mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-14 11:59:58 +03:00
rewritten drv_uart to suck slightly less
tested w/o GPS git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@382 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com
parent
1ff0036dec
commit
cbb580f753
10 changed files with 403 additions and 321 deletions
101
src/cli.c
101
src/cli.c
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@ -216,6 +216,8 @@ const clivalue_t valueTable[] = {
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static void cliSetVar(const clivalue_t *var, const int32_t value);
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static void cliPrintVar(const clivalue_t *var, uint32_t full);
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static void cliPrint(const char *str);
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static void cliWrite(uint8_t ch);
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#ifndef HAVE_ITOA_FUNCTION
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@ -396,7 +398,7 @@ static char *ftoa(float x, char *floatString)
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static void cliPrompt(void)
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{
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uartPrint("\r\n# ");
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cliPrint("\r\n# ");
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}
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static int cliCompare(const void *a, const void *b)
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@ -441,7 +443,7 @@ static void cliCMix(char *cmdline)
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len = strlen(cmdline);
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if (len == 0) {
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uartPrint("Custom mixer: \r\nMotor\tThr\tRoll\tPitch\tYaw\r\n");
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cliPrint("Custom mixer: \r\nMotor\tThr\tRoll\tPitch\tYaw\r\n");
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for (i = 0; i < MAX_MOTORS; i++) {
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if (mcfg.customMixer[i].throttle == 0.0f)
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break;
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@ -458,10 +460,10 @@ static void cliCMix(char *cmdline)
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mixsum[1] += mcfg.customMixer[i].pitch;
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mixsum[2] += mcfg.customMixer[i].yaw;
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}
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uartPrint("Sanity check:\t");
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cliPrint("Sanity check:\t");
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for (i = 0; i < 3; i++)
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uartPrint(fabs(mixsum[i]) > 0.01f ? "NG\t" : "OK\t");
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uartPrint("\r\n");
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cliPrint(fabs(mixsum[i]) > 0.01f ? "NG\t" : "OK\t");
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cliPrint("\r\n");
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return;
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} else if (strncasecmp(cmdline, "reset", 5) == 0) {
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// erase custom mixer
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@ -473,7 +475,7 @@ static void cliCMix(char *cmdline)
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len = strlen(++ptr);
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for (i = 0; ; i++) {
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if (mixerNames[i] == NULL) {
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uartPrint("Invalid mixer type...\r\n");
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cliPrint("Invalid mixer type...\r\n");
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break;
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}
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if (strncasecmp(ptr, mixerNames[i], len) == 0) {
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@ -509,7 +511,7 @@ static void cliCMix(char *cmdline)
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check++;
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}
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if (check != 4) {
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uartPrint("Wrong number of arguments, needs idx thr roll pitch yaw\r\n");
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cliPrint("Wrong number of arguments, needs idx thr roll pitch yaw\r\n");
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} else {
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cliCMix("");
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}
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@ -521,9 +523,9 @@ static void cliCMix(char *cmdline)
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static void cliDefaults(char *cmdline)
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{
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uartPrint("Resetting to defaults...\r\n");
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cliPrint("Resetting to defaults...\r\n");
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checkFirstTime(true);
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uartPrint("Rebooting...");
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cliPrint("Rebooting...");
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delay(10);
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systemReset(false);
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}
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@ -596,13 +598,13 @@ static void cliDump(char *cmdline)
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setval = &valueTable[i];
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printf("set %s = ", valueTable[i].name);
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cliPrintVar(setval, 0);
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uartPrint("\r\n");
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cliPrint("\r\n");
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}
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}
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static void cliExit(char *cmdline)
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{
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uartPrint("\r\nLeaving CLI mode...\r\n");
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cliPrint("\r\nLeaving CLI mode...\r\n");
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*cliBuffer = '\0';
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bufferIndex = 0;
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cliMode = 0;
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@ -620,22 +622,22 @@ static void cliFeature(char *cmdline)
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mask = featureMask();
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if (len == 0) {
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uartPrint("Enabled features: ");
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cliPrint("Enabled features: ");
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for (i = 0; ; i++) {
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if (featureNames[i] == NULL)
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break;
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if (mask & (1 << i))
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printf("%s ", featureNames[i]);
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}
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uartPrint("\r\n");
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cliPrint("\r\n");
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} else if (strncasecmp(cmdline, "list", len) == 0) {
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uartPrint("Available features: ");
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cliPrint("Available features: ");
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for (i = 0; ; i++) {
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if (featureNames[i] == NULL)
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break;
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printf("%s ", featureNames[i]);
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}
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uartPrint("\r\n");
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cliPrint("\r\n");
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return;
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} else {
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bool remove = false;
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@ -648,16 +650,16 @@ static void cliFeature(char *cmdline)
