int
_cdk_filter_text( void * opaque, int ctl, FILE * in, FILE * out )
{
if( ctl == STREAMCTL_READ )
return text_encode( opaque, in, out );
else if( ctl == STREAMCTL_WRITE )
return text_decode( opaque, in, out );
else if( ctl == STREAMCTL_FREE ) {
text_filter_t * tfx = opaque;
if( tfx ) {
_cdk_log_debug( "free text filter\n" );
tfx->lf = NULL;
}
}
return CDK_Inv_Mode;
}
int16_t cmd_decode (void)
{
uint8_t cmd_no =0;
uint8_t *cmd_argument;
uint8_t *buffer_ptr;
uint8_t i;
// Should repeat until end of buffer
// Loop until end of text
buffer_ptr = g_rcv_buff;
cmd_argument = g_rcv_buff;
while ( cmd_no != CMD_LINE_END) // Until end of line which mean g_motor will change
{
cmd_no = text_decode (buffer_ptr,cmd_argument);
#ifdef DEBUG
uart_puts("Command :");
uart_putc(0x30+cmd_no);
uart_putc('*');
uart_puts(cmd_argument);
#endif
switch (cmd_no)
{
case MOTOR_CMD:
g_motor = (uint8_t)atoi(cmd_argument);
if (g_motor > 0)
g_motor--; // > 0 Start from 0 need -1
else
g_motor = 0;
break;
case SPEED_CMD:
i = (uint8_t)atoi(cmd_argument);
if ( i >= MOTOR_MAX)
i = MOTOR_MAX-1; // Start from 0
g_speed[g_motor] = g_speed_table[i];
break;
case ANGLE_CMD: // Can be -
g_angle[g_motor] = atoi(cmd_argument);
if (g_angle[g_motor] < 0)
{
g_mode[g_motor] = MOTOR_BACKWARD;
// Set g_angle to positive value by invert all bit and +1
g_angle[g_motor] = (~(g_angle[g_motor])+1);
if (g_angle[g_motor] > 1)
{
g_angle[g_motor] *= MOTOR_ANGLE_COEF;
g_speed[g_motor] = g_speed_table[MOTOR_ANGLE_SPEED] ;
}
}
else if (g_angle[g_motor] == 0)
g_mode[g_motor] = MOTOR_STOP;
else
{
if ((g_angle[g_motor] > 0)) // +
g_mode[g_motor] = MOTOR_FORWARD;
if (g_angle[g_motor] > 1)
{
g_angle[g_motor] *= MOTOR_ANGLE_COEF;
g_speed[g_motor] = g_speed_table[MOTOR_ANGLE_SPEED] ;
}
}
break;
default:
uart_puts("Command not found ");
break;
}
}
return 0;
}
int16_t cmd_decode (uint8_t *buffer_ptr)
{
uint8_t cmd_no =0;
uint8_t *cmd_argument;
uint8_t i,j ;
// Should repeat until end of buffer
// Loop until end of text
cmd_argument = buffer_ptr;
while ( cmd_no != CMD_LINE_END) // Until end of line which mean g_motor will change
{
cmd_no = text_decode (buffer_ptr,cmd_argument);
#ifdef DEBUG
uart_puts("Command :");
uart_putc(0x30+cmd_no);
uart_putc('*');
uart_puts(cmd_argument);
#endif
switch (cmd_no)
{
case MOTOR_CMD:
g_motor = (uint8_t)atoi(cmd_argument);
if (g_motor > 0)
g_motor--; // > 0 Start from 0 need -1
else
g_motor = 0;
break;
case SPEED_CMD:
i = (uint8_t)atoi(cmd_argument);
if ( i >= MOTOR_MAX_SPEED)
i = MOTOR_MAX_SPEED; // Start from 0
if (i) // i > 0;
i--; //Start from 0;
g_speed[g_motor] = g_speed_table[i];
if (g_speed[g_motor] == 0)
