*
* 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; either version 2 of the License, or
- * (at your option) any later version.
+ * 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
#include "ao.h"
-#define LEX_ERROR 1
-#define SYNTAX_ERROR 2
-#define SUCCESS 0
-
-static __data uint16_t lex_i;
-static __data uint8_t lex_c;
-static __data uint8_t lex_status;
-static __data uint8_t lex_echo;
+__xdata uint16_t ao_cmd_lex_i;
+__xdata uint8_t ao_cmd_lex_c;
+__xdata enum ao_cmd_status ao_cmd_status;
+static __xdata uint8_t lex_echo;
#define CMD_LEN 32
static __xdata uint8_t cmd_line[CMD_LEN];
-static __data uint8_t cmd_len;
-static __data uint8_t cmd_i;
-
-void
-putchar(char c)
-{
- if (c == '\n')
- ao_usb_putchar('\r');
- ao_usb_putchar((uint8_t) c);
-}
-
-void
-flush(void)
-{
- ao_usb_flush();
-}
-
-char
-getchar(void)
-{
- return (char) ao_usb_getchar();
-}
+static __xdata uint8_t cmd_len;
+static __xdata uint8_t cmd_i;
static void
put_string(char *s)
{
- uint8_t c;
+ __xdata uint8_t c;
while (c = *s++)
putchar(c);
}
static void
readline(void)
{
- static uint8_t c;
+ __xdata uint8_t c;
if (lex_echo)
put_string("> ");
cmd_len = 0;
if (c == '\n') {
if (lex_echo)
- put_string ("\n");
+ putchar('\n');
break;
}
cmd_i = 0;
}
-static void
-lex(void)
+void
+ao_cmd_lex(void)
{
- lex_c = '\n';
+ ao_cmd_lex_c = '\n';
if (cmd_i < cmd_len)
- lex_c = cmd_line[cmd_i++];
+ ao_cmd_lex_c = cmd_line[cmd_i++];
}
static void
}
void
-put16(uint16_t v)
+ao_cmd_put16(uint16_t v)
{
int8_t i;
for (i = 3; i >= 0; i--)
}
void
-put8(uint8_t v)
+ao_cmd_put8(uint8_t v)
{
putnibble((v >> 4) & 0xf);
putnibble(v & 0xf);
}
-#define NUM_LEN 7
-
void
-puti(int i)
+ao_cmd_white(void)
{
- static uint8_t __xdata num_buffer[NUM_LEN];
- uint8_t __xdata *num_ptr = num_buffer + NUM_LEN;
- uint8_t neg = 0;
-
- *--num_ptr = '\0';
- if (i < 0) {
- i = -i;
- neg = 1;
- }
- do {
- *--num_ptr = '0' + i % 10;
- i /= 10;
- } while (i);
- if (neg)
- *--num_ptr = '-';
- while (num_ptr != num_buffer)
- *--num_ptr = ' ';
- put_string(num_buffer);
-}
-
-
-static void
-white(void)
-{
- while (lex_c == ' ' || lex_c == '\t')
- lex();
+ while (ao_cmd_lex_c == ' ' || ao_cmd_lex_c == '\t')
+ ao_cmd_lex();
}
-static void
-hex(void)
+void
+ao_cmd_hex(void)
{
- uint8_t r = LEX_ERROR;
+ __xdata uint8_t r = ao_cmd_lex_error;
- lex_i = 0;
- white();
+ ao_cmd_lex_i = 0;
+ ao_cmd_white();
for(;;) {
- if ('0' <= lex_c && lex_c <= '9')
- lex_i = (lex_i << 4) | (lex_c - '0');
- else if ('a' <= lex_c && lex_c <= 'f')
- lex_i = (lex_i << 4) | (lex_c - 'a' + 10);
- else if ('A' <= lex_c && lex_c <= 'F')
- lex_i = (lex_i << 4) | (lex_c - 'A' + 10);
+ if ('0' <= ao_cmd_lex_c && ao_cmd_lex_c <= '9')
+ ao_cmd_lex_i = (ao_cmd_lex_i << 4) | (ao_cmd_lex_c - '0');
+ else if ('a' <= ao_cmd_lex_c && ao_cmd_lex_c <= 'f')
+ ao_cmd_lex_i = (ao_cmd_lex_i << 4) | (ao_cmd_lex_c - 'a' + 10);
+ else if ('A' <= ao_cmd_lex_c && ao_cmd_lex_c <= 'F')
+ ao_cmd_lex_i = (ao_cmd_lex_i << 4) | (ao_cmd_lex_c - 'A' + 10);
else
break;
- r = SUCCESS;
- lex();
+ r = ao_cmd_success;
+ ao_cmd_lex();
}
- if (r != SUCCESS)
- lex_status = r;
+ if (r != ao_cmd_success)
+ ao_cmd_status = r;
}
#if 0
static void
decimal(void)
{
- uint8_t r = LEX_ERROR;
+ __xdata uint8_t r = ao_cmd_lex_error;
- lex_i = 0;
- white();
+ ao_cmd_lex_i = 0;
+ ao_cmd_white();
for(;;) {
- if ('0' <= lex_c && lex_c <= '9')
- lex_i = (lex_i * 10 ) | (lex_c - '0');
+ if ('0' <= ao_cmd_lex_c && ao_cmd_lex_c <= '9')
+ ao_cmd_lex_i = (ao_cmd_lex_i * 10 ) | (ao_cmd_lex_c - '0');
else
break;
- r = SUCCESS;
- lex();
+ r = ao_cmd_success;
+ ao_cmd_lex();
}
- if (r != SUCCESS)
- lex_status = r;
+ if (r != ao_cmd_success)
+ ao_cmd_status = r;
}
#endif
static void
eol(void)
{
- while (lex_c != '\n')
- lex();
-}
-
-static void
-adc_dump(void)
-{
- __xdata struct ao_adc packet;
- ao_adc_get(&packet);
- put_string("tick: ");
- puti(packet.tick);
- put_string(" accel: ");
- puti(packet.accel >> 4);
- put_string(" pres: ");
- puti(packet.pres >> 4);
- put_string(" temp: ");
- puti(packet.temp >> 4);
- put_string(" batt: ");
- puti(packet.v_batt >> 4);
- put_string(" drogue: ");
- puti(packet.sense_d >> 4);
- put_string(" main: ");
- puti(packet.sense_m >> 4);
- put_string("\n");
+ while (ao_cmd_lex_c != '\n')
+ ao_cmd_lex();
}
static void
dump(void)
{
- uint16_t c;
- uint8_t __xdata *start, *end;
-
- hex();
- start = (uint8_t __xdata *) lex_i;
- hex();
- end = (uint8_t __xdata *) lex_i;
- if (lex_status != SUCCESS)
+ __xdata uint16_t c;
+ __xdata uint8_t * __xdata start, * __xdata end;
+
+ ao_cmd_hex();
+ start = (uint8_t __xdata *) ao_cmd_lex_i;
+ ao_cmd_hex();
+ end = (uint8_t __xdata *) ao_cmd_lex_i;
+ if (ao_cmd_status != ao_cmd_success)
return;
c = 0;
while (start <= end) {
if ((c & 7) == 0) {
if (c)
- put_string("\n");
- put16((uint16_t) start);
+ putchar('\n');
+ ao_cmd_put16((uint16_t) start);
}
putchar(' ');
- put8(*start);
+ ao_cmd_put8(*start);
++c;
start++;
}
- put_string("\n");
-}
-
-static void
-ee_dump(void)
-{
- uint8_t b;
- uint16_t block;
- uint8_t i;
-
- hex();
- block = lex_i;
- if (lex_status != SUCCESS)
- return;
- i = 0;
- do {
- if ((i & 7) == 0) {
- if (i)
- put_string("\n");
- put16((uint16_t) i);
- }
- putchar(' ');
- ao_ee_read(((uint32_t) block << 8) | i, &b, 1);
- put8(b);
- ++i;
- } while (i != 0);
- put_string("\n");
-}
-
-static void
-ee_store(void)
-{
- uint16_t block;
- uint8_t i;
- uint16_t len;
- uint8_t b;
- uint32_t addr;
-
- hex();
- block = lex_i;
- hex();
- i = lex_i;
- addr = ((uint32_t) block << 8) | i;
- hex();
- len = lex_i;
- if (lex_status != SUCCESS)
- return;
- while (len--) {
- hex();
- if (lex_status != SUCCESS)
- return;
- b = lex_i;
- ao_ee_write(addr, &b, 1);
- addr++;
- }
- ao_ee_flush();
+ putchar('\n');
}
static void
echo(void)
{
- hex();
- lex_echo = lex_i != 0;
+ ao_cmd_hex();
+ lex_echo = ao_cmd_lex_i != 0;
}
-#if INCLUDE_REMOTE_DEBUG
-static void
-debug_enable(void)
-{
- dbg_debug_mode();
-}
+static const uint8_t help_txt[] = "All numbers are in hex";
-static void
-debug_reset(void)
-{
- dbg_reset();
-}
+#define NUM_CMDS 10
-static void
-debug_put(void)
-{
- for (;;) {
- white ();
- if (lex_c == '\n')
- break;
- hex();
- if (lex_status != SUCCESS)
- break;
- dbg_send_byte(lex_i);
- }
-}
+static __code struct ao_cmds *__xdata (ao_cmds[NUM_CMDS]);
+static __xdata uint8_t ao_ncmds;
static void
-debug_get(void)
-{
- uint16_t count;
- uint16_t i;
- uint8_t byte;
- hex();
- if (lex_status != SUCCESS)
- return;
- count = lex_i;
- if (count > 256) {
- lex_status = SYNTAX_ERROR;
- return;
- }
- for (i = 0; i < count; i++) {
- if (i && (i & 7) == 0)
- put_string("\n");
- byte = dbg_recv_byte();
- put8(byte);
- putchar(' ');
- }
- put_string("\n");
-}
-
-static uint8_t
-getnibble(void)
-{
- uint8_t 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);
- lex_status = LEX_ERROR;
- return 0;
-}
-
-static void
-debug_input(void)
-{
- uint16_t count;
- uint16_t addr;
- uint8_t b;
- uint8_t i;
-
- hex();
- count = lex_i;
- hex();
- addr = lex_i;
- if (lex_status != SUCCESS)
- return;
- dbg_start_transfer(addr);
- i = 0;
- while (count--) {
- if (!(i++ & 7))
- put_string("\n");
- b = dbg_read_byte();
- put8(b);
- }
- dbg_end_transfer();
- put_string("\n");
-}
-
-static void
-debug_output(void)
+help(void)
{
- uint16_t count;
- uint16_t addr;
- uint8_t b;
-
- hex();
- count = lex_i;
- hex();
- addr = lex_i;
- if (lex_status != SUCCESS)
- return;
- dbg_start_transfer(addr);
- while (count--) {
- b = getnibble() << 4;
- b |= getnibble();
- if (lex_status != SUCCESS)
- return;
- dbg_write_byte(b);
+ __xdata uint8_t cmds;
+ __xdata uint8_t cmd;
+ __code struct ao_cmds * __xdata cs;
+ puts(help_txt);
+ for (cmds = 0; cmds < ao_ncmds; cmds++) {
+ cs = ao_cmds[cmds];
+ for (cmd = 0; cs[cmd].cmd != '\0'; cmd++)
+ puts(cs[cmd].help);
}
- dbg_end_transfer();
}
-#endif
static void
-dump_log(void)
+report(void)
{
- uint8_t more;
-
- for (more = ao_log_dump_first(); more; more = ao_log_dump_next()) {
- putchar(ao_log_dump.type);
- putchar(' ');
- put16(ao_log_dump.tick);
- putchar(' ');
- put16(ao_log_dump.u.anon.d0);
- putchar(' ');
- put16(ao_log_dump.u.anon.d1);
- putchar('\n');
+ switch(ao_cmd_status) {
+ case ao_cmd_lex_error:
+ case ao_cmd_syntax_error:
+ puts("Syntax error");
+ ao_cmd_status = 0;
+ break;
}
}
-static const uint8_t help_txt[] =
- "All numbers are in hex\n"
- "? Print this message\n"
- "a Display current ADC values\n"
- "d <start> <end> Dump memory\n"
- "e <block> Dump a block of EEPROM data\n"
- "w <block> <start> <len> <data> ... Write data to EEPROM\n"
- "l Dump last flight log\n"
- "E <0 off, 1 on> Set command echo mode\n"
-#if INCLUDE_REMOTE_DEBUG
- "\n"
- "Target debug commands:\n"
- "D Enable debug mode\n"
- "R Reset target\n"
- "P <byte> ... Put data to debug port\n"
- "G <count> Get data from debug port\n"
- "O <count> <addr> Output <count> bytes to target at <addr>\n"
- "I <count> <addr> Input <count> bytes to target at <addr>\n"
-#endif
-;
-
-static void
-help(void)
+void
+ao_cmd_register(__code struct ao_cmds *cmds)
{
- put_string(help_txt);
-}
-
-static void
-report(void)
-{
- switch(lex_status) {
- case LEX_ERROR:
- case SYNTAX_ERROR:
- put_string("Syntax error\n");
- lex_status = 0;
- break;
- }
+ if (ao_ncmds >= NUM_CMDS)
+ ao_panic(AO_PANIC_CMD);
+ ao_cmds[ao_ncmds++] = cmds;
}
void
ao_cmd(void *parameters)
{
- uint8_t c;
+ __xdata uint8_t c;
+ __xdata uint8_t cmd, cmds;
+ __code struct ao_cmds * __xdata cs;
+ void (*__xdata func)(void);
(void) parameters;
- ao_led_on(AO_LED_GREEN);
- ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(30));
lex_echo = 1;
for (;;) {
readline();
- lex();
- white();
- c = lex_c;
- lex();
- switch (c) {
- case '?':
- help();
- break;
- case 'd':
- dump();
- break;
- case 'a':
- adc_dump();
- break;
- case 'e':
- ee_dump();
- break;
- case 'w':
- ee_store();
- break;
- case 'l':
- dump_log();
- break;
- case 'E':
- echo();
- break;
-#if INCLUDE_REMOTE_DEBUG
- case 'D':
- debug_enable();
- break;
- case 'R':
- debug_reset();
- break;
- case 'P':
- debug_put();
- break;
- case 'G':
- debug_get();
- break;
- case 'I':
- debug_input();
- break;
- case 'O':
- debug_output();
- break;
-#endif
- case '\r':
- case '\n':
- break;
- default:
- lex_status = SYNTAX_ERROR;
- break;
+ 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].cmd != '\0'; cmd++)
+ if (cs[cmd].cmd == c) {
+ func = cs[cmd].func;
+ break;
+ }
+ if (func)
+ break;
}
+ if (func)
+ (*func)();
+ else
+ ao_cmd_status = ao_cmd_syntax_error;
report();
}
-
}
-struct ao_task __xdata cmd_task;
+__xdata struct ao_task ao_cmd_task;
+
+__code struct ao_cmds ao_base_cmds[] = {
+ { '?', help, "? Print this message" },
+ { 'T', ao_task_info, "T Show task states" },
+ { 'E', echo, "E <0 off, 1 on> Set command echo mode" },
+ { 'd', dump, "d <start> <end> Dump memory" },
+ { 0, help, NULL },
+};
void
ao_cmd_init(void)
{
- ao_add_task(&cmd_task, ao_cmd);
+ ao_cmd_register(&ao_base_cmds[0]);
+ ao_add_task(&ao_cmd_task, ao_cmd, "cmd");
}
projects / fw / altos / blobdiff