/*******************************************************************
* FUNCTION: CommandParse
* AUTHOR = TRAMPAS STERN
* FILE = command.c
* DATE = 1/25/2004 4:03:03 PM
*
* PARAMETERS: Takes the command line string
*
* DESCRIPTION: parses the command line and returns Command ID
*
* RETURNS: Command ID, and
*
*
*******************************************************************/
UINT CommandParse(CHAR *str)
{
CHAR *ptr;
CHAR *ptr2;
UINT i;
CHAR cmd[MAX_STRING];
CHAR buff[MAX_CMD_LENGTH];
CHAR argv[MAX_ARGS][MAX_ARG_LENGTH];
//CHAR *ptrArgv[MAX_ARGS];
UINT numArgs;
//first we need find command and arguments
ptr=strchr(str,' '); //find first char
if (ptr==0)
{
//we have two options, frist whole thing is command
//second bad command
if(strlen(str)>0)
ptr=str+strlen(str);
else
return 0; //bad command
}
//copy string to command buffer.
i=0;
ptr2=str;
while(ptr!=0 && ptr!=ptr2 && i<(MAX_CMD_LENGTH-1))
{
buff[i++]=*ptr2++;
}
buff[i]=0;
//now buff contains the command let's get the args
numArgs=0;
while(*ptr!=0 && *ptr==' ')
ptr++; //increment pointer past ' '
if (*ptr!=0)
{
ptr2=strchr(ptr,' ');
if (ptr2==0)
{
//we have two options, frist whole thing is command
//second bad command
if(strlen(ptr)>0)
ptr2=ptr+strlen(ptr);
}
while(ptr2!=0 && numArgs<MAX_ARGS)
{
int j;
j=0;
while (ptr2!=ptr && j<(MAX_ARG_LENGTH-1))
{
argv[numArgs][j++]=*ptr++;
}
argv[numArgs][j++]=0;
numArgs++;
ptr2=0;
if (*ptr!=0)
{
while(*ptr!=0 && *ptr==' ')
ptr++; //increment pointer past ' '
ptr2=strchr(ptr,' ');
if (ptr2==0)
{
//we have two options, frist whole thing is command
//second bad command
if(strlen(ptr)>0)
ptr2=ptr+strlen(ptr);
}
}
}
}
/*
for(i=0; i<MAX_ARGS; i++)
{
ptrArgv[i]=argv[i];
}
//now let's parse the command
for(i=1; i<NUM_COMMANDS; i++)
{
if (strcmp((const char *)buff,(const char *)strCommands[i])==0)
return (*ptrCommands[i])(numArgs,ptrArgv);
}
*/
sprintf(cmd,"exit");
if (strcmp(buff,cmd)==0)
{
CommandExit=1;
}
sprintf(cmd,"ver");
if (strcmp(buff,cmd)==0)
{
printf("software v%d.%02d",VER_MAJOR,VER_MINOR);
}
sprintf(cmd,"hwver");
if (strcmp(buff,cmd)==0)
{
printf("hardware v%d",HW_VER);
}
sprintf(cmd,"logb");
if (strcmp(buff,cmd)==0)
{
datalog_bin();
}
sprintf(cmd,"vpwmon");
if (strcmp(buff,cmd)==0)
{
vpw_montior();
}
sprintf(cmd,"log");
if (strcmp(buff,cmd)==0)
{
datalog();
}
sprintf(cmd,"pwmhigh");
if (strcmp(buff,cmd)==0)
{
output_high(PIN_F5);
}
sprintf(cmd,"pwmlow");
if (strcmp(buff,cmd)==0)
{
output_low(PIN_F5);
}
sprintf(cmd,"pwmmon");
if (strcmp(buff,cmd)==0)
{
pwm_monitor();
}
sprintf(cmd,"pwmread");
if (strcmp(buff,cmd)==0)
{
while(!kbhit())
{
printf("PWM bus=%d\n\r",PWM_IN);
}
getch2();
}
sprintf(cmd,"5baud");
if (strcmp(buff,cmd)==0)
{
UBYTE keys[2];
printf("%lu ",iso_5baud(keys,2,0x33));
printf("%X %X\n\r",keys[0],keys[1]);
}
sprintf(cmd,"crc");
if (strcmp(buff,cmd)==0)
{
UBYTE data[20];
UBYTE temp;
for (i=0; i<numArgs; i++)
{
//we need to parse ASCII
temp=ascii2hex(argv[i]);
data[i]=temp;
}
for (temp=0; temp<numArgs; temp++)
{
printf("%X ",data[temp]);
}
printf("\n\r");
fprintf(STDIN,"CRC %X\n\r",crc(data,numArgs));
}
sprintf(cmd,"csum");
if (strcmp(buff,cmd)==0)
{
UBYTE data[20];
UBYTE temp;
for (i=0; i<numArgs; i++)
{
//we need to parse ASCII
temp=ascii2hex(argv[i]);
data[i]=temp;
}
for (temp=0; temp<numArgs; temp++)
{
printf("%X ",data[temp]);
}
printf("\n\r");
fprintf(STDIN,"CheckSum %X\n\r",checksum(data,numArgs));
}
sprintf(cmd, "vagcom");
if (strcmp(buff,cmd)==0)
{
//we need to monitor the serial port
// when port goes high drive k-line accordingly
}
sprintf(cmd, "vag");
if (strcmp(buff,cmd)==0)
{
UBYTE data[60];
UBYTE resp[20];
UBYTE ret;
UBYTE i;
UBYTE block;
//first lets init communications
ret=iso_5baud(data,2,0x01);
data[2]=0;
while(data[2]!=0x09)
{
//get block from ECM
ret=vagGetBlock(data,60);
for(i=0; i<ret; i++)
{
printf("%X ",data[i]);
}
printf("\n\r");
//now build ack
block=data[1]+1;
resp[0]=data[1]+1;
resp[1]=0x09;
vagPutBlock(resp,2);
block++;
}
ret=vagGetBlock(data,60);
for(i=0; i<ret; i++)
{
printf("%X ",data[i]);
}
printf("\n\r");
block=data[1]+1;
printf("Test block ");
for(i=0; i<numArgs; i++)
{
resp[i+1]=ascii2hex(argv[i]);
printf("%X ",resp[i+1]);
}
printf("\n\r");
//now lets see what happens if we send a block request for block 02
resp[0]=block;
//resp[1]=code;
vagPutBlock(resp,numArgs+1);
data[2]=0;
while(data[2]!=0x09)
{
//get block from ECM
ret=vagGetBlock(data,60);
for(i=0; i<ret; i++)
{
printf("%X ",data[i]);
}
printf("\n\r");
//now build ack
block=data[1]+1;
resp[0]=data[1]+1;
resp[1]=0x09;
vagPutBlock(resp,2);
block++;
}
}
sprintf(cmd,"isosend");
if (strcmp(buff,cmd)==0)
{
UBYTE data[60];
UBYTE resp[20];
UBYTE i;
UBYTE temp;
printf("hit key to stop\n\r");
//we need to copy args to data
for (i=0; i<numArgs; i++)
{
//we need to parse ASCII
temp=ascii2hex(argv[i]);
data[i]=temp;
}
//printf("\n\r");
while(!kbhit())
{
temp=iso_send(resp, 60, data, numArgs,0x33);
printf("response %u\n\r",temp);
for (i=0; i<temp; i++)
{
printf("%X ",resp[i]);
}
printf("\n\r");
}
while(kbhit())
getch2();
}
sprintf(cmd,"pwmsend");
if (strcmp(buff,cmd)==0)
{
UBYTE data[60];
UBYTE resp[20];
UBYTE i;
UBYTE temp;
printf("hit key to stop\n\r");
//we need to copy args to data
for (i=0; i<numArgs; i++)
{
//we need to parse ASCII
temp=ascii2hex(argv[i]);
data[i]=temp;
//printf("args %x %s\n\r",temp,argv[i]);
}
//printf("\n\r");
while(!kbhit())
{
temp=pwm_send(resp, 60, data, numArgs);
printf("response %u\n\r",temp);
for (i=0; i<temp; i++)
{
printf("%X ",resp[i]);
}
printf("\n\r");
}
while(kbhit())
getch2();
}
/*
sprintf(cmd,"flashread");
if (strcmp(buff,cmd)==0)
{
UDWORD addr;
addr=atoi32(argv[0]);
printf("*%lu=%X\n\r",addr,flash_read(addr));
}
sprintf(cmd,"flashbufread");
if (strcmp(buff,cmd)==0)
{
UDWORD addr;
addr=atoi32(argv[0]);
printf("*%lu=%X\n\r",addr,flash_buf_read(addr));
}
*/
sprintf(cmd,"flasherase");
if (strcmp(buff,cmd)==0)
{
flash_erase();
printf("Done\n\r");
}
/*
sprintf(cmd,"flashput");
if (strcmp(buff,cmd)==0)
{
UDWORD addr;
UBYTE data;
addr=atoi32(argv[0]);
data=atoi(argv[1]);
printf("Putting *%lu=%X\n\r",addr,data);
data=flash_put(addr,data);
printf("returned %x\n\r",data);
}
*/
sprintf(cmd,"vpwsend");
if (strcmp(buff,cmd)==0)
{
UBYTE data[60];
UBYTE resp[20];
UBYTE i;
UBYTE temp;
