mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-24 00:35:39 +03:00
Rebased on to master (with merged CMS)
This commit is contained in:
jflyper
commit
61a87480b3
341 changed files with 8778 additions and 8563 deletions
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@ -35,6 +35,8 @@ uint8_t cliMode = 0;
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#include "build/debug.h"
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#include "build/version.h"
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#include "cms/cms.h"
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#include "common/axis.h"
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#include "common/color.h"
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#include "common/maths.h"
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@ -50,6 +52,7 @@ uint8_t cliMode = 0;
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#include "drivers/flash.h"
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#include "drivers/io.h"
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#include "drivers/io_impl.h"
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#include "drivers/dma.h"
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#include "drivers/timer.h"
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#include "drivers/pwm_rx.h"
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#include "drivers/sdcard.h"
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@ -70,7 +73,6 @@ uint8_t cliMode = 0;
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#include "io/flashfs.h"
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#include "io/beeper.h"
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#include "io/asyncfatfs/asyncfatfs.h"
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#include "io/cms.h"
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#include "io/osd.h"
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#include "io/vtx.h"
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@ -228,7 +230,7 @@ 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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" ", "VTX", "RX_SPI", "SOFTSPI", "CANVAS", NULL
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"SDCARD", "VTX", "RX_SPI", "SOFTSPI", NULL
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};
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// sync this with rxFailsafeChannelMode_e
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@ -525,8 +527,8 @@ static const char * const lookupTableSuperExpoYaw[] = {
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};
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static const char * const lookupTablePwmProtocol[] = {
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"OFF", "ONESHOT125", "ONESHOT42", "MULTISHOT", "BRUSHED",
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#ifdef USE_DSHOT
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"OFF", "ONESHOT125", "ONESHOT42", "MULTISHOT", "BRUSHED",
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#ifdef USE_DSHOT
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"DSHOT600", "DSHOT300", "DSHOT150"
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#endif
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};
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@ -940,16 +942,18 @@ const clivalue_t valueTable[] = {
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{ "magzero_z", VAR_INT16 | MASTER_VALUE, &masterConfig.magZero.raw[Z], .config.minmax = { -32768, 32767 } },
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#endif
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#ifdef LED_STRIP
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{ "ledstrip_visual_beeper", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.ledstrip_visual_beeper, .config.lookup = { TABLE_OFF_ON } },
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{ "ledstrip_visual_beeper", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.ledStripConfig.ledstrip_visual_beeper, .config.lookup = { TABLE_OFF_ON } },
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#endif
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#if defined(USE_RTC6705) || defined(VTX_SMARTAUDIO)
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{ "vtx_channel", VAR_UINT8 | MASTER_VALUE, &masterConfig.vtx_channel, .config.minmax = { 0, 39 } },
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{ "vtx_power", VAR_UINT8 | MASTER_VALUE, &masterConfig.vtx_power, .config.minmax = { 0, 1 } },
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#endif
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#ifdef USE_SDCARD
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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_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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@ -1248,12 +1252,12 @@ static void printSerial(uint8_t dumpMask, master_t *defaultConfig)
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serialConfig_t *serialConfigDefault;
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bool equalsDefault;
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for (uint32_t i = 0; i < SERIAL_PORT_COUNT; i++) {
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serialConfig = &masterConfig.serialConfig;
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serialConfig = &masterConfig.serialConfig;
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if (!serialIsPortAvailable(serialConfig->portConfigs[i].identifier)) {
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continue;
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};
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serialConfigDefault = &defaultConfig->serialConfig;
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equalsDefault = serialConfig->portConfigs[i].identifier == serialConfigDefault->portConfigs[i].identifier
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serialConfigDefault = &defaultConfig->serialConfig;
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equalsDefault = serialConfig->portConfigs[i].identifier == serialConfigDefault->portConfigs[i].identifier
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&& serialConfig->portConfigs[i].functionMask == serialConfigDefault->portConfigs[i].functionMask
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&& serialConfig->portConfigs[i].msp_baudrateIndex == serialConfigDefault->portConfigs[i].msp_baudrateIndex
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&& serialConfig->portConfigs[i].gps_baudrateIndex == serialConfigDefault->portConfigs[i].gps_baudrateIndex
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@ -1711,8 +1715,8 @@ static void printLed(uint8_t dumpMask, master_t *defaultConfig)
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char ledConfigBuffer[20];
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char ledConfigDefaultBuffer[20];
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for (uint32_t i = 0; i < LED_MAX_STRIP_LENGTH; i++) {
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ledConfig = masterConfig.ledConfigs[i];
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ledConfigDefault = defaultConfig->ledConfigs[i];
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ledConfig = masterConfig.ledStripConfig.ledConfigs[i];
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ledConfigDefault = defaultConfig->ledStripConfig.ledConfigs[i];
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equalsDefault = ledConfig == ledConfigDefault;
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generateLedConfig(&ledConfig, ledConfigBuffer, sizeof(ledConfigBuffer));
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generateLedConfig(&ledConfigDefault, ledConfigDefaultBuffer, sizeof(ledConfigDefaultBuffer));
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@ -1749,8 +1753,8 @@ static void printColor(uint8_t dumpMask, master_t *defaultConfig)
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hsvColor_t *colorDefault;
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bool equalsDefault;
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for (uint32_t i = 0; i < LED_CONFIGURABLE_COLOR_COUNT; i++) {
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color = &masterConfig.colors[i];
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colorDefault = &defaultConfig->colors[i];
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color = &masterConfig.ledStripConfig.colors[i];
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colorDefault = &defaultConfig->ledStripConfig.colors[i];
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equalsDefault = color->h == colorDefault->h
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&& color->s == colorDefault->s
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&& color->v == colorDefault->v;
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@ -1795,21 +1799,26 @@ static void printModeColor(uint8_t dumpMask, master_t *defaultConfig)
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{
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for (uint32_t i = 0; i < LED_MODE_COUNT; i++) {
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for (uint32_t j = 0; j < LED_DIRECTION_COUNT; j++) {
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int colorIndex = masterConfig.modeColors[i].color[j];
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int colorIndexDefault = defaultConfig->modeColors[i].color[j];
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int colorIndex = masterConfig.ledStripConfig.modeColors[i].color[j];
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int colorIndexDefault = defaultConfig->ledStripConfig.modeColors[i].color[j];
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const char *format = "mode_color %u %u %u\r\n";
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cliDefaultPrintf(dumpMask, colorIndex == colorIndexDefault, format, i, j, colorIndexDefault);
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cliDumpPrintf(dumpMask, colorIndex == colorIndexDefault, format, i, j, colorIndex);
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}
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}
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const char *format = "mode_color %u %u %u\r\n";
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for (uint32_t j = 0; j < LED_SPECIAL_COLOR_COUNT; j++) {
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int colorIndex = masterConfig.specialColors.color[j];
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int colorIndexDefault = defaultConfig->specialColors.color[j];
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const char *format = "mode_color %u %u %u\r\n";
