//-------------------------------------------------------------------
// input: the string contain the command and its length
//-------------------------------------------------------------------
void process_cmd(char* cmd_str, unsigned char cmd_length)
{
if (strcmp(cmd_str,"get_pulse") == 0)
{
show_info();
}
else
{
tx_string("error!\n\r",8);
tx_string(cmd_str, cmd_length);
tx_string("\n\r",2);
}
}
static void MyTask1(void* pvParameters){
char RxBuffer[MaxElementsPerQueue];
UART_Printf("\n\rTask1, Reading the data from queue");
xQueueReceive(MyQueueHandleId,RxBuffer,100);
UART_Printf("\n\rBack in task1, Received data is:");
tx_string(RxBuffer);
vTaskDelete(TaskHandle_1);
}
/*------------------------------------------------------------------------------
// show various data: rx pulses, motor outputs, stats
------------------------------------------------------------------------------*/
void show_info()
{
UINT16 i = 0;
tx_string("\n\r-----------",13);
tx_string("\n\rnum ppm pulse = ",17);
printU16(num_ppm_pulses);
tx_string("\n\r-----------\n\r",15);
for (i=0;i<num_ppm_pulses;i++)
{
tx_string("ch ", 3);
printU8(i+1);
tx_string(" = ", 3);
printU16(ppm_pulses[i]);
tx_string("\n\r",2);
}
}
//-------------------------------------------------------------------
// input: the string contain the command and its length
//-------------------------------------------------------------------
void process_cmd(char* cmd_str, unsigned char cmd_length)
{
if (strcmp(cmd_str,"get_pulse") == 0)
{
show_info();
}
else if (strcmp(cmd_str, "cal_on")==0)
{
mixer_flags |= MIXER_CALIBRATING; //calibrate_on= 1;
copter_config_data.mixer_calibrate = 1;
tx_string("please type: save<enter> and turn off the copter!\n\r",52);
// here is the procedure to do throttle calibration for brushless ESC
// + Take all propellers off the copter. You don't want them to cut your fingers
// + Power up the copter
// + Plug in the programming dongle
// + Type command: "cal_on" (without quote) and enter. Some motor may spin.
// + Green LED will be slow flashing
// + Type command: "save" (without quote) and enter
// + Remove the programming dongle and turn off power to the copter
// + Raise the throttle on the transmitter to the highest position
// + Turn on copter. Green LED will be slow flashing indicating
// copter is in throttle calibration mode. No motor supposes to spin.
// + Wait until you hear the ESC sounds 2 beeps (exact tone depends on your ESC's)
// + Move the throttle stick on TX to lowest position
// + Wait until you hear 2 beeps and then a long confirm beep (depends on ESC)
// + Plug in the dongle, run command "cal_off" enter, and "save" and enter (without quote)
// + Re-program all gyro direction settings or any command you usually do when set up the copter
// + Save the settings and then power cycle the copter. You now can arm/fly as normal.
}
else if (strcmp(cmd_str,"cal_off")==0)
{
mixer_flags &= ~MIXER_CALIBRATING; //calibrate_on= 0;
copter_config_data.mixer_calibrate = 0;
tx_string("please type: save<enter> and then power cycle the copter!\n\r",59);
}
else if (strcmp(cmd_str,"dis_input_on")==0)
{
mixer_flags |= MIXER_DISC_INPUT_ON; //disc_input = 1;
}
else if (strcmp(cmd_str,"dis_input_off")==0)
{
mixer_flags &= ~MIXER_DISC_INPUT_ON; //disc_input = 0;
}
else if (strcmp(cmd_str,"gyro_test_on")==0)
{
mixer_flags |= MIXER_GYRO_TEST_ON;
}
else if (strcmp(cmd_str,"gyro_test_off")==0)
{
mixer_flags &= ~MIXER_GYRO_TEST_ON;
}
else if (strcmp(cmd_str,"gyro_filter_on")==0)
{
mixer_flags |= MIXER_GYRO_FILTER_ON;
}
else if (strcmp(cmd_str,"gyro_filter_off")==0)
{
mixer_flags &= ~MIXER_GYRO_FILTER_ON;
}
else if (strcmp(cmd_str,"debug_on")==0)
{
mixer_flags |= MIXER_PRINT_DEBUG_ON;
}
else if (strcmp(cmd_str,"debug_off")==0)
{
mixer_flags &= ~MIXER_PRINT_DEBUG_ON;
}
else if (strstr(cmd_str,"gyro_gain")!=0)
{
copter_config_data.gyro_gain = parse_value(cmd_str, cmd_length);
