/*
This is free and unencumbered software released into the public domain.
Anyone is free to copy, modify, publish, use, compile, sell, or
distribute this software, either in source code form or as a compiled
binary, for any purpose, commercial or non-commercial, and by any
means.
In jurisdictions that recognize copyright laws, the author or authors
of this software dedicate any and all copyright interest in the
software to the public domain. We make this dedication for the benefit
of the public at large and to the detriment of our heirs and
successors. We intend this dedication to be an overt act of
relinquishment in perpetuity of all present and future rights to this
software under copyright law.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
OTHER DEALINGS IN THE SOFTWARE.
For more information, please refer to
*/
/*
This version is for pigpio version 4+
*/
#include
#include
#include
#include
#include
#include "pigpio.h"
#include "command.h"
cmdInfo_t cmdInfo[]=
{
{PI_CMD_BR1, "BR1", 1, 3},
{PI_CMD_BR2, "BR2", 1, 3},
{PI_CMD_BC1, "BC1", 7, 1},
{PI_CMD_BC2, "BC2", 7, 1},
{PI_CMD_BS1, "BS1", 7, 1},
{PI_CMD_BS2, "BS2", 7, 1},
{PI_CMD_HWVER, "HWVER", 1, 4},
{PI_CMD_MODES, "MODES", 8, 0},
{PI_CMD_MODES, "M", 8, 0},
{PI_CMD_MODEG, "MODEG", 2, 2},
{PI_CMD_MODEG, "MG" , 2, 2},
{PI_CMD_NO, "NO", 1, 2},
{PI_CMD_NB, "NB", 4, 0},
{PI_CMD_NP, "NP", 2, 0},
{PI_CMD_NC, "NC", 2, 0},
{PI_CMD_PWM, "PWM", 3, 0},
{PI_CMD_PWM, "P", 3, 0},
{PI_CMD_PFS, "PFS", 3, 2},
{PI_CMD_PFG, "PFG", 2, 2},
{PI_CMD_PRS, "PRS", 3, 2},
{PI_CMD_PRG, "PRG", 2, 2},
{PI_CMD_PRRG, "PRRG", 2, 2},
{PI_CMD_PUD, "PUD", 9, 0},
{PI_CMD_READ, "READ", 2, 2},
{PI_CMD_READ, "R", 2, 2},
{PI_CMD_SERVO, "SERVO", 3, 0},
{PI_CMD_SERVO, "S", 3, 0},
{PI_CMD_WRITE, "WRITE", 3, 0},
{PI_CMD_WRITE, "W", 3, 0},
{PI_CMD_WDOG, "WDOG", 3, 0},
{PI_CMD_TICK, "TICK", 1, 4},
{PI_CMD_TICK, "T", 1, 4},
{PI_CMD_HELP, "HELP", 6, 5},
{PI_CMD_HELP, "H", 6, 5},
};
char * cmdUsage = "\
BR1 read gpios bank 1\n\
BR2 read gpios bank 2\n\
BC1 x clear gpios in bank 1\n\
BC2 x clear gpios in bank 2\n\
BS1 x set gpios in bank 1\n\
BS2 x set gpios in bank 2\n\
HWVER return hardware version\n\
MODES/M g m set gpio mode\n\
MODEG/MG g get gpio mode\n\
NO request notification handle\n\
NB h x start notification\n\
NP h pause notification\n\
NC h close notification\n\
PWM/P u d set PWM value for gpio\n\
PFS u d set PWM frequency for gpio\n\
PFG u get PWM frequency for gpio\n\
PRS u d set PWM range for gpio\n\
PRG u get PWM range for gpio\n\
PRRG u get PWM real range for gpio\n\
PUD g p set gpio pull up/down\n\
READ/R g read gpio\n\
SERVO/S u d set servo value for gpio\n\
WRITE/W g d write value to gpio\n\
WDOG u d set watchdog on gpio\n\
TICK/T return current tick\n\
HELP/H displays command help\n\
\n\
d = decimal value\n\
g = gpio (0-53)\n\
h = handle (0-31)\n\
m = mode (RW540123)\n\
p = pud (ODU)\n\
u = user gpio (0-31)\n\
x = hex value\n\
";
typedef struct
{
int error;
char * str;
} errInfo_t;
static errInfo_t errInfo[]=
{
{PI_INIT_FAILED , "pigpio initialisation failed"},
{PI_BAD_USER_GPIO , "gpio not 0-31"},
{PI_BAD_GPIO , "gpio not 0-53"},
{PI_BAD_MODE , "mode not 0-7"},
{PI_BAD_LEVEL , "level not 0-1"},
{PI_BAD_PUD , "pud not 0-2"},
{PI_BAD_PULSEWIDTH , "pulsewidth not 0 or 500-2500"},
{PI_BAD_DUTYCYCLE , "dutycycle not 0-255"},
{PI_BAD_TIMER , "timer not 0-9"},
{PI_BAD_MS , "ms not 10-60000"},
{PI_BAD_TIMETYPE , "timetype not 0-1"},
{PI_BAD_SECONDS , "seconds < 0"},
{PI_BAD_MICROS , "micros not 0-999999"},
{PI_TIMER_FAILED , "gpioSetTimerFunc failed"},
{PI_BAD_WDOG_TIMEOUT , "timeout not 0-60000"},
{PI_NO_ALERT_FUNC , "DEPRECATED"},
{PI_BAD_CLK_PERIPH , "clock peripheral not 0-1"},
{PI_BAD_CLK_SOURCE , "clock source not 0-1"},
{PI_BAD_CLK_MICROS , "clock micros not 1, 2, 4, 5, 8, or 10"},
{PI_BAD_BUF_MILLIS , "buf millis not 100-10000"},
{PI_BAD_DUTY_RANGE , "dutycycle range not 25-40000"},
{PI_BAD_SIGNUM , "signum not 0-63"},
{PI_BAD_PATHNAME , "can't open pathname"},
{PI_NO_HANDLE , "no handle available"},
{PI_BAD_HANDLE , "unknown notify handle"},
{PI_BAD_IF_FLAGS , "ifFlags > 3"},
{PI_BAD_CHANNEL , "DMA channel not 0-14"},
{PI_BAD_SOCKET_PORT , "socket port not 1024-30000"},
{PI_BAD_FIFO_COMMAND , "unknown fifo command"},
{PI_BAD_SECO_CHANNEL , "DMA secondary channel not 0-6"},
{PI_NOT_INITIALISED , "function called before gpioInitialise"},
{PI_INITIALISED , "function called after gpioInitialise"},
{PI_BAD_WAVE_MODE , "waveform mode not 0-1"},
{PI_BAD_CFG_INTERNAL , "bad parameter in gpioCfgInternals call"},
{PI_BAD_WAVE_BAUD , "baud rate not 100-250000"},
{PI_TOO_MANY_PULSES , "waveform has too many pulses"},
{PI_TOO_MANY_CHARS , "waveform has too many chars"},
{PI_NOT_SERIAL_GPIO , "no serial read in progress on gpio"},
};
static char * fmtMdeStr="RW540123";
static char * fmtPudStr="ODU";
static int cmdMatch(char * str)
{
int i;
for (i=0; i<(sizeof(cmdInfo)/sizeof(cmdInfo_t)); i++)
{
if (strcasecmp(str, cmdInfo[i].name) == 0) return i;
}
return -1;
}
int cmdParse(char * buf, cmdCmd_t * cmd)
{
char str[8];
int f, valid, idx, val;
char * ptr;
char c, t;
sscanf(buf, " %7s", str);
cmd->cmd = -1;
idx = cmdMatch(str);
if (idx < 0) return idx;
valid = 0;
cmd->cmd = cmdInfo[idx].cmd;
cmd->p1 = 0;
cmd->p2 = 0;
switch (cmdInfo[idx].vt)
{
case 1: /* BR1 BR2 HWVER NO TICK */
f = sscanf(buf, " %7s %c", str, &t);
if (f == 1) valid = 1;
break;
case 2: /* MODEG READ NC NP PFG PRG PRRG */
f = sscanf(buf, " %7s %d %c", str, &cmd->p1, &t);
if (f == 2) valid = 1;
break;
case 3: /* WRITE PWM PRS PFS SERVO WDOG */
f = sscanf(buf, " %7s %d %d %c", str, &cmd->p1, &cmd->p2, &t);
if (f == 3) valid = 1;
break;
case 4: /* NB */
f = sscanf(buf, " %7s %d %x %c", str, &cmd->p1, &cmd->p2, &t);
if (f == 3) valid = 1;
break;
case 6: /* HELP */
valid = 1;
break;
case 7: /* BC1 BC2 BS1 BS2 */
f = sscanf(buf, " %7s %x %c", str, &cmd->p1, &t);
if (f == 2) valid = 1;
break;
case 8: /* MODES */
f = sscanf(buf, " %7s %d %c %c", str, &cmd->p1, &c, &t);
if (f == 3)
{
val = toupper(c);
ptr = strchr(fmtMdeStr, val);
if (ptr != NULL)
{
val = ptr - fmtMdeStr;
cmd->p2 = val;
valid = 1;
}
}
break;
case 9: /* PUD */
f = sscanf(buf, " %7s %d %c %c", str, &cmd->p1, &c, &t);
if (f == 3)
{
val = toupper(c);
ptr = strchr(fmtPudStr, val);
if (ptr != NULL)
{
val = ptr - fmtPudStr;
cmd->p2 = val;
valid = 1;
}
}
break;
}
if (valid) return idx;
else return -1;
}
void cmdFatal(char *fmt, ...)
{
char buf[128];
va_list ap;
va_start(ap, fmt);
vsnprintf(buf, sizeof(buf), fmt, ap);
va_end(ap);
fprintf(stderr, "%s\n", buf);
fflush(stderr);
exit(EXIT_FAILURE);
}
char * cmdErrStr(int error)
{
int i;
for (i=0; i<(sizeof(errInfo)/sizeof(errInfo_t)); i++)
{
if (errInfo[i].error == error) return errInfo[i].str;
}
return "unknown error";
}