+++ /dev/null
-/**
- * \file
- * <!--
- * This file is part of BeRTOS.
- *
- * Bertos is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
- *
- * As a special exception, you may use this file as part of a free software
- * library without restriction. Specifically, if other files instantiate
- * templates or use macros or inline functions from this file, or you compile
- * this file and link it with other files to produce an executable, this
- * file does not by itself cause the resulting executable to be covered by
- * the GNU General Public License. This exception does not however
- * invalidate any other reasons why the executable file might be covered by
- * the GNU General Public License.
- *
- * Copyright 2003, 2004, 2006 Develer S.r.l. (http://www.develer.com/)
- * Copyright 2000 Bernie Innocenti <bernie@codewiz.org>
- *
- * -->
- *
- * \brief Implementation of the command protocol between the board and the host
- *
- *
- * \author Giovanni Bajo <rasky@develer.com>
- * \author Marco Benelli <marco@develer.com>
- * \author Bernie Innocenti <bernie@codewiz.org>
- * \author Daniele Basile <asterix@develer.com>
- */
-
-#include "protocol.h"
-#include "verstag.h"
-
-#include "hw/hw_input.h"
-
-#include "cfg/cfg_parser.h"
-#include <cfg/compiler.h>
-#include <cfg/debug.h>
-
-#include <drv/adc.h>
-#include <drv/timer.h>
-#include <drv/ser.h>
-#include <drv/sipo.h>
-#include <avr/wdt.h>
-#include <drv/buzzer.h>
-
-#include <mware/readline.h>
-#include <mware/parser.h>
-
-#include <io/kfile.h>
-
-#include <stdlib.h>
-#include <string.h>
-
-// Define the format string for ADC
-#define ADC_FORMAT_STR "dddd"
-#define ADC_CHANNEL_NUM 4
-
-// DEBUG: set to 1 to force interactive mode
-#define FORCE_INTERACTIVE 1
-
-/**
- * True if we are in interactive mode, false if we are in protocol mode.
- * In interactive mode, commands are read through readline() (prompt,
- * completion, history) without IDs, and replies/errors are sent to the serial
- * output.
- * In protocol mode, we implement the default protocol
- */
-static bool interactive;
-
-/// Readline context, used for interactive mode.
-static struct RLContext rl_ctx;
-
-static Sipo fd_sipo;
-
-uint8_t reg_status_dout;
-/**
- * Send a NAK asking the host to send the current message again.
- *
- * \a fd kfile handler for serial.
- * \a err human-readable description of the error for debug purposes.
- */
-INLINE void NAK(KFile *fd, const char *err)
-{
-#ifdef _DEBUG
- kfile_printf(fd, "NAK \"%s\"\r\n", err);
-#else
- kfile_printf(fd, "NAK\r\n");
-#endif
-}
-
-static void protocol_prompt(KFile *fd)
-{
- kfile_print(fd, ">> ");
-}
-
-/*
- * Print args on s, with format specified in t->result_fmt.
- * Return number of valid arguments or -1 in case of error.
- */
-static bool protocol_reply(KFile *fd, const struct CmdTemplate *t,
- const parms *args)
-{
- unsigned short offset = strlen(t->arg_fmt) + 1;
- unsigned short nres = strlen(t->result_fmt);
-
- for (unsigned short i = 0; i < nres; ++i)
- {
- if (t->result_fmt[i] == 'd')
- {
- kfile_printf(fd, " %ld", args[offset+i].l);
- }
- else if (t->result_fmt[i] == 's')
- {
- kfile_printf(fd, " %s", args[offset+i].s);
- }
-
- else
- {
- abort();
- }
- }
- kfile_printf(fd, "\r\n");
- return true;
-}
-
-static void protocol_parse(KFile *fd, const char *buf)
-{
- const struct CmdTemplate *templ;
-
- /* Command check. */
- templ = parser_get_cmd_template(buf);
- if (!templ)
- {
- kfile_print(fd, "-1 Invalid command.\r\n");
- protocol_prompt(fd);
- return;
- }
-
- parms args[CONFIG_PARSER_MAX_ARGS];
-
- /* Args Check. TODO: Handle different case. see doc/PROTOCOL . */
- if (!parser_get_cmd_arguments(buf, templ, args))
- {
- kfile_print(fd, "-2 Invalid arguments.\r\n");
- protocol_prompt(fd);
- return;
- }
-
- /* Execute. */
- if(!parser_execute_cmd(templ, args))
- {
- NAK(fd, "Error in executing command.");
- }
- if (!protocol_reply(fd, templ, args))
- {
- NAK(fd, "Invalid return format.");
- }
-
- protocol_prompt(fd);
- return;
-}
-
-void protocol_run(KFile *fd)
-{
- /**
- * \todo to be removed, we could probably access the serial FIFO
- * directly
- */
- static char linebuf[80];
-
- if (!interactive)
- {
- kfile_gets(fd, linebuf, sizeof(linebuf));
-
- // reset serial port error anyway
- kfile_clearerr(fd);
-
- // check message minimum length
- if (linebuf[0])
- {
- /* If we enter lines beginning with sharp(#)
- they are stripped out from commands */
- if(linebuf[0] != '#')
- {
- if (linebuf[0] == 0x1B && linebuf[1] == 0x1B) // ESC
- {
- interactive = true;
- kfile_printf(fd, "Entering interactive mode\r\n");
- }
- else
- {
- protocol_parse(fd, linebuf);
- }
- }
- }
- }
- else
- {
- const char *buf;
-
- /*
- * Read a line from serial. We use a temporary buffer
- * because otherwise we would have to extract a message
- * from the port immediately: there might not be any
- * available, and one might get free while we read
- * the line. We also add a fake ID at the start to
- * fool the parser.
- */
- buf = rl_readline(&rl_ctx);
-
- /* If we enter lines beginning with sharp(#)
- they are stripped out from commands */
- if(buf && buf[0] != '#')
- {
- if (buf[0] != '\0')
- {
- // exit special case to immediately change serial input
- if (!strcmp(buf, "exit") || !strcmp(buf, "quit"))
- {
- rl_clear_history(&rl_ctx);
- kfile_printf(fd, "Leaving interactive mode...\r\n");
- interactive = FORCE_INTERACTIVE;
- }
- else
- {
- //TODO: remove sequence numbers
- linebuf[0] = '0';
- linebuf[1] = ' ';
-
- strncpy(linebuf + 2, buf, sizeof(linebuf) - 3);
- linebuf[sizeof(linebuf) - 1] = '\0';
- protocol_parse(fd, linebuf);
- }
- }
- }
- }
-}
-
-/*
- * Commands.
- * TODO: Command declarations and definitions should be in another file(s).
- * Maybe we should use CMD_HUNK_TEMPLATE.
- *
- */
-
-MAKE_CMD(ver, "", "ddd",
-({
- args[1].l = VERS_MAJOR;
- args[2].l = VERS_MINOR;
- args[3].l = VERS_REV;
- 0;
-}), 0);
-
-/* Sleep. Example of declaring function body directly in macro call. */
-MAKE_CMD(sleep, "d", "",
-({
- timer_delay((mtime_t)args[1].l);
- 0;
-}), 0)
-
-/* Ping. */
-MAKE_CMD(ping, "", "",
-({
- //Silence "args not used" warning.
- (void)args;
- 0;
-}), 0)
-
-/* Dout */
-MAKE_CMD(dout, "d", "",
-({
- kfile_putc((uint8_t)args[1].l, &fd_sipo.fd);
-
- //Store status of dout ports.
- reg_status_dout = (uint8_t)args[1].l;
- 0;
-}), 0)
-
-/* rdout read the status of out ports.*/
-MAKE_CMD(rdout, "", "d",
-({
- args[1].l = reg_status_dout;
- 0;
-}), 0)
-
-
-/* Reset */
-MAKE_CMD(reset, "", "",
-({
- //Silence "args not used" warning.
- (void)args;
- wdt_enable(WDTO_2S);
-
- /*We want to have an infinite loop that lock access on watchdog timer.
- This piece of code it's equivalent to a while(true), but we have done this because
- gcc generate a warning message that suggest to use "noreturn" parameter in function reset.*/
- ASSERT(args);
- while(args);
- 0;
-
-}), 0)
-
-/* Din */
-MAKE_CMD(din, "", "d",
-({
- args[1].l = INPUT_GET();
- 0;
-}), 0)
-
-
-
-/* Ain */
-MAKE_CMD(ain, "", ADC_FORMAT_STR,
-({
- STATIC_ASSERT((sizeof(ADC_FORMAT_STR) - 1) == ADC_CHANNEL_NUM);
- for(int i = 0; i < ADC_CHANNEL_NUM; i++)
- args[i+1].l = adc_read(i);
-
- 0;
-}), 0)
-
-/* Beep */
-MAKE_CMD(beep, "d", "",
-({
- buz_beep(args[1].l);
- 0;
-}), 0)
-
-/* Register commands. */
-static void protocol_registerCmds(void)
-{
- REGISTER_CMD(ver);
- REGISTER_CMD(sleep);
- REGISTER_CMD(ping);
- REGISTER_CMD(dout);
- //Set off all dout ports.
- reg_status_dout = 0;
- REGISTER_CMD(rdout);
- REGISTER_CMD(reset);
- REGISTER_CMD(din);
- REGISTER_CMD(ain);
- REGISTER_CMD(beep);
-}
-
-/* Initialization: readline context, parser and register commands. */
-void protocol_init(KFile *fd)
-{
- /* SPI Port Initialization */
- fd_sipo.load_device = TRIFACE_DOUT;
- fd_sipo.bit_order = SIPO_DATAORDER_LSB;
- fd_sipo.clock_pol = SIPO_START_LOW;
- fd_sipo.load_pol = SIPO_LOW_TO_HIGH;
-
- sipo_init(&fd_sipo);
-
- interactive = FORCE_INTERACTIVE;
-
- rl_init_ctx(&rl_ctx);
- //rl_setprompt(&rl_ctx, ">> ");
- rl_sethook_get(&rl_ctx, (getc_hook)kfile_getc, fd);
- rl_sethook_put(&rl_ctx, (putc_hook)kfile_putc, fd);
- rl_sethook_match(&rl_ctx, parser_rl_match, NULL);
- rl_sethook_clear(&rl_ctx, (clear_hook)kfile_clearerr,fd);
-
- parser_init();
-
- protocol_registerCmds();
-
- protocol_prompt(fd);
-}
projects / bertos.git / blobdiff