mirror of
https://github.com/betaflight/betaflight.git
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Merge branch 'master' into serial-cleanup
Conflicts: src/main/blackbox/blackbox_io.c src/main/config/config.c
This commit is contained in:
Dominic Clifton
commit
b6509dd1eb
60 changed files with 2471 additions and 386 deletions
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@ -52,6 +52,7 @@
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#include "io/rc_controls.h"
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#include "io/serial.h"
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#include "io/ledstrip.h"
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#include "io/flashfs.h"
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#include "rx/rx.h"
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#include "rx/spektrum.h"
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@ -121,6 +122,13 @@ static void cliColor(char *cmdline);
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static void cliMixer(char *cmdline);
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#endif
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#ifdef USE_FLASHFS
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static void cliFlashInfo(char *cmdline);
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static void cliFlashErase(char *cmdline);
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static void cliFlashWrite(char *cmdline);
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static void cliFlashRead(char *cmdline);
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#endif
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// signal that we're in cli mode
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uint8_t cliMode = 0;
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@ -155,13 +163,11 @@ static const char * const sensorTypeNames[] = {
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"GYRO", "ACC", "BARO", "MAG", "SONAR", "GPS", "GPS+MAG", NULL
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};
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// FIXME the next time the EEPROM is bumped change the order of acc and gyro names so that "None" is second.
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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][11] = {
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{ "", "None", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "FAKE", NULL },
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{ "", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "FAKE", "None", NULL },
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{ "", "None", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "FAKE", NULL },
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{ "", "None", "BMP085", "MS5611", NULL },
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{ "", "None", "HMC5883", "AK8975", NULL }
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};
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@ -185,6 +191,12 @@ const clicmd_t cmdTable[] = {
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{ "dump", "dump configuration", cliDump },
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{ "exit", "", cliExit },
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{ "feature", "list or -val or val", cliFeature },
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#ifdef USE_FLASHFS
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{ "flash_erase", "erase flash chip", cliFlashErase },
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{ "flash_info", "get flash chip details", cliFlashInfo },
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{ "flash_read", "read text from the given address", cliFlashRead },
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{ "flash_write", "write text to the given address", cliFlashWrite },
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#endif
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{ "get", "get variable value", cliGet },
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#ifdef GPS
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{ "gpspassthrough", "passthrough gps to serial", cliGpsPassthrough },
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@ -201,7 +213,7 @@ const clicmd_t cmdTable[] = {
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{ "profile", "index (0 to 2)", cliProfile },
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{ "rateprofile", "index (0 to 2)", cliRateProfile },
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{ "save", "save and reboot", cliSave },
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#ifndef CJMCU
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#ifdef USE_SERVOS
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{ "servo", "servo config", cliServo },
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#endif
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{ "set", "name=value or blank or * for list", cliSet },
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@ -355,8 +367,11 @@ const clivalue_t valueTable[] = {
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{ "yaw_control_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.yaw_control_direction, -1, 1 },
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{ "yaw_direction", VAR_INT8 | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.yaw_direction, -1, 1 },
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#ifdef USE_SERVOS
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{ "tri_unarmed_servo", VAR_INT8 | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.tri_unarmed_servo, 0, 1 },
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{ "servo_lowpass_freq", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.servo_lowpass_freq, 10, 400},
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{ "servo_lowpass_enable", VAR_INT8 | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.servo_lowpass_enable, 0, 1 },
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#endif
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{ "default_rate_profile", VAR_UINT8 | PROFILE_VALUE , &masterConfig.profile[0].defaultRateProfileIndex, 0, MAX_CONTROL_RATE_PROFILE_COUNT - 1 },
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{ "rc_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcRate8, 0, 250 },
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{ "rc_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcExpo8, 0, 100 },
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@ -373,7 +388,9 @@ const clivalue_t valueTable[] = {
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{ "failsafe_min_usec", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].failsafeConfig.failsafe_min_usec, 100, PWM_RANGE_MAX },
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{ "failsafe_max_usec", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].failsafeConfig.failsafe_max_usec, 100, PWM_RANGE_MAX + (PWM_RANGE_MAX - PWM_RANGE_MIN) },
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#ifdef USE_SERVOS
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{ "gimbal_flags", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].gimbalConfig.gimbal_flags, 0, 255},
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#endif
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{ "acc_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.acc_hardware, 0, ACC_NONE },
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{ "acc_lpf_factor", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].acc_lpf_factor, 0, 250 },
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@ -433,6 +450,7 @@ const clivalue_t valueTable[] = {
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#ifdef BLACKBOX
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{ "blackbox_rate_num", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_rate_num, 1, 32 },
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{ "blackbox_rate_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_rate_denom, 1, 32 },
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{ "blackbox_device", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_device, 0, 1 },
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#endif
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};
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@ -752,7 +770,7 @@ static void cliColor(char *cmdline)
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static void cliServo(char *cmdline)
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{
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#ifdef CJMCU
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#ifndef USE_SERVOS
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UNUSED(cmdline);
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#else
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enum { SERVO_ARGUMENT_COUNT = 6 };
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@ -822,6 +840,88 @@ static void cliServo(char *cmdline)
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#endif
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}
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#ifdef USE_FLASHFS
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static void cliFlashInfo(char *cmdline)
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{
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const flashGeometry_t *layout = flashfsGetGeometry();
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UNUSED(cmdline);
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printf("Flash sectors=%u, sectorSize=%u, pagesPerSector=%u, pageSize=%u, totalSize=%u, usedSize=%u\r\n",
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layout->sectors, layout->sectorSize, layout->pagesPerSector, layout->pageSize, layout->totalSize, flashfsGetOffset());
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}
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static void cliFlashErase(char *cmdline)
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{
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UNUSED(cmdline);
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printf("Erasing, please wait...\r\n");
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flashfsEraseCompletely();
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while (!flashfsIsReady()) {
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delay(100);
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}
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printf("Done.\r\n");
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}
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static void cliFlashWrite(char *cmdline)
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{
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uint32_t address = atoi(cmdline);
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char *text = strchr(cmdline, ' ');
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if (!text) {
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printf("Missing text to write.\r\n");
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} else {
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flashfsSeekAbs(address);
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flashfsWrite((uint8_t*)text, strlen(text), true);
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flashfsFlushSync();
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printf("Wrote %u bytes at %u.\r\n", strlen(text), address);
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}
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}
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static void cliFlashRead(char *cmdline)
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{
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uint32_t address = atoi(cmdline);
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uint32_t length;
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int i;
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uint8_t buffer[32];
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char *nextArg = strchr(cmdline, ' ');
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if (!nextArg) {
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printf("Missing length argument.\r\n");
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} else {
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length = atoi(nextArg);
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printf("Reading %u bytes at %u:\r\n", length, address);
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while (length > 0) {
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int bytesRead;
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bytesRead = flashfsReadAbs(address, buffer, length < sizeof(buffer) ? length : sizeof(buffer));
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for (i = 0; i < bytesRead; i++) {
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cliWrite(buffer[i]);
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}
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length -= bytesRead;
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address += bytesRead;
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if (bytesRead == 0) {
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//Assume we reached the end of the volume or something fatal happened
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break;
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}
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}
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printf("\r\n");
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}
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}
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#endif
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static void dumpValues(uint16_t mask)
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{
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uint32_t i;
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@ -1238,6 +1338,7 @@ static void cliRateProfile(char *cmdline)
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static void cliReboot(void) {
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cliPrint("\r\nRebooting");
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waitForSerialPortToFinishTransmitting(cliPort);
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stopMotors();
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systemReset();
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}
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