mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-17 05:15:25 +03:00
Merge branch 'master' into master
This commit is contained in:
c3n
GitHub
commit
66f5c6e5db
111 changed files with 3306 additions and 623 deletions
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@ -52,6 +52,7 @@ extern uint8_t __config_end;
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#include "common/color.h"
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#include "common/maths.h"
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#include "common/printf.h"
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#include "common/printf_serial.h"
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#include "common/strtol.h"
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#include "common/time.h"
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#include "common/typeconversion.h"
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@ -74,6 +75,7 @@ extern uint8_t __config_end;
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#include "drivers/io.h"
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#include "drivers/io_impl.h"
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#include "drivers/light_led.h"
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#include "drivers/pwm_output.h"
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#include "drivers/rangefinder/rangefinder_hcsr04.h"
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#include "drivers/sdcard.h"
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#include "drivers/sensor.h"
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@ -537,6 +539,10 @@ static void printValuePointer(const clivalue_t *var, const void *valuePointer, b
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} else {
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cliPrintf("OFF");
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}
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break;
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case MODE_STRING:
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cliPrintf("%s", (char *)valuePointer);
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break;
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}
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if (valueIsCorrupted) {
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@ -755,7 +761,6 @@ static void cliSetVar(const clivalue_t *var, const uint32_t value)
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}
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*(uint32_t *)ptr = workValue;
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break;
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}
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} else {
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switch (var->type & VALUE_TYPE_MASK) {
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@ -3949,6 +3954,19 @@ static uint8_t getWordLength(char *bufBegin, char *bufEnd)
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return bufEnd - bufBegin;
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}
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uint16_t cliGetSettingIndex(char *name, uint8_t length)
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{
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for (uint32_t i = 0; i < valueTableEntryCount; i++) {
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const char *settingName = valueTable[i].name;
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// ensure exact match when setting to prevent setting variables with shorter names
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if (strncasecmp(name, settingName, strlen(settingName)) == 0 && length == strlen(settingName)) {
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return i;
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}
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}
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return valueTableEntryCount;
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}
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STATIC_UNIT_TESTED void cliSet(char *cmdline)
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{
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const uint32_t len = strlen(cmdline);
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@ -3972,140 +3990,157 @@ STATIC_UNIT_TESTED void cliSet(char *cmdline)
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eqptr++;
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eqptr = skipSpace(eqptr);
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for (uint32_t i = 0; i < valueTableEntryCount; i++) {
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const clivalue_t *val = &valueTable[i];
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// ensure exact match when setting to prevent setting variables with shorter names
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if (strncasecmp(cmdline, val->name, strlen(val->name)) == 0 && variableNameLength == strlen(val->name)) {
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bool valueChanged = false;
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int16_t value = 0;
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switch (val->type & VALUE_MODE_MASK) {
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case MODE_DIRECT: {
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if ((val->type & VALUE_TYPE_MASK) == VAR_UINT32) {
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uint32_t value = strtol(eqptr, NULL, 10);
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if (value <= val->config.u32Max) {
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cliSetVar(val, value);
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valueChanged = true;
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}
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} else {
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int value = atoi(eqptr);
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int min;
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int max;
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getMinMax(val, &min, &max);
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if (value >= min && value <= max) {
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cliSetVar(val, value);
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valueChanged = true;
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}
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}
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}
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break;
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case MODE_LOOKUP:
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case MODE_BITSET: {
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int tableIndex;
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if ((val->type & VALUE_MODE_MASK) == MODE_BITSET) {
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tableIndex = TABLE_OFF_ON;
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} else {
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tableIndex = val->config.lookup.tableIndex;
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}
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const lookupTableEntry_t *tableEntry = &lookupTables[tableIndex];
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bool matched = false;
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for (uint32_t tableValueIndex = 0; tableValueIndex < tableEntry->valueCount && !matched; tableValueIndex++) {
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matched = tableEntry->values[tableValueIndex] && strcasecmp(tableEntry->values[tableValueIndex], eqptr) == 0;
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if (matched) {
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value = tableValueIndex;
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cliSetVar(val, value);
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valueChanged = true;
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}
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}
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}
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break;
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case MODE_ARRAY: {
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const uint8_t arrayLength = val->config.array.length;
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char *valPtr = eqptr;
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int i = 0;
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while (i < arrayLength && valPtr != NULL) {
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// skip spaces
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valPtr = skipSpace(valPtr);
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// process substring starting at valPtr
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// note: no need to copy substrings for atoi()
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// it stops at the first character that cannot be converted...
