Experimental support for on-board custom defaults.

Makefile

@@ -30,6 +30,9 @@ EXST      ?= no
 # compile for target loaded into RAM
 RAM_BASED ?= no
 
+# reserve space for custom defaults
+CUSTOM_DEFAULTS ?= no
+
 # Debugger optons:
 #   empty           - ordinary build with all optimizations enabled
 #   RELWITHDEBINFO  - ordinary build with debug symbols and all optimizations enabled
@@ -124,6 +127,7 @@ FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 
 LD_FLAGS        :=
+EXTRA_LD_FLAGS  :=
 
 #
 # Default Tool options - can be overridden in {mcu}.mk files.
@@ -185,6 +189,11 @@ else
 .DEFAULT_GOAL := hex
 endif
 
+ifeq ($(CUSTOM_DEFAULTS),yes)
+TARGET_FLAGS += -DUSE_CUSTOM_DEFAULTS
+EXTRA_LD_FLAGS += -Wl,--defsym=USE_CUSTOM_DEFAULTS=1
+endif
+
 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
                    $(ROOT)/lib/main/MAVLink
 
@@ -266,7 +275,8 @@ LD_FLAGS     = -lm \
               -Wl,--cref \
               -Wl,--no-wchar-size-warning \
               -Wl,--print-memory-usage \
-              -T$(LD_SCRIPT)
+              -T$(LD_SCRIPT) \
+               $(EXTRA_LD_FLAGS)
 endif
 
 ###############################################################################

src/link/stm32_flash_f405.ld

@@ -24,7 +24,8 @@ MEMORY
 {
     FLASH (rx)        : ORIGIN = 0x08000000, LENGTH = 16K
     FLASH_CONFIG (r)  : ORIGIN = 0x08004000, LENGTH = 16K
-    FLASH1 (rx)       : ORIGIN = 0x08008000, LENGTH = 992K
+    FLASH1 (rx)       : ORIGIN = 0x08008000, LENGTH = DEFINED(USE_CUSTOM_DEFAULTS) ? 976K : 992K
+    FLASH_CUSTOM_DEFAULTS (r): ORIGIN = DEFINED(USE_CUSTOM_DEFAULTS) ? 0x080FC000 : 0x08100000, LENGTH = DEFINED(USE_CUSTOM_DEFAULTS) ? 16K : 0K
 
     SYSTEM_MEMORY (rx): ORIGIN = 0x1FFF0000, LENGTH = 29K
 
@@ -38,4 +39,8 @@ REGION_ALIAS("STACKRAM", CCM)
 REGION_ALIAS("FASTRAM", CCM)
 REGION_ALIAS("VECTAB", RAM)
 
+/* Base address where the defaults are stored. */
+__custom_defaults_start = ORIGIN(FLASH_CUSTOM_DEFAULTS);
+__custom_defaults_end = ORIGIN(FLASH_CUSTOM_DEFAULTS) + LENGTH(FLASH_CUSTOM_DEFAULTS);
+
 INCLUDE "stm32_flash_split.ld"

src/link/stm32_flash_f411.ld

@@ -24,7 +24,8 @@ MEMORY
 {
     FLASH (rx)        : ORIGIN = 0x08000000, LENGTH = 16K
     FLASH_CONFIG (r)  : ORIGIN = 0x08004000, LENGTH = 16K
-    FLASH1 (rx)       : ORIGIN = 0x08008000, LENGTH = 480K
+    FLASH1 (rx)       : ORIGIN = 0x08008000, LENGTH = DEFINED(USE_CUSTOM_DEFAULTS) ? 464K : 480K
+    FLASH_CUSTOM_DEFAULTS (r): ORIGIN = DEFINED(USE_CUSTOM_DEFAULTS) ? 0x0807C000 : 0x08080000, LENGTH = DEFINED(USE_CUSTOM_DEFAULTS) ? 16K : 0K
 
     SYSTEM_MEMORY (rx): ORIGIN = 0x1FFF0000, LENGTH = 29K
 
@@ -36,4 +37,8 @@ REGION_ALIAS("STACKRAM", RAM)
 REGION_ALIAS("FASTRAM", RAM)
 REGION_ALIAS("VECTAB", RAM)
 
+/* Base address where the defaults are stored. */
+__custom_defaults_start = ORIGIN(FLASH_CUSTOM_DEFAULTS);
+__custom_defaults_end = ORIGIN(FLASH_CUSTOM_DEFAULTS) + LENGTH(FLASH_CUSTOM_DEFAULTS);
+
 INCLUDE "stm32_flash_split.ld"

src/link/stm32_flash_f722.ld

@@ -31,7 +31,8 @@ MEMORY
 
     AXIM_FLASH (rx)         : ORIGIN = 0x08000000, LENGTH = 16K
     AXIM_FLASH_CONFIG (r)   : ORIGIN = 0x08004000, LENGTH = 16K
-    AXIM_FLASH1 (rx)        : ORIGIN = 0x08008000, LENGTH = 480K
+    AXIM_FLASH1 (rx)        : ORIGIN = 0x08008000, LENGTH = DEFINED(USE_CUSTOM_DEFAULTS) ? 464K : 480K
+    AXIM_FLASH_CUSTOM_DEFAULTS (r) : ORIGIN = DEFINED(USE_CUSTOM_DEFAULTS) ? 0x0807C000 : 0x08080000, LENGTH = DEFINED(USE_CUSTOM_DEFAULTS) ? 16K : 0K
 
