/* test_proto.c */ /* {{{ * * Copyright (C) 2004 Nicolas Schodet * * Robot APB Team/Efrei 2005. * Web: http://assos.efrei.fr/robot/ * Email: robot AT efrei DOT fr * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * * }}} */ #include "common.h" #include "io.h" #include "modules/uart/uart.h" #include "modules/proto/proto.h" #include "modules/utils/utils.h" void proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) { /* This macro combine command and size in one integer. */ #define c(cmd, size) (cmd << 8 | size) switch (c (cmd, size)) { case c ('z', 0): /* This should be generaly implemented. */ utils_reset (); break; case c ('a', 1): case c ('a', 4): case c ('b', 2): case c ('c', 3): case c ('d', 4): case c ('e', 5): case c ('f', 6): case c ('g', 7): case c ('h', 8): /* Accepts some command, and test some commands. */ proto_send1b ('e', 0xf0); proto_send2w ('l', 0x1234, 0x5678); proto_send1d ('o', 0x12345678); { volatile uint32_t i = 0x12345678; proto_send1d ('i', i); } break; default: /* This is to handle default commands, return an error. */ proto_send0 ('?'); return; } /* When no error acknoledge. */ proto_send (cmd, size, args); #undef c } int main (int argc, char **argv) { avr_init (argc, argv); sei (); uart0_init (); /* This command should be generaly sent on reset. */ proto_send0 ('z'); /* This is to accept commands. */ while (1) { uint8_t c = uart0_getc (); proto_accept (c); } }