g_mode[g_motor] = MOTOR_STOP;
break;
case ANGLE_CMD: // Can be -
g_angle[g_motor] = atoi(cmd_argument);
if (g_angle[g_motor] < 0)
{
g_mode[g_motor] = MOTOR_BACKWARD;
// Set g_angle to positive value by invert all bit and +1
g_angle[g_motor] = (~(g_angle[g_motor])+1);
if (g_angle[g_motor] > 1)
{
g_angle[g_motor] *= MOTOR_ANGLE_COEF;
g_status[g_motor] = 1;
g_speed[g_motor] = g_speed_table[MOTOR_ANGLE_SPEED] ;
}
}
else if (g_angle[g_motor] == 0)
{
g_mode[g_motor] = MOTOR_STOP;
}
else
{
if ((g_angle[g_motor] > 0)) // +
{
g_mode[g_motor] = MOTOR_FORWARD;
}
if (g_angle[g_motor] > 1)
{
g_angle[g_motor] *= MOTOR_ANGLE_COEF;
g_status[g_motor] = 1;
g_speed[g_motor] = g_speed_table[MOTOR_ANGLE_SPEED] ;
}
}
g_pos[g_motor] = 0;
break;
case PROGRAM_CMD:
g_program_flag = (uint8_t)atoi(cmd_argument);
if (g_program_flag) // Start program save in buffer
{
uart_puts ("Program Start to save : ");
g_program_index = 0;
}
else
{
uart_puts ("Program End : ");
}
break;
case SAVE_CMD:
j = (uint8_t)atoi(cmd_argument);
if ( j > 0) // Save commmand to eeprom
{
g_program_buff[g_program_index] = 0x00 ; // Put null at the end
g_program_index++;
for ( i =0; i < g_program_index; i++)
{
while (!eeprom_is_ready());
eeprom_write_byte(&g_program_eeprom[i],g_program_buff[i]);
}
debug_value( g_program_index,10);
uart_puts ("Save complete ");
g_program_index = 0;
}
break;
case RUN_CMD:
program_run();
break;
default:
uart_putc(0x0D);
uart_putc(0x0A);
break;
}
}
return 0;
}
int16_t cmd_decode (void)
{
uint8_t cmd_no =0;
uint8_t *cmd_argument;
uint8_t *buffer_ptr;
// Should repeat until end of buffer
// Loop until end of text
buffer_ptr = g_rcv_buff;
cmd_argument = g_rcv_buff;
while ( cmd_no != CMD_LINE_END)
{
cmd_no = text_decode (buffer_ptr,cmd_argument);
// debug_value (cmd_no,10);
uart_puts("Command :");
uart_putc(0x30+cmd_no);
uart_putc('*');
uart_puts(cmd_argument);
switch (cmd_no)
{
case MOTOR_CMD:
g_motor = (uint8_t)atoi(cmd_argument);
if (g_motor > 0)
g_motor--; // > 0 Start from 0 need -1
else
g_motor = 0;
g_motor_change[g_motor] =1;
break;
case SPEED_CMD:
g_speed[g_motor] = (uint8_t)atoi(cmd_argument);
g_motor_change[g_motor] = 1;
break;
case ANGLE_CMD: // Can be -
g_angle[g_motor] = atoi(cmd_argument);
if (g_angle[g_motor] < 0)
{
g_mode[g_motor] = MOTOR_BACKWARD;
// Set g_angle to positive value by invert all bit and +1
g_angle[g_motor] = (~(g_angle[g_motor])+1);
}
else if (g_angle[g_motor] == 0)
g_mode[g_motor] = MOTOR_STOP;
else
{
if ((g_angle[g_motor] > 0)) // +
g_mode[g_motor] = MOTOR_FORWARD;
}
g_motor_change[g_motor] = 1;
break;
default:
uart_puts("Command not found ");
break;
}
}
return 0;
}