     DTCM_RAM (rwx)          : ORIGIN = 0x20000000, LENGTH = 64K
     SRAM1 (rwx)             : ORIGIN = 0x20010000, LENGTH = 176K
@@ -42,9 +43,14 @@ MEMORY
 REGION_ALIAS("FLASH", AXIM_FLASH)
 REGION_ALIAS("FLASH_CONFIG", AXIM_FLASH_CONFIG)
 REGION_ALIAS("FLASH1", AXIM_FLASH1)
+REGION_ALIAS("FLASH_CUSTOM_DEFAULTS", AXIM_FLASH_CUSTOM_DEFAULTS)
 
 REGION_ALIAS("STACKRAM", DTCM_RAM)
 REGION_ALIAS("FASTRAM", DTCM_RAM)
 REGION_ALIAS("RAM", SRAM1)
 
+/* Base address where the defaults are stored. */
+__custom_defaults_start = ORIGIN(FLASH_CUSTOM_DEFAULTS);
+__custom_defaults_end = ORIGIN(FLASH_CUSTOM_DEFAULTS) + LENGTH(FLASH_CUSTOM_DEFAULTS);
+
 INCLUDE "stm32_flash_f7_split.ld"

src/link/stm32_flash_f74x.ld

@@ -33,7 +33,8 @@ MEMORY
 
     AXIM_FLASH (rx)        	: ORIGIN = 0x08000000, LENGTH = 32K
     AXIM_FLASH_CONFIG (r)  	: ORIGIN = 0x08008000, LENGTH = 32K
-    AXIM_FLASH1 (rx)       	: ORIGIN = 0x08010000, LENGTH = 960K
+    AXIM_FLASH1 (rx)       	: ORIGIN = 0x08010000, LENGTH = DEFINED(USE_CUSTOM_DEFAULTS) ? 928K : 960K
+    AXIM_FLASH_CUSTOM_DEFAULTS (r)	: ORIGIN = DEFINED(USE_CUSTOM_DEFAULTS) ? 0x080F8000 : 0x08100000, LENGTH = DEFINED(USE_CUSTOM_DEFAULTS) ? 32K : 0K
 
     DTCM_RAM (rwx)         	: ORIGIN = 0x20000000, LENGTH = 64K
     SRAM1 (rwx)         	: ORIGIN = 0x20010000, LENGTH = 240K
@@ -44,9 +45,14 @@ MEMORY
 REGION_ALIAS("FLASH", ITCM_FLASH)
 REGION_ALIAS("FLASH_CONFIG", AXIM_FLASH_CONFIG)
 REGION_ALIAS("FLASH1", ITCM_FLASH1)
+REGION_ALIAS("FLASH_CUSTOM_DEFAULTS", AXIM_FLASH_CUSTOM_DEFAULTS)
 
 REGION_ALIAS("STACKRAM", DTCM_RAM)
 REGION_ALIAS("FASTRAM", DTCM_RAM)
 REGION_ALIAS("RAM", SRAM1)
 
+/* Base address where the defaults are stored. */
+__custom_defaults_start = ORIGIN(FLASH_CUSTOM_DEFAULTS);
+__custom_defaults_end = ORIGIN(FLASH_CUSTOM_DEFAULTS) + LENGTH(FLASH_CUSTOM_DEFAULTS);
+
 INCLUDE "stm32_flash_f7_split.ld"

src/link/stm32_flash_f7_split.ld

@@ -34,6 +34,13 @@ SECTIONS
     . = ALIGN(4);
   } >FLASH AT >AXIM_FLASH
 
+  /* Storage for the address for the configuration section so we can grab it out of the hex file */
+  .custom_defaults :
+  {
+    . = ALIGN(4);
+    *(.custom_defaults_address)
+  } >FLASH1 AT >AXIM_FLASH1
+
   /* The program code and other data goes into FLASH */
   .text :
   {

src/link/stm32_flash_split.ld

@@ -55,6 +55,13 @@ SECTIONS
     . = ALIGN(4);
   } >SYSTEM_MEMORY
 
+  /* Storage for the address for the configuration section so we can grab it out of the hex file */
+  .custom_defaults :
+  {
+    . = ALIGN(4);
+    *(.custom_defaults_address)
+  } >FLASH1
+
   /* The program code and other data goes into FLASH */
   .text :
   {

src/main/cli/cli.c

@@ -30,7 +30,7 @@
 
 // FIXME remove this for targets that don't need a CLI.  Perhaps use a no-op macro when USE_CLI is not enabled
 // signal that we're in cli mode
-uint8_t cliMode = 0;
+bool cliMode = false;
 
