void shellStart(const ShellConfig *p)
{
int n;
Stream *chp = p->sc_channel;
const ShellCommand *scp = p->sc_commands;
char *lp, *cmd, *tokp, line[SHELL_MAX_LINE_LENGTH];
char *args[SHELL_MAX_ARGUMENTS + 1];
chp->printf("\r\nEmbed/RX Shell\r\n");
while (true) {
chp->printf(">> ");
if (shellGetLine(chp, line, sizeof(line))) {
chp->printf("\r\nlogout");
break;
}
lp = _strtok(line, " \t", &tokp);
cmd = lp;
n = 0;
while ((lp = _strtok(NULL, " \t", &tokp)) != NULL) {
if (n >= SHELL_MAX_ARGUMENTS) {
chp->printf("too many arguments\r\n");
cmd = NULL;
break;
}
args[n++] = lp;
}
args[n] = NULL;
if (cmd != NULL) {
if (strcasecmp(cmd, "exit") == 0) {
if (n > 0) {
shellUsage(chp, "exit");
continue;
}
// Break here breaks the outer loop
// hence, we exit the shell.
break;
}
else if (strcasecmp(cmd, "help") == 0) {
if (n > 0) {
shellUsage(chp, "help");
continue;
}
chp->printf("Commands: help exit ");
list_commands(chp, local_commands);
if (scp != NULL)
list_commands(chp, scp);
chp->printf("\r\n");
}
else if (cmdexec(local_commands, chp, cmd, n, args) &&
((scp == NULL) || cmdexec(scp, chp, cmd, n, args))) {
chp->printf("%s", cmd);
chp->printf(" ?\r\n");
}
}
}
}
static void cmd_info(Stream * chp, int argc, char *argv[])
{
(void)argv;
if (argc > 0) {
shellUsage(chp, "info");
return;
}
long sp = __current_sp();
long pc = __current_pc();
heapinfo(chp);
}
void cmd_load(Stream * chp, int argc, char * argv[])
{
char filename[256];
if (argc != 1)
{
shellUsage(chp, "load <bitmapfile>");
return;
}
sprintf(filename, "/sd/%s", argv[0]);
// Load a bitmap startup file
int err = TFT.BMP_16(0,0, filename);
if (err != 1) TFT.printf(" - Err: %d", err);
}
/**
* @brief Shell thread function.
*
* @param[in] p pointer to a @p BaseSequentialStream object
*/
THD_FUNCTION(shellThread, p) {
int n;
ShellConfig *scfg = p;
BaseSequentialStream *chp = scfg->sc_channel;
const ShellCommand *scp = scfg->sc_commands;
char *lp, *cmd, *tokp, line[SHELL_MAX_LINE_LENGTH];
char *args[SHELL_MAX_ARGUMENTS + 1];
#if SHELL_USE_HISTORY == TRUE
*(scfg->sc_histbuf) = 0;
ShellHistory hist = {
scfg->sc_histbuf,
scfg->sc_histsize,
0,
0,
0
};
ShellHistory *shp = &hist;
#else
ShellHistory *shp = NULL;
#endif
chprintf(chp, SHELL_NEWLINE_STR);
chprintf(chp, "ChibiOS/RT Shell"SHELL_NEWLINE_STR);
while (true) {
chprintf(chp, SHELL_PROMPT_STR);
if (shellGetLine(scfg, line, sizeof(line), shp)) {
#if (SHELL_CMD_EXIT_ENABLED == TRUE) && !defined(_CHIBIOS_NIL_)
chprintf(chp, SHELL_NEWLINE_STR);
chprintf(chp, "logout");
break;
#else
/* Putting a delay in order to avoid an endless loop trying to read
an unavailable stream.*/
osalThreadSleepMilliseconds(100);
#endif
}
lp = parse_arguments(line, &tokp);
cmd = lp;
n = 0;
while ((lp = parse_arguments(NULL, &tokp)) != NULL) {
if (n >= SHELL_MAX_ARGUMENTS) {
chprintf(chp, "too many arguments"SHELL_NEWLINE_STR);
cmd = NULL;
break;
}
args[n++] = lp;
}
args[n] = NULL;
if (cmd != NULL) {
if (strcmp(cmd, "help") == 0) {
if (n > 0) {
shellUsage(chp, "help");
continue;
}
chprintf(chp, "Commands: help ");
list_commands(chp, shell_local_commands);
if (scp != NULL)
list_commands(chp, scp);
chprintf(chp, SHELL_NEWLINE_STR);
}
else if (cmdexec(shell_local_commands, chp, cmd, n, args) &&
((scp == NULL) || cmdexec(scp, chp, cmd, n, args))) {
chprintf(chp, "%s", cmd);
chprintf(chp, " ?"SHELL_NEWLINE_STR);
}
}
}
shellExit(MSG_OK);
}
void cmd_motor(int argc, char *argv[])
{
(void)argv;
float dutyval = 0.0;
int leftorright = 0;
if (argc != 2 )
{
shellUsage("motor <left/right> <duty>");
return;
}
// Parse which motor to set.
if (strcmp(argv[0], "left") == 0)
{
leftorright = 0;
}
else if(strcmp(argv[0], "right") == 0)
{
leftorright = 1;
}
else
{
shellUsage("motor <left/right> <duty>");
return;
}
if (strcmp(argv[1], "on") == 0)
{
if (leftorright == 0) // Left motor
{
// turn on left motor
TIM3_StartPWM(TIM_CHANNEL_1);
TIM3_StartPWM(TIM_CHANNEL_2);
}else
{
// turn on right motor
TIM3_StartPWM(TIM_CHANNEL_3);
TIM3_StartPWM(TIM_CHANNEL_4);
}
return;
}
if (strcmp(argv[1], "off") == 0)
{
if (leftorright == 0) // Left motor
{
// turn off left motor
TIM3_StopPWM(TIM_CHANNEL_1);
TIM3_StopPWM(TIM_CHANNEL_2);
}else
{
// turn off right motor
TIM3_StopPWM(TIM_CHANNEL_3);
TIM3_StopPWM(TIM_CHANNEL_4);
}
return;
}
// If we get here, we extract the duty cycle
// from the second argument.
dutyval = atof(argv[1]);
// And set the appropriate PWM for the motors
if (leftorright == 0)
{
MotorLeftDuty(dutyval);
}else
{
MotorRightDuty(dutyval);
}
}
