ushell_task.h File Reference

#include "config.h"

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Defines
#define	CMD_BACKWARD   0x04
#define	CMD_FORWARD   0x03
#define	CMD_GET_ID   0x08
#define	CMD_GET_STATUS   0x07
#define	CMD_NONE   0x00
#define	CMD_RD_REGPARAM   0x0A
#define	CMD_RUN   0x01
#define	CMD_SET_JP   0x06
#define	CMD_SET_SPEED   0x05
#define	CMD_STOP   0x02
#define	CMD_WR_REGPARAM   0x09
Functions
void	build_cmd (void)
void	parse_cmd (void)
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
unsigned char	data_received
unsigned char	data_to_send
Bool	is_data_received
Bool	is_data_to_send
volatile Bool	ushell_active

---

Define Documentation

#define CMD_BACKWARD   0x04

Definition at line 26 of file ushell_task.h.

Referenced by ushell_task().

#define CMD_FORWARD   0x03

Definition at line 25 of file ushell_task.h.

Referenced by ushell_task().

#define CMD_GET_ID   0x08

Definition at line 30 of file ushell_task.h.

Referenced by ushell_task().

#define CMD_GET_STATUS   0x07

Definition at line 29 of file ushell_task.h.

Referenced by ushell_task().

#define CMD_NONE   0x00

Definition at line 22 of file ushell_task.h.

Referenced by ushell_task().

#define CMD_RD_REGPARAM   0x0A

Definition at line 32 of file ushell_task.h.

#define CMD_RUN   0x01

Definition at line 23 of file ushell_task.h.

Referenced by ushell_task().

#define CMD_SET_JP   0x06

Definition at line 28 of file ushell_task.h.

#define CMD_SET_SPEED   0x05

Definition at line 27 of file ushell_task.h.

Referenced by ushell_task().

#define CMD_STOP   0x02

Definition at line 24 of file ushell_task.h.

Referenced by ushell_task().

#define CMD_WR_REGPARAM   0x09

Definition at line 31 of file ushell_task.h.

---

Function Documentation

void build_cmd

(

void

)

void parse_cmd

(

void

)

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 67 of file ushell_task.c.

References BOARD_ID, CMD_BACKWARD, CMD_FORWARD, CMD_GET_ID, CMD_GET_STATUS, CMD_NONE, CMD_RUN, CMD_SET_SPEED, CMD_STOP, current, data_received, motorControlFlags_t::direction, DIRECTION_FORWARD, DIRECTION_REVERSE, FALSE, is_data_received, LSB, MSB, REV_ID, SOFT_ID, speed, motorControlFlags_t::speed, motorControlFlags_t::state, STATE_RUN, STATE_STOP, TRUE, ushell_active, USI_TWI_Receive_Byte(), and USI_TWI_Transmit_Byte().

Referenced by main().

{
   if (is_data_received)    //Something new of  the UART ?
   {
      is_data_received=FALSE;
      switch (data_received)
      {
         case CMD_RUN:
            mcFastFlags.state = STATE_RUN;
            mcFastFlags.speed = (U16)(LSB(speed)<<2);
           break;
            
         case CMD_STOP:
            mcFastFlags.state = STATE_STOP;
            break;
            
         case CMD_FORWARD:
            mcFastFlags.direction = DIRECTION_FORWARD;
            break;
            
         case CMD_BACKWARD:
            mcFastFlags.direction = DIRECTION_REVERSE;
            break;
            
         case CMD_SET_SPEED:
           MSB(speed) = USI_TWI_Receive_Byte();
           LSB(speed) = USI_TWI_Receive_Byte();
           mcFastFlags.speed = (U16)(LSB(speed)<<2);
            break;
            
         case CMD_GET_ID:
            USI_TWI_Transmit_Byte(BOARD_ID);
            USI_TWI_Transmit_Byte(SOFT_ID);
            USI_TWI_Transmit_Byte(REV_ID);
            break;
            
         case CMD_GET_STATUS:
//              if(SpeedMeasure!=0)
//                current=12;
//              USI_TWI_Transmit_Byte(MSB(SpeedMeasure));
//              USI_TWI_Transmit_Byte(LSB(SpeedMeasure));
              USI_TWI_Transmit_Byte(MSB(speed));
              USI_TWI_Transmit_Byte(LSB(speed));
              USI_TWI_Transmit_Byte(MSB(current));
              USI_TWI_Transmit_Byte(LSB(current));

            ushell_active = TRUE;
            break;
         default:    //Unknown command
            break;
      }
      data_received=CMD_NONE;
   }
}

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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 48 of file ushell_task.c.

Referenced by main().

{
#ifdef __GNUC__
//  fdevopen((int (*)(char, FILE*))(USI_TWI_Transmit_Byte),(int (*)(FILE*))USI_TWI_Receive_Byte); //for printf redirection
#endif
}

---

Variable Documentation

unsigned char data_received

Definition at line 66 of file main.c.

Referenced by main(), and ushell_task().

unsigned char data_to_send

Definition at line 65 of file main.c.

Bool is_data_received

Definition at line 64 of file main.c.

Referenced by main(), and ushell_task().

Bool is_data_to_send

Definition at line 63 of file main.c.

Referenced by main().

volatile Bool ushell_active

Definition at line 37 of file ushell_task.c.

Referenced by ushell_task().