--- /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