static void printfileinfo(BaseSequentialStream *sdp, EepromFileStream *efsp){
chprintf(sdp, "size = %u, position = %u, barrier_low = %u, barrier_hi = %u",
chFileStreamGetSize(efsp),
chFileStreamGetPosition(efsp),
efsp->cfg->barrier_low,
efsp->cfg->barrier_hi);
cli_println("");
chThdSleepMilliseconds(100);
}
/**
* Working with parameters from CLI.
*
* examples:
* wps 3 print waypoint #3
* wps 3 10.3 2.0 set waypoint #3 in (10.3,2.0) coordinates
*/
Thread* wps_clicmd(int argc, const char * const * argv, SerialDriver *sdp){
(void)sdp;
int sscanf_status;
uint16_t seq = 0;
/* no arguments */
if (argc == 0)
_wps_print_all_cmd();
/* 1 argument */
else if (argc == 1){
sscanf_status = sscanf(argv[0], "%hu", &seq);
if (sscanf_status != 1){
cli_println("ERROR: Bad arguments.");
_wps_cli_help();
}
else
_wps_print_wp(seq);
}
/* 2 arguments */
else if (argc == 2){
cli_println("ERROR: Bad arguments.");
_wps_cli_help();
}
/* 3 arguments */
else if (argc == 3){
_wps_cli_set_wp(argv);
}
/* error handler */
else{
cli_println("ERROR: too many arguments.");
_wps_cli_help();
}
/* stub */
return NULL;
}
/**
* Command to handle RTC.
*/
thread_t* date_clicmd(int argc, const char * const * argv, BaseChannel *bchnp) {
(void)bchnp;
time_t tv_sec = 0;
int64_t tv_usec = 0;
int sscanf_status;
/**/
if (argc == 2) {
if (0 == strcmp(argv[0], "set")) {
sscanf_status = sscanf(argv[1], "%i", (int*)&tv_sec);
if (sscanf_status != 1)
cli_println("ERROR. Time value inconsistent");
else if (tv_sec < BUILD_TIME)
cli_println("ERROR. Time in past");
else{
tv_usec = tv_sec;
tv_usec *= 1000000;
rtc_set_time_unix(tv_sec);
TimeKeeper::utc(tv_usec);
}
}
else if (0 == strcmp(argv[0], "drift")) {
sscanf_status = sscanf(argv[1], "%i", (int*)&tv_sec);
if (sscanf_status != 1)
cli_println("ERROR. Value inconsistent");
else {
timer_skew = tv_sec;
}
}
}
/* 1 argument */
else if (argc == 1) {
if (0 == strcmp(argv[0], "drift")) {
int tmp = timer_skew;
cli_print(tmp);
cli_println("");
}
}
/* error handler */
else {
const size_t n = 40;
size_t nres = 0;
char str[n];
tv_usec = rtc_get_time_unix_usec();
nres = format_usec(str, n, tv_usec);
cli_print("RTC: ");
cli_print_long(str, n, nres);
cli_print(" S since Unix epoch. ");
TimeKeeper::format_time(tv_usec, str, n);
cli_println(str);
tv_usec = TimeKeeper::utc();
nres = format_usec(str, n, tv_usec);
cli_print("CNT: ");
cli_print_long(str, n, nres);
cli_print(" S since Unix epoch. ");
TimeKeeper::format_time(tv_usec, str, n);
cli_println(str);
chSysLock();
tv_usec = time_gps_us;
chSysUnlock();
nres = format_usec(str, n, tv_usec);
cli_print("GPS: ");
cli_print_long(str, n, nres);
cli_print(" S since Unix epoch. ");
TimeKeeper::format_time(tv_usec, str, n);
cli_println(str);
nres = snprintf(str, n, "Drift estimate: %lld", drift_est.sample - drift_est.sample_prev - 1000000);
cli_print_long(str, n, nres);
cli_println("");
cli_println("To adjust time run 'date set N'");
cli_println(" where 'N' is count of seconds (UTC) since Unix epoch.");
cli_println(" you can obtain this value from Unix command line: 'date -u +%s'");
}
/* stub */
return nullptr;
}
msg_t EepromTestThread(void *sdp){
chRegSetThreadName("EepromTst");
cli_println("basic tests");
cli_println("--------------------------------------------------------------");
cli_print("mount aligned file sized to whole test area");
ocfg.barrier_low = TEST_AREA_START;
ocfg.barrier_hi = TEST_AREA_END;
EepromFileOpen(&ofile, &ocfg);
OK();
printfileinfo(sdp, &ofile);
cli_print("test fill with 0xFF");
pattern_fill(&ofile, 0xFF);
if (chThdShouldTerminate()){goto END;}
OK();
cli_print("test fill with 0xAA");
pattern_fill(&ofile, 0xAA);
if (chThdShouldTerminate()){goto END;}
OK();
cli_print("test fill with 0x55");
pattern_fill(&ofile, 0x55);
if (chThdShouldTerminate()){goto END;}
OK();