printf("hit key to stop\n\r");
//we need to copy args to data
for (i=0; i<numArgs; i++)
{
//we need to parse ASCII
temp=ascii2hex(argv[i]);
data[i]=temp;
}
//printf("\n\r");
while(!kbhit())
{
temp=vpw_send(resp, 60, data, numArgs);
printf("response %u\n\r",temp);
for (i=0; i<temp; i++)
{
printf("%X ",resp[i]);
}
printf("\n\r");
}
while(kbhit())
getch2();
}
sprintf(cmd,"isomon");
if (strcmp(buff,cmd)==0)
{
while (!kbhit())
iso_monitor();
while(kbhit())
getch2();
}
sprintf(cmd,"isoput");
if (strcmp(buff,cmd)==0)
{
UBYTE temp;
printf("ISO Put test\n\r");
printf("press any key to stop\n\r");
temp=0x03;
while (!kbhit())
iso_put(&temp,1,20);
while(kbhit())
getch2();
}
sprintf(cmd,"vpwhigh");
if (strcmp(buff,cmd)==0)
{
UBYTE temp;
printf("VPW high test\n\r");
printf("press any key to stop\n\r");
temp=0x03;
output_high(VPW_OUT);
while (!kbhit()){
printf("VPW_IN=%u\n\r",VPW_IN);
}
while(kbhit())
getch2();
output_low(VPW_OUT);
}
sprintf(cmd,"isohigh");
if (strcmp(buff,cmd)==0)
{
UBYTE temp;
printf("ISO high test\n\r");
printf("press any key to stop\n\r");
temp=0x03;
K_HIGH;
while (!kbhit()){
printf("ISO_IN=%u\n\r",K_IN);
}
while(kbhit())
getch2();
K_LOW;
}
sprintf(cmd,"isolow");
if (strcmp(buff,cmd)==0)
{
UBYTE temp;
printf("ISO low test\n\r");
printf("press any key to stop\n\r");
temp=0x03;
K_LOW;
while (!kbhit()){
printf("ISO_IN=%u\n\r",K_IN);
}
while(kbhit())
getch2();
K_HIGH;
}
sprintf(cmd,"vpwlow");
if (strcmp(buff,cmd)==0)
{
UBYTE temp;
printf("VPW low test\n\r");
printf("press any key to stop\n\r");
temp=0x03;
output_low(VPW_OUT);
while (!kbhit()){
printf("VPW_IN=%u\n\r",VPW_IN);
}
while(kbhit())
getch2();
output_low(VPW_OUT);
}
sprintf(cmd,"flashpgm");
if (strcmp(buff,cmd)==0)
{
//UBYTE ret;
printf("Start Xmodem download to unit of flash");
delay_ms(250);
Flash_serial_program(0);
}
sprintf(cmd,"flashpcodes");
if (strcmp(buff,cmd)==0)
{
//UBYTE ret;
printf("Start Xmodem download to unit of P codes");
delay_ms(250);
Flash_serial_program(PCODE_FLASH_START);
}
sprintf(cmd,"flashccodes");
if (strcmp(buff,cmd)==0)
{
//UBYTE ret;
printf("Start Xmodem download to unit of C codes");
delay_ms(250);
Flash_serial_program(CCODE_FLASH_START);
}
sprintf(cmd,"flashbcodes");
if (strcmp(buff,cmd)==0)
{
//UBYTE ret;
printf("Start Xmodem download to unit of B codes");
delay_ms(250);
Flash_serial_program(BCODE_FLASH_START);
}
sprintf(cmd,"flashucodes");
if (strcmp(buff,cmd)==0)
{
//UBYTE ret;
printf("Start Xmodem download to unit of U codes");
delay_ms(250);
Flash_serial_program(UCODE_FLASH_START);
}
sprintf(cmd,"flashfirm");
if (strcmp(buff,cmd)==0)
{
UWORD i;
printf("Erasing Firmware\n\r");
for(i=(FIRM_FLASH_START>>8); i<(FLASH_MAX_PAGES>>8); i++)
{
//sprintf(temp,"%lu",i);
//LCD_print2(temp,2);
//printf("Erasing Page %lu\n\r",i);
if (flash_erase_page(i)!=0)
return 1;
}
printf("Start Xmodem download to unit of Firmware");
delay_ms(250);
Flash_serial_program(FIRM_FLASH_START);
delay_ms(250);
printf("Checking Firmware\n\r");
if (FirmwareCheck(FIRM_FLASH_START)==0)
{
printf("Updating Firmware\n\r");
FirmwareUpdate(FIRM_FLASH_START);
}else
{
printf("Firmware not correct, try reloading\n\r");
}
}
int
main(int argc, char **argv)
{
int fd;
int i, res, desc_size = 0;
char buf[256], *dev;
struct hidraw_report_descriptor rpt_desc;
struct hidraw_devinfo info;
/* Usage check */
if (argc != 3)
{
fprintf(stderr, "Usage: %s <hidraw-dev> <SITL IP>\n", argv[0]);
return 1;
}
/* Device is argv[1] */
dev = argv[1];
/* IP addr is argv[2] */
pwm_init(argv[2]);
/* Open the Device with non-blocking reads. In real life,
don't use a hard coded path; use libudev instead. */
fd = open(dev, O_RDWR|O_NONBLOCK);
if (fd < 0)
{
perror("Unable to open device");
return 1;
}
memset(&rpt_desc, 0x0, sizeof(rpt_desc));
memset(&info, 0x0, sizeof(info));
memset(buf, 0x0, sizeof(buf));
/* Get Report Descriptor Size */
res = ioctl(fd, HIDIOCGRDESCSIZE, &desc_size);
if (res < 0)
{
perror("HIDIOCGRDESCSIZE");
}
else
{
printf("Report Descriptor Size: %d\n", desc_size);
}
/* Get Report Descriptor */
rpt_desc.size = desc_size;
res = ioctl(fd, HIDIOCGRDESC, &rpt_desc);
if (res < 0)
{
perror("HIDIOCGRDESC");
}
else
{
printf("Report Descriptor:\n");
for (i = 0; i < rpt_desc.size; i++)
{
printf("%hhx ", rpt_desc.value[i]);
}
puts("\n");
}
/* Get Raw Name */
res = ioctl(fd, HIDIOCGRAWNAME(256), buf);
if (res < 0)
{
perror("HIDIOCGRAWNAME");
}
else
{
printf("Raw Name: %s\n", buf);
}
/* Get Physical Location */
res = ioctl(fd, HIDIOCGRAWPHYS(256), buf);
if (res < 0)
{
perror("HIDIOCGRAWPHYS");
}
else
{
printf("Raw Phys: %s\n", buf);
}
/* Get Raw Info */
res = ioctl(fd, HIDIOCGRAWINFO, &info);
if (res < 0)
{
perror("HIDIOCGRAWINFO");
}
else
{
printf("Raw Info:\n");
printf("\tbustype: %d (%s)\n",
info.bustype, bus_str(info.bustype));
printf("\tvendor: 0x%04hx\n", info.vendor);
printf("\tproduct: 0x%04hx\n", info.product);
}
/* Set Feature */
buf[0] = 0x9; /* Report Number */
buf[1] = 0xff;
buf[2] = 0xff;
buf[3] = 0xff;
res = ioctl(fd, HIDIOCSFEATURE(4), buf);
if (res < 0)
{
perror("HIDIOCSFEATURE");
}
else
{
printf("ioctl HIDIOCGFEATURE returned: %d\n", res);
}
/* Get Feature */
buf[0] = 0x9; /* Report Number */
res = ioctl(fd, HIDIOCGFEATURE(256), buf);
if (res < 0)
{
perror("HIDIOCGFEATURE");
}
else
{
printf("ioctl HIDIOCGFEATURE returned: %d\n", res);
printf("Report data (not containing the report number):\n\t");
for (i = 0; i < res; i++)
{
printf("%hhx ", buf[i]);
}
puts("\n");
}
/* Send a Report to the Device */
buf[0] = 0x1; /* Report Number */
buf[1] = 0x77;
res = write(fd, buf, 2);
if (res < 0)
{
printf("Error: %d\n", errno);
perror("write");
}
else
{
printf("write() wrote %d bytes\n", res);
}
/* Get a report from the device */
res = read(fd, buf, 16);
if (res < 0)
{
perror("read");
}
else
{
printf("read() read %d bytes:\n\t", res);
for (i = 0; i < res; i++)
{
printf("%hhx ", buf[i]);
}
puts("\n");
}
/* OP loop */
while (1)
{
/* Send a Report to the Device */
buf[0] = 0x0; /* Report Number */
buf[1] = 0x0;
res = write(fd, buf, 2);
if (res < 0)
{
printf("Error: %d\n", errno);
perror("write");
}
/* Get a report from the device */
res = read(fd, buf, 16);
if (res < 0)
{
perror("read");
}
else
{
pwm_send(buf, res);
}
usleep(20 * 1000);
}
close(fd);
return 0;
}