4 * This file is part of BeRTOS.
6 * Bertos is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
11 * This program is distributed in the hope that it will be useful,
12 * but WITHOUT ANY WARRANTY; without even the implied warranty of
13 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14 * GNU General Public License for more details.
16 * You should have received a copy of the GNU General Public License
17 * along with this program; if not, write to the Free Software
18 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
20 * As a special exception, you may use this file as part of a free software
21 * library without restriction. Specifically, if other files instantiate
22 * templates or use macros or inline functions from this file, or you compile
23 * this file and link it with other files to produce an executable, this
24 * file does not by itself cause the resulting executable to be covered by
25 * the GNU General Public License. This exception does not however
26 * invalidate any other reasons why the executable file might be covered by
27 * the GNU General Public License.
29 * Copyright 2003, 2004, 2006 Develer S.r.l. (http://www.develer.com/)
30 * Copyright 2000 Bernie Innocenti <bernie@codewiz.org>
34 * \brief Implementation of the command protocol between the board and the host
37 * \author Giovanni Bajo <rasky@develer.com>
38 * \author Marco Benelli <marco@develer.com>
39 * \author Bernie Innocenti <bernie@codewiz.org>
40 * \author Daniele Basile <asterix@develer.com>
44 #include "cmd_ctor.h" // MAKE_CMD, REGISTER_CMD
47 #include "hw/hw_adc.h"
48 #include "hw/hw_input.h"
50 #include <drv/timer.h>
54 #include <drv/buzzer.h>
56 #include <mware/readline.h>
57 #include <mware/parser.h>
59 #include <cfg/compiler.h>
60 #include <cfg/debug.h>
62 #include <kern/kfile.h>
67 // Define the format string for ADC
68 #define ADC_FORMAT_STR "dddd"
70 // DEBUG: set to 1 to force interactive mode
71 #define FORCE_INTERACTIVE 1
74 * True if we are in interactive mode, false if we are in protocol mode.
75 * In interactive mode, commands are read through readline() (prompt,
76 * completion, history) without IDs, and replies/errors are sent to the serial
78 * In protocol mode, we implement the default protocol
80 static bool interactive;
82 /// Readline context, used for interactive mode.
83 static struct RLContext rl_ctx;
87 uint8_t reg_status_dout;
89 * Send a NAK asking the host to send the current message again.
91 * \a fd kfile handler for serial.
92 * \a err human-readable description of the error for debug purposes.
94 INLINE void NAK(KFile *fd, const char *err)
97 kfile_printf(fd, "NAK \"%s\"\r\n", err);
99 kfile_printf(fd, "NAK\r\n");
103 static void protocol_prompt(KFile *fd)
105 kfile_print(fd, ">> ");
109 * Print args on s, with format specified in t->result_fmt.
110 * Return number of valid arguments or -1 in case of error.
112 static bool protocol_reply(KFile *fd, const struct CmdTemplate *t,
115 unsigned short offset = strlen(t->arg_fmt) + 1;
116 unsigned short nres = strlen(t->result_fmt);
118 for (unsigned short i = 0; i < nres; ++i)
120 if (t->result_fmt[i] == 'd')
122 kfile_printf(fd, " %ld", args[offset+i].l);
124 else if (t->result_fmt[i] == 's')
126 kfile_printf(fd, " %s", args[offset+i].s);
134 kfile_printf(fd, "\r\n");
138 static void protocol_parse(KFile *fd, const char *buf)
140 const struct CmdTemplate *templ;
143 templ = parser_get_cmd_template(buf);
146 kfile_print(fd, "-1 Invalid command.\r\n");
151 parms args[PARSER_MAX_ARGS];
153 /* Args Check. TODO: Handle different case. see doc/PROTOCOL . */
154 if (!parser_get_cmd_arguments(buf, templ, args))
