,v More...

#include "config.h"
#include "ushell_task.h"
#include "ascii.h"
#include "lib_mcu/uart/uart_lib.h"
#include "mc_interface.h"

Include dependency graph for ushell_task.c:

Go to the source code of this file.

Functions
void	build_cmd (void)
	get the full command line to be interpreted. More...

void	convert_param1 (void)
	convert param1 to binaire. More...

void	convert_param2 (void)
	convert param2 to binaire. More...

U16	debug_get_value1 (void)

U16	debug_get_value2 (void)

U8	mystrncmp (U8 str1, U8 code str2, U8 i)
	compares two strings located in flash code area. More...

void	parse_cmd (void)
	decodes full command line into command type and arguments More...

void	print_hex16 (U16 value)
	Display an U16 with hexa form. More...

void	print_msg (U8 code *str)
	Display an ASCII code string. More...

void	ushell_task (void)
	Entry point of the explorer task management. More...

void	ushell_task_init (void)
	This function initializes the hardware/software ressources required for ushell task. More...

Variables
static U8	cmd

static U8	cmd_str [26]

static U8	cmd_type

static U8	i_str =0

U8 code	msg_er_cmd_not_found [] =MSG_ER_CMD_NOT_FOUND

U8 code	msg_help [] =MSG_HELP

U8 code	msg_prompt [] =MSG_PROMPT

U8 code	msg_welcome [] =MSG_WELCOME

static U16	par_str1 [8]

static U16	par_str2 [8]

static U16	param1

static U16	param2

S16	speed_error
	Error calculation. More...

U8 code	str_backward [] =STR_BACKWARD

U8 code	str_forward [] =STR_FORWARD

U8 code	str_get_id [] =STR_GET_ID

U8 code	str_get_status0 [] =STR_GET_STATUS0

U8 code	str_get_status1 [] =STR_GET_STATUS1

U8 code	str_help [] =STR_HELP

U8 code	str_run [] =STR_RUN

U8 code	str_set_speed [] =STR_SET_SPEED

U8 code	str_stop [] =STR_STOP

volatile Bool	ushell_active = FALSE

Detailed Description

,v

This file manages the �shell task for communication.

Version: 1.2

Definition in file ushell_task.c.

Function Documentation

◆ build_cmd()

void build_cmd ( void )

get the full command line to be interpreted.

Parameters

none

Returns: none

Definition at line 161 of file ushell_task.c.

References ABORT_CHAR, BKSPACE_CHAR, cmd_str, CR, i_str, parse_cmd(), and uart_putchar.

Referenced by ushell_task().

 {
 U8 c;
 
    if (uart_test_hit())    //Something new of  the UART ?
    {
       c=uart_getchar();
       switch (c)
       {
          case CR:
             cmd_str[i_str]=0;  //Add NULL char
             parse_cmd();    //Decode the command
             i_str=0;
             break;
          case ABORT_CHAR:    //^c abort cmd
             i_str=0;
             printf("\r#");
             break;            
          case BKSPACE_CHAR:   //backspace
             if(i_str>0)
             {
                uart_putchar(c);
                uart_putchar(' ');
                uart_putchar(c);
             }
             if(i_str>=1)
             {
                i_str--;
             }
             break;
 
          default:
             cmd_str[i_str++]=c;  //append to cmd line
             break;
       }
    }
 }

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◆ convert_param1()

void convert_param1 ( void )

convert param1 to binaire.

Parameters

none

Returns: none

Definition at line 336 of file ushell_task.c.

References ascii_to_bin(), par_str1, and param1.

Referenced by ushell_task().

 {
    U8 i = 0;
    param1 = 0;
    while ( par_str1[i] != 0 )
    {
       param1 = param1 << 4;
       param1 = param1 + ascii_to_bin(par_str1[i]);
       i++;
    }
 }

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◆ convert_param2()

void convert_param2 ( void )

convert param2 to binaire.

Parameters

none

Returns: none

Definition at line 353 of file ushell_task.c.

References ascii_to_bin(), par_str2, and param2.

 {
    U8 i = 0;
    param2 = 0;
    while ( par_str2[i] != 0 )
    {
       param2 = param2 << 4;
       param2 = param2 + ascii_to_bin(par_str2[i]);
       i++;
    }
 }

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◆ debug_get_value1()

U16 debug_get_value1 ( void )

◆ debug_get_value2()

U16 debug_get_value2 ( void )

◆ mystrncmp()

U8 mystrncmp	(	U8 *	str1,
		U8 code *	str2,
		U8	i
	)

compares two strings located in flash code area.

