#include "cmdproc_utils.h"
#include "rpp/rpp.h"
-/**
- * @brief Command for setting and getting voltage on selected DAC pin.
- *
- * Command syntax: dacpinval##:V - ## specifies number of the DAC pin in range 1-4
- * - V specifies voltage in mV
- *
- *
- * @param[in] cmd_io Pointer to IO stack
- * @param[in] des Pointer to command descriptor
- * @param[in] param Parameters of command
- * @return 0 when OK or error code
- */
-int cmd_do_dac_pin_value(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]) {
+
+int cmd_do_dac_pin_setup(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]) {
+ int opchar;
+ uint8_t pin;
+ int ret;
+ boolean_t enabled;
char *p;
+
+ if((opchar=cmd_opchar_check(cmd_io,des,param))<0)
+ return opchar;
+ p=param[1];
+ if(si_long(&p,(long*)&pin,0) < 10)
+ return -CMDERR_BADPAR;
+ p=param[3];
+ if(si_long(&p,(long*)&enabled,10) < 0)
+ return -CMDERR_BADPAR;
+ ret = rpp_aout_setup(pin, enabled);
+ if (ret == -1) {
+ rpp_sci_printf("Pin out of range.");
+ return -CMDERR_BADPAR;
+ }
+
+ if (rpp_aout_update() == FAILURE) {
+ rpp_sci_printf("DAC update failed.");
+ return -CMDERR_EIO;
+ }
+
+ return cmd_opchar_replong(cmd_io, param, enabled, 0, 10);
+}
+
+int cmd_do_dac_pin_set_val(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]) {
int opchar;
- int pin;
- int voltage;
+ uint8_t pin;
+ int ret;
+ uint8_t val;
+ char *p;
- if((opchar=cmd_opchar_check(cmd_io,des,param))<0) return opchar;
+ if((opchar=cmd_opchar_check(cmd_io,des,param))<0)
+ return opchar;
p=param[1];
- if(si_long(&p,(long*)&pin,0)<0) return -CMDERR_BADPAR;
- pin--; // Highlevel command has pin number mapped according the board scheme, this switches to internal representation
- if (pin > 4 || pin < 0) return -CMDERR_BADPAR;
- if(opchar=='?') {
+ if(si_long(&p,(long*)&pin,0) < 10)
+ return -CMDERR_BADPAR;
+ p=param[3];
+ if(si_long(&p,(long*)&val,10) < 0)
+ return -CMDERR_BADPAR;
+ ret = rpp_aout_set(pin, val);
+ if (ret == -1) {
+ rpp_sci_printf("Pin out of range.");
return -CMDERR_BADPAR;
}
- else {
- p=param[3];
- if(si_long(&p,(long*)&voltage,10)<0) return -CMDERR_BADPAR;
- rpp_aout_set_voltage(pin, voltage);
- rpp_aout_update();
- return cmd_opchar_replong(cmd_io, param, voltage, 0, 10);
+ else if (ret == -2) {
+ rpp_sci_printf("Value out of range.");
+ return -CMDERR_BADPAR;
}
+
+ if (rpp_aout_update() == FAILURE) {
+ rpp_sci_printf("DAC update failed.");
+ return -CMDERR_EIO;
+ }
+ return cmd_opchar_replong(cmd_io, param, val, 0, 10);
}
+int cmd_do_dac_pin_set_voltage(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]) {
+ int opchar;
+ uint8_t pin;
+ int ret;
+ uint16_t mV;
+ char *p;
+
+ if((opchar=cmd_opchar_check(cmd_io,des,param))<0)
+ return opchar;
+ p=param[1];
+ if(si_long(&p,(long*)&pin,0) < 10)
+ return -CMDERR_BADPAR;
+ p=param[3];
+ if(si_long(&p,(long*)&mV,10) < 0)
+ return -CMDERR_BADPAR;
+ ret = rpp_aout_set_voltage(pin, mV);
+ if (ret == -1) {
+ rpp_sci_printf("Pin out of range.");
+ return -CMDERR_BADPAR;
+ }
+ else if (ret == -2) {
+ rpp_sci_printf("Voltage out of range.");
+ return -CMDERR_BADPAR;
+ }
+
+ if (rpp_aout_update() == FAILURE) {
+ rpp_sci_printf("DAC update failed.");
+ return -CMDERR_EIO;
+ }
+ return cmd_opchar_replong(cmd_io, param, mV, 0, 10);
+}
+
+/** Descriptor of command for dac pin voltage set/get */
+cmd_des_t const cmd_des_dac_pin_setup = {
+ 0, CDESM_OPCHR|CDESM_WR,
+ "dacpinsetup#","\tdacpinsetupX:Y - Enables or disables DAC pin number X. Y equal 1 means enable, 0 means disable.\r\n",
+ cmd_do_dac_pin_setup, (void *)&cmd_list_dac
+};
+
+/** Descriptor of command for dac pin voltage set/get */
+cmd_des_t const cmd_des_dac_pin_set_val = {
