1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
|
#ifndef __COMMAND_H
#define __COMMAND_H
#include <stdarg.h> // va_list
#include <stddef.h>
#include <stdint.h> // uint8_t
#include "ctr.h" // DECL_CTR
// Declare a function to run when the specified command is received
#define DECL_COMMAND_FLAGS(FUNC, FLAGS, MSG) \
DECL_CTR("DECL_COMMAND_FLAGS " __stringify(FUNC) " " \
__stringify(FLAGS) " " MSG)
#define DECL_COMMAND(FUNC, MSG) \
DECL_COMMAND_FLAGS(FUNC, 0, MSG)
// Flags for command handler declarations.
#define HF_IN_SHUTDOWN 0x01 // Handler can run even when in emergency stop
// Declare a constant exported to the host
#define DECL_CONSTANT(NAME, VALUE) \
DECL_CTR_INT("DECL_CONSTANT " NAME, 1, CTR_INT(VALUE))
#define DECL_CONSTANT_STR(NAME, VALUE) \
DECL_CTR("DECL_CONSTANT_STR " NAME " " VALUE)
// Declare an enumeration
#define DECL_ENUMERATION(ENUM, NAME, VALUE) \
DECL_CTR_INT("DECL_ENUMERATION " ENUM " " NAME, 1, CTR_INT(VALUE))
#define DECL_ENUMERATION_RANGE(ENUM, NAME, VALUE, COUNT) \
DECL_CTR_INT("DECL_ENUMERATION_RANGE " ENUM " " NAME, \
2, CTR_INT(VALUE), CTR_INT(COUNT))
// Send an output message (and declare a static message type for it)
#define output(FMT, args...) \
command_sendf(_DECL_OUTPUT(FMT) , ##args )
// Declare a message type and transmit it.
#define sendf(FMT, args...) \
command_sendf(_DECL_ENCODER(FMT) , ##args )
// Shut down the machine (also declares a static string to transmit)
#define shutdown(msg) \
sched_shutdown(_DECL_STATIC_STR(msg))
#define try_shutdown(msg) \
sched_try_shutdown(_DECL_STATIC_STR(msg))
#define MESSAGE_MIN 5
#define MESSAGE_MAX 64
#define MESSAGE_HEADER_SIZE 2
#define MESSAGE_TRAILER_SIZE 3
#define MESSAGE_POS_LEN 0
#define MESSAGE_POS_SEQ 1
#define MESSAGE_TRAILER_CRC 3
#define MESSAGE_TRAILER_SYNC 1
#define MESSAGE_PAYLOAD_MAX (MESSAGE_MAX - MESSAGE_MIN)
#define MESSAGE_SEQ_MASK 0x0f
#define MESSAGE_DEST 0x10
#define MESSAGE_SYNC 0x7E
struct command_encoder {
uint8_t msg_id, max_size, num_params;
const uint8_t *param_types;
};
struct command_parser {
uint8_t msg_id, num_args, flags, num_params;
const uint8_t *param_types;
void (*func)(uint32_t *args);
};
enum {
PT_uint32, PT_int32, PT_uint16, PT_int16, PT_byte,
PT_string, PT_progmem_buffer, PT_buffer,
};
// command.c
void *command_decode_ptr(uint32_t v);
uint8_t *command_parsef(uint8_t *p, uint8_t *maxend
, const struct command_parser *cp, uint32_t *args);
uint_fast8_t command_encode_and_frame(
uint8_t *buf, const struct command_encoder *ce, va_list args);
void command_sendf(const struct command_encoder *ce, ...);
int_fast8_t command_find_block(uint8_t *buf, uint_fast8_t buf_len
, uint_fast8_t *pop_count);
void command_dispatch(uint8_t *buf, uint_fast8_t msglen);
void command_send_ack(void);
int_fast8_t command_find_and_dispatch(uint8_t *buf, uint_fast8_t buf_len
, uint_fast8_t *pop_count);
// out/compile_time_request.c (auto generated file)
extern const struct command_parser command_index[];
extern const uint8_t command_index_size;
extern const uint8_t command_identify_data[];
extern const uint32_t command_identify_size;
const struct command_encoder *ctr_lookup_encoder(const char *str);
const struct command_encoder *ctr_lookup_output(const char *str);
uint8_t ctr_lookup_static_string(const char *str);
#define _DECL_ENCODER(FMT) ({ \
DECL_CTR("_DECL_ENCODER " FMT); \
ctr_lookup_encoder(FMT); })
#define _DECL_OUTPUT(FMT) ({ \
DECL_CTR("_DECL_OUTPUT " FMT); \
ctr_lookup_output(FMT); })
#define _DECL_STATIC_STR(MSG) ({ \
DECL_CTR("_DECL_STATIC_STR " MSG); \
ctr_lookup_static_string(MSG); })
#endif // command.h
|
