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-rw-r--r--ao_cmd.c596
1 files changed, 596 insertions, 0 deletions
diff --git a/ao_cmd.c b/ao_cmd.c
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index 00000000..fd87f87e
--- /dev/null
+++ b/ao_cmd.c
@@ -0,0 +1,596 @@
+/*
+ * 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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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"
+
+#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;
+
+#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 void
+put_string(char *s)
+{
+ uint8_t c;
+ while (c = *s++)
+ putchar(c);
+}
+
+static void
+readline(void)
+{
+ static uint8_t c;
+ if (lex_echo)
+ put_string("> ");
+ cmd_len = 0;
+ for (;;) {
+ flush();
+ c = getchar();
+ /* backspace/delete */
+ if (c == '\010' || c == '\177') {
+ if (cmd_len != 0) {
+ if (lex_echo)
+ put_string("\010 \010");
+ --cmd_len;
+ }
+ continue;
+ }
+
+ /* ^U */
+ if (c == '\025') {
+ while (cmd_len != 0) {
+ if (lex_echo)
+ put_string("\010 \010");
+ --cmd_len;
+ }
+ continue;
+ }
+
+ /* map CR to NL */
+ if (c == '\r')
+ c = '\n';
+
+ if (c == '\n') {
+ if (lex_echo)
+ put_string ("\n");
+ break;
+ }
+
+ if (cmd_len >= CMD_LEN - 2) {
+ if (lex_echo)
+ putchar('\007');
+ continue;
+ }
+ cmd_line[cmd_len++] = c;
+ if (lex_echo)
+ putchar(c);
+ }
+ cmd_line[cmd_len++] = '\n';
+ cmd_line[cmd_len++] = '\0';
+ cmd_i = 0;
+}
+
+static void
+lex(void)
+{
+ lex_c = '\n';
+ if (cmd_i < cmd_len)
+ lex_c = cmd_line[cmd_i++];
+}
+
+static void
+putnibble(uint8_t v)
+{
+ if (v < 10)
+ putchar(v + '0');
+ else
+ putchar(v + ('a' - 10));
+}
+
+void
+put16(uint16_t v)
+{
+ int8_t i;
+ for (i = 3; i >= 0; i--)
+ putnibble((v >> (i << 2)) & 0xf);
+}
+
+void
+put8(uint8_t v)
+{
+ putnibble((v >> 4) & 0xf);
+ putnibble(v & 0xf);
+}
+
+#define NUM_LEN 7
+
+void
+puti(int i)
+{
+ 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();
+}
+
+static void
+hex(void)
+{
+ uint8_t r = LEX_ERROR;
+
+ lex_i = 0;
+ 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);
+ else
+ break;
+ r = SUCCESS;
+ lex();
+ }
+ if (r != SUCCESS)
+ lex_status = r;
+}
+
+#if 0
+static void
+decimal(void)
+{
+ uint8_t r = LEX_ERROR;
+
+ lex_i = 0;
+ white();
+ for(;;) {
+ if ('0' <= lex_c && lex_c <= '9')
+ lex_i = (lex_i * 10 ) | (lex_c - '0');
+ else
+ break;
+ r = SUCCESS;
+ lex();
+ }
+ if (r != SUCCESS)
+ lex_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");
+}
+
+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)
+ return;
+ c = 0;
+ while (start <= end) {
+ if ((c & 7) == 0) {
+ if (c)
+ put_string("\n");
+ put16((uint16_t) start);
+ }
+ putchar(' ');
+ 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();
+}
+
+static void
+echo(void)
+{
+ hex();
+ lex_echo = lex_i != 0;
+}
+
+#if INCLUDE_REMOTE_DEBUG
+static void
+debug_enable(void)
+{
+ dbg_debug_mode();
+}
+
+static void
+debug_reset(void)
+{
+ dbg_reset();
+}
+
+static void
+debug_put(void)
+{
+ for (;;) {
+ white ();
+ if (lex_c == '\n')
+ break;
+ hex();
+ if (lex_status != SUCCESS)
+ break;
+ dbg_send_byte(lex_i);
+ }
+}
+
+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)
+{
+ 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);
+ }
+ dbg_end_transfer();
+}
+#endif
+
+static void
+dump_log(void)
+{
+#if 0
+ uint8_t more;
+
+ for (more = log_first(); more; more = log_next()) {
+ putchar(log_dump.type);
+ putchar(' ');
+ put16(log_dump.tick);
+ putchar(' ');
+ put16(log_dump.u.anon.d0);
+ putchar(' ');
+ put16(log_dump.u.anon.d1);
+ putchar('\n');
+ }
+#endif
+}
+
+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)
+{
+ 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;
+ }
+}
+
+void
+ao_cmd(void *parameters)
+{
+ uint8_t c;
+ (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;
+ }
+ report();
+ }
+
+}
+
+struct ao_task __xdata cmd_task;
+
+void
+ao_cmd_init(void)
+{
+ ao_add_task(&cmd_task, ao_cmd);
+}
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