betaflight/serial.c

#include "board.h"
#include "mw.h"

void serialize16(int16_t a)
{
    uartWrite(a);
    uartWrite(a >> 8 & 0xff);
}

void serialize8(uint8_t a)
{
    uartWrite(a);
}

void UartSendData()
{                               
    // Data transmission acivated when the ring is not empty
}

void serialCom(void)
{
    int16_t a;
    uint8_t i;

    if (uartAvailable()) {
        switch (uartRead()) {
#ifdef BTSERIAL
        case 'K':              //receive RC data from Bluetooth Serial adapter as a remote
            rcData[THROTTLE] = (SerialRead(0) * 4) + 1000;
            rcData[ROLL] = (SerialRead(0) * 4) + 1000;
            rcData[PITCH] = (SerialRead(0) * 4) + 1000;
            rcData[YAW] = (SerialRead(0) * 4) + 1000;
            rcData[AUX1] = (SerialRead(0) * 4) + 1000;
            break;
#endif
#ifdef LCD_TELEMETRY
        case 'A':              // button A press
        case '1':
            if (telemetry == 1)
                telemetry = 0;
            else {
                telemetry = 1;
                LCDclear();
            }
            break;
        case 'B':              // button B press
        case '2':
            if (telemetry == 2)
                telemetry = 0;
            else {
                telemetry = 2;
                LCDclear();
            }
            break;
        case 'C':              // button C press
        case '3':
            if (telemetry == 3)
                telemetry = 0;
            else {
                telemetry = 3;
                LCDclear();
#if defined(LOG_VALUES) && defined(DEBUG)
                cycleTimeMax = 0;       // reset min/max on transition on->off
                cycleTimeMin = 65535;
#endif
            }
            break;
        case 'D':              // button D press
        case '4':
            if (telemetry == 4)
                telemetry = 0;
            else {
                telemetry = 4;
                LCDclear();
            }
            break;
        case '5':
            if (telemetry == 5)
                telemetry = 0;
            else {
                telemetry = 5;
                LCDclear();
            }
            break;
        case '6':
            if (telemetry == 6)
                telemetry = 0;
            else {
                telemetry = 6;
                LCDclear();
            }
            break;
        case '7':
            if (telemetry == 7)
                telemetry = 0;
            else {
                telemetry = 7;
                LCDclear();
            }
            break;
#if defined(LOG_VALUES) && defined(DEBUG)
        case 'R':
            //Reset logvalues
            if (telemetry == 'R')
                telemetry = 0;
            else {
                telemetry = 'R';
                LCDclear();
            }
            break;
#endif
#ifdef DEBUG
        case 'F':
            {
                if (telemetry == 'F')
                    telemetry = 0;
                else {
                    telemetry = 'F';
                    LCDclear();
                }
                break;
            }
#endif
        case 'a':              // button A release
        case 'b':              // button B release
        case 'c':              // button C release
        case 'd':              // button D release
            break;
#endif
        case 'M':              // Multiwii @ arduino to GUI all data
            serialize8('M');
            serialize8(VERSION);        // MultiWii Firmware version
            for (i = 0; i < 3; i++)
                serialize16(accSmooth[i]);
            for (i = 0; i < 3; i++)
                serialize16(gyroData[i]);
            for (i = 0; i < 3; i++)
                serialize16(magADC[i]);
            serialize16(EstAlt);
            serialize16(heading);       // compass
            for (i = 0; i < 8; i++)
                serialize16(servo[i]);
            for (i = 0; i < 8; i++)
                serialize16(motor[i]);
            for (i = 0; i < 8; i++)
                serialize16(rcData[i]);
            serialize8(sensors(SENSOR_ACC) << 1 | sensors(SENSOR_BARO) << 2 | sensors(SENSOR_MAG) << 3 | sensors(SENSOR_GPS) << 4);
            serialize8(accMode | baroMode << 1 | magMode << 2 | (GPSModeHome | GPSModeHold) << 3);
#if defined(LOG_VALUES)
            serialize16(cycleTimeMax);
            cycleTimeMax = 0;
#else
            serialize16(cycleTime);
#endif
            for (i = 0; i < 2; i++)
                serialize16(angle[i]);
            serialize8(MULTITYPE);
            for (i = 0; i < PIDITEMS; i++) {
                serialize8(P8[i]);
                serialize8(I8[i]);
                serialize8(D8[i]);
            }
            serialize8(rcRate8);
            serialize8(rcExpo8);
            serialize8(rollPitchRate);
            serialize8(yawRate);
            serialize8(dynThrPID);
            for (i = 0; i < CHECKBOXITEMS; i++) {
                serialize8(activate1[i]);
                serialize8(activate2[i]);
            }
            serialize16(GPS_distanceToHome);
            serialize16(GPS_directionToHome);
            serialize8(GPS_numSat);
            serialize8(GPS_fix);
            serialize8(GPS_update);
            serialize16(intPowerMeterSum);
            serialize16(intPowerTrigger1);
            serialize8(vbat);
            serialize16(BaroAlt);       // 4 variables are here for general monitoring purpose
            serialize16(i2c_errors_count);      // debug2
            serialize16(debug3);        // debug3
            serialize16(debug4);        // debug4
            serialize8('M');
            // UartSendData();
            break;
        case 'O':              // arduino to OSD data - contribution from MIS
            serialize8('O');
            for (i = 0; i < 3; i++)
                serialize16(accSmooth[i]);
            for (i = 0; i < 3; i++)
                serialize16(gyroData[i]);
            serialize16(EstAlt * 10.0f);
            serialize16(heading);       // compass - 16 bytes
            for (i = 0; i < 2; i++)
                serialize16(angle[i]);  //20
            for (i = 0; i < 6; i++)
                serialize16(motor[i]);  //32
            for (i = 0; i < 6; i++) {
                serialize16(rcData[i]);
            }                   //44
            serialize8(sensors(SENSOR_ACC) << 1 | sensors(SENSOR_BARO) << 2 | sensors(SENSOR_MAG) << 3);
            serialize8(accMode | baroMode << 1 | magMode << 2);
            serialize8(vbat);   // Vbatt 47
            serialize8(VERSION);        // MultiWii Firmware version
            serialize8('O');    //49
            // UartSendData();
            break;
        case 'R':               // reboot to bootloader
            systemResetToBootloader();
            break;

        case 'W':              //GUI write params to eeprom @ arduino
            // while (uartAvailable() < (7 + 3 * PIDITEMS + 2 * CHECKBOXITEMS)) { }
            for (i = 0; i < PIDITEMS; i++) {
                P8[i] = uartReadPoll();
                I8[i] = uartReadPoll();
                D8[i] = uartReadPoll();
            }
            rcRate8 = uartReadPoll();
            rcExpo8 = uartReadPoll();    //2
            rollPitchRate = uartReadPoll();
            yawRate = uartReadPoll();    //4
            dynThrPID = uartReadPoll();  //5
            for (i = 0; i < CHECKBOXITEMS; i++) {
                activate1[i] = uartReadPoll();
                activate2[i] = uartReadPoll();
            }
#if defined(POWERMETER)
            powerTrigger1 = (uartReadPoll() + 256 * uartReadPoll()) / PLEVELSCALE;        // we rely on writeParams() to compute corresponding pAlarm value
#else
            uartReadPoll();
            uartReadPoll();      //7 so we unload the two bytes
#endif
            writeParams();
            break;
        case 'S':              //GUI to arduino ACC calibration request
            calibratingA = 400;
            break;
        case 'E':              //GUI to arduino MAG calibration request
            calibratingM = 1;
            break;
        }
    }
}