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int colorIndex = masterConfig.ledStripConfig.specialColors.color[j];
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int colorIndexDefault = defaultConfig->ledStripConfig.specialColors.color[j];
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cliDefaultPrintf(dumpMask, colorIndex == colorIndexDefault, format, LED_SPECIAL, j, colorIndexDefault);
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cliDumpPrintf(dumpMask, colorIndex == colorIndexDefault, format, LED_SPECIAL, j, colorIndex);
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}
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int ledStripAuxChannel = masterConfig.ledStripConfig.ledstrip_aux_channel;
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int ledStripAuxChannelDefault = defaultConfig->ledStripConfig.ledstrip_aux_channel;
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cliDefaultPrintf(dumpMask, ledStripAuxChannel == ledStripAuxChannelDefault, format, LED_AUX_CHANNEL, 0, ledStripAuxChannelDefault);
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cliDumpPrintf(dumpMask, ledStripAuxChannel == ledStripAuxChannelDefault, format, LED_AUX_CHANNEL, 0, ledStripAuxChannel);
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}
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static void cliModeColor(char *cmdline)
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@ -1962,11 +1971,11 @@ static void cliServo(char *cmdline)
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static void printServoMix(uint8_t dumpMask, master_t *defaultConfig)
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{
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for (uint32_t i = 0; i < MAX_SERVO_RULES; i++) {
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servoMixer_t customServoMixer = masterConfig.customServoMixer[i];
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servoMixer_t customServoMixerDefault = defaultConfig->customServoMixer[i];
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servoMixer_t customServoMixer = masterConfig.customServoMixer[i];
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servoMixer_t customServoMixerDefault = defaultConfig->customServoMixer[i];
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if (customServoMixer.rate == 0) {
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break;
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}
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}
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bool equalsDefault = customServoMixer.targetChannel == customServoMixerDefault.targetChannel
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&& customServoMixer.inputSource == customServoMixerDefault.inputSource
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@ -1976,7 +1985,7 @@ static void printServoMix(uint8_t dumpMask, master_t *defaultConfig)
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&& customServoMixer.max == customServoMixerDefault.max
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&& customServoMixer.box == customServoMixerDefault.box;
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const char *format = "smix %d %d %d %d %d %d %d %d\r\n";
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const char *format = "smix %d %d %d %d %d %d %d %d\r\n";
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cliDefaultPrintf(dumpMask, equalsDefault, format,
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i,
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customServoMixerDefault.targetChannel,
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@ -1999,7 +2008,7 @@ static void printServoMix(uint8_t dumpMask, master_t *defaultConfig)
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);
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}
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cliPrint("\r\n");
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cliPrint("\r\n");
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// print servo directions
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for (uint32_t i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
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@ -2027,7 +2036,7 @@ static void cliServoMix(char *cmdline)
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len = strlen(cmdline);
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if (len == 0) {
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printServoMix(DUMP_MASTER, NULL);
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printServoMix(DUMP_MASTER, NULL);
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} else if (strncasecmp(cmdline, "reset", 5) == 0) {
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// erase custom mixer
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memset(masterConfig.customServoMixer, 0, sizeof(masterConfig.customServoMixer));
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@ -2262,11 +2271,9 @@ static void cliFlashRead(char *cmdline)
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cliPrintf("Reading %u bytes at %u:\r\n", length, address);
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while (length > 0) {
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int bytesRead;
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int bytesRead = flashfsReadAbs(address, buffer, length < sizeof(buffer) ? length : sizeof(buffer));
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bytesRead = flashfsReadAbs(address, buffer, length < sizeof(buffer) ? length : sizeof(buffer));
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for (uint32_t i = 0; i < bytesRead; i++) {
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for (int i = 0; i < bytesRead; i++) {
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cliWrite(buffer[i]);
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}
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@ -2372,7 +2379,7 @@ static void cliVtx(char *cmdline)
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static void printName(uint8_t dumpMask)
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{
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bool equalsDefault = strlen(masterConfig.name) == 0;
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cliDumpPrintf(dumpMask, equalsDefault, "name %s\r\n", equalsDefault ? emptyName : masterConfig.name);
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cliDumpPrintf(dumpMask, equalsDefault, "name %s\r\n", equalsDefault ? emptyName : masterConfig.name);
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}
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static void cliName(char *cmdline)
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@ -2600,7 +2607,7 @@ static void cliMap(char *cmdline)
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parseRcChannels(cmdline, &masterConfig.rxConfig);
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}
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cliPrint("Map: ");
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uint32_t i;
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uint32_t i;
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for (i = 0; i < 8; i++)
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out[masterConfig.rxConfig.rcmap[i]] = rcChannelLetters[i];
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out[i] = '\0';
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@ -3001,12 +3008,18 @@ static void cliEscPassthrough(char *cmdline)
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break;
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case 1:
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index = atoi(pch);
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if ((index >= 0) && (index < USABLE_TIMER_CHANNEL_COUNT)) {
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printf("passthru at pwm output %d enabled\r\n", index);
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if(mode == 2 && index == 255)
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{
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printf("passthru on all pwm outputs enabled\r\n");
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}
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else {
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printf("invalid pwm output, valid range: 1 to %d\r\n", USABLE_TIMER_CHANNEL_COUNT);
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return;
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else{
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if ((index >= 0) && (index < USABLE_TIMER_CHANNEL_COUNT)) {
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printf("passthru at pwm output %d enabled\r\n", index);
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}
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else {
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printf("invalid pwm output, valid range: 1 to %d\r\n", USABLE_TIMER_CHANNEL_COUNT);
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return;
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}
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}
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break;
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}
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@ -3614,7 +3627,8 @@ static void cliVersion(char *cmdline)
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{
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UNUSED(cmdline);
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cliPrintf("# BetaFlight/%s %s %s / %s (%s)\r\n",
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cliPrintf("# %s/%s %s %s / %s (%s)\r\n",
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FC_FIRMWARE_NAME,
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targetName,
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FC_VERSION_STRING,
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buildDate,
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|
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@ -3743,19 +3757,22 @@ typedef struct {
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const cliResourceValue_t resourceTable[] = {
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#ifdef BEEPER
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{ OWNER_BEEPER, &masterConfig.beeperConfig.ioTag, 0 },
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#endif
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{ OWNER_MOTOR, &masterConfig.motorConfig.ioTags[0], MAX_SUPPORTED_MOTORS },
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{ OWNER_BEEPER, &masterConfig.beeperConfig.ioTag, 0 },
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#endif
