projects/microb2009/mainboard/commands_gen.c

   1 /*
   2  *  Copyright Droids Corporation (2008)
   3  *
   4  *  This program is free software; you can redistribute it and/or modify
   5  *  it under the terms of the GNU General Public License as published by
   6  *  the Free Software Foundation; either version 2 of the License, or
   7  *  (at your option) any later version.
   8  *
   9  *  This program is distributed in the hope that it will be useful,
  10  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  *  GNU General Public License for more details.
  13  *
  14  *  You should have received a copy of the GNU General Public License
  15  *  along with this program; if not, write to the Free Software
  16  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  17  *
  18  *  Revision : $Id: commands_gen.c,v 1.8 2009-11-08 17:24:33 zer0 Exp $
  19  *
  20  *  Olivier MATZ <zer0@droids-corp.org>
  21  */
  22
  23 #include <stdio.h>
  24 #include <string.h>
  25
  26 #include <aversive/pgmspace.h>
  27 #include <aversive/wait.h>
  28 #include <aversive/error.h>
  29
  30 #include <ax12.h>
  31 #include <uart.h>
  32 #include <pwm_ng.h>
  33 #include <time.h>
  34 #include <encoders_spi.h>
  35 #include <adc.h>
  36
  37 #include <scheduler.h>
  38 #include <scheduler_stats.h>
  39 #include <pid.h>
  40 #include <quadramp.h>
  41 #include <control_system_manager.h>
  42 #include <trajectory_manager.h>
  43 #include <vect_base.h>
  44 #include <lines.h>
  45 #include <polygon.h>
  46 #include <obstacle_avoidance.h>
  47 #include <blocking_detection_manager.h>
  48 #include <robot_system.h>
  49 #include <position_manager.h>
  50
  51 #include <rdline.h>
  52 #include <parse.h>
  53 #include <parse_string.h>
  54 #include <parse_num.h>
  55
  56 #include <diagnostic.h>
  57
  58 #include "main.h"
  59 #include "cmdline.h"
  60 #include "sensor.h"
  61
  62 /**********************************************************/
  63 /* Reset */
  64
  65 /* this structure is filled when cmd_reset is parsed successfully */
  66 struct cmd_reset_result {
  67         fixed_string_t arg0;
  68 };
  69
  70 /* function called when cmd_reset is parsed successfully */
  71 static void cmd_reset_parsed(void * parsed_result, void * data)
  72 {
  73         reset();
  74 }
  75
  76 prog_char str_reset_arg0[] = "reset";
  77 parse_pgm_token_string_t cmd_reset_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_reset_result, arg0, str_reset_arg0);
  78
  79 prog_char help_reset[] = "Reset the board";
  80 parse_pgm_inst_t cmd_reset = {
  81         .f = cmd_reset_parsed,  /* function to call */
  82         .data = NULL,      /* 2nd arg of func */
  83         .help_str = help_reset,
  84         .tokens = {        /* token list, NULL terminated */
  85                 (prog_void *)&cmd_reset_arg0,
  86                 NULL,
  87         },
  88 };
  89
  90 /**********************************************************/
  91 /* Bootloader */
  92
  93 /* this structure is filled when cmd_bootloader is parsed successfully */
  94 struct cmd_bootloader_result {
  95         fixed_string_t arg0;
  96 };
  97
  98 /* function called when cmd_bootloader is parsed successfully */
  99 static void cmd_bootloader_parsed(void *parsed_result, void *data)
 100 {
 101         bootloader();
 102 }
 103
 104 prog_char str_bootloader_arg0[] = "bootloader";
 105 parse_pgm_token_string_t cmd_bootloader_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_bootloader_result, arg0, str_bootloader_arg0);
 106
 107 prog_char help_bootloader[] = "Launch the bootloader";
 108 parse_pgm_inst_t cmd_bootloader = {
 109         .f = cmd_bootloader_parsed,  /* function to call */
 110         .data = NULL,      /* 2nd arg of func */
 111         .help_str = help_bootloader,
