unsigned char getDebugChar(void)
{
if (!remoteDebugInitialized) {
remoteDebugInitialized = 1;
debugInit(YOSEMITE_BAUD_115200,
YOSEMITE_DATA_8BIT,
YOSEMITE_PARITY_NONE, YOSEMITE_STOP_1BIT);
}
while ((SERIAL_READ(SERIAL_LINE_STATUS) & 0x1) == 0);
return SERIAL_READ(SERIAL_RCV_BUFFER);
}
void ntshell_execute(
ntshell_t *p,
int (*func_read)(char *buf, int cnt),
int (*func_write)(const char *buf, int cnt),
int (*func_cb)(const char *text))
{
ntshell_user_data_t user_data;
user_data.editor = &(p->editor);
user_data.history = &(p->history);
user_data.func_read = func_read;
user_data.func_write = func_write;
user_data.func_cb = func_cb;
p->parser.user_data = &user_data;
vtparse_init(&(p->parser), parser_callback);
text_editor_init(GET_EDITOR(&(p->parser)));
text_history_init(GET_HISTORY(&(p->parser)));
SUGGEST_INDEX(&(p->parser)) = -1;
SERIAL_WRITE(&(p->parser), ">", 1);
while(1)
{
unsigned char ch;
SERIAL_READ(&(p->parser), (char *)&ch, sizeof(ch));
vtparse(&(p->parser), &ch, sizeof(ch));
}
}
int putDebugChar(unsigned char byte)
{
if (!remoteDebugInitialized) {
remoteDebugInitialized = 1;
debugInit(YOSEMITE_BAUD_115200,
YOSEMITE_DATA_8BIT,
YOSEMITE_PARITY_NONE, YOSEMITE_STOP_1BIT);
}
while ((SERIAL_READ(SERIAL_LINE_STATUS) & 0x20) == 0);
SERIAL_WRITE(SERIAL_SEND_BUFFER, byte);
return 1;
}
void readValueSerial(char *data, byte size) {
byte index = 0;
byte timeout = 0;
data[0] = '\0';
do {
if (SERIAL_AVAILABLE() == 0) {
delay(1);
timeout++;
} else {
data[index] = SERIAL_READ();
timeout = 0;
index++;
}
} while ((index == 0 || data[index-1] != ';') && (timeout < 10) && (index < size-1));
data[index] = '\0';
}
int main(void)
{
//DDRB = 0x00; //DEFINE PORTB INPUT
//DDRB |= (1<<0);
//int i=0;
//char data[50];
//SERIAL_Init(9600,'D',1,8,'R');
//SPI_InitMaster(0,'M',8,'B',2);
//NRF_PrintRegister(SETUP_RETR);
//NRF_WriteRegister(SETUP_RETR, 0b00000000);
//NRF_PrintRegister(SETUP_RETR);
//NRF_ReadRegister(SETUP_RETR);
/*
SERIAL_SendCaracter('>');
while (1)
{
//PORTB |= (1<<0);
//_delay_ms(1000);
//PORTB &= ~(1<<0);
//_delay_ms(1000);
//_delay_ms(1000);
data[i] = SERIAL_READ();
SERIAL_SendCaracter(data[i]);
if(data[i] == 13){
data[i+1]=0;
SERIAL_SendCaracter(10);
SERIAL_SendCaracter(13);
SERIAL_SendStringLn(data);
SERIAL_SendCaracter('>');
i=-1;
}
i++;
}
*/
DDRB |=(1<<CE); //SET CE TO OUTPUT.
