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-rw-r--r--src/kernel/ao_cmd.c436
1 files changed, 436 insertions, 0 deletions
diff --git a/src/kernel/ao_cmd.c b/src/kernel/ao_cmd.c
new file mode 100644
index 00000000..0052bdce
--- /dev/null
+++ b/src/kernel/ao_cmd.c
@@ -0,0 +1,436 @@
+/*
+ * 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;
+
+#if AO_PYRO_NUM
+#define CMD_LEN 128
+#else
+#define CMD_LEN 48
+#endif
+
+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 || HAS_TRACKER
+ "current-flight %u\n"
+#endif
+#if HAS_LOG
+ "log-format %u\n"
+#if !DISABLE_LOG_SPACE
+ "log-space %lu\n"
+#endif
+#endif
+#if defined(AO_BOOT_APPLICATION_BASE) && defined(AO_BOOT_APPLICATION_BOUND)
+ "program-space %u\n"
+#endif
+ , ao_manufacturer
+ , ao_product
+ , ao_serial_number
+#if HAS_FLIGHT || HAS_TRACKER
+ , ao_flight_number
+#endif
+#if HAS_LOG
+ , 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)
+ , (uint32_t) AO_BOOT_APPLICATION_BOUND - (uint32_t) AO_BOOT_APPLICATION_BASE
+#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");
+}
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