Refactor the console subsystem

Rename cli.ino => console.ino.
Rename handleInput => handleConsole.
Separate console initialization function.
Always use usb cdc by default on s3/c3 (no configuration needed).

.github/workflows/build.yml

@@ -21,13 +21,13 @@ jobs:
     - name: Build firmware for ESP32-C3
       run: make BOARD=esp32:esp32:esp32c3
     - name: Build firmware for ESP32-S3
-      run: make BOARD=esp32:esp32:esp32s3:CDCOnBoot=cdc
+      run: make BOARD=esp32:esp32:esp32s3
     - name: Build firmware for ESP32-S3 with QSPI PSRAM
-      run: make BOARD=esp32:esp32:esp32s3:CDCOnBoot=cdc,PSRAM=enabled EXTRA=--output-dir=flix/build/esp32.esp32.esp32s3.qspi
+      run: make BOARD=esp32:esp32:esp32s3:PSRAM=enabled EXTRA=--output-dir=flix/build/esp32.esp32.esp32s3.qspi
     - name: Build firmware for ESP32-S3 with OPI PSRAM
-      run: make BOARD=esp32:esp32:esp32s3:CDCOnBoot=cdc,PSRAM=opi EXTRA=--output-dir=flix/build/esp32.esp32.esp32s3.opi
+      run: make BOARD=esp32:esp32:esp32s3:PSRAM=opi EXTRA=--output-dir=flix/build/esp32.esp32.esp32s3.opi
     - name: Build firmware for Flix2
-      run: make BOARD=esp32:esp32:esp32s3:FlashSize=4M,CDCOnBoot=cdc,PSRAM=opi EXTRA='--build-property "compiler.cpp.extra_flags=-DFLIX2" --output-dir=flix/build/esp32.esp32.flix2'
+      run: make BOARD=esp32:esp32:esp32s3:PSRAM=opi EXTRA='--build-property "compiler.cpp.extra_flags=-DFLIX2" --output-dir=flix/build/esp32.esp32.flix2'
     - name: Upload binaries
       uses: actions/upload-artifact@v7
       with:

.vscode/c_cpp_properties.json

@@ -18,7 +18,7 @@
 				"${workspaceFolder}/.vscode/intellisense.h",
 				"~/.arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32/Arduino.h",
 				"~/.arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32/pins_arduino.h",
-				"${workspaceFolder}/flix/cli.ino",
+				"${workspaceFolder}/flix/console.ino",
 				"${workspaceFolder}/flix/control.ino",
 				"${workspaceFolder}/flix/estimate.ino",
 				"${workspaceFolder}/flix/flix.ino",
@@ -66,7 +66,7 @@
 				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32/Arduino.h",
 				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32/pins_arduino.h",
 				"${workspaceFolder}/flix/flix.ino",
-				"${workspaceFolder}/flix/cli.ino",
+				"${workspaceFolder}/flix/console.ino",
 				"${workspaceFolder}/flix/control.ino",
 				"${workspaceFolder}/flix/estimate.ino",
 				"${workspaceFolder}/flix/imu.ino",
@@ -113,7 +113,7 @@
 				"${workspaceFolder}/.vscode/intellisense.h",
 				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32/Arduino.h",
 				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32/pins_arduino.h",
-				"${workspaceFolder}/flix/cli.ino",
+				"${workspaceFolder}/flix/console.ino",
 				"${workspaceFolder}/flix/control.ino",
 				"${workspaceFolder}/flix/estimate.ino",
 				"${workspaceFolder}/flix/flix.ino",

docs/firmware.md

@@ -28,7 +28,7 @@ Firmware source files are located in `flix` directory.
 * [`control.ino`](../flix/control.ino) — control subsystem, three-dimensional two-level cascade PID controller.
 * [`motors.ino`](../flix/motors.ino) — PWM motor output control.
 * [`mavlink.ino`](../flix/mavlink.ino) — interaction with QGroundControl or [pyflix](../tools/pyflix) via MAVLink protocol.
-* [`cli.ino`](../flix/cli.ino) — serial and MAVLink console.
+* [`console.ino`](../flix/console.ino) — serial and MAVLink console.
 
