mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-19 14:25:20 +03:00
Updates to support parameter groups
This commit is contained in:
Martin Budden
parent
13ddcdb9cf
commit
aa561d542b
23 changed files with 338 additions and 322 deletions
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@ -28,6 +28,8 @@
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// FIXME remove this for targets that don't need a CLI. Perhaps use a no-op macro when USE_CLI is not enabled
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// signal that we're in cli mode
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uint8_t cliMode = 0;
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extern uint8_t __config_start; // configured via linker script when building binaries.
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extern uint8_t __config_end;
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#ifdef USE_CLI
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@ -44,6 +46,7 @@ uint8_t cliMode = 0;
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#include "common/maths.h"
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#include "common/printf.h"
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#include "common/typeconversion.h"
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#include "common/utils.h"
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#include "config/config_master.h"
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#include "config/config_eeprom.h"
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@ -954,7 +957,7 @@ static const clivalue_t valueTable[] = {
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{ "servo_lowpass_hz", VAR_UINT16 | MASTER_VALUE, &servoConfig()->servo_lowpass_freq, .config.minmax = { 0, 400} },
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{ "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, &servoConfig()->dev.servoPwmRate, .config.minmax = { 50, 498 } },
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{ "gimbal_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gimbalConfig()->mode, .config.lookup = { TABLE_GIMBAL_MODE } },
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{ "channel_forwarding_start", VAR_UINT8 | MASTER_VALUE, &channelForwardingConfig()->startChannel, .config.minmax = { AUX1, MAX_SUPPORTED_RC_CHANNEL_COUNT } },
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{ "channel_forwarding_start", VAR_UINT8 | MASTER_VALUE, &servoConfig()->channelForwardingStartChannel, .config.minmax = { AUX1, MAX_SUPPORTED_RC_CHANNEL_COUNT } },
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#endif
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{ "rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.controlRateProfile[0].rcRate8, .config.minmax = { 0, 255 } },
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@ -1533,8 +1536,9 @@ static uint16_t getValueOffset(const clivalue_t *value)
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{
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switch (value->type & VALUE_SECTION_MASK) {
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case MASTER_VALUE:
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case PROFILE_VALUE:
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return value->offset;
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case PROFILE_VALUE:
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return value->offset + sizeof(pidProfile_t) * getCurrentPidProfileIndex();
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case PROFILE_RATE_VALUE:
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return value->offset + sizeof(controlRateConfig_t) * getCurrentControlRateProfileIndex();
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}
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@ -1544,15 +1548,7 @@ static uint16_t getValueOffset(const clivalue_t *value)
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static void *getValuePointer(const clivalue_t *value)
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{
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const pgRegistry_t* rec = pgFind(value->pgn);
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switch (value->type & VALUE_SECTION_MASK) {
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case MASTER_VALUE:
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case PROFILE_VALUE:
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return rec->address + value->offset;
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case PROFILE_RATE_VALUE:
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return rec->address + value->offset + sizeof(controlRateConfig_t) * getCurrentControlRateProfileIndex();
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}
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return NULL;
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return CONST_CAST(void *, rec + getValueOffset(value));
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}
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static void dumpPgValue(const clivalue_t *value, uint8_t dumpMask)
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@ -1595,19 +1591,16 @@ static void dumpAllValues(uint16_t valueSection, uint8_t dumpMask)
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void *getValuePointer(const clivalue_t *value)
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{
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void *ptr = value->ptr;
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uint8_t *ptr = value->ptr;
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if ((value->type & VALUE_SECTION_MASK) == PROFILE_VALUE) {
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ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * systemConfig()->current_profile_index);
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}
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if ((value->type & VALUE_SECTION_MASK) == PROFILE_RATE_VALUE) {
