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betaflight/src/main/interface/cli.c
mikeller d3a6b3730f Added FrSky X SPI RX protocol. 
Original implementation from midelic.

Added RX number support.

Fixed (almost) SmartPort over SPI.

Fixed indentation.

Somewhat working telemetry.

Fixed SmartPort.

Work on SmartPort.

Work on SmartPort.

Working version without RX ringbuffer.

Na, stuff it, ringbuffer is better.

Fixed build.

Make sure we don't lose packets.

Made MSP over SmartPort over SPI work.

Moved processing of incoming telemetry into 'handleTelemetry'.

Improved telemetry buffering.

Make sure telemetry polling is happening.

Some cleanups.

Make telemetry wait if MSP is pemding.

Made MSP over SmartPort work.

Fixes after rebase.

Combined FrSky D and FrSky X.

Combined FrSky D and FrSky X.

Merged D and X.
2017-11-29 03:12:02 +13:00

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/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdarg.h>
#include <string.h>
#include <math.h>
#include <ctype.h>
#include "platform.h"
#include "common/time.h"
// FIXME remove this for targets that don't need a CLI. Perhaps use a no-op macro when USE_CLI is not enabled
// signal that we're in cli mode
uint8_t cliMode = 0;
#ifndef EEPROM_IN_RAM
extern uint8_t __config_start; // configured via linker script when building binaries.
extern uint8_t __config_end;
#endif
#ifdef USE_CLI
#include "blackbox/blackbox.h"
#include "build/build_config.h"
#include "build/debug.h"
#include "build/version.h"
#include "cms/cms.h"
#include "common/axis.h"
#include "common/color.h"
#include "common/maths.h"
#include "common/printf.h"
#include "common/typeconversion.h"
#include "common/utils.h"
#include "config/config_eeprom.h"
#include "config/feature.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "drivers/accgyro/accgyro.h"
#include "drivers/buf_writer.h"
#include "drivers/bus_i2c.h"
#include "drivers/bus_spi.h"
#include "drivers/compass/compass.h"
#include "drivers/display.h"
#include "drivers/dma.h"
#include "drivers/flash.h"
#include "drivers/io.h"
#include "drivers/io_impl.h"
#include "drivers/inverter.h"
#include "drivers/rx_pwm.h"
#include "drivers/sdcard.h"
#include "drivers/sensor.h"
#include "drivers/serial.h"
#include "drivers/serial_escserial.h"
#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"
#include "drivers/light_led.h"
#include "drivers/camera_control.h"
#include "drivers/vtx_common.h"
#include "fc/config.h"
#include "fc/controlrate_profile.h"
#include "fc/fc_core.h"
#include "fc/rc_adjustments.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
#include "flight/altitude.h"
#include "flight/failsafe.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/navigation.h"
#include "flight/pid.h"
#include "flight/servos.h"
#include "interface/cli.h"
#include "interface/msp.h"
#include "interface/msp_box.h"
#include "interface/msp_protocol.h"
#include "interface/settings.h"
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/beeper.h"
#include "io/flashfs.h"
#include "io/displayport_max7456.h"
#include "io/displayport_msp.h"
#include "io/gimbal.h"
#include "io/gps.h"
#include "io/ledstrip.h"
#include "io/osd.h"
#include "io/serial.h"
#include "io/transponder_ir.h"
#include "io/vtx_control.h"
#include "io/vtx.h"
#include "rx/rx.h"
#include "rx/spektrum.h"
#include "../rx/cc2500_frsky_common.h"
#include "../rx/cc2500_frsky_x.h"
#include "scheduler/scheduler.h"
#include "sensors/acceleration.h"
#include "sensors/barometer.h"
#include "sensors/battery.h"
#include "sensors/boardalignment.h"
#include "sensors/compass.h"
#include "sensors/esc_sensor.h"
#include "sensors/gyro.h"
#include "sensors/sensors.h"
#include "telemetry/frsky.h"
#include "telemetry/telemetry.h"
static serialPort_t *cliPort;
#ifdef STM32F1
#define CLI_IN_BUFFER_SIZE 128
#else
// Space required to set array parameters
#define CLI_IN_BUFFER_SIZE 256
#endif
#define CLI_OUT_BUFFER_SIZE 64
static bufWriter_t *cliWriter;
static uint8_t cliWriteBuffer[sizeof(*cliWriter) + CLI_OUT_BUFFER_SIZE];
static char cliBuffer[CLI_IN_BUFFER_SIZE];
static uint32_t bufferIndex = 0;
static bool configIsInCopy = false;
static const char* const emptyName = "-";
static const char* const emptryString = "";
#ifndef USE_QUAD_MIXER_ONLY
// sync this with mixerMode_e
static const char * const mixerNames[] = {
"TRI", "QUADP", "QUADX", "BI",
"GIMBAL", "Y6", "HEX6",
"FLYING_WING", "Y4", "HEX6X", "OCTOX8", "OCTOFLATP", "OCTOFLATX",
"AIRPLANE", "HELI_120_CCPM", "HELI_90_DEG", "VTAIL4",
"HEX6H", "PPM_TO_SERVO", "DUALCOPTER", "SINGLECOPTER",
"ATAIL4", "CUSTOM", "CUSTOMAIRPLANE", "CUSTOMTRI", "QUADX1234", NULL
};
#endif
// sync this with features_e
static const char * const featureNames[] = {
"RX_PPM", "", "INFLIGHT_ACC_CAL", "RX_SERIAL", "MOTOR_STOP",
"SERVO_TILT", "SOFTSERIAL", "GPS", "",
"SONAR", "TELEMETRY", "", "3D", "RX_PARALLEL_PWM",
"RX_MSP", "RSSI_ADC", "LED_STRIP", "DISPLAY", "OSD",
"", "CHANNEL_FORWARDING", "TRANSPONDER", "AIRMODE",
"", "", "RX_SPI", "SOFTSPI", "ESC_SENSOR", "ANTI_GRAVITY", "DYNAMIC_FILTER", NULL
};
// sync this with rxFailsafeChannelMode_e
static const char rxFailsafeModeCharacters[] = "ahs";
static const rxFailsafeChannelMode_e rxFailsafeModesTable[RX_FAILSAFE_TYPE_COUNT][RX_FAILSAFE_MODE_COUNT] = {
{ RX_FAILSAFE_MODE_AUTO, RX_FAILSAFE_MODE_HOLD, RX_FAILSAFE_MODE_INVALID },
{ RX_FAILSAFE_MODE_INVALID, RX_FAILSAFE_MODE_HOLD, RX_FAILSAFE_MODE_SET }
};
#if defined(USE_SENSOR_NAMES)
// sync this with sensors_e
static const char * const sensorTypeNames[] = {
"GYRO", "ACC", "BARO", "MAG", "SONAR", "GPS", "GPS+MAG", NULL
};
#define SENSOR_NAMES_MASK (SENSOR_GYRO | SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
static const char * const *sensorHardwareNames[] = {
lookupTableGyroHardware, lookupTableAccHardware, lookupTableBaroHardware, lookupTableMagHardware
};
#endif // USE_SENSOR_NAMES
static void cliPrint(const char *str)
{
while (*str) {
bufWriterAppend(cliWriter, *str++);
}
bufWriterFlush(cliWriter);
}
static void cliPrintLinefeed(void)
{
cliPrint("\r\n");
}
static void cliPrintLine(const char *str)
{
cliPrint(str);
cliPrintLinefeed();
}
#ifdef MINIMAL_CLI
#define cliPrintHashLine(str)
#else
static void cliPrintHashLine(const char *str)
{
cliPrint("\r\n# ");
cliPrintLine(str);
}
#endif
static void cliPutp(void *p, char ch)
{
bufWriterAppend(p, ch);
}
typedef enum {
DUMP_MASTER = (1 << 0),
DUMP_PROFILE = (1 << 1),
DUMP_RATES = (1 << 2),
DUMP_ALL = (1 << 3),
DO_DIFF = (1 << 4),
SHOW_DEFAULTS = (1 << 5),
HIDE_UNUSED = (1 << 6)
} dumpFlags_e;
static void cliPrintfva(const char *format, va_list va)
{
tfp_format(cliWriter, cliPutp, format, va);
bufWriterFlush(cliWriter);
}
static void cliPrintLinefva(const char *format, va_list va)
{
tfp_format(cliWriter, cliPutp, format, va);
bufWriterFlush(cliWriter);
cliPrintLinefeed();
}
static bool cliDumpPrintLinef(uint8_t dumpMask, bool equalsDefault, const char *format, ...)
{
if (!((dumpMask & DO_DIFF) && equalsDefault)) {
va_list va;
va_start(va, format);
cliPrintLinefva(format, va);
va_end(va);
return true;
} else {
return false;
}
}
static void cliWrite(uint8_t ch)
{
bufWriterAppend(cliWriter, ch);
}
static bool cliDefaultPrintLinef(uint8_t dumpMask, bool equalsDefault, const char *format, ...)
{
if ((dumpMask & SHOW_DEFAULTS) && !equalsDefault) {
cliWrite('#');
va_list va;
va_start(va, format);
cliPrintLinefva(format, va);
va_end(va);
return true;
} else {
return false;
}
}
static void cliPrintf(const char *format, ...)
{
va_list va;
va_start(va, format);
cliPrintfva(format, va);
va_end(va);
}
static void cliPrintLinef(const char *format, ...)
{
va_list va;
va_start(va, format);
cliPrintLinefva(format, va);
va_end(va);
}
static void printValuePointer(const clivalue_t *var, const void *valuePointer, bool full)
{
if ((var->type & VALUE_MODE_MASK) == MODE_ARRAY) {
for (int i = 0; i < var->config.array.length; i++) {
switch (var->type & VALUE_TYPE_MASK) {
default:
case VAR_UINT8:
// uint8_t array
cliPrintf("%d", ((uint8_t *)valuePointer)[i]);
break;
case VAR_INT8:
// int8_t array
cliPrintf("%d", ((int8_t *)valuePointer)[i]);
break;
case VAR_UINT16:
// uin16_t array
cliPrintf("%d", ((uint16_t *)valuePointer)[i]);
break;
case VAR_INT16:
// int16_t array
cliPrintf("%d", ((int16_t *)valuePointer)[i]);
break;
}
if (i < var->config.array.length - 1) {
cliPrint(",");
}
}
} else {
int value = 0;
switch (var->type & VALUE_TYPE_MASK) {
case VAR_UINT8:
value = *(uint8_t *)valuePointer;
break;
case VAR_INT8:
value = *(int8_t *)valuePointer;
break;
case VAR_UINT16:
case VAR_INT16:
value = *(int16_t *)valuePointer;
break;
}
switch (var->type & VALUE_MODE_MASK) {
case MODE_DIRECT:
cliPrintf("%d", value);
if (full) {
cliPrintf(" %d %d", var->config.minmax.min, var->config.minmax.max);
