EEPROM config, cli

config.inav

@@ -1,3 +1,4 @@
+# mixer
 mmix 0  1.000 -1.000  1.000 -1.000
 mmix 1  1.000 -1.000 -1.000  1.000
 mmix 2  1.000  1.000  1.000  1.000
@@ -45,7 +46,7 @@ osd_layout 0 9 1 2 H
 osd_layout 0 11 1 3 H
 osd_layout 0 12 1 4 H
 osd_layout 0 14 25 10 V
-osd_layout 0 15 1 0 H
+osd_layout 0 15 25 9 V
 osd_layout 0 20 15 0 V
 osd_layout 0 21 4 0 V
 osd_layout 0 28 23 11 H
@@ -61,7 +62,10 @@ set accgain_x = 4085
 set accgain_y = 4085
 set accgain_z = 4104
 set mag_hardware = NONE
-set baro_hardware = NONE
+set magzero_x = 93
+set magzero_y = -88
+set magzero_z = -19
+set baro_hardware = BMP280
 set pitot_hardware = NONE
 set serialrx_provider = IBUS
 set min_throttle = 1065
@@ -77,5 +81,4 @@ profile 1
 
 # battery_profile
 battery_profile 1
-
 save

src/lib/CLI.h

@@ -0,0 +1,128 @@
+// ------------------------------------------------------------------------------------------------------
+//
+// # DESCRIPTION : Basic CLI (Command Line Interpreter) library for Arduino.
+//
+//   The CLI class first allows the user to register commands (i.e. a combination of a name and a function
+//   address) into a linked list.
+//   Then, on every LF (Line Feed) char reception on the Serial Interface, the class checks whether the
+//   input command name matches a registered one. In this case, the corresponding function is executed.
+//
+//   NB1 : Each command name is 8 characters MAX by default.
+//   NB2 : The functions associated to the commands shall be "void function(void)" typed.
+//
+// # USAGE :
+//   1. in the setup() Arduino sketch function, register all your commands using RegisterCmd() method
+//      and open the serial port.
+//   2. in the loop() Arduino sketch function, call the Run() method to allow CLI execution.
+//
+//   NB : If you don't use the Arduino serial monitor, make sure your terminal application is configured
+//        with a 'LF' char for a New Line ('CR' char is ignored).
+// ------------------------------------------------------------------------------------------------------
+
+#ifndef CLI_H
+#define CLI_H
+
+#include "HardwareSerial.h"
+
+#define CMD_NAME_MAX_LENGTH 8
+
+typedef void (*t_fct)(void); // typedef for function pointer
+
+// typedef for the linked list of command lines
+typedef struct t_cmd {
+  char name[CMD_NAME_MAX_LENGTH + 1];
+  t_fct fct;
+  struct t_cmd *next;
+};
+
+
+class Cli{
+    HardwareSerial& _serial; // serial interface to be used
+    t_cmd *_cmdList;  // linked list of commands
+
+  public :
+    // Constructor
+    Cli(HardwareSerial& serial) : _serial(serial) { _cmdList = NULL;}
+
+    // Destructor
+    ~Cli()
+    {
+      t_cmd *current, *next;
+      for (current = _cmdList; current; current = next)
+      {
+        next = current->next;
+        delete(current);
+      }
+    }
+
+    // RegisterCmd() function
+    // Allow the user to register a new user command
+    // Return an error (-1) when :
+    //   - the passed command name is null or too long
+    //   - the passed function @ is null
+    //   - no new memory can be allocated
+    // else return 0
+    char RegisterCmd(const char name[], t_fct fct)
+    {
+    unsigned int length;
+      // check params
+      if (fct == NULL) return -1;
+      for (length = 0; name[length] ; length++);
+      if ((!length) || (length > CMD_NAME_MAX_LENGTH)) return -1;
+
+      // create new command
+      t_cmd *newCmd = new(t_cmd);
+      if (newCmd == NULL) return -1; // allocation failure
+      newCmd->fct = fct;
+      for (unsigned int i=0; i<=length; i++) newCmd->name[i] = name[i];
+
+      // attach the new command to the linked list
+      if (_cmdList == NULL)
+      {
+        _cmdList = newCmd ; _cmdList->next = NULL;
+      }
+      else
+      {
+        newCmd->next = _cmdList;
+        _cmdList = newCmd;
+      }
+      return 0;
+    }
+
+    // Run() function
+    // To be called in loop() Arduino sketch function
+    // Read the serial interface, and execute a given function when the input text matches
+    void Run(void)
+    {
+    static char inData[CMD_NAME_MAX_LENGTH + 1];
+    char newChar;
+    static unsigned int index = 0;
+    t_cmd *current;
+    unsigned char i;
+
+      while (_serial.available() > 0)
+      {
+        newChar = _serial.read();
+        if (newChar == '\r') continue; // ignore CR chars
+        if (newChar == '\n')
+        {
+          inData[index] = NULL;
+          index = 0;
+          for (current = _cmdList; current != NULL ; current = current->next)
+          {
+            for(i=0; (inData[i] == current->name[i]) && current->name[i]; i++);
+            if ((!inData[i]) && (!current->name[i]))
+            {
+              current->fct();
+              break; // execute one command only
+            }
+          }
+        }
+        else if (index == CMD_NAME_MAX_LENGTH) index = 0; // restart acquisition from zero
+        else inData[index++] = newChar;
+      }
+    }
+};
+
+
+#endif // CLI_H

src/lib/MSP.h

@@ -69,7 +69,8 @@
 #define MSP_SET_RAW_RC           200 // 8 rc chan
 #define MSP_SET_RAW_GPS          201 // fix, numsat, lat, lon, alt, speed
 #define MSP_SET_WP               209 // sets a given WP (WP#, lat, lon, alt, flags)
-
+// v2 commands
+#define MSP2_ESP32 							 0x2040
 
 // bits of getActiveModes() return value
 #define MSP_MODE_ARM          0
@@ -665,7 +666,7 @@ class MSP {
 
     void send(uint8_t messageID, void * payload, uint8_t size);
 
-    void sendV2(uint16_t messageID, void * payload, uint16_t size);
+    void sendv2(uint16_t messageID, void * payload, uint16_t size);
 
     bool recv(uint8_t * messageID, void * payload, uint8_t maxSize, uint8_t * recvSize);