mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-13 03:20:00 +03:00
9b48d45bca
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
274 lines
9.2 KiB
C
Executable file
274 lines
9.2 KiB
C
Executable file
#include "board.h"
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#include "mw.h"
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// signal that we're in cli mode
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uint8_t cliMode = 0;
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void serialize16(int16_t a)
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{
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uartWrite(a);
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uartWrite(a >> 8 & 0xff);
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}
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void serialize8(uint8_t a)
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{
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uartWrite(a);
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}
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void UartSendData()
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{
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// Data transmission acivated when the ring is not empty
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}
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void serialCom(void)
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{
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uint8_t i;
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// in cli mode, all uart stuff goes to here. enter cli mode by sending #
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if (cliMode) {
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cliProcess();
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return;
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}
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if (uartAvailable()) {
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switch (uartRead()) {
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case '#':
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uartPrint("\r\nEntering CLI Mode, type 'exit' to return\r\n");
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cliMode = 1;
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break;
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#ifdef BTSERIAL
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case 'K': //receive RC data from Bluetooth Serial adapter as a remote
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rcData[THROTTLE] = (SerialRead(0) * 4) + 1000;
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rcData[ROLL] = (SerialRead(0) * 4) + 1000;
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rcData[PITCH] = (SerialRead(0) * 4) + 1000;
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rcData[YAW] = (SerialRead(0) * 4) + 1000;
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rcData[AUX1] = (SerialRead(0) * 4) + 1000;
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break;
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#endif
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#ifdef LCD_TELEMETRY
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case 'A': // button A press
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case '1':
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if (telemetry == 1)
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telemetry = 0;
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else {
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telemetry = 1;
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LCDclear();
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}
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break;
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case 'B': // button B press
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case '2':
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if (telemetry == 2)
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telemetry = 0;
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else {
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telemetry = 2;
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LCDclear();
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}
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break;
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case 'C': // button C press
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case '3':
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if (telemetry == 3)
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telemetry = 0;
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else {
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telemetry = 3;
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LCDclear();
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#if defined(LOG_VALUES) && defined(DEBUG)
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cycleTimeMax = 0; // reset min/max on transition on->off
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cycleTimeMin = 65535;
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#endif
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}
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break;
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case 'D': // button D press
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case '4':
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if (telemetry == 4)
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telemetry = 0;
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else {
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telemetry = 4;
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LCDclear();
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}
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break;
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case '5':
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if (telemetry == 5)
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telemetry = 0;
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else {
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telemetry = 5;
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LCDclear();
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}
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break;
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case '6':
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if (telemetry == 6)
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telemetry = 0;
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else {
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telemetry = 6;
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LCDclear();
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}
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break;
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case '7':
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if (telemetry == 7)
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telemetry = 0;
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else {
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telemetry = 7;
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LCDclear();
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}
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break;
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#if defined(LOG_VALUES) && defined(DEBUG)
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case 'R':
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//Reset logvalues
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if (telemetry == 'R')
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telemetry = 0;
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else {
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telemetry = 'R';
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LCDclear();
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}
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break;
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#endif
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#ifdef DEBUG
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case 'F':
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{
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if (telemetry == 'F')
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telemetry = 0;
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else {
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telemetry = 'F';
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LCDclear();
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}
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break;
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}
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#endif
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case 'a': // button A release
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case 'b': // button B release
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case 'c': // button C release
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case 'd': // button D release
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break;
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#endif
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case 'M': // Multiwii @ arduino to GUI all data
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serialize8('M');
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serialize8(VERSION); // MultiWii Firmware version
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for (i = 0; i < 3; i++)
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serialize16(accSmooth[i]);
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for (i = 0; i < 3; i++)
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serialize16(gyroData[i]);
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for (i = 0; i < 3; i++)
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serialize16(magADC[i]);
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serialize16(EstAlt);
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serialize16(heading); // compass
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for (i = 0; i < 8; i++)
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serialize16(servo[i]);
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for (i = 0; i < 8; i++)
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serialize16(motor[i]);
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for (i = 0; i < 8; i++)
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serialize16(rcData[i]);
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serialize8(sensors(SENSOR_ACC) << 1 | sensors(SENSOR_BARO) << 2 | sensors(SENSOR_MAG) << 3 | sensors(SENSOR_GPS) << 4);
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serialize8(accMode | baroMode << 1 | magMode << 2 | (GPSModeHome | GPSModeHold) << 3);
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#if defined(LOG_VALUES)
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serialize16(cycleTimeMax);
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cycleTimeMax = 0;
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#else
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serialize16(cycleTime);
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#endif
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serialize16(i2cGetErrorCounter());
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for (i = 0; i < 2; i++)
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serialize16(angle[i]);
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serialize8(cfg.mixerConfiguration);
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for (i = 0; i < PIDITEMS; i++) {
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serialize8(cfg.P8[i]);
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serialize8(cfg.I8[i]);
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serialize8(cfg.D8[i]);
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}
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serialize8(cfg.rcRate8);
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serialize8(cfg.rcExpo8);
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serialize8(cfg.rollPitchRate);
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serialize8(cfg.yawRate);
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serialize8(cfg.dynThrPID);
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for (i = 0; i < CHECKBOXITEMS; i++) {
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serialize8(cfg.activate1[i]);
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serialize8(cfg.activate2[i] | (rcOptions[i] << 7)); // use highest bit to transport state in mwc
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}
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serialize16(GPS_distanceToHome);
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serialize16(GPS_directionToHome);
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serialize8(GPS_numSat);
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serialize8(GPS_fix);
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serialize8(GPS_update);
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serialize16(intPowerMeterSum);
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serialize16(intPowerTrigger1);
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serialize8(vbat);
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serialize16(BaroAlt / 10); // 4 variables are here for general monitoring purpose
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serialize16(debug2); // debug2
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serialize16(debug3); // debug3
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serialize16(debug4); // debug4
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serialize8('M');
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// UartSendData();
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break;
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case 'O': // arduino to OSD data - contribution from MIS
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serialize8('O');
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for (i = 0; i < 3; i++)
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serialize16(accSmooth[i]);
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for (i = 0; i < 3; i++)
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serialize16(gyroData[i]);
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serialize16(EstAlt * 10.0f);
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serialize16(heading); // compass - 16 bytes
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for (i = 0; i < 2; i++)
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serialize16(angle[i]); //20
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for (i = 0; i < 6; i++)
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serialize16(motor[i]); //32
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for (i = 0; i < 6; i++) {
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serialize16(rcData[i]);
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} //44
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serialize8(sensors(SENSOR_ACC) << 1 | sensors(SENSOR_BARO) << 2 | sensors(SENSOR_MAG) << 3);
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serialize8(accMode | baroMode << 1 | magMode << 2);
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serialize8(vbat); // Vbatt 47
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serialize8(VERSION); // MultiWii Firmware version
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serialize8('O'); //49
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// UartSendData();
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break;
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case 'R': // reboot to bootloader (oops, apparently this w as used for other trash, fix later)
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systemReset(true);
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break;
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case 'X': // dynamic mixer
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i = uartReadPoll();
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if (i > 64 && i < 64 + MULTITYPE_LAST) {
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serialize8('O');
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serialize8('K');
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cfg.mixerConfiguration = i - '@'; // A..B..C.. index
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writeParams();
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systemReset(false);
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break;
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}
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serialize8('N');
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serialize8('G');
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break;
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case 'W': //GUI write params to eeprom @ arduino
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// while (uartAvailable() < (7 + 3 * PIDITEMS + 2 * CHECKBOXITEMS)) { }
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for (i = 0; i < PIDITEMS; i++) {
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cfg.P8[i] = uartReadPoll();
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cfg.I8[i] = uartReadPoll();
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cfg.D8[i] = uartReadPoll();
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}
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cfg.rcRate8 = uartReadPoll();
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cfg.rcExpo8 = uartReadPoll(); //2
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cfg.rollPitchRate = uartReadPoll();
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cfg.yawRate = uartReadPoll(); //4
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cfg.dynThrPID = uartReadPoll(); //5
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for (i = 0; i < CHECKBOXITEMS; i++) {
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cfg.activate1[i] = uartReadPoll();
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cfg.activate2[i] = uartReadPoll();
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}
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#if defined(POWERMETER)
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cfg.powerTrigger1 = (uartReadPoll() + 256 * uartReadPoll()) / PLEVELSCALE; // we rely on writeParams() to compute corresponding pAlarm value
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#else
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uartReadPoll();
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uartReadPoll(); //7 so we unload the two bytes
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#endif
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writeParams();
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break;
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case 'S': //GUI to arduino ACC calibration request
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calibratingA = 400;
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break;
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case 'E': //GUI to arduino MAG calibration request
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calibratingM = 1;
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break;
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}
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}
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}
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