Parameters

*str1
*str2

Returns: status: TRUE for ok, FALSE if strings are not equal

Definition at line 285 of file ushell_task.c.

Referenced by parse_cmd().

 {
    U8 j;
    for(j=0;j<=i;j++)
    {
 #ifndef __GNUC__
       if(*str1!=*str2)
 #else
 //      if( pgm_read_byte_near((unsigned int)str1) != pgm_read_byte_near((unsigned int)str2))
       if( *str1 != pgm_read_byte_near((unsigned int)str2))
 
 #endif
       {
          return FALSE;
       }
       str1++;str2++;
    }
    return TRUE;
 }

◆ parse_cmd()

void parse_cmd ( void )

decodes full command line into command type and arguments

This function allows to set the cmd_type to the command type decoded with its respective arguments par_str1 and par_str2

Parameters

none

Returns: none

Definition at line 209 of file ushell_task.c.

References cmd, CMD_BACKWARD, CMD_FORWARD, CMD_GET_ID, CMD_GET_STATUS0, CMD_GET_STATUS1, CMD_HELP, CMD_RUN, CMD_SET_SPEED, CMD_STOP, cmd_str, cmd_type, i_str, msg_er_cmd_not_found, msg_prompt, mystrncmp(), par_str1, par_str2, print_msg(), str_backward, str_forward, str_get_id, str_get_status0, str_get_status1, str_help, str_run, str_set_speed, and str_stop.

Referenced by build_cmd().

 {
    U8 i=0;
    U8 j;
 
    //Get command type
    for(i=0;cmd_str[i]!=' ' && i<=i_str;i++);
    cmd=TRUE;
 
    //Decode command type
 
    if ( mystrncmp(cmd_str,str_run,i-1))
    {  cmd_type=CMD_RUN; }
    else if ( mystrncmp(cmd_str,str_stop,i-1))
    {  cmd_type=CMD_STOP; }
    else if ( mystrncmp(cmd_str,str_help,i-1))
    {  cmd_type=CMD_HELP; }
    else if ( mystrncmp(cmd_str,str_forward,i-1))
    {  cmd_type=CMD_FORWARD; }
    else if ( mystrncmp(cmd_str,str_backward,i-1))
    {  cmd_type=CMD_BACKWARD; }
    else if ( mystrncmp(cmd_str,str_set_speed,i-1))
    {  cmd_type=CMD_SET_SPEED; }
    else if ( mystrncmp(cmd_str,str_get_id,i-1))
    {  cmd_type=CMD_GET_ID; }
    else if ( mystrncmp(cmd_str,str_get_status0,i-1))
    {  cmd_type=CMD_GET_STATUS0; }
    else if ( mystrncmp(cmd_str,str_get_status1,i-1))
    {  cmd_type=CMD_GET_STATUS1; }
    else
    {
       if(i_str)
       {
         print_msg(msg_er_cmd_not_found);
       }
       print_msg(msg_prompt);
       cmd=FALSE;
       return;
    }
 
   //Get first arg (if any)
    if(++i<i_str)
    {
       j=0;
       for(;(cmd_str[i]!=' ')&&(i<i_str);i++)
       {
          LSB(par_str1[j])=cmd_str[i];
          MSB(par_str1[j])=0;
          j++;
       }
       LSB(par_str1[j])=0;MSB(par_str1[j])=0;
    }
    else   {  return; }
 
    //Get second arg (if any)
    if(++i<i_str)
    {
       j=0;
       for(;(cmd_str[i]!=' ')&&(i<i_str);i++)
       {
          LSB(par_str2[j])=cmd_str[i];
          MSB(par_str2[j])=0;
          j++;
       }
       LSB(par_str2[j])=0;MSB(par_str2[j])=0;
    }
    else   { return; }
 
 }

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◆ print_hex16()

void print_hex16 ( U16 value )

Display an U16 with hexa form.

Parameters

Definition at line 370 of file ushell_task.c.

References bin_to_ascii(), and uart_putchar.

Referenced by ushell_task().

