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GPS can now be conditionally compiled in.

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This commit is contained in:
Dominic Clifton 2014-06-28 20:20:16 +09:00
parent b3a718882c
commit 3b629d58a0
19 changed files with 144 additions and 29 deletions
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59
src/main/io/serial_cli.c
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@ -67,7 +67,9 @@ static void cliDefaults(char *cmdline);
static void cliDump(char *cmdLine);
static void cliExit(char *cmdline);
static void cliFeature(char *cmdline);
#ifdef GPS
static void cliGpsPassthrough(char *cmdline);
#endif
static void cliHelp(char *cmdline);
static void cliMap(char *cmdline);
static void cliMixer(char *cmdline);
@ -130,7 +132,9 @@ const clicmd_t cmdTable[] = {
{ "dump", "print configurable settings in a pastable form", cliDump },
{ "exit", "", cliExit },
{ "feature", "list or -val or val", cliFeature },
#ifdef GPS
{ "gpspassthrough", "passthrough gps to serial", cliGpsPassthrough },
#endif
{ "help", "", cliHelp },
{ "map", "mapping of rc channel order", cliMap },
{ "mixer", "mixer name or list", cliMixer },
@ -199,12 +203,31 @@ const clivalue_t valueTable[] = {
{ "reboot_character", VAR_UINT8, &masterConfig.serialConfig.reboot_character, 48, 126 },
{ "msp_baudrate", VAR_UINT32, &masterConfig.serialConfig.msp_baudrate, 1200, 115200 },
{ "cli_baudrate", VAR_UINT32, &masterConfig.serialConfig.cli_baudrate, 1200, 115200 },
#ifdef GPS
{ "gps_baudrate", VAR_UINT32, &masterConfig.serialConfig.gps_baudrate, 0, 115200 },
{ "gps_passthrough_baudrate", VAR_UINT32, &masterConfig.serialConfig.gps_passthrough_baudrate, 1200, 115200 },
{ "gps_provider", VAR_UINT8, &masterConfig.gpsConfig.provider, 0, GPS_PROVIDER_MAX },
{ "gps_sbas_mode", VAR_UINT8, &masterConfig.gpsConfig.sbasMode, 0, SBAS_MODE_MAX },
{ "gps_pos_p", VAR_UINT8, &currentProfile.pidProfile.P8[PIDPOS], 0, 200 },
{ "gps_pos_i", VAR_UINT8, &currentProfile.pidProfile.I8[PIDPOS], 0, 200 },
{ "gps_pos_d", VAR_UINT8, &currentProfile.pidProfile.D8[PIDPOS], 0, 200 },
{ "gps_posr_p", VAR_UINT8, &currentProfile.pidProfile.P8[PIDPOSR], 0, 200 },
{ "gps_posr_i", VAR_UINT8, &currentProfile.pidProfile.I8[PIDPOSR], 0, 200 },
{ "gps_posr_d", VAR_UINT8, &currentProfile.pidProfile.D8[PIDPOSR], 0, 200 },
{ "gps_nav_p", VAR_UINT8, &currentProfile.pidProfile.P8[PIDNAVR], 0, 200 },
{ "gps_nav_i", VAR_UINT8, &currentProfile.pidProfile.I8[PIDNAVR], 0, 200 },
{ "gps_nav_d", VAR_UINT8, &currentProfile.pidProfile.D8[PIDNAVR], 0, 200 },
{ "gps_wp_radius", VAR_UINT16, &currentProfile.gpsProfile.gps_wp_radius, 0, 2000 },
{ "nav_controls_heading", VAR_UINT8, &currentProfile.gpsProfile.nav_controls_heading, 0, 1 },
