+++ /dev/null
-/*
- * Copyright © 2009 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#include "ao.h"
-#include "ao_task.h"
-
-__pdata uint16_t ao_cmd_lex_i;
-__pdata uint32_t ao_cmd_lex_u32;
-__pdata char ao_cmd_lex_c;
-__pdata enum ao_cmd_status ao_cmd_status;
-
-#define CMD_LEN 48
-
-static __xdata char cmd_line[CMD_LEN];
-static __pdata uint8_t cmd_len;
-static __pdata uint8_t cmd_i;
-
-void
-ao_put_string(__code char *s)
-{
- char c;
- while ((c = *s++))
- putchar(c);
-}
-
-static void
-backspace(void)
-{
- ao_put_string ("\010 \010");
-}
-
-static void
-readline(void)
-{
- char c;
- if (ao_echo())
- ao_put_string("> ");
- cmd_len = 0;
- for (;;) {
- flush();
- c = getchar();
- /* backspace/delete */
- if (c == '\010' || c == '\177') {
- if (cmd_len != 0) {
- if (ao_echo())
- backspace();
- --cmd_len;
- }
- continue;
- }
-
- /* ^U */
- if (c == '\025') {
- while (cmd_len != 0) {
- if (ao_echo())
- backspace();
- --cmd_len;
- }
- continue;
- }
-
- /* map CR to NL */
- if (c == '\r')
- c = '\n';
-
- if (c == '\n') {
- if (ao_echo())
- putchar('\n');
- break;
- }
-
- if (cmd_len >= CMD_LEN - 2)
- continue;
- cmd_line[cmd_len++] = c;
- if (ao_echo())
- putchar(c);
- }
- cmd_line[cmd_len++] = '\n';
- cmd_line[cmd_len++] = '\0';
- cmd_i = 0;
-}
-
-void
-ao_cmd_lex(void)
-{
- ao_cmd_lex_c = '\n';
- if (cmd_i < cmd_len)
- ao_cmd_lex_c = cmd_line[cmd_i++];
-}
-
-static void
-putnibble(uint8_t v)
-{
- if (v < 10)
- putchar(v + '0');
- else
- putchar(v + ('a' - 10));
-}
-
-uint8_t
-ao_getnibble(void)
-{
- char c;
-
- c = getchar();
- if ('0' <= c && c <= '9')
- return c - '0';
- if ('a' <= c && c <= 'f')
- return c - ('a' - 10);
- if ('A' <= c && c <= 'F')
- return c - ('A' - 10);
- ao_cmd_status = ao_cmd_lex_error;
- return 0;
-}
-
-void
-ao_cmd_put16(uint16_t v)
-{
- ao_cmd_put8(v >> 8);
- ao_cmd_put8(v);
-}
-
-void
-ao_cmd_put8(uint8_t v)
-{
- putnibble((v >> 4) & 0xf);
- putnibble(v & 0xf);
-}
-
-uint8_t
-ao_cmd_is_white(void)
-{
- return ao_cmd_lex_c == ' ' || ao_cmd_lex_c == '\t';
-}
-
-void
-ao_cmd_white(void)
-{
- while (ao_cmd_is_white())
- ao_cmd_lex();
-}
-
-int8_t
-ao_cmd_hexchar(char c)
-{
- if ('0' <= c && c <= '9')
- return (c - '0');
- if ('a' <= c && c <= 'f')
- return (c - 'a' + 10);
- if ('A' <= c && c <= 'F')
- return (c - 'A' + 10);
- return -1;
-}
-
-void
-ao_cmd_hexbyte(void)
-{
- uint8_t i;
- int8_t n;
-
- ao_cmd_lex_i = 0;
- ao_cmd_white();
- for (i = 0; i < 2; i++) {
- n = ao_cmd_hexchar(ao_cmd_lex_c);
- if (n < 0) {
- ao_cmd_status = ao_cmd_syntax_error;
- break;
- }
- ao_cmd_lex_i = (ao_cmd_lex_i << 4) | n;
- ao_cmd_lex();
- }
-}
-
-void
-ao_cmd_hex(void)
-{
- __pdata uint8_t r = ao_cmd_lex_error;
- int8_t n;
-
- ao_cmd_lex_i = 0;
- ao_cmd_white();
- for(;;) {
- n = ao_cmd_hexchar(ao_cmd_lex_c);
- if (n < 0)
- break;
- ao_cmd_lex_i = (ao_cmd_lex_i << 4) | n;
- r = ao_cmd_success;
- ao_cmd_lex();
- }
- if (r != ao_cmd_success)
- ao_cmd_status = r;
-}
-
-void
-ao_cmd_decimal(void) __reentrant
-{
- uint8_t r = ao_cmd_lex_error;
-
- ao_cmd_lex_u32 = 0;
- ao_cmd_white();
- for(;;) {
- if ('0' <= ao_cmd_lex_c && ao_cmd_lex_c <= '9')
- ao_cmd_lex_u32 = (ao_cmd_lex_u32 * 10) + (ao_cmd_lex_c - '0');
- else
- break;
- r = ao_cmd_success;
- ao_cmd_lex();
- }
- if (r != ao_cmd_success)
- ao_cmd_status = r;
- ao_cmd_lex_i = (uint16_t) ao_cmd_lex_u32;
-}
-
-uint8_t
-ao_match_word(__code char *word)
-{
- while (*word) {
- if (ao_cmd_lex_c != *word) {
- ao_cmd_status = ao_cmd_syntax_error;
- return 0;
- }
- word++;
- ao_cmd_lex();
- }
- return 1;
-}
-
-static void
-echo(void)
-{
- ao_cmd_hex();
- if (ao_cmd_status == ao_cmd_success)
- ao_stdios[ao_cur_stdio].echo = ao_cmd_lex_i != 0;
-}
-
-static void
-ao_reboot(void)
-{
- ao_cmd_white();
- if (!ao_match_word("eboot"))
- return;
- /* Delay waiting for the packet master to be turned off
- * so that we don't end up back in idle mode because we
- * received a packet after boot.
