From 401b3e69198f3f08c0684b9a013ada09d0f2d77f Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Sat, 4 Mar 2017 07:12:00 +0000 Subject: [PATCH] PG CLI additions 1 --- src/main/fc/cli.c | 107 +++++++++++++++++++++++++++++++++++----------- 1 file changed, 82 insertions(+), 25 deletions(-) diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c index b1e1fbc9a6..ad25e6d68f 100755 --- a/src/main/fc/cli.c +++ b/src/main/fc/cli.c @@ -111,11 +111,12 @@ uint8_t cliMode = 0; #include "telemetry/frsky.h" #include "telemetry/telemetry.h" + static serialPort_t *cliPort; static bufWriter_t *cliWriter; static uint8_t cliWriteBuffer[sizeof(*cliWriter) + 128]; -static char cliBuffer[48]; +static char cliBuffer[64]; static uint32_t bufferIndex = 0; static const char* const emptyName = "-"; @@ -496,24 +497,24 @@ static const clivalue_t valueTable[] = { { "gyro_sync_denom", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 1, 8 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_sync_denom) }, { "gyro_lowpass_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_LOWPASS_TYPE }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_lpf_type) }, { "gyro_lowpass", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 255 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_lpf_hz) }, - { "gyro_notch1_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_hz_1) }, - { "gyro_notch1_cutoff", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 1, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_cutoff_1) }, - { "gyro_notch2_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_hz_2) }, + { "gyro_notch1_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_hz_1) }, + { "gyro_notch1_cutoff", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 1, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_cutoff_1) }, + { "gyro_notch2_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_hz_2) }, { "gyro_notch2_cutoff", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 1, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_cutoff_2) }, { "moron_threshold", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 128 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyroMovementCalibrationThreshold) }, // PG_ACCELEROMETER_CONFIG { "align_acc", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ALIGNMENT }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, acc_align) }, { "acc_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ACC_HARDWARE }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, acc_hardware) }, - { "acc_lpf_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 400 }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, acc_align) }, - { "acc_trim_pitch", VAR_INT16 | MASTER_VALUE, .config.minmax = { -300, 300 }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, accelerometerTrims.values.pitch) }, - { "acc_trim_roll", VAR_INT16 | MASTER_VALUE, .config.minmax = { -300, 300 }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, accelerometerTrims.values.roll) }, + { "acc_lpf_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 400 }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, acc_align) }, + { "acc_trim_pitch", VAR_INT16 | MASTER_VALUE, .config.minmax = { -300, 300 }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, accelerometerTrims.values.pitch) }, + { "acc_trim_roll", VAR_INT16 | MASTER_VALUE, .config.minmax = { -300, 300 }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, accelerometerTrims.values.roll) }, // PG_COMPASS_CONFIG #ifdef MAG { "align_mag", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ALIGNMENT }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, mag_align) }, { "mag_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_MAG_HARDWARE }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, mag_hardware) }, - { "mag_declination", VAR_INT16 | MASTER_VALUE, .config.minmax = { -18000, 18000 }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, mag_declination) }, + { "mag_declination", VAR_INT16 | MASTER_VALUE, .config.minmax = { -18000, 18000 }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, mag_declination) }, { "magzero_x", VAR_INT16 | MASTER_VALUE, .config.minmax = { INT16_MIN, INT16_MAX }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, magZero.raw[X]) }, { "magzero_y", VAR_INT16 | MASTER_VALUE, .config.minmax = { INT16_MIN, INT16_MAX }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, magZero.raw[Y]) }, { "magzero_z", VAR_INT16 | MASTER_VALUE, .config.minmax = { INT16_MIN, INT16_MAX }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, magZero.raw[Z]) }, @@ -521,35 +522,91 @@ static const clivalue_t valueTable[] = { // PG_BAROMETER_CONFIG #ifdef BARO - { "baro_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BARO_HARDWARE }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_hardware) }, - { "baro_tab_size", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, BARO_SAMPLE_COUNT_MAX }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_sample_count) }, + { "baro_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BARO_HARDWARE }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_hardware) }, + { "baro_tab_size", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, BARO_SAMPLE_COUNT_MAX }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_sample_count) }, { "baro_noise_lpf", VAR_FLOAT | MASTER_VALUE, .config.minmax = { 0 , 1 }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_noise_lpf) }, { "baro_cf_vel", VAR_FLOAT | MASTER_VALUE, .config.minmax = { 0 , 1 }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_cf_vel) }, { "baro_cf_alt", VAR_FLOAT | MASTER_VALUE, .config.minmax = { 0 , 1 }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_cf_alt) }, #endif // PG_RX_CONFIG - { "mid_rc", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 1200, 1700 }, PG_RX_CONFIG, offsetof(rxConfig_t, midrc) }, - { "min_check", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, mincheck) }, - { "max_check", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, maxcheck) }, - { "rssi_channel", VAR_INT8 | MASTER_VALUE, .config.minmax = { 0, MAX_SUPPORTED_RC_CHANNEL_COUNT }, PG_RX_CONFIG, offsetof(rxConfig_t, rssi_channel) }, - { "rssi_scale", VAR_UINT8 | MASTER_VALUE, .config.minmax = { RSSI_SCALE_MIN, RSSI_SCALE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rssi_scale) }, + { "mid_rc", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 1200, 1700 }, PG_RX_CONFIG, offsetof(rxConfig_t, midrc) }, + { "min_check", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, mincheck) }, + { "max_check", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, maxcheck) }, + { "rssi_channel", VAR_INT8 | MASTER_VALUE, .config.minmax = { 0, MAX_SUPPORTED_RC_CHANNEL_COUNT }, PG_RX_CONFIG, offsetof(rxConfig_t, rssi_channel) }, + { "rssi_scale", VAR_UINT8 | MASTER_VALUE, .config.minmax = { RSSI_SCALE_MIN, RSSI_SCALE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rssi_scale) }, + { "rssi_invert", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, rssi_invert) }, { "rc_interpolation", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RC_INTERPOLATION }, PG_RX_CONFIG, offsetof(rxConfig_t, rcInterpolation) }, - { "rc_interpolation_interval", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 1, 50 }, PG_RX_CONFIG, offsetof(rxConfig_t, rcInterpolationInterval) }, - { "rssi_invert", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, rssi_invert) }, - { "roll_yaw_cam_mix_degrees", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 50 }, PG_RX_CONFIG, offsetof(rxConfig_t, fpvCamAngleDegrees) }, - { "max_aux_channels", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 13 }, PG_RX_CONFIG, offsetof(rxConfig_t, max_aux_channel) }, + { "rc_interpolation_interval", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 1, 50 }, PG_RX_CONFIG, offsetof(rxConfig_t, rcInterpolationInterval) }, + { "roll_yaw_cam_mix_degrees", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 50 }, PG_RX_CONFIG, offsetof(rxConfig_t, fpvCamAngleDegrees) }, + { "max_aux_channels", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 13 }, PG_RX_CONFIG, offsetof(rxConfig_t, max_aux_channel) }, #ifdef SERIAL_RX - { "serialrx_provider", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_SERIAL_RX }, PG_RX_CONFIG, offsetof(rxConfig_t, serialrx_provider) }, + { "serialrx_provider", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_SERIAL_RX }, PG_RX_CONFIG, offsetof(rxConfig_t, serialrx_provider) }, + { "sbus_inversion", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, sbus_inversion) }, #endif - { "sbus_inversion", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, sbus_inversion) }, #ifdef SPEKTRUM_BIND - { "spektrum_sat_bind", VAR_UINT8 | MASTER_VALUE, .config.minmax = { SPEKTRUM_SAT_BIND_DISABLED, SPEKTRUM_SAT_BIND_MAX}, PG_RX_CONFIG, offsetof(rxConfig_t, spektrum_sat_bind) }, - { "spektrum_sat_bind_autoreset",VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 1}, PG_RX_CONFIG, offsetof(rxConfig_t, spektrum_sat_bind_autoreset) }, + { "spektrum_sat_bind", VAR_UINT8 | MASTER_VALUE, .config.minmax = { SPEKTRUM_SAT_BIND_DISABLED, SPEKTRUM_SAT_BIND_MAX}, PG_RX_CONFIG, offsetof(rxConfig_t, spektrum_sat_bind) }, + { "spektrum_sat_bind_autoreset",VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 1}, PG_RX_CONFIG, offsetof(rxConfig_t, spektrum_sat_bind_autoreset) }, #endif { "airmode_activate_throttle", VAR_UINT16 | MASTER_VALUE, .config.minmax = {1000, 2000 }, PG_RX_CONFIG, offsetof(rxConfig_t, airModeActivateThreshold) }, - { "rx_min_usec", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rx_min_usec) }, - { "rx_max_usec", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rx_max_usec) }, + { "rx_min_usec", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rx_min_usec) }, + { "rx_max_usec", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rx_max_usec) }, + +// PG_BLACKBOX_CONFIG +#ifdef BLACKBOX + { "blackbox_rate_num", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 1, 32 }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, rate_num) }, + { "blackbox_rate_denom", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 1, 32 }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, rate_denom) }, + { "blackbox_device", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BLACKBOX_DEVICE }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, device) }, + { "blackbox_on_motor_test", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, on_motor_test) }, +#endif + +// PG_MOTOR_CONFIG + { "min_throttle", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, minthrottle) }, + { "max_throttle", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, maxthrottle) }, + { "min_command", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, mincommand) }, +#ifdef USE_DSHOT + { "digital_idle_percent", VAR_FLOAT | MASTER_VALUE, .config.minmax = { 0, 20}, PG_MOTOR_CONFIG, offsetof(motorConfig_t, digitalIdleOffsetPercent) }, +#endif + { "use_unsynced_pwm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useUnsyncedPwm) }, + { "motor_pwm_protocol", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_MOTOR_PWM_PROTOCOL }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.motorPwmProtocol) }, + { "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 200, 32000 }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.motorPwmRate) }, + { "motor_pwm_inversion", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.motorPwmInversion) }, + +// PG_FAILSAFE_CONFIG + +// PG_BOARDALIGNMENT_CONFIG + +// PG_GIMBAL_CONFIG + +// PG_BATTERY_CONFIG + +// PG_MIXER_CONFIG + +// PG_MOTOR_3D_CONFIG + +// PG_SERVO_CONFIG + +// PG_CONTROLRATE_PROFILE + +// PG_SERIAL_CONFIG + +// PG_IMU_CONFIG + +// PG_ARMING_CONFIG + +// PG_GPS_CONFIG + +// PG_RC_CONTROLS_CONFIG + +// PG_PID_PROFILE + +// PG_TELEMETRY_CONFIG + +// PG_LED_STRIP_CONFIG + +// PG_OSD_CONFIG + +// PG_SYSTEM_CONFIG }; #else