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for (i = 0; ; i++) {
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if (featureNames[i] == NULL) {
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uartPrint("Invalid feature name...\r\n");
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cliPrint("Invalid feature name...\r\n");
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break;
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}
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if (strncasecmp(cmdline, featureNames[i], len) == 0) {
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if (remove) {
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featureClear(1 << i);
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uartPrint("Disabled ");
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cliPrint("Disabled ");
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} else {
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featureSet(1 << i);
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uartPrint("Enabled ");
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cliPrint("Enabled ");
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}
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printf("%s\r\n", featureNames[i]);
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break;
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@ -670,7 +672,7 @@ static void cliHelp(char *cmdline)
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{
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uint32_t i = 0;
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uartPrint("Available commands:\r\n");
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cliPrint("Available commands:\r\n");
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for (i = 0; i < CMD_COUNT; i++)
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printf("%s\t%s\r\n", cmdTable[i].name, cmdTable[i].param);
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}
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@ -690,12 +692,12 @@ static void cliMap(char *cmdline)
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for (i = 0; i < 8; i++) {
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if (strchr(rcChannelLetters, cmdline[i]) && !strchr(cmdline + i + 1, cmdline[i]))
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continue;
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uartPrint("Must be any order of AETR1234\r\n");
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cliPrint("Must be any order of AETR1234\r\n");
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return;
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}
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parseRcChannels(cmdline);
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}
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uartPrint("Current assignment: ");
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cliPrint("Current assignment: ");
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for (i = 0; i < 8; i++)
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out[mcfg.rcmap[i]] = rcChannelLetters[i];
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out[i] = '\0';
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@ -713,19 +715,19 @@ static void cliMixer(char *cmdline)
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printf("Current mixer: %s\r\n", mixerNames[mcfg.mixerConfiguration - 1]);
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return;
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} else if (strncasecmp(cmdline, "list", len) == 0) {
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uartPrint("Available mixers: ");
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cliPrint("Available mixers: ");
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for (i = 0; ; i++) {
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if (mixerNames[i] == NULL)
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break;
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printf("%s ", mixerNames[i]);
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}
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uartPrint("\r\n");
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cliPrint("\r\n");
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return;
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}
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for (i = 0; ; i++) {
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if (mixerNames[i] == NULL) {
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uartPrint("Invalid mixer type...\r\n");
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cliPrint("Invalid mixer type...\r\n");
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break;
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}
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if (strncasecmp(cmdline, mixerNames[i], len) == 0) {
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@ -757,13 +759,24 @@ static void cliProfile(char *cmdline)
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static void cliSave(char *cmdline)
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{
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uartPrint("Saving...");
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cliPrint("Saving...");
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writeEEPROM(0, true);
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uartPrint("\r\nRebooting...");
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cliPrint("\r\nRebooting...");
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delay(10);
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systemReset(false);
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}
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static void cliPrint(const char *str)
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{
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while (*str)
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uartWrite(core.mainport, *(str++));
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}
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static void cliWrite(uint8_t ch)
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{
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uartWrite(core.mainport, ch);
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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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int32_t value = 0;
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@ -838,12 +851,12 @@ static void cliSet(char *cmdline)
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len = strlen(cmdline);
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if (len == 0 || (len == 1 && cmdline[0] == '*')) {
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uartPrint("Current settings: \r\n");
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cliPrint("Current settings: \r\n");
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for (i = 0; i < VALUE_COUNT; i++) {
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val = &valueTable[i];
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printf("%s = ", valueTable[i].name);
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cliPrintVar(val, len); // when len is 1 (when * is passed as argument), it will print min/max values as well, for gui
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uartPrint("\r\n");
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cliPrint("\r\n");
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}
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} else if ((eqptr = strstr(cmdline, "="))) {
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// has equal, set var
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@ -859,12 +872,12 @@ static void cliSet(char *cmdline)
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printf("%s set to ", valueTable[i].name);
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cliPrintVar(val, 0);
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} else {
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uartPrint("ERR: Value assignment out of range\r\n");
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cliPrint("ERR: Value assignment out of range\r\n");
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}
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return;
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}
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}
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uartPrint("ERR: Unknown variable name\r\n");
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cliPrint("ERR: Unknown variable name\r\n");
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} else {
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// no equals, check for matching variables.