 {
    U8 c;
    U8 d4;
    U8 d3;
    U8 d2;
    U8 d1;
 
    d4 = (U16)(value >> 12) & 0x0F;
    d3 = (U16)(value >> 8) & 0x0F;
    d2 = (U16)(value >> 4) & 0x0F;
    d1 = (U16)(value) & 0x0F;
 
    if (d4 != 0)
    {
       c = bin_to_ascii(d4);
       uart_putchar(c);
 
       c = bin_to_ascii(d3);
       uart_putchar(c);
 
       c = bin_to_ascii(d2);
       uart_putchar(c);
    }
    else
    {
       if (d3 != 0)
       {
          c = bin_to_ascii(d3);
          uart_putchar(c);
 
          c = bin_to_ascii(d2);
          uart_putchar(c);
       }
       else
       {
          if (d2 != 0)
          {
             c = bin_to_ascii(d2);
             uart_putchar(c);
          }
       }
    }
 
    c = bin_to_ascii(d1);
    uart_putchar(c);
 }

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◆ print_msg()

void print_msg ( U8 code * str )

Display an ASCII code string.

Parameters

*str	pointer to string located in flash area

Returns: none

Definition at line 310 of file ushell_task.c.

References uart_putchar.

Referenced by parse_cmd(), ushell_task(), and ushell_task_init().

 {
 U8 c;
 #ifndef __GNUC__
    c=*str++;
    while(c!=0)
    {
       uart_putchar(c);
       c=*str++;
    }
 #else    // AVRGCC does not support point to PGM space
    c=pgm_read_byte_near((unsigned int)str++);
    while(c!=0)
    {
       uart_putchar(c);
       c=pgm_read_byte_near((unsigned int)str++);
    }
 #endif
 
 }

◆ ushell_task()

void ushell_task ( void )

Entry point of the explorer task management.

This function links perform ushell task decoding to access file system functions.

Parameters

none

Returns: none

Definition at line 93 of file ushell_task.c.

References BOARD_ID, build_cmd(), CCW, cmd, CMD_BACKWARD, CMD_FORWARD, CMD_GET_ID, CMD_GET_STATUS0, CMD_GET_STATUS1, CMD_HELP, CMD_NONE, CMD_RUN, CMD_SET_SPEED, CMD_STOP, cmd_type, convert_param1(), mci_backward(), mci_direction, mci_forward(), mci_get_measured_current(), mci_get_measured_speed(), mci_run(), mci_run_stop, mci_set_speed(), mci_stop(), msg_er_cmd_not_found, msg_help, msg_prompt, param1, print_hex16(), print_msg(), REV_ID, SOFT_ID, uart_putchar, and ushell_active.

Referenced by main().

 {
    U8 status = 0;
 
    if(cmd==FALSE)
    {
       build_cmd();
    }
    else
    {
       switch (cmd_type)
       {
          case CMD_HELP:
             print_msg(msg_help);
             break;
          case CMD_RUN:
             mci_run();
             break;
          case CMD_STOP:
             mci_stop();
             break;
          case CMD_FORWARD:
             mci_forward();
             break;
          case CMD_BACKWARD:
             mci_backward();
             break;
          case CMD_SET_SPEED:
             convert_param1();
             mci_set_speed(param1);
             break;
          case CMD_GET_ID:
             print_hex16(BOARD_ID);
             uart_putchar(' ');
             print_hex16(SOFT_ID);
             uart_putchar(' ');
             print_hex16(REV_ID);
             break;
          case CMD_GET_STATUS0:
             status = 0;
             if (mci_direction == CCW) {status |= (1<<3);}
             if (mci_run_stop == TRUE) {status |= (1<<2);}
             print_hex16(status);
             uart_putchar(' ');
             print_hex16(mci_get_measured_speed());
             uart_putchar(' ');
             print_hex16(mci_get_measured_current());
             ushell_active = TRUE;
             break;
          case CMD_GET_STATUS1:
             print_hex16(0xDEA);
             uart_putchar(' ');
             print_hex16(0x123);
             break;
          default:    //Unknown command
             print_msg(msg_er_cmd_not_found);
       }
       cmd_type=CMD_NONE;
       cmd=FALSE;
       print_msg(msg_prompt);
    }
 }

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◆ ushell_task_init()

void ushell_task_init ( void )

This function initializes the hardware/software ressources required for ushell task.

Parameters

none

Returns: none

/

Definition at line 66 of file ushell_task.c.

References cmd, CMD_NONE, cmd_type, msg_prompt, msg_welcome, print_msg(), and uart_putchar.

Referenced by main().

 {
 
    uart_init();
 
 #ifdef __GNUC__
     fdevopen((int (*)(char, FILE*))(uart_putchar),(int (*)(FILE*))uart_getchar); //for printf redirection
 #endif
 
    print_msg(msg_welcome);
    print_msg(msg_prompt);
    cmd=FALSE;
    cmd_type=CMD_NONE;
 }

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Variable Documentation

◆ cmd

U8 cmd

static

Definition at line 30 of file ushell_task.c.

