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Rebased onto #3469

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This commit is contained in:
jflyper 2017-07-09 20:53:05 +09:00
commit e30d9e4a29
10 changed files with 1520 additions and 515 deletions
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138
src/main/fc/cli.c
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@ -2097,31 +2097,41 @@ static void printMap(uint8_t dumpMask, const rxConfig_t *rxConfig, const rxConfi
cliDumpPrintLinef(dumpMask, equalsDefault, formatMap, buf);
}
static void cliMap(char *cmdline)
{
uint32_t len;
char out[9];
uint32_t i;
char buf[RX_MAPPABLE_CHANNEL_COUNT + 1];
len = strlen(cmdline);
uint32_t len = strlen(cmdline);
if (len == RX_MAPPABLE_CHANNEL_COUNT) {
if (len == 8) {
// uppercase it
for (uint32_t i = 0; i < 8; i++)
cmdline[i] = toupper((unsigned char)cmdline[i]);
for (uint32_t i = 0; i < 8; i++) {
if (strchr(rcChannelLetters, cmdline[i]) && !strchr(cmdline + i + 1, cmdline[i]))
for (i = 0; i < RX_MAPPABLE_CHANNEL_COUNT; i++) {
buf[i] = toupper((unsigned char)cmdline[i]);
}
buf[i] = '\0';
for (i = 0; i < RX_MAPPABLE_CHANNEL_COUNT; i++) {
buf[i] = toupper((unsigned char)cmdline[i]);
if (strchr(rcChannelLetters, buf[i]) && !strchr(buf + i + 1, buf[i]))
continue;
cliShowParseError();
return;
}
parseRcChannels(cmdline, rxConfigMutable());
parseRcChannels(buf, rxConfigMutable());
} else if (len > 0) {
cliShowParseError();
return;
}
cliPrint("Map: ");
uint32_t i;
for (i = 0; i < 8; i++)
out[rxConfig()->rcmap[i]] = rcChannelLetters[i];
out[i] = '\0';
cliPrintLine(out);
for (i = 0; i < RX_MAPPABLE_CHANNEL_COUNT; i++) {
buf[rxConfig()->rcmap[i]] = rcChannelLetters[i];
}
buf[i] = '\0';
cliPrintLinef("map %s", buf);
}
static char *checkCommand(char *cmdLine, const char *command)
@ -2186,27 +2196,20 @@ static void cliGpsPassthrough(char *cmdline)
}
#endif
#if defined(USE_ESCSERIAL) || defined(USE_DSHOT)
#ifndef ALL_ESCS
#define ALL_ESCS 255
#endif
static int parseEscNumber(char *pch, bool allowAllEscs) {
int escNumber = atoi(pch);
if ((escNumber >= 0) && (escNumber < getMotorCount())) {
tfp_printf("Programming on ESC %d.\r\n", escNumber);
} else if (allowAllEscs && escNumber == ALL_ESCS) {
tfp_printf("Programming on all ESCs.\r\n");
static int parseOutputIndex(char *pch, bool allowAllEscs) {
int outputIndex = atoi(pch);
if ((outputIndex >= 0) && (outputIndex < getMotorCount())) {
tfp_printf("Using output %d.\r\n", outputIndex);
} else if (allowAllEscs && outputIndex == ALL_MOTORS) {
tfp_printf("Using all outputs.\r\n");
} else {
tfp_printf("Invalid ESC number, range: 0 to %d.\r\n", getMotorCount() - 1);
tfp_printf("Invalid output number, range: 0 to %d.\r\n", getMotorCount() - 1);
return -1;
}
return escNumber;
return outputIndex;
}
#endif
#ifdef USE_DSHOT
static void cliDshotProg(char *cmdline)
@ -2220,12 +2223,12 @@ static void cliDshotProg(char *cmdline)
char *saveptr;
