cf934cf6b7
- Add callback_task with ISR-based UART command parser (@command\n protocol) - Add log_printf with mutex protection to prevent printf interleaving - Add per-motor enable/disable (motor enable yaw|pitch) - Add PID tuning via UART (pid roll kp 15) - Add cmd_parser module (registration + tokenize + dispatch) - Add UART layer architecture (interface → HAL → BSP) - Add filter modules (lowpass, moving_average, notch, rate_limiter) - Rewrite I2C bus and UART bus modules - Rewrite PID controller and MF4010V2 motor driver - Fix soft I2C driver Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
52 lines
1.2 KiB
C
52 lines
1.2 KiB
C
#include "cmd_parser.h"
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#include <string.h>
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void cmd_parser_init(cmd_parser_t *parser)
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{
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parser->count = 0;
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}
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int cmd_parser_register(cmd_parser_t *parser, const char *name, cmd_handler_t handler)
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{
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size_t i;
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if (parser->count >= CMD_PARSER_MAX_CMDS) return -1;
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i = strlen(name);
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if (i >= CMD_PARSER_NAME_LEN) i = CMD_PARSER_NAME_LEN - 1;
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memcpy(parser->entries[parser->count].name, name, i);
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parser->entries[parser->count].name[i] = '\0';
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parser->entries[parser->count].handler = handler;
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parser->count++;
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return 0;
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}
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int cmd_parser_dispatch(cmd_parser_t *parser, char *buf, void *ctx)
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{
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char *argv[CMD_PARSER_MAX_ARGS];
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int argc = 0;
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int i;
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char *p = buf;
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while (*p) {
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while (*p == ' ') p++;
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if (*p == '\0') break;
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argv[argc++] = p;
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if (argc >= CMD_PARSER_MAX_ARGS) break;
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while (*p && *p != ' ') p++;
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if (*p) *p++ = '\0';
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}
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if (argc == 0) return -1;
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for (i = 0; i < parser->count; i++) {
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if (strcmp(argv[0], parser->entries[i].name) == 0) {
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return parser->entries[i].handler(ctx, argc, argv);
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}
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}
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return -1;
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}
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