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Code Issues Wiki Activity

Merge remote-tracking branch 'upstream/master' into blackbox-flash

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This commit is contained in:
Nicholas Sherlock 2015-02-21 12:52:26 +13:00
commit f6c9f7cc4a
16 changed files with 457 additions and 115 deletions
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163
src/main/io/serial_cli.c
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@ -98,6 +98,7 @@ static void cliProfile(char *cmdline);
static void cliRateProfile(char *cmdline);
static void cliReboot(void);
static void cliSave(char *cmdline);
static void cliServo(char *cmdline);
static void cliSet(char *cmdline);
static void cliGet(char *cmdline);
static void cliStatus(char *cmdline);
@ -212,6 +213,9 @@ const clicmd_t cmdTable[] = {
{ "profile", "index (0 to 2)", cliProfile },
{ "rateprofile", "index (0 to 2)", cliRateProfile },
{ "save", "save and reboot", cliSave },
#ifndef CJMCU
{ "servo", "servo config", cliServo },
#endif
{ "set", "name=value or blank or * for list", cliSet },
{ "status", "show system status", cliStatus },
{ "version", "", cliVersion },
@ -492,14 +496,18 @@ static char *processChannelRangeArgs(char *ptr, channelRange_t *range, uint8_t *
return ptr;
}
// Check if a string's length is zero
static bool isEmpty(const char *string)
{
return *string == '\0';
}
static void cliAux(char *cmdline)
{
int i, val = 0;
uint8_t len;
char *ptr;
len = strlen(cmdline);
if (len == 0) {
if (isEmpty(cmdline)) {
// print out aux channel settings
for (i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
modeActivationCondition_t *mac = &currentProfile->modeActivationConditions[i];
@ -548,11 +556,9 @@ static void cliAux(char *cmdline)
static void cliAdjustmentRange(char *cmdline)
{
int i, val = 0;
uint8_t len;
char *ptr;
len = strlen(cmdline);
if (len == 0) {
if (isEmpty(cmdline)) {
// print out adjustment ranges channel settings
for (i = 0; i < MAX_ADJUSTMENT_RANGE_COUNT; i++) {
adjustmentRange_t *ar = &currentProfile->adjustmentRanges[i];
@ -627,9 +633,7 @@ static void cliCMix(char *cmdline)
float mixsum[3];
char *ptr;
len = strlen(cmdline);
if (len == 0) {
if (isEmpty(cmdline)) {
cliPrint("Custom mixer: \r\nMotor\tThr\tRoll\tPitch\tYaw\r\n");
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
if (masterConfig.customMixer[i].throttle == 0.0f)
@ -713,12 +717,10 @@ static void cliCMix(char *cmdline)
static void cliLed(char *cmdline)
{
int i;
uint8_t len;
char *ptr;
char ledConfigBuffer[20];
len = strlen(cmdline);
if (len == 0) {
if (isEmpty(cmdline)) {
for (i = 0; i < MAX_LED_STRIP_LENGTH; i++) {
generateLedConfig(i, ledConfigBuffer, sizeof(ledConfigBuffer));
printf("led %u %s\r\n", i, ledConfigBuffer);
@ -729,7 +731,7 @@ static void cliLed(char *cmdline)
if (i < MAX_LED_STRIP_LENGTH) {
ptr = strchr(cmdline, ' ');
if (!parseLedStripConfig(i, ++ptr)) {
printf("Parse error\r\n", MAX_LED_STRIP_LENGTH);