Referenced by parse_cmd(), ushell_task(), and ushell_task_init().

◆ cmd_str

U8 cmd_str[26]

static

Definition at line 36 of file ushell_task.c.

Referenced by build_cmd(), and parse_cmd().

◆ cmd_type

U8 cmd_type

static

Definition at line 31 of file ushell_task.c.

Referenced by parse_cmd(), ushell_task(), and ushell_task_init().

◆ i_str

U8 i_str =0

static

Definition at line 37 of file ushell_task.c.

Referenced by build_cmd(), and parse_cmd().

◆ msg_er_cmd_not_found

U8 code msg_er_cmd_not_found[] =MSG_ER_CMD_NOT_FOUND

Definition at line 54 of file ushell_task.c.

Referenced by parse_cmd(), and ushell_task().

◆ msg_help

U8 code msg_help[] =MSG_HELP

Definition at line 53 of file ushell_task.c.

Referenced by ushell_task().

◆ msg_prompt

U8 code msg_prompt[] =MSG_PROMPT

Definition at line 51 of file ushell_task.c.

Referenced by parse_cmd(), ushell_task(), and ushell_task_init().

◆ msg_welcome

U8 code msg_welcome[] =MSG_WELCOME

Definition at line 52 of file ushell_task.c.

Referenced by ushell_task_init().

◆ par_str1

U16 par_str1[8]

static

Definition at line 32 of file ushell_task.c.

Referenced by convert_param1(), and parse_cmd().

◆ par_str2

U16 par_str2[8]

static

Definition at line 33 of file ushell_task.c.

Referenced by convert_param2(), and parse_cmd().

◆ param1

U16 param1

static

Definition at line 34 of file ushell_task.c.

Referenced by convert_param1(), and ushell_task().

◆ param2

U16 param2

static

Definition at line 35 of file ushell_task.c.

Referenced by convert_param2().

◆ speed_error

S16 speed_error

Error calculation.

Definition at line 21 of file mc_control.c.

Referenced by mc_control_speed().

◆ str_backward

U8 code str_backward[] =STR_BACKWARD

Definition at line 45 of file ushell_task.c.

Referenced by parse_cmd().

◆ str_forward

U8 code str_forward[] =STR_FORWARD

Definition at line 44 of file ushell_task.c.

Referenced by parse_cmd().

◆ str_get_id

U8 code str_get_id[] =STR_GET_ID

Definition at line 47 of file ushell_task.c.

Referenced by parse_cmd().

◆ str_get_status0

U8 code str_get_status0[] =STR_GET_STATUS0

Definition at line 48 of file ushell_task.c.

Referenced by parse_cmd().

◆ str_get_status1

U8 code str_get_status1[] =STR_GET_STATUS1

Definition at line 49 of file ushell_task.c.

Referenced by parse_cmd().

◆ str_help

U8 code str_help[] =STR_HELP

Definition at line 43 of file ushell_task.c.

Referenced by parse_cmd().

◆ str_run

U8 code str_run[] =STR_RUN

Definition at line 41 of file ushell_task.c.

Referenced by parse_cmd().

◆ str_set_speed

U8 code str_set_speed[] =STR_SET_SPEED

Definition at line 46 of file ushell_task.c.

Referenced by parse_cmd().

◆ str_stop

U8 code str_stop[] =STR_STOP

Definition at line 42 of file ushell_task.c.

Referenced by parse_cmd().

◆ ushell_active

volatile Bool ushell_active = FALSE

Definition at line 39 of file ushell_task.c.

Referenced by main(), and ushell_task().

Functions

Variables

Detailed Description

Function Documentation

◆ build_cmd()

◆ convert_param1()

◆ convert_param2()

◆ debug_get_value1()

◆ debug_get_value2()

◆ mystrncmp()

◆ parse_cmd()

◆ print_hex16()

◆ print_msg()

◆ ushell_task()

◆ ushell_task_init()

Variable Documentation

◆ cmd

◆ cmd_str

◆ cmd_type

◆ i_str

◆ msg_er_cmd_not_found

◆ msg_help

◆ msg_prompt

◆ msg_welcome

◆ par_str1

◆ par_str2

◆ param1

◆ param2

◆ speed_error

◆ str_backward

◆ str_forward

◆ str_get_id

◆ str_get_status0

◆ str_get_status1

◆ str_help

◆ str_run

◆ str_set_speed

◆ str_stop

◆ ushell_active