mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-23 08:15:30 +03:00
wit (rebase onto master) blind merge
This commit is contained in:
jflyper
commit
ab7bb1342a
510 changed files with 68911 additions and 9793 deletions
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@ -48,14 +48,15 @@ uint8_t cliMode = 0;
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#include "drivers/serial.h"
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#include "drivers/bus_i2c.h"
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#include "drivers/flash.h"
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#include "drivers/gpio.h"
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#include "drivers/io.h"
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#include "drivers/io_impl.h"
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#include "drivers/timer.h"
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#include "drivers/pwm_rx.h"
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#include "drivers/sdcard.h"
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#include "drivers/buf_writer.h"
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#include "drivers/serial_escserial.h"
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#include "fc/config.h"
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#include "fc/rc_controls.h"
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#include "fc/runtime_config.h"
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@ -94,7 +95,6 @@ uint8_t cliMode = 0;
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#include "telemetry/telemetry.h"
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#include "telemetry/frsky.h"
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#include "config/config.h"
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#include "config/config_eeprom.h"
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#include "config/config_profile.h"
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#include "config/config_master.h"
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@ -153,6 +153,9 @@ static void cliResource(char *cmdline);
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#ifdef GPS
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static void cliGpsPassthrough(char *cmdline);
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#endif
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#ifdef USE_ESCSERIAL
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static void cliEscPassthrough(char *cmdline);
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#endif
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static void cliHelp(char *cmdline);
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static void cliMap(char *cmdline);
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@ -241,9 +244,9 @@ static const char * const sensorTypeNames[] = {
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#define SENSOR_NAMES_MASK (SENSOR_GYRO | SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
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static const char * const sensorHardwareNames[4][13] = {
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static const char * const sensorHardwareNames[4][12] = {
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{ "", "None", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "ICM20689", "FAKE", NULL },
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{ "", "None", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "ICM20689", "FAKE", NULL },
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{ "", "None", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "ICM20689", "FAKE", NULL },
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{ "", "None", "BMP085", "MS5611", "BMP280", NULL },
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{ "", "None", "HMC5883", "AK8975", "AK8963", NULL }
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};
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@ -304,6 +307,9 @@ const clicmd_t cmdTable[] = {
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"[name]", cliGet),
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#ifdef GPS
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CLI_COMMAND_DEF("gpspassthrough", "passthrough gps to serial", NULL, cliGpsPassthrough),
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#endif
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#ifdef USE_ESCSERIAL
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CLI_COMMAND_DEF("escprog", "passthrough esc to serial", "<mode [sk/bl/ki]> <index>", cliEscPassthrough),
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#endif
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CLI_COMMAND_DEF("help", NULL, NULL, cliHelp),
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#ifdef LED_STRIP
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@ -413,10 +419,6 @@ static const char * const lookupTableBlackboxDevice[] = {
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};
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#endif
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static const char * const lookupTablePidController[] = {
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"LEGACY", "BETAFLIGHT"
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};
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#ifdef SERIAL_RX
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static const char * const lookupTableSerialRX[] = {
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"SPEK1024",
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@ -520,11 +522,10 @@ static const char * const lookupTableSuperExpoYaw[] = {
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};
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static const char * const lookupTablePwmProtocol[] = {
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"OFF", "ONESHOT125", "ONESHOT42", "MULTISHOT", "BRUSHED"
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};
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static const char * const lookupTableDeltaMethod[] = {
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"ERROR", "MEASUREMENT"
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"OFF", "ONESHOT125", "ONESHOT42", "MULTISHOT", "BRUSHED",
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#ifdef USE_DSHOT
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"DSHOT600", "DSHOT300", "DSHOT150"
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#endif
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};
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static const char * const lookupTableRcInterpolation[] = {
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@ -532,7 +533,7 @@ static const char * const lookupTableRcInterpolation[] = {
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};
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static const char * const lookupTableLowpassType[] = {
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"NORMAL", "HIGH", "DENOISE"
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"PT1", "BIQUAD", "FIR"
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};
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static const char * const lookupTableFailsafe[] = {
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@ -559,7 +560,6 @@ typedef enum {
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#ifdef USE_SERVOS
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TABLE_GIMBAL_MODE,
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#endif
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TABLE_PID_CONTROLLER,
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#ifdef SERIAL_RX
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TABLE_SERIAL_RX,
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#endif
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@ -577,7 +577,6 @@ typedef enum {
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TABLE_DEBUG,
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TABLE_SUPEREXPO_YAW,
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TABLE_MOTOR_PWM_PROTOCOL,
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TABLE_DELTA_METHOD,
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TABLE_RC_INTERPOLATION,
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TABLE_LOWPASS_TYPE,
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TABLE_FAILSAFE,
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@ -601,7 +600,6 @@ static const lookupTableEntry_t lookupTables[] = {
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#ifdef USE_SERVOS
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{ lookupTableGimbalMode, sizeof(lookupTableGimbalMode) / sizeof(char *) },
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#endif
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{ lookupTablePidController, sizeof(lookupTablePidController) / sizeof(char *) },
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#ifdef SERIAL_RX
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{ lookupTableSerialRX, sizeof(lookupTableSerialRX) / sizeof(char *) },
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#endif
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@ -619,7 +617,6 @@ static const lookupTableEntry_t lookupTables[] = {
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{ lookupTableDebug, sizeof(lookupTableDebug) / sizeof(char *) },