}
break;
case MODE_LOOKUP:
cliPrint(lookupTables[var->config.lookup.tableIndex].values[value]);
break;
}
}
}
static bool valuePtrEqualsDefault(uint8_t type, const void *ptr, const void *ptrDefault)
{
bool result = false;
switch (type & VALUE_TYPE_MASK) {
case VAR_UINT8:
result = *(uint8_t *)ptr == *(uint8_t *)ptrDefault;
break;
case VAR_INT8:
result = *(int8_t *)ptr == *(int8_t *)ptrDefault;
break;
case VAR_UINT16:
case VAR_INT16:
result = *(int16_t *)ptr == *(int16_t *)ptrDefault;
break;
}
return result;
}
static uint16_t getValueOffset(const clivalue_t *value)
{
switch (value->type & VALUE_SECTION_MASK) {
case MASTER_VALUE:
return value->offset;
case PROFILE_VALUE:
return value->offset + sizeof(pidProfile_t) * getCurrentPidProfileIndex();
case PROFILE_RATE_VALUE:
return value->offset + sizeof(controlRateConfig_t) * getCurrentControlRateProfileIndex();
}
return 0;
}
void *cliGetValuePointer(const clivalue_t *value)
{
const pgRegistry_t* rec = pgFind(value->pgn);
return CONST_CAST(void *, rec->address + getValueOffset(value));
}
const void *cliGetDefaultPointer(const clivalue_t *value)
{
const pgRegistry_t* rec = pgFind(value->pgn);
return rec->address + getValueOffset(value);
}
static void dumpPgValue(const clivalue_t *value, uint8_t dumpMask)
{
const pgRegistry_t *pg = pgFind(value->pgn);
#ifdef DEBUG
if (!pg) {
cliPrintLinef("VALUE %s ERROR", value->name);
return; // if it's not found, the pgn shouldn't be in the value table!
}
#endif
const char *format = "set %s = ";
const char *defaultFormat = "#set %s = ";
const int valueOffset = getValueOffset(value);
const bool equalsDefault = valuePtrEqualsDefault(value->type, pg->copy + valueOffset, pg->address + valueOffset);
if (((dumpMask & DO_DIFF) == 0) || !equalsDefault) {
if (dumpMask & SHOW_DEFAULTS && !equalsDefault) {
cliPrintf(defaultFormat, value->name);
printValuePointer(value, (uint8_t*)pg->address + valueOffset, false);
cliPrintLinefeed();
}
cliPrintf(format, value->name);
printValuePointer(value, pg->copy + valueOffset, false);
cliPrintLinefeed();
}
}
static void dumpAllValues(uint16_t valueSection, uint8_t dumpMask)
{
for (uint32_t i = 0; i < valueTableEntryCount; i++) {
const clivalue_t *value = &valueTable[i];
bufWriterFlush(cliWriter);
if ((value->type & VALUE_SECTION_MASK) == valueSection) {
dumpPgValue(value, dumpMask);
}
}
}
static void cliPrintVar(const clivalue_t *var, bool full)
{
const void *ptr = cliGetValuePointer(var);
printValuePointer(var, ptr, full);
}
static void cliPrintVarRange(const clivalue_t *var)
{
switch (var->type & VALUE_MODE_MASK) {
case (MODE_DIRECT): {
cliPrintLinef("Allowed range: %d - %d", var->config.minmax.min, var->config.minmax.max);
}
break;
case (MODE_LOOKUP): {
const lookupTableEntry_t *tableEntry = &lookupTables[var->config.lookup.tableIndex];
cliPrint("Allowed values:");
for (uint32_t i = 0; i < tableEntry->valueCount ; i++) {
if (i > 0)
cliPrint(",");
cliPrintf(" %s", tableEntry->values[i]);
}
cliPrintLinefeed();
}
break;
case (MODE_ARRAY): {
cliPrintLinef("Array length: %d", var->config.array.length);
}
break;
}
}
static void cliSetVar(const clivalue_t *var, const int16_t value)
{
void *ptr = cliGetValuePointer(var);
switch (var->type & VALUE_TYPE_MASK) {
case VAR_UINT8:
*(uint8_t *)ptr = value;
break;
case VAR_INT8:
*(int8_t *)ptr = value;
break;
case VAR_UINT16:
case VAR_INT16:
*(int16_t *)ptr = value;
break;
}
}
#if defined(USE_RESOURCE_MGMT) && !defined(MINIMAL_CLI)
static void cliRepeat(char ch, uint8_t len)
{
for (int i = 0; i < len; i++) {
bufWriterAppend(cliWriter, ch);
}
cliPrintLinefeed();
}
#endif
static void cliPrompt(void)
{
cliPrint("\r\n# ");
}
static void cliShowParseError(void)
{
cliPrintLine("Parse error");
}
static void cliShowArgumentRangeError(char *name, int min, int max)
{
cliPrintLinef("%s not between %d and %d", name, min, max);
}
static const char *nextArg(const char *currentArg)
{
const char *ptr = strchr(currentArg, ' ');
while (ptr && *ptr == ' ') {
ptr++;
}
return ptr;
}
static const char *processChannelRangeArgs(const char *ptr, channelRange_t *range, uint8_t *validArgumentCount)
{
for (uint32_t argIndex = 0; argIndex < 2; argIndex++) {
ptr = nextArg(ptr);
if (ptr) {
int val = atoi(ptr);
val = CHANNEL_VALUE_TO_STEP(val);
if (val >= MIN_MODE_RANGE_STEP && val <= MAX_MODE_RANGE_STEP) {
if (argIndex == 0) {
range->startStep = val;
} else {
range->endStep = val;
}
(*validArgumentCount)++;
}
}
}
return ptr;
}
// Check if a string's length is zero
static bool isEmpty(const char *string)
{
return (string == NULL || *string == '\0') ? true : false;
}
static void printRxFailsafe(uint8_t dumpMask, const rxFailsafeChannelConfig_t *rxFailsafeChannelConfigs, const rxFailsafeChannelConfig_t *defaultRxFailsafeChannelConfigs)
{
// print out rxConfig failsafe settings
for (uint32_t channel = 0; channel < MAX_SUPPORTED_RC_CHANNEL_COUNT; channel++) {
const rxFailsafeChannelConfig_t *channelFailsafeConfig = &rxFailsafeChannelConfigs[channel];
const rxFailsafeChannelConfig_t *defaultChannelFailsafeConfig = &defaultRxFailsafeChannelConfigs[channel];
const bool equalsDefault = channelFailsafeConfig->mode == defaultChannelFailsafeConfig->mode
&& channelFailsafeConfig->step == defaultChannelFailsafeConfig->step;
const bool requireValue = channelFailsafeConfig->mode == RX_FAILSAFE_MODE_SET;
if (requireValue) {
const char *format = "rxfail %u %c %d";
cliDefaultPrintLinef(dumpMask, equalsDefault, format,
channel,
rxFailsafeModeCharacters[defaultChannelFailsafeConfig->mode],
RXFAIL_STEP_TO_CHANNEL_VALUE(defaultChannelFailsafeConfig->step)
);
cliDumpPrintLinef(dumpMask, equalsDefault, format,
channel,
rxFailsafeModeCharacters[channelFailsafeConfig->mode],
RXFAIL_STEP_TO_CHANNEL_VALUE(channelFailsafeConfig->step)
);
} else {
const char *format = "rxfail %u %c";
cliDefaultPrintLinef(dumpMask, equalsDefault, format,
channel,
rxFailsafeModeCharacters[defaultChannelFailsafeConfig->mode]
);
cliDumpPrintLinef(dumpMask, equalsDefault, format,
channel,
rxFailsafeModeCharacters[channelFailsafeConfig->mode]
);
}
}
}
static void cliRxFailsafe(char *cmdline)
{
uint8_t channel;
char buf[3];
if (isEmpty(cmdline)) {
// print out rxConfig failsafe settings
for (channel = 0; channel < MAX_SUPPORTED_RC_CHANNEL_COUNT; channel++) {
cliRxFailsafe(itoa(channel, buf, 10));
}
} else {
const char *ptr = cmdline;
channel = atoi(ptr++);
if ((channel < MAX_SUPPORTED_RC_CHANNEL_COUNT)) {
rxFailsafeChannelConfig_t *channelFailsafeConfig = rxFailsafeChannelConfigsMutable(channel);
const rxFailsafeChannelType_e type = (channel < NON_AUX_CHANNEL_COUNT) ? RX_FAILSAFE_TYPE_FLIGHT : RX_FAILSAFE_TYPE_AUX;
rxFailsafeChannelMode_e mode = channelFailsafeConfig->mode;
bool requireValue = channelFailsafeConfig->mode == RX_FAILSAFE_MODE_SET;
ptr = nextArg(ptr);
if (ptr) {
const char *p = strchr(rxFailsafeModeCharacters, *(ptr));
if (p) {
const uint8_t requestedMode = p - rxFailsafeModeCharacters;
mode = rxFailsafeModesTable[type][requestedMode];
} else {
mode = RX_FAILSAFE_MODE_INVALID;
}
if (mode == RX_FAILSAFE_MODE_INVALID) {
cliShowParseError();
return;
}
requireValue = mode == RX_FAILSAFE_MODE_SET;
ptr = nextArg(ptr);
if (ptr) {
if (!requireValue) {
cliShowParseError();
return;
}
uint16_t value = atoi(ptr);
value = CHANNEL_VALUE_TO_RXFAIL_STEP(value);
if (value > MAX_RXFAIL_RANGE_STEP) {
cliPrintLine("Value out of range");
return;
}
channelFailsafeConfig->step = value;
} else if (requireValue) {
cliShowParseError();
return;
}
channelFailsafeConfig->mode = mode;
}
char modeCharacter = rxFailsafeModeCharacters[channelFailsafeConfig->mode];
// double use of cliPrintf below
// 1. acknowledge interpretation on command,
// 2. query current setting on single item,
if (requireValue) {
cliPrintLinef("rxfail %u %c %d",
channel,
modeCharacter,
RXFAIL_STEP_TO_CHANNEL_VALUE(channelFailsafeConfig->step)
);
} else {
cliPrintLinef("rxfail %u %c",
channel,
modeCharacter
);
}
} else {
cliShowArgumentRangeError("channel", 0, MAX_SUPPORTED_RC_CHANNEL_COUNT - 1);
}
}
}
static void printAux(uint8_t dumpMask, const modeActivationCondition_t *modeActivationConditions, const modeActivationCondition_t *defaultModeActivationConditions)
{
const char *format = "aux %u %u %u %u %u";
// print out aux channel settings
for (uint32_t i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
const modeActivationCondition_t *mac = &modeActivationConditions[i];
bool equalsDefault = false;
if (defaultModeActivationConditions) {
const modeActivationCondition_t *macDefault = &defaultModeActivationConditions[i];
equalsDefault = mac->modeId == macDefault->modeId
&& mac->auxChannelIndex == macDefault->auxChannelIndex
&& mac->range.startStep == macDefault->range.startStep
&& mac->range.endStep == macDefault->range.endStep;
const box_t *box = findBoxByBoxId(macDefault->modeId);