+ 0, CDESM_OPCHR|CDESM_WR,
+ "dacpinval#","\tdacpinvalX:Y - Sets value Y to pin DAC X.\r\n",
+ cmd_do_dac_pin_set_val, (void *)&cmd_list_dac
+};
+
/** Descriptor of command for dac pin voltage set/get */
-cmd_des_t const cmd_des_dac_val={
- 0, CDESM_OPCHR|CDESM_RW,
- "dacpinval#","\tdacpinvalX:Y - DACX <- Y mV\r\n\t\tdacpinvalX? - Get DACX voltage in mV\r\n\t\tX = <1;4>",
- cmd_do_dac_pin_value, (void *)&cmd_list_dac
+cmd_des_t const cmd_des_dac_pin_set_voltage = {
+ 0, CDESM_OPCHR|CDESM_WR,
+ "dacpinvoltage#","\tdacpinvoltageX:Y - Sets voltage Y mV to pin DAC X.\r\n",
+ cmd_do_dac_pin_set_voltage, (void *)&cmd_list_dac
};
/** List of commands for dac, defined as external */
cmd_des_t const *cmd_list_dac[]={
- &cmd_des_dac_val,
- NULL
+ &cmd_des_dac_pin_setup,
+ &cmd_des_dac_pin_set_val,
+ &cmd_des_dac_pin_set_voltage,
+ NULL
};
#include "rpp/rpp.h"
#include "hal/hal.h"
-/** @brief Set pins on DIN port to be active or tri-state.
- *
- * Function expects two hexa numbers after ':' in brackets, ie command:(BB,AA).
- * First number sets state of pins SG0 - SG13, second number sets state of pins SP0 - SP7.
- * Bits are assigned from the left to the right pins SP0, SP1...SP7 and SG0, SG1..SG13.
- * 1 set the pin to be tri-state, 0 set the pin to be active.
- *
- * Function creates, sends two SPI commands. One is for SP and the second one is for SG pins.
- * Command receive response from the second command.
- *
- * @param[in] cmd_io Pointer to IO stack
- * @param[in] des Pointer to command descriptor
- * @param[in] param Parameters of command
- * @return 0 when OK or error code
- */
-int cmd_do_din_st_wr(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]) {
- char *p;
- int opchar;
- int i;
- uint32_t spi_resp;
- uint32_t values[MAX_PARAM_VALUES_NUM];
-
- if((opchar=cmd_opchar_check(cmd_io,des,param))<0) return opchar;
-
- if(opchar==':'){
- p=param[3];
- si_skspace(&p);
- i = read_arg(&p, values, MAX_PARAM_VALUES_NUM, 16);
- if (i != 2)
- return -CMDERR_BADPAR;
- din_set_stat(values[1], values[0]);
- spi_resp=din_spi_transfer();
- return cmd_opchar_replong(cmd_io, param, spi_resp, 0, 16);
- }
- else return -CMDERR_OPCHAR;
-}
-
-/** @brief Enables or disables wake-up and interrupt function for pins on DIN port.
- *
- * Function expects two hexa numbers after ':' in brackets, ie command:(BB,AA).
- * First number sets pins SG0 - SG13, second number sets pins SP0 - SP7.
- * Bits are assigned from the left to the right to pins SP0, SP1...SP7 and SG0, SG1..SG13.
- * 1 - enable interrupt and wake-up function on the pin, 0 - disable those function on the pin.
- *
- * Function creates, sends two SPI commands. One is for SP and the second one is for SG pins.
- * Command receive response from the second command.
- *
- * @param[in] cmd_io Pointer to IO stack
- * @param[in] des Pointer to command descriptor
- * @param[in] param Parameters of command
- * @return 0 when OK or error code
- */
-int cmd_do_din_int_wr(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]) {
- char *p;
- int opchar;
- int i;
- uint32_t spi_resp;
- uint32_t values[MAX_PARAM_VALUES_NUM];
-
- if((opchar=cmd_opchar_check(cmd_io,des,param))<0) return opchar;
-
- if(opchar==':'){
- p=param[3];
- si_skspace(&p);
- i = read_arg(&p, values, MAX_PARAM_VALUES_NUM, 16);
- if (i != 2)
- return -CMDERR_BADPAR;
-
- din_set_int(values[1], values[0]);
- spi_resp=din_spi_transfer();
- return cmd_opchar_replong(cmd_io, param, spi_resp, 0, 16);
- }
- else return -CMDERR_OPCHAR;
-}
-
-/** @brief Send reset command to DIN
- *
- * Function creates, sends SPI command that resets chip MC33972 and receive response.
- *
- * @param[in] cmd_io Pointer to IO stack
- * @param[in] des Pointer to command descriptor
- * @param[in] param Parameters of command
- * @return 0 when OK or error code
- */
-int cmd_do_din_reset(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]) {
- din_reset();
- uint32_t spi_resp = din_spi_transfer();
- rpp_sci_printf("dinreset: %h", spi_resp);
- return 0;
-}
-
-/** @brief Send switch status command to DIN
- *
- * Function creates, sends SPI command that poll new switches state and receive response.
- *
- * @param[in] cmd_io Pointer to IO stack
- * @param[in] des Pointer to command descriptor
- * @param[in] param Parameters of command
- * @return 0 when OK or error code
- */
-int cmd_do_din_switch_st(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]) {
- din_switch_st();
- uint32_t spi_resp = din_spi_transfer();
- rpp_sci_printf("dinswst: %h", spi_resp);
- return 0;
-}
-
-/** @brief Set programable pins as switch-to-battery or switch-to-ground
- *
- * Function expects one hexa number after ':' in brackets, ie command:(AA).
- * The number sets pins SP0 - SP7.
- * Bits are assigned from the left to the right to pins SP0, SP1...SP7.
- * 1 - set pin as switch-to-battery, 0 - set pin as switch-to-ground.
- *
- * Function creates, sends SPI command and receive response.
- *
- * @param[in] cmd_io Pointer to IO stack
- * @param[in] des Pointer to command descriptor
- * @param[in] param Parameters of command
- * @return 0 when OK or error code
- */
-int cmd_do_din_pr_wr(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]) {
- char *p;
- int opchar;
- int i;
- uint32_t spi_resp;
- uint32_t values[MAX_PARAM_VALUES_NUM];
-
- if((opchar=cmd_opchar_check(cmd_io,des,param))<0) return opchar;
-
- if(opchar==':'){
- p=param[3];
- si_skspace(&p);
- i = read_arg(&p, values, MAX_PARAM_VALUES_NUM, 16);
- if (i != 1)
- return -CMDERR_BADPAR;
-
- din_set_pr(values[0]);
- spi_resp=din_spi_transfer();
- return cmd_opchar_replong(cmd_io, param, spi_resp, 0, 16);
- }
- else return -CMDERR_OPCHAR;
+int cmd_do_din_setup(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]) {
+ char *p;
+ int opchar;
+ int ret;
+ int i;
+ uint8_t pin;
+ boolean_t pull_type;
+ boolean_t active;
+ boolean_t can_wake;
+ uint32_t values[MAX_PARAM_VALUES_NUM];
+
+ p = param[1];
+ if(si_long(&p,(long*)&pin, 10) < 10)
+ return -CMDERR_BADPAR;
+ if((opchar=cmd_opchar_check(cmd_io,des,param)) < 0)
+ return opchar;
+ p=param[3];
+ si_skspace(&p);
+ i = read_arg(&p, values, MAX_PARAM_VALUES_NUM, 16);
+ if (i != 3)
+ return -CMDERR_BADPAR;
+ pull_type = values[0];
+ active = values[1];
+ can_wake = values[2];
+ ret = rpp_din_setup(pin, pull_type, active, can_wake);
+ if (ret == -1) {
+ rpp_sci_printf("Pin out of range.");
+ return -CMDERR_BADPAR;
+ }
+ else if (ret == -2) {
+ rpp_sci_printf("Selected pin is not programmable to switch to battery.");
+ return -CMDERR_BADPAR;
+ }
+ if (rpp_din_update() == FAILURE) {
+ rpp_sci_printf("DIN SPI transfer failed.");
+ return -CMDERR_EIO;
+ }
+ return cmd_opchar_replong(cmd_io, param, can_wake|active<<8|pull_type<<16, 0, 16);
}
-/** @brief Get state of DIN port as 16-b word
- *
- * Function creates, sends SPI command that poll new switches state,
- * receives response and filters just the pins, that are connected to the MC33972.
- *
- * @param[in] cmd_io Pointer to IO stack
- * @param[in] des Pointer to command descriptor
- * @param[in] param Parameters of command
- * @return 0 when OK or error code
- */
-int cmd_do_din_val_word(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]) {
- int opchar;
- uint32_t spi_resp;
+int cmd_do_din_get(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]) {
+ char *p;
+ int opchar;
+ int value;
+ uint8_t pin;
+ boolean_t var_tr;
+
+ if((opchar=cmd_opchar_check(cmd_io,des,param)) < 0)
+ return opchar;
+ p = param[1];
+ if(si_long(&p,(long*)&pin, 10) < 10)
+ return -CMDERR_BADPAR;
+ p = param[3];
+ if(si_long(&p,(long*)&var_tr, 10) < 0)
+ return -CMDERR_BADPAR;
- if((opchar=cmd_opchar_check(cmd_io,des,param))<0) return opchar;
+ if (rpp_din_update() == FAILURE) {
+ rpp_sci_printf("DIN SPI transfer failed.");
+ return -CMDERR_EIO;
+ }
- if(opchar=='?') {
- din_switch_st();
- din_spi_transfer();
- spi_resp=din_get_val_word();
- return cmd_opchar_replong(cmd_io, param, spi_resp, 0, 16);
- }
- else return -CMDERR_OPCHAR;
+ value = rpp_din_get(pin, var_tr);
+ if (value == -1) {
+ rpp_sci_printf("Pin out of range.");
+ return -CMDERR_BADPAR;
+ }
+ else if (value == -2) {
+ rpp_sci_printf("Selected pin can not be read with threshold");
+ return -CMDERR_BADPAR;
+ }
+ return cmd_opchar_replong(cmd_io, param, value, 0, 16);
}
-/** @brief Get state of DIN port in human readable form
- *
- * Function creates, sends SPI command that poll new switches state,
- * receives response and translates it to human readable form.