 112         .tokens = {        /* token list, NULL terminated */
 113                 (prog_void *)&cmd_bootloader_arg0,
 114                 NULL,
 115         },
 116 };
 117
 118 /**********************************************************/
 119 /* Encoders tests */
 120
 121 /* this structure is filled when cmd_encoders is parsed successfully */
 122 struct cmd_encoders_result {
 123         fixed_string_t arg0;
 124         fixed_string_t arg1;
 125 };
 126
 127 /* function called when cmd_encoders is parsed successfully */
 128 static void cmd_encoders_parsed(void *parsed_result, void *data)
 129 {
 130         struct cmd_encoders_result *res = parsed_result;
 131
 132         if (!strcmp_P(res->arg1, PSTR("reset"))) {
 133                 encoders_spi_set_value((void *)0, 0);
 134                 encoders_spi_set_value((void *)1, 0);
 135                 encoders_spi_set_value((void *)2, 0);
 136                 encoders_spi_set_value((void *)3, 0);
 137                 return;
 138         }
 139
 140         /* show */
 141         while(!cmdline_keypressed()) {
 142                 printf_P(PSTR("% .8ld % .8ld % .8ld % .8ld\r\n"),
 143                          encoders_spi_get_value((void *)0),
 144                          encoders_spi_get_value((void *)1),
 145                          encoders_spi_get_value((void *)2),
 146                          encoders_spi_get_value((void *)3));
 147                 wait_ms(100);
 148         }
 149 }
 150
 151 prog_char str_encoders_arg0[] = "encoders";
 152 parse_pgm_token_string_t cmd_encoders_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_encoders_result, arg0, str_encoders_arg0);
 153 prog_char str_encoders_arg1[] = "show#reset";
 154 parse_pgm_token_string_t cmd_encoders_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_encoders_result, arg1, str_encoders_arg1);
 155
 156 prog_char help_encoders[] = "Show encoders values";
 157 parse_pgm_inst_t cmd_encoders = {
 158         .f = cmd_encoders_parsed,  /* function to call */
 159         .data = NULL,      /* 2nd arg of func */
 160         .help_str = help_encoders,
 161         .tokens = {        /* token list, NULL terminated */
 162                 (prog_void *)&cmd_encoders_arg0,
 163                 (prog_void *)&cmd_encoders_arg1,
 164                 NULL,
 165         },
 166 };
 167
 168 /**********************************************************/
 169 /* Scheduler show */
 170
 171 /* this structure is filled when cmd_scheduler is parsed successfully */
 172 struct cmd_scheduler_result {
 173         fixed_string_t arg0;
 174         fixed_string_t arg1;
 175 };
 176
 177 /* function called when cmd_scheduler is parsed successfully */
 178 static void cmd_scheduler_parsed(void *parsed_result, void *data)
 179 {
 180         scheduler_dump_events();
 181         scheduler_stats_dump();
 182 }
 183
 184 prog_char str_scheduler_arg0[] = "scheduler";
 185 parse_pgm_token_string_t cmd_scheduler_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_scheduler_result, arg0, str_scheduler_arg0);
 186 prog_char str_scheduler_arg1[] = "show";
 187 parse_pgm_token_string_t cmd_scheduler_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_scheduler_result, arg1, str_scheduler_arg1);
 188
 189 prog_char help_scheduler[] = "Show scheduler events";
 190 parse_pgm_inst_t cmd_scheduler = {
 191         .f = cmd_scheduler_parsed,  /* function to call */
 192         .data = NULL,      /* 2nd arg of func */
 193         .help_str = help_scheduler,
 194         .tokens = {        /* token list, NULL terminated */
 195                 (prog_void *)&cmd_scheduler_arg0,
 196                 (prog_void *)&cmd_scheduler_arg1,
 197                 NULL,
 198         },
 199 };
 200
 201 /**********************************************************/