DDRB &= ~(1<< DDD2); //SET PD2 TO INPUT
PORTD |= (1<<PORTD2);//SET PD2 TO HIGH
EICRA |= (1<<ISC10);
EIMSK |= (1<<INT0);
sei();
SERIAL_Init(9600,'D',1,8,'R');
SPI_InitMaster(0,'M',8,'B',2);
char data[1];
NRF_SET_PTX();
SERIAL_SendCaracter('>');
while(1)
{
NRF_Control(STANBY);
NRF_FlushFifo(TX);
data[0] = SERIAL_READ();
if(data[0] == 13)
{
SERIAL_SendStringLn(data[0]);
}
SERIAL_SendCaracter(data[0]);
NRF_LoadTXPayload(data,1);
NRF_ActivateTransmission();
_delay_ms(1);
}
}
void readSerialCommand() {
// Check for serial message
if (SERIAL_AVAILABLE()) {
queryType = SERIAL_READ();
switch (queryType) {
case 'A': // Receive roll and pitch rate mode PID
readSerialPID(RATE_XAXIS_PID_IDX);
readSerialPID(RATE_YAXIS_PID_IDX);
rotationSpeedFactor = readFloatSerial();
break;
case 'B': // Receive roll/pitch attitude mode PID
readSerialPID(ATTITUDE_XAXIS_PID_IDX);
readSerialPID(ATTITUDE_YAXIS_PID_IDX);
readSerialPID(ATTITUDE_GYRO_XAXIS_PID_IDX);
readSerialPID(ATTITUDE_GYRO_YAXIS_PID_IDX);
windupGuard = readFloatSerial(); // defaults found in setup() of AeroQuad.pde
break;
case 'C': // Receive yaw PID
readSerialPID(ZAXIS_PID_IDX);
readSerialPID(HEADING_HOLD_PID_IDX);
headingHoldConfig = readFloatSerial();
break;
case 'D': // Altitude hold PID
#if defined AltitudeHoldBaro || defined AltitudeHoldRangeFinder
readSerialPID(BARO_ALTITUDE_HOLD_PID_IDX);
PID[BARO_ALTITUDE_HOLD_PID_IDX].windupGuard = readFloatSerial();
altitudeHoldBump = readFloatSerial();
altitudeHoldPanicStickMovement = readFloatSerial();
minThrottleAdjust = readFloatSerial();
maxThrottleAdjust = readFloatSerial();
#if defined AltitudeHoldBaro
baroSmoothFactor = readFloatSerial();
#else
readFloatSerial();
#endif
readSerialPID(ZDAMPENING_PID_IDX);
#endif
break;
case 'E': // Receive sensor filtering values
aref = readFloatSerial();
minArmedThrottle = readFloatSerial();
break;
case 'F': // Receive transmitter smoothing values
receiverXmitFactor = readFloatSerial();
for(byte channel = XAXIS; channel<LASTCHANNEL; channel++) {
receiverSmoothFactor[channel] = readFloatSerial();
}
break;
case 'G': // Receive transmitter calibration values
channelCal = (int)readFloatSerial();
receiverSlope[channelCal] = readFloatSerial();
break;
case 'H': // Receive transmitter calibration values
channelCal = (int)readFloatSerial();
receiverOffset[channelCal] = readFloatSerial();
break;
case 'I': // Initialize EEPROM with default values
initializeEEPROM(); // defined in DataStorage.h
writeEEPROM();
storeSensorsZeroToEEPROM();
calibrateGyro();
zeroIntegralError();
#ifdef HeadingMagHold
initializeMagnetometer();
#endif
#ifdef AltitudeHoldBaro
initializeBaro();
#endif
break;
case 'J': // calibrate gyros
calibrateGyro();
break;
case 'K': // Write accel calibration values
accelScaleFactor[XAXIS] = readFloatSerial();
readFloatSerial();
accelScaleFactor[YAXIS] = readFloatSerial();
readFloatSerial();
accelScaleFactor[ZAXIS] = readFloatSerial();
readFloatSerial();
computeAccelBias();
storeSensorsZeroToEEPROM();
break;
case 'L': // generate accel bias
computeAccelBias();
#if defined(AeroQuadMega_CHR6DM) || defined(APM_OP_CHR6DM)
calibrateKinematics();
accelOneG = meterPerSecSec[ZAXIS];
#endif
storeSensorsZeroToEEPROM();
break;
case 'M': // calibrate magnetometer
#ifdef HeadingMagHold
magBias[XAXIS] = readFloatSerial();
magBias[YAXIS] = readFloatSerial();
magBias[ZAXIS] = readFloatSerial();
writeEEPROM();
#else
skipSerialValues(3);
#endif
break;
case 'N': // battery monitor
#ifdef BattMonitor
batteryMonitorAlarmVoltage = readFloatSerial();
batteryMonitorThrottleTarget = readFloatSerial();
batteryMonitorGoingDownTime = readFloatSerial();
setBatteryCellVoltageThreshold(batteryMonitorAlarmVoltage);
#else
skipSerialValues(3);
#endif
break;
case 'O': // define waypoints
#ifdef UseGPSNavigator
missionNbPoint = readIntegerSerial();
waypoint[missionNbPoint].latitude = readIntegerSerial();
waypoint[missionNbPoint].longitude = readIntegerSerial();
waypoint[missionNbPoint].altitude = readIntegerSerial();
#else
for(byte i = 0; i < 4; i++) {
readFloatSerial();
}
#endif
break;
case 'P': // read Camera values
#ifdef CameraControl
cameraMode = readFloatSerial();
servoCenterPitch = readFloatSerial();
servoCenterRoll = readFloatSerial();
servoCenterYaw = readFloatSerial();
mCameraPitch = readFloatSerial();
mCameraRoll = readFloatSerial();
mCameraYaw = readFloatSerial();
servoMinPitch = readFloatSerial();
servoMinRoll = readFloatSerial();
servoMinYaw = readFloatSerial();
servoMaxPitch = readFloatSerial();
servoMaxRoll = readFloatSerial();
servoMaxYaw = readFloatSerial();
#ifdef CameraTXControl
servoTXChannels = readFloatSerial();
#endif
#else
#ifdef CameraTXControl
skipSerialValues(14)
#else
skipSerialValues(13);
#endif
#endif
break;
case 'R': //Rotate
RotateDrone( readFloatSerial());
break;
case 'S':
StopMotors();
break;
case 'T':
ThrottleDrone(readFloatSerial());
break;
case 'U': // Range Finder
#if defined (AltitudeHoldRangeFinder)
maxRangeFinderRange = readFloatSerial();
minRangeFinderRange = readFloatSerial();
#else
skipSerialValues(2);
#endif
break;
case 'V': // GPS
#if defined (UseGPSNavigator)
readSerialPID(GPSROLL_PID_IDX);
readSerialPID(GPSPITCH_PID_IDX);
readSerialPID(GPSYAW_PID_IDX);
writeEEPROM();
#else
skipSerialValues(9);
#endif
break;
case 'W': // Write all user configurable values to EEPROM
writeEEPROM(); // defined in DataStorage.h
zeroIntegralError();
break;
case 'X': // Stop sending messages
break;
case '1': // Calibrate ESCS's by setting Throttle high on all channels
validateCalibrateCommand(1);
break;
case '2': // Calibrate ESC's by setting Throttle low on all channels
validateCalibrateCommand(2);
break;
case '3': // Test ESC calibration
if (validateCalibrateCommand(3)) {
testCommand = readFloatSerial();
}
break;
case '4': // Turn off ESC calibration
if (validateCalibrateCommand(4)) {
calibrateESC = 0;
testCommand = 1000;
}
break;
case '5': // Send individual motor commands (motor, command)
if (validateCalibrateCommand(5)) {
for (byte motor = 0; motor < LASTMOTOR; motor++) {
motorConfiguratorCommand[motor] = (int)readFloatSerial();
}
}
break;
case 'Z': // fast telemetry transfer <--- get rid if this?
if (readFloatSerial() == 1.0)
fastTransfer = ON;
else
fastTransfer = OFF;
break;
}
}
}