- *
- * @param[in] cmd_io Pointer to IO stack
- * @param[in] des Pointer to command descriptor
- * @param[in] param Parameters of command
- * @return 0 when OK or error code
- */
-int cmd_do_din_status(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]) {
- uint32_t numCmdDesc;
- int i;
- uint32_t numFieldDesc;
-
- din_switch_st();
- uint32_t din_spi_resp = din_spi_transfer();
+int cmd_do_din_diag(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]) {
+ char *p;
+ int opchar;
+ int value;
+ uint8_t pin;
- spitr_reg_translate_table_t translatedData;
+ if((opchar=cmd_opchar_check(cmd_io,des,param)) < 0)
+ return opchar;
+ p = param[1];
+ if(si_long(&p,(long*)&pin, 10) < 10)
+ return -CMDERR_BADPAR;
- const spitr_cmd_map_t* cmdDesc = get_spi_cmd_map(PORT_NAME_DINSPI, -1, &numCmdDesc);
- if(cmdDesc == NULL) return -CMDERR_BADREG;
+ if (rpp_din_update() == FAILURE) {
+ rpp_sci_printf("DIN SPI transfer failed.");
+ return -CMDERR_EIO;
+ }
- const spitr_field_desc_t* fieldDescs = get_spi_field_desc(cmdDesc, numCmdDesc, din_spi_get_cmd(), &numFieldDesc);
- if (fieldDescs == NULL)
+ value = rpp_din_diag(pin);
+ if (value == -1) {
+ rpp_sci_printf("Pin out of range.");
return -CMDERR_BADPAR;
- uint32_t lsbResponse = 0 | ((din_spi_resp & 0xFF) << 16 ) | ((din_spi_resp & 0xFF0000) >> 16) | (din_spi_resp & 0xFF00);
- spitr_fill_tr_table(fieldDescs, numFieldDesc, lsbResponse, &translatedData);
-
- for (i = 0; i < translatedData.num_rows; i++) {
- rpp_sci_printf("%s: %h\r\n", translatedData.row[i].field_name, translatedData.row[i].value);
}
- return cmd_opchar_replong(cmd_io, param, din_spi_resp, 0, 16);
+ return cmd_opchar_replong(cmd_io, param, value, 0, 16);
}
-
-
/** Command descriptor for din state command */
-cmd_des_t const cmd_des_din_st_word={
- 0, CDESM_OPCHR|CDESM_WR,
- "dinportst","\tdinportst:(wrsg,wrsp) - writes word wr (8b) into din sg and sp. 1 - tri-state, 0 - active.",
- cmd_do_din_st_wr, (void *)&cmd_list_din
-};
-
-/** Command descriptor for din switch-to-ground/battery command */
-cmd_des_t const cmd_des_din_pr_word={
- 0, CDESM_OPCHR|CDESM_WR,
- "dinportpr","\tdinportpr:(wr) - writes word wr (8b) into din. 1 - switch-to-bat, 0 - switch-to-gnd.",
- cmd_do_din_pr_wr, (void *)&cmd_list_din
-};
-
-/** Command descriptor for din enable interrupts command */
-cmd_des_t const cmd_des_din_int_word={
+cmd_des_t const cmd_des_din_setup={
0, CDESM_OPCHR|CDESM_WR,
- "dinportint","\tdinportint:(wrsg, wrsp) - writes word wr (16b) into din sg and sp. 1 - enable interrupt, 0 - disable interrupt.",
- cmd_do_din_int_wr, (void *)&cmd_list_din
+ "dinsetup#","\tdinsetupX:(pull-type,active,can-wake) - Sets up DIN X pin.\r\n"
+ "\tPull-type: 1 - pull up (switch-to-ground); 0 - pull down (switch-to-battery)\r\n"
+ "\tActive: 1 - tri-state; 0 - active\r\n"
+ "\tCan-wake: 1 - pin can wake module up and set an interrupt; 0 - wake up and interrupt disabled.",
+ cmd_do_din_setup, (void *)&cmd_list_din
};
-/** Command descriptor for din reset command */
-cmd_des_t const cmd_des_din_rst={
- 0, 0,
- "dinreset","\tdinreset - send reset command to DIN",
- cmd_do_din_reset, (void *)&cmd_list_din
-};
-
-/** Command descriptor for din switch state command */
-cmd_des_t const cmd_des_din_sw_st={
- 0, 0,
- "dinswst","\tdinswst - Send switch status to DIN",
- cmd_do_din_switch_st, (void *)&cmd_list_din
-};
-
-/** Command descriptor for din get value command */
-cmd_des_t const cmd_des_din_val_word={
+/** Command descriptor for din state command */
+cmd_des_t const cmd_des_din_get={
0, CDESM_OPCHR|CDESM_RD,
- "dinportval","\tdinportval? - reads values from DIN port as 16b word",
- cmd_do_din_val_word, (void *)&cmd_list_din
+ "dinget#","\tdingetX? Read value from DIN X pin",
+ cmd_do_din_get, (void *)&cmd_list_din
};
-/** Command descriptor for din get state command */
-cmd_des_t const cmd_des_din_stat={
- 0, 0,
- "dinstat","\tdinstat - get DIN status in human readable form",
- cmd_do_din_status, (void *)&cmd_list_din
+/** Command descriptor for din state command */
+cmd_des_t const cmd_des_din_diag={
+ 0, CDESM_OPCHR|CDESM_RD,
+ "dindiag#","\tdindiagX? Read diagnostic value from DIN X pin",
+ cmd_do_din_diag, (void *)&cmd_list_din
};
/** List of commands for din, defined as external */
cmd_des_t const *cmd_list_din[]={
- &cmd_des_din_st_word,
- &cmd_des_din_pr_word,
- &cmd_des_din_int_word,
- &cmd_des_din_rst,
- &cmd_des_din_sw_st,
- &cmd_des_din_val_word,
- &cmd_des_din_stat,
+ &cmd_des_din_setup,
+ &cmd_des_din_get,
+ &cmd_des_din_diag,
NULL
};
#include "drv/drv.h"
-/**
- * @brief Start periodic HBR watchdog reset.
- *
- * Command syntax: hbrwdg
- *
- * Command, if launched for the first time, creates new thread, which
- * is sending watchdog reset command to H-bridge each 10ms.
- *
- * @param[in] cmd_io Pointer to IO stack
- * @param[in] des Pointer to command descriptor
- * @param[in] param Parameters of command
- * @return always 0
- */
-int cmd_do_hbr_wdg(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]) {
- int ret = drv_hbr_wdg_start();
- if (ret == FAILURE) {
- rpp_sci_printf("FAILED\r\n");
- }
- else {
- rpp_sci_printf("SUCCESS\r\n");
- }
- return 0;
-}
-
-/**
- * @brief Set or get actual pwm parameters
- *
- * Command syntax: hbrpwm:(p,d) - set p as a period in us and D as duty cycle in % of the period.
- * hbrpwm? - Get actual PWM parameters, period in us and duty cycle in % of the period.
- *
- * @param[in] cmd_io Pointer to IO stack
- * @param[in] des Pointer to command descriptor
- * @param[in] param Parameters of command
- * @return 0 when OK or error code
- */
-int cmd_do_hbr_pwm(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
-{
- char *p;
- int opchar;
- int i;
- uint32_t values[MAX_PARAM_VALUES_NUM];
-
- if((opchar=cmd_opchar_check(cmd_io,des,param))<0) return opchar;
-
- if(opchar==':'){
- p=param[3];
- si_skspace(&p);
- i = read_arg(&p, values, MAX_PARAM_VALUES_NUM, 10);
- if (i < 0)
- return i;
- if (i != 2)
- return -CMDERR_BADPAR;
- if (values[0] < 1 || values[1] > 100) return -CMDERR_BADPAR;
- drv_hbr_pwm_set_signal((double)values[0], values[1]);
- return 0;
- }
- else{
- double period = drv_hbr_pwm_get_period();
- uint32_t duty = drv_hbr_pwm_get_duty();
+int cmd_do_hbr_enable(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]) {
+ char *p;
+ int opchar;
+ uint32_t period;
+ int ret;
- rpp_sci_printf("hbr_pwm_period: %d\r\nhbr_pwm_duty: %d/%", period, duty);
- return 0;
- }
-}
+ if((opchar=cmd_opchar_check(cmd_io,des,param)) < 0)
+ return opchar;
+ p = param[3];
+ if(si_long(&p,(long*)&period, 10) < 10)
+ return -CMDERR_BADPAR;
-/**
- * @brief Start PWM, if it was previously set by hbrpwm command
- *
- * Command syntax: hbrpwmstart
- *
- * @param[in] cmd_io Pointer to IO stack
- * @param[in] des Pointer to command descriptor
- * @param[in] param Parameters of command