 #ifdef USE_CLI
 
@@ -172,14 +172,7 @@ uint8_t cliMode = 0;
 
 #include "cli.h"
 
-typedef struct serialPassthroughPort_e {
+static serialPort_t *cliPort = NULL;
-    int id;
-    uint32_t baud;
-    unsigned mode;
-    serialPort_t *port;
-} serialPassthroughPort_t;
-
-static serialPort_t *cliPort;
 
 #ifdef STM32F1
 #define CLI_IN_BUFFER_SIZE 128
@@ -189,7 +182,7 @@ static serialPort_t *cliPort;
 #endif
 #define CLI_OUT_BUFFER_SIZE 64
 
-static bufWriter_t *cliWriter;
+static bufWriter_t *cliWriter = NULL;
 static uint8_t cliWriteBuffer[sizeof(*cliWriter) + CLI_OUT_BUFFER_SIZE];
 
 static char cliBuffer[CLI_IN_BUFFER_SIZE];
@@ -219,6 +212,14 @@ static bool signatureUpdated = false;
 static const char* const emptyName = "-";
 static const char* const emptyString = "";
 
+#if defined(USE_CUSTOM_DEFAULTS)
+static char __attribute__ ((section(".custom_defaults_address"))) *customDefaultsStart = &__custom_defaults_start;
+static char __attribute__ ((section(".custom_defaults_address"))) *customDefaultsEnd = &__custom_defaults_end;
+
+static bool processingCustomDefaults = false;
+static char cliBufferTemp[CLI_IN_BUFFER_SIZE];
+#endif
+
 #ifndef USE_QUAD_MIXER_ONLY
 // sync this with mixerMode_e
 static const char * const mixerNames[] = {
@@ -288,6 +289,13 @@ typedef enum {
     REBOOT_TARGET_BOOTLOADER_FLASH,
 } rebootTarget_e;
 
+typedef struct serialPassthroughPort_e {
+    int id;
+    uint32_t baud;
+    unsigned mode;
+    serialPort_t *port;
+} serialPassthroughPort_t;
+
 static void backupPgConfig(const pgRegistry_t *pg)
 {
     memcpy(pg->copy, pg->address, pg->size);
@@ -300,6 +308,10 @@ static void restorePgConfig(const pgRegistry_t *pg)
 
 static void backupConfigs(void)
 {
+    if (configIsInCopy) {
+        return;
+    }
+
     // make copies of configs to do differencing
     PG_FOREACH(pg) {
         backupPgConfig(pg);
@@ -310,6 +322,10 @@ static void backupConfigs(void)
 
 static void restoreConfigs(void)
 {
+    if (!configIsInCopy) {
+        return;
+    }
+
     PG_FOREACH(pg) {
         restorePgConfig(pg);
     }
@@ -317,19 +333,54 @@ static void restoreConfigs(void)
     configIsInCopy = false;
 }
 
-static void backupAndResetConfigs(void)
+#if defined(USE_RESOURCE_MGMT) || defined(USE_TIMER_MGMT)
+static bool isReadingConfigFromCopy()
+{
+    return configIsInCopy;
+}
+#endif
+
+static bool isWritingConfigToCopy()
+{
+    return configIsInCopy
+#if defined(USE_CUSTOM_DEFAULTS)
+        && !processingCustomDefaults
+#endif
+        ;
+}
+
+static void backupAndResetConfigs(const bool useCustomDefaults)
 {
     backupConfigs();
+
     // reset all configs to defaults to do differencing
     resetConfigs();
+
+#if defined(USE_CUSTOM_DEFAULTS)
+    if (useCustomDefaults) {
+        cliProcessCustomDefaults();
     }
+#else
+    UNUSED(useCustomDefaults);
+#endif
+}
+
+static void cliWriterFlush()
+{
+    if (cliWriter) {
+        bufWriterFlush(cliWriter);
+    }
+}
+
 
 static void cliPrint(const char *str)
 {
+    if (cliWriter) {
         while (*str) {
             bufWriterAppend(cliWriter, *str++);
         }
-    bufWriterFlush(cliWriter);
+        cliWriterFlush();
+    }
 }
 
 static void cliPrintLinefeed(void)
@@ -360,8 +411,10 @@ static void cliPutp(void *p, char ch)
 
 static void cliPrintfva(const char *format, va_list va)
 {
+    if (cliWriter) {
         tfp_format(cliWriter, cliPutp, format, va);
-    bufWriterFlush(cliWriter);
+        cliWriterFlush();
+    }
 }
 
 static bool cliDumpPrintLinef(dumpFlags_t dumpMask, bool equalsDefault, const char *format, ...)
@@ -380,8 +433,10 @@ static bool cliDumpPrintLinef(dumpFlags_t dumpMask, bool equalsDefault, const ch
 
 static void cliWrite(uint8_t ch)
 {
+    if (cliWriter) {
         bufWriterAppend(cliWriter, ch);
     }
+}
 
 static bool cliDefaultPrintLinef(dumpFlags_t dumpMask, bool equalsDefault, const char *format, ...)
 {
@@ -647,22 +702,16 @@ static uint16_t getValueOffset(const clivalue_t *value)
     return 0;
 }
 
-void *cliGetValuePointer(const clivalue_t *value)
+STATIC_UNIT_TESTED void *cliGetValuePointer(const clivalue_t *value)
 {
     const pgRegistry_t* rec = pgFind(value->pgn);
-    if (configIsInCopy) {
+    if (isWritingConfigToCopy()) {
         return CONST_CAST(void *, rec->copy + getValueOffset(value));
     } else {
         return CONST_CAST(void *, rec->address + getValueOffset(value));
     }
 }
 
-const void *cliGetDefaultPointer(const clivalue_t *value)
-{
-    const pgRegistry_t* rec = pgFind(value->pgn);
-    return rec->address + getValueOffset(value);
-}
-
 static const char *dumpPgValue(const clivalue_t *value, dumpFlags_t dumpMask, const char *headingStr)
 {
     const pgRegistry_t *pg = pgFind(value->pgn);
@@ -698,7 +747,7 @@ static void dumpAllValues(uint16_t valueSection, dumpFlags_t dumpMask, const cha
 
     for (uint32_t i = 0; i < valueTableEntryCount; i++) {
         const clivalue_t *value = &valueTable[i];
-        bufWriterFlush(cliWriter);
+        cliWriterFlush();
         if ((value->type & VALUE_SECTION_MASK) == valueSection || ((valueSection == MASTER_VALUE) && (value->type & VALUE_SECTION_MASK) == HARDWARE_VALUE)) {
             headingStr = dumpPgValue(value, dumpMask, headingStr);
         }
@@ -826,17 +875,26 @@ static void cliSetVar(const clivalue_t *var, const uint32_t value)
 #if defined(USE_RESOURCE_MGMT) && !defined(MINIMAL_CLI)
 static void cliRepeat(char ch, uint8_t len)
 {
+    if (cliWriter) {
         for (int i = 0; i < len; i++) {
             bufWriterAppend(cliWriter, ch);
         }
         cliPrintLinefeed();
     }
+}
 #endif
 
 static void cliPrompt(void)
+{
+#if defined(USE_CUSTOM_DEFAULTS) && defined(DEBUG_CUSTOM_DEFAULTS)
+    if (processingCustomDefaults) {
+        cliPrint("\r\nd: #");
+    } else
+#endif
     {
         cliPrint("\r\n# ");
     }
+}
 
 static void cliShowParseError(void)
 {
@@ -2352,7 +2410,7 @@ static void cliFlashErase(char *cmdline)
     cliPrintLine("Erasing,");
 #endif
 
-    bufWriterFlush(cliWriter);
+    cliWriterFlush();
     flashfsEraseCompletely();
 
     while (!flashfsIsReady()) {
@@ -2363,7 +2421,7 @@ static void cliFlashErase(char *cmdline)
             cliPrintLinefeed();
         }
 
-        bufWriterFlush(cliWriter);
+        cliWriterFlush();
 #endif
         delay(100);
     }
@@ -3392,7 +3450,7 @@ static char *checkCommand(char *cmdline, const char *command)
 static void cliRebootEx(rebootTarget_e rebootTarget)
 {
     cliPrint("\r\nRebooting");
-    bufWriterFlush(cliWriter);
+    cliWriterFlush();
     waitForSerialPortToFinishTransmitting(cliPort);
     motorShutdown();
 
@@ -3451,16 +3509,14 @@ static void cliExit(char *cmdline)
     UNUSED(cmdline);
 
     cliPrintHashLine("leaving CLI mode, unsaved changes lost");
-    bufWriterFlush(cliWriter);
+    cliWriterFlush();
 
     *cliBuffer = '\0';
     bufferIndex = 0;
-    cliMode = 0;
+    cliMode = false;
     // incase a motor was left running during motortest, clear it here
     mixerResetDisarmedMotors();
     cliReboot();
-
-    cliWriter = NULL;
 }
 
 #ifdef USE_GPS
@@ -4074,6 +4130,12 @@ static void cliSave(char *cmdline)
 {
     UNUSED(cmdline);
 
+#if defined(USE_CUSTOM_DEFAULTS)
+    if (processingCustomDefaults) {
+        return;
+    }
+#endif
+
 #ifdef USE_CLI_BATCH
     if (commandBatchActive && commandBatchError) {
         cliPrintCommandBatchWarning("PLEASE FIX ERRORS THEN 'SAVE'");
@@ -4104,15 +4166,46 @@ static void cliSave(char *cmdline)
     cliReboot();
 }
 
