ushell_task.h File Reference

#include "config.h"
#include "compiler.h"

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Go to the source code of this file.

Defines

#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.
U8 mystrncmp (U8 *str1, U8 code *str2, U8 i)
 compares two strings located in flash code area.
void parse_cmd (void)
 decodes full command line into command type and arguments
void print_msg (U8 code *str)
 Display an ASCII code string.
void ushell_task (void)
 Entry point of the explorer task management.
void ushell_task_init (void)
 This function initializes the hardware/software ressources required for ushell task.

Variables

volatile Bool ushell_active

Define Documentation

#define ABORT_CHAR   CTRL_C

Definition at line 43 of file ushell_task.h.

Referenced by build_cmd().

#define BKSPACE_CHAR   0x08

Definition at line 42 of file ushell_task.h.

Referenced by build_cmd().

#define CMD_BACKWARD   0x05

Definition at line 30 of file ushell_task.h.

Referenced by parse_cmd(), and ushell_task().

#define CMD_FORWARD   0x04

Definition at line 29 of file ushell_task.h.

Referenced by parse_cmd(), and ushell_task().

#define CMD_GET_ID   0x07

Definition at line 32 of file ushell_task.h.

Referenced by parse_cmd(), and ushell_task().

#define CMD_GET_STATUS0   0x08

Definition at line 33 of file ushell_task.h.

Referenced by parse_cmd(), and ushell_task().

#define CMD_GET_STATUS1   0x09

Definition at line 34 of file ushell_task.h.

Referenced by parse_cmd(), and ushell_task().

#define CMD_HELP   0x01

Definition at line 26 of file ushell_task.h.

Referenced by parse_cmd(), and ushell_task().

#define CMD_NONE   0x00

Definition at line 25 of file ushell_task.h.

Referenced by ushell_task(), and ushell_task_init().

#define CMD_RUN   0x02

Definition at line 27 of file ushell_task.h.

Referenced by parse_cmd(), and ushell_task().

#define CMD_SET_SPEED   0x06

Definition at line 31 of file ushell_task.h.

Referenced by parse_cmd(), and ushell_task().

#define CMD_STOP   0x03

Definition at line 28 of file ushell_task.h.

Referenced by parse_cmd(), and ushell_task().

#define CR   0x0D

Definition at line 38 of file ushell_task.h.

Referenced by build_cmd().

#define CTRL_C   0x03

Definition at line 41 of file ushell_task.h.

#define CTRL_Q   0x11

Definition at line 40 of file ushell_task.h.

#define LF   0x0A

Definition at line 39 of file ushell_task.h.

#define MSG_ER_CMD_NOT_FOUND   "Unknown Command"

Definition at line 60 of file ushell_task.h.

#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 61 of file ushell_task.h.

#define MSG_PROMPT   "\r>"

Definition at line 58 of file ushell_task.h.

#define MSG_WELCOME   "\rATMEL Motor Control Interface"

Definition at line 59 of file ushell_task.h.

#define QUIT_APPEND   CTRL_Q

Definition at line 44 of file ushell_task.h.

#define STR_BACKWARD   "bw"

Definition at line 51 of file ushell_task.h.

#define STR_FORWARD   "fw"

Definition at line 50 of file ushell_task.h.

#define STR_GET_ID   "gi"

Definition at line 53 of file ushell_task.h.

#define STR_GET_STATUS0   "g0"

Definition at line 54 of file ushell_task.h.

#define STR_GET_STATUS1   "g1"

Definition at line 55 of file ushell_task.h.

#define STR_HELP   "help"

Definition at line 49 of file ushell_task.h.

#define STR_RUN   "ru"

Definition at line 47 of file ushell_task.h.

#define STR_SET_SPEED   "ss"

Definition at line 52 of file ushell_task.h.

#define STR_STOP   "st"

Definition at line 48 of file ushell_task.h.

Function Documentation

void build_cmd ( void   ) 

get the full command line to be interpreted.

