void CommHandler(void) //UART4 Interrupt handler implementation
{
int c = GetChar();
if (c >= 0)
{
LEDon();
switch (c)
{
case 'a':
debugAutoPan ^= 1;
print("Autopan messages %s\r\n", debugAutoPan ? "on" : "off");
break;
case 'b':
print("rebooting into boot loader ...\r\n");
Delay_ms(1000);
bootloader();
break;
case 'c':
debugCnt ^= 1;
print("counter messages %s\r\n", debugCnt ? "on" : "off");
break;
case 'd':
debugPrint ^= 1;
print("debug messages %s\r\n", debugPrint ? "on" : "off");
break;
case 'g':
Delay_ms(100);
PutChar('x');
for (int i = 0; i < CONFIGDATASIZE; i++)
{
uint8_t data = configData[i];
PutChar(data);
}
break;
case 'G':
printConfig();
break;
#if 0
case 'H':
if (CharAvailable() >= CONFIGDATASIZE)
{
for (int i = 0; i < CONFIGDATASIZE; i++)
{
uint8_t data = GetChar();
if (data <= LARGEST_CONFIGDATA)
{
configData[i] = data;
}
}
configSave();
}
else
{
UnGetChar(c); // try again in next loop
}
break;
#endif
case 'h':
for (int i = 0; i < CONFIGDATASIZE; i++)
{
int data;
while ((data = GetChar()) < 0)
;
if (data <= LARGEST_CONFIGDATA)
{
configData[i] = data;
}
}
configSave();
break;
case 'i':
ConfigMode = 1;
break;
case 'j':
ConfigMode = 0;
break;
case 'o':
debugOrient ^= 1;
print("Orientation messages %s\r\n", debugOrient ? "on" : "off");
break;
case 'O':
debugGravityVector ^= 1;
print("GVector messages %s\r\n", debugGravityVector ? "on" : "off");
break;
case 'S':
debugSetpoints ^= 1;
print("Setpoints messages %s\r\n", debugSetpoints ? "on" : "off");
break;
case 'p':
debugPerf ^= 1;
print("performance messages %s\r\n", debugPerf ? "on" : "off");
break;
case 'r':
debugRC ^= 1;
print("RC messages %s\r\n", debugRC ? "on" : "off");
break;
case 'R':
print("rebooting...\r\n");
Delay_ms(1000);
reboot();
break;
case 's':
debugSense ^= 1;
print("Sensor messages %s\r\n", debugSense ? "on" : "off");
break;
case 'u':
{
extern int bDeviceState;
printUSART("\r\nYY bDeviceState %3d VCPConnectMode %d\r\n", bDeviceState, GetVCPConnectMode());
break;
}
case 'v':
print("Version: %s\r\n", __EV_VERSION);
break;
case '+':
testPhase += 0.1;
print("test phase output %5.1f\r\n", testPhase);
break;
case '-':
testPhase -= 0.1;
print("test phase output %5.1f\r\n", testPhase);
break;
/*
case '?':
print("CLI documentation\r\n");
// print("\t'+' test phase output increase (now %5.1f)\r\n", testPhase);
//print("\t'-' test phase output decrease (now %5.1f)\r\n", testPhase);
print("\t'a' autopan messages display (now %s)\r\n", debugAutoPan ? "on" : "off");
print("\t'b' reboot into bootloader\r\n");
print("\t'c' counter messages display (now %s)\r\n", debugCnt ? "on" : "off");
print("\t'd' debug messages display (now %s)\r\n", debugPrint ? "on" : "off");
print("\t'g' dump configuration (binary)\r\n");
print("\t'G' dump configuration (hexadecimal)\r\n");
// print("\t'h' write and save config array\r\n");
print("\t'i' enter config mode (now %s)\r\n", ConfigMode ? "on" : "off");
print("\t'j' leave config mode (now %s)\r\n", ConfigMode ? "on" : "off");
print("\t'o' orientation messages display (now %s)\r\n", debugOrient ? "on" : "off");
print("\t'p' performance messages display (now %s)\r\n", debugPerf ? "on" : "off");
print("\t'r' RC messages display (now %s)\r\n", debugRC ? "on" : "off");
print("\t'R' reboot\r\n");
print("\t's' toggle sensor messages display (now %s)\r\n", debugSense ? "on" : "off");
