P)&cmd_debug_debug, - (PGM_P)&cmd_debug_onoff, + (PGM_P)&cmd_beep_beep, NULL, }, }; -#ifndef USE_USB /**********************************************************/ -/* this structure is filled when cmd_baudrate is parsed successfully */ -struct cmd_baudrate_result { +/* this structure is filled when cmd_servo is parsed successfully */ +struct cmd_servo_result { fixed_string_t arg0; - uint32_t arg1; + fixed_string_t arg1; + uint16_t num; + uint16_t val; }; -/* function called when cmd_baudrate is parsed successfully */ -static void cmd_baudrate_parsed(void * parsed_result, __attribute__((unused)) void *data) +/* function called when cmd_servo is parsed successfully */ +static void cmd_servo_parsed(void * parsed_result, void *data) { - struct cmd_baudrate_result *res = parsed_result; - struct uart_config c; + struct cmd_servo_result *res = parsed_result; - uart_getconf(XBEE_UART, &c); - c.baudrate = res->arg1; - uart_setconf(XBEE_UART, &c); + (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_baudrate_arg0[] = "baudrate"; -const parse_token_string_t PROGMEM cmd_baudrate_arg0 = - TOKEN_STRING_INITIALIZER(struct cmd_baudrate_result, arg0, - str_baudrate_arg0); -const parse_token_num_t PROGMEM cmd_baudrate_arg1 = - TOKEN_NUM_INITIALIZER(struct cmd_baudrate_result, arg1, - UINT32); +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 help_baudrate[] = "Change xbee baudrate"; -const parse_inst_t PROGMEM cmd_baudrate = { - .f = cmd_baudrate_parsed, /* function to call */ +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_baudrate, + .help_str = help_servo_show, .tokens = { /* token list, NULL terminated */ - (PGM_P)&cmd_baudrate_arg0, - (PGM_P)&cmd_baudrate_arg1, + (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, }, }; -#endif + +/**********************************************************/ /* this structure is filled when cmd_test_spi is parsed successfully */ struct cmd_test_spi_result { @@ -1308,23 +1443,86 @@ 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 +1542,760 @@ 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_rc_proto_stats is parsed successfully */ +struct cmd_rc_proto_stats_result { + fixed_string_t arg0; + fixed_string_t arg1; +}; + +static void cmd_rc_proto_stats_parsed(void *parsed_result, void *data) +{ + struct cmd_rc_proto_stats_result *res = parsed_result; + (void)data; + + if (!strcmp(res->arg1, "show")) + rc_proto_dump_stats(); + else /* reset */ + rc_proto_reset_stats(); +} + +const char PROGMEM str_rc_proto_stats_arg0[] = "rc_proto_stats"; +const parse_token_string_t PROGMEM cmd_rc_proto_stats_arg0 = + TOKEN_STRING_INITIALIZER(struct cmd_rc_proto_stats_result, arg0, + str_rc_proto_stats_arg0); +const char PROGMEM str_rc_proto_stats_arg1[] = "show#reset"; +const parse_token_string_t PROGMEM cmd_rc_proto_stats_arg1 = + TOKEN_STRING_INITIALIZER(struct cmd_rc_proto_stats_result, arg1, + str_rc_proto_stats_arg1); + +const char PROGMEM help_rc_proto_stats[] = "dump rc_proto stats"; +const parse_inst_t PROGMEM cmd_rc_proto_stats = { + .f = cmd_rc_proto_stats_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_rc_proto_stats, + .tokens = { /* token list, NULL terminated */ + (PGM_P)&cmd_rc_proto_stats_arg0, + (PGM_P)&cmd_rc_proto_stats_arg1, + NULL, + }, +}; + +/**********************************************************/ + +/* 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; + fixed_string_t cmd; + fixed_string_t val; +}; + +static void cmd_rc_proto_mode_parsed(void *parsed_result, void *data) +{ + struct cmd_rc_proto_mode_result *res = parsed_result; + (void)data; + uint8_t