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Merge remote-tracking branch 'betaflight/master' into bfdev-configurable-spi-phase-1

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This commit is contained in:
jflyper 2017-07-02 11:06:50 +09:00
commit d18a06f721
67 changed files with 928 additions and 774 deletions
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38
src/main/fc/cli.c
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@ -72,6 +72,7 @@ extern uint8_t __config_end;
#include "drivers/sonar_hcsr04.h"
#include "drivers/stack_check.h"
#include "drivers/system.h"
#include "drivers/transponder_ir.h"
#include "drivers/time.h"
#include "drivers/timer.h"
#include "drivers/vcd.h"
@ -105,6 +106,7 @@ extern uint8_t __config_end;
#include "io/ledstrip.h"
#include "io/osd.h"
#include "io/serial.h"
#include "io/transponder_ir.h"
#include "io/vtx_rtc6705.h"
#include "io/vtx_control.h"
@ -183,18 +185,18 @@ static const char * const sensorTypeNames[] = {
#define SENSOR_NAMES_MASK (SENSOR_GYRO | SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
// sync with gyroSensor_e
static const char * const gyroNames[] = {
"AUTO", "NONE", "MPU6050", "L3G4200D", "MPU3050", "L3GD20",
"MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20689", "BMI160", "FAKE"
};
static const char * const *sensorHardwareNames[] = {
gyroNames, lookupTableAccHardware, lookupTableBaroHardware, lookupTableMagHardware
lookupTableGyroHardware, lookupTableAccHardware, lookupTableBaroHardware, lookupTableMagHardware
};
#endif // USE_SENSOR_NAMES
#ifndef MINIMAL_CLI
static const char *armingDisableFlagNames[] = {
"NOGYRO", "FAILSAFE", "BOXFAILSAFE", "THROTTLE",
"ANGLE", "LOAD", "CALIB", "CLI", "CMS", "OSD", "BST"
};
#endif
static void cliPrint(const char *str)
{
while (*str) {
@ -1165,7 +1167,7 @@ static void cliRxRange(char *cmdline)
ptr = cmdline;
i = atoi(ptr);
if (i >= 0 && i < NON_AUX_CHANNEL_COUNT) {
int rangeMin, rangeMax;
int rangeMin = 0, rangeMax = 0;
ptr = nextArg(ptr);
if (ptr) {
@ -2712,7 +2714,18 @@ static void cliStatus(char *cmdline)
const int systemRate = getTaskDeltaTime(TASK_SYSTEM) == 0 ? 0 : (int)(1000000.0f / ((float)getTaskDeltaTime(TASK_SYSTEM)));
cliPrintLinef("CPU:%d%%, cycle time: %d, GYRO rate: %d, RX rate: %d, System rate: %d",
constrain(averageSystemLoadPercent, 0, 100), getTaskDeltaTime(TASK_GYROPID), gyroRate, rxRate, systemRate);
#ifdef MINIMAL_CLI
cliPrintLinef("Arming disable flags: 0x%x", getArmingDisableFlags());
#else
cliPrint("Arming disable flags:");
uint16_t flags = getArmingDisableFlags();
while (flags) {
int bitpos = ffs(flags) - 1;
flags &= ~(1 << bitpos);
cliPrintf(" %s", armingDisableFlagNames[bitpos]);
}
cliPrintLinefeed();
#endif
}
#ifndef SKIP_TASK_STATISTICS
@ -2833,6 +2846,9 @@ const cliResourceValue_t resourceTable[] = {
{ OWNER_RX_BIND, PG_RX_CONFIG, offsetof(rxConfig_t, spektrum_bind_pin_override_ioTag), 0 },
{ OWNER_RX_BIND_PLUG, PG_RX_CONFIG, offsetof(rxConfig_t, spektrum_bind_plug_ioTag), 0 },
#endif
#ifdef TRANSPONDER
{ OWNER_TRANSPONDER, PG_TRANSPONDER_CONFIG, offsetof(transponderConfig_t, ioTag), 0 },
#endif
#ifdef USE_SPI
{ OWNER_SPI_SCK, PG_SPI_PIN_CONFIG, offsetof(spiPinConfig_t, ioTagSck[0]), SPIDEV_COUNT },
{ OWNER_SPI_MISO, PG_SPI_PIN_CONFIG, offsetof(spiPinConfig_t, ioTagMiso[0]), SPIDEV_COUNT },
@ -3500,7 +3516,7 @@ void cliEnter(serialPort_t *serialPort)
#endif
cliPrompt();
ENABLE_ARMING_FLAG(PREVENT_ARMING);
setArmingDisabled(ARMING_DISABLED_CLI);
}
void cliInit(const serialConfig_t *serialConfig)