Parameters:
none 
Returns:
none

Definition at line 159 of file ushell_task.c.

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

Referenced by ushell_task().

00160 {
00161 U8 c;
00162 
00163    if (uart_test_hit())    //Something new of  the UART ?
00164    {
00165       c=uart_getchar();
00166       switch (c)
00167       {
00168          case CR:
00169             cmd_str[i_str]=0;  //Add NULL char
00170             parse_cmd();    //Decode the command
00171             i_str=0;
00172             break;
00173          case ABORT_CHAR:    //^c abort cmd
00174             i_str=0;
00175             printf("\r#");
00176             break;
00177          case BKSPACE_CHAR:   //backspace
00178             if(i_str>0)
00179             {
00180                uart_putchar(c);
00181                uart_putchar(' ');
00182                uart_putchar(c);
00183             }
00184             if(i_str>=1)
00185             {
00186                i_str--;
00187             }
00188             break;
00189 
00190          default:
00191             cmd_str[i_str++]=c;  //append to cmd line
00192             break;
00193       }
00194    }
00195 }

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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.

References FALSE, and TRUE.

Referenced by parse_cmd().

00287 {
00288    U8 j;
00289    for(j=0;j<=i;j++)
00290    {
00291 #ifndef __GNUC__
00292       if(*str1!=*str2)
00293 #else
00294       if( *str1 != pgm_read_byte_near((unsigned int)str2))
00295 #endif
00296       {
00297          return FALSE;
00298       }
00299       str1++;str2++;
00300    }
00301    return TRUE;
00302 }

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 207 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, FALSE, i_str, LSB, MSB, 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, str_stop, and TRUE.

Referenced by build_cmd().

00208 {
00209    U8 i=0;
00210    U8 j;
00211 
00212    //Get command type
00213    for(i=0;cmd_str[i]!=' ' && i<=i_str;i++);
00214    cmd=TRUE;
00215 
00216    //Decode command type
00217    if ( mystrncmp(cmd_str,str_run,i-1))
00218    {  cmd_type=CMD_RUN; }
00219    else if ( mystrncmp(cmd_str,str_stop,i-1))
00220    {  cmd_type=CMD_STOP; }
00221    else if ( mystrncmp(cmd_str,str_help,i-1))
00222    {  cmd_type=CMD_HELP; }
00223    else if ( mystrncmp(cmd_str,str_forward,i-1))
00224    {  cmd_type=CMD_FORWARD; }
00225    else if ( mystrncmp(cmd_str,str_backward,i-1))
00226    {  cmd_type=CMD_BACKWARD; }
00227    else if ( mystrncmp(cmd_str,str_set_speed,i-1))
00228    {  cmd_type=CMD_SET_SPEED; }
00229    else if ( mystrncmp(cmd_str,str_get_id,i-1))
00230    {  cmd_type=CMD_GET_ID; }
00231    else if ( mystrncmp(cmd_str,str_get_status0,i-1))
00232    {  cmd_type=CMD_GET_STATUS0; }
00233    else if ( mystrncmp(cmd_str,str_get_status1,i-1))
00234    {  cmd_type=CMD_GET_STATUS1; }
00235    else
00236    {
00237       if(i_str)
00238       {
00239         print_msg(msg_er_cmd_not_found);
00240       }
00241       print_msg(msg_prompt);
00242       cmd=FALSE;
00243       return;
00244    }
00245 
00246   //Get first arg (if any)
00247    if(++i<i_str)
00248    {
00249       j=0;
00250       for(;(cmd_str[i]!=' ')&&(i<i_str);i++)
00251       {
00252          LSB(par_str1[j])=cmd_str[i];
00253          MSB(par_str1[j])=0;
00254          j++;
00255       }
00256       LSB(par_str1[j])=0;MSB(par_str1[j])=0;
00257    }
00258    else   {  return; }
00259 
00260    //Get second arg (if any)
00261    if(++i<i_str)
00262    {
00263       j=0;
00264       for(;(cmd_str[i]!=' ')&&(i<i_str);i++)
00265       {
00266          LSB(par_str2[j])=cmd_str[i];
00267          MSB(par_str2[j])=0;
00268          j++;
00269       }
00270       LSB(par_str2[j])=0;MSB(par_str2[j])=0;
00271    }
00272    else   { return; }
00273 
00274 }

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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 312 of file ushell_task.c.

