MultiWii на atxmega (не arduino)
Сделать Cli 😃
В смысле?
настройки через терминал
#include "board.h"
#include "mw.h"
// we unset this on 'exit'
extern uint8_t cliMode;
static void cliCMix(char *cmdline);
static void cliDefaults(char *cmdline);
static void cliExit(char *cmdline);
static void cliFeature(char *cmdline);
static void cliHelp(char *cmdline);
static void cliMap(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;
extern uint8_t accHardware;
// from config.c RC Channel mapping
extern const char rcChannelLetters[];
// buffer
static char cliBuffer[48];
static uint32_t bufferIndex = 0;
static float _atof(const char *p);
static char *ftoa(float x, char *floatString);
// sync this with MultiType enum from mw.h
const char *mixerNames[] = {
"TRI", "QUADP", "QUADX", "BI",
"GIMBAL", "Y6", "HEX6",
"FLYING_WING", "Y4", "HEX6X", "OCTOX8", "OCTOFLATP", "OCTOFLATX",
"AIRPLANE", "HELI_120_CCPM", "HELI_90_DEG", "VTAIL4", "CUSTOM", NULL
};
// sync this with AvailableFeatures enum from board.h
const char *featureNames[] = {
"PPM", "VBAT", "INFLIGHT_ACC_CAL", "SPEKTRUM", "MOTOR_STOP",
"SERVO_TILT", "GYRO_SMOOTHING", "LED_RING", "GPS",
"FAILSAFE", "SONAR", "TELEMETRY",
NULL
};
// sync this with AvailableSensors enum from board.h
const char *sensorNames[] = {
"ACC", "BARO", "MAG", "SONAR", "GPS", NULL
};
//
const char *accNames[] = {
"", "ADXL345", "MPU6050", "MMA845x", "LSM330A", NULL
};
typedef struct {
char *name;
char *param;
void (*func)(char *cmdline);
} clicmd_t;
// should be sorted a..z for bsearch()
const clicmd_t cmdTable[] = {
{ "cmix", "design custom mixer", cliCMix },
{ "defaults", "reset to defaults and reboot", cliDefaults },
{ "exit", "", cliExit },
{ "feature", "list or -val or val", cliFeature },
{ "help", "", cliHelp },
{ "map", "mapping of rc channel order", cliMap },
{ "mixer", "mixer name or list", cliMixer },
{ "save", "save and reboot", cliSave },
{ "set", "name=value or blank or * for list", cliSet },
{ "status", "show system status", cliStatus },
{ "version", "", cliVersion },
};
#define CMD_COUNT (sizeof(cmdTable) / sizeof(cmdTable[0]))
typedef enum {
VAR_UINT8,
VAR_INT8,
VAR_UINT16,
VAR_INT16,
VAR_UINT32,
VAR_FLOAT
} vartype_e;
typedef struct {
const char *name;
const uint8_t type; // vartype_e
void *ptr;
const int32_t min;
const int32_t max;
} clivalue_t;
const clivalue_t valueTable[] = {
{ "deadband", VAR_UINT8, &cfg.deadband, 0, 32 },
{ "yawdeadband", VAR_UINT8, &cfg.yawdeadband, 0, 100 },
{ "alt_hold_throttle_neutral", VAR_UINT8, &cfg.alt_hold_throttle_neutral, 1, 250 },
{ "midrc", VAR_UINT16, &cfg.midrc, 1200, 1700 },
{ "minthrottle", VAR_UINT16, &cfg.minthrottle, 0, 2000 },
{ "maxthrottle", VAR_UINT16, &cfg.maxthrottle, 0, 2000 },
{ "mincommand", VAR_UINT16, &cfg.mincommand, 0, 2000 },
{ "mincheck", VAR_UINT16, &cfg.mincheck, 0, 2000 },
{ "maxcheck", VAR_UINT16, &cfg.maxcheck, 0, 2000 },