- */
- flush();
- ao_delay(AO_SEC_TO_TICKS(1));
- ao_arch_reboot();
- ao_panic(AO_PANIC_REBOOT);
-}
-
-#ifndef HAS_VERSION
-#define HAS_VERSION 1
-#endif
-
-#if HAS_VERSION
-static void
-version(void)
-{
- printf("manufacturer %s\n"
- "product %s\n"
- "serial-number %u\n"
-#if HAS_FLIGHT
- "current-flight %u\n"
-#endif
-#if HAS_LOG
- "log-format %u\n"
-#endif
- , ao_manufacturer
- , ao_product
- , ao_serial_number
-#if HAS_FLIGHT
- , ao_flight_number
-#endif
-#if HAS_LOG
- , ao_log_format
-#endif
- );
- printf("software-version %s\n", ao_version);
-}
-#endif
-
-#ifndef NUM_CMDS
-#define NUM_CMDS 11
-#endif
-
-static __code struct ao_cmds *__xdata (ao_cmds[NUM_CMDS]);
-static __pdata uint8_t ao_ncmds;
-
-static void
-help(void)
-{
- __pdata uint8_t cmds;
- __pdata uint8_t cmd;
- __code struct ao_cmds * __pdata cs;
- __code const char *h;
- uint8_t e;
-
- for (cmds = 0; cmds < ao_ncmds; cmds++) {
- cs = ao_cmds[cmds];
- for (cmd = 0; cs[cmd].func; cmd++) {
- h = cs[cmd].help;
- ao_put_string(h);
- e = strlen(h);
- h += e + 1;
- e = 45 - e;
- while (e--)
- putchar(' ');
- ao_put_string(h);
- putchar('\n');
- }
- }
-}
-
-static void
-report(void)
-{
- switch(ao_cmd_status) {
- case ao_cmd_lex_error:
- case ao_cmd_syntax_error:
- puts("Syntax error");
- ao_cmd_status = 0;
- default:
- break;
- }
-}
-
-void
-ao_cmd_register(__code struct ao_cmds *cmds)
-{
- if (ao_ncmds >= NUM_CMDS)
- ao_panic(AO_PANIC_CMD);
- ao_cmds[ao_ncmds++] = cmds;
-}
-
-void
-ao_cmd(void)
-{
- __pdata char c;
- uint8_t cmd, cmds;
- __code struct ao_cmds * __xdata cs;
- void (*__xdata func)(void);
-
- for (;;) {
- readline();
- ao_cmd_lex();
- ao_cmd_white();
- c = ao_cmd_lex_c;
- ao_cmd_lex();
- if (c == '\r' || c == '\n')
- continue;
- func = (void (*)(void)) NULL;
- for (cmds = 0; cmds < ao_ncmds; cmds++) {
- cs = ao_cmds[cmds];
- for (cmd = 0; cs[cmd].func; cmd++)
- if (cs[cmd].help[0] == c) {
- func = cs[cmd].func;
- break;
- }
- if (func)
- break;
- }
- if (func)
- (*func)();
- else
- ao_cmd_status = ao_cmd_syntax_error;
- report();
- }
-}
-
-#if HAS_BOOT_LOADER
-
-#include <ao_boot.h>
-
-static void
-ao_loader(void)
-{
- flush();
- ao_boot_loader();
-}
-#endif
-
-__xdata struct ao_task ao_cmd_task;
-
-__code struct ao_cmds ao_base_cmds[] = {
- { help, "?\0Help" },
-#if HAS_TASK_INFO
- { ao_task_info, "T\0Tasks" },
-#endif
- { echo, "E <0 off, 1 on>\0Echo" },
- { ao_reboot, "r eboot\0Reboot" },
-#if HAS_VERSION
- { version, "v\0Version" },
-#endif
-#if HAS_BOOT_LOADER
- { ao_loader, "X\0Switch to boot loader" },
-#endif
- { 0, NULL },
-};
-
-void
-ao_cmd_init(void)
-{
- ao_cmd_register(&ao_base_cmds[0]);
- ao_add_task(&ao_cmd_task, ao_cmd, "cmd");
-}
projects / fw / altos / blobdiff