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{ lookupTableSuperExpoYaw, sizeof(lookupTableSuperExpoYaw) / sizeof(char *) },
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{ lookupTablePwmProtocol, sizeof(lookupTablePwmProtocol) / sizeof(char *) },
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{ lookupTableDeltaMethod, sizeof(lookupTableDeltaMethod) / sizeof(char *) },
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{ lookupTableRcInterpolation, sizeof(lookupTableRcInterpolation) / sizeof(char *) },
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{ lookupTableLowpassType, sizeof(lookupTableLowpassType) / sizeof(char *) },
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{ lookupTableFailsafe, sizeof(lookupTableFailsafe) / sizeof(char *) },
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@ -692,6 +689,9 @@ const clivalue_t valueTable[] = {
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{ "min_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.motorConfig.minthrottle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
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{ "max_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.motorConfig.maxthrottle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
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{ "min_command", VAR_UINT16 | MASTER_VALUE, &masterConfig.motorConfig.mincommand, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
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#ifdef USE_DSHOT
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{ "digital_idle_offset", VAR_UINT8 | MASTER_VALUE, &masterConfig.motorConfig.digitalIdleOffset, .config.minmax = { 0, 255} },
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#endif
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{ "max_esc_throttle_jump", VAR_UINT16 | MASTER_VALUE, &masterConfig.motorConfig.maxEscThrottleJumpMs, .config.minmax = { 0, 1000 } },
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{ "3d_deadband_low", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.deadband3d_low, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } }, // FIXME upper limit should match code in the mixer, 1500 currently
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@ -699,9 +699,6 @@ const clivalue_t valueTable[] = {
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{ "3d_neutral", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.neutral3d, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
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{ "3d_deadband_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.deadband3d_throttle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
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#ifdef CC3D
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{ "enable_buzzer_p6", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_buzzer_p6, .config.lookup = { TABLE_OFF_ON } },
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#endif
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{ "use_unsynced_pwm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.motorConfig.useUnsyncedPwm, .config.lookup = { TABLE_OFF_ON } },
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{ "motor_pwm_protocol", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.motorConfig.motorPwmProtocol, .config.lookup = { TABLE_MOTOR_PWM_PROTOCOL } },
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{ "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.motorConfig.motorPwmRate, .config.minmax = { 200, 32000 } },
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@ -736,6 +733,7 @@ const clivalue_t valueTable[] = {
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{ "nav_speed_max", VAR_UINT16 | MASTER_VALUE, &masterConfig.gpsProfile.nav_speed_max, .config.minmax = { 10, 2000 } },
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{ "nav_slew_rate", VAR_UINT8 | MASTER_VALUE, &masterConfig.gpsProfile.nav_slew_rate, .config.minmax = { 0, 100 } },
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#endif
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#ifdef GTUNE
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{ "gtune_loP_rll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_ROLL], .config.minmax = { 10, 200 } },
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{ "gtune_loP_ptch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_PITCH], .config.minmax = { 10, 200 } },
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@ -748,10 +746,17 @@ const clivalue_t valueTable[] = {
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{ "gtune_average_cycles", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_average_cycles, .config.minmax = { 8, 128 } },
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#endif