flags; + uint8_t on = 0; + + flags = rc_proto_get_mode(); + if (!strcmp_P(res->val, PSTR("on"))) + on = 1; + + if (!strcmp_P(res->cmd, PSTR("rx_copy_spi"))) { + if (on == 1) + flags |= RC_PROTO_FLAGS_RX_COPY_SPI; + else + flags &= ~RC_PROTO_FLAGS_RX_COPY_SPI; + } + else if (!strcmp_P(res->cmd, PSTR("rx_autobypass"))) { + if (on == 1) + flags |= RC_PROTO_FLAGS_RX_AUTOBYPASS; + else + flags &= ~RC_PROTO_FLAGS_RX_AUTOBYPASS; + } + else if (!strcmp_P(res->cmd, PSTR("tx_stats"))) { + if (on == 1) + flags |= RC_PROTO_FLAGS_TX_STATS; + else + flags &= ~RC_PROTO_FLAGS_TX_STATS; + } + else if (!strcmp_P(res->cmd, PSTR("tx_power_probe"))) { + if (on == 1) + flags |= RC_PROTO_FLAGS_TX_POW_PROBE; + 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"))) + flags |= RC_PROTO_FLAGS_TX_BYPASS; + else if (!strcmp_P(res->val, PSTR("copy_spi"))) + flags |= RC_PROTO_FLAGS_TX_COPY_SPI; + } + rc_proto_set_mode(flags); + + /* dump state */ + if ((flags & RC_PROTO_FLAGS_TX_MASK) == RC_PROTO_FLAGS_TX_OFF) + printf_P(PSTR("rc_proto_mode tx off\n")); + else if ((flags & RC_PROTO_FLAGS_TX_MASK) == RC_PROTO_FLAGS_TX_BYPASS) + printf_P(PSTR("rc_proto_mode tx bypass\n")); + else if ((flags & RC_PROTO_FLAGS_TX_MASK) == RC_PROTO_FLAGS_TX_COPY_SPI) + printf_P(PSTR("rc_proto_mode tx copy_spi\n")); + printf_P(PSTR("rc_proto_mode rx_copy_spi %s\n"), + (flags & RC_PROTO_FLAGS_RX_COPY_SPI) ? "on" : "off"); + printf_P(PSTR("rc_proto_mode rx_autobypass %s\n"), + (flags & RC_PROTO_FLAGS_RX_AUTOBYPASS) ? "on" : "off"); + printf_P(PSTR("rc_proto_mode tx_stats %s\n"), + (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"; +const parse_token_string_t PROGMEM cmd_rc_proto_mode_arg0 = + TOKEN_STRING_INITIALIZER(struct cmd_rc_proto_mode_result, arg0, + str_rc_proto_mode_arg0); + +const char PROGMEM str_rc_proto_mode_cmd[] = + "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); + +const char PROGMEM str_rc_proto_mode_onoff[] = "on#off"; +const parse_token_string_t PROGMEM cmd_rc_proto_mode_onoff = + TOKEN_STRING_INITIALIZER(struct cmd_rc_proto_mode_result, val, + str_rc_proto_mode_onoff); + +const char PROGMEM help_rc_proto_mode[] = "Set rc proto behavior"; +const parse_inst_t PROGMEM cmd_rc_proto_mode = { + .f = cmd_rc_proto_mode_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_rc_proto_mode, + .tokens = { /* token list, NULL terminated */ + (PGM_P)&cmd_rc_proto_mode_arg0, + (PGM_P)&cmd_rc_proto_mode_cmd, + (PGM_P)&cmd_rc_proto_mode_onoff, + NULL, + }, +}; + +const char PROGMEM str_rc_proto_mode_cmd2[] = "tx"; +const parse_token_string_t PROGMEM cmd_rc_proto_mode_cmd2 = + TOKEN_STRING_INITIALIZER(struct cmd_rc_proto_mode_result, cmd, + str_rc_proto_mode_cmd2); + +const char PROGMEM str_rc_proto_mode_val[] = "off#bypass#copy_spi"; +const parse_token_string_t PROGMEM cmd_rc_proto_mode_val = + TOKEN_STRING_INITIALIZER(struct cmd_rc_proto_mode_result, val, + str_rc_proto_mode_val); + +const parse_inst_t PROGMEM cmd_rc_proto_mode2 = { + .f = cmd_rc_proto_mode_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_rc_proto_mode, + .tokens = { /* token list, NULL terminated */ + (PGM_P)&cmd_rc_proto_mode_arg0, + (PGM_P)&cmd_rc_proto_mode_cmd2, + (PGM_P)&cmd_rc_proto_mode_val, + NULL, + }, +}; + +const char PROGMEM str_rc_proto_mode_cmd3[] = "show"; +const parse_token_string_t PROGMEM cmd_rc_proto_mode_cmd3 = + TOKEN_STRING_INITIALIZER(struct cmd_rc_proto_mode_result, cmd, + str_rc_proto_mode_cmd3); + +const parse_inst_t PROGMEM cmd_rc_proto_mode3 = { + .f = cmd_rc_proto_mode_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_rc_proto_mode, + .tokens = { /* token list, NULL terminated */ + (PGM_P)&cmd_rc_proto_mode_arg0, + (PGM_P)&cmd_rc_proto_mode_cmd3, + NULL, + }, +}; + +/**********************************************************/ + +/* this structure is filled when cmd_rc_proto_hello is parsed successfully */ +struct cmd_rc_proto_hello_result { + fixed_string_t rc_proto_hello; + uint64_t addr; + struct xbee_neigh *neigh; + uint16_t period; + uint16_t count; + fixed_string_t data; +}; + +/* function called when cmd_rc_proto_hello is parsed successfully */ +static void cmd_rc_proto_hello_parsed(void *parsed_result, void *use_neigh) +{ + struct cmd_rc_proto_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), -1); + next += res->period; + res->count--; + } +} + +const char PROGMEM str_rc_proto_hello[] = "rc_proto_hello"; + +const parse_token_string_t PROGMEM cmd_rc_proto_hello_rc_proto_hello = + TOKEN_STRING_INITIALIZER(struct cmd_rc_proto_hello_result, rc_proto_hello, + str_rc_proto_hello); + +const parse_token_num_t PROGMEM cmd_rc_proto_hello_addr = + TOKEN_NUM_INITIALIZER(struct cmd_rc_proto_hello_result, addr, UINT64); + +const parse_token_num_t PROGMEM cmd_rc_proto_hello_period = + TOKEN_NUM_INITIALIZER(struct cmd_rc_proto_hello_result, period, UINT16); + +const parse_token_num_t PROGMEM cmd_rc_proto_hello_count = + TOKEN_NUM_INITIALIZER(struct cmd_rc_proto_hello_result, count, UINT16); + +const parse_token_string_t PROGMEM cmd_rc_proto_hello_data = + TOKEN_STRING_INITIALIZER(struct cmd_rc_proto_hello_result, data, NULL); + +const char PROGMEM help_rc_proto_hello[] = + "Send hello msg to a node: addr, period_ms, count, str"; + +const parse_inst_t PROGMEM cmd_rc_proto_hello = { + .f = cmd_rc_proto_hello_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_rc_proto_hello, + .tokens = { /* token list, NULL terminated */ + (PGM_P)&cmd_rc_proto_hello_rc_proto_hello, + (PGM_P)&cmd_rc_proto_hello_addr, + (PGM_P)&cmd_rc_proto_hello_period, + (PGM_P)&cmd_rc_proto_hello_count, + (PGM_P)&cmd_rc_proto_hello_data, + NULL, + }, +}; + +const parse_token_neighbor_t PROGMEM cmd_rc_proto_hello_neigh = + TOKEN_NEIGHBOR_INITIALIZER(struct cmd_rc_proto_hello_result, neigh, + &xbee_dev); + +const parse_inst_t PROGMEM cmd_rc_proto_hello_name = { + .f = cmd_rc_proto_hello_parsed, /* function to call */ + .data = (void *)1, /* 2nd arg of func */ + .help_str = help_rc_proto_hello, + .tokens = { /* token list, NULL terminated */ + (PGM_P)&cmd_rc_proto_hello_rc_proto_hello, + (PGM_P)&cmd_rc_proto_hello_neigh, + (PGM_P)&cmd_rc_proto_hello_period, + (PGM_P)&cmd_rc_proto_hello_count, + (PGM_P)&cmd_rc_proto_hello_data, + NULL, + }, +}; + +/**********************************************************/ + +/* this structure is filled when cmd_rc_proto_echo is parsed successfully */ +struct cmd_rc_proto_echo_result { + fixed_string_t rc_proto_echo; + uint64_t addr; + struct xbee_neigh *neigh; + uint16_t period; + uint16_t count; + fixed_string_t data; +}; + +/* function called when cmd_rc_proto_echo is parsed successfully */ +static void cmd_rc_proto_echo_parsed(void *parsed_result, void *use_neigh) +{ + struct cmd_rc_proto_echo_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_echo_req(addr, res->data, strlen(res->data), -1); + next += res->period; + res->count--; + } +} + +const char PROGMEM str_rc_proto_echo[] = "rc_proto_echo"; + +const parse_token_string_t PROGMEM cmd_rc_proto_echo_rc_proto_echo = + TOKEN_STRING_INITIALIZER(struct cmd_rc_proto_echo_result, rc_proto_echo, + str_rc_proto_echo); + +const parse_token_num_t PROGMEM cmd_rc_proto_echo_addr = + TOKEN_NUM_INITIALIZER(struct cmd_rc_proto_echo_result, addr, UINT64); + +const parse_token_num_t PROGMEM cmd_rc_proto_echo_period = + TOKEN_NUM_INITIALIZER(struct cmd_rc_proto_echo_result, period, UINT16); + +const parse_token_num_t PROGMEM cmd_rc_proto_echo_count = + TOKEN_NUM_INITIALIZER(struct cmd_rc_proto_echo_result, count, UINT16); + +const parse_token_string_t PROGMEM cmd_rc_proto_echo_data = + TOKEN_STRING_INITIALIZER(struct cmd_rc_proto_echo_result, data, NULL); + +const char PROGMEM help_rc_proto_echo[] = + "Send echo msg to a node: addr, period_ms, count, str"; + +const parse_inst_t PROGMEM cmd_rc_proto_echo = { + .f = cmd_rc_proto_echo_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_rc_proto_echo, + .tokens = { /* token list, NULL terminated */ + (PGM_P)&cmd_rc_proto_echo_rc_proto_echo, + (PGM_P)&cmd_rc_proto_echo_addr, + (PGM_P)&cmd_rc_proto_echo_period, + (PGM_P)&cmd_rc_proto_echo_count, + (PGM_P)&cmd_rc_proto_echo_data, + NULL, + }, +}; + +const parse_token_neighbor_t PROGMEM cmd_rc_proto_echo_neigh = + TOKEN_NEIGHBOR_INITIALIZER(struct cmd_rc_proto_echo_result, neigh, + &xbee_dev); + +const parse_inst_t PROGMEM cmd_rc_proto_echo_name = { + .f = cmd_rc_proto_echo_parsed, /* function to call */ + .data = (void *)1, /* 2nd arg of func */ + .help_str = help_rc_proto_echo, + .tokens = { /* token list, NULL terminated */ + (PGM_P)&cmd_rc_proto_echo_rc_proto_echo, + (PGM_P)&cmd_rc_proto_echo_neigh, + (PGM_P)&cmd_rc_proto_echo_period, + (PGM_P)&cmd_rc_proto_echo_count, + (PGM_P)&cmd_rc_proto_echo_data, + 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, "> "); + + 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, + }, +}; + + +/* ************* */ + +struct cmd_dump_i2c_result { + fixed_string_t cmd; +}; + +static void cmd_dump_i2c_parsed(void *parsed_result, void *data) +{ + struct i2c_ans_imuboard_status imu; + uint8_t irq_flags; + + (void)parsed_result; + (void)data; + + while (!cmdline_keypressed()) { + IRQ_LOCK(irq_flags); + memcpy(&imu, &imuboard_status, sizeof(imu)); + IRQ_UNLOCK(irq_flags); + + if (imu.flags & IMUBOARD_STATUS_GPS_OK) { + printf_P(PSTR("GPS lat=%"PRIi32" long=%"PRIi32 + " alt=%"PRIi32"\n"), + imu.latitude, imu.longitude, imu.altitude); + } + else + printf_P(PSTR("GPS unavailable\n")); + i2c_protocol_debug(); + wait_ms(100); + } +} + +const char PROGMEM str_dump_i2c[] = "dump_i2c"; +const parse_token_string_t PROGMEM cmd_dump_i2c_cmd = + TOKEN_STRING_INITIALIZER(struct cmd_dump_i2c_result, cmd, + str_dump_i2c); + +const char PROGMEM help_dump_i2c[] = "dump_i2c"; +const parse_inst_t PROGMEM cmd_dump_i2c = { + .f = cmd_dump_i2c_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_dump_i2c, + .tokens = { /* token list, NULL terminated */ + (PGM_P)&cmd_dump_i2c_cmd, + NULL, + }, +}; + + +/* ************* */ + /* in progmem */ const parse_ctx_t PROGMEM main_ctx[] = { @@ -1354,7 +2306,7 @@ const parse_ctx_t PROGMEM main_ctx[] = { &cmd_log_show, &cmd_log_type, &cmd_stack_space, - &cmd_scheduler, + &cmd_callout, &cmd_help, &cmd_neigh_del, &cmd_neigh_add, @@ -1377,11 +2329,28 @@ const parse_ctx_t PROGMEM main_ctx[] = { &cmd_monitor_del, &cmd_ping, &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_rc_proto_stats, + &cmd_rc_proto_timers, + &cmd_rc_proto_timers_show, + &cmd_rc_proto_mode, + &cmd_rc_proto_mode2, + &cmd_rc_proto_mode3, + &cmd_rc_proto_hello, + &cmd_rc_proto_hello_name, + &cmd_rc_proto_echo, + &cmd_rc_proto_echo_name, + &cmd_test_eeprom_config, + &cmd_eeprom_del, + &cmd_eeprom_add, + &cmd_eeprom_add2, + &cmd_eeprom_list, + &cmd_dump_i2c, NULL, };