mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-13 19:40:31 +03:00
implemented various things for cli
added 'reset to defaults' to cli got rid of 'servo' feature since that's not really a feature a user can set added couple more configurable tricopter things to config struct. git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@118 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop
parent
2861482bb6
commit
2fc24b338e
8 changed files with 3048 additions and 2542 deletions
248
src/cli.c
248
src/cli.c
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@ -3,23 +3,32 @@
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// we unset this on 'exit'
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extern uint8_t cliMode;
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static void cliDefaults(char *cmdline);
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static void cliExit(char *cmdline);
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static void cliFeature(char *cmdline);
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static void cliHelp(char *cmdline);
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static void cliMixer(char *cmdline);
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static void cliRMode(char *cmdline);
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static void cliSave(char *cmdline);
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static void cliSet(char *cmdline);
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static void cliVersion(char *cmdline);
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// buffer
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static char cliBuffer[32];
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static uint8_t bufferIndex = 0;
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static bool unsaved = false;
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// sync this with MultiType enum from mw.h
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const char *mixerNames[] = {
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"TRI", "QUADP", "QUADX", "BI",
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"GIMBAL", "Y6", "HEX6",
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"GIMBAL", "Y6", "HEX6",
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"FLYING_WING", "Y4", "HEX6X", "OCTOX8", "OCTOFLATP", "OCTOFLATX",
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"AIRPLANE", "HELI_120_CCPM", "HELI_90_DEG", "VTAIL4"
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"AIRPLANE", "HELI_120_CCPM", "HELI_90_DEG", "VTAIL4", NULL
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};
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// sync this with AvailableFeatures enum from board.h
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const char *featureNames[] = {
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"PPM", "VBAT", "INFLIGHT_ACC_CAL", "DIGITAL_SERVO", "MOTOR_STOP",
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"SERVO_TILT", "CAMTRIG", "GYRO_SMOOTHING", "LED_RING",
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NULL
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};
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typedef struct {
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@ -30,17 +39,18 @@ typedef struct {
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// should be sorted a..z for bsearch()
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const clicmd_t cmdTable[] = {
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{ "defaults", "reset to defaults and reboot", cliDefaults },
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{ "exit", "", cliExit },
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{ "feature", "list or -val or val", cliFeature },
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{ "help", "", cliHelp },
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{ "mixer", "mixer name", cliMixer },
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{ "rmode", "pwm / ppm", cliRMode },
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{ "set", "name=value", cliSet },
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{ "mixer", "mixer name or list", cliMixer },
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{ "save", "save and reboot", cliSave },
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{ "set", "name=value or blank for list", cliSet },
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{ "version", "", cliVersion },
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};
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#define CMD_COUNT (sizeof(cmdTable) / sizeof(cmdTable[0]))
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typedef enum {
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VAR_BOOL, // yes/no true/false 1/0 type stuff
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VAR_UINT8,
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VAR_INT8,
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VAR_UINT16,
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@ -65,12 +75,17 @@ const clivalue_t valueTable[] = {
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{ "wing_left_mid", VAR_UINT16, &cfg.wing_left_mid, 0, 2000 },
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{ "wing_right_mid", VAR_UINT16, &cfg.wing_right_mid, 0, 2000 },
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{ "tri_yaw_middle", VAR_UINT16, &cfg.tri_yaw_middle, 0, 2000 },
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{ "tri_yaw_min", VAR_UINT16, &cfg.tri_yaw_min, 0, 2000 },
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{ "tri_yaw_max", VAR_UINT16, &cfg.tri_yaw_max, 0, 2000 },
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{ "tilt_pitch_prop", VAR_INT8, &cfg.tilt_pitch_prop, -100, 100 },
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{ "tilt_roll_prop", VAR_INT8, &cfg.tilt_roll_prop, -100, 100 },
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};
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#define VALUE_COUNT (sizeof(valueTable) / sizeof(valueTable[0]))
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static void cliSetVar(const clivalue_t *var, const int32_t value);
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static void cliPrintVar(const clivalue_t *var);
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static void cliPrompt(void)
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{
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uartPrint("\r\n# ");
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@ -82,12 +97,82 @@ static int cliCompare(const void *a, const void *b)
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return strncasecmp(ca->name, cb->name, strlen(cb->name));
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}
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static void cliDefaults(char *cmdline)
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{
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uartPrint("Resetting to defaults...\r\n");
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checkFirstTime(true);
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uartPrint("Rebooting...");
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delay(10);
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systemReset(false);
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}
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static void cliExit(char *cmdline)
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{
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uartPrint("\r\nLeaving CLI mode...\r\n");
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memset(cliBuffer, 0, sizeof(cliBuffer));
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bufferIndex = 0;
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cliMode = 0;
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// save and reboot... I think this makes the most sense
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cliSave(cmdline);
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}
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static void cliFeature(char *cmdline)
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{
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uint8_t i;
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uint8_t len;
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uint32_t mask;
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len = strlen(cmdline);
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mask = featureMask();
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if (len == 0) {
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uartPrint("Enabled features: ");
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for (i = 0; ; i++) {
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if (featureNames[i] == NULL)
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break;
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if (mask & (1 << i))
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uartPrint((char *)featureNames[i]);
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uartWrite(' ');
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}
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uartPrint("\r\n");
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} else if (strncasecmp(cmdline, "list", len) == 0) {
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uartPrint("Available features: ");
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for (i = 0; ; i++) {
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if (featureNames[i] == NULL)
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break;
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uartPrint((char *)featureNames[i]);
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uartWrite(' ');
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}
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uartPrint("\r\n");
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return;
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} else {
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bool remove = false;
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if (cmdline[0] == '-') {
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// remove feature
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remove = true;
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cmdline++; // skip over -
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len--;
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}
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for (i = 0; ; i++) {
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if (featureNames[i] == NULL) {
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uartPrint("Invalid feature name...\r\n");
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break;
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}
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if (strncasecmp(cmdline, featureNames[i], len) == 0) {
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if (remove) {
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featureClear(1 << i);
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uartPrint("Disabled ");
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} else {
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featureSet(1 << i);
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uartPrint("Enabled ");
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}
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uartPrint((char *)featureNames[i]);
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uartPrint("\r\n");
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break;
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}
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}
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}
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}
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static void cliHelp(char *cmdline)
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@ -106,29 +191,141 @@ static void cliHelp(char *cmdline)
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static void cliMixer(char *cmdline)
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{
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uint8_t i;
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uint8_t len;
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len = strlen(cmdline);
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}
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static void cliRMode(char *cmdline)
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{
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if (strncasecmp(cmdline, "pwm", 3) == 0) {
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uartPrint("PWM Mode");
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featureClear(FEATURE_PPM);
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} else {
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uartPrint("PPM Mode");
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featureSet(FEATURE_PPM);
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if (len == 0) {
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uartPrint("Current mixer: ");
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uartPrint((char *)mixerNames[cfg.mixerConfiguration - 1]);
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uartPrint("\r\n");
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return;
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} else if (strncasecmp(cmdline, "list", len) == 0) {
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uartPrint("Available mixers: ");
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for (i = 0; ; i++) {
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if (mixerNames[i] == NULL)
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break;
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uartPrint((char *)mixerNames[i]);
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uartWrite(' ');
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}
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uartPrint("\r\n");
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return;
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}
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cliExit(cmdline);
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for (i = 0; ; i++) {
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if (mixerNames[i] == NULL) {
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uartPrint("Invalid mixer type...\r\n");
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break;
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}
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if (strncasecmp(cmdline, mixerNames[i], len) == 0) {
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cfg.mixerConfiguration = i + 1;
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uartPrint("Mixer set to ");
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uartPrint((char *)mixerNames[i]);
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uartPrint("\r\n");
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break;
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}
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}
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}
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static void cliSave(char *cmdline)
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{
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uartPrint("Saving...");
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writeParams();
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uartPrint("\r\nRebooting...");
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delay(10);
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systemReset(false);
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}
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static void cliPrintVar(const clivalue_t *var)
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{
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int32_t value;
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char buf[16];
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switch (var->type) {
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case VAR_UINT8:
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value = *(uint8_t *)var->ptr;
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break;
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case VAR_INT8:
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value = *(int8_t *)var->ptr;
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break;
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case VAR_UINT16:
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value = *(uint16_t *)var->ptr;
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break;
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case VAR_INT16:
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value = *(int16_t *)var->ptr;
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break;
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}
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snprintf(buf, 16, "%d", value);
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uartPrint(buf);
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}
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static void cliSetVar(const clivalue_t *var, const int32_t value)
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{
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switch (var->type) {
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case VAR_UINT8:
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*(uint8_t *)var->ptr = (uint8_t)value;
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break;
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case VAR_INT8:
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*(int8_t *)var->ptr = (int8_t)value;
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break;
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case VAR_UINT16:
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*(uint16_t *)var->ptr = (uint16_t)value;
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break;
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case VAR_INT16:
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*(int16_t *)var->ptr = (int16_t)value;
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break;
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}
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}
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static void cliSet(char *cmdline)
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{
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uint8_t i;
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uint8_t len;
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const clivalue_t *val;
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char *eqptr = NULL;
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int32_t value = 0;
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len = strlen(cmdline);
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if (len == 0) {
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uartPrint("Current settings: \r\n");
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for (i = 0; i < VALUE_COUNT; i++) {
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val = &valueTable[i];
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uartPrint((char *)valueTable[i].name);
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uartPrint(" = ");
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cliPrintVar(val);
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uartPrint("\r\n");
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delay(10);
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}
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} else if (eqptr = strstr(cmdline, "=")) {
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// has equal, set var
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eqptr++;
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len--;
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value = atoi(eqptr);
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for (i = 0; i < VALUE_COUNT; i++) {
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val = &valueTable[i];
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if (strncasecmp(cmdline, valueTable[i].name, strlen(valueTable[i].name)) == 0) {
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// found
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if (value >= valueTable[i].min && value <= valueTable[i].max) {
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cliSetVar(val, value);
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uartPrint((char *)valueTable[i].name);
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uartPrint(" set to ");
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cliPrintVar(val);
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} else {
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uartPrint("ERR: Value assignment out of range\r\n");
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}
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return;
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}
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}
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uartPrint("ERR: Unknown variable name\r\n");
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}
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}
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static void cliVersion(char *cmdline)
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@ -150,7 +347,7 @@ void cliProcess(void)
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if (c == '\t' || c == '?') {
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const clicmd_t *cmd, *pstart = NULL, *pend = NULL;
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int i = bufferIndex;
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for (cmd = cmdTable;cmd < cmdTable + CMD_COUNT;cmd++) {
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for (cmd = cmdTable; cmd < cmdTable + CMD_COUNT; cmd++) {
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if (bufferIndex && (strncasecmp(cliBuffer, cmd->name, bufferIndex) != 0))
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continue;
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if (!pstart)
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@ -158,7 +355,7 @@ void cliProcess(void)
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pend = cmd;
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}
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if (pstart) { /* Buffer matches one or more commands */
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for (;;bufferIndex++) {
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for (; ; bufferIndex++) {
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if (pstart->name[bufferIndex] != pend->name[bufferIndex])
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break;
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if (!pstart->name[bufferIndex]) {
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@ -179,12 +376,13 @@ void cliProcess(void)
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cliPrompt();
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i = 0; /* Redraw prompt */
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}
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for (;i < bufferIndex;i++)
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for (; i < bufferIndex; i++)
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uartWrite(cliBuffer[i]);
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} else if (!bufferIndex && c == 4) {
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cliExit(cliBuffer);
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return;
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} else if (c == 12) {
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// clear screen
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uartPrint("\033[2J\033[1;1H");
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cliPrompt();
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} else if (bufferIndex && (c == '\n' || c == '\r')) {
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@ -201,7 +399,7 @@ void cliProcess(void)
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if (cmd)
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cmd->func(cliBuffer + strlen(cmd->name) + 1);
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else
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uartPrint("ERR: Unknown command, try 'HELP'");
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uartPrint("ERR: Unknown command, try 'help'");
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memset(cliBuffer, 0, sizeof(cliBuffer));
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bufferIndex = 0;
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