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#ifdef BEEPER
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{ "beeper_inverted", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.beeperConfig.isInverted, .config.lookup = { TABLE_OFF_ON } },
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{ "beeper_od", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.beeperConfig.isOD, .config.lookup = { TABLE_OFF_ON } },
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#endif
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#ifdef SERIAL_RX
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{ "serialrx_provider", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rxConfig.serialrx_provider, .config.lookup = { TABLE_SERIAL_RX } },
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#endif
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{ "sbus_inversion", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rxConfig.sbus_inversion, .config.lookup = { TABLE_OFF_ON } },
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#ifdef SPEKTRUM_BIND
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{ "spektrum_sat_bind", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.spektrum_sat_bind, .config.minmax = { SPEKTRUM_SAT_BIND_DISABLED, SPEKTRUM_SAT_BIND_MAX} },
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{ "spektrum_sat_bind_autoreset",VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.spektrum_sat_bind_autoreset, .config.minmax = { 0, 1} },
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@ -790,15 +795,14 @@ const clivalue_t valueTable[] = {
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{ "align_board_yaw", VAR_INT16 | MASTER_VALUE, &masterConfig.boardAlignment.yawDegrees, .config.minmax = { -180, 360 } },
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{ "max_angle_inclination", VAR_UINT16 | MASTER_VALUE, &masterConfig.max_angle_inclination, .config.minmax = { 100, 900 } },
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{ "pid_delta_method", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.deltaMethod, .config.lookup = { TABLE_DELTA_METHOD } },
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{ "gyro_lpf", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gyro_lpf, .config.lookup = { TABLE_GYRO_LPF } },
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{ "gyro_sync_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyro_sync_denom, .config.minmax = { 1, 8 } },
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{ "gyro_lowpass_level", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gyro_soft_type, .config.lookup = { TABLE_LOWPASS_TYPE } },
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{ "gyro_lowpass_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gyro_soft_type, .config.lookup = { TABLE_LOWPASS_TYPE } },
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{ "gyro_lowpass", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyro_soft_lpf_hz, .config.minmax = { 0, 255 } },
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{ "gyro_notch_hz_1", VAR_UINT16 | MASTER_VALUE, &masterConfig.gyro_soft_notch_hz_1, .config.minmax = { 0, 1000 } },
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{ "gyro_notch_cutoff_1", VAR_UINT16 | MASTER_VALUE, &masterConfig.gyro_soft_notch_cutoff_1, .config.minmax = { 1, 1000 } },
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{ "gyro_notch_hz_2", VAR_UINT16 | MASTER_VALUE, &masterConfig.gyro_soft_notch_hz_2, .config.minmax = { 0, 1000 } },
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{ "gyro_notch_cutoff_2", VAR_UINT16 | MASTER_VALUE, &masterConfig.gyro_soft_notch_cutoff_2, .config.minmax = { 1, 1000 } },
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{ "gyro_notch1_hz", VAR_UINT16 | MASTER_VALUE, &masterConfig.gyro_soft_notch_hz_1, .config.minmax = { 0, 1000 } },
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{ "gyro_notch1_cutoff", VAR_UINT16 | MASTER_VALUE, &masterConfig.gyro_soft_notch_cutoff_1, .config.minmax = { 1, 1000 } },
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{ "gyro_notch2_hz", VAR_UINT16 | MASTER_VALUE, &masterConfig.gyro_soft_notch_hz_2, .config.minmax = { 0, 1000 } },
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{ "gyro_notch2_cutoff", VAR_UINT16 | MASTER_VALUE, &masterConfig.gyro_soft_notch_cutoff_2, .config.minmax = { 1, 1000 } },
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{ "moron_threshold", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyroConfig.gyroMovementCalibrationThreshold, .config.minmax = { 0, 128 } },
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{ "imu_dcm_kp", VAR_UINT16 | MASTER_VALUE, &masterConfig.dcm_kp, .config.minmax = { 0, 50000 } },