print("\t'u' print USB state (bDeviceState %3d VCPConnectMode %d)\r\n", bDeviceState, GetVCPConnectMode());
print("\t'v' print version (%s)\r\n", __EV_VERSION);
break;
*/
default:
// TODO
break;
}
}
}
void CommHandler(void) //UART4 Interrupt handler implementation
{
int c = GetChar();
if (c >= 0)
{
LEDon();
switch (c)
{
/*
case 'a':
debugAutoPan ^= 1;
print("Autopan messages %s\r\n", debugAutoPan ? "on" : "off");
break;
case 'b':
print("rebooting into boot loader ...\r\n");
Delay_ms(1000);
bootloader();
break;
case 'c':
debugCnt ^= 1;
print("counter messages %s\r\n", debugCnt ? "on" : "off");
break;
case 'd':
debugPrint ^= 1;
print("debug messages %s\r\n", debugPrint ? "on" : "off");
break;
case 'g':
Delay_ms(100);
PutChar('x');
for (int i = 0; i < CONFIGDATASIZE; i++)
{
uint8_t data = configData[i];
PutChar(data);
//print("\\%c\\",(char)data);
}
break;
case 'G':
printConfig();
break;
#if 0
case 'H':
if (CharAvailable() >= CONFIGDATASIZE)
{
for (int i = 0; i < CONFIGDATASIZE; i++)
{
uint8_t data = GetChar();
if (data <= LARGEST_CONFIGDATA)
{
configData[i] = data;
}
}
configSave();
}
else
{
UnGetChar(c); // try again in next loop
}
break;
#endif
case 'h':
for (int i = 0; i < CONFIGDATASIZE; i++)
{
int data;
while ((data = GetChar()) < 0)
;
if (data <= LARGEST_CONFIGDATA)
{
configData[i] = data;
}
}
configSave();
break;
case 'i':
ConfigMode = 1;
break;
case 'j':
ConfigMode = 0;
break;
case 'o':
debugOrient ^= 1;
print("Orientation messages %s\r\n", debugOrient ? "on" : "off");
break;
case 'p':
debugPerf ^= 1;
print("performance messages %s\r\n", debugPerf ? "on" : "off");
break;
case 'r':
debugRC ^= 1;
print("RC messages %s\r\n", debugRC ? "on" : "off");
break;
case 'R':
print("rebooting...\r\n");
Delay_ms(1000);
reboot();
break;
case 's':
debugSense ^= 1;
print("Sensor messages %s\r\n", debugSense ? "on" : "off");
break;
case 'u':
{
extern int bDeviceState;
printUSART("\r\nYY bDeviceState %3d VCPConnectMode %d\r\n", bDeviceState, GetVCPConnectMode());
break;
}
case 'v':
print("Version: %s\r\n", __EV_VERSION);
break;
case '+':
testPhase += 0.1;
print("test phase output %5.1f\r\n", testPhase);
break;
case '-':
testPhase -= 0.1;
print("test phase output %5.1f\r\n", testPhase);
break;
case '~': {
debugLAKITU ^= 1;
print("Angle messages %s\r\n", debugLAKITU ? "on" : "off");
} break;
case '`':{
LAKITU_enable ^= 1;
print("Turning LAKITU control %s\r\n", LAKITU_enable ? "on" : "off");
} break;
*/
case '$': {
if (CharAvailable() >= LAKITU_LENGTH){
float tmp1 =0.0f, tmp2=0.0f, tmp3= 0.0f;
for (int i = 0; i < LAKITU_LENGTH; i++){
float tmp_val = (float)(((int)GetChar())-ASCII2INT);
if(i<3){
if(i==0){
tmp1 += tmp_val*100.0;
}else if(i==1){
tmp1 += tmp_val*10.0;
}else{
tmp1 += tmp_val*1.0;
}
}else if(i>2 && i<6){
if(i==3){
tmp2 += tmp_val*100.0;
}else if(i==4){
tmp2 += tmp_val*10.0;
}else{
tmp2 += tmp_val*1.0;
}
}else if(i>5 && i<9){
if(i==6){
tmp3 += tmp_val*100.0;
}else if(i==7){
tmp3 += tmp_val*10.0;
}else{
tmp3 += tmp_val*1.0;
}
}else if(i==9 && (int)tmp_val == 11){//handle last character
if ((tmp1 >= 30.0) && (tmp1 <= 140.0)){
LakituAngles[PITCH] = tmp1;
}
if ((tmp2 >= 0.0) && (tmp2 <= 180.0)){
LakituAngles[ROLL] = tmp2;
}
if ((tmp3 >= 0.0) && (tmp3 <= 360.0)){
LakituAngles[YAW] = tmp3;
}
}
}
//print("%f,%f,%f,%f,%f,%f\n",tmp1,tmp2,tmp3,LakituAngles[PITCH],LakituAngles[ROLL],LakituAngles[YAW]);