cliPrint("Parse error\r\n");
}
} else {
printf("Invalid led index: must be < %u\r\n", MAX_LED_STRIP_LENGTH);
@ -740,11 +742,9 @@ static void cliLed(char *cmdline)
static void cliColor(char *cmdline)
{
int i;
uint8_t len;
char *ptr;
len = strlen(cmdline);
if (len == 0) {
if (isEmpty(cmdline)) {
for (i = 0; i < CONFIGURABLE_COLOR_COUNT; i++) {
printf("color %u %d,%u,%u\r\n", i, masterConfig.colors[i].h, masterConfig.colors[i].s, masterConfig.colors[i].v);
}
@ -754,7 +754,7 @@ static void cliColor(char *cmdline)
if (i < CONFIGURABLE_COLOR_COUNT) {
ptr = strchr(cmdline, ' ');
if (!parseColor(i, ++ptr)) {
printf("Parse error\r\n", CONFIGURABLE_COLOR_COUNT);
cliPrint("Parse error\r\n");
}
} else {
printf("Invalid color index: must be < %u\r\n", CONFIGURABLE_COLOR_COUNT);
@ -763,6 +763,78 @@ static void cliColor(char *cmdline)
}
#endif
static void cliServo(char *cmdline)
{
#ifdef CJMCU
UNUSED(cmdline);
#else
enum { SERVO_ARGUMENT_COUNT = 6 };
int16_t arguments[SERVO_ARGUMENT_COUNT];
servoParam_t *servo;
int i;
char *ptr;
if (isEmpty(cmdline)) {
// print out servo settings
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
servo = &currentProfile->servoConf[i];
printf("servo %u %d %d %d %d %d\r\n",
i,
servo->min,
servo->max,
servo->middle,
servo->rate,
servo->forwardFromChannel
);
}
} else {
int validArgumentCount = 0;
ptr = cmdline;
// Command line is integers (possibly negative) separated by spaces, no other characters allowed.
// If command line doesn't fit the format, don't modify the config
while (*ptr) {
if (*ptr == '-' || (*ptr >= '0' && *ptr <= '9')) {
if (validArgumentCount >= SERVO_ARGUMENT_COUNT) {
cliPrint("Parse error\r\n");
return;
}
arguments[validArgumentCount++] = atoi(ptr);
do {
ptr++;
} while (*ptr >= '0' && *ptr <= '9');
} else if (*ptr == ' ') {
ptr++;
} else {
cliPrint("Parse error\r\n");
return;
}
}
// Check we got the right number of args and the servo index is correct (don't validate the other values)
if (validArgumentCount != SERVO_ARGUMENT_COUNT || arguments[0] < 0 || arguments[0] >= MAX_SUPPORTED_SERVOS) {
cliPrint("Parse error\r\n");
return;
}
servo = &currentProfile->servoConf[arguments[0]];
servo->min = arguments[1];
servo->max = arguments[2];
servo->middle = arguments[3];
servo->rate = arguments[4];
servo->forwardFromChannel = arguments[5];
}
#endif
}
#ifdef USE_FLASHFS
static void cliFlashInfo(char *cmdline)
@ -898,11 +970,11 @@ static void cliDump(char *cmdline)
if (dumpMask & DUMP_MASTER) {
printf("\r\n# version\r\n");
cliPrint("\r\n# version\r\n");
cliVersion(NULL);
printf("\r\n# dump master\r\n");
printf("\r\n# mixer\r\n");
cliPrint("\r\n# dump master\r\n");
cliPrint("\r\n# mixer\r\n");
#ifndef USE_QUAD_MIXER_ONLY
printf("mixer %s\r\n", mixerNames[masterConfig.mixerMode - 1]);
@ -917,23 +989,23 @@ static void cliDump(char *cmdline)
yaw = masterConfig.customMixer[i].yaw;
printf("cmix %d", i + 1);
if (thr < 0)
printf(" ");
cliWrite(' ');
printf("%s", ftoa(thr, buf));