 202 /* Pwms tests */
 203
 204 /* this structure is filled when cmd_pwm is parsed successfully */
 205 struct cmd_pwm_result {
 206         fixed_string_t arg0;
 207         fixed_string_t arg1;
 208         int16_t arg2;
 209 };
 210
 211 /* function called when cmd_pwm is parsed successfully */
 212 static void cmd_pwm_parsed(void * parsed_result, void * data)
 213 {
 214         void * pwm_ptr = NULL;
 215         struct cmd_pwm_result * res = parsed_result;
 216
 217         if (!strcmp_P(res->arg1, PSTR("1(4A)")))
 218                 pwm_ptr = &gen.pwm1_4A;
 219         else if (!strcmp_P(res->arg1, PSTR("2(4B)")))
 220                 pwm_ptr = &gen.pwm2_4B;
 221         else if (!strcmp_P(res->arg1, PSTR("3(1A)")))
 222                 pwm_ptr = &gen.pwm3_1A;
 223         else if (!strcmp_P(res->arg1, PSTR("4(1B)")))
 224                 pwm_ptr = &gen.pwm4_1B;
 225
 226         else if (!strcmp_P(res->arg1, PSTR("s1(3C)")))
 227                 pwm_ptr = &gen.servo1;
 228         else if (!strcmp_P(res->arg1, PSTR("s2(5A)")))
 229                 pwm_ptr = &gen.servo2;
 230         else if (!strcmp_P(res->arg1, PSTR("s3(5B)")))
 231                 pwm_ptr = &gen.servo3;
 232         else if (!strcmp_P(res->arg1, PSTR("s3(5C)")))
 233                 pwm_ptr = &gen.servo4;
 234
 235         if (pwm_ptr)
 236                 pwm_ng_set(pwm_ptr, res->arg2);
 237
 238         printf_P(PSTR("done\r\n"));
 239 }
 240
 241 prog_char str_pwm_arg0[] = "pwm";
 242 parse_pgm_token_string_t cmd_pwm_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_pwm_result, arg0, str_pwm_arg0);
 243 prog_char str_pwm_arg1[] = "1(4A)#2(4B)#3(1A)#4(1B)#s1(3C)#s2(5A)#s3(5B)#s4(5C)";
 244 parse_pgm_token_string_t cmd_pwm_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_pwm_result, arg1, str_pwm_arg1);
 245 parse_pgm_token_num_t cmd_pwm_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_pwm_result, arg2, INT16);
 246
 247 prog_char help_pwm[] = "Set pwm values [-4096 ; 4095]";
 248 parse_pgm_inst_t cmd_pwm = {
 249         .f = cmd_pwm_parsed,  /* function to call */
 250         .data = NULL,      /* 2nd arg of func */
 251         .help_str = help_pwm,
 252         .tokens = {        /* token list, NULL terminated */
 253                 (prog_void *)&cmd_pwm_arg0,
 254                 (prog_void *)&cmd_pwm_arg1,
 255                 (prog_void *)&cmd_pwm_arg2,
 256                 NULL,
 257         },
 258 };
 259
 260 /**********************************************************/
 261 /* Adcs tests */
 262
 263 /* this structure is filled when cmd_adc is parsed successfully */
 264 struct cmd_adc_result {
 265         fixed_string_t arg0;
 266         fixed_string_t arg1;
 267 };
 268
 269 /* function called when cmd_adc is parsed successfully */
 270 static void cmd_adc_parsed(void *parsed_result, void *data)
 271 {
 272         struct cmd_adc_result *res = parsed_result;
 273         uint8_t i, loop = 0;
 274
 275         if (!strcmp_P(res->arg1, PSTR("loop_show")))
 276                 loop = 1;
 277
 278         do {
 279                 printf_P(PSTR("ADC values: "));
 280                 for (i=0; i<ADC_MAX; i++) {
 281                         printf_P(PSTR("%.4d "), sensor_get_adc(i));
 282                 }
 283                 printf_P(PSTR("\r\n"));
 284                 wait_ms(100);
 285         } while (loop && !cmdline_keypressed());
 286 }
 287
 288 prog_char str_adc_arg0[] = "adc";
 289 parse_pgm_token_string_t cmd_adc_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_adc_result, arg0, str_adc_arg0);
 290 prog_char str_adc_arg1[] = "show#loop_show";
 291 parse_pgm_token_string_t cmd_adc_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_adc_result, arg1, str_adc_arg1);
 292
 293 prog_char help_adc[] = "Show adc values";
