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#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();
}
}
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