void handleCommand(char* command)
{
if (command[0] == 'A')
{
int nr = atoi(&command[1]);
char* param_ptr = strchr(command, ' ');
int param = -1;
if (param_ptr)
param = param_ptr[1];
switch(nr)
{
case 0:
send_P(PSTR(STRING_CONFIG_H_AUTHOR));
break;
case 1: if (param > -1) DDRA = param; break;
case 2: if (param > -1) DDRB = param; break;
case 3: if (param > -1) DDRC = param; break;
case 4: if (param > -1) DDRD = param; break;
case 5: if (param > -1) DDRE = param; break;
case 7: if (param > -1) DDRG = param; break;
case 8: if (param > -1) DDRH = param; break;
case 9: if (param > -1) DDRJ = param; break;
case 11: if (param > -1) DDRL = param | 0x38; break; //Make sure the motor PWMs are always outputs.
case 12: if (param > -1) PORTA = param; send(PINA); break;
case 13: if (param > -1) PORTB = param; send(PINB); break;
case 14: if (param > -1) PORTC = param; send(PINC); break;
case 15: if (param > -1) PORTD = param; send(PIND); break;
case 16: if (param > -1) PORTE = param; send(PINE); break;
case 18: if (param > -1) PORTG = param; send(PING); break;
case 19: if (param > -1) PORTH = param; send(PINH); break;
case 20: if (param > -1) PORTJ = param; send(PINJ); break;
case 22: if (param > -1) PORTL = param; send(PINL); break;
case 23: sendADC(0); break;
case 24: sendADC(1); break;
case 25: sendADC(2); break;
case 26: sendADC(3); break;
case 27: sendADC(4); break;
case 28: sendADC(5); break;
case 29: sendADC(6); break;
case 30: sendADC(7); break;
case 31: sendADC(8); break;
case 32: sendADC(9); break;
case 33: sendADC(10); break;
case 34: sendADC(11); break;
case 35: sendADC(12); break;
case 36: sendADC(13); break;
case 37: sendADC(14); break;
case 38: sendADC(15); break;
default:
send_P(PSTR("?"));
break;
}
send_P(PSTR("\r\n"));
}else if (strlen(command) > 0)
{
send_P(PSTR("Unknown command: "));
send(command);
send_P(PSTR("\r\n"));
}
}
void run_electronics_test()
{
cli();
//Disable times and PWM, except for timer5, which controls the motor current PWM levels.
TCCR1A = 0;
TCCR2A = 0;
TCCR3A = 0;
TCCR4A = 0;
uint8_t idx = 0;
char command_buffer[32];
send_P(PSTR("TEST\r\n"));
while(true)
{
watchdog_reset();
if (UCSR0A & _BV(RXC0))
{
uint8_t recv = UDR0;
if (recv == '\n' || recv == '\r')
{
command_buffer[idx] = 0;
idx = 0;
handleCommand(command_buffer);
}
else
{
command_buffer[idx++] = recv;
}
}
}
}