 294 parse_pgm_inst_t cmd_adc = {
 295         .f = cmd_adc_parsed,  /* function to call */
 296         .data = NULL,      /* 2nd arg of func */
 297         .help_str = help_adc,
 298         .tokens = {        /* token list, NULL terminated */
 299                 (prog_void *)&cmd_adc_arg0,
 300                 (prog_void *)&cmd_adc_arg1,
 301                 NULL,
 302         },
 303 };
 304
 305
 306 /**********************************************************/
 307 /* Sensors tests */
 308
 309 /* this structure is filled when cmd_sensor is parsed successfully */
 310 struct cmd_sensor_result {
 311         fixed_string_t arg0;
 312         fixed_string_t arg1;
 313 };
 314
 315 /* function called when cmd_sensor is parsed successfully */
 316 static void cmd_sensor_parsed(void *parsed_result, void *data)
 317 {
 318         struct cmd_sensor_result *res = parsed_result;
 319         uint8_t i, loop = 0;
 320
 321         if (!strcmp_P(res->arg1, PSTR("loop_show")))
 322                 loop = 1;
 323
 324         do {
 325                 printf_P(PSTR("SENSOR values: "));
 326                 for (i=0; i<SENSOR_MAX; i++) {
 327                         printf_P(PSTR("%d "), !!sensor_get(i));
 328                 }
 329                 printf_P(PSTR("\r\n"));
 330                 wait_ms(100);
 331         } while (loop && !cmdline_keypressed());
 332 }
 333
 334 prog_char str_sensor_arg0[] = "sensor";
 335 parse_pgm_token_string_t cmd_sensor_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_sensor_result, arg0, str_sensor_arg0);
 336 prog_char str_sensor_arg1[] = "show#loop_show";
 337 parse_pgm_token_string_t cmd_sensor_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_sensor_result, arg1, str_sensor_arg1);
 338
 339 prog_char help_sensor[] = "Show sensor values";
 340 parse_pgm_inst_t cmd_sensor = {
 341         .f = cmd_sensor_parsed,  /* function to call */
 342         .data = NULL,      /* 2nd arg of func */
 343         .help_str = help_sensor,
 344         .tokens = {        /* token list, NULL terminated */
 345                 (prog_void *)&cmd_sensor_arg0,
 346                 (prog_void *)&cmd_sensor_arg1,
 347                 NULL,
 348         },
 349 };
 350
 351
 352 /**********************************************************/
 353 /* Log */
 354
 355 /* this structure is filled when cmd_log is parsed successfully */
 356 struct cmd_log_result {
 357         fixed_string_t arg0;
 358         fixed_string_t arg1;
 359         uint8_t arg2;
 360         fixed_string_t arg3;
 361 };
 362
 363 /* keep it sync with string choice */
 364 static const prog_char uart_log[] = "uart";
 365 static const prog_char rs_log[] = "rs";
 366 static const prog_char traj_log[] = "traj";
 367 static const prog_char i2c_log[] = "i2c";
 368 static const prog_char oa_log[] = "oa";
 369 static const prog_char strat_log[] = "strat";
 370 static const prog_char i2cproto_log[] = "i2cproto";
 371 static const prog_char sensor_log[] = "sensor";
 372 static const prog_char block_log[] = "bd";
 373 static const prog_char cs_log[] = "cs";
 374
 375 struct log_name_and_num {
 376         const prog_char * name;
 377         uint8_t num;
 378 };
 379
 380 static const struct log_name_and_num log_name_and_num[] = {
 381         { uart_log, E_UART },
 382         { rs_log, E_ROBOT_SYSTEM },
 383         { traj_log, E_TRAJECTORY },
 384         { i2c_log, E_I2C },
 385         { oa_log, E_OA },
 386         { strat_log, E_USER_STRAT },
 387         { i2cproto_log, E_USER_I2C_PROTO },
 388         { sensor_log, E_USER_SENSOR },
 389         { block_log, E_BLOCKING_DETECTION_MANAGER },
 390         { cs_log, E_USER_CS },
 391 };
 392
 393 static uint8_t
 394 log_name2num(const char * s)
 395 {
 396         uint8_t i;
 397
 398         for (i=0; i<sizeof(log_name_and_num)/sizeof(struct log_name_and_num); i++) {