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{ "imu_dcm_ki", VAR_UINT16 | MASTER_VALUE, &masterConfig.dcm_ki, .config.minmax = { 0, 50000 } },
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@ -815,12 +819,12 @@ const clivalue_t valueTable[] = {
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{ "yaw_motor_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_motor_direction, .config.minmax = { -1, 1 } },
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{ "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX } },
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{ "pidsum_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pidSumLimit, .config.minmax = { 100, 1000 } },
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{ "pidsum_limit", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pidSumLimit, .config.minmax = { 0.1, 1.0 } },
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#ifdef USE_SERVOS
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{ "servo_center_pulse", VAR_UINT16 | MASTER_VALUE, &masterConfig.servoConfig.servoCenterPulse, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
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{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON } },
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{ "servo_lowpass_freq", VAR_UINT16 | MASTER_VALUE, &masterConfig.mixerConfig.servo_lowpass_freq, .config.minmax = { 10, 400} },
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{ "servo_lowpass_enable", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.servo_lowpass_enable, .config.lookup = { TABLE_OFF_ON } },
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{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.servoMixerConfig.tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON } },
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{ "servo_lowpass_freq", VAR_UINT16 | MASTER_VALUE, &masterConfig.servoMixerConfig.servo_lowpass_freq, .config.minmax = { 10, 400} },
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{ "servo_lowpass_enable", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.servoMixerConfig.servo_lowpass_enable, .config.lookup = { TABLE_OFF_ON } },
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{ "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.servoConfig.servoPwmRate, .config.minmax = { 50, 498 } },
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{ "gimbal_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gimbalConfig.mode, .config.lookup = { TABLE_GIMBAL_MODE } },
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#endif
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@ -868,7 +872,7 @@ const clivalue_t valueTable[] = {
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{ "mag_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mag_hardware, .config.lookup = { TABLE_MAG_HARDWARE } },
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{ "mag_declination", VAR_INT16 | MASTER_VALUE, &masterConfig.mag_declination, .config.minmax = { -18000, 18000 } },
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#endif
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{ "dterm_lowpass_level", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.dterm_filter_type, .config.lookup = { TABLE_LOWPASS_TYPE } },
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{ "dterm_lowpass_type", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.dterm_filter_type, .config.lookup = { TABLE_LOWPASS_TYPE } },
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{ "dterm_lowpass", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 500 } },
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{ "dterm_notch_hz", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_notch_hz, .config.minmax = { 0, 500 } },
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{ "dterm_notch_cutoff", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_notch_cutoff, .config.minmax = { 1, 500 } },
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@ -885,10 +889,6 @@ const clivalue_t valueTable[] = {
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{ "yaw_lowpass", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_lpf_hz, .config.minmax = {0, 500 } },
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{ "pid_process_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.pid_process_denom, .config.minmax = { 1, 8 } },
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#ifndef SKIP_PID_FLOAT
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{ "pid_controller", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.pidController, .config.lookup = { TABLE_PID_CONTROLLER } },
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#endif
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{ "p_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PITCH], .config.minmax = { 0, 200 } },