References uart_putchar().

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

00314 {
00315 U8 c;
00316 #ifndef __GNUC__
00317    c=*str++;
00318    while(c!=0)
00319    {
00320       uart_putchar(c);
00321       c=*str++;
00322    }
00323 #else    // AVRGCC does not support point to PGM space
00324    c=pgm_read_byte_near((unsigned int)str++);
00325    while(c!=0)
00326    {
00327       uart_putchar(c);
00328       c=pgm_read_byte_near((unsigned int)str++);
00329    }
00330 #endif
00331 
00332 }

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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 90 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(), FALSE, mc_disable_during_inrush(), mci_backward(), mci_direction, mci_forward(), mci_get_measured_current(), mci_get_measured_speed(), mci_run(), mci_run_stop, mci_set_ref_speed(), mci_stop(), msg_er_cmd_not_found, msg_help, msg_prompt, param1, print_hex16(), print_msg(), REV_ID, SOFT_ID, TRUE, uart_putchar(), and ushell_active.

Referenced by main().

00091 {
00092    U8 status = 0;
00093 
00094    if(cmd==FALSE)
00095    {
00096       build_cmd();
00097    }
00098    else
00099    {
00100       switch (cmd_type)
00101       {
00102          case CMD_HELP:
00103             print_msg(msg_help);
00104             break;
00105          case CMD_RUN:
00106             mci_run();
00107             break;
00108          case CMD_STOP:
00109             mci_stop();
00110             break;
00111          case CMD_FORWARD:
00112             mci_forward();
00113             break;
00114          case CMD_BACKWARD:
00115             mci_backward();
00116             break;
00117          case CMD_SET_SPEED:
00118             convert_param1();
00119             mc_disable_during_inrush();
00120             mci_set_ref_speed((U8)param1);
00121             break;
00122          case CMD_GET_ID:
00123             print_hex16(BOARD_ID);
00124             uart_putchar(' ');
00125             print_hex16(SOFT_ID);
00126             uart_putchar(' ');
00127             print_hex16(REV_ID);
00128             break;
00129          case CMD_GET_STATUS0:
00130             status = 0;
00131             if (mci_direction == CCW) {status |= (1<<3);}
00132             if (mci_run_stop == TRUE) {status |= (1<<2);}
00133             print_hex16(status);
00134             uart_putchar(' ');
00135             print_hex16(mci_get_measured_speed());
00136             uart_putchar(' ');
00137             print_hex16(mci_get_measured_current());
00138             ushell_active = TRUE;
00139             break;
00140          case CMD_GET_STATUS1:
00141             print_hex16(0xDEA);
00142             uart_putchar(' ');
00143             print_hex16(0x123);
00144             break;
00145          default:    //Unknown command
00146             print_msg(msg_er_cmd_not_found);
00147       }
00148       cmd_type=CMD_NONE;
00149       cmd=FALSE;
00150       print_msg(msg_prompt);
00151    }
00152 }

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void ushell_task_init ( void   ) 

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

Parameters:
none 
Returns:
none
/

Definition at line 69 of file ushell_task.c.

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

Referenced by main().

00070 {
00071    uart_init();
00072    print_msg(msg_welcome);
00073    print_msg(msg_prompt);
00074    cmd=FALSE;
00075    cmd_type=CMD_NONE;
00076 }

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Variable Documentation

volatile Bool ushell_active

Definition at line 42 of file ushell_task.c.

Referenced by main(), and ushell_task().

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