BLE Support

docs/Wireless Connections (BLE, TCP and UDP).md

@@ -0,0 +1,53 @@
+# Wireless connections
+
+From iNav 5 onwards, the Configurator supports wireless connections via Bluetooth Low Energy (BLE) and Wifi (UDP and TCP).
+
+## BLE
+
+The following adapters are supported:
+
+- CC2541 based modules (HM1X, HC08/09)
+- Nordic Semiconductor NRF5340 (Adafruit BLE Shield)
+- SpeedyBee adapter
+
+Flightcontrollers with BLE should also work, if you have an adapter/FC that doesn't work, open an issue here on Github and we will add it.
+
+### Configuring the BLE modules
+Activate MSP in iNav on a free UART port and set the Bluetooth module to the appropriate baud rate.
+
+Example for a HM-10 module:
+
+Connect the module to a USB/UART adapter (remember: RX to TX, TX to RX), and connect it to a serial terminal (e.g. from the Arduino IDE),
+Standard baud rate is 115200 baud, CR+LF
+
+```
+AT+BAUD4
+AT+NAMEiNav
+```
+
+The baud rate values: 
+| Value | Baud |
+|------|------|
+| 1 | 9600 |
+| 2 | 19200 |
+| 3 | 38400 |
+| 4 | 115200 |
+
+There are many counterfeits of the HC08/09 modules on the market, which work unreliably at high baud rates.
+However, it is recommended to avoid these modules and to use an original HM-10.
+
+### SpeedyBee adapter
+
+Just connect it to the USB port, no further configuration needed.
+
+## TCP and UDP
+
+Allows connections via Wifi.
+
+Hardware:
+- DIY, ESP8266 based:
+  This project can be used to make iNav Wifi enabled: https://github.com/Scavanger/MSPWifiBridge 
+  A small ESP01S module should still fit anywhere.
+
+- ExpressLRS Wifi:
+  Should work (via TCP, port 5761), but untested due to lack of hardware from the developer. CLI and presets do not work here, problem in ELRS, not in iNav.

src/main/fc/cli.c

@@ -140,6 +140,7 @@ static uint8_t cliWriteBuffer[sizeof(*cliWriter) + 128];
 
 static char cliBuffer[64];
 static uint32_t bufferIndex = 0;
+static uint16_t cliDelayMs = 0;
 
 #if defined(USE_ASSERT)
 static void cliAssert(char *cmdline);
@@ -222,6 +223,9 @@ static void cliPrint(const char *str)
 static void cliPrintLinefeed(void)
 {
     cliPrint("\r\n");
+    if (cliDelayMs) {
+        delay(cliDelayMs);
+    }
 }
 
 static void cliPrintLine(const char *str)
@@ -1672,6 +1676,25 @@ static void cliModeColor(char *cmdline)
 }
 #endif
 
+static void cliDelay(char* cmdLine) {
+    int ms = 0;
+    if (isEmpty(cmdLine)) {
+        cliDelayMs = 0;
+        cliPrintLine("CLI delay deactivated");
+        return;
+    }
+
+    ms = fastA2I(cmdLine);
+    if (ms) {
+        cliDelayMs = ms;
+        cliPrintLinef("CLI delay set to %d ms", ms);
+
+    } else {
+        cliShowParseError();
+    }
+
+}
+
 static void printServo(uint8_t dumpMask, const servoParam_t *servoParam, const servoParam_t *defaultServoParam)
 {
     // print out servo settings
@@ -3856,6 +3879,7 @@ const clicmd_t cmdTable[] = {
     CLI_COMMAND_DEF("color", "configure colors", NULL, cliColor),
     CLI_COMMAND_DEF("mode_color", "configure mode and special colors", NULL, cliModeColor),
 #endif
+    CLI_COMMAND_DEF("cli_delay", "CLI Delay", "Delay in ms", cliDelay),
     CLI_COMMAND_DEF("defaults", "reset to defaults and reboot", NULL, cliDefaults),
     CLI_COMMAND_DEF("dfu", "DFU mode on reboot", NULL, cliDfu),
     CLI_COMMAND_DEF("diff", "list configuration changes from default",

src/main/fc/fc_msp.c

@@ -1548,6 +1548,23 @@ static mspResult_e mspFcSafeHomeOutCommand(sbuf_t *dst, sbuf_t *src)
     }
 }
 
+static mspResult_e mspFcLogicConditionCommand(sbuf_t *dst, sbuf_t *src) {
+    const uint8_t idx = sbufReadU8(src);
+    if (idx < MAX_LOGIC_CONDITIONS) {
+        sbufWriteU8(dst, logicConditions(idx)->enabled);
+        sbufWriteU8(dst, logicConditions(idx)->activatorId);
+        sbufWriteU8(dst, logicConditions(idx)->operation);
+        sbufWriteU8(dst, logicConditions(idx)->operandA.type);
+        sbufWriteU32(dst, logicConditions(idx)->operandA.value);
+        sbufWriteU8(dst, logicConditions(idx)->operandB.type);
+        sbufWriteU32(dst, logicConditions(idx)->operandB.value);
+        sbufWriteU8(dst, logicConditions(idx)->flags);
+        return MSP_RESULT_ACK;
+    } else {
+        return MSP_RESULT_ERROR;
+    }
+}
+
 static void mspFcWaypointOutCommand(sbuf_t *dst, sbuf_t *src)
 {
     const uint8_t msp_wp_no = sbufReadU8(src);    // get the wp number
@@ -3226,6 +3243,11 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
         break;
 #endif
 
+#ifdef USE_PROGRAMMING_FRAMEWORK
+    case MSP2_INAV_LOGIC_CONDITIONS_SINGLE:
+        *ret = mspFcLogicConditionCommand(dst, src);
+        break;
+#endif
     case MSP2_INAV_SAFEHOME:
          *ret = mspFcSafeHomeOutCommand(dst, src);
          break;

src/main/msp/msp_protocol_v2_inav.h

@@ -80,3 +80,4 @@
 #define MSP2_INAV_SET_SAFEHOME                  0x2039
 
 #define MSP2_INAV_MISC2                         0x203A
+#define MSP2_INAV_LOGIC_CONDITIONS_SINGLE       0x203B