if (box) {
cliDefaultPrintLinef(dumpMask, equalsDefault, format,
i,
box->permanentId,
macDefault->auxChannelIndex,
MODE_STEP_TO_CHANNEL_VALUE(macDefault->range.startStep),
MODE_STEP_TO_CHANNEL_VALUE(macDefault->range.endStep)
);
}
}
const box_t *box = findBoxByBoxId(mac->modeId);
if (box) {
cliDumpPrintLinef(dumpMask, equalsDefault, format,
i,
box->permanentId,
mac->auxChannelIndex,
MODE_STEP_TO_CHANNEL_VALUE(mac->range.startStep),
MODE_STEP_TO_CHANNEL_VALUE(mac->range.endStep)
);
}
}
}
static void cliAux(char *cmdline)
{
int i, val = 0;
const char *ptr;
if (isEmpty(cmdline)) {
printAux(DUMP_MASTER, modeActivationConditions(0), NULL);
} else {
ptr = cmdline;
i = atoi(ptr++);
if (i < MAX_MODE_ACTIVATION_CONDITION_COUNT) {
modeActivationCondition_t *mac = modeActivationConditionsMutable(i);
uint8_t validArgumentCount = 0;
ptr = nextArg(ptr);
if (ptr) {
val = atoi(ptr);
const box_t *box = findBoxByPermanentId(val);
if (box) {
mac->modeId = box->boxId;
validArgumentCount++;
}
}
ptr = nextArg(ptr);
if (ptr) {
val = atoi(ptr);
if (val >= 0 && val < MAX_AUX_CHANNEL_COUNT) {
mac->auxChannelIndex = val;
validArgumentCount++;
}
}
ptr = processChannelRangeArgs(ptr, &mac->range, &validArgumentCount);
if (validArgumentCount != 4) {
memset(mac, 0, sizeof(modeActivationCondition_t));
}
} else {
cliShowArgumentRangeError("index", 0, MAX_MODE_ACTIVATION_CONDITION_COUNT - 1);
}
}
}
static void printSerial(uint8_t dumpMask, const serialConfig_t *serialConfig, const serialConfig_t *serialConfigDefault)
{
const char *format = "serial %d %d %ld %ld %ld %ld";
for (uint32_t i = 0; i < SERIAL_PORT_COUNT; i++) {
if (!serialIsPortAvailable(serialConfig->portConfigs[i].identifier)) {
continue;
};
bool equalsDefault = false;
if (serialConfigDefault) {
equalsDefault = serialConfig->portConfigs[i].identifier == serialConfigDefault->portConfigs[i].identifier
&& serialConfig->portConfigs[i].functionMask == serialConfigDefault->portConfigs[i].functionMask
&& serialConfig->portConfigs[i].msp_baudrateIndex == serialConfigDefault->portConfigs[i].msp_baudrateIndex
&& serialConfig->portConfigs[i].gps_baudrateIndex == serialConfigDefault->portConfigs[i].gps_baudrateIndex
&& serialConfig->portConfigs[i].telemetry_baudrateIndex == serialConfigDefault->portConfigs[i].telemetry_baudrateIndex
&& serialConfig->portConfigs[i].blackbox_baudrateIndex == serialConfigDefault->portConfigs[i].blackbox_baudrateIndex;
cliDefaultPrintLinef(dumpMask, equalsDefault, format,
serialConfigDefault->portConfigs[i].identifier,
serialConfigDefault->portConfigs[i].functionMask,
baudRates[serialConfigDefault->portConfigs[i].msp_baudrateIndex],
baudRates[serialConfigDefault->portConfigs[i].gps_baudrateIndex],
baudRates[serialConfigDefault->portConfigs[i].telemetry_baudrateIndex],
baudRates[serialConfigDefault->portConfigs[i].blackbox_baudrateIndex]
);
}
cliDumpPrintLinef(dumpMask, equalsDefault, format,
serialConfig->portConfigs[i].identifier,
serialConfig->portConfigs[i].functionMask,
baudRates[serialConfig->portConfigs[i].msp_baudrateIndex],
baudRates[serialConfig->portConfigs[i].gps_baudrateIndex],
baudRates[serialConfig->portConfigs[i].telemetry_baudrateIndex],
baudRates[serialConfig->portConfigs[i].blackbox_baudrateIndex]
);
}
}
static void cliSerial(char *cmdline)
{
if (isEmpty(cmdline)) {
printSerial(DUMP_MASTER, serialConfig(), NULL);
return;
}
serialPortConfig_t portConfig;
memset(&portConfig, 0 , sizeof(portConfig));
serialPortConfig_t *currentConfig;
uint8_t validArgumentCount = 0;
const char *ptr = cmdline;
int val = atoi(ptr++);
currentConfig = serialFindPortConfiguration(val);
if (currentConfig) {
portConfig.identifier = val;
validArgumentCount++;
}
ptr = nextArg(ptr);
if (ptr) {
val = atoi(ptr);
portConfig.functionMask = val & 0xFFFF;
validArgumentCount++;
}
for (int i = 0; i < 4; i ++) {
ptr = nextArg(ptr);
if (!ptr) {
break;
}
val = atoi(ptr);
uint8_t baudRateIndex = lookupBaudRateIndex(val);
if (baudRates[baudRateIndex] != (uint32_t) val) {
break;
}
switch (i) {
case 0:
if (baudRateIndex < BAUD_9600 || baudRateIndex > BAUD_1000000) {
continue;
}
portConfig.msp_baudrateIndex = baudRateIndex;
break;
case 1:
if (baudRateIndex < BAUD_9600 || baudRateIndex > BAUD_115200) {
continue;
}
portConfig.gps_baudrateIndex = baudRateIndex;
break;
case 2:
if (baudRateIndex != BAUD_AUTO && baudRateIndex > BAUD_115200) {
continue;
}
portConfig.telemetry_baudrateIndex = baudRateIndex;
break;
case 3:
if (baudRateIndex < BAUD_19200 || baudRateIndex > BAUD_2470000) {
continue;
}
portConfig.blackbox_baudrateIndex = baudRateIndex;
break;
}
validArgumentCount++;
}
if (validArgumentCount < 6) {
cliShowParseError();
return;
}
memcpy(currentConfig, &portConfig, sizeof(portConfig));
}
#ifndef SKIP_SERIAL_PASSTHROUGH
static void cliSerialPassthrough(char *cmdline)
{
if (isEmpty(cmdline)) {
cliShowParseError();
return;
}
int id = -1;
uint32_t baud = 0;
unsigned mode = 0;
char *saveptr;
char* tok = strtok_r(cmdline, " ", &saveptr);
int index = 0;
while (tok != NULL) {
switch (index) {
case 0:
id = atoi(tok);
break;
case 1:
baud = atoi(tok);
break;
case 2:
if (strstr(tok, "rx") || strstr(tok, "RX"))
mode |= MODE_RX;
if (strstr(tok, "tx") || strstr(tok, "TX"))
mode |= MODE_TX;
break;
}
index++;
tok = strtok_r(NULL, " ", &saveptr);
}
cliPrintf("Port %d ", id);
serialPort_t *passThroughPort;
serialPortUsage_t *passThroughPortUsage = findSerialPortUsageByIdentifier(id);
if (!passThroughPortUsage || passThroughPortUsage->serialPort == NULL) {
if (!baud) {
cliPrintLine("closed, specify baud.");
return;
}
if (!mode)
mode = MODE_RXTX;
passThroughPort = openSerialPort(id, FUNCTION_NONE, NULL, NULL,
baud, mode,
SERIAL_NOT_INVERTED);
if (!passThroughPort) {
cliPrintLine("could not be opened.");
return;
}
cliPrintf("opened, baud = %d.\r\n", baud);
} else {
passThroughPort = passThroughPortUsage->serialPort;
// If the user supplied a mode, override the port's mode, otherwise
// leave the mode unchanged. serialPassthrough() handles one-way ports.
cliPrintLine("already open.");
if (mode && passThroughPort->mode != mode) {
cliPrintf("mode changed from %d to %d.\r\n",
passThroughPort->mode, mode);
serialSetMode(passThroughPort, mode);
}
// If this port has a rx callback associated we need to remove it now.
// Otherwise no data will be pushed in the serial port buffer!
if (passThroughPort->rxCallback) {
passThroughPort->rxCallback = 0;
}
}
cliPrintLine("Forwarding, power cycle to exit.");
serialPassthrough(cliPort, passThroughPort, NULL, NULL);
}
#endif
static void printAdjustmentRange(uint8_t dumpMask, const adjustmentRange_t *adjustmentRanges, const adjustmentRange_t *defaultAdjustmentRanges)
{
const char *format = "adjrange %u %u %u %u %u %u %u";
// print out adjustment ranges channel settings
for (uint32_t i = 0; i < MAX_ADJUSTMENT_RANGE_COUNT; i++) {
const adjustmentRange_t *ar = &adjustmentRanges[i];
bool equalsDefault = false;
if (defaultAdjustmentRanges) {
const adjustmentRange_t *arDefault = &defaultAdjustmentRanges[i];
equalsDefault = ar->auxChannelIndex == arDefault->auxChannelIndex
&& ar->range.startStep == arDefault->range.startStep
&& ar->range.endStep == arDefault->range.endStep
&& ar->adjustmentFunction == arDefault->adjustmentFunction
&& ar->auxSwitchChannelIndex == arDefault->auxSwitchChannelIndex
&& ar->adjustmentIndex == arDefault->adjustmentIndex;
cliDefaultPrintLinef(dumpMask, equalsDefault, format,
i,
arDefault->adjustmentIndex,
arDefault->auxChannelIndex,
MODE_STEP_TO_CHANNEL_VALUE(arDefault->range.startStep),
MODE_STEP_TO_CHANNEL_VALUE(arDefault->range.endStep),
arDefault->adjustmentFunction,
arDefault->auxSwitchChannelIndex
);
}
cliDumpPrintLinef(dumpMask, equalsDefault, format,
i,
ar->adjustmentIndex,
ar->auxChannelIndex,
MODE_STEP_TO_CHANNEL_VALUE(ar->range.startStep),
MODE_STEP_TO_CHANNEL_VALUE(ar->range.endStep),
ar->adjustmentFunction,
ar->auxSwitchChannelIndex
);
}
}
static void cliAdjustmentRange(char *cmdline)
{
int i, val = 0;
const char *ptr;
if (isEmpty(cmdline)) {
printAdjustmentRange(DUMP_MASTER, adjustmentRanges(0), NULL);
} else {
ptr = cmdline;
i = atoi(ptr++);
if (i < MAX_ADJUSTMENT_RANGE_COUNT) {
adjustmentRange_t *ar = adjustmentRangesMutable(i);
uint8_t validArgumentCount = 0;
ptr = nextArg(ptr);
if (ptr) {
val = atoi(ptr);
if (val >= 0 && val < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT) {
ar->adjustmentIndex = val;
validArgumentCount++;
}
}
ptr = nextArg(ptr);
if (ptr) {
val = atoi(ptr);
if (val >= 0 && val < MAX_AUX_CHANNEL_COUNT) {
ar->auxChannelIndex = val;
validArgumentCount++;
}
}
ptr = processChannelRangeArgs(ptr, &ar->range, &validArgumentCount);
ptr = nextArg(ptr);
if (ptr) {
val = atoi(ptr);
if (val >= 0 && val < ADJUSTMENT_FUNCTION_COUNT) {
ar->adjustmentFunction = val;
validArgumentCount++;
}
}