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{ "i_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PITCH], .config.minmax = { 0, 200 } },
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{ "d_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PITCH], .config.minmax = { 0, 200 } },
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@ -911,6 +911,8 @@ const clivalue_t valueTable[] = {
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{ "i_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDVEL], .config.minmax = { 0, 200 } },
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{ "d_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDVEL], .config.minmax = { 0, 200 } },
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{ "level_sensitivity", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.levelSensitivity, .config.minmax = { 0.1, 3.0 } },
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#ifdef BLACKBOX
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{ "blackbox_rate_num", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_rate_num, .config.minmax = { 1, 32 } },
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{ "blackbox_rate_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_rate_denom, .config.minmax = { 1, 32 } },
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@ -1321,7 +1323,7 @@ static void cliSerial(char *cmdline)
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switch(i) {
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case 0:
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if (baudRateIndex < BAUD_9600 || baudRateIndex > BAUD_115200) {
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if (baudRateIndex < BAUD_9600 || baudRateIndex > BAUD_1000000) {
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continue;
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}
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portConfig.msp_baudrateIndex = baudRateIndex;
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@ -2952,6 +2954,60 @@ static void cliGpsPassthrough(char *cmdline)
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}
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#endif
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#ifdef USE_ESCSERIAL
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static void cliEscPassthrough(char *cmdline)
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{
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uint8_t mode = 0;
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int index = 0;
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int i = 0;
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char *pch = NULL;
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char *saveptr;
|
||||
|
||||
if (isEmpty(cmdline)) {
|
||||
cliShowParseError();
|
||||
return;
|
||||
}
|
||||
|
||||
pch = strtok_r(cmdline, " ", &saveptr);
|
||||
while (pch != NULL) {
|
||||
switch (i) {
|
||||
case 0:
|
||||
if(strncasecmp(pch, "sk", strlen(pch)) == 0)
|
||||
{
|
||||
mode = 0;
|
||||
}
|
||||
else if(strncasecmp(pch, "bl", strlen(pch)) == 0)
|
||||
{
|
||||
mode = 1;
|
||||
}
|
||||
else if(strncasecmp(pch, "ki", strlen(pch)) == 0)
|
||||
{
|
||||
mode = 2;
|
||||
}
|
||||
else
|
||||
{
|
||||
cliShowParseError();
|
||||
return;
|
||||
}
|
||||
break;
|
||||
case 1:
|
||||
index = atoi(pch);
|
||||
if ((index >= 0) && (index < USABLE_TIMER_CHANNEL_COUNT)) {
|
||||
printf("passthru at pwm output %d enabled\r\n", index);
|
||||
}
|
||||
else {
|
||||
printf("invalid pwm output, valid range: 1 to %d\r\n", USABLE_TIMER_CHANNEL_COUNT);
|
||||
return;
|
||||
}
|
||||
break;
|
||||
}
|
||||
i++;
|
||||
pch = strtok_r(NULL, " ", &saveptr);
|
||||
}
|
||||
escEnablePassthrough(cliPort,index,mode);
|
||||
}
|
||||
#endif
|
||||
|
||||
static void cliHelp(char *cmdline)
|
||||
{
|
||||
UNUSED(cmdline);
|
||||
|
|
@ -3043,11 +3099,11 @@ static void cliMotor(char *cmdline)
|
|||
cliShowArgumentRangeError("value", 1000, 2000);
|
||||
return;
|
||||
} else {
|
||||
motor_disarmed[motor_index] = motor_value;
|
||||
motor_disarmed[motor_index] = convertExternalToMotor(motor_value);
|
||||
}
|
||||
}
|
||||
|
||||
cliPrintf("motor %d: %d\r\n", motor_index, motor_disarmed[motor_index]);
|
||||
cliPrintf("motor %d: %d\r\n", motor_index, convertMotorToExternal(motor_disarmed[motor_index]));
|
||||
}
|
||||
|
||||
static void cliPlaySound(char *cmdline)
|
||||
|
|
@ -3669,23 +3725,138 @@ void cliProcess(void)
|
|||
}
|
||||
|
||||
#if (FLASH_SIZE > 64) && !defined(CLI_MINIMAL_VERBOSITY)
|
||||
|
||||
typedef struct {
|
||||
const uint8_t owner;
|
||||
ioTag_t *ptr;
|
||||
const uint8_t maxIndex;
|
||||
} cliResourceValue_t;
|
||||
|
||||