 Utility files:
 
@@ -60,7 +60,7 @@ To write into the console, `print()` function is used. This function sends data
 print("Test value: %.2f\n", testValue);
 ```
 
-In order to add a console command, modify the `doCommand()` function in `cli.ino` file.
+In order to add a console command, modify the `doCommand()` function in `console.ino` file.
 
 > [!IMPORTANT]
 > Avoid using delays in in-flight commands, it will **crash** the drone! (The design is one-threaded.)

docs/usage.md

@@ -54,7 +54,7 @@ Beginners can [download the sources as a ZIP archive](https://github.com/okalach
    * `MAVLink`, version 2.0.25.
 5. Open the `flix/flix.ino` sketch from downloaded firmware sources in Arduino IDE.
 6. Connect your ESP32 board to the computer and choose correct board type in Arduino IDE (*WEMOS D1 MINI ESP32* for ESP32 Mini, *ESP32S3 Dev Module* for ESP32-S3 Super Mini) and the port.
-7. Set *Tools* ⇒ *Core Debug Level* to *Error* to see the errors in the serial console. Set *Tools* ⇒ *USB CDC on Boot* to *Enabled* for ESP32-S3/ESP32-C3 boards.
+7. Set *Tools* ⇒ *Core Debug Level* to *Error* to see the errors in the serial console.
 8. [Build and upload](https://docs.arduino.cc/software/ide-v2/tutorials/getting-started/ide-v2-uploading-a-sketch) the firmware using Arduino IDE.
 
 #### Command line (Windows, Linux, macOS)
@@ -89,7 +89,7 @@ Beginners can [download the sources as a ZIP archive](https://github.com/okalach
    For ESP32-S3/ESP32-C3 boards, set the appropriate [FQBN](https://docs.arduino.cc/arduino-cli/FAQ/#whats-the-fqbn-string) using `BOARD` parameter:
 
    ```bash
-   make BOARD=esp32:esp32:esp32s3:FlashSize=4M,CDCOnBoot=cdc upload
+   make BOARD=esp32:esp32:esp32s3 upload
    ```
 
 See other available Make commands in [Makefile](../Makefile).

flix/console.ino

@@ -56,6 +56,19 @@ const char* motd =
 "reset - reset drone's state\n"
 "reboot - reboot the drone\n";
 
+// Always redirect Serial to USB on ESP32-S3/ESP32-C3
+#if SOC_USB_SERIAL_JTAG_SUPPORTED && ARDUINO_USB_MODE
+#if !ARDUINO_USB_CDC_ON_BOOT
+HWCDC HWCDCSerial;
+#endif
+#undef Serial
+#define Serial HWCDCSerial
+#endif
+
+void setupConsole() {
+	Serial.begin(115200);
+}
+
 void print(const char* format, ...) {
 	char buf[3000];
 	va_list args;
@@ -70,7 +83,7 @@ void pause(float duration) {
 	float start = t;
 	while (t - start < duration) {
 		step();
-		handleInput();
+		handleConsole();
 		processMavlink();
 		delay(50);
 	}
@@ -199,7 +212,7 @@ void doCommand(String str, bool echo = false) {
 	}
 }
 
-void handleInput() {
+void handleConsole() {
 	static bool showMotd = true;
 	static String input;
 

flix/flix.ino

@@ -16,7 +16,7 @@ extern bool landed;
 extern float motors[4];
 
 void setup() {
-	Serial.begin(115200);
+	setupConsole();
 	print("Initializing Flix\n");
 	setupParameters();
 	setupPower();
@@ -37,7 +37,7 @@ void loop() {
 	estimate();
 	control();
 	sendMotors();
-	handleInput();
+	handleConsole();
 	processMavlink();
 	readVoltage();
 	logData();

gazebo/flix.h

@@ -45,7 +45,7 @@ void testMotor(int, float);
 void print(const char* format, ...);
 void pause(float duration);
 void doCommand(String str, bool echo);
-void handleInput();
+void handleConsole();
 void setupRC();
 void normalizeRC();
 void calibrateRC();

gazebo/simulator.cpp

@@ -18,7 +18,7 @@
 #include "Arduino.h"
 #include "flix.h"
 
-#include "cli.ino"
+#include "console.ino"
 #include "control.ino"
 #include "estimate.ino"
 #include "safety.ino"
@@ -83,7 +83,7 @@ public:
 		attitude.setYaw(this->model->WorldPose().Yaw());
 
 		control();
-		handleInput();
+		handleConsole();
 		processMavlink();
 
 		applyMotorForces();