static void
command_run()
{
char cmd[256];
int cmdlen = 0;
for (;;) {
halt();
key_t key;
bool avail;
while ((avail = kb_getkey(&key)) != false) {
// If a printable character was typed, append it to the command.
if (key.ch >= 32 && key.ch < 127) {
if (cmdlen < arrsize(cmd) - 1) {
cmd[cmdlen] = key.ch;
tty_printc(TTY_CONSOLE, cmd[cmdlen]);
cmdlen++;
}
}
// Handle special keys (like enter, backspace).
else if (key.brk == KEYBRK_DOWN) {
if (key.code == KEY_ENTER) {
tty_printc(TTY_CONSOLE, '\n');
// Strip trailing whitespace.
while (cmdlen > 0 && cmd[cmdlen - 1] == ' ')
cmdlen--;
cmd[cmdlen] = 0;
// Execute the command.
bool cont = command_exec(cmd);
cmdlen = 0;
if (cont)
command_prompt();
else
return;
}
else if (key.code == KEY_BACKSPACE && cmdlen > 0) {
tty_printc(TTY_CONSOLE, '\b');
cmdlen--;
}
}
}
}
}
void init_command_prompt(void) {
// Initialize the command-counter.
next = 0;
// Add commands.
add_command("help", &help_cmd);
add_command("clear", &clear_cmd);
add_command("args", &print_args_cmd);
add_command("write", &free_text_cmd);
add_command("mmap", &mmap_cmd);
add_command("pview", &proc_view_cmd);
add_command("inf", &inf_loop_cmd);
add_command("killth", &kill_thread_cmd);
add_command("edev", &enum_dev_cmd);
add_command("list", &list_cmd);
add_command("cd", &change_dir_cmd);
add_command("read", &read_cmd);
add_command("del", &delete_cmd);
add_command("mkdir", &make_dir_cmd);
// Initiate the command-prompt.
command_prompt();
}
void main()
{
disable_interrupts(GLOBAL);
setup_spi(SPI_MASTER | SPI_MODE_0_0 | SPI_CLK_DIV_16 );
setup_spi2(SPI_MASTER | SPI_MODE_0_0 | SPI_CLK_DIV_16 );
setup_adc_ports(sAN0|sAN1|sAN2|sAN3|sAN4|VSS_4V096);
setup_adc(ADC_CLOCK_INTERNAL|ADC_TAD_MUL_0);
// TIMER 0 is being used to service the WTD
setup_timer_0(T0_INTERNAL|T0_DIV_256);
/* sets the internal clock as source and prescale 256.
At 10 Mhz timer0 will increment every 0.4us (Fosc*4) in this setup and overflows every
6.71 seconds. Timer0 defaults to 16-bit if RTCC_8_BIT is not used.
Fosc = 10 MHz, Fosc/4 = 2.5 Mhz, div 256 = 0.0001024 s, 65536 increments = 6.71 sec
Fosc = 64 MHz, Fosc/4 = 16 Mhz, div 256 = 0.000016 s, 65536 increments = 1.05 sec
.. pre-load with 3036 to get exact 1.0000 sec value
*/
// TIMER 1 is used to extinguish the LED
setup_timer_1(T1_INTERNAL|T1_DIV_BY_8);
/* sets the internal clock as source and prescale 4.
At 10Mhz timer0 will increment every 0.4us in this setup and overflows every
104.8 ms. Timer1 is 16-bit.
Fosc = 10 Mhz ... 2.5 MHz / div 4 = 0.00000160 s * 65536 = 0.104858 sec
Fosc = 64 Mhz ... 16 MHz / div 4 = 0.00000025 s * 65536 = 0.016384 sec
Fosc = 64 Mhz ... 16 MHz / div 8 = 0.00000200 s * 65536 = 0.032768 sec
*/
setup_stepper_pwm(); // Uses TIMER 2
// TIMER 3 is used for stepper motor intervals
setup_timer_3(T3_INTERNAL | T3_DIV_BY_1); // 16 bit timer
// TIMER 4 is use for serial time-outs. 8-bit timer.
setup_timer_4(T4_DIV_BY_4, 127, 1);
setup_comparator(NC_NC_NC_NC);
setup_oscillator(OSC_16MHZ | OSC_PLL_ON); // Fosc = 64 MHz
ext_int_edge(0, H_TO_L); // Set up PIC18 EXT0
enable_interrupts(INT_EXT);
start_heartbeat();
enable_interrupts(GLOBAL);
init_hardware();
motor_sleep_rdy();
sleep_mode = FALSE;
busy_set();
init_nv_vars();
get_step_vars();
init_aws();
blink();
//Add for TCP/IP interface
//delay_ms(15000);
signon();
RTC_read();
RTC_last_power();
RTC_reset_HT();
RTC_read();
RTC_read_flags();
if(nv_sd_status>0) fprintf(COM_A,"@SD=%Lu\r\n", nv_sd_status);
init_rtc(); // This is the FAT RTC
sd_status = init_sdcard();
if(sd_status>0) msg_card_fail();
reset_event();
if(m_error[0] > 0 || m_error[1] > 0) msg_mer();
if (m_comp[0]==FALSE) {
e_port[0]=0;
write16(ADDR_E1_PORT,0);
fprintf(COM_A, "@MC1,%Lu,%Ld\r\n", m_comp[0],e_port[0]);
}
if (m_comp[1]==FALSE) {
m_lin_pos[1]=-1;
write16(ADDR_M2_LIN_POS, -1);
fprintf(COM_A, "@MC2,%Lu,%Ld\r\n", m_comp[1],m_lin_pos[1]);
}
if (nv_cmd_mode == FALSE){
for(dt=0; dt<100; ++dt){
blip();
if (nv_cmd_mode == TRUE) {
busy_clear();
fputs("@OK!", COM_A);
command_prompt();
dt = 100;
}
}
}
else command_prompt();
user_quit = auto_sample_ready();
reset_cpu();
}
