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https://github.com/betaflight/betaflight.git
synced 2025-07-24 00:35:39 +03:00
Rebased on to master
This commit is contained in:
jflyper
commit
4a9366ce85
280 changed files with 9709 additions and 5130 deletions
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@ -58,6 +58,7 @@ uint8_t cliMode = 0;
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#include "drivers/sdcard.h"
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#include "drivers/buf_writer.h"
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#include "drivers/serial_escserial.h"
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#include "drivers/vcd.h"
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#include "fc/config.h"
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#include "fc/rc_controls.h"
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@ -230,7 +231,7 @@ static const char * const featureNames[] = {
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"SONAR", "TELEMETRY", "CURRENT_METER", "3D", "RX_PARALLEL_PWM",
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"RX_MSP", "RSSI_ADC", "LED_STRIP", "DISPLAY", "OSD",
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"BLACKBOX", "CHANNEL_FORWARDING", "TRANSPONDER", "AIRMODE",
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"SDCARD", "VTX", "RX_SPI", "SOFTSPI", NULL
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"SDCARD", "VTX", "RX_SPI", "SOFTSPI", "ESC_TELEMETRY", NULL
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};
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// sync this with rxFailsafeChannelMode_e
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@ -434,7 +435,8 @@ static const char * const lookupTableSerialRX[] = {
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"XB-B",
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"XB-B-RJ01",
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"IBUS",
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"JETIEXBUS"
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"JETIEXBUS",
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"CRSF"
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};
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#endif
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@ -512,6 +514,7 @@ static const char * const lookupTableDebug[DEBUG_COUNT] = {
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"VELOCITY",
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"DFILTER",
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"ANGLERATE",
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"ESC_TELEMETRY",
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};
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#ifdef OSD
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@ -752,8 +755,8 @@ const clivalue_t valueTable[] = {
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#endif
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#ifdef BEEPER
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{ "beeper_inverted", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.beeperConfig.isInverted, .config.lookup = { TABLE_OFF_ON } },
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{ "beeper_od", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.beeperConfig.isOD, .config.lookup = { TABLE_OFF_ON } },
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{ "beeper_inversion", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.beeperConfig.isInverted, .config.lookup = { TABLE_OFF_ON } },
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{ "beeper_od", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.beeperConfig.isOpenDrain, .config.lookup = { TABLE_OFF_ON } },
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#endif
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#ifdef SERIAL_RX
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@ -948,8 +951,6 @@ const clivalue_t valueTable[] = {
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{ "sdcard_dma", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.sdcardConfig.useDma, .config.lookup = { TABLE_OFF_ON } },
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#endif
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#ifdef OSD
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{ "osd_video_system", VAR_UINT8 | MASTER_VALUE, &masterConfig.osdProfile.video_system, .config.minmax = { 0, 2 } },
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{ "osd_row_shiftdown", VAR_UINT8 | MASTER_VALUE, &masterConfig.osdProfile.row_shiftdown, .config.minmax = { 0, 1 } },
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{ "osd_units", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.osdProfile.units, .config.lookup = { TABLE_UNIT } },
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{ "osd_rssi_alarm", VAR_UINT8 | MASTER_VALUE, &masterConfig.osdProfile.rssi_alarm, .config.minmax = { 0, 100 } },
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@ -973,6 +974,11 @@ const clivalue_t valueTable[] = {
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{ "osd_gps_sats_pos", VAR_UINT16 | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_GPS_SATS], .config.minmax = { 0, 65536 } },
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{ "osd_altitude_pos", VAR_UINT16 | MASTER_VALUE, &masterConfig.osdProfile.item_pos[OSD_ALTITUDE], .config.minmax = { 0, 65536 } },
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#endif
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#ifdef USE_MAX7456
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{ "vcd_video_system", VAR_UINT8 | MASTER_VALUE, &masterConfig.vcdProfile.video_system, .config.minmax = { 0, 2 } },
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{ "vcd_h_offset", VAR_INT8 | MASTER_VALUE, &masterConfig.vcdProfile.h_offset, .config.minmax = { -32, 31 } },
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{ "vcd_v_offset", VAR_INT8 | MASTER_VALUE, &masterConfig.vcdProfile.v_offset, .config.minmax = { -15, 16 } },
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#endif
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};
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#define VALUE_COUNT (sizeof(valueTable) / sizeof(clivalue_t))
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@ -993,6 +999,14 @@ static void cliWrite(uint8_t ch);
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static bool cliDumpPrintf(uint8_t dumpMask, bool equalsDefault, const char *format, ...);
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static bool cliDefaultPrintf(uint8_t dumpMask, bool equalsDefault, const char *format, ...);
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static void cliBreak(const char *str, uint8_t len)
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{
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for (int i = 0; i < len; i++) {
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cliPrint(str);
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}
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cliPrint("\r\n");
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}
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static void cliPrompt(void)
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{
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cliPrint("\r\n# ");
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@ -1407,7 +1421,7 @@ static void cliSerialPassthrough(char *cmdline)
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if (!mode)
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mode = MODE_RXTX;
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passThroughPort = openSerialPort(id, FUNCTION_PASSTHROUGH, NULL,
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passThroughPort = openSerialPort(id, FUNCTION_NONE, NULL,
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baud, mode,
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SERIAL_NOT_INVERTED);
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if (!passThroughPort) {
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@ -3596,14 +3610,14 @@ static void cliTasks(char *cmdline)
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subTaskFrequency = (int)(1000000.0f / ((float)cycleTime));
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taskFrequency = subTaskFrequency / masterConfig.pid_process_denom;
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if (masterConfig.pid_process_denom > 1) {
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cliPrintf("%02d - (%12s) ", taskId, taskInfo.taskName);
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cliPrintf("%02d - (%13s) ", taskId, taskInfo.taskName);
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} else {
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taskFrequency = subTaskFrequency;
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cliPrintf("%02d - (%8s/%3s) ", taskId, taskInfo.subTaskName, taskInfo.taskName);
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cliPrintf("%02d - (%9s/%3s) ", taskId, taskInfo.subTaskName, taskInfo.taskName);
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}
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} else {
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taskFrequency = (int)(1000000.0f / ((float)taskInfo.latestDeltaTime));
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cliPrintf("%02d - (%12s) ", taskId, taskInfo.taskName);
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cliPrintf("%02d - (%13s) ", taskId, taskInfo.taskName);
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}
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const int maxLoad = (taskInfo.maxExecutionTime * taskFrequency + 5000) / 1000;
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const int averageLoad = (taskInfo.averageExecutionTime * taskFrequency + 5000) / 1000;
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@ -3615,11 +3629,11 @@ static void cliTasks(char *cmdline)
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taskFrequency, taskInfo.maxExecutionTime, taskInfo.averageExecutionTime,
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maxLoad/10, maxLoad%10, averageLoad/10, averageLoad%10, taskInfo.totalExecutionTime / 1000);
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if (taskId == TASK_GYROPID && masterConfig.pid_process_denom > 1) {
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cliPrintf(" - (%12s) %6d\r\n", taskInfo.subTaskName, subTaskFrequency);
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cliPrintf(" - (%13s) %6d\r\n", taskInfo.subTaskName, subTaskFrequency);
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}
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}
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}
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cliPrintf("Total (excluding SERIAL) %22d.%1d%% %4d.%1d%%\r\n", maxLoadSum/10, maxLoadSum%10, averageLoadSum/10, averageLoadSum%10);
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cliPrintf("Total (excluding SERIAL) %23d.%1d%% %4d.%1d%%\r\n", maxLoadSum/10, maxLoadSum%10, averageLoadSum/10, averageLoadSum%10);
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}
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#endif
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@ -3763,7 +3777,7 @@ const cliResourceValue_t resourceTable[] = {
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#ifdef USE_SERVOS
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{ OWNER_SERVO, &masterConfig.servoConfig.ioTags[0], MAX_SUPPORTED_SERVOS },
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#endif
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#ifndef SKIP_RX_PWM_PPM
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#if defined(USE_PWM) || defined(USE_PPM)
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{ OWNER_PPMINPUT, &masterConfig.ppmConfig.ioTag, 0 },
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{ OWNER_PWMINPUT, &masterConfig.pwmConfig.ioTags[0], PWM_INPUT_PORT_COUNT },
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#endif
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@ -3830,6 +3844,25 @@ static void printResource(uint8_t dumpMask, master_t *defaultConfig)
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}
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}
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#ifndef CLI_MINIMAL_VERBOSITY
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static void resourceCheck(uint8_t resourceIndex, uint8_t index, ioTag_t tag)
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{
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for (int r = 0; r < (int)ARRAYLEN(resourceTable); r++) {
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for (int i = 0; i < (resourceTable[r].maxIndex == 0 ? 1 : resourceTable[r].maxIndex); i++) {
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if (*(resourceTable[r].ptr + i) == tag) {
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if (r == resourceIndex && i == index) {
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continue;
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}
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cliPrintf("\r\n* WARNING * %c%d also used by %s", DEFIO_TAG_GPIOID(tag) + 'A', DEFIO_TAG_PIN(tag), ownerNames[resourceTable[r].owner]);
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if (resourceTable[r].maxIndex > 0) {
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cliPrintf(" %d", RESOURCE_INDEX(i));
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}
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}
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}
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}
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}
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#endif
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static void cliResource(char *cmdline)
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{
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int len = strlen(cmdline);
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@ -3840,7 +3873,8 @@ static void cliResource(char *cmdline)
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return;
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} else if (strncasecmp(cmdline, "list", len) == 0) {
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#ifndef CLI_MINIMAL_VERBOSITY
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cliPrintf("Currently active IO resource assignments:\r\n(reboot to update)\r\n----------------------\r\n");
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cliPrintf("Currently active IO resource assignments:\r\n(reboot to update)\r\n");
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cliBreak("-", 20);
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#endif
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for (int i = 0; i < DEFIO_IO_USED_COUNT; i++) {
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const char* owner;
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@ -3854,6 +3888,7 @@ static void cliResource(char *cmdline)
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}
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cliPrintf("\r\n\r\nCurrently active DMA:\r\n");
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cliBreak("-", 20);
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for (int i = 0; i < DMA_MAX_DESCRIPTORS; i++) {
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const char* owner;
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owner = ownerNames[dmaGetOwner(i)];
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@ -3908,7 +3943,7 @@ static void cliResource(char *cmdline)
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if (strlen(pch) > 0) {
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if (strcasecmp(pch, "NONE") == 0) {
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*tag = IO_TAG_NONE;
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cliPrintf("Resource is freed!");
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cliPrintf("Resource is freed!\r\n");
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return;
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} else {
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uint8_t port = (*pch) - 'A';
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@ -3921,11 +3956,16 @@ static void cliResource(char *cmdline)
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pin = atoi(pch);
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if (pin < 16) {
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ioRec_t *rec = IO_Rec(IOGetByTag(DEFIO_TAG_MAKE(port, pin)));
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if (rec) {
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if (rec) {
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*tag = DEFIO_TAG_MAKE(port, pin);
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cliPrintf("Resource is set to %c%02d!", port + 'A', pin);
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#ifndef CLI_MINIMAL_VERBOSITY
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cliPrintf("Resource is set to %c%02d!\r\n", port + 'A', pin);
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resourceCheck(resourceIndex, index, DEFIO_TAG_MAKE(port, pin));
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#else
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cliPrintf("Set to %c%02d!", port + 'A', pin);
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#endif
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} else {
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cliPrintf("Resource is invalid!");
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cliPrintf("Resource is invalid!\r\n");
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}
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return;
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}
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