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ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * systemConfig()->current_profile_index) + (sizeof(controlRateConfig_t) * getCurrentControlRateProfileIndex());
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ptr += sizeof(pidProfile_t) * getCurrentPidProfileIndex();
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} else if ((value->type & VALUE_SECTION_MASK) == PROFILE_RATE_VALUE) {
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ptr += sizeof(controlRateConfig_t) * getCurrentControlRateProfileIndex();
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}
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return ptr;
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}
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#endif // USE_PARAMETER_GROUPS
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static void *getDefaultPointer(void *valuePointer, const master_t *defaultConfig)
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{
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@ -1650,13 +1643,6 @@ static bool valueEqualsDefault(const clivalue_t *value, const master_t *defaultC
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return result;
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}
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static void cliPrintVar(const clivalue_t *var, uint32_t full)
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{
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const void *ptr = getValuePointer(var);
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printValuePointer(var, ptr, full);
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}
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static void cliPrintVarDefault(const clivalue_t *var, uint32_t full, const master_t *defaultConfig)
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{
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void *ptr = getValuePointer(var);
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@ -1665,7 +1651,16 @@ static void cliPrintVarDefault(const clivalue_t *var, uint32_t full, const maste
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printValuePointer(var, defaultPtr, full);
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}
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#endif // USE_PARAMETER_GROUPS
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static void cliPrintVar(const clivalue_t *var, uint32_t full)
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{
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const void *ptr = getValuePointer(var);
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printValuePointer(var, ptr, full);
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}
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#ifndef USE_PARAMETER_GROUPS
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static void dumpValues(uint16_t valueSection, uint8_t dumpMask, const master_t *defaultConfig)
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{
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const clivalue_t *value;
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@ -1687,6 +1682,7 @@ static void dumpValues(uint16_t valueSection, uint8_t dumpMask, const master_t *
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}
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}
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}
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#endif
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static void cliPrintVarRange(const clivalue_t *var)
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{
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@ -1714,6 +1710,7 @@ typedef union {
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float float_value;
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} int_float_value_t;
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static void cliSetVar(const clivalue_t *var, const int_float_value_t value)
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{
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void *ptr = getValuePointer(var);
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@ -2635,6 +2632,30 @@ static void printServo(uint8_t dumpMask, const servoParam_t *servoParams, const
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servoConf->forwardFromChannel
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);
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}
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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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const char *format = "smix reverse %d %d r\r\n";
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const servoParam_t *servoConf = &servoParams[i];
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const servoParam_t *servoConfDefault = &defaultServoParams[i];
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if (defaultServoParams) {
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bool equalsDefault = servoConf->reversedSources == servoConfDefault->reversedSources;
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for (uint32_t channel = 0; channel < INPUT_SOURCE_COUNT; channel++) {
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equalsDefault = ~(servoConf->reversedSources ^ servoConfDefault->reversedSources) & (1 << channel);
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if (servoConfDefault->reversedSources & (1 << channel)) {
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cliDefaultPrintf(dumpMask, equalsDefault, format, i , channel);
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}
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if (servoConf->reversedSources & (1 << channel)) {
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cliDumpPrintf(dumpMask, equalsDefault, format, i , channel);
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}
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}
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} else {
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for (uint32_t channel = 0; channel < INPUT_SOURCE_COUNT; channel++) {
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if (servoConf->reversedSources & (1 << channel)) {
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cliDumpPrintf(dumpMask, true, format, i , channel);
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}
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}
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}
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}
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}
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static void cliServo(char *cmdline)
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@ -2715,18 +2736,18 @@ static void cliServo(char *cmdline)
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#endif
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#ifdef USE_SERVOS
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static void printServoMix(uint8_t dumpMask, const master_t *defaultConfig)
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static void printServoMix(uint8_t dumpMask, const servoMixer_t *customServoMixers, const servoMixer_t *defaultCustomServoMixers)
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{
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const char *format = "smix %d %d %d %d %d %d %d %d\r\n";
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for (uint32_t i = 0; i < MAX_SERVO_RULES; i++) {
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const servoMixer_t customServoMixer = *customServoMixers(i);
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const servoMixer_t customServoMixer = customServoMixers[i];
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if (customServoMixer.rate == 0) {
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break;
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}
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bool equalsDefault = false;
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if (defaultConfig) {
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servoMixer_t customServoMixerDefault = defaultConfig->customServoMixer[i];
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if (defaultCustomServoMixers) {
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servoMixer_t customServoMixerDefault = defaultCustomServoMixers[i];
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equalsDefault = customServoMixer.targetChannel == customServoMixerDefault.targetChannel
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&& customServoMixer.inputSource == customServoMixerDefault.inputSource
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&& customServoMixer.rate == customServoMixerDefault.rate
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@ -2759,31 +2780,6 @@ static void printServoMix(uint8_t dumpMask, const master_t *defaultConfig)
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}
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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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const char *format = "smix reverse %d %d r\r\n";
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const servoParam_t *servoConf = servoParams(i);
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if (defaultConfig) {
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const servoParam_t *servoConfDefault = &defaultConfig->servoProfile.servoConf[i];
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bool equalsDefault = servoConf->reversedSources == servoConfDefault->reversedSources;
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for (uint32_t channel = 0; channel < INPUT_SOURCE_COUNT; channel++) {
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equalsDefault = ~(servoConf->reversedSources ^ servoConfDefault->reversedSources) & (1 << channel);
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if (servoConfDefault->reversedSources & (1 << channel)) {
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cliDefaultPrintf(dumpMask, equalsDefault, format, i , channel);
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}
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if (servoConf->reversedSources & (1 << channel)) {
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cliDumpPrintf(dumpMask, equalsDefault, format, i , channel);
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}
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}
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} else {
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for (uint32_t channel = 0; channel < INPUT_SOURCE_COUNT; channel++) {
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if (servoConf->reversedSources & (1 << channel)) {
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cliDumpPrintf(dumpMask, true, format, i , channel);
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}
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}
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}
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}
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}
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static void cliServoMix(char *cmdline)
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@ -2792,10 +2788,14 @@ static void cliServoMix(char *cmdline)
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int 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, customServoMixers(0), NULL);
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} else if (strncasecmp(cmdline, "reset", 5) == 0) {
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// erase custom mixer
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#ifdef USE_PARAMETER_GROUPS
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memset(customServoMixers_array(), 0, sizeof(*customServoMixers_array()));
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#else
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memset(masterConfig.customServoMixer, 0, sizeof(masterConfig.customServoMixer));
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#endif
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for (uint32_t i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
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servoParamsMutable(i)->reversedSources = 0;
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}
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@ -2809,7 +2809,7 @@ static void cliServoMix(char *cmdline)
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break;
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}
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if (strncasecmp(ptr, mixerNames[i], len) == 0) {
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servoMixerLoadMix(i, masterConfig.customServoMixer);
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servoMixerLoadMix(i);
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cliPrintf("Loaded %s\r\n", mixerNames[i]);
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cliServoMix("");
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break;
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@ -3067,15 +3067,15 @@ static void cliFlashRead(char *cmdline)
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#endif
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#ifdef VTX
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static void printVtx(uint8_t dumpMask, const master_t *defaultConfig)
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static void printVtx(uint8_t dumpMask, const vtxConfig_t *vtxConfig, const vtxConfig_t *vtxConfigDefault)
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{
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// print out vtx channel settings
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const char *format = "vtx %u %u %u %u %u %u\r\n";
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bool equalsDefault = false;
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for (uint32_t i = 0; i < MAX_CHANNEL_ACTIVATION_CONDITION_COUNT; i++) {
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const vtxChannelActivationCondition_t *cac = &vtxConfig()->vtxChannelActivationConditions[i];
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if (defaultConfig) {
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const vtxChannelActivationCondition_t *cacDefault = &defaultConfig->vtxConfig.vtxChannelActivationConditions[i];
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const vtxChannelActivationCondition_t *cac = &vtxConfig->vtxChannelActivationConditions[i];
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if (vtxConfigDefault) {
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const vtxChannelActivationCondition_t *cacDefault = &vtxConfigDefault->vtxChannelActivationConditions[i];
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equalsDefault = cac->auxChannelIndex == cacDefault->auxChannelIndex
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&& cac->band == cacDefault->band
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&& cac->channel == cacDefault->channel
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@ -3107,7 +3107,7 @@ static void cliVtx(char *cmdline)
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const char *ptr;
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if (isEmpty(cmdline)) {
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printVtx(DUMP_MASTER, NULL);
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printVtx(DUMP_MASTER, vtxConfig(), NULL);
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} else {
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ptr = cmdline;
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i = atoi(ptr++);
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@ -3168,20 +3168,16 @@ static void cliName(char *cmdline)
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printName(DUMP_MASTER);
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}
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static void printFeature(uint8_t dumpMask, const featureConfig_t *featureConfigDefault)
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static void printFeature(uint8_t dumpMask, const featureConfig_t *featureConfig, const featureConfig_t *featureConfigDefault)
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{
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const uint32_t mask = featureMask();
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const uint32_t mask = featureConfig->enabledFeatures;
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const uint32_t defaultMask = featureConfigDefault->enabledFeatures;
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for (uint32_t i = 0; ; i++) { // disable all feature first
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if (featureNames[i] == NULL)
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break;
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for (uint32_t i = 0; featureNames[i]; i++) { // disable all feature first
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const char *format = "feature -%s\r\n";
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cliDefaultPrintf(dumpMask, (defaultMask | ~mask) & (1 << i), format, featureNames[i]);
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cliDumpPrintf(dumpMask, (~defaultMask | mask) & (1 << i), format, featureNames[i]);
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}
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for (uint32_t i = 0; ; i++) { // reenable what we want.
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if (featureNames[i] == NULL)
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break;
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for (uint32_t i = 0; featureNames[i]; i++) { // reenable what we want.
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const char *format = "feature %s\r\n";
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if (defaultMask & (1 << i)) {
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cliDefaultPrintf(dumpMask, (~defaultMask | mask) & (1 << i), format, featureNames[i]);
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@ -3260,11 +3256,11 @@ static void cliFeature(char *cmdline)
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}
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#ifdef BEEPER
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static void printBeeper(uint8_t dumpMask, const master_t *defaultConfig)
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static void printBeeper(uint8_t dumpMask, const beeperConfig_t *beeperConfig, const beeperConfig_t *beeperConfigDefault)
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{
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const uint8_t beeperCount = beeperTableEntryCount();
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const uint32_t mask = getBeeperOffMask();
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const uint32_t defaultMask = defaultConfig->beeperConfig.beeper_off_flags;
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const uint32_t mask = beeperConfig->beeper_off_flags;
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const uint32_t defaultMask = beeperConfigDefault->beeper_off_flags;
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for (int32_t i = 0; i < beeperCount - 2; i++) {
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const char *formatOff = "beeper -%s\r\n";
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const char *formatOn = "beeper %s\r\n";
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@ -3701,12 +3697,12 @@ static void cliPlaySound(char *cmdline)
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static void cliProfile(char *cmdline)
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{
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if (isEmpty(cmdline)) {
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cliPrintf("profile %d\r\n", getCurrentProfileIndex());
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cliPrintf("profile %d\r\n", getCurrentPidProfileIndex());
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return;
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} else {
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const int i = atoi(cmdline);
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if (i >= 0 && i < MAX_PROFILE_COUNT) {
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systemConfigMutable()->current_profile_index = i;
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systemConfigMutable()->pidProfileIndex = i;
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writeEEPROM();
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readEEPROM();
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cliProfile("");
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@ -3728,22 +3724,18 @@ static void cliRateProfile(char *cmdline)
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}
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}
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static void cliDumpProfile(uint8_t profileIndex, uint8_t dumpMask, const master_t *defaultConfig)
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#ifndef USE_PARAMETER_GROUPS
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static void cliDumpPidProfile(uint8_t pidProfileIndex, uint8_t dumpMask, const master_t *defaultConfig)
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{
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if (profileIndex >= MAX_PROFILE_COUNT) {
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if (pidProfileIndex >= MAX_PROFILE_COUNT) {
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// Faulty values
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return;
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}
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changeProfile(profileIndex);
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changePidProfile(pidProfileIndex);
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cliPrintHashLine("profile");
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cliProfile("");
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cliPrint("\r\n");
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#ifdef USE_PARAMETER_GROUPS
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(void)(defaultConfig);
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dumpAllValues(PROFILE_VALUE, dumpMask);
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#else
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dumpValues(PROFILE_VALUE, dumpMask, defaultConfig);
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#endif
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}
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static void cliDumpRateProfile(uint8_t rateProfileIndex, uint8_t dumpMask, const master_t *defaultConfig)
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@ -3758,6 +3750,7 @@ static void cliDumpRateProfile(uint8_t rateProfileIndex, uint8_t dumpMask, const
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cliPrint("\r\n");
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dumpValues(PROFILE_RATE_VALUE, dumpMask, defaultConfig);
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}
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#endif
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static void cliSave(char *cmdline)
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{
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@ -3938,7 +3931,11 @@ static void cliStatus(char *cmdline)
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#endif
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cliPrintf("Stack size: %d, Stack address: 0x%x\r\n", stackTotalSize(), stackHighMem());
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#ifdef USE_PARAMETER_GROUPS
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cliPrintf("I2C Errors: %d, config size: %d, max available config: %d\r\n", i2cErrorCounter, getEEPROMConfigSize(), &__config_end - &__config_start);
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#else
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cliPrintf("I2C Errors: %d, config size: %d\r\n", i2cErrorCounter, sizeof(master_t));
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#endif
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const int gyroRate = getTaskDeltaTime(TASK_GYROPID) == 0 ? 0 : (int)(1000000.0f / ((float)getTaskDeltaTime(TASK_GYROPID)));
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const int rxRate = getTaskDeltaTime(TASK_RX) == 0 ? 0 : (int)(1000000.0f / ((float)getTaskDeltaTime(TASK_RX)));
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@ -4059,6 +4056,7 @@ const cliResourceValue_t resourceTable[] = {
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#endif
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};
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#ifndef USE_PARAMETER_GROUPS
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static void printResource(uint8_t dumpMask, const master_t *defaultConfig)
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{
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for (unsigned int i = 0; i < ARRAYLEN(resourceTable); i++) {
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@ -4087,6 +4085,7 @@ static void printResource(uint8_t dumpMask, const master_t *defaultConfig)
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}
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}
|
||||
}
|
||||
#endif
|
||||
|
||||
static void printResourceOwner(uint8_t owner, uint8_t index)
|
||||
{
|
||||
|
|
@ -4137,7 +4136,9 @@ static void cliResource(char *cmdline)
|
|||
int len = strlen(cmdline);
|
||||
|
||||
if (len == 0) {
|
||||
#ifndef USE_PARAMETER_GROUPS
|
||||
printResource(DUMP_MASTER | HIDE_UNUSED, NULL);
|
||||
#endif
|
||||
|
||||
return;
|
||||
} else if (strncasecmp(cmdline, "list", len) == 0) {
|
||||
|
|
@ -4324,16 +4325,18 @@ static void printConfig(char *cmdline, bool doDiff)
|
|||
dumpMask = dumpMask | DO_DIFF;
|
||||
}
|
||||
|
||||
static master_t defaultConfig;
|
||||
createDefaultConfig(&defaultConfig);
|
||||
|
||||
#ifdef USE_PARAMETER_GROUPS
|
||||
backupConfigs();
|
||||
// reset all configs to defaults to do differencing
|
||||
resetConfigs();
|
||||
#if defined(TARGET_CONFIG)
|
||||
targetConfiguration(&defaultConfig);
|
||||
targetConfiguration();
|
||||
#endif
|
||||
#else
|
||||
static master_t defaultConfig;
|
||||
createDefaultConfig(&defaultConfig);
|
||||
#if defined(TARGET_CONFIG)
|
||||
targetConfiguration(&defaultConfig);
|
||||
#endif
|
||||
if (checkCommand(options, "showdefaults")) {
|
||||
dumpMask = dumpMask | SHOW_DEFAULTS; // add default values as comments for changed values
|
||||
|
|
@ -4374,16 +4377,16 @@ static void printConfig(char *cmdline, bool doDiff)
|
|||
cliPrintHashLine("servo mix");
|
||||
// print custom servo mixer if exists
|
||||
cliDumpPrintf(dumpMask, masterConfig.customServoMixer[0].rate == 0, "smix reset\r\n\r\n");
|
||||
printServoMix(dumpMask, &defaultConfig);
|
||||
printServoMix(dumpMask, customServoMixers(0), defaultConfig.customServoMixer);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
cliPrintHashLine("feature");
|
||||
printFeature(dumpMask, &defaultConfig.featureConfig);
|
||||
printFeature(dumpMask, featureConfig(), &defaultConfig.featureConfig);
|
||||
|
||||
#ifdef BEEPER
|
||||
cliPrintHashLine("beeper");
|
||||
printBeeper(dumpMask, &defaultConfig);
|
||||
printBeeper(dumpMask, beeperConfig(), &defaultConfig.beeperConfig);
|
||||
#endif
|
||||
|
||||
cliPrintHashLine("map");
|
||||
|
|
@ -4414,7 +4417,7 @@ static void printConfig(char *cmdline, bool doDiff)
|
|||
|
||||
#ifdef VTX
|
||||
cliPrintHashLine("vtx");
|
||||
printVtx(dumpMask, &defaultConfig);
|
||||
printVtx(dumpMask, vtxConfig(), &defaultConfig.vtxConfig);
|
||||
#endif
|
||||
|
||||
cliPrintHashLine("rxfail");
|
||||
|
|
@ -4424,11 +4427,11 @@ static void printConfig(char *cmdline, bool doDiff)
|
|||
dumpValues(MASTER_VALUE, dumpMask, &defaultConfig);
|
||||
|
||||
if (dumpMask & DUMP_ALL) {
|
||||
const uint8_t profileIndexSave = getCurrentProfileIndex();
|
||||
for (uint32_t profileIndex = 0; profileIndex < MAX_PROFILE_COUNT; profileIndex++) {
|
||||
cliDumpProfile(profileIndex, dumpMask, &defaultConfig);
|
||||
const uint8_t pidProfileIndexSave = getCurrentPidProfileIndex();
|
||||
for (uint32_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
|
||||
cliDumpPidProfile(pidProfileIndex, dumpMask, &defaultConfig);
|
||||
}
|
||||
changeProfile(profileIndexSave);
|
||||
changePidProfile(pidProfileIndexSave);
|
||||
cliPrintHashLine("restore original profile selection");
|
||||
cliProfile("");
|
||||
|
||||
|
|
@ -4443,19 +4446,20 @@ static void printConfig(char *cmdline, bool doDiff)
|
|||
cliPrintHashLine("save configuration");
|
||||
cliPrint("save");
|
||||
} else {
|
||||
cliDumpProfile(getCurrentProfileIndex(), dumpMask, &defaultConfig);
|
||||
cliDumpPidProfile(getCurrentPidProfileIndex(), dumpMask, &defaultConfig);
|
||||
|
||||
cliDumpRateProfile(getCurrentControlRateProfileIndex(), dumpMask, &defaultConfig);
|
||||
}
|
||||
}
|
||||
|
||||
if (dumpMask & DUMP_PROFILE) {
|
||||
cliDumpProfile(getCurrentProfileIndex(), dumpMask, &defaultConfig);
|
||||
cliDumpPidProfile(getCurrentPidProfileIndex(), dumpMask, &defaultConfig);
|
||||
}
|
||||
|
||||
if (dumpMask & DUMP_RATES) {
|
||||
cliDumpRateProfile(getCurrentControlRateProfileIndex(), dumpMask, &defaultConfig);
|
||||
}
|
||||
#endif
|
||||
#ifdef USE_PARAMETER_GROUPS
|
||||
// restore configs from copies
|
||||
restoreConfigs();
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue