altos: Add bit-bang i2c driver

[fw/altos] / src / kernel / ao_cmd.c

diff --git a/src/kernel/ao_cmd.c b/src/kernel/ao_cmd.c
index d28db5b7ec06cbd2abc9b31868e123dc3d4cf598..4ae63781fcb0900e39acdfc02ad8f737819d4b03 100644 (file)
--- a/src/kernel/ao_cmd.c
+++ b/src/kernel/ao_cmd.c
@@ -19,8 +19,6 @@
 #include "ao.h"
 #include "ao_task.h"
 
-uint16_t ao_cmd_lex_i;
-uint32_t ao_cmd_lex_u32;
 char   ao_cmd_lex_c;
 enum ao_cmd_status ao_cmd_status;
 
@@ -36,6 +34,8 @@ static char   cmd_line[AO_CMD_LEN];
 static uint8_t cmd_len;
 static uint8_t cmd_i;
 
+static const char backspace[] = "\010 \010";
+
 void
 ao_put_string(const char *s)
 {
@@ -44,18 +44,12 @@ ao_put_string(const char *s)
                putchar(c);
 }
 
-static void
-backspace(void)
-{
-       ao_put_string ("\010 \010");
-}
-
 void
-ao_cmd_readline(void)
+ao_cmd_readline(const char *prompt)
 {
        char c;
        if (ao_echo())
-               ao_put_string("> ");
+               ao_put_string(prompt);
        cmd_len = 0;
        for (;;) {
                flush();
@@ -64,7 +58,7 @@ ao_cmd_readline(void)
                if (c == '\010' || c == '\177') {
                        if (cmd_len != 0) {
                                if (ao_echo())
-                                       backspace();
+                                       ao_put_string(backspace);
                                --cmd_len;
                        }
                        continue;
@@ -74,7 +68,7 @@ ao_cmd_readline(void)
                if (c == '\025') {
                        while (cmd_len != 0) {
                                if (ao_echo())
-                                       backspace();
+                                       ao_put_string(backspace);
                                --cmd_len;
                        }
                        continue;
@@ -174,55 +168,53 @@ ao_cmd_hexchar(char c)
        return -1;
 }
 
-void
-ao_cmd_hexbyte(void)
+static uint32_t
+get_hex(uint8_t lim)
 {
+       uint32_t result = 0;
        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);
+       for (i = 0; i < lim; i++) {
+               int8_t n = ao_cmd_hexchar(ao_cmd_lex_c);
                if (n < 0) {
-                       ao_cmd_status = ao_cmd_syntax_error;
+                       if (i == 0 || lim != 0xff)
+                               ao_cmd_status = ao_cmd_lex_error;
                        break;
                }
-               ao_cmd_lex_i = (ao_cmd_lex_i << 4) | n;
+               result = (result << 4) | n;
                ao_cmd_lex();
        }
+       return result;
 }
 
-void
-ao_cmd_hex(void)
+uint8_t
+ao_cmd_hexbyte(void)
 {
-       uint8_t r = ao_cmd_lex_error;
-       int8_t  n;
+       return 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
+uint32_t
 ao_cmd_decimal(void) 
 {
+       uint32_t result = 0;
        uint8_t r = ao_cmd_lex_error;
+       bool negative = false;
 
-       ao_cmd_lex_u32 = 0;
        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')
-                       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;
@@ -230,7 +222,9 @@ ao_cmd_decimal(void)
        }
        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
@@ -250,9 +244,9 @@ ao_match_word(const char *word)
 static void
 echo(void)
 {
-       ao_cmd_hex();
+       uint32_t v = ao_cmd_hex();
        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
@@ -282,7 +276,7 @@ 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
@@ -300,7 +294,7 @@ version(void)
               , 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
@@ -379,7 +373,7 @@ ao_cmd(void)
        void (*func)(void);
 
        for (;;) {
-               ao_cmd_readline();
+               ao_cmd_readline("> ");
                ao_cmd_lex();
                ao_cmd_white();
                c = ao_cmd_lex_c;