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Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos
[fw/altos]
/
src
/
kernel
/
ao_cmd.c
diff --git
a/src/kernel/ao_cmd.c
b/src/kernel/ao_cmd.c
index 10716afd5e8e0ffe9fab17fb459874a6dfa748d5..d8ba8372f5d0e308109ad6bd17c84a1a7c0d4541 100644
(file)
--- a/
src/kernel/ao_cmd.c
+++ b/
src/kernel/ao_cmd.c
@@
-19,41
+19,37
@@
#include "ao.h"
#include "ao_task.h"
#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;
+char ao_cmd_lex_c;
+enum ao_cmd_status ao_cmd_status;
+#ifndef AO_CMD_LEN
#if AO_PYRO_NUM
#if AO_PYRO_NUM
-#define CMD_LEN 128
+#define
AO_
CMD_LEN 128
#else
#else
-#define
CMD_LEN
48
+#define
AO_CMD_LEN
48
#endif
#endif
+#endif
+
+static char cmd_line[AO_CMD_LEN];
+static uint8_t cmd_len;
+static uint8_t cmd_i;
-static __xdata char cmd_line[CMD_LEN];
-static __pdata uint8_t cmd_len;
-static __pdata uint8_t cmd_i;
+static const char backspace[] = "\010 \010";
void
void
-ao_put_string(
__code
char *s)
+ao_put_string(
const
char *s)
{
char c;
while ((c = *s++))
putchar(c);
}
{
char c;
while ((c = *s++))
putchar(c);
}
-static void
-backspace(void)
-{
- ao_put_string ("\010 \010");
-}
-
-static void
-readline(void)
+void
+ao_cmd_readline(const char *prompt)
{
char c;
if (ao_echo())
{
char c;
if (ao_echo())
- ao_put_string(
"> "
);
+ ao_put_string(
prompt
);
cmd_len = 0;
for (;;) {
flush();
cmd_len = 0;
for (;;) {
flush();
@@
-62,7
+58,7
@@
readline(void)
if (c == '\010' || c == '\177') {
if (cmd_len != 0) {
if (ao_echo())
if (c == '\010' || c == '\177') {
if (cmd_len != 0) {
if (ao_echo())
-
backspace(
);
+
ao_put_string(backspace
);
--cmd_len;
}
continue;
--cmd_len;
}
continue;
@@
-72,7
+68,7
@@
readline(void)
if (c == '\025') {
while (cmd_len != 0) {
if (ao_echo())
if (c == '\025') {
while (cmd_len != 0) {
if (ao_echo())
-
backspace(
);
+
ao_put_string(backspace
);
--cmd_len;
}
continue;
--cmd_len;
}
continue;
@@
-88,7
+84,7
@@
readline(void)
break;
}
break;
}
- if (cmd_len >= CMD_LEN - 2)
+ if (cmd_len >=
AO_
CMD_LEN - 2)
continue;
cmd_line[cmd_len++] = c;
if (ao_echo())
continue;
cmd_line[cmd_len++] = c;
if (ao_echo())
@@
-99,12
+95,13
@@
readline(void)
cmd_i = 0;
}
cmd_i = 0;
}
-void
+char
ao_cmd_lex(void)
{
ao_cmd_lex_c = '\n';
if (cmd_i < cmd_len)
ao_cmd_lex_c = cmd_line[cmd_i++];
ao_cmd_lex(void)
{
ao_cmd_lex_c = '\n';
if (cmd_i < cmd_len)
ao_cmd_lex_c = cmd_line[cmd_i++];
+ return ao_cmd_lex_c;
}
static void
}
static void
@@
-135,8
+132,8
@@
ao_getnibble(void)
void
ao_cmd_put16(uint16_t v)
{
void
ao_cmd_put16(uint16_t v)
{
- ao_cmd_put8(
v >> 8
);
- ao_cmd_put8(v);
+ ao_cmd_put8(
(uint8_t) (v >> 8)
);
+ ao_cmd_put8(
(uint8_t)
v);
}
void
}
void
@@
-163,63
+160,61
@@
int8_t
ao_cmd_hexchar(char c)
{
if ('0' <= c && c <= '9')
ao_cmd_hexchar(char c)
{
if ('0' <= c && c <= '9')
- return (c - '0');
+ return (
int8_t) (
c - '0');
if ('a' <= c && c <= 'f')
if ('a' <= c && c <= 'f')
- return (c - 'a' + 10);
+ return (
int8_t) (
c - 'a' + 10);
if ('A' <= c && c <= 'F')
if ('A' <= c && c <= 'F')
- return (c - 'A' + 10);
+ return (
int8_t) (
c - 'A' + 10);
return -1;
}
return -1;
}
-void
-
ao_cmd_hexbyte(void
)
+static uint32_t
+
get_hex(uint8_t lim
)
{
{
+ uint32_t result = 0;
uint8_t i;
uint8_t i;
- int8_t n;
- ao_cmd_lex_i = 0;
ao_cmd_white();
ao_cmd_white();
- for (i = 0; i <
2
; i++) {
- n = ao_cmd_hexchar(ao_cmd_lex_c);
+ for (i = 0; i <
lim
; i++) {
+
int8_t
n = ao_cmd_hexchar(ao_cmd_lex_c);
if (n < 0) {
if (n < 0) {
- ao_cmd_status = ao_cmd_syntax_error;
+ if (i == 0 || lim != 0xff)
+ ao_cmd_status = ao_cmd_lex_error;
break;
}
break;
}
-
ao_cmd_lex_i = (ao_cmd_lex_i << 4) | n
;
+
result = (uint32_t) ((result << 4) | (uint32_t) n)
;
ao_cmd_lex();
}
ao_cmd_lex();
}
+ return result;
}
}
-void
-ao_cmd_hex(void)
+uint8_t
+ao_cmd_hex
byte
(void)
{
{
-
__pdata uint8_t r = ao_cmd_lex_error
;
- int8_t n;
+
return (uint8_t) get_hex(2)
;
+}
- 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;
+uint32_t
+ao_cmd_hex(void)
+{
+ return get_hex(0xff);
}
}
-void
-ao_cmd_decimal(void)
__reentrant
+uint32_t
+ao_cmd_decimal(void)
{
{
+ uint32_t result = 0;
uint8_t r = ao_cmd_lex_error;
uint8_t r = ao_cmd_lex_error;
+ bool negative = false;
- ao_cmd_lex_u32 = 0;
ao_cmd_white();
ao_cmd_white();
+ if (ao_cmd_lex_c == '-') {
+ negative = true;
+ ao_cmd_lex();
+ }
for(;;) {
if ('0' <= ao_cmd_lex_c && ao_cmd_lex_c <= '9')
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');
+
result = result * 10
+ (ao_cmd_lex_c - '0');
else
break;
r = ao_cmd_success;
else
break;
r = ao_cmd_success;
@@
-227,11
+222,13
@@
ao_cmd_decimal(void) __reentrant
}
if (r != ao_cmd_success)
ao_cmd_status = r;
}
if (r != ao_cmd_success)
ao_cmd_status = r;
- ao_cmd_lex_i = (uint16_t) ao_cmd_lex_u32;
+ if (negative)
+ result = -result;
+ return result;
}
uint8_t
}
uint8_t
-ao_match_word(
__code
char *word)
+ao_match_word(
const
char *word)
{
while (*word) {
if (ao_cmd_lex_c != *word) {
{
while (*word) {
if (ao_cmd_lex_c != *word) {
@@
-247,9
+244,9
@@
ao_match_word(__code char *word)
static void
echo(void)
{
static void
echo(void)
{
- ao_cmd_hex();
+
uint32_t v =
ao_cmd_hex();
if (ao_cmd_status == ao_cmd_success)
if (ao_cmd_status == ao_cmd_success)
- ao_stdios[ao_cur_stdio].echo =
ao_cmd_lex_i
!= 0;
+ ao_stdios[ao_cur_stdio].echo =
v
!= 0;
}
static void
}
static void
@@
-273,13
+270,15
@@
ao_reboot(void)
#endif
#if HAS_VERSION
#endif
#if HAS_VERSION
+#define _stringify(x) #x
+#define stringify(x) _stringify(x)
static void
version(void)
{
printf("manufacturer %s\n"
"product %s\n"
"serial-number %u\n"
static void
version(void)
{
printf("manufacturer %s\n"
"product %s\n"
"serial-number %u\n"
-#if HAS_
FLIGHT || HAS_TRACKER
+#if HAS_
LOG && (HAS_FLIGHT || HAS_TRACKER)
"current-flight %u\n"
#endif
#if HAS_LOG
"current-flight %u\n"
#endif
#if HAS_LOG
@@
-297,20
+296,20
@@
version(void)
, ao_manufacturer
, ao_product
, ao_serial_number
, ao_manufacturer
, ao_product
, ao_serial_number
-#if HAS_
FLIGHT || HAS_TRACKER
+#if HAS_
LOG && (HAS_FLIGHT || HAS_TRACKER)
, ao_flight_number
#endif
#if HAS_LOG
, ao_flight_number
#endif
#if HAS_LOG
- ,
ao_log_format
+ ,
AO_LOG_FORMAT
#if !DISABLE_LOG_SPACE
, (unsigned long) ao_storage_log_max
#endif
#endif
#if defined(AO_BOOT_APPLICATION_BASE) && defined(AO_BOOT_APPLICATION_BOUND)
#if !DISABLE_LOG_SPACE
, (unsigned long) ao_storage_log_max
#endif
#endif
#if defined(AO_BOOT_APPLICATION_BASE) && defined(AO_BOOT_APPLICATION_BOUND)
- , (u
int32_t) AO_BOOT_APPLICATION_BOUND - (uint32_t) AO_BOOT_APPLICATION_BASE
+ , (u
nsigned) ((uint32_t) AO_BOOT_APPLICATION_BOUND - (uint32_t) AO_BOOT_APPLICATION_BASE)
#endif
);
#endif
);
- printf("software-version %s\n", ao_version);
+ printf("software-version %
." stringify(AO_MAX_VERSION) "
s\n", ao_version);
}
#endif
}
#endif
@@
-318,17
+317,17
@@
version(void)
#define NUM_CMDS 11
#endif
#define NUM_CMDS 11
#endif
-static
__code struct ao_cmds *__xdata
(ao_cmds[NUM_CMDS]);
-static
__pdata
uint8_t ao_ncmds;
+static
const struct ao_cmds *
(ao_cmds[NUM_CMDS]);
+static uint8_t ao_ncmds;
static void
help(void)
{
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;
+ uint8_t cmds;
+ uint8_t cmd;
+
const struct ao_cmds *
cs;
+ const char *h;
+
size
_t e;
for (cmds = 0; cmds < ao_ncmds; cmds++) {
cs = ao_cmds[cmds];
for (cmds = 0; cmds < ao_ncmds; cmds++) {
cs = ao_cmds[cmds];
@@
-352,7
+351,7
@@
report(void)
switch(ao_cmd_status) {
case ao_cmd_lex_error:
case ao_cmd_syntax_error:
switch(ao_cmd_status) {
case ao_cmd_lex_error:
case ao_cmd_syntax_error:
-
puts("Syntax error
");
+
ao_put_string("Syntax error\n
");
ao_cmd_status = 0;
default:
break;
ao_cmd_status = 0;
default:
break;
@@
-360,7
+359,7
@@
report(void)
}
void
}
void
-ao_cmd_register(
__code
struct ao_cmds *cmds)
+ao_cmd_register(
const
struct ao_cmds *cmds)
{
if (ao_ncmds >= NUM_CMDS)
ao_panic(AO_PANIC_CMD);
{
if (ao_ncmds >= NUM_CMDS)
ao_panic(AO_PANIC_CMD);
@@
-370,13
+369,13
@@
ao_cmd_register(__code struct ao_cmds *cmds)
void
ao_cmd(void)
{
void
ao_cmd(void)
{
-
__pdata
char c;
+ char c;
uint8_t cmd, cmds;
uint8_t cmd, cmds;
-
__code struct ao_cmds * __xdata
cs;
- void (*
__xdata
func)(void);
+
const struct ao_cmds *
cs;
+ void (*func)(void);
for (;;) {
for (;;) {
-
readline(
);
+
ao_cmd_readline("> "
);
ao_cmd_lex();
ao_cmd_white();
c = ao_cmd_lex_c;
ao_cmd_lex();
ao_cmd_white();
c = ao_cmd_lex_c;
@@
-420,11
+419,13
@@
ao_loader(void)
}
#endif
}
#endif
-__xdata struct ao_task ao_cmd_task;
+#if HAS_TASK
+struct ao_task ao_cmd_task;
+#endif
-
__code struct ao_cmds
ao_base_cmds[] = {
+
const struct ao_cmds
ao_base_cmds[] = {
{ help, "?\0Help" },
{ help, "?\0Help" },
-#if HAS_TASK_INFO
+#if HAS_TASK_INFO
&& HAS_TASK
{ ao_task_info, "T\0Tasks" },
#endif
{ echo, "E <0 off, 1 on>\0Echo" },
{ ao_task_info, "T\0Tasks" },
#endif
{ echo, "E <0 off, 1 on>\0Echo" },
@@
-442,5
+443,7
@@
void
ao_cmd_init(void)
{
ao_cmd_register(&ao_base_cmds[0]);
ao_cmd_init(void)
{
ao_cmd_register(&ao_base_cmds[0]);
+#if HAS_TASK
ao_add_task(&ao_cmd_task, ao_cmd, "cmd");
ao_add_task(&ao_cmd_task, ao_cmd, "cmd");
+#endif
}
}