{ "nav_speed_min", VAR_UINT16, &currentProfile.gpsProfile.nav_speed_min, 10, 2000 },
{ "nav_speed_max", VAR_UINT16, &currentProfile.gpsProfile.nav_speed_max, 10, 2000 },
{ "nav_slew_rate", VAR_UINT8, &currentProfile.gpsProfile.nav_slew_rate, 0, 100 },
#endif
{ "serialrx_provider", VAR_UINT8, &masterConfig.rxConfig.serialrx_provider, 0, SERIALRX_PROVIDER_MAX },
{ "telemetry_provider", VAR_UINT8, &masterConfig.telemetryConfig.telemetry_provider, 0, TELEMETRY_PROVIDER_MAX },
@ -279,21 +302,6 @@ const clivalue_t valueTable[] = {
{ "mag_declination", VAR_INT16, &currentProfile.mag_declination, -18000, 18000 },
{ "gps_pos_p", VAR_UINT8, &currentProfile.pidProfile.P8[PIDPOS], 0, 200 },
{ "gps_pos_i", VAR_UINT8, &currentProfile.pidProfile.I8[PIDPOS], 0, 200 },
{ "gps_pos_d", VAR_UINT8, &currentProfile.pidProfile.D8[PIDPOS], 0, 200 },
{ "gps_posr_p", VAR_UINT8, &currentProfile.pidProfile.P8[PIDPOSR], 0, 200 },
{ "gps_posr_i", VAR_UINT8, &currentProfile.pidProfile.I8[PIDPOSR], 0, 200 },
{ "gps_posr_d", VAR_UINT8, &currentProfile.pidProfile.D8[PIDPOSR], 0, 200 },
{ "gps_nav_p", VAR_UINT8, &currentProfile.pidProfile.P8[PIDNAVR], 0, 200 },
{ "gps_nav_i", VAR_UINT8, &currentProfile.pidProfile.I8[PIDNAVR], 0, 200 },
{ "gps_nav_d", VAR_UINT8, &currentProfile.pidProfile.D8[PIDNAVR], 0, 200 },
{ "gps_wp_radius", VAR_UINT16, &currentProfile.gpsProfile.gps_wp_radius, 0, 2000 },
{ "nav_controls_heading", VAR_UINT8, &currentProfile.gpsProfile.nav_controls_heading, 0, 1 },
{ "nav_speed_min", VAR_UINT16, &currentProfile.gpsProfile.nav_speed_min, 10, 2000 },
{ "nav_speed_max", VAR_UINT16, &currentProfile.gpsProfile.nav_speed_max, 10, 2000 },
{ "nav_slew_rate", VAR_UINT8, &currentProfile.gpsProfile.nav_slew_rate, 0, 100 },
{ "pid_controller", VAR_UINT8, &currentProfile.pidController, 0, 2 },
{ "p_pitch", VAR_UINT8, &currentProfile.pidProfile.P8[PITCH], 0, 200 },
@ -606,12 +614,27 @@ static void cliFeature(char *cmdline)
cliPrint("Invalid feature name...\r\n");
break;
}
if (strncasecmp(cmdline, featureNames[i], len) == 0) {
mask = 1 << i;
#ifndef GPS
if (mask & FEATURE_GPS) {
cliPrint("GPS unavailable\r\n");
break;
}
#endif
#ifndef SONAR
if (mask & FEATURE_SONAR) {
cliPrint("SONAR unavailable\r\n");
break;
}
#endif
if (remove) {
featureClear(1 << i);
featureClear(mask);
cliPrint("Disabled ");
} else {
featureSet(1 << i);
featureSet(mask);
cliPrint("Enabled ");
}
printf("%s\r\n", featureNames[i]);
@ -621,6 +644,7 @@ static void cliFeature(char *cmdline)
}
}
#ifdef GPS
static void cliGpsPassthrough(char *cmdline)
{
gpsEnablePassthroughResult_e result = gpsEnablePassthrough();
@ -638,6 +662,7 @@ static void cliGpsPassthrough(char *cmdline)
break;
}
}
#endif
static void cliHelp(char *cmdline)
{