ptr = nextArg(ptr);
if (ptr) {
val = atoi(ptr);
if (val >= 0 && val < MAX_AUX_CHANNEL_COUNT) {
ar->auxSwitchChannelIndex = val;
validArgumentCount++;
}
}
if (validArgumentCount != 6) {
memset(ar, 0, sizeof(adjustmentRange_t));
cliShowParseError();
}
} else {
cliShowArgumentRangeError("index", 0, MAX_ADJUSTMENT_RANGE_COUNT - 1);
}
}
}
#ifndef USE_QUAD_MIXER_ONLY
static void printMotorMix(uint8_t dumpMask, const motorMixer_t *customMotorMixer, const motorMixer_t *defaultCustomMotorMixer)
{
const char *format = "mmix %d %s %s %s %s";
char buf0[FTOA_BUFFER_LENGTH];
char buf1[FTOA_BUFFER_LENGTH];
char buf2[FTOA_BUFFER_LENGTH];
char buf3[FTOA_BUFFER_LENGTH];
for (uint32_t i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
if (customMotorMixer[i].throttle == 0.0f)
break;
const float thr = customMotorMixer[i].throttle;
const float roll = customMotorMixer[i].roll;
const float pitch = customMotorMixer[i].pitch;
const float yaw = customMotorMixer[i].yaw;
bool equalsDefault = false;
if (defaultCustomMotorMixer) {
const float thrDefault = defaultCustomMotorMixer[i].throttle;
const float rollDefault = defaultCustomMotorMixer[i].roll;
const float pitchDefault = defaultCustomMotorMixer[i].pitch;
const float yawDefault = defaultCustomMotorMixer[i].yaw;
const bool equalsDefault = thr == thrDefault && roll == rollDefault && pitch == pitchDefault && yaw == yawDefault;
cliDefaultPrintLinef(dumpMask, equalsDefault, format,
i,
ftoa(thrDefault, buf0),
ftoa(rollDefault, buf1),
ftoa(pitchDefault, buf2),
ftoa(yawDefault, buf3));
}
cliDumpPrintLinef(dumpMask, equalsDefault, format,
i,
ftoa(thr, buf0),
ftoa(roll, buf1),
ftoa(pitch, buf2),
ftoa(yaw, buf3));
}
}
#endif // USE_QUAD_MIXER_ONLY
static void cliMotorMix(char *cmdline)
{
#ifdef USE_QUAD_MIXER_ONLY
UNUSED(cmdline);
#else
int check = 0;
uint8_t len;
const char *ptr;
if (isEmpty(cmdline)) {
printMotorMix(DUMP_MASTER, customMotorMixer(0), NULL);
} else if (strncasecmp(cmdline, "reset", 5) == 0) {
// erase custom mixer
for (uint32_t i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
customMotorMixerMutable(i)->throttle = 0.0f;
}
} else if (strncasecmp(cmdline, "load", 4) == 0) {
ptr = nextArg(cmdline);
if (ptr) {
len = strlen(ptr);
for (uint32_t i = 0; ; i++) {
if (mixerNames[i] == NULL) {
cliPrintLine("Invalid name");
break;
}
if (strncasecmp(ptr, mixerNames[i], len) == 0) {
mixerLoadMix(i, customMotorMixerMutable(0));
cliPrintLinef("Loaded %s", mixerNames[i]);
cliMotorMix("");
break;
}
}
}
} else {
ptr = cmdline;
uint32_t i = atoi(ptr); // get motor number
if (i < MAX_SUPPORTED_MOTORS) {
ptr = nextArg(ptr);
if (ptr) {
customMotorMixerMutable(i)->throttle = fastA2F(ptr);
check++;
}
ptr = nextArg(ptr);
if (ptr) {
customMotorMixerMutable(i)->roll = fastA2F(ptr);
check++;
}
ptr = nextArg(ptr);
if (ptr) {
customMotorMixerMutable(i)->pitch = fastA2F(ptr);
check++;
}
ptr = nextArg(ptr);
if (ptr) {
customMotorMixerMutable(i)->yaw = fastA2F(ptr);
check++;
}
if (check != 4) {
cliShowParseError();
} else {
printMotorMix(DUMP_MASTER, customMotorMixer(0), NULL);
}
} else {
cliShowArgumentRangeError("index", 0, MAX_SUPPORTED_MOTORS - 1);
}
}
#endif
}
static void printRxRange(uint8_t dumpMask, const rxChannelRangeConfig_t *channelRangeConfigs, const rxChannelRangeConfig_t *defaultChannelRangeConfigs)
{
const char *format = "rxrange %u %u %u";
for (uint32_t i = 0; i < NON_AUX_CHANNEL_COUNT; i++) {
bool equalsDefault = false;
if (defaultChannelRangeConfigs) {
equalsDefault = channelRangeConfigs[i].min == defaultChannelRangeConfigs[i].min
&& channelRangeConfigs[i].max == defaultChannelRangeConfigs[i].max;
cliDefaultPrintLinef(dumpMask, equalsDefault, format,
i,
defaultChannelRangeConfigs[i].min,
defaultChannelRangeConfigs[i].max
);
}
cliDumpPrintLinef(dumpMask, equalsDefault, format,
i,
channelRangeConfigs[i].min,
channelRangeConfigs[i].max
);
}
}
static void cliRxRange(char *cmdline)
{
int i, validArgumentCount = 0;
const char *ptr;
if (isEmpty(cmdline)) {
printRxRange(DUMP_MASTER, rxChannelRangeConfigs(0), NULL);
} else if (strcasecmp(cmdline, "reset") == 0) {
resetAllRxChannelRangeConfigurations(rxChannelRangeConfigsMutable(0));
} else {
ptr = cmdline;
i = atoi(ptr);
if (i >= 0 && i < NON_AUX_CHANNEL_COUNT) {
int rangeMin = 0, rangeMax = 0;
ptr = nextArg(ptr);
if (ptr) {
rangeMin = atoi(ptr);
validArgumentCount++;
}
ptr = nextArg(ptr);
if (ptr) {
rangeMax = atoi(ptr);
validArgumentCount++;
}
if (validArgumentCount != 2) {
cliShowParseError();
} else if (rangeMin < PWM_PULSE_MIN || rangeMin > PWM_PULSE_MAX || rangeMax < PWM_PULSE_MIN || rangeMax > PWM_PULSE_MAX) {
cliShowParseError();
} else {
rxChannelRangeConfig_t *channelRangeConfig = rxChannelRangeConfigsMutable(i);
channelRangeConfig->min = rangeMin;
channelRangeConfig->max = rangeMax;
}
} else {
cliShowArgumentRangeError("channel", 0, NON_AUX_CHANNEL_COUNT - 1);
}
}
}
#ifdef USE_LED_STRIP
static void printLed(uint8_t dumpMask, const ledConfig_t *ledConfigs, const ledConfig_t *defaultLedConfigs)
{
const char *format = "led %u %s";
char ledConfigBuffer[20];
char ledConfigDefaultBuffer[20];
for (uint32_t i = 0; i < LED_MAX_STRIP_LENGTH; i++) {
ledConfig_t ledConfig = ledConfigs[i];
generateLedConfig(&ledConfig, ledConfigBuffer, sizeof(ledConfigBuffer));
bool equalsDefault = false;
if (defaultLedConfigs) {
ledConfig_t ledConfigDefault = defaultLedConfigs[i];
equalsDefault = ledConfig == ledConfigDefault;
generateLedConfig(&ledConfigDefault, ledConfigDefaultBuffer, sizeof(ledConfigDefaultBuffer));
cliDefaultPrintLinef(dumpMask, equalsDefault, format, i, ledConfigDefaultBuffer);
}
cliDumpPrintLinef(dumpMask, equalsDefault, format, i, ledConfigBuffer);
}
}
static void cliLed(char *cmdline)
{
int i;
const char *ptr;
if (isEmpty(cmdline)) {
printLed(DUMP_MASTER, ledStripConfig()->ledConfigs, NULL);
} else {
ptr = cmdline;
i = atoi(ptr);
if (i < LED_MAX_STRIP_LENGTH) {
ptr = nextArg(cmdline);
if (!parseLedStripConfig(i, ptr)) {
cliShowParseError();
}
} else {
cliShowArgumentRangeError("index", 0, LED_MAX_STRIP_LENGTH - 1);
}
}
}
static void printColor(uint8_t dumpMask, const hsvColor_t *colors, const hsvColor_t *defaultColors)
{
const char *format = "color %u %d,%u,%u";
for (uint32_t i = 0; i < LED_CONFIGURABLE_COLOR_COUNT; i++) {
const hsvColor_t *color = &colors[i];
bool equalsDefault = false;
if (defaultColors) {
const hsvColor_t *colorDefault = &defaultColors[i];
equalsDefault = color->h == colorDefault->h
&& color->s == colorDefault->s
&& color->v == colorDefault->v;
cliDefaultPrintLinef(dumpMask, equalsDefault, format, i,colorDefault->h, colorDefault->s, colorDefault->v);
}
cliDumpPrintLinef(dumpMask, equalsDefault, format, i, color->h, color->s, color->v);
}
}
static void cliColor(char *cmdline)
{
if (isEmpty(cmdline)) {
printColor(DUMP_MASTER, ledStripConfig()->colors, NULL);
} else {
const char *ptr = cmdline;
const int i = atoi(ptr);
if (i < LED_CONFIGURABLE_COLOR_COUNT) {
ptr = nextArg(cmdline);
if (!parseColor(i, ptr)) {
cliShowParseError();
}
} else {
cliShowArgumentRangeError("index", 0, LED_CONFIGURABLE_COLOR_COUNT - 1);
}
}
}
static void printModeColor(uint8_t dumpMask, const ledStripConfig_t *ledStripConfig, const ledStripConfig_t *defaultLedStripConfig)
{
const char *format = "mode_color %u %u %u";
for (uint32_t i = 0; i < LED_MODE_COUNT; i++) {
for (uint32_t j = 0; j < LED_DIRECTION_COUNT; j++) {
int colorIndex = ledStripConfig->modeColors[i].color[j];
bool equalsDefault = false;
if (defaultLedStripConfig) {
int colorIndexDefault = defaultLedStripConfig->modeColors[i].color[j];
equalsDefault = colorIndex == colorIndexDefault;
cliDefaultPrintLinef(dumpMask, equalsDefault, format, i, j, colorIndexDefault);
}
cliDumpPrintLinef(dumpMask, equalsDefault, format, i, j, colorIndex);
}
}
for (uint32_t j = 0; j < LED_SPECIAL_COLOR_COUNT; j++) {
const int colorIndex = ledStripConfig->specialColors.color[j];
bool equalsDefault = false;
if (defaultLedStripConfig) {
const int colorIndexDefault = defaultLedStripConfig->specialColors.color[j];
equalsDefault = colorIndex == colorIndexDefault;
cliDefaultPrintLinef(dumpMask, equalsDefault, format, LED_SPECIAL, j, colorIndexDefault);
}
cliDumpPrintLinef(dumpMask, equalsDefault, format, LED_SPECIAL, j, colorIndex);
}
const int ledStripAuxChannel = ledStripConfig->ledstrip_aux_channel;
bool equalsDefault = false;
if (defaultLedStripConfig) {
const int ledStripAuxChannelDefault = defaultLedStripConfig->ledstrip_aux_channel;
equalsDefault = ledStripAuxChannel == ledStripAuxChannelDefault;
cliDefaultPrintLinef(dumpMask, equalsDefault, format, LED_AUX_CHANNEL, 0, ledStripAuxChannelDefault);
}
cliDumpPrintLinef(dumpMask, equalsDefault, format, LED_AUX_CHANNEL, 0, ledStripAuxChannel);
}
static void cliModeColor(char *cmdline)
{
if (isEmpty(cmdline)) {
