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Merge branch 'master' into development

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borisbstyle 2016-09-11 01:16:53 +02:00
commit 05908aad4d
36 changed files with 957 additions and 183 deletions
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116
src/main/io/serial_cli.c
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@ -222,7 +222,7 @@ static const char * const featureNames[] = {
"SERVO_TILT", "SOFTSERIAL", "GPS", "FAILSAFE",
"SONAR", "TELEMETRY", "CURRENT_METER", "3D", "RX_PARALLEL_PWM",
"RX_MSP", "RSSI_ADC", "LED_STRIP", "DISPLAY", "OSD",
"BLACKBOX", "CHANNEL_FORWARDING", "TRANSPONDER", "AIRMODE", "SUPEREXPO_RATES", NULL
"BLACKBOX", "CHANNEL_FORWARDING", "TRANSPONDER", "AIRMODE", NULL
};
// sync this with rxFailsafeChannelMode_e
@ -672,6 +672,7 @@ const clivalue_t valueTable[] = {
{ "max_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.escAndServoConfig.maxthrottle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "min_command", VAR_UINT16 | MASTER_VALUE, &masterConfig.escAndServoConfig.mincommand, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "servo_center_pulse", VAR_UINT16 | MASTER_VALUE, &masterConfig.escAndServoConfig.servoCenterPulse, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "max_esc_throttle_jump", VAR_UINT16 | MASTER_VALUE, &masterConfig.escAndServoConfig.maxEscThrottleJumpMs, .config.minmax = { 0, 1000 } },
{ "3d_deadband_low", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.deadband3d_low, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } }, // FIXME upper limit should match code in the mixer, 1500 currently
{ "3d_deadband_high", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.deadband3d_high, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } }, // FIXME lower limit should match code in the mixer, 1500 currently,
@ -852,11 +853,8 @@ const clivalue_t valueTable[] = {
{ "dterm_notch_cutoff", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_notch_cutoff, .config.minmax = { 1, 500 } },
{ "vbat_pid_compensation", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.vbatPidCompensation, .config.lookup = { TABLE_OFF_ON } },
{ "pid_at_min_throttle", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.pidAtMinThrottle, .config.lookup = { TABLE_OFF_ON } },
{ "pid_tolerance_band", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.toleranceBand, .config.minmax = {0, 200 } },
{ "tolerance_band_reduction", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.toleranceBandReduction, .config.minmax = {0, 100 } },
{ "zero_cross_allowance", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.zeroCrossAllowanceCount, .config.minmax = {0, 50 } },
{ "iterm_throttle_gain", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermThrottleGain, .config.minmax = {0, 200 } },
{ "pterm_setpoint_weight", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.ptermSetpointWeight, .config.minmax = {30, 100 } },
{ "pterm_srate_ratio", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.ptermSRateWeight, .config.minmax = {0, 100 } },
{ "dterm_setpoint_weight", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dtermSetpointWeight, .config.minmax = {0, 255 } },
{ "yaw_rate_accel_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawRateAccelLimit, .config.minmax = {0, 1000 } },
{ "rate_accel_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rateAccelLimit, .config.minmax = {0, 1000 } },
@ -971,14 +969,24 @@ static void cliShowArgumentRangeError(char *name, int min, int max)
cliPrintf("%s must be between %d and %d\r\n", name, min, max);
}
static char *nextArg(char *currentArg)
{
char *ptr = strchr(currentArg, ' ');
while (ptr && *ptr == ' ') {
ptr++;
}
return ptr;
}
static char *processChannelRangeArgs(char *ptr, channelRange_t *range, uint8_t *validArgumentCount)
{
int val;
for (uint32_t argIndex = 0; argIndex < 2; argIndex++) {
ptr = strchr(ptr, ' ');
ptr = nextArg(ptr);
if (ptr) {
val = atoi(++ptr);
val = atoi(ptr);
val = CHANNEL_VALUE_TO_STEP(val);
if (val >= MIN_MODE_RANGE_STEP && val <= MAX_MODE_RANGE_STEP) {
if (argIndex == 0) {
@ -1061,9 +1069,9 @@ static void cliRxFail(char *cmdline)
rxFailsafeChannelMode_e mode = channelFailsafeConfiguration->mode;
bool requireValue = channelFailsafeConfiguration->mode == RX_FAILSAFE_MODE_SET;
ptr = strchr(ptr, ' ');
ptr = nextArg(ptr);
if (ptr) {
char *p = strchr(rxFailsafeModeCharacters, *(++ptr));
char *p = strchr(rxFailsafeModeCharacters, *(ptr));
if (p) {
uint8_t requestedMode = p - rxFailsafeModeCharacters;
mode = rxFailsafeModesTable[type][requestedMode];
@ -1077,13 +1085,13 @@ static void cliRxFail(char *cmdline)
requireValue = mode == RX_FAILSAFE_MODE_SET;
ptr = strchr(ptr, ' ');
ptr = nextArg(ptr);
if (ptr) {
if (!requireValue) {
cliShowParseError();
return;
}
value = atoi(++ptr);
value = atoi(ptr);
value = CHANNEL_VALUE_TO_RXFAIL_STEP(value);
if (value > MAX_RXFAIL_RANGE_STEP) {
cliPrint("Value out of range\r\n");
@ -1167,17 +1175,17 @@ static void cliAux(char *cmdline)
if (i < MAX_MODE_ACTIVATION_CONDITION_COUNT) {
modeActivationCondition_t *mac = &masterConfig.modeActivationConditions[i];
uint8_t validArgumentCount = 0;
ptr = strchr(ptr, ' ');
ptr = nextArg(ptr);
if (ptr) {
val = atoi(++ptr);
val = atoi(ptr);
if (val >= 0 && val < CHECKBOX_ITEM_COUNT) {
mac->modeId = val;
validArgumentCount++;
}
}
ptr = strchr(ptr, ' ');
ptr = nextArg(ptr);
if (ptr) {
val = atoi(++ptr);
val = atoi(ptr);
if (val >= 0 && val < MAX_AUX_CHANNEL_COUNT) {
mac->auxChannelIndex = val;
validArgumentCount++;
@ -1257,20 +1265,20 @@ static void cliSerial(char *cmdline)
validArgumentCount++;
}
ptr = strchr(ptr, ' ');
ptr = nextArg(ptr);
if (ptr) {
val = atoi(++ptr);
val = atoi(ptr);
portConfig.functionMask = val & 0xFFFF;
validArgumentCount++;
}
for (i = 0; i < 4; i ++) {
ptr = strchr(ptr, ' ');
ptr = nextArg(ptr);
if (!ptr) {
break;
}
val = atoi(++ptr);
val = atoi(ptr);
uint8_t baudRateIndex = lookupBaudRateIndex(val);
if (baudRates[baudRateIndex] != (uint32_t) val) {
@ -1437,17 +1445,17 @@ static void cliAdjustmentRange(char *cmdline)
adjustmentRange_t *ar = &masterConfig.adjustmentRanges[i];
uint8_t validArgumentCount = 0;
ptr = strchr(ptr, ' ');
ptr = nextArg(ptr);
if (ptr) {
val = atoi(++ptr);
val = atoi(ptr);
if (val >= 0 && val < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT) {
ar->adjustmentIndex = val;
validArgumentCount++;
}
}
ptr = strchr(ptr, ' ');
ptr = nextArg(ptr);
if (ptr) {
val = atoi(++ptr);
val = atoi(ptr);
if (val >= 0 && val < MAX_AUX_CHANNEL_COUNT) {
ar->auxChannelIndex = val;
validArgumentCount++;
@ -1456,17 +1464,17 @@ static void cliAdjustmentRange(char *cmdline)
ptr = processChannelRangeArgs(ptr, &ar->range, &validArgumentCount);
ptr = strchr(ptr, ' ');
ptr = nextArg(ptr);
if (ptr) {
val = atoi(++ptr);
val = atoi(ptr);
if (val >= 0 && val < ADJUSTMENT_FUNCTION_COUNT) {
ar->adjustmentFunction = val;
validArgumentCount++;
}
}
ptr = strchr(ptr, ' ');
ptr = nextArg(ptr);
if (ptr) {
val = atoi(++ptr);
val = atoi(ptr);
if (val >= 0 && val < MAX_AUX_CHANNEL_COUNT) {
ar->auxSwitchChannelIndex = val;
validArgumentCount++;
@ -1534,9 +1542,9 @@ static void cliMotorMix(char *cmdline)
for (uint32_t i = 0; i < MAX_SUPPORTED_MOTORS; i++)
masterConfig.customMotorMixer[i].throttle = 0.0f;
} else if (strncasecmp(cmdline, "load", 4) == 0) {
ptr = strchr(cmdline, ' ');
ptr = nextArg(cmdline);
if (ptr) {
len = strlen(++ptr);
len = strlen(ptr);
for (uint32_t i = 0; ; i++) {
if (mixerNames[i] == NULL) {
cliPrint("Invalid name\r\n");
@ -1554,30 +1562,30 @@ static void cliMotorMix(char *cmdline)
ptr = cmdline;
uint32_t i = atoi(ptr); // get motor number
if (i < MAX_SUPPORTED_MOTORS) {
ptr = strchr(ptr, ' ');
ptr = nextArg(ptr);
if (ptr) {
masterConfig.customMotorMixer[i].throttle = fastA2F(++ptr);
masterConfig.customMotorMixer[i].throttle = fastA2F(ptr);
check++;
}
ptr = strchr(ptr, ' ');
ptr = nextArg(ptr);
if (ptr) {
masterConfig.customMotorMixer[i].roll = fastA2F(++ptr);
masterConfig.customMotorMixer[i].roll = fastA2F(ptr);
check++;
}
ptr = strchr(ptr, ' ');
ptr = nextArg(ptr);
if (ptr) {
masterConfig.customMotorMixer[i].pitch = fastA2F(++ptr);
masterConfig.customMotorMixer[i].pitch = fastA2F(ptr);
check++;
}
ptr = strchr(ptr, ' ');
ptr = nextArg(ptr);
if (ptr) {
masterConfig.customMotorMixer[i].yaw = fastA2F(++ptr);
masterConfig.customMotorMixer[i].yaw = fastA2F(ptr);
check++;
}
if (check != 4) {
cliShowParseError();
} else {
cliMotorMix("");
printMotorMix(DUMP_MASTER, NULL);
}
} else {
cliShowArgumentRangeError("index", 0, MAX_SUPPORTED_MOTORS - 1);
@ -1625,15 +1633,15 @@ static void cliRxRange(char *cmdline)
if (i >= 0 && i < NON_AUX_CHANNEL_COUNT) {
int rangeMin, rangeMax;
ptr = strchr(ptr, ' ');
ptr = nextArg(ptr);
if (ptr) {
rangeMin = atoi(++ptr);
rangeMin = atoi(ptr);
validArgumentCount++;
}
ptr = strchr(ptr, ' ');
ptr = nextArg(ptr);
if (ptr) {
rangeMax = atoi(++ptr);
rangeMax = atoi(ptr);
validArgumentCount++;
}
@ -1683,8 +1691,8 @@ static void cliLed(char *cmdline)
ptr = cmdline;
i = atoi(ptr);
if (i < LED_MAX_STRIP_LENGTH) {
ptr = strchr(cmdline, ' ');
if (!parseLedStripConfig(i, ++ptr)) {
ptr = nextArg(cmdline);
if (!parseLedStripConfig(i, ptr)) {
cliShowParseError();
}
} else {
@ -1731,8 +1739,8 @@ static void cliColor(char *cmdline)
ptr = cmdline;
i = atoi(ptr);
if (i < LED_CONFIGURABLE_COLOR_COUNT) {
ptr = strchr(cmdline, ' ');
if (!parseColor(i, ++ptr)) {
ptr = nextArg(cmdline);
if (!parseColor(i, ptr)) {
cliShowParseError();
}
} else {
@ -1985,9 +1993,9 @@ static void cliServoMix(char *cmdline)
masterConfig.servoConf[i].reversedSources = 0;
}
} else if (strncasecmp(cmdline, "load", 4) == 0) {
ptr = strchr(cmdline, ' ');
ptr = nextArg(cmdline);
if (ptr) {
len = strlen(++ptr);
len = strlen(ptr);
for (uint32_t i = 0; ; i++) {
if (mixerNames[i] == NULL) {
cliPrintf("Invalid name\r\n");
@ -2283,25 +2291,25 @@ static void cliVtx(char *cmdline)
if (i < MAX_CHANNEL_ACTIVATION_CONDITION_COUNT) {
vtxChannelActivationCondition_t *cac = &masterConfig.vtxChannelActivationConditions[i];
uint8_t validArgumentCount = 0;
ptr = strchr(ptr, ' ');
ptr = nextArg(ptr);
if (ptr) {
val = atoi(++ptr);
val = atoi(ptr);
if (val >= 0 && val < MAX_AUX_CHANNEL_COUNT) {
cac->auxChannelIndex = val;
validArgumentCount++;
}
}
ptr = strchr(ptr, ' ');
ptr = nextArg(ptr);
if (ptr) {
val = atoi(++ptr);
val = atoi(ptr);
if (val >= VTX_BAND_MIN && val <= VTX_BAND_MAX) {
cac->band = val;
validArgumentCount++;
}
}
ptr = strchr(ptr, ' ');
ptr = nextArg(ptr);
if (ptr) {
val = atoi(++ptr);
val = atoi(ptr);
if (val >= VTX_CHANNEL_MIN && val <= VTX_CHANNEL_MAX) {
cac->channel = val;
validArgumentCount++;