const cliResourceValue_t resourceTable[] = {
|
||||
#ifdef BEEPER
|
||||
{ OWNER_BEEPER, &masterConfig.beeperConfig.ioTag, 0 },
|
||||
#endif
|
||||
{ OWNER_MOTOR, &masterConfig.motorConfig.ioTags[0], MAX_SUPPORTED_MOTORS },
|
||||
#ifdef USE_SERVOS
|
||||
{ OWNER_SERVO, &masterConfig.servoConfig.ioTags[0], MAX_SUPPORTED_SERVOS },
|
||||
#endif
|
||||
#ifndef SKIP_RX_PWM_PPM
|
||||
{ OWNER_PPMINPUT, &masterConfig.ppmConfig.ioTag, 0 },
|
||||
{ OWNER_PWMINPUT, &masterConfig.pwmConfig.ioTags[0], PWM_INPUT_PORT_COUNT },
|
||||
#endif
|
||||
#ifdef SONAR
|
||||
{ OWNER_SONAR_TRIGGER, &masterConfig.sonarConfig.triggerTag, 0 },
|
||||
{ OWNER_SONAR_ECHO, &masterConfig.sonarConfig.echoTag, 0 },
|
||||
#endif
|
||||
};
|
||||
|
||||
static void cliResource(char *cmdline)
|
||||
{
|
||||
UNUSED(cmdline);
|
||||
cliPrintf("IO:\r\n----------------------\r\n");
|
||||
for (uint32_t i = 0; i < DEFIO_IO_USED_COUNT; i++) {
|
||||
const char* owner;
|
||||
owner = ownerNames[ioRecs[i].owner];
|
||||
int len;
|
||||
len = strlen(cmdline);
|
||||
|
||||
const char* resource;
|
||||
resource = resourceNames[ioRecs[i].resource];
|
||||
if (len == 0) {
|
||||
cliPrintf("IO:\r\n----------------------\r\n");
|
||||
for (uint32_t i = 0; i < DEFIO_IO_USED_COUNT; i++) {
|
||||
const char* owner;
|
||||
owner = ownerNames[ioRecs[i].owner];
|
||||
|
||||
if (ioRecs[i].index > 0) {
|
||||
cliPrintf("%c%02d: %s%d %s\r\n", IO_GPIOPortIdx(ioRecs + i) + 'A', IO_GPIOPinIdx(ioRecs + i), owner, ioRecs[i].index, resource);
|
||||
} else {
|
||||
cliPrintf("%c%02d: %s %s\r\n", IO_GPIOPortIdx(ioRecs + i) + 'A', IO_GPIOPinIdx(ioRecs + i), owner, resource);
|
||||
const char* resource;
|
||||
resource = resourceNames[ioRecs[i].resource];
|
||||
|
||||
if (ioRecs[i].index > 0) {
|
||||
cliPrintf("%c%02d: %s%d %s\r\n", IO_GPIOPortIdx(ioRecs + i) + 'A', IO_GPIOPinIdx(ioRecs + i), owner, ioRecs[i].index, resource);
|
||||
} else {
|
||||
cliPrintf("%c%02d: %s %s\r\n", IO_GPIOPortIdx(ioRecs + i) + 'A', IO_GPIOPinIdx(ioRecs + i), owner, resource);
|
||||
}
|
||||
}
|
||||
cliPrintf("\r\nUse: 'resource list' to see how to change resources.\r\n");
|
||||
return;
|
||||
} else if (strncasecmp(cmdline, "list", len) == 0) {
|
||||
for (uint8_t i = 0; i < ARRAYLEN(resourceTable); i++) {
|
||||
const char* owner;
|
||||
owner = ownerNames[resourceTable[i].owner];
|
||||
|
||||
if (resourceTable[i].maxIndex > 0) {
|
||||
for (int index = 0; index < resourceTable[i].maxIndex; index++) {
|
||||
|
||||
if (DEFIO_TAG_ISEMPTY(*(resourceTable[i].ptr + index))) {
|
||||
continue;
|
||||
}
|
||||
|
||||
IO_t io = IOGetByTag(*(resourceTable[i].ptr + index));
|
||||
if (!io) {
|
||||
continue;
|
||||
}
|
||||
cliPrintf("resource %s %d %c%02d\r\n", owner, RESOURCE_INDEX(index), IO_GPIOPortIdx(io) + 'A', IO_GPIOPinIdx(io));
|
||||
}
|
||||
} else {
|
||||
if (DEFIO_TAG_ISEMPTY(*(resourceTable[i].ptr))) {
|
||||
continue;
|
||||
}
|
||||
IO_t io = IOGetByTag(*resourceTable[i].ptr);
|
||||
cliPrintf("resource %s %c%02d\r\n", owner, IO_GPIOPortIdx(io) + 'A', IO_GPIOPinIdx(io));
|
||||
}
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
uint8_t resourceIndex = 0;
|
||||
int index = 0;
|
||||
char *pch = NULL;
|
||||
char *saveptr;
|
||||
|
||||
pch = strtok_r(cmdline, " ", &saveptr);
|
||||
for (resourceIndex = 0; ; resourceIndex++) {
|
||||
if (resourceIndex >= ARRAYLEN(resourceTable)) {
|
||||
cliPrint("Invalid resource\r\n");
|
||||
return;
|
||||
}
|
||||
|
||||
if (strncasecmp(pch, ownerNames[resourceTable[resourceIndex].owner], len) == 0) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (resourceTable[resourceIndex].maxIndex > 0) {
|
||||
pch = strtok_r(NULL, " ", &saveptr);
|
||||
index = atoi(pch);
|
||||
|
||||
if (index <= 0 || index > resourceTable[resourceIndex].maxIndex) {
|
||||
cliShowArgumentRangeError("index", 1, resourceTable[resourceIndex].maxIndex);
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
pch = strtok_r(NULL, " ", &saveptr);
|
||||
ioTag_t *tag = (ioTag_t*)(resourceTable[resourceIndex].ptr + (index == 0 ? 0 : index - 1));
|
||||
|
||||
uint8_t pin = 0;
|
||||
if (strlen(pch) > 0) {
|
||||
if (strcasecmp(pch, "NONE") == 0) {
|
||||
*tag = IO_TAG_NONE;
|
||||
cliPrintf("Resource is freed!");
|
||||
return;
|
||||
} else {
|
||||
uint8_t port = (*pch)-'A';
|
||||
if (port < 8) {
|
||||
pch++;
|
||||
pin = atoi(pch);
|
||||
if (pin < 16) {
|
||||
ioRec_t *rec = IO_Rec(IOGetByTag(DEFIO_TAG_MAKE(port, pin)));
|
||||
if (rec) {
|
||||
*tag = DEFIO_TAG_MAKE(port, pin);
|
||||
cliPrintf("Resource is set to %c%02d!", port + 'A', pin);
|
||||
} else {
|
||||
cliPrintf("Resource is invalid!");
|
||||
}
|
||||
return;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
cliShowParseError();
|
||||
}
|
||||
#endif
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue