#include <parse_string.h>
#include <parse_num.h>
#include <uart.h>
+#include <xbee.h>
+#include <callout.h>
-#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 "eeprom_config.h"
/* commands_gen.c */
extern const parse_inst_t PROGMEM cmd_reset;
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;
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;
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;
}
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_recv_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 */
},
};
-
-
-
/* ************* */
/* this structure is filled when cmd_read is parsed successfully */
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";
char cmd[3];
int len;
void *param;
+ 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, 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";
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";
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 =
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);
}
}
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);
printf_P(PSTR("not running\r\n"));
return;
}
+ callout_stop(&xbeeboard.intr_cm, &monitor_event);
monitor_running = 0;
- callout_stop(&cm, &monitor_event);
}
}
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;
}
/* 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";
{
(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;
},
};
-/* ************* */
-
-/* this structure is filled when cmd_dump is parsed successfully */
-struct cmd_dump_result {
- fixed_string_t dump;
- fixed_string_t onoff;
-};
-
-/* function called when cmd_dump is parsed successfully */
-static void cmd_dump_parsed(void *parsed_result, void *data)
-{
- struct cmd_dump_result *res = parsed_result;
-
- (void)data;
- if (!strcmp(res->onoff, "on"))
- xbee_hexdump = 1;
- else
- xbee_hexdump = 0;
-}
-
-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 parse_inst_t PROGMEM cmd_dump = {
- .f = cmd_dump_parsed, /* function to call */
- .data = NULL, /* 2nd arg of func */
- .help_str = help_dump,
- .tokens = { /* token list, NULL terminated */
- (PGM_P)&cmd_dump_dump,
- (PGM_P)&cmd_dump_onoff,
- NULL,
- },
-};
-
-/* ************* */
-
-/* this structure is filled when cmd_debug is parsed successfully */
-struct cmd_debug_result {
- fixed_string_t debug;
- fixed_string_t onoff;
-};
-
-/* function called when cmd_debug is parsed successfully */
-static void cmd_debug_parsed(void *parsed_result, void *data)
-{
- struct cmd_debug_result *res = 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);
-
-const parse_token_string_t PROGMEM cmd_debug_onoff =
- TOKEN_STRING_INITIALIZER(struct cmd_debug_result, onoff,
- str_debug_onoff);
-
-const char PROGMEM help_debug[] = "enable/disable additionnal debug";
-
-const parse_inst_t PROGMEM cmd_debug = {
- .f = cmd_debug_parsed, /* function to call */
- .data = NULL, /* 2nd arg of func */
- .help_str = help_debug,
- .tokens = { /* token list, NULL terminated */
- (PGM_P)&cmd_debug_debug,
- (PGM_P)&cmd_debug_onoff,
- NULL,
- },
-};
-
/**********************************************************/
/* this structure is filled when cmd_baudrate is parsed successfully */
},
};
+
+/**********************************************************/
+
+/* 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 */
static void cmd_servo_parsed(void * parsed_result, void *data)
{
struct cmd_servo_result *res = parsed_result;
- uint8_t i;
(void)data;
spi_servo_set_ppm(!!res->val);
}
else if (!strcmp_P(res->arg1, PSTR("show"))) {
- for (i = 0; i < 6; i++)
- printf_P(PSTR("%d: %d\r\n"), i, spi_servo_get(i));
- printf_P(PSTR("bypass=%d ppm=%d\n"),
- spi_servo_get_bypass(), spi_servo_get_ppm());
- printf_P(PSTR("\r\n"));
+ spi_servo_dump();
}
}
/* 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)
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_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"));
},
};
+/**********************************************************/
+
+/* 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_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, "> ");
+
+ /* XXX bad: we should not block as we do not serve callout */
+ 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,
+ },
+};
+
+
+/* ************* */
+
/* in progmem */
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,
&cmd_monitor_del,
&cmd_ping,
&cmd_raw,
- &cmd_dump,
- &cmd_debug,
&cmd_baudrate,
+ &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_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,
NULL,
};