 399                 if (!strcmp_P(s, log_name_and_num[i].name)) {
 400                         return log_name_and_num[i].num;
 401                 }
 402         }
 403         return 0;
 404 }
 405
 406 const prog_char *
 407 log_num2name(uint8_t num)
 408 {
 409         uint8_t i;
 410
 411         for (i=0; i<sizeof(log_name_and_num)/sizeof(struct log_name_and_num); i++) {
 412                 if (num ==  log_name_and_num[i].num) {
 413                         return log_name_and_num[i].name;
 414                 }
 415         }
 416         return NULL;
 417 }
 418
 419 /* function called when cmd_log is parsed successfully */
 420 static void cmd_log_do_show(void)
 421 {
 422         uint8_t i, empty=1;
 423         const prog_char * name;
 424
 425         printf_P(PSTR("log level is %d\r\n"), gen.log_level);
 426         for (i=0; i<NB_LOGS; i++) {
 427                 name = log_num2name(gen.logs[i]);
 428                 if (name) {
 429                         printf_P(PSTR("log type %S is on\r\n"), name);
 430                         empty = 0;
 431                 }
 432         }
 433         if (empty)
 434                 printf_P(PSTR("no log configured\r\n"), gen.logs[i]);
 435 }
 436
 437 /* function called when cmd_log is parsed successfully */
 438 static void cmd_log_parsed(void * parsed_result, void * data)
 439 {
 440         struct cmd_log_result *res = (struct cmd_log_result *) parsed_result;
 441
 442         if (!strcmp_P(res->arg1, PSTR("level"))) {
 443                 gen.log_level = res->arg2;
 444         }
 445
 446         /* else it is a show */
 447         cmd_log_do_show();
 448 }
 449
 450 prog_char str_log_arg0[] = "log";
 451 parse_pgm_token_string_t cmd_log_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_log_result, arg0, str_log_arg0);
 452 prog_char str_log_arg1[] = "level";
 453 parse_pgm_token_string_t cmd_log_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_log_result, arg1, str_log_arg1);
 454 parse_pgm_token_num_t cmd_log_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_log_result, arg2, INT32);
 455
 456 prog_char help_log[] = "Set log options: level (0 -> 5)";
 457 parse_pgm_inst_t cmd_log = {
 458         .f = cmd_log_parsed,  /* function to call */
 459         .data = NULL,      /* 2nd arg of func */
 460         .help_str = help_log,
 461         .tokens = {        /* token list, NULL terminated */
 462                 (prog_void *)&cmd_log_arg0,
 463                 (prog_void *)&cmd_log_arg1,
 464                 (prog_void *)&cmd_log_arg2,
 465                 NULL,
 466         },
 467 };
 468
 469 prog_char str_log_arg1_show[] = "show";
 470 parse_pgm_token_string_t cmd_log_arg1_show = TOKEN_STRING_INITIALIZER(struct cmd_log_result, arg1, str_log_arg1_show);
 471
 472 prog_char help_log_show[] = "Show configured logs";
 473 parse_pgm_inst_t cmd_log_show = {
 474         .f = cmd_log_parsed,  /* function to call */
 475         .data = NULL,      /* 2nd arg of func */
 476         .help_str = help_log_show,
 477         .tokens = {        /* token list, NULL terminated */
 478                 (prog_void *)&cmd_log_arg0,
 479                 (prog_void *)&cmd_log_arg1_show,
 480                 NULL,
 481         },
 482 };
 483
 484 /* this structure is filled when cmd_log is parsed successfully */
 485 struct cmd_log_type_result {
 486         fixed_string_t arg0;
 487         fixed_string_t arg1;
 488         fixed_string_t arg2;
 489         fixed_string_t arg3;
 490 };
 491
 492 /* function called when cmd_log is parsed successfully */
 493 static void cmd_log_type_parsed(void * parsed_result, void * data)
 494 {
 495         struct cmd_log_type_result *res = (struct cmd_log_type_result *) parsed_result;
 496         uint8_t lognum;