156 kfile_print(fd, "-2 Invalid arguments.\r\n");
162 if(!parser_execute_cmd(templ, args))
164 NAK(fd, "Error in executing command.");
166 if (!protocol_reply(fd, templ, args))
168 NAK(fd, "Invalid return format.");
175 void protocol_run(KFile *fd)
178 * \todo to be removed, we could probably access the serial FIFO
181 static char linebuf[80];
185 kfile_gets(fd, linebuf, sizeof(linebuf));
187 // reset serial port error anyway
190 // check message minimum length
193 /* If we enter lines beginning with sharp(#)
194 they are stripped out from commands */
195 if(linebuf[0] != '#')
197 if (linebuf[0] == 0x1B && linebuf[1] == 0x1B) // ESC
200 kfile_printf(fd, "Entering interactive mode\r\n");
204 protocol_parse(fd, linebuf);
214 * Read a line from serial. We use a temporary buffer
215 * because otherwise we would have to extract a message
216 * from the port immediately: there might not be any
217 * available, and one might get free while we read
218 * the line. We also add a fake ID at the start to
221 buf = rl_readline(&rl_ctx);
223 /* If we enter lines beginning with sharp(#)
224 they are stripped out from commands */
225 if(buf && buf[0] != '#')
229 // exit special case to immediately change serial input
230 if (!strcmp(buf, "exit") || !strcmp(buf, "quit"))
232 rl_clear_history(&rl_ctx);
233 kfile_printf(fd, "Leaving interactive mode...\r\n");
234 interactive = FORCE_INTERACTIVE;
238 //TODO: remove sequence numbers
242 strncpy(linebuf + 2, buf, sizeof(linebuf) - 3);
243 linebuf[sizeof(linebuf) - 1] = '\0';
244 protocol_parse(fd, linebuf);
253 * TODO: Command declarations and definitions should be in another file(s).
254 * Maybe we should use CMD_HUNK_TEMPLATE.
258 MAKE_CMD(ver, "", "ddd",
260 args[1].l = VERS_MAJOR;
261 args[2].l = VERS_MINOR;
262 args[3].l = VERS_REV;
266 /* Sleep. Example of declaring function body directly in macro call. */
267 MAKE_CMD(sleep, "d", "",
269 timer_delay((mtime_t)args[1].l);
274 MAKE_CMD(ping, "", "",
276 //Silence "args not used" warning.
282 MAKE_CMD(dout, "d", "",
284 kfile_putc((uint8_t)args[1].l, &fd_sipo.fd);
286 //Store status of dout ports.
287 reg_status_dout = (uint8_t)args[1].l;
291 /* rdout read the status of out ports.*/
292 MAKE_CMD(rdout, "", "d",
294 args[1].l = reg_status_dout;
300 MAKE_CMD(reset, "", "",
302 //Silence "args not used" warning.
306 /*We want to have an infinite loop that lock access on watchdog timer.
307 This piece of code it's equivalent to a while(true), but we have done this because
308 gcc generate a warning message that suggest to use "noreturn" parameter in function reset.*/
316 MAKE_CMD(din, "", "d",
318 args[1].l = INPUT_GET();
325 MAKE_CMD(ain, "", ADC_FORMAT_STR,
327 STATIC_ASSERT((sizeof(ADC_FORMAT_STR) - 1) == ADC_CHANNEL_NUM);
328 for(int i = 0; i < ADC_CHANNEL_NUM; i++)
329 args[i+1].l = adc_read_ai_channel(i);
335 MAKE_CMD(beep, "d", "",
341 /* Register commands. */
342 static void protocol_registerCmds(void)
348 //Set off all dout ports.
357 /* Initialization: readline context, parser and register commands. */
358 void protocol_init(KFile *fd)
360 /* SPI Port Initialization */
361 fd_sipo.load_device = TRIFACE_DOUT;
362 fd_sipo.bit_order = SIPO_DATAORDER_LSB;
363 fd_sipo.clock_pol = SIPO_START_LOW;
364 fd_sipo.load_pol = SIPO_LOW_TO_HIGH;
368 interactive = FORCE_INTERACTIVE;
370 rl_init_ctx(&rl_ctx);
371 //rl_setprompt(&rl_ctx, ">> ");
372 rl_sethook_get(&rl_ctx, (getc_hook)kfile_getc, fd);
373 rl_sethook_put(&rl_ctx, (putc_hook)kfile_putc, fd);
374 rl_sethook_match(&rl_ctx, parser_rl_match, NULL);
375 rl_sethook_clear(&rl_ctx, (clear_hook)kfile_clearerr,fd);
379 protocol_registerCmds();