{ "retarded_arm", VAR_UINT8, &cfg.retarded_arm, 0, 1 },
{ "failsafe_delay", VAR_UINT8, &cfg.failsafe_delay, 0, 200 },
{ "failsafe_off_delay", VAR_UINT8, &cfg.failsafe_off_delay, 0, 200 },
{ "failsafe_throttle", VAR_UINT16, &cfg.failsafe_throttle, 1000, 2000 },
{ "motor_pwm_rate", VAR_UINT16, &cfg.motor_pwm_rate, 50, 498 },
{ "servo_pwm_rate", VAR_UINT16, &cfg.servo_pwm_rate, 50, 498 },
{ "serial_baudrate", VAR_UINT32, &cfg.serial_baudrate, 1200, 115200 },
{ "gps_baudrate", VAR_UINT32, &cfg.gps_baudrate, 1200, 115200 },
{ "spektrum_hires", VAR_UINT8, &cfg.spektrum_hires, 0, 1 },
{ "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 },
{ "tri_yaw_middle", VAR_UINT16, &cfg.tri_yaw_middle, 0, 2000 },
{ "tri_yaw_min", VAR_UINT16, &cfg.tri_yaw_min, 0, 2000 },
{ "tri_yaw_max", VAR_UINT16, &cfg.tri_yaw_max, 0, 2000 },
{ "gimbal_flags", VAR_UINT8, &cfg.gimbal_flags, 0, 255},
{ "gimbal_pitch_gain", VAR_INT8, &cfg.gimbal_pitch_gain, -100, 100 },
{ "gimbal_roll_gain", VAR_INT8, &cfg.gimbal_roll_gain, -100, 100 },
{ "gimbal_pitch_min", VAR_UINT16, &cfg.gimbal_pitch_min, 100, 3000 },
{ "gimbal_pitch_max", VAR_UINT16, &cfg.gimbal_pitch_max, 100, 3000 },
{ "gimbal_pitch_mid", VAR_UINT16, &cfg.gimbal_pitch_mid, 100, 3000 },
{ "gimbal_roll_min", VAR_UINT16, &cfg.gimbal_roll_min, 100, 3000 },
{ "gimbal_roll_max", VAR_UINT16, &cfg.gimbal_roll_max, 100, 3000 },
{ "gimbal_roll_mid", VAR_UINT16, &cfg.gimbal_roll_mid, 100, 3000 },
{ "acc_hardware", VAR_UINT8, &cfg.acc_hardware, 0, 3 },
{ "acc_lpf_factor", VAR_UINT8, &cfg.acc_lpf_factor, 0, 250 },
{ "acc_lpf_for_velocity", VAR_UINT8, &cfg.acc_lpf_for_velocity, 1, 250 },
{ "gyro_lpf", VAR_UINT16, &cfg.gyro_lpf, 0, 256 },
{ "gyro_cmpf_factor", VAR_UINT16, &cfg.gyro_cmpf_factor, 100, 1000 },
{ "mpu6050_scale", VAR_UINT8, &cfg.mpu6050_scale, 0, 1 },
{ "baro_tab_size", VAR_UINT8, &cfg.baro_tab_size, 0, BARO_TAB_SIZE_MAX },
{ "baro_noise_lpf", VAR_FLOAT, &cfg.baro_noise_lpf, 0, 1 },
{ "baro_cf", VAR_FLOAT, &cfg.baro_cf, 0, 1 },
//{ "sonar_tab_size", VAR_UINT8, &cfg.sonar_tab_size, 0, SONAR_TAB_SIZE_MAX },
//{ "sonar_noise_lpf", VAR_FLOAT, &cfg.sonar_noise_lpf, 0, 1 },
// { "sonar_cf", VAR_FLOAT, &cfg.sonar_cf, 0, 1 },
{ "mag_declination", VAR_INT16, &cfg.mag_declination, -18000, 18000 },
{ "gps_type", VAR_UINT8, &cfg.gps_type, 0, 3 },
{ "gps_pos_p", VAR_UINT8, &cfg.P8[PIDPOS], 0, 200 },
{ "gps_pos_i", VAR_UINT8, &cfg.I8[PIDPOS], 0, 200 },
{ "gps_pos_d", VAR_UINT8, &cfg.D8[PIDPOS], 0, 200 },
{ "gps_posr_p", VAR_UINT8, &cfg.P8[PIDPOSR], 0, 200 },
{ "gps_posr_i", VAR_UINT8, &cfg.I8[PIDPOSR], 0, 200 },
{ "gps_posr_d", VAR_UINT8, &cfg.D8[PIDPOSR], 0, 200 },
{ "gps_nav_p", VAR_UINT8, &cfg.P8[PIDNAVR], 0, 200 },
{ "gps_nav_i", VAR_UINT8, &cfg.I8[PIDNAVR], 0, 200 },
{ "gps_nav_d", VAR_UINT8, &cfg.D8[PIDNAVR], 0, 200 },
{ "gps_wp_radius", VAR_UINT16, &cfg.gps_wp_radius, 0, 2000 },
{ "nav_controls_heading", VAR_UINT8, &cfg.nav_controls_heading, 0, 1 },
{ "nav_speed_min", VAR_UINT16, &cfg.nav_speed_min, 10, 2000 },
{ "nav_speed_max", VAR_UINT16, &cfg.nav_speed_max, 10, 2000 },
{ "nav_slew_rate", VAR_UINT8, &cfg.nav_slew_rate, 0, 100 },
{ "looptime", VAR_UINT16, &cfg.looptime, 0, 9000 },
{ "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_alt", VAR_UINT8, &cfg.P8[PIDALT], 0, 200 },
{ "i_alt", VAR_UINT8, &cfg.I8[PIDALT], 0, 200 },
{ "d_alt", VAR_UINT8, &cfg.D8[PIDALT], 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]))
static void cliSetVar(const clivalue_t *var, const int32_t value);
static void cliPrintVar(const clivalue_t *var, uint32_t full);
#ifndef HAVE_ITOA_FUNCTION
/*
** The following two functions together make up an itoa()
** implementation. Function i2a() is a 'private' function
** called by the public itoa() function.
**
** itoa() takes three arguments:
** 1) the integer to be converted,
** 2) a pointer to a character conversion buffer,
** 3) the radix for the conversion
** which can range between 2 and 36 inclusive
** range errors on the radix default it to base10
** Code from
*/
static char *i2a(unsigned i, char *a, unsigned r)
{
if (i / r > 0)
a = i2a(i / r, a, r);
*a = "0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZ"[i % r];
return a + 1;
}
char *itoa(int i, char *a, int r)
{
if ((r < 2) || (r > 36))
r = 10;
if (i < 0) {
*a = '-';
*i2a(-(unsigned)i, a + 1, r) = 0;
} else
*i2a(i, a, r) = 0;
return a;
}
#endif
////////////////////////////////////////////////////////////////////////////////
// String to Float Conversion
///////////////////////////////////////////////////////////////////////////////
// Simple and fast atof (ascii to float) function.
//
// - Executes about 5x faster than standard MSCRT library atof().
// - An attractive alternative if the number of calls is in the millions.
// - Assumes input is a proper integer, fraction, or scientific format.
// - Matches library atof() to 15 digits (except at extreme exponents).
// - Follows atof() precedent of essentially no error checking.
//
// 09-May-2009 Tom Van Baak (tvb)
//
#define white_space(c) ((c) == ' ' || (c) == '\t')
#define valid_digit(c) ((c) >= '0' && (c) <= '9')
static float _atof(const char *p)
{
int frac = 0;
double sign, value, scale;
// Skip leading white space, if any.
while (white_space(*p) ) {
p += 1;
}
// Get sign, if any.
sign = 1.0;
if (*p == '-') {
sign = -1.0;
p += 1;
} else if (*p == '+') {
p += 1;
}
// Get digits before decimal point or exponent, if any.
value = 0.0;
while (valid_digit(*p)) {
value = value * 10.0 + (*p - '0');
p += 1;
}
// Get digits after decimal point, if any.
if (*p == '.') {
double pow10 = 10.0;
p += 1;
while (valid_digit(*p)) {
value += (*p - '0') / pow10;
pow10 *= 10.0;
p += 1;
}
}
// Handle exponent, if any.
scale = 1.0;
if ((*p == 'e') || (*p == 'E')) {
unsigned int expon;
p += 1;
// Get sign of exponent, if any.
frac = 0;
if (*p == '-') {
frac = 1;
p += 1;
} else if (*p == '+') {
p += 1;
}
// Get digits of exponent, if any.
expon = 0;
while (valid_digit(*p)) {
expon = expon * 10 + (*p - '0');
p += 1;
}
if (expon > 308) expon = 308;
// Calculate scaling factor.
while (expon >= 50) { scale *= 1E50; expon -= 50; }
while (expon >= 8) { scale *= 1E8; expon -= 8; }
while (expon > 0) { scale *= 10.0; expon -= 1; }
}
// Return signed and scaled floating point result.
return sign * (frac ? (value / scale) : (value * scale));
}
///////////////////////////////////////////////////////////////////////////////
// FTOA
///////////////////////////////////////////////////////////////////////////////
static char *ftoa(float x, char *floatString)
{
int32_t value;
char intString1[12];
char intString2[12] = { 0, };
char *decimalPoint = ".";
uint8_t dpLocation;
if (x > 0) // Rounding for display format
x += 0.0005f;
else
x -= 0.0005f;
value = (int32_t) (x * 1000.0f); // Convert float * 1000 to an integer
itoa(abs(value), intString1, 10); // Create string from abs of integer value
if (value >= 0)
intString2[0] = ' '; // Positive number, add a pad space
else
intString2[0] = '-'; // Negative number, add a negative sign
if (strlen(intString1) == 1) {
intString2[1] = '0';
intString2[2] = '0';
intString2[3] = '0';
strcat(intString2, intString1);
} else if (strlen(intString1) == 2) {
intString2[1] = '0';
intString2[2] = '0';
strcat(intString2, intString1);
} else if (strlen(intString1) == 3) {
intString2[1] = '0';
strcat(intString2, intString1);
} else {
strcat(intString2, intString1);
}
dpLocation = strlen(intString2) - 3;
strncpy(floatString, intString2, dpLocation);
floatString[dpLocation] = '\0';
strcat(floatString, decimalPoint);
strcat(floatString, intString2 + dpLocation);
return floatString;
}
static void cliPrompt(void)
{
uartPrint("\r\n# ");
}
static int cliCompare(const void *a, const void *b)
{
const clicmd_t *ca = a, *cb = b;
return strncasecmp(ca->name, cb->name, strlen(cb->name));
}
static void cliCMix(char *cmdline)
{
int i, check = 0;
int num_motors = 0;
uint8_t len;
char buf[16];
float mixsum[3];
char *ptr;
len = strlen(cmdline);
if (len == 0) {
uartPrint("Custom mixer: \r\nMotor\tThr\tRoll\tPitch\tYaw\r\n");
for (i = 0; i < MAX_MOTORS; i++) {
if (cfg.customMixer[i].throttle == 0.0f)
break;
mixsum[i] = 0.0f;
num_motors++;
printf("#%d:\t", i + 1);
printf("%s\t", ftoa(cfg.customMixer[i].throttle, buf));
printf("%s\t", ftoa(cfg.customMixer[i].roll, buf));
printf("%s\t", ftoa(cfg.customMixer[i].pitch, buf));
printf("%s\r\n", ftoa(cfg.customMixer[i].yaw, buf));
}
for (i = 0; i < num_motors; i++) {
mixsum[0] += cfg.customMixer[i].roll;
mixsum[1] += cfg.customMixer[i].pitch;
mixsum[2] += cfg.customMixer[i].yaw;
}
uartPrint("Sanity check:\t");
for (i = 0; i < 3; i++)
uartPrint(fabs(mixsum[i]) > 0.01f ? "NG\t" : "OK\t");
uartPrint("\r\n");
return;
} else if (strncasecmp(cmdline, "load", 4) == 0) {
ptr = strchr(cmdline, ' ');
if (ptr) {
len = strlen(++ptr);
for (i = 0; ; i++) {
if (mixerNames[i] == NULL) {
uartPrint("Invalid mixer type...\r\n");
break;
}
if (strncasecmp(ptr, mixerNames[i], len) == 0) {
mixerLoadMix(i);
printf("Loaded %s mix...\r\n", mixerNames[i]);
cliCMix("");
break;
}
}
}
} else {
ptr = cmdline;
i = atoi(ptr); // get motor number
if (--i < MAX_MOTORS) {
ptr = strchr(ptr, ' ');
if (ptr) {
cfg.customMixer[i].throttle = _atof(++ptr);
check++;
}
ptr = strchr(ptr, ' ');
if (ptr) {
cfg.customMixer[i].roll = _atof(++ptr);
check++;
}
ptr = strchr(ptr, ' ');
if (ptr) {
cfg.customMixer[i].pitch = _atof(++ptr);
check++;
}
ptr = strchr(ptr, ' ');
if (ptr) {
cfg.customMixer[i].yaw = _atof(++ptr);
check++;
}
if (check != 4) {
uartPrint("Wrong number of arguments, needs idx thr roll pitch yaw\r\n");
} else {
cliCMix("");
}
} else {
printf("Motor number must be between 1 and %d\r\n", MAX_MOTORS);
}
}
}
static void cliDefaults(char *cmdline)
{
uartPrint("Resetting to defaults...\r\n");
checkFirstTime(true);
uartPrint("Rebooting...");
delay(10);
systemReset(false);
}
static void cliExit(char *cmdline)
{
uartPrint("\r\nLeaving CLI mode...\r\n");
memset(cliBuffer, 0, sizeof(cliBuffer));
bufferIndex = 0;
cliMode = 0;
// save and reboot... I think this makes the most sense
cliSave(cmdline);
}
static void cliFeature(char *cmdline)
{
uint32_t i;
uint32_t len;
uint32_t mask;
len = strlen(cmdline);
mask = featureMask();
if (len == 0) {
uartPrint("Enabled features: ");
for (i = 0; ; i++) {
if (featureNames[i] == NULL)
break;
if (mask & (1 << i))
printf("%s ", featureNames[i]);
}
uartPrint("\r\n");
} else if (strncasecmp(cmdline, "list", len) == 0) {
uartPrint("Available features: ");
for (i = 0; ; i++) {
if (featureNames[i] == NULL)
break;
printf("%s ", featureNames[i]);
}
uartPrint("\r\n");
return;
} else {
bool remove = false;
if (cmdline[0] == '-') {
// remove feature
remove = true;
cmdline++; // skip over -
len--;
}
for (i = 0; ; i++) {
if (featureNames[i] == NULL) {
uartPrint("Invalid feature name...\r\n");
break;
}
if (strncasecmp(cmdline, featureNames[i], len) == 0) {
if (remove) {
featureClear(1 << i);
uartPrint("Disabled ");
} else {
featureSet(1 << i);
uartPrint("Enabled ");
}
printf("%s\r\n", featureNames[i]);
break;
}
}
}
}
static void cliHelp(char *cmdline)
{
uint32_t i = 0;
uartPrint("Available commands:\r\n");
for (i = 0; i < CMD_COUNT; i++)
printf("%s\t%s\r\n", cmdTable[i].name, cmdTable[i].param);
}
static void cliMap(char *cmdline)
{
uint32_t len;
uint32_t i;
char out[9];
len = strlen(cmdline);
if (len == 8) {
// uppercase it
for (i = 0; i < 8; i++)
cmdline[i] = toupper(cmdline[i]);
for (i = 0; i < 8; i++) {
if (strchr(rcChannelLetters, cmdline[i]) && !strchr(cmdline + i + 1, cmdline[i]))
continue;
uartPrint("Must be any order of AETR1234\r\n");
return;
}
parseRcChannels(cmdline);
}
uartPrint("Current assignment: ");
for (i = 0; i < 8; i++)
out[cfg.rcmap[i]] = rcChannelLetters[i];
out[i] = '\0';
printf("%s\r\n", out);
}
static void cliMixer(char *cmdline)
{
uint8_t i;
uint8_t len;
len = strlen(cmdline);
if (len == 0) {
printf("Current mixer: %s\r\n", mixerNames[cfg.mixerConfiguration - 1]);
return;
} else if (strncasecmp(cmdline, "list", len) == 0) {
uartPrint("Available mixers: ");
for (i = 0; ; i++) {
if (mixerNames[i] == NULL)
break;
printf("%s ", mixerNames[i]);
}
uartPrint("\r\n");
return;
}
for (i = 0; ; i++) {
if (mixerNames[i] == NULL) {
uartPrint("Invalid mixer type...\r\n");
break;
}
if (strncasecmp(cmdline, mixerNames[i], len) == 0) {
cfg.mixerConfiguration = i + 1;
printf("Mixer set to %s\r\n", mixerNames[i]);
break;
}
}
}
static void cliSave(char *cmdline)
{
uartPrint("Saving...");
writeParams(0);
uartPrint("\r\nRebooting...");
delay(10);
systemReset(false);
}
static void cliPrintVar(const clivalue_t *var, uint32_t full)
{
int32_t value = 0;
char buf[8];
switch (var->type) {
case VAR_UINT8:
value = *(uint8_t *)var->ptr;
break;
case VAR_INT8:
value = *(int8_t *)var->ptr;
break;
case VAR_UINT16:
value = *(uint16_t *)var->ptr;
break;
case VAR_INT16:
value = *(int16_t *)var->ptr;
break;
case VAR_UINT32:
value = *(uint32_t *)var->ptr;
break;
case VAR_FLOAT:
printf("%s", ftoa(*(float *)var->ptr, buf));
if (full) {
printf(" %s", ftoa((float)var->min, buf));
printf(" %s", ftoa((float)var->max, buf));
}
return; // return from case for float only
}
printf("%d", value);
if (full)
printf(" %d %d", var->min, var->max);
}
static void cliSetVar(const clivalue_t *var, const int32_t value)
{
switch (var->type) {
case VAR_UINT8:
case VAR_INT8:
*(char *)var->ptr = (char)value;
break;
case VAR_UINT16:
case VAR_INT16:
*(short *)var->ptr = (short)value;
break;
case VAR_UINT32:
*(int *)var->ptr = (int)value;
break;
case VAR_FLOAT:
*(float *)var->ptr = *(float *)&value;
break;
}
}
static void cliSet(char *cmdline)
{
uint32_t i;
uint32_t len;
const clivalue_t *val;
char *eqptr = NULL;
int32_t value = 0;
float valuef = 0;
len = strlen(cmdline);
if (len == 0 || (len == 1 && cmdline[0] == '*')) {
uartPrint("Current settings: \r\n");
for (i = 0; i < VALUE_COUNT; i++) {
val = &valueTable[i];
printf("%s = ", valueTable[i].name);
cliPrintVar(val, len); // when len is 1 (when * is passed as argument), it will print min/max values as well, for gui
uartPrint("\r\n");
}
} else if ((eqptr = strstr(cmdline, "="))) {
// has equal, set var
eqptr++;
len--;
value = atoi(eqptr);
valuef = _atof(eqptr);
for (i = 0; i < VALUE_COUNT; i++) {
val = &valueTable[i];
if (strncasecmp(cmdline, valueTable[i].name, strlen(valueTable[i].name)) == 0) {
// found
if (valuef >= valueTable[i].min && valuef <= valueTable[i].max) { // here we compare the float value since... it should work, RIGHT?
cliSetVar(val, valueTable[i].type == VAR_FLOAT ? *(uint32_t *)&valuef : value); // this is a silly dirty hack. please fix me later.
printf("%s set to ", valueTable[i].name);
cliPrintVar(val, 0);
} else {
uartPrint("ERR: Value assignment out of range\r\n");
}
return;
}
}
uartPrint("ERR: Unknown variable name\r\n");
}
}
static void cliStatus(char *cmdline)
{
uint8_t i;
uint32_t mask;
printf("System Uptime: %d seconds, Voltage: %d * 0.1V (%dS battery)\r\n",
millis() / 1000, vbat, batteryCellCount);
mask = sensorsMask();
uartPrint("Detected sensors: ");
for (i = 0; ; i++) {
if (sensorNames[i] == NULL)
break;
if (mask & (1 << i))
printf("%s ", sensorNames[i]);
}
if (sensors(SENSOR_ACC))
printf("ACCHW: %s", accNames[accHardware]);
uartPrint("\r\n");
printf("Cycle Time: %d, I2C Errors: %d\r\n", cycleTime, i2cGetErrorCounter());
}
static void cliVersion(char *cmdline)
{
uartPrint("Afro32 CLI version 2.0 " __DATE__ " / " __TIME__);
}
void cliProcess(void)
{
if (!cliMode) {
cliMode = 1;
uartPrint("\r\nEntering CLI Mode, type 'exit' to return, or 'help'\r\n");
cliPrompt();
}
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++) {
if (bufferIndex && (strncasecmp(cliBuffer, cmd->name, bufferIndex) != 0))
continue;
if (!pstart)
pstart = cmd;
pend = cmd;
}
if (pstart) { /* Buffer matches one or more commands */
for (; ; bufferIndex++) {
if (pstart->name[bufferIndex] != pend->name[bufferIndex])
break;
if (!pstart->name[bufferIndex]) {
/* Unambiguous -- append a space */
cliBuffer[bufferIndex++] = ' ';
break;
}
cliBuffer[bufferIndex] = pstart->name[bufferIndex];
}
}
if (!bufferIndex || pstart != pend) {
/* Print list of ambiguous matches */
uartPrint("\r\033[K");
for (cmd = pstart; cmd <= pend; cmd++) {
uartPrint(cmd->name);
uartWrite('\t');
}
cliPrompt();
i = 0; /* Redraw prompt */
}
for (; i < bufferIndex; i++)
uartWrite(cliBuffer[i]);
} else if (!bufferIndex && c == 4) {
cliExit(cliBuffer);
return;
} else if (c == 12) {
// clear screen
uartPrint("\033[2J\033[1;1H");
cliPrompt();
} else if (bufferIndex && (c == '\n' || c == '\r')) {
// enter pressed
clicmd_t *cmd = NULL;
clicmd_t target;
uartPrint("\r\n");
cliBuffer[bufferIndex] = 0; // null terminate
= cliBuffer;
target.param = NULL;
cmd = bsearch(&target, cmdTable, CMD_COUNT, sizeof cmdTable[0], cliCompare);
if (cmd)
cmd->func(cliBuffer + strlen(cmd->name) + 1);
else
uartPrint("ERR: Unknown command, try 'help'");
memset(cliBuffer, 0, sizeof(cliBuffer));
bufferIndex = 0;
// 'exit' will reset this flag, so we don't need to print prompt again
if (!cliMode)
return;
cliPrompt();
} else if (c == 127) {
// backspace
if (bufferIndex) {
cliBuffer[--bufferIndex] = 0;
uartPrint("\010 \010");
}
} else if (bufferIndex < sizeof(cliBuffer) && c >= 32 && c <= 126) {
if (!bufferIndex && c == 32)
continue;
cliBuffer[bufferIndex++] = c;
uartWrite(c);
}
}
}
Тогда уж лучше поддержку Mavlink сделать 😃 Как бонус, имеем хорошую Ground Station под все виды ОСей, дешевое OSD и телеметрию.
qgroundcontrol.org/mavlink/start
Вот контроллеры которые его поддерживают:
ArduPilotMega (main protocol)
pxIMU Autopilot (main protocol)
SLUGS Autopilot (main protocol)
FLEXIPILOT (optional protocol)
UAVDevBoard/Gentlenav/MatrixPilot (optional protocol)
SenseSoar Autopilot (main protocol)
вопрос скорее всего обсуждался, но рискну спросить - можно ли логику ESC переложить на CPU? вывести только сигналы управления ключами, возможно через какие-то простенькие преобразователи сигналов (2 в 10 и тп).
плюсы-минусы подобного решения?
плюсы-минусы подобного решения?
одни сплошные минусы - на один движок по хорошему нужно 6 ШИМ каналов + вход компаратора, умножаем на кол-во движков и получаем хрень… к тому же полетному процу необходимо и другие дела делать