Initial public release of WII5 Buoy firmware
Firmware for an autonomous wave-measurement buoy (ATmega2560-based WII5 v2 board). Reads wave motion from a Sparton AHRS-M1/M2 IMU, samples GPS and battery state, and reports back over Iridium SBD satellite telemetry. Originally developed 2012-2024. This is the first public release. Code, documentation, and field-tested operating modes (Capture, Sleep, Position, ManualTest, SelfTest, LowBattery) are licensed under Apache 2.0 — see LICENSE and NOTICE. See README.md for an overview and build instructions, CONTRIBUTING.md for how to contribute, and DEPLOYMENTS.md for the field-deployment log.
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// SPDX-License-Identifier: Apache-2.0
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// Copyright (c) 2012-2024 Scott Penrose <scottp@dd.com.au> and WII5 Buoy contributors
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//
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// This file is part of WII5 Buoy firmware.
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// See LICENSE for full terms.
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/**
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* @file WII5Sh3dConsole.h
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* @brief Console abstraction: routes printf/log to one or more serial streams.
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*/
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#ifndef WII5Sh3dConsole_h
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#define WII5Sh3dConsole_h
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#include <Arduino.h>
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#include <TimeLib.h>
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#include <elapsedMillis.h>
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#include <WII5Data.h>
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// TODO Default serial port?
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#define SerialConsole Serial
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// Enable debug flush, if you want regular flushing for crashes etc
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#define CONSOLE_DEBUG
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// #define CONSOLE_DEBUG_FLUSH
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#define CONSOLE_STREAMS 2 // TODO - Can we allocate more if needed?
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// Enable to allow Strings in the print lines instead of F() and ""
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// #define CONSOLE_USE_STRINGS
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// Default levels
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#define LOG_NONE -1
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#define LOG_FATAL 0
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#define LOG_ERROR 1
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#define LOG_WARN 2
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#define LOG_INFO 3
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#define LOG_DEBUG 4
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#define LOG_ALL 5
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#define CONSOLE_DIRECTION_NONE 0
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#define CONSOLE_DIRECTION_INPUT 1
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#define CONSOLE_DIRECTION_OUTPUT 2
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#define CONSOLE_DIRECTION_BOTH 3
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// Default sizex - overloaded in begin
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#if defined(__AVR_ATmega644P__) || defined(__AVR_ATmega1284P__)
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#define CONSOLE_BUFFER_SIZE 100
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#define CONSOLE_COMMAND_SIZE 25
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#define VSNPRINTF vsnprintf_P
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#elif defined(CORE_TEENSY)
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#define CONSOLE_BUFFER_SIZE 200
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#define CONSOLE_COMMAND_SIZE 75
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#define VSNPRINTF vsnprintf
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#else
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#define CONSOLE_BUFFER_SIZE 100
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#define CONSOLE_COMMAND_SIZE 25
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#define VSNPRINTF vsnprintf_P
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#endif
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#define CONSOLE_TYPE_NMEA_ID 1
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#define CONSOLE_TYPE_NMEA_C0 '$'
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#define CONSOLE_TYPE_NMEA_NAME "NMEA"
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#define CONSOLE_TYPE_CSV_ID 2
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#define CONSOLE_TYPE_CSV_C0 '@'
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#define CONSOLE_TYPE_CSV_NAME "CSV"
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#define CONSOLE_TYPE_CSV_LEN 10
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#define CONSOLE_TYPE_BIN_ID 3
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#define CONSOLE_TYPE_BIN_C0 '!'
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#define CONSOLE_TYPE_BIN_NAME "Binary"
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#define CONSOLE_TYPE_BINDATA_ID 4
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#define CONSOLE_TYPE_BINDATA_NAME "BinaryData"
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#define CONSOLE_TYPE_IGNORE_ID 97
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#define CONSOLE_TYPE_DESTROY_ID 98
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#define CONSOLE_TYPE_OTHER_ID 99
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#define CONSOLE_TYPE_OTHER_C0 ''
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#define CONSOLE_TYPE_OTHER_NAME "Standard"
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// NOTE: Make sure all of these are wrapped in F() for prints
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#define CONSOLE_PRE_INFO "# INFO: "
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#define CONSOLE_PRE_WARN "# WARN: "
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#define CONSOLE_PRE_ERROR "# ERROR: "
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#define CONSOLE_PRE_DEBUG "# DEBUG: "
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// Consider better name
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#define CONSOLE_PRE_FATAL "# IMPORTANT/NOTSTORED: "
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#define CONSOLE_POST_TIME " - "
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typedef void (*CallbackFunction) (uint8_t l, char *buf);
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// 10 seconds. Really 1 is enough, but slow type debug @ commands maybe
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#define CONSOLE_TIMEOUT 30000
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/**
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* @brief Console abstraction over multiple Stream objects.
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*
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* Routes formatted output (printf, log) and parses incoming command frames
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* across one or more Stream sources. Recognises three frame syntaxes:
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* - NMEA ($-prefixed, CRC-checked)
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* - CSV (@-prefixed, comma-separated)
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* - Binary (!-prefixed, length+CRC framed)
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*
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* Most code in this firmware logs through `console` rather than calling
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* `Serial.print` directly so that output goes wherever the board is
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* configured for.
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*/
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class WII5Sh3dConsole {
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public:
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/** @brief One-time bring-up. Allocates internal print + command buffers. */
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void begin(uint16_t bufSize = CONSOLE_BUFFER_SIZE, uint16_t cmdSize = CONSOLE_COMMAND_SIZE);
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/** @brief One-time bring-up using caller-supplied buffers. */
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void begin(char* buf, uint16_t bufSize, char* cmdBuf, uint16_t cmdSize);
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/** @brief Add a Stream source to the console (typically a Serial port). */
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bool add(Stream *s, uint8_t direction = CONSOLE_DIRECTION_BOTH);
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/** @brief Remove a previously-added Stream. */
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bool remove (Stream *s);
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/** @brief Enable Binary frame parsing (caller must provide a buffer). */
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bool enableBinary();
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/** @brief Disable Binary frame parsing. */
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bool disableBinary();
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/** @brief Set the buffer used to receive Binary frames. */
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void setBinaryBuffer(char *buf, uint16_t len);
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/** @brief Discard any in-flight command. */
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void clearCommand();
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/** @brief Remove the registered logging callback. */
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void clearCallback();
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/** @brief Register a callback invoked on log output. */
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void setCallbackFunction(CallbackFunction f);
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/** @brief Use the default storage-callback (writes to the SD log). */
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void setCallbackStorage();
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/** @brief Only invoke the callback for messages at this level or above. */
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void setCallbackLevel(uint8_t l);
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/** @brief Current callback log-level threshold. */
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uint8_t getCallbackLevel();
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/** @brief Manually fire the callback for a given level. */
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void doCallback(uint8_t l);
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/** @brief Set the console log-level threshold. */
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void setLevel (uint8_t in);
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/** @brief Current console log-level threshold. */
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int8_t getLevel() { return level; }
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/** @brief Tick: read from streams, parse frames, run timeouts. */
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void loop();
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/** @brief Flush all output streams. */
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void flush();
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/** @brief True once a complete command frame has been received. */
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bool available();
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/** @brief First byte of the most recent "X;" standard-style command. */
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byte getCommand() {return cmd;}
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/** @brief Numeric argument from the most recent "X;" command. */
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uint32_t getVal() {return val;}
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/** @brief Raw command-buffer pointer. */
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char* getBuffer() { return cmdBuffer; }
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/** @brief Feed a byte into the standard-style command parser. */
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void processCmd(char in);
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/** @brief Finalize parsing of a CSV (@-prefixed) command frame. */
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void processCsv();
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/** @brief Number of CSV fields parsed in the current frame. */
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uint8_t getCsvCount() {return csv_count;}
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/** @brief CSV field `n` interpreted as uint32. */
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uint32_t getCsvVal(uint8_t n) {return csv_uint32[n];}
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/** @brief CSV field `n` as the original string. */
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char* getCsvBuffer(uint8_t n) { return csv_str[n]; }
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/** @brief Enable date-time prefix on log output. */
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void setDateTime() {displayDateTime = true;}
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/** @brief Disable date-time prefix on log output. */
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void clearDateTime() {displayDateTime = false;}
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/** @brief Print a formatted date-time prefix (current time if t==0). */
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void printDateTime(uint32_t t = 0);
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/** @brief Print a string to all output streams. */
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void print(char *out);
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/** @brief printf to a single stream rather than all of them. */
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void sprintf(Stream *s, const __FlashStringHelper *out, ... );
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/** @brief printf to all output streams (RAM format string). */
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void printf(char* out, ...);
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/** @brief printf to all output streams (PROGMEM format string). */
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void printf(const __FlashStringHelper *out, ... );
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#ifdef CONSOLE_USE_STRINGS
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void printf(String& out, ...);
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#endif
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/** @brief Emit the level-prefix string ("# INFO: " etc) for a level. */
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void printPrefix(uint8_t level);
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/** @brief Log a message at level `l` (RAM format string). */
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void log(uint8_t l, char* out, ...);
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/** @brief Log a message at level `l` (PROGMEM format string). */
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void log(uint8_t l, const __FlashStringHelper *out, ... );
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#ifdef CONSOLE_USE_STRINGS
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void log(uint8_t l, String& out, ...);
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#endif
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// Special handlers
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// void logReduceNumStr(uint8_t l, uint16 num, const __FlashStringHelper *out, ... );
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// void logReduceNum(uint8_t l, uint16 num);
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void safeLog(uint8_t l, char* out, ...);
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void safeLog(uint8_t l, const __FlashStringHelper *out, ... );
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#ifdef CONSOLE_USE_STRINGS
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void safeLog(uint8_t l, String& out, ...);
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#endif
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void nmeaSend(const __FlashStringHelper *out, ... );
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void nmeaCRCSend();
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void printNewLine();
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char *printBuffer; // [CONSOLE_BUFFER_SIZE];
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uint16_t bufferMax;
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bool availableBin() { return binAvailable; }
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char* getBinBuffer() { return binBuffer; }
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uint16_t getBinLength() { return binReceiveCount; }
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void printBinary(char* buf, uint16_t len);
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void printBits(void* buf, uint16_t len);
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WII5Sh3dConsole() {
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level = LOG_ALL;
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callback_level = LOG_NONE;
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}
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void setEcho(bool in);
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bool getEcho();
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protected:
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bool echo;
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void internalErrorNotEnoughMemory();
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void internalErrorNoBufferStream();
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bool check();
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// Timeouts for new lines for safety
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elapsedMillis waitInput;
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CallbackFunction callback;
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int8_t callback_level;
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bool callback_default;
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// Maximum number of streams?
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Stream* streams[CONSOLE_STREAMS];
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uint8_t streamsDirection[CONSOLE_STREAMS];
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uint8_t streamCount = 0;
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// Level of debugging ?
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int8_t level;
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bool displayDateTime;
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// TODO Storage?
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// func callback for storage ?
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// Command data
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uint8_t cmdType;
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uint8_t cmdCount;
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byte cmd;
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uint32_t val;
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// Big buffers - only created at start
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// Noite - moved public temporary - char *printBuffer; // [CONSOLE_BUFFER_SIZE];
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char *cmdBuffer; // [CONSOLE_COMMAND_SIZE];
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char *csv_str[CONSOLE_TYPE_CSV_LEN];
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uint32_t csv_uint32[CONSOLE_TYPE_CSV_LEN];
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uint8_t csv_count; // How many CSV fields do we have so far
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uint8_t csv_last; // What location in the buffer is it
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// Binary Data external buffers, counts and status
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bool binAvailable;
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char *binBuffer;
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uint16_t binMax;
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bool binEnable;
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uint16_t binReceiveCount;
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uint16_t binReceiveExpect;
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uint16_t binReceiveCRC;
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// Actual allocated memory
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// Note - moved public temporary - uint16_t bufferMax;
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uint16_t consoleMax;
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uint16_t i;
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};
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// TODO Better name?
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extern WII5Sh3dConsole console;
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#endif
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