#include "mri.h"
#include "version.h"
#include "PublicDataRequest.h"
+#include "FileStream.h"
+#include "checksumm.h"
+#include "PublicData.h"
+#include "Gcode.h"
+
+#include "SimpleShell.h"
#include "modules/tools/temperaturecontrol/TemperatureControlPublicAccess.h"
#include "modules/robot/RobotPublicAccess.h"
+#include "NetworkPublicAccess.h"
+#include "platform_memory.h"
+
+#include "system_LPC17xx.h"
+#include "LPC17xx.h"
+
+extern unsigned int g_maximumHeapAddress;
+
+#include <malloc.h>
+#include <mri.h>
+#include <stdio.h>
+#include <stdint.h>
+
+extern "C" uint32_t __end__;
+extern "C" uint32_t __malloc_free_list;
+extern "C" uint32_t _sbrk(int size);
+
+#define get_temp_command_checksum CHECKSUM("temp")
+#define get_pos_command_checksum CHECKSUM("pos")
+
+// command lookup table
+SimpleShell::ptentry_t SimpleShell::commands_table[] = {
+ {CHECKSUM("ls"), &SimpleShell::ls_command},
+ {CHECKSUM("cd"), &SimpleShell::cd_command},
+ {CHECKSUM("pwd"), &SimpleShell::pwd_command},
+ {CHECKSUM("cat"), &SimpleShell::cat_command},
+ {CHECKSUM("rm"), &SimpleShell::rm_command},
+ {CHECKSUM("reset"), &SimpleShell::reset_command},
+ {CHECKSUM("dfu"), &SimpleShell::dfu_command},
+ {CHECKSUM("break"), &SimpleShell::break_command},
+ {CHECKSUM("help"), &SimpleShell::help_command},
+ {CHECKSUM("?"), &SimpleShell::help_command},
+ {CHECKSUM("version"), &SimpleShell::version_command},
+ {CHECKSUM("mem"), &SimpleShell::mem_command},
+ {CHECKSUM("get"), &SimpleShell::get_command},
+ {CHECKSUM("set_temp"), &SimpleShell::set_temp_command},
+ {CHECKSUM("net"), &SimpleShell::net_command},
+ {CHECKSUM("load"), &SimpleShell::load_command},
+ {CHECKSUM("save"), &SimpleShell::save_command},
+
+ // unknown command
+ {0, NULL}
+};
+
+// Adam Greens heap walk from http://mbed.org/forum/mbed/topic/2701/?page=4#comment-22556
+static uint32_t heapWalk(StreamOutput *stream, bool verbose)
+{
+ uint32_t chunkNumber = 1;
+ // The __end__ linker symbol points to the beginning of the heap.
+ uint32_t chunkCurr = (uint32_t)&__end__;
+ // __malloc_free_list is the head pointer to newlib-nano's link list of free chunks.
+ uint32_t freeCurr = __malloc_free_list;
+ // Calling _sbrk() with 0 reserves no more memory but it returns the current top of heap.
+ uint32_t heapEnd = _sbrk(0);
+ // accumulate totals
+ uint32_t freeSize = 0;
+ uint32_t usedSize = 0;
+
+ stream->printf("Used Heap Size: %lu\n", heapEnd - chunkCurr);
+
+ // Walk through the chunks until we hit the end of the heap.
+ while (chunkCurr < heapEnd) {
+ // Assume the chunk is in use. Will update later.
+ int isChunkFree = 0;
+ // The first 32-bit word in a chunk is the size of the allocation. newlib-nano over allocates by 8 bytes.
+ // 4 bytes for this 32-bit chunk size and another 4 bytes to allow for 8 byte-alignment of returned pointer.
+ uint32_t chunkSize = *(uint32_t *)chunkCurr;
+ // The start of the next chunk is right after the end of this one.
+ uint32_t chunkNext = chunkCurr + chunkSize;
-void SimpleShell::on_module_loaded(){
- this->current_path = "/";
+ // The free list is sorted by address.
+ // Check to see if we have found the next free chunk in the heap.
