trashed old eeprom config struct and retarded eeprom code. replaced with config_t stuff to allow more dynamic changes

implemented cli (press # in serial to enter it). no commands except exit/version yet.
added uartPrint
fixed bug in task switching with missing breaks - was failing baro and perhaps mag readings
dynamic yaw direction, camtilt feature, camtrig feature.

ported some of 2.0-pre1 features:
* gyro smoothing
* baro/althold cleanup


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@102 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61

cli.c

@@ -0,0 +1,117 @@
+#include "board.h"
+#include "mw.h"
+
+// we unset this on 'exit'
+extern uint8_t cliMode;
+static void cliExit(char *cmdline);
+static void cliHelp(char *cmdline);
+static void cliVersion(char *cmdline);
+
+// buffer
+char cliBuffer[32];
+uint8_t bufferIndex = 0;
+
+typedef struct {
+    char *name;
+    char *param;
+    void (*func)(char *cmdline);
+} cliCmd;
+
+// should be sorted a..z for bsearch()
+const cliCmd cmdTable[] = {
+    { "exit", "", cliExit },
+    { "help", "", cliHelp },
+    { "version", "", cliVersion },
+};
+#define CMD_COUNT (sizeof cmdTable / sizeof cmdTable[0])
+
+static void cliPrompt(void)
+{
+    uartPrint("\r\n# ");
+    memset(cliBuffer, 0, sizeof(cliBuffer));
+    bufferIndex = 0;
+}
+
+static int cliCompare(const void *a, const void *b)
+{
+    const cliCmd *ca = a, *cb = b;
+    return strncasecmp(ca->name, cb->name, strlen(cb->name));
+}
+
+static void cliExit(char *cmdline)
+{
+    uartPrint("Leaving CLI mode...\r\n");
+    memset(cliBuffer, 0, sizeof(cliBuffer));
+    bufferIndex = 0;
+    cliMode = 0;
+}
+
+static void cliHelp(char *cmdline)
+{
+    uint8_t i = 0;
+
+    uartPrint("Available commands:\r\n");    
+
+    for (i = 0; i < CMD_COUNT; i++) {
+    	uartPrint((uint8_t *)cmdTable[i].name);
+    	uartWrite(' ');
+    	uartPrint((uint8_t *)cmdTable[i].param);
+    	uartPrint("\r\n");
+    }
+}
+
+static void cliVersion(char *cmdline)
+{
+    uartPrint("Afro32 CLI version 2.0-pre1");
+}
+
+void cliProcess(void)
+{
+    while (uartAvailable()) {
+        uint8_t c = uartRead();
+
+    	cliBuffer[bufferIndex++] = c;
+        if (bufferIndex == sizeof(cliBuffer)) {
+            bufferIndex--;
+            c = '\n';
+        }
+
+    	if (bufferIndex && (c == '\n' || c == '\r')) {
+            // enter pressed
+            cliCmd *cmd = NULL;
+            cliCmd target;
+    		uartPrint("\r\n");
+            cliBuffer[bufferIndex] = 0; // null terminate
+            
+            target.name = cliBuffer;
+            target.param = NULL;
+            
+            cmd = bsearch(&target, cmdTable, CMD_COUNT, sizeof cmdTable[0], cliCompare);
+            if (cmd)
+                cmd->func(cliBuffer + strlen(cmd->name));
+            else
+                uartPrint("ERR: Unknown command, try 'HELP'");
+
+            // 'exit' will reset this flag, so we don't need to print prompt again
+            if (cliMode)
+    	        cliPrompt();
+
+        } else if (c == 127) {
+            // backspace
+            if (bufferIndex > 1) {
+        		cliBuffer[bufferIndex - 2] = 0;
+        		uartPrint("\r# ");
+        		uartPrint((uint8_t *)cliBuffer);
+        		uartWrite(' ');
+        		uartPrint("\r# ");
+        		uartPrint((uint8_t *)cliBuffer);
+        		bufferIndex -= 2;
+            }
+        } else if (c < 32 || c > 126) {
+            // non-printable ascii
+            bufferIndex--;
+        } else {
+            uartWrite(c);
+        }
+    }
+}