+#if defined(USE_CUSTOM_DEFAULTS)
+static bool isDefaults(char *ptr)
+{
+    return strncmp(ptr, "# Betaflight", 12) == 0;
+}
+#endif
+
 static void cliDefaults(char *cmdline)
 {
-    bool saveConfigs;
+    bool saveConfigs = true;
+#if defined(USE_CUSTOM_DEFAULTS)
+    bool useCustomDefaults = true;
+#endif
 
     if (isEmpty(cmdline)) {
-        saveConfigs = true;
     } else if (strncasecmp(cmdline, "nosave", 6) == 0) {
         saveConfigs = false;
+#if defined(USE_CUSTOM_DEFAULTS)
+    } else if (strncasecmp(cmdline, "bare", 4) == 0) {
+        useCustomDefaults = false;
+    } else if (strncasecmp(cmdline, "show", 4) == 0) {
+        char *ptr = customDefaultsStart;
+        if (isDefaults(ptr)) {
+            while (*ptr && ptr < customDefaultsEnd) {
+                if (*ptr != '\n') {
+                    cliPrintf("%c", *ptr++);
                 } else {
+                    cliPrintLinefeed();
+                    ptr++;
+                }
+            }
+        } else {
+            cliPrintError("NO DEFAULTS FOUND");
+        }
+
+        return;
+#endif
+    } else {
+        cliPrintError("INVALID OPTION");
+
         return;
     }
 
@@ -4128,6 +4221,12 @@ static void cliDefaults(char *cmdline)
     commandBatchError = false;
 #endif
 
+#if defined(USE_CUSTOM_DEFAULTS)
+    if (useCustomDefaults) {
+        cliProcessCustomDefaults();
+    }
+#endif
+
     if (saveConfigs) {
         cliSave(NULL);
     }
@@ -4156,7 +4255,7 @@ STATIC_UNIT_TESTED void cliGet(char *cmdline)
     pidProfileIndexToUse = getCurrentPidProfileIndex();
     rateProfileIndexToUse = getCurrentControlRateProfileIndex();
 
-    backupAndResetConfigs();
+    backupAndResetConfigs(true);
 
     for (uint32_t i = 0; i < valueTableEntryCount; i++) {
         if (strcasestr(valueTable[i].name, cmdline)) {
@@ -4192,12 +4291,10 @@ STATIC_UNIT_TESTED void cliGet(char *cmdline)
     pidProfileIndexToUse = CURRENT_PROFILE_INDEX;
     rateProfileIndexToUse = CURRENT_PROFILE_INDEX;
 
-    if (matchedCommands) {
+    if (!matchedCommands) {
-        return;
-    }
-
         cliPrintErrorLinef("INVALID NAME");
     }
+}
 
 static uint8_t getWordLength(char *bufBegin, char *bufEnd)
 {
@@ -4813,7 +4910,7 @@ static void printResource(dumpFlags_t dumpMask, const char *headingStr)
         const pgRegistry_t* pg = pgFind(resourceTable[i].pgn);
         const void *currentConfig;
         const void *defaultConfig;
-        if (configIsInCopy) {
+        if (isReadingConfigFromCopy()) {
             currentConfig = pg->copy;
             defaultConfig = pg->address;
         } else {
@@ -5028,7 +5125,7 @@ static const char *printPeripheralDmaopt(dmaoptEntry_t *entry, int index, dumpFl
     const void *currentConfig;
     const void *defaultConfig;
 
-    if (configIsInCopy) {
+    if (isReadingConfigFromCopy()) {
         currentConfig = pg->copy;
         defaultConfig = pg->address;
     } else {
@@ -5141,7 +5238,7 @@ static void printDmaopt(dumpFlags_t dumpMask, const char *headingStr)
     const timerIOConfig_t *currentConfig;
     const timerIOConfig_t *defaultConfig;
 
-    if (configIsInCopy) {
+    if (isReadingConfigFromCopy()) {
         currentConfig = (timerIOConfig_t *)pg->copy;
         defaultConfig = (timerIOConfig_t *)pg->address;
     } else {
@@ -5218,7 +5315,7 @@ static void cliDmaopt(char *cmdline)
 
         const pgRegistry_t* pg = pgFind(entry->pgn);
         const void *currentConfig;
-        if (configIsInCopy) {
+        if (isWritingConfigToCopy()) {
             currentConfig = pg->copy;
         } else {
             currentConfig = pg->address;
@@ -5375,7 +5472,7 @@ static void printTimer(dumpFlags_t dumpMask, const char *headingStr)
     const timerIOConfig_t *defaultConfig;
 
     headingStr = cliPrintSectionHeading(dumpMask, false, headingStr);
-    if (configIsInCopy) {
+    if (isReadingConfigFromCopy()) {
         currentConfig = (timerIOConfig_t *)pg->copy;
         defaultConfig = (timerIOConfig_t *)pg->address;
     } else {
@@ -5784,7 +5881,7 @@ static void printConfig(char *cmdline, bool doDiff)
         dumpMask = dumpMask | BARE;   // show the diff / dump without extra commands and board specific data
     }
 
-    backupAndResetConfigs();
+    backupAndResetConfigs((dumpMask & BARE) == 0);
 