+ if (chunkCurr == freeCurr) {
+ // Chunk is free so flag it as such.
+ isChunkFree = 1;
+ // The second 32-bit word in a free chunk is a pointer to the next free chunk (again sorted by address).
+ freeCurr = *(uint32_t *)(freeCurr + 4);
+ }
+
+ // Skip past the 32-bit size field in the chunk header.
+ chunkCurr += 4;
+ // 8-byte align the data pointer.
+ chunkCurr = (chunkCurr + 7) & ~7;
+ // newlib-nano over allocates by 8 bytes, 4 bytes for the 32-bit chunk size and another 4 bytes to allow for 8
+ // byte-alignment of the returned pointer.
+ chunkSize -= 8;
+ if (verbose)
+ stream->printf(" Chunk: %lu Address: 0x%08lX Size: %lu %s\n", chunkNumber, chunkCurr, chunkSize, isChunkFree ? "CHUNK FREE" : "");
+
+ if (isChunkFree) freeSize += chunkSize;
+ else usedSize += chunkSize;
+
+ chunkCurr = chunkNext;
+ chunkNumber++;
+ }
+ stream->printf("Allocated: %lu, Free: %lu\r\n", usedSize, freeSize);
+ return freeSize;
+}
+
+
+void SimpleShell::on_module_loaded()
+{
this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
- this->reset_delay_secs= 0;
-
- register_for_event(ON_SECOND_TICK);
+ this->register_for_event(ON_GCODE_RECEIVED);
+ this->register_for_event(ON_SECOND_TICK);
+
+ this->reset_delay_secs = 0;
}
-void SimpleShell::on_second_tick(void*) {
+void SimpleShell::on_second_tick(void *)
+{
// we are timing out for the reset
if (this->reset_delay_secs > 0) {
- if(--this->reset_delay_secs == 0){
+ if (--this->reset_delay_secs == 0) {
system_reset(false);
}
}
}
+void SimpleShell::on_gcode_received(void *argument)
+{
+ Gcode *gcode = static_cast<Gcode *>(argument);
+ string args= get_arguments(gcode->command);
+
+ if (gcode->has_m) {
+ if (gcode->m == 20) { // list sd card
+ gcode->mark_as_taken();
+ gcode->stream->printf("Begin file list\r\n");
+ ls_command("/sd", gcode->stream);
+ gcode->stream->printf("End file list\r\n");
+
+ } else if (gcode->m == 30) { // remove file
+ gcode->mark_as_taken();
+ rm_command("/sd/" + args, gcode->stream);
+
+ }else if(gcode->m == 501) { // load config override
+ gcode->mark_as_taken();
+ if(args.empty()) {
+ load_command("/sd/config-override", gcode->stream);
+ }else{
+ load_command("/sd/config-override." + args, gcode->stream);
+ }
+
+ }else if(gcode->m == 504) { // save to specific config override file
+ gcode->mark_as_taken();
+ if(args.empty()) {
+ save_command("/sd/config-override", gcode->stream);
+ }else{
+ save_command("/sd/config-override." + args, gcode->stream);
+ }
+ }
+ }
+}
+
+bool SimpleShell::parse_command(unsigned short cs, string args, StreamOutput *stream)
+{
+ for (ptentry_t *p = commands_table; p->pfunc != NULL; ++p) {
+ if (cs == p->command_cs) {
+ PFUNC fnc= p->pfunc;
+ (this->*fnc)(args, stream);
+ return true;
+ }
+ }
+
+ return false;
+}
+
// When a new line is received, check if it is a command, and if it is, act upon it
-void SimpleShell::on_console_line_received( void* argument ){
- SerialMessage new_message = *static_cast<SerialMessage*>(argument);
+void SimpleShell::on_console_line_received( void *argument )
+{
+ SerialMessage new_message = *static_cast<SerialMessage *>(argument);
+
+ // ignore comments
+ if (new_message.message[0] == ';') return;
+
string possible_command = new_message.message;
//new_message.stream->printf("Received %s\r\n", possible_command.c_str());
- // We don't compare to a string but to a checksum of that string, this saves some space in flash memory
- unsigned short check_sum = get_checksum( possible_command.substr(0,possible_command.find_first_of(" \r\n")) ); // todo: put this method somewhere more convenient
-
- // Act depending on command
- if (check_sum == ls_command_checksum)
- this->ls_command( get_arguments(possible_command), new_message.stream );
- else if (check_sum == cd_command_checksum)
- this->cd_command( get_arguments(possible_command), new_message.stream );
- else if (check_sum == pwd_command_checksum)
- this->pwd_command( get_arguments(possible_command), new_message.stream );
- else if (check_sum == cat_command_checksum)
- this->cat_command( get_arguments(possible_command), new_message.stream );
- else if (check_sum == break_command_checksum)
- this->break_command(get_arguments(possible_command),new_message.stream );
- else if (check_sum == reset_command_checksum)
- this->reset_command(get_arguments(possible_command),new_message.stream );
- else if (check_sum == dfu_command_checksum)
- this->dfu_command(get_arguments(possible_command),new_message.stream );
- else if (check_sum == help_command_checksum)
- this->help_command(get_arguments(possible_command),new_message.stream );
- else if (check_sum == version_command_checksum)
- this->version_command(get_arguments(possible_command),new_message.stream );
- else if (check_sum == get_command_checksum)
- this->get_command(get_arguments(possible_command),new_message.stream );
- else if (check_sum == set_temp_command_checksum)
- this->set_temp_command(get_arguments(possible_command),new_message.stream );
-}
-
-// Convert a path indication ( absolute or relative ) into a path ( absolute )
-string SimpleShell::absolute_from_relative( string path ){
- if( path[0] == '/' ){ return path; }
- if( path[0] == '.' ){ return this->current_path; }
- return this->current_path + path;
+ unsigned short check_sum = get_checksum( possible_command.substr(0, possible_command.find_first_of(" \r\n")) ); // todo: put this method somewhere more convenient
+
+ // find command and execute it
+ parse_command(check_sum, get_arguments(possible_command), new_message.stream);
}
// Act upon an ls command
// Convert the first parameter into an absolute path, then list the files in that path
-void SimpleShell::ls_command( string parameters, StreamOutput* stream ){
- string folder = this->absolute_from_relative( parameters );
- DIR* d;
- struct dirent* p;
+void SimpleShell::ls_command( string parameters, StreamOutput *stream )
+{
+ string folder = absolute_from_relative( parameters );
+ DIR *d;
+ struct dirent *p;
d = opendir(folder.c_str());
- if(d != NULL) {
- while((p = readdir(d)) != NULL) { stream->printf("%s\r\n", lc(string(p->d_name)).c_str()); }
+ if (d != NULL) {
+ while ((p = readdir(d)) != NULL) {
+ stream->printf("%s\r\n", lc(string(p->d_name)).c_str());
+ }
closedir(d);
} else {
stream->printf("Could not open directory %s \r\n", folder.c_str());
}
}
+// Delete a file
+void SimpleShell::rm_command( string parameters, StreamOutput *stream )
+{
+ const char *fn= absolute_from_relative(shift_parameter( parameters )).c_str();
+ int s = remove(fn);
+ if (s != 0) stream->printf("Could not delete %s \r\n", fn);
+}
+
// Change current absolute path to provided path
-void SimpleShell::cd_command( string parameters, StreamOutput* stream ){
- string folder = this->absolute_from_relative( parameters );
- if( folder[folder.length()-1] != '/' ){ folder += "/"; }
+void SimpleShell::cd_command( string parameters, StreamOutput *stream )
+{
+ string folder = absolute_from_relative( parameters );
+
DIR *d;
d = opendir(folder.c_str());
- if(d == NULL) {
+ if (d == NULL) {
stream->printf("Could not open directory %s \r\n", folder.c_str() );
- }else{
- this->current_path = folder;
+ } else {
+ THEKERNEL->current_path = folder;