cli_print("test fill with 0x00");
pattern_fill(&ofile, 0x00);
if (chThdShouldTerminate()){goto END;}
OK();
cli_print("Closing file");
chFileStreamClose(&ofile);
OK();
uint32_t b1, b2, b3, b4, istart, ilen;
uint8_t pattern = 0x55;
b1 = TEST_AREA_START;
b2 = TEST_AREA_START + EEPROM_PAGE_SIZE;
b3 = TEST_AREA_END - EEPROM_PAGE_SIZE;
b4 = TEST_AREA_END;
istart = 0;
ilen = b3-b2;
cli_println(" Linear barriers testing.");
chThdSleepMilliseconds(20);
overflow_check( b1, b2, b3, b4, istart, ilen, pattern, FALSE, sdp);
if (chThdShouldTerminate()){goto END;}
pattern++;
overflow_check( b1, b2, b3, b4, istart + 1, ilen - 1, pattern, FALSE, sdp);
if (chThdShouldTerminate()){goto END;}
pattern++;
overflow_check( b1, b2, b3, b4, istart + 1, ilen, pattern, FALSE, sdp);
if (chThdShouldTerminate()){goto END;}
pattern++;
overflow_check( b1, b2, b3, b4, istart + 1, ilen + 23, pattern, FALSE, sdp);
if (chThdShouldTerminate()){goto END;}
pattern++;
overflow_check( b1, b2 - 1, b3 + 1, b4, istart, ilen, pattern, FALSE, sdp);
if (chThdShouldTerminate()){goto END;}
pattern++;
overflow_check( b1, b2 - 2, b3 + 2, b4, istart + 2, ilen, pattern, FALSE, sdp);
if (chThdShouldTerminate()){goto END;}
pattern++;
overflow_check( b1, b2 - 1, b3 + 1, b4, istart + 1, ilen + 23, pattern, FALSE, sdp);
if (chThdShouldTerminate()){goto END;}
pattern++;
overflow_check( b1, b2 - 2, b3 + 2, b4, istart + 1, ilen + 23, pattern, FALSE, sdp);
if (chThdShouldTerminate()){goto END;}
pattern++;
overflow_check( b1, b2 + 2, b3 - 3, b4, istart + 2, ilen, pattern, FALSE, sdp);
if (chThdShouldTerminate()){goto END;}
pattern++;
overflow_check( b1, b2, b2 + 1, b4, istart, ilen, pattern, FALSE, sdp);
if (chThdShouldTerminate()){goto END;}
pattern++;
overflow_check( b1, b2, b2 + 2, b4, istart, ilen, pattern, FALSE, sdp);
if (chThdShouldTerminate()){goto END;}
pattern++;
overflow_check( b1, b2, b2 + 3, b4, istart, ilen, pattern, FALSE, sdp);
if (chThdShouldTerminate()){goto END;}
pattern++;
overflow_check( b1, b2 + 1, b2 + 2, b4, istart, ilen, pattern, FALSE, sdp);
if (chThdShouldTerminate()){goto END;}
pattern++;
overflow_check( b1, b2 + 1, b2 + 3, b4, istart, ilen, pattern, FALSE, sdp);
if (chThdShouldTerminate()){goto END;}
pattern++;
overflow_check( b1, b2 + 1, b2 + 4, b4, istart, ilen, pattern, FALSE, sdp);
if (chThdShouldTerminate()){goto END;}
pattern++;
overflow_check( b1, b2 - 1, b2, b4, istart, ilen, pattern, FALSE, sdp);
if (chThdShouldTerminate()){goto END;}
pattern++;
overflow_check( b1, b2 - 1, b2 + 1, b4, istart, ilen, pattern, FALSE, sdp);
if (chThdShouldTerminate()){goto END;}
pattern++;
overflow_check( b1, b2 - 1, b2 + 2, b4, istart, ilen, pattern, FALSE, sdp);
if (chThdShouldTerminate()){goto END;}
pattern++;
overflow_check( b1, b2 - 1, b2 + 1, b4, istart + 1, ilen, pattern, FALSE, sdp);
if (chThdShouldTerminate()){goto END;}
pattern++;
overflow_check( b1, b2 - 1, b2 + 2, b4, istart + 1, ilen, pattern, FALSE, sdp);
if (chThdShouldTerminate()){goto END;}
pattern++;
overflow_check( b1, b2 - 1, b2 + 3, b4, istart + 1, ilen, pattern, FALSE, sdp);
if (chThdShouldTerminate()){goto END;}
pattern++;
cli_println(" Basic API testing.");
chThdSleepMilliseconds(20);
ocfg.barrier_low = TEST_AREA_START;
ocfg.barrier_hi = TEST_AREA_END;
EepromFileOpen(&ofile, &ocfg);
chFileStreamSeek(&ofile, 0);
EepromWriteByte(&ofile, 0x11);
EepromWriteHalfword(&ofile, 0x2222);
EepromWriteWord(&ofile, 0x33333333);
chFileStreamSeek(&ofile, 0);
if(EepromReadByte(&ofile) != 0x11)
chDbgPanic("");
if(EepromReadHalfword(&ofile) != 0x2222)
chDbgPanic("");
if(EepromReadWord(&ofile) != 0x33333333)
chDbgPanic("");
chFileStreamClose(&ofile);
OK();
cli_println("All tests passed successfully.");
END:
chThdExit(0);
return 0;
}
static void _wps_cli_help(void){
cli_println("Allowable commands in ground rover mode:");
}