 #ifdef USE_CLI_BATCH
     bool batchModeEnabled = false;
@@ -5989,7 +6086,7 @@ static void cliMsc(char *cmdline)
 #endif
         cliPrintHashLine("Restarting in mass storage mode");
         cliPrint("\r\nRebooting");
-        bufWriterFlush(cliWriter);
+        cliWriterFlush();
         waitForSerialPortToFinishTransmitting(cliPort);
         motorShutdown();
 
@@ -6057,7 +6154,11 @@ const clicmd_t cmdTable[] = {
 #ifdef USE_LED_STRIP_STATUS_MODE
         CLI_COMMAND_DEF("color", "configure colors", NULL, cliColor),
 #endif
-    CLI_COMMAND_DEF("defaults", "reset to defaults and reboot", "[nosave]", cliDefaults),
+#if defined(USE_CUSTOM_DEFAULTS)
+    CLI_COMMAND_DEF("defaults", "reset to defaults and reboot", "[nosave|bare|show]", cliDefaults),
+#else
+    CLI_COMMAND_DEF("defaults", "reset to defaults and reboot", "[nosave|show]", cliDefaults),
+#endif
     CLI_COMMAND_DEF("diff", "list configuration changes from default", "[master|profile|rates|hardware|all] {defaults|bare}", cliDiff),
 #ifdef USE_RESOURCE_MGMT
 
@@ -6202,64 +6303,18 @@ static void cliHelp(char *cmdline)
     }
 }
 
-void cliProcess(void)
+static void processCommandCharacter(const char c)
 {
-    if (!cliWriter) {
+    if (bufferIndex && (c == '\n' || c == '\r')) {
-        return;
-    }
-
-    // Be a little bit tricky.  Flush the last inputs buffer, if any.
-    bufWriterFlush(cliWriter);
-
-    while (serialRxBytesWaiting(cliPort)) {
-        uint8_t c = serialRead(cliPort);
-        if (c == '\t' || c == '?') {
-            // do tab completion
-            const clicmd_t *cmd, *pstart = NULL, *pend = NULL;
-            uint32_t i = bufferIndex;
-            for (cmd = cmdTable; cmd < cmdTable + ARRAYLEN(cmdTable); cmd++) {
-                if (bufferIndex && (strncasecmp(cliBuffer, cmd->name, bufferIndex) != 0))
-                    continue;
-                if (!pstart)
-                    pstart = cmd;
-                pend = cmd;
-            }
-            if (pstart) {    /* Buffer matches one or more commands */
-                for (; ; bufferIndex++) {
-                    if (pstart->name[bufferIndex] != pend->name[bufferIndex])
-                        break;
-                    if (!pstart->name[bufferIndex] && bufferIndex < sizeof(cliBuffer) - 2) {
-                        /* Unambiguous -- append a space */
-                        cliBuffer[bufferIndex++] = ' ';
-                        cliBuffer[bufferIndex] = '\0';
-                        break;
-                    }
-                    cliBuffer[bufferIndex] = pstart->name[bufferIndex];
-                }
-            }
-            if (!bufferIndex || pstart != pend) {
-                /* Print list of ambiguous matches */
-                cliPrint("\r\033[K");
-                for (cmd = pstart; cmd <= pend; cmd++) {
-                    cliPrint(cmd->name);
-                    cliWrite('\t');
-                }
-                cliPrompt();
-                i = 0;    /* Redraw prompt */
-            }
-            for (; i < bufferIndex; i++)
-                cliWrite(cliBuffer[i]);
-        } else if (!bufferIndex && c == 4) {   // CTRL-D
-            cliExit(cliBuffer);
-            return;
-        } else if (c == 12) {                  // NewPage / CTRL-L
-            // clear screen
-            cliPrint("\033[2J\033[1;1H");
-            cliPrompt();
-        } else if (bufferIndex && (c == '\n' || c == '\r')) {
         // enter pressed
         cliPrintLinefeed();
 
+#if defined(USE_CUSTOM_DEFAULTS) && defined(DEBUG_CUSTOM_DEFAULTS)
+        if (processingCustomDefaults) {
+            cliPrint("d: ");
+        }
+#endif
+
         // Strip comment starting with # from line
         char *p = cliBuffer;
         p = strchr(p, '#');
@@ -6294,9 +6349,65 @@ void cliProcess(void)
         memset(cliBuffer, 0, sizeof(cliBuffer));
 
         // 'exit' will reset this flag, so we don't need to print prompt again
-            if (!cliMode)
+        if (!cliMode) {
             return;
+        }
 
+        cliPrompt();
+    } else if (bufferIndex < sizeof(cliBuffer) && c >= 32 && c <= 126) {
+        if (!bufferIndex && c == ' ')
+            return; // Ignore leading spaces
+        cliBuffer[bufferIndex++] = c;
+        cliWrite(c);
+    }
+}
+
+static void processCharacter(const char c)
+{
+    if (c == '\t' || c == '?') {
+        // do tab completion
+        const clicmd_t *cmd, *pstart = NULL, *pend = NULL;
+        uint32_t i = bufferIndex;
+        for (cmd = cmdTable; cmd < cmdTable + ARRAYLEN(cmdTable); cmd++) {
+            if (bufferIndex && (strncasecmp(cliBuffer, cmd->name, bufferIndex) != 0)) {
+                continue;
+            }
+            if (!pstart) {
+                pstart = cmd;
+            }
+            pend = cmd;
+        }
+        if (pstart) {    /* Buffer matches one or more commands */
+            for (; ; bufferIndex++) {
+                if (pstart->name[bufferIndex] != pend->name[bufferIndex])
+                    break;
+                if (!pstart->name[bufferIndex] && bufferIndex < sizeof(cliBuffer) - 2) {
+                    /* Unambiguous -- append a space */
+                    cliBuffer[bufferIndex++] = ' ';
+                    cliBuffer[bufferIndex] = '\0';
+                    break;
+                }
+                cliBuffer[bufferIndex] = pstart->name[bufferIndex];
+            }
+        }
+        if (!bufferIndex || pstart != pend) {
+            /* Print list of ambiguous matches */
+            cliPrint("\r\033[K");
+            for (cmd = pstart; cmd <= pend; cmd++) {
+                cliPrint(cmd->name);
+                cliWrite('\t');
+            }
+            cliPrompt();
+            i = 0;    /* Redraw prompt */
+        }
+        for (; i < bufferIndex; i++)
+            cliWrite(cliBuffer[i]);
+    } else if (!bufferIndex && c == 4) {   // CTRL-D
+        cliExit(cliBuffer);
+        return;
+    } else if (c == 12) {                  // NewPage / CTRL-L
+        // clear screen
+        cliPrint("\033[2J\033[1;1H");
         cliPrompt();
     } else if (c == 127) {
         // backspace
@@ -6304,18 +6415,64 @@ void cliProcess(void)
             cliBuffer[--bufferIndex] = 0;
             cliPrint("\010 \010");
         }
-        } else if (bufferIndex < sizeof(cliBuffer) && c >= 32 && c <= 126) {
+    } else {
-            if (!bufferIndex && c == ' ')
+        processCommandCharacter(c);
-                continue; // Ignore leading spaces
-            cliBuffer[bufferIndex++] = c;
-            cliWrite(c);
-        }
     }
 }
 
+void cliProcess(void)
+{
+    if (!cliWriter) {
+        return;
+    }
+
+    // Flush the buffer to get rid of any MSP data polls sent by configurator after CLI was invoked
+    cliWriterFlush();
+
+    while (serialRxBytesWaiting(cliPort)) {
+        uint8_t c = serialRead(cliPort);
+
+        processCharacter(c);
+    }
+}
+
+#if defined(USE_CUSTOM_DEFAULTS)
+void cliProcessCustomDefaults(void)
+{
+    if (processingCustomDefaults) {
+        return;
+    }
+
+    char *ptr = customDefaultsStart;
+    if (isDefaults(ptr)) {
+#if !defined(DEBUG_CUSTOM_DEFAULTS)
+        bufWriter_t *cliWriterTemp = cliWriter;
+        cliWriter = NULL;
+#endif
+        memcpy(cliBufferTemp, cliBuffer, sizeof(cliBuffer));
+        uint32_t bufferIndexTemp = bufferIndex;
+        bufferIndex = 0;
+        processingCustomDefaults = true;
+
+        while (*ptr && ptr != 0xFF && ptr < customDefaultsEnd) {
+            processCommandCharacter(*ptr++);
+        }
+
+        processingCustomDefaults = false;
+#if !defined(DEBUG_CUSTOM_DEFAULTS)
+        cliWriter = cliWriterTemp;
+#endif
+        memcpy(cliBuffer, cliBufferTemp, sizeof(cliBuffer));
+        bufferIndex = bufferIndexTemp;
+    } else {
+        cliPrintError("NO DEFAULTS FOUND");
+    }
+}
+#endif
+
 void cliEnter(serialPort_t *serialPort)
 {
-    cliMode = 1;
+    cliMode = true;
     cliPort = serialPort;
     setPrintfSerialPort(cliPort);
     cliWriter = bufWriterInit(cliWriteBuffer, sizeof(cliWriteBuffer), (bufWrite_t)serialWriteBufShim, serialPort);
@@ -6335,9 +6492,4 @@ void cliEnter(serialPort_t *serialPort)
     resetCommandBatch();
 #endif
 }
-
-void cliInit(const serialConfig_t *serialConfig)
-{
-    UNUSED(serialConfig);
-}
 #endif // USE_CLI

src/main/cli/cli.h

@@ -20,14 +20,11 @@
 
 #pragma once
 
-extern uint8_t cliMode;
+#include <stdbool.h>
 
-struct clivalue_s;
+extern bool cliMode;
-void *cliGetValuePointer(const struct clivalue_s *value);
-const void *cliGetDefaultPointer(const struct clivalue_s *value);
 
-struct serialConfig_s;
-void cliInit(const struct serialConfig_s *serialConfig);
 void cliProcess(void);
+void cliProcessCustomDefaults(void);
 struct serialPort_s;
 void cliEnter(struct serialPort_s *serialPort);

src/main/fc/init.c

@@ -30,8 +30,6 @@
 #include "build/build_config.h"
 #include "build/debug.h"
 
-#include "cli/cli.h"
-
 #include "cms/cms.h"
 #include "cms/cms_types.h"
 
@@ -725,10 +723,6 @@ void init(void)
     mspInit();
     mspSerialInit();
 
-#ifdef USE_CLI
-    cliInit(serialConfig());
-#endif
-
     failsafeInit();
 
     rxInit();

src/main/target/STM32F405/target.mk

@@ -1,6 +1,9 @@
 F405_TARGETS += $(TARGET)
+
 FEATURES       += SDCARD_SPI VCP ONBOARDFLASH
 
+CUSTOM_DEFAULTS = yes
+
 TARGET_SRC = \
     $(addprefix drivers/accgyro/,$(notdir $(wildcard $(SRC_DIR)/drivers/accgyro/*.c))) \
     $(addprefix drivers/barometer/,$(notdir $(wildcard $(SRC_DIR)/drivers/barometer/*.c))) \

src/main/target/STM32F411/target.mk

@@ -2,6 +2,8 @@ F411_TARGETS += $(TARGET)
 
 FEATURES       += SDCARD_SPI VCP ONBOARDFLASH
 
+CUSTOM_DEFAULTS = yes
+
 TARGET_SRC = \
     $(addprefix drivers/accgyro/,$(notdir $(wildcard $(SRC_DIR)/drivers/accgyro/*.c))) \
     $(addprefix drivers/barometer/,$(notdir $(wildcard $(SRC_DIR)/drivers/barometer/*.c))) \

src/main/target/STM32F411DISCOVERY/target.mk

@@ -1,4 +1,5 @@
 F411_TARGETS    += $(TARGET)
+
 FEATURES        += VCP SDCARD_SPI ONBOARDFLASH
 
 TARGET_SRC = \

src/main/target/STM32F4DISCOVERY/target.mk

@@ -1,4 +1,5 @@
 F405_TARGETS    += $(TARGET)
+
 FEATURES        += VCP SDCARD_SPI MSC
 
 TARGET_SRC = \

src/main/target/STM32F745/target.mk

@@ -1,6 +1,9 @@
 F7X5XG_TARGETS += $(TARGET)
+
 FEATURES       += SDCARD_SPI VCP ONBOARDFLASH
 
+CUSTOM_DEFAULTS = yes
+
 TARGET_SRC = \
     $(addprefix drivers/accgyro/,$(notdir $(wildcard $(SRC_DIR)/drivers/accgyro/*.c))) \
     $(addprefix drivers/barometer/,$(notdir $(wildcard $(SRC_DIR)/drivers/barometer/*.c))) \

src/main/target/STM32F7X2/target.mk

@@ -1,6 +1,9 @@
 F7X2RE_TARGETS += $(TARGET)
+
 FEATURES       += SDCARD_SPI VCP ONBOARDFLASH
 
+CUSTOM_DEFAULTS = yes
+
 TARGET_SRC = \
     $(addprefix drivers/accgyro/,$(notdir $(wildcard $(SRC_DIR)/drivers/accgyro/*.c))) \
     $(addprefix drivers/barometer/,$(notdir $(wildcard $(SRC_DIR)/drivers/barometer/*.c))) \

src/main/target/common_post.h

@@ -359,6 +359,8 @@ extern uint8_t eepromData[EEPROM_SIZE];
 #endif
 extern uint8_t __config_start;   // configured via linker script when building binaries.
 extern uint8_t __config_end;
+extern char __custom_defaults_start;
+extern char __custom_defaults_end;
 #endif
 
 #if defined(USE_EXST) && !defined(RAMBASED)

src/test/unit/cli_unittest.cc

@@ -56,6 +56,7 @@ extern "C" {
     void cliSet(char *cmdline);
     void cliGet(char *cmdline);
     int cliGetSettingIndex(char *name, uint8_t length);
+    void *cliGetValuePointer(const clivalue_t *value);
     
     const clivalue_t valueTable[] = {
         { "array_unit_test",   VAR_INT8  | MODE_ARRAY  | MASTER_VALUE, .config.array.length = 3,      PG_RESERVED_FOR_TESTING_1, 0 },

src/utils/make_config_hex.sh

@@ -0,0 +1,11 @@
+#!/bin/bash
+
+INPUT_FILE=$1
+DESTINATION_DIR=$2
+
+TARGET_ADDRESS=0x080FC000
+
+srec_cat ${INPUT_FILE} -binary -offset ${TARGET_ADDRESS} \
+    -generate '(' -maximum-address ${INPUT_FILE} -binary -maximum-address ${INPUT_FILE} -binary -offset 1 ')' \
+    -constant 0x00 -offset ${TARGET_ADDRESS} \
+    -output ${DESTINATION_DIR}/$(basename ${INPUT_FILE}).hex -intel