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{ OWNER_MOTOR, &masterConfig.motorConfig.ioTags[0], MAX_SUPPORTED_MOTORS },
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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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{ 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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{ 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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{ 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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#ifdef SONAR
|
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{ OWNER_SONAR_TRIGGER, &masterConfig.sonarConfig.triggerTag, 0 },
|
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{ OWNER_SONAR_ECHO, &masterConfig.sonarConfig.echoTag, 0 },
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{ OWNER_SONAR_ECHO, &masterConfig.sonarConfig.echoTag, 0 },
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#endif
|
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#ifdef LED_STRIP
|
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{ OWNER_LED_STRIP, &masterConfig.ledStripConfig.ioTag, 0 },
|
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#endif
|
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};
|
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|
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|
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@ -3825,19 +3842,31 @@ static void cliResource(char *cmdline)
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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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#endif
|
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for (uint32_t i = 0; i < DEFIO_IO_USED_COUNT; i++) {
|
||||
for (int i = 0; i < DEFIO_IO_USED_COUNT; i++) {
|
||||
const char* owner;
|
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owner = ownerNames[ioRecs[i].owner];
|
||||
|
||||
const char* resource;
|
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resource = resourceNames[ioRecs[i].resource];
|
||||
|
||||
if (ioRecs[i].index > 0) {
|
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cliPrintf("%c%02d: %s%d %s\r\n", IO_GPIOPortIdx(ioRecs + i) + 'A', IO_GPIOPinIdx(ioRecs + i), owner, ioRecs[i].index, resource);
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cliPrintf("%c%02d: %s %d\r\n", IO_GPIOPortIdx(ioRecs + i) + 'A', IO_GPIOPinIdx(ioRecs + i), owner, ioRecs[i].index);
|
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} else {
|
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cliPrintf("%c%02d: %s %s\r\n", IO_GPIOPortIdx(ioRecs + i) + 'A', IO_GPIOPinIdx(ioRecs + i), owner, resource);
|
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cliPrintf("%c%02d: %s \r\n", IO_GPIOPortIdx(ioRecs + i) + 'A', IO_GPIOPinIdx(ioRecs + i), owner);
|
||||
}
|
||||
}
|
||||
|
||||
cliPrintf("\r\n\r\nCurrently active DMA:\r\n");
|
||||
for (int i = 0; i < DMA_MAX_DESCRIPTORS; i++) {
|
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const char* owner;
|
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owner = ownerNames[dmaGetOwner(i)];
|
||||
|
||||
cliPrintf(DMA_OUTPUT_STRING, i / DMA_MOD_VALUE + 1, (i % DMA_MOD_VALUE) + DMA_MOD_OFFSET);
|
||||
uint8_t resourceIndex = dmaGetResourceIndex(i);
|
||||
if (resourceIndex > 0) {
|
||||
cliPrintf(" %s %d\r\n", owner, resourceIndex);
|
||||
} else {
|
||||
cliPrintf(" %s\r\n", owner);
|
||||
}
|
||||
}
|
||||
|
||||
#ifndef CLI_MINIMAL_VERBOSITY
|
||||
cliPrintf("\r\nUse: 'resource' to see how to change resources.\r\n");
|
||||
#endif
|
||||
|
|
@ -3849,14 +3878,14 @@ static void cliResource(char *cmdline)
|
|||
int index = 0;
|
||||
char *pch = NULL;
|
||||
char *saveptr;
|
||||
|
||||
|
||||
pch = strtok_r(cmdline, " ", &saveptr);
|
||||
for (resourceIndex = 0; ; resourceIndex++) {
|
||||
if (resourceIndex >= ARRAYLEN(resourceTable)) {
|
||||
cliPrint("Invalid resource\r\n");
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
if (strncasecmp(pch, ownerNames[resourceTable[resourceIndex].owner], len) == 0) {
|
||||
break;
|
||||
}
|
||||
|
|
@ -3865,7 +3894,7 @@ static void cliResource(char *cmdline)
|
|||
if (resourceTable[resourceIndex].maxIndex > 0) {
|
||||
pch = strtok_r(NULL, " ", &saveptr);
|
||||
index = atoi(pch);
|
||||
|
||||
|
||||
if (index <= 0 || index > resourceTable[resourceIndex].maxIndex) {
|
||||
cliShowArgumentRangeError("index", 1, resourceTable[resourceIndex].maxIndex);
|
||||
return;
|
||||
|
|
@ -3874,7 +3903,7 @@ static void cliResource(char *cmdline)
|
|||
|
||||
pch = strtok_r(NULL, " ", &saveptr);
|
||||
ioTag_t *tag = (ioTag_t*)(resourceTable[resourceIndex].ptr + (index == 0 ? 0 : index - 1));
|
||||
|
||||
|
||||
uint8_t pin = 0;
|
||||
if (strlen(pch) > 0) {
|
||||
if (strcasecmp(pch, "NONE") == 0) {
|
||||
|
|
@ -3891,7 +3920,7 @@ static void cliResource(char *cmdline)
|
|||
pch++;
|
||||
pin = atoi(pch);
|
||||
if (pin < 16) {
|
||||
ioRec_t *rec = IO_Rec(IOGetByTag(DEFIO_TAG_MAKE(port, pin)));
|
||||
ioRec_t *rec = IO_Rec(IOGetByTag(DEFIO_TAG_MAKE(port, pin)));
|
||||
if (rec) {
|
||||
*tag = DEFIO_TAG_MAKE(port, pin);
|
||||
cliPrintf("Resource is set to %c%02d!", port + 'A', pin);
|
||||
|
|
@ -3903,7 +3932,7 @@ static void cliResource(char *cmdline)
|
|||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
cliShowParseError();
|
||||
}
|
||||
#endif
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue