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renamed orient to align for sensor orientation

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implemented battery cell count auto detect (DJI, you can steal this source from me for your next product). automatically finds 2S..6S battery, and sets warning voltage accordingly
added new battery config -related stuff in cli, min/max cell voltage for non-lipo users. Defaults for lipo are 4.3V/cell (max) and 3.3V/cell (min).
added pid setting stuff into cli from nicodh
added 'status' command to cli to print out system info.
added build date/time to 'version' in cli, to track down stupid users.
config version bumped, settings are cleared again.
refactored battery voltage stuff a bit, and got rid of 3 levels of warnings. don't see any benefit at all.


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@121 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-03-20 14:54:26 +00:00
parent 8bcbf5e41e
commit c526d2f3b9
13 changed files with 2612 additions and 2350 deletions
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47
src/cli.c
View file

@ -10,8 +10,12 @@ static void cliHelp(char *cmdline);
static void cliMixer(char *cmdline);
static void cliSave(char *cmdline);
static void cliSet(char *cmdline);
static void cliStatus(char *cmdline);
static void cliVersion(char *cmdline);
// from sensors.c
extern uint8_t batteryCellCount;
// buffer
static char cliBuffer[32];
static uint8_t bufferIndex = 0;
@ -46,6 +50,7 @@ const clicmd_t cmdTable[] = {
{ "mixer", "mixer name or list", cliMixer },
{ "save", "save and reboot", cliSave },
{ "set", "name=value or blank for list", cliSet },
{ "status", "show system status", cliStatus },
{ "version", "", cliVersion },
};
#define CMD_COUNT (sizeof(cmdTable) / sizeof(cmdTable[0]))
@ -74,6 +79,8 @@ const clivalue_t valueTable[] = {
{ "mincheck", VAR_UINT16, &cfg.mincheck, 0, 2000 },
{ "maxcheck", VAR_UINT16, &cfg.maxcheck, 0, 2000 },
{ "vbatscale", VAR_UINT8, &cfg.vbatscale, 10, 200 },
{ "vbatmaxcellvoltage", VAR_UINT8, &cfg.vbatmaxcellvoltage, 10, 50 },
{ "vbatmincellvoltage", VAR_UINT8, &cfg.vbatmincellvoltage, 10, 50 },
{ "yaw_direction", VAR_INT8, &cfg.yaw_direction, -1, 1 },
{ "wing_left_mid", VAR_UINT16, &cfg.wing_left_mid, 0, 2000 },
{ "wing_right_mid", VAR_UINT16, &cfg.wing_right_mid, 0, 2000 },
@ -82,6 +89,18 @@ const clivalue_t valueTable[] = {
{ "tri_yaw_max", VAR_UINT16, &cfg.tri_yaw_max, 0, 2000 },
{ "tilt_pitch_prop", VAR_INT8, &cfg.tilt_pitch_prop, -100, 100 },
{ "tilt_roll_prop", VAR_INT8, &cfg.tilt_roll_prop, -100, 100 },
{ "p_pitch", VAR_UINT8, &cfg.P8[PITCH], 0, 200},
{ "i_pitch", VAR_UINT8, &cfg.I8[PITCH], 0, 200},
{ "d_pitch", VAR_UINT8, &cfg.D8[PITCH], 0, 200},
{ "p_roll", VAR_UINT8, &cfg.P8[ROLL], 0, 200},
{ "i_roll", VAR_UINT8, &cfg.I8[ROLL], 0, 200},
{ "d_roll", VAR_UINT8, &cfg.D8[ROLL], 0, 200},
{ "p_yaw", VAR_UINT8, &cfg.P8[YAW], 0, 200},
{ "i_yaw", VAR_UINT8, &cfg.I8[YAW], 0, 200},
{ "d_yaw", VAR_UINT8, &cfg.D8[YAW], 0, 200},
{ "p_level", VAR_UINT8, &cfg.P8[PIDLEVEL], 0, 200},
{ "i_level", VAR_UINT8, &cfg.I8[PIDLEVEL], 0, 200},
{ "d_level", VAR_UINT8, &cfg.D8[PIDLEVEL], 0, 200},
};
#define VALUE_COUNT (sizeof(valueTable) / sizeof(valueTable[0]))
@ -365,9 +384,31 @@ static void cliSet(char *cmdline)
}
}
static void cliStatus(char *cmdline)
{
char buf[16];
uartPrint("System Uptime: ");
itoa(millis() / 1000, buf, 10);
uartPrint(buf);
uartPrint(" seconds, Voltage: ");
itoa(vbat, buf, 10);
uartPrint(buf);
uartPrint(" * 0.1V (");
itoa(batteryCellCount, buf, 10);
uartPrint(buf);
uartPrint("S battery)\r\n");
uartPrint("Cycle Time: ");
itoa(cycleTime, buf, 10);
uartPrint(buf);
uartPrint(", I2C Errors: ");
itoa(i2cGetErrorCounter(), buf, 10);
uartPrint(buf);
uartPrint("\r\n");
}
static void cliVersion(char *cmdline)
{
uartPrint("Afro32 CLI version 2.0-pre3");
uartPrint("Afro32 CLI version 2.0-pre3 " __DATE__ " / " __TIME__);
}
void cliProcess(void)
@ -380,8 +421,8 @@ void cliProcess(void)
while (uartAvailable()) {
uint8_t c = uartRead();
if (c == '\t' || c == '?') {
// do tab completion
const clicmd_t *cmd, *pstart = NULL, *pend = NULL;
int i = bufferIndex;
for (cmd = cmdTable; cmd < cmdTable + CMD_COUNT; cmd++) {
@ -406,7 +447,7 @@ void cliProcess(void)
if (!bufferIndex || pstart != pend) {
/* Print list of ambiguous matches */
uartPrint("\r\033[K");
for (cmd = pstart;cmd <= pend;cmd++) {
for (cmd = pstart; cmd <= pend; cmd++) {
uartPrint(cmd->name);
uartWrite('\t');
}