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for (i = 0; i < VALUE_COUNT; i++) {
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@ -899,26 +912,26 @@ static void cliStatus(char *cmdline)
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if (accHardware == ACC_MPU6050)
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printf(".%c", mcfg.mpu6050_scale ? 'o' : 'n');
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}
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uartPrint("\r\n");
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cliPrint("\r\n");
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printf("Cycle Time: %d, I2C Errors: %d, config size: %d\r\n", cycleTime, i2cGetErrorCounter(), sizeof(master_t));
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}
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static void cliVersion(char *cmdline)
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{
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uartPrint("Afro32 CLI version 2.1 " __DATE__ " / " __TIME__);
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cliPrint("Afro32 CLI version 2.2 " __DATE__ " / " __TIME__);
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}
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void cliProcess(void)
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{
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if (!cliMode) {
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cliMode = 1;
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uartPrint("\r\nEntering CLI Mode, type 'exit' to return, or 'help'\r\n");
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cliPrint("\r\nEntering CLI Mode, type 'exit' to return, or 'help'\r\n");
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cliPrompt();
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}
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while (isUartAvailable()) {
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uint8_t c = uartRead();
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while (isUartAvailable(core.mainport)) {
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uint8_t c = uartRead(core.mainport);
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if (c == '\t' || c == '?') {
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// do tab completion
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const clicmd_t *cmd, *pstart = NULL, *pend = NULL;
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@ -945,28 +958,28 @@ void cliProcess(void)
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}
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if (!bufferIndex || pstart != pend) {
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/* Print list of ambiguous matches */
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uartPrint("\r\033[K");
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cliPrint("\r\033[K");
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for (cmd = pstart; cmd <= pend; cmd++) {
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uartPrint(cmd->name);
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uartWrite('\t');
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cliPrint(cmd->name);
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cliWrite('\t');
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}
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cliPrompt();
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i = 0; /* Redraw prompt */
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}
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for (; i < bufferIndex; i++)
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uartWrite(cliBuffer[i]);
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cliWrite(cliBuffer[i]);
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} else if (!bufferIndex && c == 4) {
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cliExit(cliBuffer);
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return;
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} else if (c == 12) {
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// clear screen
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uartPrint("\033[2J\033[1;1H");
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cliPrint("\033[2J\033[1;1H");
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cliPrompt();
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} else if (bufferIndex && (c == '\n' || c == '\r')) {
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// enter pressed
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clicmd_t *cmd = NULL;
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clicmd_t target;
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uartPrint("\r\n");
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cliPrint("\r\n");
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cliBuffer[bufferIndex] = 0; // null terminate
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target.name = cliBuffer;
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@ -976,7 +989,7 @@ void cliProcess(void)
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if (cmd)
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cmd->func(cliBuffer + strlen(cmd->name) + 1);
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else
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uartPrint("ERR: Unknown command, try 'help'");
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cliPrint("ERR: Unknown command, try 'help'");
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memset(cliBuffer, 0, sizeof(cliBuffer));
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bufferIndex = 0;
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@ -989,13 +1002,13 @@ void cliProcess(void)
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// backspace
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if (bufferIndex) {
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cliBuffer[--bufferIndex] = 0;
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uartPrint("\010 \010");
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cliPrint("\010 \010");
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}
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} else if (bufferIndex < sizeof(cliBuffer) && c >= 32 && c <= 126) {
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if (!bufferIndex && c == 32)
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continue;
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cliBuffer[bufferIndex++] = c;
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uartWrite(c);
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cliWrite(c);
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}
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}
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}
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