ushell_task.h File Reference

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Go to the source code of this file.

Macros
#define	ABORT_CHAR   CTRL_C
#define	BKSPACE_CHAR   0x08
#define	CMD_BACKWARD   0x05
#define	CMD_FORWARD   0x04
#define	CMD_GET_ID   0x07
#define	CMD_GET_STATUS0   0x08
#define	CMD_GET_STATUS1   0x09
#define	CMD_HELP   0x01
#define	CMD_NONE   0x00
#define	CMD_RUN   0x02
#define	CMD_SET_SPEED   0x06
#define	CMD_STOP   0x03
#define	CR   0x0D
#define	CTRL_C   0x03
#define	CTRL_Q   0x11
#define	LF   0x0A
#define	MSG_ER_CMD_NOT_FOUND   "Unknown Command"
#define	MSG_HELP   "\r\ru : run\r\st : stop\r\fw : forward\r\bw : backward\r\ss : set speed\r\gi : get id\"
#define	MSG_PROMPT   "\r>"
#define	MSG_WELCOME   "\rATMEL Motor Control Interface"
#define	QUIT_APPEND   CTRL_Q
#define	STR_BACKWARD   "bw"
#define	STR_FORWARD   "fw"
#define	STR_GET_ID   "gi"
#define	STR_GET_STATUS0   "g0"
#define	STR_GET_STATUS1   "g1"
#define	STR_HELP   "help"
#define	STR_RUN   "ru"
#define	STR_SET_SPEED   "ss"
#define	STR_STOP   "st"

Functions
void	build_cmd (void)
	get the full command line to be interpreted. More...
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_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
volatile Bool	ushell_active

Macro Definition Documentation

ABORT_CHAR

#define ABORT_CHAR   CTRL_C

Definition at line 40 of file ushell_task.h.

Referenced by build_cmd().

BKSPACE_CHAR

#define BKSPACE_CHAR   0x08

Definition at line 39 of file ushell_task.h.

Referenced by build_cmd().

CMD_BACKWARD

#define CMD_BACKWARD   0x05

Definition at line 27 of file ushell_task.h.

Referenced by parse_cmd(), and ushell_task().

CMD_FORWARD

#define CMD_FORWARD   0x04

Definition at line 26 of file ushell_task.h.

Referenced by parse_cmd(), and ushell_task().

CMD_GET_ID

#define CMD_GET_ID   0x07

Definition at line 29 of file ushell_task.h.

Referenced by parse_cmd(), and ushell_task().

CMD_GET_STATUS0

#define CMD_GET_STATUS0   0x08

Definition at line 30 of file ushell_task.h.

Referenced by parse_cmd(), and ushell_task().

CMD_GET_STATUS1

#define CMD_GET_STATUS1   0x09

Definition at line 31 of file ushell_task.h.

Referenced by parse_cmd(), and ushell_task().

CMD_HELP

#define CMD_HELP   0x01

Definition at line 23 of file ushell_task.h.

Referenced by parse_cmd(), and ushell_task().

CMD_NONE

#define CMD_NONE   0x00

Definition at line 22 of file ushell_task.h.

Referenced by ushell_task(), and ushell_task_init().

CMD_RUN

#define CMD_RUN   0x02

Definition at line 24 of file ushell_task.h.

Referenced by parse_cmd(), and ushell_task().

CMD_SET_SPEED

#define CMD_SET_SPEED   0x06

Definition at line 28 of file ushell_task.h.

Referenced by parse_cmd(), and ushell_task().

CMD_STOP

#define CMD_STOP   0x03

Definition at line 25 of file ushell_task.h.

Referenced by parse_cmd(), and ushell_task().

CR

#define CR   0x0D

Definition at line 35 of file ushell_task.h.

Referenced by build_cmd().

CTRL_C

#define CTRL_C   0x03

Definition at line 38 of file ushell_task.h.

CTRL_Q

#define CTRL_Q   0x11

Definition at line 37 of file ushell_task.h.

LF

#define LF   0x0A

Definition at line 36 of file ushell_task.h.

MSG_ER_CMD_NOT_FOUND

#define MSG_ER_CMD_NOT_FOUND   "Unknown Command"

Definition at line 57 of file ushell_task.h.

MSG_HELP

#define MSG_HELP   "\r\ru : run\r\st : stop\r\fw : forward\r\bw : backward\r\ss : set speed\r\gi : get id\"

Definition at line 58 of file ushell_task.h.

MSG_PROMPT

#define MSG_PROMPT   "\r>"

Definition at line 55 of file ushell_task.h.

MSG_WELCOME

#define MSG_WELCOME   "\rATMEL Motor Control Interface"

Definition at line 56 of file ushell_task.h.

QUIT_APPEND

#define QUIT_APPEND   CTRL_Q

Definition at line 41 of file ushell_task.h.

STR_BACKWARD

#define STR_BACKWARD   "bw"

Definition at line 48 of file ushell_task.h.

STR_FORWARD

#define STR_FORWARD   "fw"

Definition at line 47 of file ushell_task.h.

STR_GET_ID

#define STR_GET_ID   "gi"

Definition at line 50 of file ushell_task.h.

STR_GET_STATUS0

#define STR_GET_STATUS0   "g0"

Definition at line 51 of file ushell_task.h.

STR_GET_STATUS1

#define STR_GET_STATUS1   "g1"

Definition at line 52 of file ushell_task.h.

STR_HELP

#define STR_HELP   "help"

Definition at line 46 of file ushell_task.h.

STR_RUN

#define STR_RUN   "ru"

Definition at line 44 of file ushell_task.h.

STR_SET_SPEED

#define STR_SET_SPEED   "ss"

Definition at line 49 of file ushell_task.h.

STR_STOP

#define STR_STOP   "st"

Definition at line 45 of file ushell_task.h.

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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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_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

ushell_active

volatile Bool ushell_active

Definition at line 39 of file ushell_task.c.

Referenced by main(), and ushell_task().