if (roll < 0)
printf(" ");
cliWrite(' ');
printf("%s", ftoa(roll, buf));
if (pitch < 0)
printf(" ");
cliWrite(' ');
printf("%s", ftoa(pitch, buf));
if (yaw < 0)
printf(" ");
cliWrite(' ');
printf("%s\r\n", ftoa(yaw, buf));
}
printf("cmix %d 0 0 0 0\r\n", i + 1);
}
#endif
printf("\r\n\r\n# feature\r\n");
cliPrint("\r\n\r\n# feature\r\n");
mask = featureMask();
for (i = 0; ; i++) { // disable all feature first
@ -948,7 +1020,7 @@ static void cliDump(char *cmdline)
printf("feature %s\r\n", featureNames[i]);
}
printf("\r\n\r\n# map\r\n");
cliPrint("\r\n\r\n# map\r\n");
for (i = 0; i < 8; i++)
buf[masterConfig.rxConfig.rcmap[i]] = rcChannelLetters[i];
@ -956,10 +1028,10 @@ static void cliDump(char *cmdline)
printf("map %s\r\n", buf);
#ifdef LED_STRIP
printf("\r\n\r\n# led\r\n");
cliPrint("\r\n\r\n# led\r\n");
cliLed("");
printf("\r\n\r\n# color\r\n");
cliPrint("\r\n\r\n# color\r\n");
cliColor("");
#endif
printSectionBreak();
@ -967,28 +1039,32 @@ static void cliDump(char *cmdline)
}
if (dumpMask & DUMP_PROFILE) {
printf("\r\n# dump profile\r\n");
cliPrint("\r\n# dump profile\r\n");
printf("\r\n# profile\r\n");
cliPrint("\r\n# profile\r\n");
cliProfile("");
printf("\r\n# aux\r\n");
cliPrint("\r\n# aux\r\n");
cliAux("");
printf("\r\n# adjrange\r\n");
cliPrint("\r\n# adjrange\r\n");
cliAdjustmentRange("");
cliPrint("\r\n# servo\r\n");
cliServo("");
printSectionBreak();
dumpValues(PROFILE_VALUE);
}
if (dumpMask & DUMP_CONTROL_RATE_PROFILE) {
printf("\r\n# dump rates\r\n");
cliPrint("\r\n# dump rates\r\n");
printf("\r\n# rateprofile\r\n");
cliPrint("\r\n# rateprofile\r\n");
cliRateProfile("");
printSectionBreak();
@ -1185,12 +1261,11 @@ static void cliMotor(char *cmdline)
{
int motor_index = 0;
int motor_value = 0;
int len, index = 0;
int index = 0;
char *pch = NULL;
len = strlen(cmdline);
if (len == 0) {
printf("Usage:\r\nmotor index [value] - show [or set] motor value\r\n");
if (isEmpty(cmdline)) {
cliPrint("Usage:\r\nmotor index [value] - show [or set] motor value\r\n");
return;
}
@ -1219,7 +1294,7 @@ static void cliMotor(char *cmdline)
}
if (motor_value < PWM_RANGE_MIN || motor_value > PWM_RANGE_MAX) {
printf("Invalid motor value, 1000..2000\r\n");
cliPrint("Invalid motor value, 1000..2000\r\n");
return;
}
@ -1229,11 +1304,9 @@ static void cliMotor(char *cmdline)
static void cliProfile(char *cmdline)
{
uint8_t len;
int i;
len = strlen(cmdline);
if (len == 0) {
if (isEmpty(cmdline)) {
printf("profile %d\r\n", getCurrentProfile());
return;
} else {
@ -1249,11 +1322,9 @@ static void cliProfile(char *cmdline)
static void cliRateProfile(char *cmdline)
{
uint8_t len;
int i;
len = strlen(cmdline);
if (len == 0) {
if (isEmpty(cmdline)) {
printf("rateprofile %d\r\n", getCurrentControlRateProfile());
return;
} else {
@ -1447,7 +1518,7 @@ static void cliGet(char *cmdline)
val = &valueTable[i];
printf("%s = ", valueTable[i].name);
cliPrintVar(val, 0);
printf("\r\n");
cliPrint("\r\n");
matchedCommands++;
}