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switch (val->type & VALUE_TYPE_MASK) {
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default:
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case VAR_UINT8:
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{
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// fetch data pointer
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uint8_t *data = (uint8_t *)cliGetValuePointer(val) + i;
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// store value
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*data = (uint8_t)atoi((const char*) valPtr);
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}
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break;
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case VAR_INT8:
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{
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// fetch data pointer
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int8_t *data = (int8_t *)cliGetValuePointer(val) + i;
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// store value
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*data = (int8_t)atoi((const char*) valPtr);
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}
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break;
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case VAR_UINT16:
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{
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// fetch data pointer
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uint16_t *data = (uint16_t *)cliGetValuePointer(val) + i;
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// store value
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*data = (uint16_t)atoi((const char*) valPtr);
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}
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break;
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case VAR_INT16:
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{
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// fetch data pointer
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int16_t *data = (int16_t *)cliGetValuePointer(val) + i;
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// store value
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*data = (int16_t)atoi((const char*) valPtr);
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}
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break;
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}
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// find next comma (or end of string)
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valPtr = strchr(valPtr, ',') + 1;
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i++;
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}
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}
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// mark as changed
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valueChanged = true;
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break;
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}
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if (valueChanged) {
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cliPrintf("%s set to ", val->name);
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cliPrintVar(val, 0);
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} else {
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cliPrintErrorLinef("INVALID VALUE");
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cliPrintVarRange(val);
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}
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return;
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}
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const uint16_t index = cliGetSettingIndex(cmdline, variableNameLength);
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if (index >= valueTableEntryCount) {
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cliPrintErrorLinef("INVALID NAME");
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return;
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}
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cliPrintErrorLinef("INVALID NAME");
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const clivalue_t *val = &valueTable[index];
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bool valueChanged = false;
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int16_t value = 0;
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switch (val->type & VALUE_MODE_MASK) {
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case MODE_DIRECT: {
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if ((val->type & VALUE_TYPE_MASK) == VAR_UINT32) {
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uint32_t value = strtol(eqptr, NULL, 10);
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if (value <= val->config.u32Max) {
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cliSetVar(val, value);
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valueChanged = true;
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}
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} else {
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int value = atoi(eqptr);
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int min;
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int max;
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getMinMax(val, &min, &max);
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if (value >= min && value <= max) {
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cliSetVar(val, value);
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valueChanged = true;
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}
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}
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}
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break;
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case MODE_LOOKUP:
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case MODE_BITSET: {
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int tableIndex;
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if ((val->type & VALUE_MODE_MASK) == MODE_BITSET) {
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tableIndex = TABLE_OFF_ON;
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} else {
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tableIndex = val->config.lookup.tableIndex;
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}
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const lookupTableEntry_t *tableEntry = &lookupTables[tableIndex];
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bool matched = false;
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for (uint32_t tableValueIndex = 0; tableValueIndex < tableEntry->valueCount && !matched; tableValueIndex++) {
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matched = tableEntry->values[tableValueIndex] && strcasecmp(tableEntry->values[tableValueIndex], eqptr) == 0;
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if (matched) {
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value = tableValueIndex;
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cliSetVar(val, value);
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valueChanged = true;
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}
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}
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}
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break;
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case MODE_ARRAY: {
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const uint8_t arrayLength = val->config.array.length;
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char *valPtr = eqptr;
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int i = 0;
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while (i < arrayLength && valPtr != NULL) {
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// skip spaces
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valPtr = skipSpace(valPtr);
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// process substring starting at valPtr
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// note: no need to copy substrings for atoi()
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// it stops at the first character that cannot be converted...