// debug
printU16(copter_config_data.gyro_gain);
tx_string("\n\r",2);
}
else if (strstr(cmd_str,"x_bias")!=0)
{
copter_config_data.gain_x_bias = parse_value(cmd_str, cmd_length);
// debug
printU16(copter_config_data.gain_x_bias);
tx_string("\n\r",2);
}
else if (strstr(cmd_str,"y_bias")!=0)
{
copter_config_data.gain_y_bias = parse_value(cmd_str, cmd_length);
// debug
printU16(copter_config_data.gain_y_bias);
tx_string("\n\r",2);
}
else if (strstr(cmd_str,"z_bias")!=0)
{
copter_config_data.gain_z_bias = parse_value(cmd_str, cmd_length);
// debug
printU16(copter_config_data.gain_z_bias);
tx_string("\n\r",2);
}
else if (strstr(cmd_str,"yaw_subtrim")!=0)
{
copter_config_data.yaw_subtrim = parse_value(cmd_str, cmd_length);
// debug
printU16(copter_config_data.yaw_subtrim);
tx_string("\n\r",2);
}
else if (strcmp(cmd_str,"flip_roll")==0)
{
copter_config_data.gyro_dir ^= ROLL_GYRO_DIR;
}
else if (strcmp(cmd_str,"flip_pitch")==0)
{
copter_config_data.gyro_dir ^= PITCH_GYRO_DIR;
}
else if (strcmp(cmd_str,"flip_yaw")==0)
{
copter_config_data.gyro_dir ^= YAW_GYRO_DIR;
}
else if (strcmp(cmd_str,"save")==0)
{
if (sizeof(copter_config_data)>64) /* size of flash segment */
{
tx_string("config too big!\n\r",17);
return;
}
write_flash(FLASH_CONFIG_ADDR, (char*)&copter_config_data, sizeof(copter_config_data));
}
else if (strcmp(cmd_str,"read")==0)
{
read_config_from_flash();
}
else if (strcmp(cmd_str,"clear")==0)
{
clear_stats();
}
else if (strcmp(cmd_str,"kick_adc")==0)
{
start_adc(ADC_ROLL_INCH);
}
else
{
tx_string("error!\n\r",8);
}
}
/*------------------------------------------------------------------------------
// show various data: rx pulses, motor outputs, stats
------------------------------------------------------------------------------*/
void show_info()
{
tx_string("\n\r-----------",13);
tx_string("\n\rail pulse = ",15);
printU16(ail_pulse);
tx_string("\n\rpit pulse = ",15);
printU16(pit_pulse);
tx_string("\n\rthr pulse = ",15);
printU16(thr_pulse);
tx_string("\n\rrud pulse = ",15);
printU16(rud_pulse);
tx_string("\n\rgain pulse= ",15);
printU16(tx_gain_pulse);
tx_string("\n\r-----------",13);
tx_string("\n\radc ail = ",12);
printU16(adc_roll_gyro_val);
tx_string("\n\radc pit = ",12);
printU16(adc_pitch_gyro_val);
tx_string("\n\radc yaw = ",12);
printU16(adc_yaw_gyro_val);
tx_string("\n\rail gyro = ",13);
printU16(neutral_roll_gyro_val);
tx_string("\n\rpit gyro = ",13);
printU16(neutral_pitch_gyro_val);
tx_string("\n\ryaw gyro = ",13);
printU16(neutral_yaw_gyro_val);
tx_string("\n\r--",4);
tx_string("\n\rFr Motor = ",13);
printU16(front_motor);
tx_string("\n\rBk Motor = ",13);
printU16(back_motor);
tx_string("\n\rRt Motor = ",13);
printU16(right_motor);
tx_string("\n\rLt Motor = ",13);
printU16(left_motor);
tx_string("\n\r---",5);
tx_string("\n\rx gyro: ",10); printU16(copter_config_data.min_x_gyro_rate);
tx_string(" - ",3); printU16(copter_config_data.max_x_gyro_rate);
tx_string("\n\ry gyro: ",10); printU16(copter_config_data.min_y_gyro_rate);
tx_string(" - ",3); printU16(copter_config_data.max_y_gyro_rate);
tx_string("\n\rz gyro: ",10); printU16(copter_config_data.min_z_gyro_rate);
tx_string(" - ",3); printU16(copter_config_data.max_z_gyro_rate);
tx_string("\n\rm1: ",6); printU16(copter_config_data.min_m1_pulse);
tx_string(" - ",3); printU16(copter_config_data.max_m1_pulse);
tx_string("\n\rm2: ",6); printU16(copter_config_data.min_m2_pulse);
tx_string(" - ",3); printU16(copter_config_data.max_m2_pulse);
tx_string("\n\rm3: ",6); printU16(copter_config_data.min_m3_pulse);
tx_string(" - ",3); printU16(copter_config_data.max_m3_pulse);
tx_string("\n\rm4: ",6); printU16(copter_config_data.min_m4_pulse);
tx_string(" - ",3); printU16(copter_config_data.max_m4_pulse);
tx_string("\n\r---",5);
tx_string("\n\rmixer flag = ",15); printU16(mixer_flags);
tx_string("\n\rgyro gain = ",15); printU16(tx_gain_pulse - TX_GAIN_OFFSET);
tx_string("\n\r",2);
}