char *pch = strtok_r(cmdline, " ", &saveptr);
int pos = 0;
int escNumber = 0;
int escIndex = 0;
while (pch != NULL) {
switch (pos) {
case 0:
escNumber = parseEscNumber(pch, true);
if (escNumber == -1) {
escIndex = parseOutputIndex(pch, true);
if (escIndex == -1) {
return;
}
@ -2235,12 +2238,12 @@ static void cliDshotProg(char *cmdline)
int command = atoi(pch);
if (command >= 0 && command < DSHOT_MIN_THROTTLE) {
if (escNumber == ALL_ESCS) {
if (escIndex == ALL_MOTORS) {
for (unsigned i = 0; i < getMotorCount(); i++) {
pwmWriteDshotCommand(i, command);
}
} else {
pwmWriteDshotCommand(escNumber, command);
pwmWriteDshotCommand(escIndex, command);
}
if (command <= 5) {
@ -2276,7 +2279,7 @@ static void cliEscPassthrough(char *cmdline)
char *pch = strtok_r(cmdline, " ", &saveptr);
int pos = 0;
uint8_t mode = 0;
int escNumber = 0;
int escIndex = 0;
while (pch != NULL) {
switch (pos) {
case 0:
@ -2295,8 +2298,8 @@ static void cliEscPassthrough(char *cmdline)
}
break;
case 1:
escNumber = parseEscNumber(pch, mode == PROTOCOL_KISS);
if (escNumber == -1) {
escIndex = parseOutputIndex(pch, mode == PROTOCOL_KISS);
if (escIndex == -1) {
return;
}
@ -2313,7 +2316,7 @@ static void cliEscPassthrough(char *cmdline)
pch = strtok_r(NULL, " ", &saveptr);
}
escEnablePassthrough(cliPort, escNumber, mode);
escEnablePassthrough(cliPort, escIndex, mode);
}
#endif
@ -2355,46 +2358,57 @@ static void cliMixer(char *cmdline)
static void cliMotor(char *cmdline)
{
int motor_index = 0;
int motor_value = 0;
int index = 0;
char *pch = NULL;
char *saveptr;
if (isEmpty(cmdline)) {
cliShowParseError();
return;
}
pch = strtok_r(cmdline, " ", &saveptr);
int motorIndex;
int motorValue;
char *saveptr;
char *pch = strtok_r(cmdline, " ", &saveptr);
int index = 0;
while (pch != NULL) {
switch (index) {
case 0:
motor_index = atoi(pch);
break;
case 1:
motor_value = atoi(pch);
break;
case 0:
motorIndex = parseOutputIndex(pch, true);
if (motorIndex == -1) {
return;
}
break;
case 1:
motorValue = atoi(pch);
break;
}
index++;
pch = strtok_r(NULL, " ", &saveptr);
}
if (motor_index < 0 || motor_index >= MAX_SUPPORTED_MOTORS) {
cliShowArgumentRangeError("index", 0, MAX_SUPPORTED_MOTORS - 1);
return;
}
if (index == 2) {
if (motor_value < PWM_RANGE_MIN || motor_value > PWM_RANGE_MAX) {
if (motorValue < PWM_RANGE_MIN || motorValue > PWM_RANGE_MAX) {
cliShowArgumentRangeError("value", 1000, 2000);
} else {
motor_disarmed[motor_index] = convertExternalToMotor(motor_value);
uint32_t motorOutputValue = convertExternalToMotor(motorValue);
cliPrintLinef("motor %d: %d", motor_index, convertMotorToExternal(motor_disarmed[motor_index]));
if (motorIndex != ALL_MOTORS) {
motor_disarmed[motorIndex] = motorOutputValue;
cliPrintLinef("motor %d: %d", motorIndex, motorOutputValue);
} else {
for (int i = 0; i < getMotorCount(); i++) {
motor_disarmed[i] = motorOutputValue;
}
cliPrintLinef("all motors: %d", motorOutputValue);
}
}
} else {
cliShowParseError();
}
}
#ifndef MINIMAL_CLI