} else {
UnGetChar(c); // try again in next loop
}
} break;
/*
case '?':
print("CLI documentation\r\n");
// print("\t'+' test phase output increase (now %5.1f)\r\n", testPhase);
//print("\t'-' test phase output decrease (now %5.1f)\r\n", testPhase);
print("\t'a' autopan messages display (now %s)\r\n", debugAutoPan ? "on" : "off");
print("\t'b' reboot into bootloader\r\n");
print("\t'c' counter messages display (now %s)\r\n", debugCnt ? "on" : "off");
print("\t'd' debug messages display (now %s)\r\n", debugPrint ? "on" : "off");
print("\t'g' dump configuration (binary)\r\n");
print("\t'G' dump configuration (hexadecimal)\r\n");
// print("\t'h' write and save config array\r\n");
print("\t'i' enter config mode (now %s)\r\n", ConfigMode ? "on" : "off");
print("\t'j' leave config mode (now %s)\r\n", ConfigMode ? "on" : "off");
print("\t'o' orientation messages display (now %s)\r\n", debugOrient ? "on" : "off");
print("\t'p' performance messages display (now %s)\r\n", debugPerf ? "on" : "off");
print("\t'r' RC messages display (now %s)\r\n", debugRC ? "on" : "off");
print("\t'R' reboot\r\n");
print("\t's' toggle sensor messages display (now %s)\r\n", debugSense ? "on" : "off");
print("\t'u' print USB state (bDeviceState %3d VCPConnectMode %d)\r\n", bDeviceState, GetVCPConnectMode());
print("\t'v' print version (%s)\r\n", __EV_VERSION);
break;
*/
default:
// TODO
break;
}
}
}
void CommHandler(void) //UART4 Interrupt handler implementation
{
int c = GetChar();
if (c >= 0)
{
//ConfigMode = 1;
LEDon();
//print("got char %02X\r\n", c);
switch (c)
{
case 'b':
print("rebooting into boot loader ...\r\n");
Delay_ms(1000);
bootloader();
break;
case 'c':
debugCnt ^= 1;
print("counter messages %s\r\n", debugCnt ? "on" : "off");
break;
case 'd':
debugPrint ^= 1;
print("debug messages %s\r\n", debugPrint ? "on" : "off");
break;
case 'g':
Delay_ms(100);
PutChar('x');
for (int i = 0; i < CONFIGDATASIZE; i++)
{
uint8_t data = configData[i];
PutChar(data);
}
break;
case 'G':
printConfig();
break;
#if 0
case 'H':
if (CharAvailable() >= CONFIGDATASIZE)
{
for (int i = 0; i < CONFIGDATASIZE; i++)
{
uint8_t data = GetChar();
if (data <= LARGEST_CONFIGDATA)
{
configData[i] = data;
}
}
configSave();
}
else
{
UnGetChar(c); // try again in next loop
}
break;
#endif
case 'h':
for (int i = 0; i < CONFIGDATASIZE; i++)
{
int data;
while ((data = GetChar()) < 0)
;
if (data <= LARGEST_CONFIGDATA)
{
configData[i] = data;
}
}
configSave();
break;
case 'i':
ConfigMode = 1;
break;
case 'j':
ConfigMode = 0;
break;
case 'o':
debugOrient ^= 1;
print("Orientation messages %s\r\n", debugOrient ? "on" : "off");
break;
case 'p':
debugPerf ^= 1;
print("performance messages %s\r\n", debugPerf ? "on" : "off");
break;
case 'r':
debugRC ^= 1;
print("RC messages %s\r\n", debugRC ? "on" : "off");
break;
case 'R':
print("rebooting...\r\n");
Delay_ms(1000);
reboot();
break;
case 's':
debugSense ^= 1;
print("Sensor messages %s\r\n", debugSense ? "on" : "off");
break;
case 'u':
{
extern int bDeviceState;
printUSART("\r\nYY bDeviceState %3d VCPConnectMode %d\r\n", bDeviceState, GetVCPConnectMode());
break;
}
case '+':
testPhase += 0.1;
print("test phase output %5.1f\r\n", testPhase);
break;
case '-':
testPhase -= 0.1;
print("test phase output %5.1f\r\n", testPhase);
break;
default:
// TODO
break;
}
}
}
