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beginnings of cli editing support by cehteh; (still buggy)

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added and began work on integrating failsafe_detect_threshold
got rid of acc_lpf_for_velocity since that seemed no longer used.


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@317 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-05-09 12:26:11 +00:00
parent 3f8fc1b509
commit b6fc652b20
8 changed files with 103 additions and 25 deletions
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88
src/cli.c
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@ -133,7 +133,6 @@ const clivalue_t valueTable[] = {
{ "gyro_cmpf_factor", VAR_UINT16, &mcfg.gyro_cmpf_factor, 100, 1000 },
{ "gyro_cmpfm_factor", VAR_UINT16, &mcfg.gyro_cmpfm_factor, 100, 1000 },
{ "gps_type", VAR_UINT8, &mcfg.gps_type, 0, 3 },
{ "deadband", VAR_UINT8, &cfg.deadband, 0, 32 },
{ "yawdeadband", VAR_UINT8, &cfg.yawdeadband, 0, 100 },
{ "alt_hold_throttle_neutral", VAR_UINT8, &cfg.alt_hold_throttle_neutral, 1, 250 },
@ -146,6 +145,7 @@ const clivalue_t valueTable[] = {
{ "failsafe_delay", VAR_UINT8, &cfg.failsafe_delay, 0, 200 },
{ "failsafe_off_delay", VAR_UINT8, &cfg.failsafe_off_delay, 0, 200 },
{ "failsafe_throttle", VAR_UINT16, &cfg.failsafe_throttle, 1000, 2000 },
{ "failsafe_detect_threshold", VAR_UINT16, &cfg.failsafe_detect_threshold, 100, 2000 },
{ "yaw_direction", VAR_INT8, &cfg.yaw_direction, -1, 1 },
{ "tri_yaw_middle", VAR_UINT16, &cfg.tri_yaw_middle, 0, 2000 },
{ "tri_yaw_min", VAR_UINT16, &cfg.tri_yaw_min, 0, 2000 },
@ -170,7 +170,6 @@ const clivalue_t valueTable[] = {
{ "gimbal_roll_max", VAR_UINT16, &cfg.gimbal_roll_max, 100, 3000 },
{ "gimbal_roll_mid", VAR_UINT16, &cfg.gimbal_roll_mid, 100, 3000 },
{ "acc_lpf_factor", VAR_UINT8, &cfg.acc_lpf_factor, 0, 250 },
{ "acc_lpf_for_velocity", VAR_UINT8, &cfg.acc_lpf_for_velocity, 1, 250 },
{ "acc_trim_pitch", VAR_INT16, &cfg.angleTrim[PITCH], -300, 300 },
{ "acc_trim_roll", VAR_INT16, &cfg.angleTrim[ROLL], -300, 300 },
{ "baro_tab_size", VAR_UINT8, &cfg.baro_tab_size, 0, BARO_TAB_SIZE_MAX },
@ -599,7 +598,7 @@ static void cliDump(char *cmdline)
static void cliExit(char *cmdline)
{
uartPrint("\r\nLeaving CLI mode...\r\n");
memset(cliBuffer, 0, sizeof(cliBuffer));
*cliBuffer = '\0';
bufferIndex = 0;
cliMode = 0;
// save and reboot... I think this makes the most sense
@ -905,6 +904,35 @@ void cliProcess(void)
while (uartAvailable()) {
uint8_t c = uartRead();
/* first step: translate "ESC[" -> "CSI" */
if (c == '\033') {
c = uartReadPoll();
if (c == '[')
c = 0x9b;
else
/* ignore unknown sequences */
c = 0;
}
/* second step: translate known CSI sequence into singlebyte control sequences */
if (c == 0x9b) {
c = uartReadPoll();
if (c == 'A') //up
c = 0x0b;
else if (c == 'B') //down
c = 0x0a;
else if (c == 'C') //right
c = 0x0c;
else if (c == 'D') //left
c = 0x08;
else if (c == 0x33 && uartReadPoll() == 0x7e) //delete
c = 0xff; // nonstandard, borrowing 0xff for the delete key
else
c = 0;
}
/* from here on everything is a single byte */
if (c == '\t' || c == '?') {
// do tab completion
const clicmd_t *cmd, *pstart = NULL, *pend = NULL;
@ -943,27 +971,43 @@ void cliProcess(void)
} else if (!bufferIndex && c == 4) {
cliExit(cliBuffer);
return;
} else if (c == 0x0b) {
//uartPrint("up unimplemented");
} else if (c == 0x0a) {
//uartPrint("down unimplemend");
} else if (c == 0x08) {
if (bufferIndex > 0) {
bufferIndex--;
uartPrint("\033[D");
}
} else if (c == 12) {
// clear screen
uartPrint("\033[2J\033[1;1H");
cliPrompt();
} else if (bufferIndex && (c == '\n' || c == '\r')) {
if (cliBuffer[bufferIndex]) {
bufferIndex++;
uartPrint("\033[C");
}
} else if (c == 0xff) {
// delete key
if (cliBuffer[bufferIndex]) {
int len = strlen(cliBuffer + bufferIndex);
memmove(cliBuffer + bufferIndex, cliBuffer + bufferIndex + 1, len + 1);
printf("%s \033[%dD", cliBuffer + bufferIndex, len);
}
} else if (*cliBuffer && (c == '\n' || c == '\r')) {
// enter pressed
clicmd_t *cmd = NULL;
clicmd_t target;
uartPrint("\r\n");
cliBuffer[bufferIndex] = 0; // null terminate
target.name = cliBuffer;
target.param = NULL;
cmd = bsearch(&target, cmdTable, CMD_COUNT, sizeof cmdTable[0], cliCompare);
if (cmd)
cmd->func(cliBuffer + strlen(cmd->name) + 1);
else
uartPrint("ERR: Unknown command, try 'help'");
memset(cliBuffer, 0, sizeof(cliBuffer));
*cliBuffer = '\0';
bufferIndex = 0;
// 'exit' will reset this flag, so we don't need to print prompt again
@ -972,15 +1016,25 @@ void cliProcess(void)
cliPrompt();
} else if (c == 127) {
// backspace
if (bufferIndex) {
cliBuffer[--bufferIndex] = 0;
uartPrint("\010 \010");
if (bufferIndex && *cliBuffer) {
int len = strlen(cliBuffer + bufferIndex);
--bufferIndex;
memmove(cliBuffer + bufferIndex, cliBuffer + bufferIndex + 1, len + 1);
printf("\033[D%s \033[%dD", cliBuffer + bufferIndex, len + 1);
}
} else if (bufferIndex < sizeof(cliBuffer) && c >= 32 && c <= 126) {
} else if (strlen(cliBuffer) + 1 < sizeof(cliBuffer) && c >= 32 && c <= 126) {
int len;
if (!bufferIndex && c == 32)
continue;
cliBuffer[bufferIndex++] = c;
uartWrite(c);
len = strlen(cliBuffer + bufferIndex);
memmove(cliBuffer + bufferIndex + 1, cliBuffer + bufferIndex, len + 1);
cliBuffer[bufferIndex] = c;
printf("%s \033[%dD", cliBuffer + bufferIndex, len + 1);
++bufferIndex;
}
}
}