closedir(d);
}
}
// Responds with the present working directory
-void SimpleShell::pwd_command( string parameters, StreamOutput* stream ){
- stream->printf("%s\r\n", this->current_path.c_str());
+void SimpleShell::pwd_command( string parameters, StreamOutput *stream )
+{
+ stream->printf("%s\r\n", THEKERNEL->current_path.c_str());
}
// Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output )
-void SimpleShell::cat_command( string parameters, StreamOutput* stream ){
-
+void SimpleShell::cat_command( string parameters, StreamOutput *stream )
+{
// Get parameters ( filename and line limit )
- string filename = this->absolute_from_relative(shift_parameter( parameters ));
+ string filename = absolute_from_relative(shift_parameter( parameters ));
string limit_paramater = shift_parameter( parameters );
int limit = -1;
- if( limit_paramater != "" )
- {
- char* e = NULL;
+ if ( limit_paramater != "" ) {
+ char *e = NULL;
limit = strtol(limit_paramater.c_str(), &e, 10);
if (e <= limit_paramater.c_str())
limit = -1;
// Open file
FILE *lp = fopen(filename.c_str(), "r");
- if(lp == NULL) {
+ if (lp == NULL) {
stream->printf("File not found: %s\r\n", filename.c_str());
return;
}
string buffer;
int c;
int newlines = 0;
-
+ int linecnt= 0;
// Print each line of the file
- while ((c = fgetc (lp)) != EOF){
+ while ((c = fgetc (lp)) != EOF) {
buffer.append((char *)&c, 1);
- if( char(c) == '\n' ){
+ if ( char(c) == '\n' || ++linecnt > 80) {
newlines++;
stream->puts(buffer.c_str());
buffer.clear();
+ if(linecnt > 80) linecnt= 0;
+ }
+ if ( newlines == limit ) {
+ break;
}
- if( newlines == limit ){ break; }
};
fclose(lp);
}
+// loads the specified config-override file
+void SimpleShell::load_command( string parameters, StreamOutput *stream )
+{
+ // Get parameters ( filename )
+ string filename = absolute_from_relative(parameters);
+ if(filename == "/") {
+ filename = THEKERNEL->config_override_filename();
+ }
+
+ FILE *fp= fopen(filename.c_str(), "r");
+ if(fp != NULL) {
+ char buf[132];
+ stream->printf("Loading config override file: %s...\n", filename.c_str());
+ while(fgets(buf, sizeof buf, fp) != NULL) {
+ stream->printf(" %s", buf);
+ if(buf[0] == ';') continue; // skip the comments
+ struct SerialMessage message= {&(StreamOutput::NullStream), buf};
+ THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message);
+ }
+ stream->printf("config override file executed\n");
+ fclose(fp);
+
+ }else{
+ stream->printf("File not found: %s\n", filename.c_str());
+ }
+}
+
+// saves the specified config-override file
+void SimpleShell::save_command( string parameters, StreamOutput *stream )
+{
+ // Get parameters ( filename )
+ string filename = absolute_from_relative(parameters);
+ if(filename == "/") {
+ filename = THEKERNEL->config_override_filename();
+ }
+
+ // replace stream with one that writes to config-override file
+ FileStream *gs = new FileStream(filename.c_str());
+ if(!gs->is_open()) {
+ stream->printf("Unable to open File %s for write\n", filename.c_str());
+ return;
+ }
+
+ // issue a M500 which will store values in the file stream
+ Gcode *gcode = new Gcode("M500", gs);
+ THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
+ delete gs;
+ delete gcode;
+
+ stream->printf("Settings Stored to %s\r\n", filename.c_str());
+}
+
+// show free memory
+void SimpleShell::mem_command( string parameters, StreamOutput *stream)
+{
+ bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos ;
+ unsigned long heap = (unsigned long)_sbrk(0);
+ unsigned long m = g_maximumHeapAddress - heap;
+ stream->printf("Unused Heap: %lu bytes\r\n", m);
+
+ uint32_t f= heapWalk(stream, verbose);
+ stream->printf("Total Free RAM: %lu bytes\r\n", m + f);
+
+ stream->printf("Free AHB0: %lu, AHB1: %lu\r\n", AHB0.free(), AHB1.free());
+ if (verbose)
+ {
+ AHB0.debug(stream);
+ AHB1.debug(stream);
+ }
+}
+
+static uint32_t getDeviceType()
+{
+#define IAP_LOCATION 0x1FFF1FF1
+ uint32_t command[1];
+ uint32_t result[5];
+ typedef void (*IAP)(uint32_t *, uint32_t *);
+ IAP iap = (IAP) IAP_LOCATION;
+
+ __disable_irq();
+
+ command[0] = 54;
+ iap(command, result);
+
+ __enable_irq();
+
+ return result[1];
+}
+
+// get network config
+void SimpleShell::net_command( string parameters, StreamOutput *stream)
+{
+ void *returned_data;
+ bool ok= THEKERNEL->public_data->get_value( network_checksum, get_ipconfig_checksum, &returned_data );
+ if(ok) {
+ char *str= (char *)returned_data;
+ stream->printf("%s\r\n", str);
+ free(str);
+
+ }else{
+ stream->printf("No network detected\n");
+ }
+}
+
// print out build version
-void SimpleShell::version_command( string parameters, StreamOutput* stream){
+void SimpleShell::version_command( string parameters, StreamOutput *stream)
+{
Version vers;
- stream->printf("Build version: %s, Build date: %s, System Clock: %ldMHz\r\n", vers.get_build(), vers.get_build_date(), SystemCoreClock / 1000000);
+ uint32_t dev = getDeviceType();
+ const char *mcu = (dev & 0x00100000) ? "LPC1769" : "LPC1768";
+ stream->printf("Build version: %s, Build date: %s, MCU: %s, System Clock: %ldMHz\r\n", vers.get_build(), vers.get_build_date(), mcu, SystemCoreClock / 1000000);
}
// Reset the system
-void SimpleShell::reset_command( string parameters, StreamOutput* stream){
+void SimpleShell::reset_command( string parameters, StreamOutput *stream)
+{
stream->printf("Smoothie out. Peace. Rebooting in 5 seconds...\r\n");
- this->reset_delay_secs= 5; // reboot in 5 seconds
+ this->reset_delay_secs = 5; // reboot in 5 seconds
}
// go into dfu boot mode
-void SimpleShell::dfu_command( string parameters, StreamOutput* stream){
+void SimpleShell::dfu_command( string parameters, StreamOutput *stream)
+{
stream->printf("Entering boot mode...\r\n");
system_reset(true);
}
// Break out into the MRI debugging system
-void SimpleShell::break_command( string parameters, StreamOutput* stream){
+void SimpleShell::break_command( string parameters, StreamOutput *stream)
+{
stream->printf("Entering MRI debug mode...\r\n");
__debugbreak();
}
// used to test out the get public data events
-void SimpleShell::get_command( string parameters, StreamOutput* stream){
- int what= get_checksum(shift_parameter( parameters ));
- void *returned_data;
-
- if(what == get_temp_command_checksum) {
- string type= shift_parameter( parameters );
- bool ok= this->kernel->public_data->get_value( temperature_control_checksum, get_checksum(type), current_temperature_checksum, &returned_data );
-
- if(ok) {
- struct pad_temperature temp= *static_cast<struct pad_temperature*>(returned_data);
- stream->printf("%s temp: %f/%f @%d\r\n", type.c_str(), temp.current_temperature, temp.target_temperature, temp.pwm);
- }else{
- stream->printf("%s is not a known temperature device\r\n", type.c_str());
- }
-
- }else if(what == get_pos_command_checksum) {
- bool ok= this->kernel->public_data->get_value( robot_checksum, current_position_checksum, &returned_data );
-
- if(ok) {
- double *pos= static_cast<double *>(returned_data);
- stream->printf("Position X: %f, Y: %f, Z: %f\r\n", pos[0], pos[1], pos[2]);
-
- }else{
- stream->printf("get pos command failed\r\n");
- }
- }
+void SimpleShell::get_command( string parameters, StreamOutput *stream)
+{
+ int what = get_checksum(shift_parameter( parameters ));
+ void *returned_data;
+
+ if (what == get_temp_command_checksum) {
+ string type = shift_parameter( parameters );
+ bool ok = THEKERNEL->public_data->get_value( temperature_control_checksum, get_checksum(type), current_temperature_checksum, &returned_data );
+
+ if (ok) {
+ struct pad_temperature temp = *static_cast<struct pad_temperature *>(returned_data);
+ stream->printf("%s temp: %f/%f @%d\r\n", type.c_str(), temp.current_temperature, temp.target_temperature, temp.pwm);
+ } else {
+ stream->printf("%s is not a known temperature device\r\n", type.c_str());
+ }
+
+ } else if (what == get_pos_command_checksum) {
+ bool ok = THEKERNEL->public_data->get_value( robot_checksum, current_position_checksum, &returned_data );
+
+ if (ok) {
+ float *pos = static_cast<float *>(returned_data);
+ stream->printf("Position X: %f, Y: %f, Z: %f\r\n", pos[0], pos[1], pos[2]);
+
+ } else {
+ stream->printf("get pos command failed\r\n");
+ }
+ }
}
// used to test out the get public data events
-void SimpleShell::set_temp_command( string parameters, StreamOutput* stream){
- string type= shift_parameter( parameters );
- string temp= shift_parameter( parameters );
- double t= temp.empty() ? 0.0 : strtod(temp.c_str(), NULL);
- bool ok= this->kernel->public_data->set_value( temperature_control_checksum, get_checksum(type), &t );
+void SimpleShell::set_temp_command( string parameters, StreamOutput *stream)
+{
+ string type = shift_parameter( parameters );
+ string temp = shift_parameter( parameters );
+ float t = temp.empty() ? 0.0 : strtof(temp.c_str(), NULL);
+ bool ok = THEKERNEL->public_data->set_value( temperature_control_checksum, get_checksum(type), &t );
- if(ok) {
+ if (ok) {
stream->printf("%s temp set to: %3.1f\r\n", type.c_str(), t);
- }else{
+ } else {
stream->printf("%s is not a known temperature device\r\n", type.c_str());
}
}
-void SimpleShell::help_command( string parameters, StreamOutput* stream ){
+void SimpleShell::help_command( string parameters, StreamOutput *stream )
+{
stream->printf("Commands:\r\n");
stream->printf("version\r\n");
+ stream->printf("mem [-v]\r\n");
stream->printf("ls [folder]\r\n");
stream->printf("cd folder\r\n");
- stream->printf("pwd\r\n");
+ stream->printf("pwd\r\n");
stream->printf("cat file [limit]\r\n");
- stream->printf("play file [-q]\r\n");
+ stream->printf("rm file\r\n");
+ stream->printf("play file [-v]\r\n");
stream->printf("progress - shows progress of current play\r\n");
stream->printf("abort - abort currently playing file\r\n");
- stream->printf("reset - reset smoothie\r\n");
- stream->printf("dfu - enter dfu boot loader\r\n");
- stream->printf("break - break into debugger\r\n");
+ stream->printf("reset - reset smoothie\r\n");
+ stream->printf("dfu - enter dfu boot loader\r\n");
+ stream->printf("break - break into debugger\r\n");
stream->printf("config-get [<configuration_source>] <configuration_setting>\r\n");
stream->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n");
stream->printf("config-load [<file_name>]\r\n");
stream->printf("get temp [bed|hotend]\r\n");
stream->printf("set_temp bed|hotend 185\r\n");
- stream->printf("get pos\r\n");
+ stream->printf("get pos\r\n");
+ stream->printf("net\r\n");
+ stream->printf("load [file] - loads a configuration override file from soecified name or config-override\r\n");
+ stream->printf("save [file] - saves a configuration override file as specified filename or as config-override\r\n");
}
HCoop / clinton / Smoothieware.git / blobdiff