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switch (val->type & VALUE_TYPE_MASK) {
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default:
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case VAR_UINT8:
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{
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// fetch data pointer
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uint8_t *data = (uint8_t *)cliGetValuePointer(val) + i;
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// store value
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*data = (uint8_t)atoi((const char*) valPtr);
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}
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break;
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case VAR_INT8:
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{
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// fetch data pointer
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int8_t *data = (int8_t *)cliGetValuePointer(val) + i;
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// store value
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*data = (int8_t)atoi((const char*) valPtr);
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}
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break;
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case VAR_UINT16:
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{
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// fetch data pointer
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uint16_t *data = (uint16_t *)cliGetValuePointer(val) + i;
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// store value
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*data = (uint16_t)atoi((const char*) valPtr);
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}
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break;
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case VAR_INT16:
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{
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// fetch data pointer
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int16_t *data = (int16_t *)cliGetValuePointer(val) + i;
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// store value
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*data = (int16_t)atoi((const char*) valPtr);
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}
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break;
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}
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// find next comma (or end of string)
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valPtr = strchr(valPtr, ',') + 1;
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i++;
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}
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}
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// mark as changed
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valueChanged = true;
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break;
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case MODE_STRING: {
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char *valPtr = eqptr;
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valPtr = skipSpace(valPtr);
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const unsigned int len = strlen(valPtr);
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const uint8_t min = val->config.string.minlength;
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const uint8_t max = val->config.string.maxlength;
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const bool updatable = ((val->config.string.flags & STRING_FLAGS_WRITEONCE) == 0 ||
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strlen((char *)cliGetValuePointer(val)) == 0 ||
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strncmp(valPtr, (char *)cliGetValuePointer(val), len) == 0);
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if (updatable && len > 0 && len <= max) {
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memset((char *)cliGetValuePointer(val), 0, max);
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if (len >= min && strncmp(valPtr, emptyName, len)) {
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strncpy((char *)cliGetValuePointer(val), valPtr, len);
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}
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valueChanged = true;
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}
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}
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break;
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}
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if (valueChanged) {
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cliPrintf("%s set to ", val->name);
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cliPrintVar(val, 0);
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} else {
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cliPrintErrorLinef("INVALID VALUE");
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cliPrintVarRange(val);
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}
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return;
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} else {
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// no equals, check for matching variables.
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cliGet(cmdline);
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@ -4232,28 +4267,6 @@ static void cliStatus(char *cmdline)
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cliPrintf(" %s", armingDisableFlagNames[bitpos]);
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}
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cliPrintLinefeed();
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#if defined(USE_DSHOT) && defined(USE_DSHOT_TELEMETRY)
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if (useDshotTelemetry) {
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cliPrintLinef("Dshot reads: %u", readDoneCount);
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cliPrintLinef("Dshot invalid pkts: %u", dshotInvalidPacketCount);
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extern uint32_t setDirectionMicros;
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cliPrintLinef("Dshot irq micros: %u", setDirectionMicros);
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for (int i = 0; i<getMotorCount(); i++) {
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cliPrintLinef( "Dshot RPM Motor %u: %u", i, (int)getDshotTelemetry(i));
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}
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bool proshot = (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_PROSHOT1000);
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int modulo = proshot ? MOTOR_NIBBLE_LENGTH_PROSHOT : MOTOR_BITLENGTH;
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int len = proshot ? 8 : DSHOT_TELEMETRY_INPUT_LEN;
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for (int i=0; i<len; i++) {
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cliPrintf("%u ", (int)inputBuffer[i]);
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}
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cliPrintLinefeed();
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for (int i=1; i<len; i+=2) {
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cliPrintf("%u ", (int)(inputBuffer[i] + modulo - inputBuffer[i-1]) % modulo);
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}
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cliPrintLinefeed();
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}
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#endif
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}
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#if defined(USE_TASK_STATISTICS)
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@ -5307,6 +5320,57 @@ static void cliTimer(char *cmdline)
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}
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#endif
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#ifdef USE_DSHOT_TELEMETRY
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static void cliDshotTelemetryInfo(char *cmdline)
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{
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UNUSED(cmdline);
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if (useDshotTelemetry) {
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cliPrintLinef("Dshot reads: %u", readDoneCount);
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cliPrintLinef("Dshot invalid pkts: %u", dshotInvalidPacketCount);
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extern uint32_t setDirectionMicros;
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cliPrintLinef("Dshot irq micros: %u", setDirectionMicros);
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cliPrintLinefeed();
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#ifdef USE_DSHOT_TELEMETRY_STATS
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cliPrintLine("Motor RPM Invalid");
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cliPrintLine("===== ===== =======");
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#else
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cliPrintLine("Motor RPM");
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cliPrintLine("===== =====");
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#endif
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for (uint8_t i = 0; i < getMotorCount(); i++) {
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cliPrintf("%5d %5d ", i, (int)getDshotTelemetry(i));
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#ifdef USE_DSHOT_TELEMETRY_STATS
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if (isDshotMotorTelemetryActive(i)) {
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const int calcPercent = getDshotTelemetryMotorInvalidPercent(i);
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cliPrintLinef("%3d.%02d%%", calcPercent / 100, calcPercent % 100);
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} else {
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cliPrintLine("NO DATA");
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}
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#else
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cliPrintLinefeed();
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#endif
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}
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cliPrintLinefeed();
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const bool proshot = (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_PROSHOT1000);
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const int modulo = proshot ? MOTOR_NIBBLE_LENGTH_PROSHOT : MOTOR_BITLENGTH;
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const int len = proshot ? 8 : DSHOT_TELEMETRY_INPUT_LEN;
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for (int i = 0; i < len; i++) {
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cliPrintf("%u ", (int)inputBuffer[i]);
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}
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cliPrintLinefeed();
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for (int i = 1; i < len; i+=2) {
|
||||
cliPrintf("%u ", (int)(inputBuffer[i] + modulo - inputBuffer[i-1]) % modulo);
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}
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cliPrintLinefeed();
|
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} else {
|
||||
cliPrintLine("Dshot telemetry not enabled");
|
||||
}
|
||||
}
|
||||
#endif
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||||
|
||||
static void printConfig(char *cmdline, bool doDiff)
|
||||
{
|
||||
dumpFlags_t dumpMask = DUMP_MASTER;
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||||
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@ -5637,6 +5701,9 @@ const clicmd_t cmdTable[] = {
|
|||
CLI_COMMAND_DEF("dma", "show DMA assignments", "show", cliDma),
|
||||
#endif
|
||||
#endif
|
||||
#ifdef USE_DSHOT_TELEMETRY
|
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CLI_COMMAND_DEF("dshot_telemetry_info", "disply dshot telemetry info and stats", NULL, cliDshotTelemetryInfo),
|
||||
#endif
|
||||
#ifdef USE_DSHOT
|
||||
CLI_COMMAND_DEF("dshotprog", "program DShot ESC(s)", "<index> <command>+", cliDshotProg),
|
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#endif
|
||||
|
|
@ -5648,7 +5715,7 @@ const clicmd_t cmdTable[] = {
|
|||
CLI_COMMAND_DEF("exit", NULL, NULL, cliExit),
|
||||
CLI_COMMAND_DEF("feature", "configure features",
|
||||
"list\r\n"
|
||||
"\t<+|->[name]", cliFeature),
|
||||
"\t<->[name]", cliFeature),
|
||||
#ifdef USE_FLASHFS
|
||||
CLI_COMMAND_DEF("flash_erase", "erase flash chip", NULL, cliFlashErase),
|
||||
CLI_COMMAND_DEF("flash_info", "show flash chip info", NULL, cliFlashInfo),
|
||||
|
|
@ -5736,7 +5803,11 @@ const clicmd_t cmdTable[] = {
|
|||
#endif
|
||||
CLI_COMMAND_DEF("version", "show version", NULL, cliVersion),
|
||||
#ifdef USE_VTX_CONTROL
|
||||
CLI_COMMAND_DEF("vtx", "vtx channels on switch", "<index> <aux> <band> <channel> <power> <start> <end>", cliVtx),
|
||||
#ifdef MINIMAL_CLI
|
||||
CLI_COMMAND_DEF("vtx", "vtx channels on switch", NULL, cliVtx),
|
||||
#else
|
||||
CLI_COMMAND_DEF("vtx", "vtx channels on switch", "<index> <aux_channel> <vtx_band> <vtx_channel> <vtx_power> <start_range> <end_range>", cliVtx),
|
||||
#endif
|
||||
#endif
|
||||
#ifdef USE_VTX_TABLE
|
||||
CLI_COMMAND_DEF("vtxtable", "vtx frequency able", "<band> <bandname> <bandletter> <freq> ... <freq>\r\n", cliVtxTable),
|
||||
|
|
|
|||
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Add table
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Reference in a new issue