- * @return 0 when OK or error code
- */
-int cmd_do_hbr_pwm_start(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
-{
- int ret = drv_hbr_pwm_start();
- if (ret == -1) {
- rpp_sci_printf("PWM was not initialized.\r\n");
- return -CMDERR_BADCFG;
- }
- else {
- return 0;
+ ret = rpp_hbr_enable(period);
+ if (ret == FAILURE) {
+ rpp_sci_printf("Enable procedure failed.");
}
-}
-/**
- * @brief Stop PWM
- *
- * Command syntax: hbrpwmstop
- *
- * @param[in] cmd_io Pointer to IO stack
- * @param[in] des Pointer to command descriptor
- * @param[in] param Parameters of command
- * @return 0 when OK or error code
- */
-int cmd_do_hbr_pwm_stop(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
-{
- drv_hbr_pwm_stop();
- return 0;
+ return cmd_opchar_replong(cmd_io, param, ret, 0, 16);
}
-/**
- * @brief Set or Get HBR_EN
- *
- * Command syntax: hbren:v - set v to HBR_EN pin
- * hbren? - get value from HBR_EN
- *
- * @param[in] cmd_io Pointer to IO stack
- * @param[in] des Pointer to command descriptor
- * @param[in] param Parameters of command
- * @return 0 when OK or error code
- */
-int cmd_do_hbr_en(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]) {
- int val;
- char* p;
+int cmd_do_hbr_control(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]) {
+ char *p;
int opchar;
+ int8_t cmd;
+ int ret;
- if((opchar=cmd_opchar_check(cmd_io,des,param))<0) return opchar;
+ if((opchar=cmd_opchar_check(cmd_io,des,param)) < 0)
+ return opchar;
+ p = param[3];
+ if(si_long(&p,(long*)&cmd, 10) < 10)
+ return -CMDERR_BADPAR;
- if(opchar==':'){
- p=param[3];
- si_skspace(&p);
- if(si_long(&p,(long*)&val,0)<0) return -CMDERR_BADPAR;
- if (val != 1 && val != 0) return -CMDERR_BADPAR;
- drv_hbr_set_en(val);
- return cmd_opchar_replong(cmd_io, param, val, 0, 16);
+ ret = rpp_hbr_control(cmd/((double)100));
+ if (ret == -1) {
+ rpp_sci_printf("H-bridge not enabled.");
+ return -1;
}
- else{
- val = drv_hbr_get_en();
- return cmd_opchar_replong(cmd_io, param, val, 0, 16);
+ else if (ret == -2) {
+ rpp_sci_printf("Command out of range.");
+ return -CMDERR_BADPAR;
}
+ return cmd_opchar_replong(cmd_io, param, ret, 0, 16);
}
-/**
- * @brief Set or get HBR_DIR
- *
- * Command syntax: hbrdir:v - set v to HBR_DIR pin
- * hbrdir? - get value from HBR_DIR
- *
- * @param[in] cmd_io Pointer to IO stack
- * @param[in] des Pointer to command descriptor
- * @param[in] param Parameters of command
- * @return 0 when OK or error code
- */
-int cmd_do_hbr_dir(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]) {
- int dir;
- char* p;
- int opchar;
-
- if((opchar=cmd_opchar_check(cmd_io,des,param))<0) return opchar;
-
- if(opchar==':'){
- p=param[3];
- si_skspace(&p);
- if(si_long(&p,(long*)&dir,0)<0) return -CMDERR_BADPAR;
- if (dir != 1 && dir != 0) return -CMDERR_BADPAR;
- drv_hbr_set_dir(dir);
- return cmd_opchar_replong(cmd_io, param, dir, 0, 16);
- }
- else{
- dir = drv_hbr_get_dir();
- return cmd_opchar_replong(cmd_io, param, dir, 0, 16);
+int cmd_do_hbr_disable(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]) {
+ int ret;
+ ret = rpp_hbr_disable();
+ if (ret == FAILURE) {
+ rpp_sci_printf("H-bridge already disabled.");
}
+ return cmd_opchar_replong(cmd_io, param, ret, 0, 16);
}
/** Command descriptor for HBR reset watchdog command */
-cmd_des_t const cmd_des_hbr_wdg={
- 0, 0,
- "hbrwdg","Send repeated HBR WDG reset command",
- cmd_do_hbr_wdg, (void *)&cmd_list_hbr
+cmd_des_t const cmd_des_hbr_enable = {
+ 0, CDESM_OPCHR|CDESM_WR,
+ "hbrenable","Enables H-bridge with given period.",
+ cmd_do_hbr_enable, (void *)&cmd_list_hbr
};
-/** Command descriptor for HBR set PWM command */
-cmd_des_t const cmd_des_hbr_pwm={
- 0, CDESM_OPCHR|CDESM_RW,
- "hbrpwm*","\t- hbrpwm:(period,duty) set pwm period in us and duty in % of period\r\n\t\thbrpwm? read period in us and duty in % of period from hbrpwm.",
- cmd_do_hbr_pwm, (void *)&cmd_list_hbr
-};
-
-/** Command descriptor for PWM start command */
-cmd_des_t const cmd_des_hbr_pwm_start={
- 0, 0,
- "hbrpwmstart","\t- hbrpwmstart - Start generating of pwm signal on HBR",
- cmd_do_hbr_pwm_start, (void *)&cmd_list_hbr
+/** Command descriptor for HBR reset watchdog command */
+cmd_des_t const cmd_des_hbr_control = {
+ 0, CDESM_OPCHR|CDESM_WR,
+ "hbrcontrol","Sets direction and PWM duty cycle <-100; 100>",
+ cmd_do_hbr_control, (void *)&cmd_list_hbr
};
-/** Command descriptor for PWM stop command */
-cmd_des_t const cmd_des_hbr_pwm_stop={
+/** Command descriptor for HBR reset watchdog command */
+cmd_des_t const cmd_des_hbr_disable = {
0, 0,
- "hbrpwmstop","\t- hbrpwmstop - Stop generating of pwm signal on HBR",
- cmd_do_hbr_pwm_stop, (void *)&cmd_list_hbr
-};
-
-/** Command descriptor for set/get HBR_EN command */
-cmd_des_t const cmd_des_hbr_en={
- 0, CDESM_OPCHR|CDESM_RW,
- "hbren","\t- hbren:val set hbr_en to 0 (disable) or 1 (enable) \r\n\t\thbren? Get value of hbr_en pin.",
- cmd_do_hbr_en, (void *)&cmd_list_hbr
-};
-
-/** Command descriptor for set/get HBR_dir set PWM command */
-cmd_des_t const cmd_des_hbr_dir={
- 0, CDESM_OPCHR|CDESM_RW,
- "hbrdir","\t- hbrdir:val set hbr_dir to 0 or 1\r\n\t\thbren? Get value of hbr_dir pin.",
- cmd_do_hbr_dir, (void *)&cmd_list_hbr
+ "hbrdisable","Disables H-bridge",
+ cmd_do_hbr_disable, (void *)&cmd_list_hbr
};
/** List of commands for hbr, defined as external */
cmd_des_t const *cmd_list_hbr[]={
- &cmd_des_hbr_wdg,
- &cmd_des_hbr_pwm,
- &cmd_des_hbr_pwm_start,
- &cmd_des_hbr_pwm_stop,
- &cmd_des_hbr_en,
- &cmd_des_hbr_dir,
+ &cmd_des_hbr_enable,
+ &cmd_des_hbr_control,
+ &cmd_des_hbr_disable,
NULL
};
#include "cmdproc_utils.h"
#include "drv/drv.h"
-/**
- * @brief Set and get value on LOUT port
- *
- * Command syntax: loutwr:(val) - Set value val to port. 1st bit of val -> LOUT1, 2nd bit of val -> LOUT2 etc.
- * loutwr? - Get value on LOUT port.
- *
- * @param[in] cmd_io Pointer to IO stack
- * @param[in] des Pointer to command descriptor
- * @param[in] param Parameters of command
- * @return 0 when OK or error code
- */
-int cmd_do_lout_wr(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]) {
- char *p;
- int opchar;
- int i;
- uint32_t ret;
- uint32_t values[MAX_PARAM_VALUES_NUM];
-
- if((opchar=cmd_opchar_check(cmd_io,des,param))<0) return opchar;
-
- if(opchar==':'){
- p=param[3];
- si_skspace(&p);
- i = read_arg(&p, values, MAX_PARAM_VALUES_NUM, 16);
- if (i != 1)
- return -CMDERR_BADPAR;
-
- lout_set_word(values[0]);
- ret=lout_spi_transfer();
- return cmd_opchar_replong(cmd_io, param, ret, 0, 16);
- }
- else{
- ret = lout_get_word();
- return cmd_opchar_replong(cmd_io, param, ret, 0, 16);
- }
-}
-/**
- * @brief Set and get value on specified LOUT pin
- *
- * Command syntax: loutval#:v - Set value v to pin #. V must be 0 or 1, # in range 1-8
- * loutval#? - Get value on pin #, in range 1-8.
- *
- * @param[in] cmd_io Pointer to IO stack
- * @param[in] des Pointer to command descriptor
- * @param[in] param Parameters of command
- * @return 0 when OK or error code
- */
-int cmd_do_lout_val(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]) {
- char *p;
- int opchar;
- int pin;
- int value;
- uint32_t ret;
+int cmd_do_lout_set(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]) {
+ int opchar;
+ uint8_t pin;
+ int ret;
+ uint8_t val;
+ char *p;
+
+ if((opchar=cmd_opchar_check(cmd_io,des,param))<0)
+ return opchar;
+ p=param[1];
+ if(si_long(&p,(long*)&pin,0) < 10)
+ return -CMDERR_BADPAR;
+ p=param[3];
+ if(si_long(&p,(long*)&val,10) < 0)
+ return -CMDERR_BADPAR;
+ ret = rpp_lout_set(pin, val);
+ if (ret == -1) {
+ rpp_sci_printf("Pin out of range.");
+ return -CMDERR_BADPAR;
+ }
- if((opchar=cmd_opchar_check(cmd_io,des,param))<0) return opchar;
- p=param[1];
- if(si_long(&p,(long*)&pin,0)<0) return -CMDERR_BADPAR;
+ if (rpp_lout_update() == FAILURE) {
+ rpp_sci_printf("LOUT update failed.");
+ return -CMDERR_EIO;
+ }
- if(opchar==':'){
- p=param[3];
- if(si_long(&p,(long*)&value,0)<0) return -CMDERR_BADPAR;
- lout_set_pin(pin, value);
- ret=lout_spi_transfer();
- return cmd_opchar_replong(cmd_io, param, ret, 0, 16);
- }
- else{
- ret = lout_get_pin(pin);
- return cmd_opchar_replong(cmd_io, param, ret, 0, 16);
- }
+ return cmd_opchar_replong(cmd_io, param, val, 0, 10);
}
-/**
- * @brief Get status of LOUT in human readable form
- *
- * Command syntax: loutstat
- *
- * @param[in] cmd_io Pointer to IO stack
- * @param[in] des Pointer to command descriptor
- * @param[in] param Parameters of command
- * @return 0 when OK or error code
- */
-int cmd_do_lout_status(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]) {
- uint32_t ret;
- uint32_t numCmdDesc;
- int i;
- uint32_t numFieldDesc;
+int cmd_do_lout_diag(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]) {
+ int opchar;
+ uint8_t pin;
+ int ret;
+ char *p;
+ if((opchar=cmd_opchar_check(cmd_io,des,param))<0)
+ return opchar;
+ p=param[1];
+ if(si_long(&p,(long*)&pin,0) < 10)
+ return -CMDERR_BADPAR;
- ret = lout_spi_transfer();
- spitr_reg_translate_table_t translatedData;
-
- const spitr_cmd_map_t* cmdDesc = get_spi_cmd_map(PORT_NAME_LOUT, -1, &numCmdDesc);
- if(cmdDesc == NULL) return -CMDERR_BADREG;
+ if (rpp_lout_update() == FAILURE) {
+ rpp_sci_printf("LOUT update failed.");
+ return -CMDERR_EIO;
+ }
- const spitr_field_desc_t* fieldDescs = get_spi_field_desc(cmdDesc, numCmdDesc, lout_spi_get_cmd(), &numFieldDesc);
- if (fieldDescs == NULL)
+ ret = rpp_lout_diag(pin);
+ if (ret == -1) {
+ rpp_sci_printf("Pin out of range.");
return -CMDERR_BADPAR;
- ret = spitr_fill_tr_table(fieldDescs, numFieldDesc, lout_spi_get_response(), &translatedData);
-
- for (i = 0; i < translatedData.num_rows; i++) {
- rpp_sci_printf("%s: %h\r\n", translatedData.row[i].field_name, translatedData.row[i].value);
}
+
return cmd_opchar_replong(cmd_io, param, ret, 0, 10);
}
/** Command descriptor for lout get/set port value */
-cmd_des_t const cmd_des_lout_wr={
- 0, CDESM_OPCHR|CDESM_RW,
- "loutwr","\tloutwr:(wr) - writes word wr in LOUT\r\n\t\tloutwr? - reads word from LOUT",
- cmd_do_lout_wr, (void *)&cmd_list_lout
+cmd_des_t const cmd_des_lout_set={
+ 0, CDESM_OPCHR|CDESM_WR,
+ "loutset#","\tloutsetX:Y - Set Y value to LOUT X pin",
+ cmd_do_lout_set, (void *)&cmd_list_lout
};
/** Command descriptor for lout get/set pin value */
-cmd_des_t const cmd_des_lout_val={
- 0, CDESM_OPCHR|CDESM_RW,
- "loutval#","\tloutvalX:Y - writes bit Y on LOUTX\r\n\t\tloutvalX? - reads bit from LOUTX",
- cmd_do_lout_val, (void *)&cmd_list_lout
+cmd_des_t const cmd_des_lout_diag={
+ 0, CDESM_OPCHR|CDESM_RD,
+ "loutdiag#","\tloutdiagX? - Reads diag value from LOUT X pin",
+ cmd_do_lout_diag, (void *)&cmd_list_lout
};
-/** Command descriptor for lout get status */
-cmd_des_t const cmd_des_lout_status={
- 0, 0,
- "loutstat","get LOUT status in human readable format",
- cmd_do_lout_status, (void *)&cmd_list_lout
- };
/** List of commands for hout, defined as external */
cmd_des_t const *cmd_list_lout[]={
- &cmd_des_lout_wr,
- &cmd_des_lout_val,
- &cmd_des_lout_status,
+ &cmd_des_lout_set,
+ &cmd_des_lout_diag,
NULL
};
projects / pes-rpp / rpp-test-sw.git / commitdiff