1 files changed, 134 insertions, 0 deletions
diff --git a/src/serial.cpp b/src/serial.cpp
new file mode 100644
index 0000000..9dfd5d9
--- /dev/null
+++ b/src/serial.cpp
@@ -0,0 +1,134 @@
+#include "serial.hpp"
+#include "portable.h"
+#include "portmacro.h"
+#include <pico/multicore.h>
+#include <pico/stdio.h>
+
+void serial_task( void *pvParameters ) {
+    char *str = (char *) malloc(1024);
+    size_t len = 1024;
+
+    
+    printf("Welcome! :3\n");
+
+    while (1) {
+        printf("# ");
+        stdio_flush();
+
+        size_t n = input_line(str,len);
+        printf("\n");
+        if (n > 0) {
+            for (int i = 0; i < (NUM_BASE_CMDS + num_user_cmds); i++) {
+                if ((i < NUM_BASE_CMDS) && n >= base_commands[i].len && strncmp(str, base_commands[i].name, base_commands[i].len) == 0) {
+                    base_commands[i].function();
+                    break;
+                }
+
+                if ((i >= NUM_BASE_CMDS && ((i - NUM_BASE_CMDS) < num_user_cmds)) && n >= user_commands[i - NUM_BASE_CMDS].len && strncmp(str, user_commands[i - NUM_BASE_CMDS].name, user_commands[i - NUM_BASE_CMDS].len) == 0) {
+                    user_commands[i - NUM_BASE_CMDS].function();
+                    break;
+                }
+                if (i == (NUM_BASE_CMDS + num_user_cmds - 1)) {
+                    printf("Invalid command! Please try again or use 'help' to see the available commands.\n");
+                }
+            }
+        }
+    }
+}
+
+int input_line(char *buffer, size_t len) {
+    size_t n = 0;
+    int c;
+    for (n = 0; n < len - 1; n++) {
+
+        c = getchar_timeout_us(0);
+        switch (c) {
+            case 127: /* fall through to below */
+            case '\b': /* backspace character received */
+                if (n > 0)
+                    n--;
+                buffer[n] = 0;
+                stdio_putchar('\b'); /* output backspace character */
+                stdio_putchar(' ');
+                stdio_putchar('\b');
+                n--; /* set up next iteration to deal with preceding char location */
+                break;
+            case '\n': /* fall through to \r */
+            case '\r':
+                buffer[n] = 0;
+                return n;
+            default:
+                if (c != PICO_ERROR_TIMEOUT && c < 256) {
+                    stdio_putchar(c);
+                    buffer[n] = c;
+                } else {
+                    n--;
+                }
+            break;
+        }
+    }
+    buffer[len - 1] = 0;
+    return 0; // Filled up buffer without reading a linebreak
+}
+
+void info_cmd_func() {
+    extern const char* executeable_name;
+    printf("%s", logo);
+    printf("#####################################################################################\n");
+    printf("#                          \e[0;31mRocketry \e[0;37mat \e[0;33mVirginia Tech\e[0;37m                                #\n");
+    printf("#                         Executeable: %s                       #\n", executeable_name);
+    printf("#####################################################################################\n\n");
+}
+
+void help_cmd_func() {
+    printf("Commands: \n");
+    for (int i = 0; i < NUM_BASE_CMDS; i++) {
+        printf("\t%s\n", base_commands[i].name);
+    }
+
+    for (int i = 0; i < num_user_cmds; i++) {
+        printf("\t%s\n", user_commands[i].name);
+    }
+}
+
+void clear_cmd_func() {
+    printf("%c%c%c%c",0x1B,0x5B,0x32,0x4A);
+}
+
+void top_cmd_func() {
+#if (configGENERATE_RUN_TIME_STATS == 1)
+    UBaseType_t num_tasks = uxTaskGetNumberOfTasks();
+    char* buffer = (char *) malloc( 40 * num_tasks );
+    vTaskGetRunTimeStats(buffer);
+    printf("%s", buffer);
+    free(buffer);
+#endif
+#if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
+    HeapStats_t heap_stats;
+    vPortGetHeapStats(&heap_stats);
+    printf("\n\tAvailable Heap Space In Bytes:\t%d\nSize Of Largest Free Block In Bytes:\t%d\nNumber Of Successful Allocations:\t%d\n", heap_stats.xAvailableHeapSpaceInBytes, heap_stats.xSizeOfLargestFreeBlockInBytes, heap_stats.xNumberOfSuccessfulAllocations);
+#endif
+}
+
+static void reset_cmd_task(void * unused_arg) {
+    reset_cmd_func();
+}
+
+void reset_cmd_func() {
+#define AIRCR_Register (*((volatile uint32_t*)(PPB_BASE + 0x0ED0C)))
+    if (get_core_num() == 0) {
+        vTaskSuspendAll();
+        multicore_reset_core1();
+        printf("\nOn core zero! Going dark!\n");
+        stdio_flush();
+        AIRCR_Register = 0x5FA0004;
+    } else {
+        printf("\nOn core one! Tasking core zero with the reset!\n");
+        stdio_flush();
+        TaskHandle_t reset_task = NULL;
+        vTaskSuspendAll();
+        xTaskCreate(reset_cmd_task, "reset", 256, NULL, (configMAX_PRIORITIES - 1), &reset_task);
+        vTaskCoreAffinitySet( reset_task, 0x01 );
+        xTaskResumeAll();
+    }
+}