 497         uint8_t i;
 498
 499         lognum = log_name2num(res->arg2);
 500         if (lognum == 0) {
 501                 printf_P(PSTR("Cannot find log num\r\n"));
 502                 return;
 503         }
 504
 505         if (!strcmp_P(res->arg3, PSTR("on"))) {
 506                 for (i=0; i<NB_LOGS; i++) {
 507                         if (gen.logs[i] == lognum) {
 508                                 printf_P(PSTR("Already on\r\n"));
 509                                 return;
 510                         }
 511                 }
 512                 for (i=0; i<NB_LOGS; i++) {
 513                         if (gen.logs[i] == 0) {
 514                                 gen.logs[i] = lognum;
 515                                 break;
 516                         }
 517                 }
 518                 if (i==NB_LOGS) {
 519                         printf_P(PSTR("no more room\r\n"));
 520                 }
 521         }
 522         else if (!strcmp_P(res->arg3, PSTR("off"))) {
 523                 for (i=0; i<NB_LOGS; i++) {
 524                         if (gen.logs[i] == lognum) {
 525                                 gen.logs[i] = 0;
 526                                 break;
 527                         }
 528                 }
 529                 if (i==NB_LOGS) {
 530                         printf_P(PSTR("already off\r\n"));
 531                 }
 532         }
 533         cmd_log_do_show();
 534 }
 535
 536 prog_char str_log_arg1_type[] = "type";
 537 parse_pgm_token_string_t cmd_log_arg1_type = TOKEN_STRING_INITIALIZER(struct cmd_log_type_result, arg1, str_log_arg1_type);
 538 /* keep it sync with log_name_and_num above */
 539 prog_char str_log_arg2_type[] = "uart#rs#servo#traj#i2c#oa#strat#i2cproto#ext#sensor#bd#cs";
 540 parse_pgm_token_string_t cmd_log_arg2_type = TOKEN_STRING_INITIALIZER(struct cmd_log_type_result, arg2, str_log_arg2_type);
 541 prog_char str_log_arg3[] = "on#off";
 542 parse_pgm_token_string_t cmd_log_arg3 = TOKEN_STRING_INITIALIZER(struct cmd_log_type_result, arg3, str_log_arg3);
 543
 544 prog_char help_log_type[] = "Set log type";
 545 parse_pgm_inst_t cmd_log_type = {
 546         .f = cmd_log_type_parsed,  /* function to call */
 547         .data = NULL,      /* 2nd arg of func */
 548         .help_str = help_log_type,
 549         .tokens = {        /* token list, NULL terminated */
 550                 (prog_void *)&cmd_log_arg0,
 551                 (prog_void *)&cmd_log_arg1_type,
 552                 (prog_void *)&cmd_log_arg2_type,
 553                 (prog_void *)&cmd_log_arg3,
 554                 NULL,
 555         },
 556 };
 557
 558
 559 /**********************************************************/
 560 /* Stack_Space */
 561
 562 /* this structure is filled when cmd_stack_space is parsed successfully */
 563 struct cmd_stack_space_result {
 564         fixed_string_t arg0;
 565 };
 566
 567 /* function called when cmd_stack_space is parsed successfully */
 568 static void cmd_stack_space_parsed(void *parsed_result, void *data)
 569 {
 570         printf("res stack: %d\r\n", min_stack_space_available());
 571
 572 }
 573
 574 prog_char str_stack_space_arg0[] = "stack_space";
 575 parse_pgm_token_string_t cmd_stack_space_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_stack_space_result, arg0, str_stack_space_arg0);
 576
 577 prog_char help_stack_space[] = "Display remaining stack space";
 578 parse_pgm_inst_t cmd_stack_space = {
 579         .f = cmd_stack_space_parsed,  /* function to call */
 580         .data = NULL,      /* 2nd arg of func */
 581         .help_str = help_stack_space,
 582         .tokens = {        /* token list, NULL terminated */
 583                 (prog_void *)&cmd_stack_space_arg0,
 584                 NULL,
 585         },
 586 };