printModeColor(DUMP_MASTER, ledStripConfig(), NULL);
} else {
enum {MODE = 0, FUNCTION, COLOR, ARGS_COUNT};
int args[ARGS_COUNT];
int argNo = 0;
char *saveptr;
const char* ptr = strtok_r(cmdline, " ", &saveptr);
while (ptr && argNo < ARGS_COUNT) {
args[argNo++] = atoi(ptr);
ptr = strtok_r(NULL, " ", &saveptr);
}
if (ptr != NULL || argNo != ARGS_COUNT) {
cliShowParseError();
return;
}
int modeIdx = args[MODE];
int funIdx = args[FUNCTION];
int color = args[COLOR];
if (!setModeColor(modeIdx, funIdx, color)) {
cliShowParseError();
return;
}
// values are validated
cliPrintLinef("mode_color %u %u %u", modeIdx, funIdx, color);
}
}
#endif
#ifdef USE_SERVOS
static void printServo(uint8_t dumpMask, const servoParam_t *servoParams, const servoParam_t *defaultServoParams)
{
// print out servo settings
const char *format = "servo %u %d %d %d %d %d";
for (uint32_t i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
const servoParam_t *servoConf = &servoParams[i];
bool equalsDefault = false;
if (defaultServoParams) {
const servoParam_t *defaultServoConf = &defaultServoParams[i];
equalsDefault = servoConf->min == defaultServoConf->min
&& servoConf->max == defaultServoConf->max
&& servoConf->middle == defaultServoConf->middle
&& servoConf->rate == defaultServoConf->rate
&& servoConf->forwardFromChannel == defaultServoConf->forwardFromChannel;
cliDefaultPrintLinef(dumpMask, equalsDefault, format,
i,
defaultServoConf->min,
defaultServoConf->max,
defaultServoConf->middle,
defaultServoConf->rate,
defaultServoConf->forwardFromChannel
);
}
cliDumpPrintLinef(dumpMask, equalsDefault, format,
i,
servoConf->min,
servoConf->max,
servoConf->middle,
servoConf->rate,
servoConf->forwardFromChannel
);
}
// print servo directions
for (uint32_t i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
const char *format = "smix reverse %d %d r";
const servoParam_t *servoConf = &servoParams[i];
const servoParam_t *servoConfDefault = &defaultServoParams[i];
if (defaultServoParams) {
bool equalsDefault = servoConf->reversedSources == servoConfDefault->reversedSources;
for (uint32_t channel = 0; channel < INPUT_SOURCE_COUNT; channel++) {
equalsDefault = ~(servoConf->reversedSources ^ servoConfDefault->reversedSources) & (1 << channel);
if (servoConfDefault->reversedSources & (1 << channel)) {
cliDefaultPrintLinef(dumpMask, equalsDefault, format, i , channel);
}
if (servoConf->reversedSources & (1 << channel)) {
cliDumpPrintLinef(dumpMask, equalsDefault, format, i , channel);
}
}
} else {
for (uint32_t channel = 0; channel < INPUT_SOURCE_COUNT; channel++) {
if (servoConf->reversedSources & (1 << channel)) {
cliDumpPrintLinef(dumpMask, true, format, i , channel);
}
}
}
}
}
static void cliServo(char *cmdline)
{
enum { SERVO_ARGUMENT_COUNT = 6 };
int16_t arguments[SERVO_ARGUMENT_COUNT];
servoParam_t *servo;
int i;
char *ptr;
if (isEmpty(cmdline)) {
printServo(DUMP_MASTER, servoParams(0), NULL);
} 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) {
cliShowParseError();
return;
}
arguments[validArgumentCount++] = atoi(ptr);
do {
ptr++;
} while (*ptr >= '0' && *ptr <= '9');
} else if (*ptr == ' ') {
ptr++;
} else {
cliShowParseError();
return;
}
}
enum {INDEX = 0, MIN, MAX, MIDDLE, RATE, FORWARD};
i = arguments[INDEX];
// 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 || i < 0 || i >= MAX_SUPPORTED_SERVOS) {
cliShowParseError();
return;
}
servo = servoParamsMutable(i);
if (
arguments[MIN] < PWM_PULSE_MIN || arguments[MIN] > PWM_PULSE_MAX ||
arguments[MAX] < PWM_PULSE_MIN || arguments[MAX] > PWM_PULSE_MAX ||
arguments[MIDDLE] < arguments[MIN] || arguments[MIDDLE] > arguments[MAX] ||
arguments[MIN] > arguments[MAX] || arguments[MAX] < arguments[MIN] ||
arguments[RATE] < -100 || arguments[RATE] > 100 ||
arguments[FORWARD] >= MAX_SUPPORTED_RC_CHANNEL_COUNT
) {
cliShowParseError();
return;
}
servo->min = arguments[MIN];
servo->max = arguments[MAX];
servo->middle = arguments[MIDDLE];
servo->rate = arguments[RATE];
servo->forwardFromChannel = arguments[FORWARD];
}
}
#endif
#ifdef USE_SERVOS
static void printServoMix(uint8_t dumpMask, const servoMixer_t *customServoMixers, const servoMixer_t *defaultCustomServoMixers)
{
const char *format = "smix %d %d %d %d %d %d %d %d";
for (uint32_t i = 0; i < MAX_SERVO_RULES; i++) {
const servoMixer_t customServoMixer = customServoMixers[i];
if (customServoMixer.rate == 0) {
break;
}
bool equalsDefault = false;
if (defaultCustomServoMixers) {
servoMixer_t customServoMixerDefault = defaultCustomServoMixers[i];
equalsDefault = customServoMixer.targetChannel == customServoMixerDefault.targetChannel
&& customServoMixer.inputSource == customServoMixerDefault.inputSource
&& customServoMixer.rate == customServoMixerDefault.rate
&& customServoMixer.speed == customServoMixerDefault.speed
&& customServoMixer.min == customServoMixerDefault.min
&& customServoMixer.max == customServoMixerDefault.max
&& customServoMixer.box == customServoMixerDefault.box;
cliDefaultPrintLinef(dumpMask, equalsDefault, format,
i,
customServoMixerDefault.targetChannel,
customServoMixerDefault.inputSource,
customServoMixerDefault.rate,
customServoMixerDefault.speed,
customServoMixerDefault.min,
customServoMixerDefault.max,
customServoMixerDefault.box
);
}
cliDumpPrintLinef(dumpMask, equalsDefault, format,
i,
customServoMixer.targetChannel,
customServoMixer.inputSource,
customServoMixer.rate,
customServoMixer.speed,
customServoMixer.min,
customServoMixer.max,
customServoMixer.box
);
}
cliPrintLinefeed();
}
static void cliServoMix(char *cmdline)
{
int args[8], check = 0;
int len = strlen(cmdline);
if (len == 0) {
printServoMix(DUMP_MASTER, customServoMixers(0), NULL);
} else if (strncasecmp(cmdline, "reset", 5) == 0) {
// erase custom mixer
memset(customServoMixers_array(), 0, sizeof(*customServoMixers_array()));
for (uint32_t i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
servoParamsMutable(i)->reversedSources = 0;
}
} else if (strncasecmp(cmdline, "load", 4) == 0) {
const char *ptr = nextArg(cmdline);
if (ptr) {
len = strlen(ptr);
for (uint32_t i = 0; ; i++) {
if (mixerNames[i] == NULL) {
cliPrintLine("Invalid name");
break;
}
if (strncasecmp(ptr, mixerNames[i], len) == 0) {
servoMixerLoadMix(i);
cliPrintLinef("Loaded %s", mixerNames[i]);
cliServoMix("");
break;
}
}
}
} else if (strncasecmp(cmdline, "reverse", 7) == 0) {
enum {SERVO = 0, INPUT, REVERSE, ARGS_COUNT};
char *ptr = strchr(cmdline, ' ');
len = strlen(ptr);
if (len == 0) {
cliPrintf("s");
for (uint32_t inputSource = 0; inputSource < INPUT_SOURCE_COUNT; inputSource++)
cliPrintf("\ti%d", inputSource);
cliPrintLinefeed();
for (uint32_t servoIndex = 0; servoIndex < MAX_SUPPORTED_SERVOS; servoIndex++) {
cliPrintf("%d", servoIndex);
for (uint32_t inputSource = 0; inputSource < INPUT_SOURCE_COUNT; inputSource++)
cliPrintf("\t%s ", (servoParams(servoIndex)->reversedSources & (1 << inputSource)) ? "r" : "n");
cliPrintLinefeed();
}
return;
}
char *saveptr;
ptr = strtok_r(ptr, " ", &saveptr);
while (ptr != NULL && check < ARGS_COUNT - 1) {
args[check++] = atoi(ptr);
ptr = strtok_r(NULL, " ", &saveptr);
}
if (ptr == NULL || check != ARGS_COUNT - 1) {
cliShowParseError();
return;
}
if (args[SERVO] >= 0 && args[SERVO] < MAX_SUPPORTED_SERVOS
&& args[INPUT] >= 0 && args[INPUT] < INPUT_SOURCE_COUNT
&& (*ptr == 'r' || *ptr == 'n')) {
if (*ptr == 'r')
servoParamsMutable(args[SERVO])->reversedSources |= 1 << args[INPUT];
else
servoParamsMutable(args[SERVO])->reversedSources &= ~(1 << args[INPUT]);
} else
cliShowParseError();
cliServoMix("reverse");
} else {
enum {RULE = 0, TARGET, INPUT, RATE, SPEED, MIN, MAX, BOX, ARGS_COUNT};
char *saveptr;
char *ptr = strtok_r(cmdline, " ", &saveptr);
while (ptr != NULL && check < ARGS_COUNT) {
args[check++] = atoi(ptr);
ptr = strtok_r(NULL, " ", &saveptr);
}
if (ptr != NULL || check != ARGS_COUNT) {
cliShowParseError();
return;
}
int32_t i = args[RULE];
if (i >= 0 && i < MAX_SERVO_RULES &&
args[TARGET] >= 0 && args[TARGET] < MAX_SUPPORTED_SERVOS &&
args[INPUT] >= 0 && args[INPUT] < INPUT_SOURCE_COUNT &&
args[RATE] >= -100 && args[RATE] <= 100 &&
args[SPEED] >= 0 && args[SPEED] <= MAX_SERVO_SPEED &&
args[MIN] >= 0 && args[MIN] <= 100 &&
args[MAX] >= 0 && args[MAX] <= 100 && args[MIN] < args[MAX] &&
args[BOX] >= 0 && args[BOX] <= MAX_SERVO_BOXES) {
customServoMixersMutable(i)->targetChannel = args[TARGET];
customServoMixersMutable(i)->inputSource = args[INPUT];
customServoMixersMutable(i)->rate = args[RATE];
customServoMixersMutable(i)->speed = args[SPEED];
customServoMixersMutable(i)->min = args[MIN];
customServoMixersMutable(i)->max = args[MAX];
customServoMixersMutable(i)->box = args[BOX];
cliServoMix("");
} else {
cliShowParseError();
}
}
}
#endif
#ifdef USE_SDCARD
static void cliWriteBytes(const uint8_t *buffer, int count)
{
while (count > 0) {
cliWrite(*buffer);
buffer++;
count--;
}
}
static void cliSdInfo(char *cmdline)
{
UNUSED(cmdline);
cliPrint("SD card: ");
if (!sdcard_isInserted()) {
cliPrintLine("None inserted");
return;
}
if (!sdcard_isInitialized()) {
cliPrintLine("Startup failed");
return;
}
const sdcardMetadata_t *metadata = sdcard_getMetadata();
cliPrintf("Manufacturer 0x%x, %ukB, %02d/%04d, v%d.%d, '",
metadata->manufacturerID,
metadata->numBlocks / 2, /* One block is half a kB */
metadata->productionMonth,
metadata->productionYear,
metadata->productRevisionMajor,
metadata->productRevisionMinor
);
cliWriteBytes((uint8_t*)metadata->productName, sizeof(metadata->productName));
cliPrint("'\r\n" "Filesystem: ");
switch (afatfs_getFilesystemState()) {
case AFATFS_FILESYSTEM_STATE_READY:
cliPrint("Ready");
break;
case AFATFS_FILESYSTEM_STATE_INITIALIZATION:
cliPrint("Initializing");
break;
case AFATFS_FILESYSTEM_STATE_UNKNOWN:
case AFATFS_FILESYSTEM_STATE_FATAL:
cliPrint("Fatal");
switch (afatfs_getLastError()) {
case AFATFS_ERROR_BAD_MBR:
cliPrint(" - no FAT MBR partitions");
break;
case AFATFS_ERROR_BAD_FILESYSTEM_HEADER:
cliPrint(" - bad FAT header");
break;
case AFATFS_ERROR_GENERIC:
case AFATFS_ERROR_NONE:
; // Nothing more detailed to print
break;
}
break;
}
cliPrintLinefeed();
}
#endif
#ifdef USE_FLASHFS
static void cliFlashInfo(char *cmdline)
{
const flashGeometry_t *layout = flashfsGetGeometry();
UNUSED(cmdline);
cliPrintLinef("Flash sectors=%u, sectorSize=%u, pagesPerSector=%u, pageSize=%u, totalSize=%u, usedSize=%u",
layout->sectors, layout->sectorSize, layout->pagesPerSector, layout->pageSize, layout->totalSize, flashfsGetOffset());
}
static void cliFlashErase(char *cmdline)
{
UNUSED(cmdline);
#ifndef MINIMAL_CLI
uint32_t i = 0;
cliPrintLine("Erasing, please wait ... ");
#else
cliPrintLine("Erasing,");
#endif
bufWriterFlush(cliWriter);
flashfsEraseCompletely();
while (!flashfsIsReady()) {
#ifndef MINIMAL_CLI
cliPrintf(".");
if (i++ > 120) {
i=0;
cliPrintLinefeed();
}
bufWriterFlush(cliWriter);
#endif
delay(100);
}
beeper(BEEPER_BLACKBOX_ERASE);
cliPrintLinefeed();
cliPrintLine("Done.");
}
#ifdef USE_FLASH_TOOLS
static void cliFlashWrite(char *cmdline)
{
const uint32_t address = atoi(cmdline);
const char *text = strchr(cmdline, ' ');
if (!text) {
cliShowParseError();
} else {
flashfsSeekAbs(address);
flashfsWrite((uint8_t*)text, strlen(text), true);
flashfsFlushSync();
cliPrintLinef("Wrote %u bytes at %u.", strlen(text), address);
}
}
static void cliFlashRead(char *cmdline)
{
uint32_t address = atoi(cmdline);
const char *nextArg = strchr(cmdline, ' ');
if (!nextArg) {
cliShowParseError();
} else {
uint32_t length = atoi(nextArg);
cliPrintLinef("Reading %u bytes at %u:", length, address);
uint8_t buffer[32];
while (length > 0) {
int bytesRead = flashfsReadAbs(address, buffer, length < sizeof(buffer) ? length : sizeof(buffer));
for (int i = 0; i < bytesRead; i++) {
cliWrite(buffer[i]);
}
length -= bytesRead;
address += bytesRead;
if (bytesRead == 0) {
//Assume we reached the end of the volume or something fatal happened
break;
}
}
cliPrintLinefeed();
}
}
#endif
#endif
#ifdef VTX_CONTROL
static void printVtx(uint8_t dumpMask, const vtxConfig_t *vtxConfig, const vtxConfig_t *vtxConfigDefault)
{
// print out vtx channel settings
const char *format = "vtx %u %u %u %u %u %u";
bool equalsDefault = false;
for (uint32_t i = 0; i < MAX_CHANNEL_ACTIVATION_CONDITION_COUNT; i++) {
const vtxChannelActivationCondition_t *cac = &vtxConfig->vtxChannelActivationConditions[i];
if (vtxConfigDefault) {
const vtxChannelActivationCondition_t *cacDefault = &vtxConfigDefault->vtxChannelActivationConditions[i];
equalsDefault = cac->auxChannelIndex == cacDefault->auxChannelIndex
&& cac->band == cacDefault->band
&& cac->channel == cacDefault->channel
&& cac->range.startStep == cacDefault->range.startStep
&& cac->range.endStep == cacDefault->range.endStep;
cliDefaultPrintLinef(dumpMask, equalsDefault, format,
i,
cacDefault->auxChannelIndex,
cacDefault->band,
cacDefault->channel,
MODE_STEP_TO_CHANNEL_VALUE(cacDefault->range.startStep),
MODE_STEP_TO_CHANNEL_VALUE(cacDefault->range.endStep)
);
}
cliDumpPrintLinef(dumpMask, equalsDefault, format,
i,
cac->auxChannelIndex,
cac->band,
cac->channel,
MODE_STEP_TO_CHANNEL_VALUE(cac->range.startStep),
MODE_STEP_TO_CHANNEL_VALUE(cac->range.endStep)
);
}
}
static void cliVtx(char *cmdline)
{
int i, val = 0;
const char *ptr;
if (isEmpty(cmdline)) {
printVtx(DUMP_MASTER, vtxConfig(), NULL);
} else {
ptr = cmdline;
i = atoi(ptr++);
if (i < MAX_CHANNEL_ACTIVATION_CONDITION_COUNT) {
vtxChannelActivationCondition_t *cac = &vtxConfigMutable()->vtxChannelActivationConditions[i];
uint8_t validArgumentCount = 0;
ptr = nextArg(ptr);
if (ptr) {
val = atoi(ptr);
if (val >= 0 && val < MAX_AUX_CHANNEL_COUNT) {
cac->auxChannelIndex = val;
validArgumentCount++;
}
}
ptr = nextArg(ptr);
if (ptr) {
val = atoi(ptr);
// FIXME Use VTX API to get min/max
if (val >= VTX_SETTINGS_MIN_BAND && val <= VTX_SETTINGS_MAX_BAND) {
cac->band = val;
validArgumentCount++;
}
}
ptr = nextArg(ptr);
if (ptr) {
val = atoi(ptr);
// FIXME Use VTX API to get min/max
if (val >= VTX_SETTINGS_MIN_CHANNEL && val <= VTX_SETTINGS_MAX_CHANNEL) {
cac->channel = val;
validArgumentCount++;
}
}
ptr = processChannelRangeArgs(ptr, &cac->range, &validArgumentCount);
if (validArgumentCount != 5) {
memset(cac, 0, sizeof(vtxChannelActivationCondition_t));
}
} else {
cliShowArgumentRangeError("index", 0, MAX_CHANNEL_ACTIVATION_CONDITION_COUNT - 1);
}
}
}
#endif // VTX_CONTROL
static void printName(uint8_t dumpMask, const pilotConfig_t *pilotConfig)
{
const bool equalsDefault = strlen(pilotConfig->name) == 0;
cliDumpPrintLinef(dumpMask, equalsDefault, "name %s", equalsDefault ? emptyName : pilotConfig->name);
}
static void cliName(char *cmdline)
{
const unsigned int len = strlen(cmdline);
if (len > 0) {
memset(pilotConfigMutable()->name, 0, ARRAYLEN(pilotConfig()->name));
if (strncmp(cmdline, emptyName, len)) {
strncpy(pilotConfigMutable()->name, cmdline, MIN(len, MAX_NAME_LENGTH));
}
}
printName(DUMP_MASTER, pilotConfig());
}
static void printFeature(uint8_t dumpMask, const featureConfig_t *featureConfig, const featureConfig_t *featureConfigDefault)
{
const uint32_t mask = featureConfig->enabledFeatures;
const uint32_t defaultMask = featureConfigDefault->enabledFeatures;
for (uint32_t i = 0; featureNames[i]; i++) { // disabled features first
if (strcmp(featureNames[i], emptryString) != 0) { //Skip unused
const char *format = "feature -%s";
cliDefaultPrintLinef(dumpMask, (defaultMask | ~mask) & (1 << i), format, featureNames[i]);
cliDumpPrintLinef(dumpMask, (~defaultMask | mask) & (1 << i), format, featureNames[i]);
}
}
for (uint32_t i = 0; featureNames[i]; i++) { // enabled features
if (strcmp(featureNames[i], emptryString) != 0) { //Skip unused
const char *format = "feature %s";
if (defaultMask & (1 << i)) {
cliDefaultPrintLinef(dumpMask, (~defaultMask | mask) & (1 << i), format, featureNames[i]);
}
if (mask & (1 << i)) {
cliDumpPrintLinef(dumpMask, (defaultMask | ~mask) & (1 << i), format, featureNames[i]);
}
}
}
}
static void cliFeature(char *cmdline)
{
uint32_t len = strlen(cmdline);
uint32_t mask = featureMask();
if (len == 0) {
cliPrint("Enabled: ");
for (uint32_t i = 0; ; i++) {
if (featureNames[i] == NULL)
break;
if (mask & (1 << i))
cliPrintf("%s ", featureNames[i]);
}
cliPrintLinefeed();
} else if (strncasecmp(cmdline, "list", len) == 0) {
cliPrint("Available:");
for (uint32_t i = 0; ; i++) {
if (featureNames[i] == NULL)
break;
if (strcmp(featureNames[i], emptryString) != 0) //Skip unused
cliPrintf(" %s", featureNames[i]);
}
cliPrintLinefeed();
return;
} else {
bool remove = false;
if (cmdline[0] == '-') {
// remove feature
remove = true;
cmdline++; // skip over -
len--;
}
for (uint32_t i = 0; ; i++) {
if (featureNames[i] == NULL) {
cliPrintLine("Invalid name");
break;
}
if (strncasecmp(cmdline, featureNames[i], len) == 0) {
mask = 1 << i;
#ifndef USE_GPS
if (mask & FEATURE_GPS) {
cliPrintLine("unavailable");
break;
}
#endif
#ifndef USE_SONAR
if (mask & FEATURE_SONAR) {
cliPrintLine("unavailable");
break;
}
#endif
if (remove) {
featureClear(mask);
cliPrint("Disabled");
} else {
featureSet(mask);
cliPrint("Enabled");
}
cliPrintLinef(" %s", featureNames[i]);
break;
}
}
}
}
#ifdef BEEPER
static void printBeeper(uint8_t dumpMask, const beeperConfig_t *beeperConfig, const beeperConfig_t *beeperConfigDefault)
{
const uint8_t beeperCount = beeperTableEntryCount();
const uint32_t mask = beeperConfig->beeper_off_flags;
const uint32_t defaultMask = beeperConfigDefault->beeper_off_flags;
for (int32_t i = 0; i < beeperCount - 2; i++) {
const char *formatOff = "beeper -%s";
const char *formatOn = "beeper %s";
const uint32_t beeperModeMask = beeperModeMaskForTableIndex(i);
cliDefaultPrintLinef(dumpMask, ~(mask ^ defaultMask) & beeperModeMask, mask & beeperModeMask ? formatOn : formatOff, beeperNameForTableIndex(i));
cliDumpPrintLinef(dumpMask, ~(mask ^ defaultMask) & beeperModeMask, mask & beeperModeMask ? formatOff : formatOn, beeperNameForTableIndex(i));
}
}
static void cliBeeper(char *cmdline)
{
uint32_t len = strlen(cmdline);
uint8_t beeperCount = beeperTableEntryCount();
uint32_t mask = getBeeperOffMask();
if (len == 0) {
cliPrintf("Disabled:");
for (int32_t i = 0; ; i++) {
if (i == beeperCount - 2) {
if (mask == 0)
cliPrint(" none");
break;
}
if (mask & beeperModeMaskForTableIndex(i))
cliPrintf(" %s", beeperNameForTableIndex(i));
}
cliPrintLinefeed();
} else if (strncasecmp(cmdline, "list", len) == 0) {
cliPrint("Available:");
for (uint32_t i = 0; i < beeperCount; i++)
cliPrintf(" %s", beeperNameForTableIndex(i));
cliPrintLinefeed();
return;
} else {
bool remove = false;
if (cmdline[0] == '-') {
remove = true; // this is for beeper OFF condition
cmdline++;
len--;
}
for (uint32_t i = 0; ; i++) {
if (i == beeperCount) {
cliPrintLine("Invalid name");
break;
}
if (strncasecmp(cmdline, beeperNameForTableIndex(i), len) == 0) {
if (remove) { // beeper off
if (i == BEEPER_ALL-1)
beeperOffSetAll(beeperCount-2);
else
if (i == BEEPER_PREFERENCE-1)
setBeeperOffMask(getPreferredBeeperOffMask());
else {
beeperOffSet(beeperModeMaskForTableIndex(i));
}
cliPrint("Disabled");
}
else { // beeper on
if (i == BEEPER_ALL-1)
beeperOffClearAll();
else
if (i == BEEPER_PREFERENCE-1)
setPreferredBeeperOffMask(getBeeperOffMask());
else {
beeperOffClear(beeperModeMaskForTableIndex(i));
}
cliPrint("Enabled");
}
cliPrintLinef(" %s", beeperNameForTableIndex(i));
break;
}
}
}
}
#endif
void cliFrSkyBind(char *cmdline){
UNUSED(cmdline);
switch (rxConfig()->rx_spi_protocol) {
#ifdef USE_RX_FRSKY_SPI
case RX_SPI_FRSKY_D:
case RX_SPI_FRSKY_X:
frSkyBind();
cliPrint("Binding...");
break;
#endif
default:
cliPrint("Not supported.");
break;
}
}
static void printMap(uint8_t dumpMask, const rxConfig_t *rxConfig, const rxConfig_t *defaultRxConfig)
{
bool equalsDefault = true;
char buf[16];
char bufDefault[16];
uint32_t i;
for (i = 0; i < RX_MAPPABLE_CHANNEL_COUNT; i++) {
buf[rxConfig->rcmap[i]] = rcChannelLetters[i];
if (defaultRxConfig) {
bufDefault[defaultRxConfig->rcmap[i]] = rcChannelLetters[i];
equalsDefault = equalsDefault && (rxConfig->rcmap[i] == defaultRxConfig->rcmap[i]);
}
}
buf[i] = '\0';
const char *formatMap = "map %s";
cliDefaultPrintLinef(dumpMask, equalsDefault, formatMap, bufDefault);
cliDumpPrintLinef(dumpMask, equalsDefault, formatMap, buf);
}
static void cliMap(char *cmdline)
{
uint32_t i;
char buf[RX_MAPPABLE_CHANNEL_COUNT + 1];
uint32_t len = strlen(cmdline);
if (len == RX_MAPPABLE_CHANNEL_COUNT) {
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(buf, rxConfigMutable());
} else if (len > 0) {
cliShowParseError();
return;
}
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)
{
if (!strncasecmp(cmdLine, command, strlen(command)) // command names match
&& (isspace((unsigned)cmdLine[strlen(command)]) || cmdLine[strlen(command)] == 0)) {
return cmdLine + strlen(command) + 1;
} else {
return 0;
}
}
static void cliRebootEx(bool bootLoader)
{
cliPrint("\r\nRebooting");
bufWriterFlush(cliWriter);
waitForSerialPortToFinishTransmitting(cliPort);
stopPwmAllMotors();
if (bootLoader) {
systemResetToBootloader();
return;
}
systemReset();
}
static void cliReboot(void)
{
cliRebootEx(false);
}
static void cliBootloader(char *cmdLine)
{
UNUSED(cmdLine);
cliPrintHashLine("restarting in bootloader mode");
cliRebootEx(true);
}
static void cliExit(char *cmdline)
{
UNUSED(cmdline);
cliPrintHashLine("leaving CLI mode, unsaved changes lost");
bufWriterFlush(cliWriter);
*cliBuffer = '\0';
bufferIndex = 0;
cliMode = 0;
// incase a motor was left running during motortest, clear it here
mixerResetDisarmedMotors();
cliReboot();
cliWriter = NULL;
}
#ifdef USE_GPS
static void cliGpsPassthrough(char *cmdline)
{
UNUSED(cmdline);
gpsEnablePassthrough(cliPort);
}
#endif
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 output number. Range: 0 %d.\r\n", getMotorCount() - 1);
return -1;
}
return outputIndex;
}
#ifdef USE_DSHOT
#define ESC_INFO_KISS_V1_EXPECTED_FRAME_SIZE 15
#define ESC_INFO_KISS_V2_EXPECTED_FRAME_SIZE 21
#define ESC_INFO_BLHELI32_EXPECTED_FRAME_SIZE 64
enum {
ESC_INFO_KISS_V1,
ESC_INFO_KISS_V2,
ESC_INFO_BLHELI32
};
#define ESC_INFO_VERSION_POSITION 12
void printEscInfo(const uint8_t *escInfoBuffer, uint8_t bytesRead)
{
bool escInfoReceived = false;
if (bytesRead > ESC_INFO_VERSION_POSITION) {
uint8_t escInfoVersion;
uint8_t frameLength;
if (escInfoBuffer[ESC_INFO_VERSION_POSITION] == 254) {
escInfoVersion = ESC_INFO_BLHELI32;
frameLength = ESC_INFO_BLHELI32_EXPECTED_FRAME_SIZE;
} else if (escInfoBuffer[ESC_INFO_VERSION_POSITION] == 255) {
escInfoVersion = ESC_INFO_KISS_V2;
frameLength = ESC_INFO_KISS_V2_EXPECTED_FRAME_SIZE;
} else {
escInfoVersion = ESC_INFO_KISS_V1;
frameLength = ESC_INFO_KISS_V1_EXPECTED_FRAME_SIZE;
}
if (bytesRead == frameLength) {
escInfoReceived = true;
if (calculateCrc8(escInfoBuffer, frameLength - 1) == escInfoBuffer[frameLength - 1]) {
uint8_t firmwareVersion = 0;
uint8_t firmwareSubVersion = 0;
uint8_t escType = 0;
switch (escInfoVersion) {
case ESC_INFO_KISS_V1:
firmwareVersion = escInfoBuffer[12];
firmwareSubVersion = (escInfoBuffer[13] & 0x1f) + 97;
escType = (escInfoBuffer[13] & 0xe0) >> 5;
break;
case ESC_INFO_KISS_V2:
firmwareVersion = escInfoBuffer[13];
firmwareSubVersion = escInfoBuffer[14];
escType = escInfoBuffer[15];
break;
case ESC_INFO_BLHELI32:
firmwareVersion = escInfoBuffer[13];
firmwareSubVersion = escInfoBuffer[14];
escType = escInfoBuffer[15];
break;
}
cliPrint("ESC Type: ");
switch (escInfoVersion) {
case ESC_INFO_KISS_V1:
case ESC_INFO_KISS_V2:
switch (escType) {
case 1:
cliPrintLine("KISS8A");
break;
case 2:
cliPrintLine("KISS16A");
break;
case 3:
cliPrintLine("KISS24A");
break;
case 5:
cliPrintLine("KISS Ultralite");
break;
default:
cliPrintLine("unknown");
break;
}
break;
case ESC_INFO_BLHELI32:
{
char *escType = (char *)(escInfoBuffer + 31);
escType[32] = 0;
cliPrintLine(escType);
}
break;
}
cliPrint("MCU Serial No: 0x");
for (int i = 0; i < 12; i++) {
if (i && (i % 3 == 0)) {
cliPrint("-");
}
cliPrintf("%02x", escInfoBuffer[i]);
}
cliPrintLinefeed();
switch (escInfoVersion) {
case ESC_INFO_KISS_V1:
case ESC_INFO_KISS_V2:
cliPrintLinef("Firmware Version: %d.%02d%c", firmwareVersion / 100, firmwareVersion % 100, (char)firmwareSubVersion);
break;
case ESC_INFO_BLHELI32:
cliPrintLinef("Firmware Version: %d.%02d%", firmwareVersion, firmwareSubVersion);
break;
}
if (escInfoVersion == ESC_INFO_KISS_V2 || escInfoVersion == ESC_INFO_BLHELI32) {
cliPrintLinef("Rotation Direction: %s", escInfoBuffer[16] ? "reversed" : "normal");
cliPrintLinef("3D: %s", escInfoBuffer[17] ? "on" : "off");
if (escInfoVersion == ESC_INFO_BLHELI32) {
uint8_t setting = escInfoBuffer[18];
cliPrint("Low voltage Limit: ");
switch (setting) {
case 0:
cliPrintLine("off");
break;
case 255:
cliPrintLine("unsupported");
break;
default:
cliPrintLinef("%d.%01d", setting / 10, setting % 10);
break;
}
setting = escInfoBuffer[19];
cliPrint("Current Limit: ");
switch (setting) {
case 0:
cliPrintLine("off");
break;
case 255:
cliPrintLine("unsupported");
break;
default:
cliPrintLinef("%d", setting);
break;
}
for (int i = 0; i < 4; i++) {
setting = escInfoBuffer[i + 20];
cliPrintLinef("LED %d: %s", i, setting ? (setting == 255) ? "unsupported" : "on" : "off");
}
}
}
} else {
cliPrintLine("Checksum Error.");
}
}
}
if (!escInfoReceived) {
cliPrintLine("No Info.");
}
}
static void executeEscInfoCommand(uint8_t escIndex)
{
cliPrintLinef("Info for ESC %d:", escIndex);
uint8_t escInfoBuffer[ESC_INFO_BLHELI32_EXPECTED_FRAME_SIZE];
startEscDataRead(escInfoBuffer, ESC_INFO_BLHELI32_EXPECTED_FRAME_SIZE);
pwmWriteDshotCommand(escIndex, getMotorCount(), DSHOT_CMD_ESC_INFO);
delay(10);
printEscInfo(escInfoBuffer, getNumberEscBytesRead());
}
static void cliDshotProg(char *cmdline)
{
if (isEmpty(cmdline) || motorConfig()->dev.motorPwmProtocol < PWM_TYPE_DSHOT150) {
cliShowParseError();
return;
}
char *saveptr;
char *pch = strtok_r(cmdline, " ", &saveptr);
int pos = 0;
int escIndex = 0;
bool firstCommand = true;
while (pch != NULL) {
switch (pos) {
case 0:
escIndex = parseOutputIndex(pch, true);
if (escIndex == -1) {
return;
}
break;
default:
{
int command = atoi(pch);
if (command >= 0 && command < DSHOT_MIN_THROTTLE) {
if (firstCommand) {
pwmDisableMotors();
if (command == DSHOT_CMD_ESC_INFO) {
delay(5); // Wait for potential ESC telemetry transmission to finish
} else {
delay(1);
}
firstCommand = false;
}
if (command != DSHOT_CMD_ESC_INFO) {
pwmWriteDshotCommand(escIndex, getMotorCount(), command);
} else {
if (escIndex != ALL_MOTORS) {
executeEscInfoCommand(escIndex);
} else {
for (uint8_t i = 0; i < getMotorCount(); i++) {
executeEscInfoCommand(i);
}
}
}
cliPrintLinef("Command Sent: %d", command);
if (command <= 5) {
delay(20); // wait for sound output to finish
}
} else {
cliPrintLinef("Invalid command. Range: 1 - %d.", DSHOT_MIN_THROTTLE - 1);
}
}
break;
}
pos++;
pch = strtok_r(NULL, " ", &saveptr);
}
pwmEnableMotors();
}
#endif
#ifdef USE_ESCSERIAL
static void cliEscPassthrough(char *cmdline)
{
if (isEmpty(cmdline)) {
cliShowParseError();
return;
}
char *saveptr;
char *pch = strtok_r(cmdline, " ", &saveptr);
int pos = 0;
uint8_t mode = 0;
int escIndex = 0;
while (pch != NULL) {
switch (pos) {
case 0:
if (strncasecmp(pch, "sk", strlen(pch)) == 0) {
mode = PROTOCOL_SIMONK;
} else if (strncasecmp(pch, "bl", strlen(pch)) == 0) {
mode = PROTOCOL_BLHELI;
} else if (strncasecmp(pch, "ki", strlen(pch)) == 0) {
mode = PROTOCOL_KISS;
} else if (strncasecmp(pch, "cc", strlen(pch)) == 0) {
mode = PROTOCOL_KISSALL;
} else {
cliShowParseError();
return;
}
break;
case 1:
escIndex = parseOutputIndex(pch, mode == PROTOCOL_KISS);
if (escIndex == -1) {
return;
}
break;
default:
cliShowParseError();
return;
break;
}
pos++;
pch = strtok_r(NULL, " ", &saveptr);
}
escEnablePassthrough(cliPort, escIndex, mode);
}
#endif
#ifndef USE_QUAD_MIXER_ONLY
static void cliMixer(char *cmdline)
{
int len;
len = strlen(cmdline);
if (len == 0) {
cliPrintLinef("Mixer: %s", mixerNames[mixerConfig()->mixerMode - 1]);
return;
} else if (strncasecmp(cmdline, "list", len) == 0) {
cliPrint("Available:");
for (uint32_t i = 0; ; i++) {
if (mixerNames[i] == NULL)
break;
cliPrintf(" %s", mixerNames[i]);
}
cliPrintLinefeed();
return;
}
for (uint32_t i = 0; ; i++) {
if (mixerNames[i] == NULL) {
cliPrintLine("Invalid name");
return;
}
if (strncasecmp(cmdline, mixerNames[i], len) == 0) {
mixerConfigMutable()->mixerMode = i + 1;
break;
}
}
cliMixer("");
}
#endif
static void cliMotor(char *cmdline)
{
if (isEmpty(cmdline)) {
cliShowParseError();
return;
}
int motorIndex = 0;
int motorValue = 0;
char *saveptr;
char *pch = strtok_r(cmdline, " ", &saveptr);
int index = 0;
while (pch != NULL) {
switch (index) {
case 0:
motorIndex = parseOutputIndex(pch, true);
if (motorIndex == -1) {
return;
}
break;
case 1:
motorValue = atoi(pch);
break;
}
index++;
pch = strtok_r(NULL, " ", &saveptr);
}
if (index == 2) {
if (motorValue < PWM_RANGE_MIN || motorValue > PWM_RANGE_MAX) {
cliShowArgumentRangeError("value", 1000, 2000);
} else {
uint32_t motorOutputValue = convertExternalToMotor(motorValue);
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
static void cliPlaySound(char *cmdline)
{
int i;
const char *name;
static int lastSoundIdx = -1;
if (isEmpty(cmdline)) {
i = lastSoundIdx + 1; //next sound index
if ((name=beeperNameForTableIndex(i)) == NULL) {
while (true) { //no name for index; try next one
if (++i >= beeperTableEntryCount())
i = 0; //if end then wrap around to first entry
if ((name=beeperNameForTableIndex(i)) != NULL)
break; //if name OK then play sound below
if (i == lastSoundIdx + 1) { //prevent infinite loop
cliPrintLine("Error playing sound");
return;
}
}
}
} else { //index value was given
i = atoi(cmdline);
if ((name=beeperNameForTableIndex(i)) == NULL) {
cliPrintLinef("No sound for index %d", i);
return;
}
}
lastSoundIdx = i;
beeperSilence();
cliPrintLinef("Playing sound %d: %s", i, name);
beeper(beeperModeForTableIndex(i));
}
#endif
static void cliProfile(char *cmdline)
{
if (isEmpty(cmdline)) {
cliPrintLinef("profile %d", getCurrentPidProfileIndex());
return;
} else {
const int i = atoi(cmdline);
if (i >= 0 && i < MAX_PROFILE_COUNT) {
systemConfigMutable()->pidProfileIndex = i;
cliProfile("");
}
}
}
static void cliRateProfile(char *cmdline)
{
if (isEmpty(cmdline)) {
cliPrintLinef("rateprofile %d", getCurrentControlRateProfileIndex());
return;
} else {
const int i = atoi(cmdline);
if (i >= 0 && i < CONTROL_RATE_PROFILE_COUNT) {
changeControlRateProfile(i);
cliRateProfile("");
}
}
}
static void cliDumpPidProfile(uint8_t pidProfileIndex, uint8_t dumpMask)
{
if (pidProfileIndex >= MAX_PROFILE_COUNT) {
// Faulty values
return;
}
changePidProfile(pidProfileIndex);
cliPrintHashLine("profile");
cliProfile("");
cliPrintLinefeed();
dumpAllValues(PROFILE_VALUE, dumpMask);
}
static void cliDumpRateProfile(uint8_t rateProfileIndex, uint8_t dumpMask)
{
if (rateProfileIndex >= CONTROL_RATE_PROFILE_COUNT) {
// Faulty values
return;
}
changeControlRateProfile(rateProfileIndex);
cliPrintHashLine("rateprofile");
cliRateProfile("");
cliPrintLinefeed();
dumpAllValues(PROFILE_RATE_VALUE, dumpMask);
}
static void cliSave(char *cmdline)
{
UNUSED(cmdline);
cliPrintHashLine("saving");
writeEEPROM();
cliReboot();
}
static void cliDefaults(char *cmdline)
{
bool saveConfigs;
if (isEmpty(cmdline)) {
saveConfigs = true;
} else if (strncasecmp(cmdline, "nosave", 6) == 0) {
saveConfigs = false;
} else {
return;
}
cliPrintHashLine("resetting to defaults");
resetConfigs();
if (saveConfigs) {
cliSave(NULL);
}
}
STATIC_UNIT_TESTED void cliGet(char *cmdline)
{
const clivalue_t *val;
int matchedCommands = 0;
for (uint32_t i = 0; i < valueTableEntryCount; i++) {
if (strstr(valueTable[i].name, cmdline)) {
val = &valueTable[i];
cliPrintf("%s = ", valueTable[i].name);
cliPrintVar(val, 0);
cliPrintLinefeed();
cliPrintVarRange(val);
cliPrintLinefeed();
matchedCommands++;
}
}
if (matchedCommands) {
return;
}
cliPrintLine("Invalid name");
}
static char *skipSpace(char *buffer)
{
while (*(buffer) == ' ') {
buffer++;
}
return buffer;
}
static uint8_t getWordLength(char *bufBegin, char *bufEnd)
{
while (*(bufEnd - 1) == ' ') {
bufEnd--;
}
return bufEnd - bufBegin;
}
STATIC_UNIT_TESTED void cliSet(char *cmdline)
{
const uint32_t len = strlen(cmdline);
char *eqptr;
if (len == 0 || (len == 1 && cmdline[0] == '*')) {
cliPrintLine("Current settings: ");
for (uint32_t i = 0; i < valueTableEntryCount; i++) {
const clivalue_t *val = &valueTable[i];
cliPrintf("%s = ", valueTable[i].name);
cliPrintVar(val, len); // when len is 1 (when * is passed as argument), it will print min/max values as well, for gui
cliPrintLinefeed();
}
} else if ((eqptr = strstr(cmdline, "=")) != NULL) {
// has equals
uint8_t variableNameLength = getWordLength(cmdline, eqptr);
// skip the '=' and any ' ' characters
eqptr++;
eqptr = skipSpace(eqptr);
for (uint32_t i = 0; i < valueTableEntryCount; i++) {
const clivalue_t *val = &valueTable[i];
// ensure exact match when setting to prevent setting variables with shorter names
if (strncasecmp(cmdline, val->name, strlen(val->name)) == 0 && variableNameLength == strlen(val->name)) {
bool valueChanged = false;
int16_t value = 0;
switch (val->type & VALUE_MODE_MASK) {
case MODE_DIRECT: {
int16_t value = atoi(eqptr);
if (value >= val->config.minmax.min && value <= val->config.minmax.max) {
cliSetVar(val, value);
valueChanged = true;
}
}
break;
case MODE_LOOKUP: {
const lookupTableEntry_t *tableEntry = &lookupTables[val->config.lookup.tableIndex];
bool matched = false;
for (uint32_t tableValueIndex = 0; tableValueIndex < tableEntry->valueCount && !matched; tableValueIndex++) {
matched = strcasecmp(tableEntry->values[tableValueIndex], eqptr) == 0;
if (matched) {
value = tableValueIndex;
cliSetVar(val, value);
valueChanged = true;
}
}
}
break;
case MODE_ARRAY: {
const uint8_t arrayLength = val->config.array.length;
char *valPtr = eqptr;
for (int i = 0; i < arrayLength; i++) {
// skip spaces
valPtr = skipSpace(valPtr);
// find next comma (or end of string)
char *valEndPtr = strchr(valPtr, ',');
// comma found or last item?
if ((valEndPtr != NULL) || (i == arrayLength - 1)){
// process substring [valPtr, valEndPtr[
// note: no need to copy substrings for atoi()
// it stops at the first character that cannot be converted...
switch (val->type & VALUE_TYPE_MASK) {
default:
case VAR_UINT8: {
// fetch data pointer
uint8_t *data = (uint8_t *)cliGetValuePointer(val) + i;
// store value
*data = (uint8_t)atoi((const char*) valPtr);
}
break;
case VAR_INT8: {
// fetch data pointer
int8_t *data = (int8_t *)cliGetValuePointer(val) + i;
// store value
*data = (int8_t)atoi((const char*) valPtr);
}
break;
case VAR_UINT16: {
// fetch data pointer
uint16_t *data = (uint16_t *)cliGetValuePointer(val) + i;
// store value
*data = (uint16_t)atoi((const char*) valPtr);
}
break;
case VAR_INT16: {
// fetch data pointer
int16_t *data = (int16_t *)cliGetValuePointer(val) + i;
// store value
*data = (int16_t)atoi((const char*) valPtr);
}
break;
}
// mark as changed
valueChanged = true;
// prepare to parse next item
valPtr = valEndPtr + 1;
}
}
}
break;
}
if (valueChanged) {
cliPrintf("%s set to ", val->name);
cliPrintVar(val, 0);
} else {
cliPrintLine("Invalid value");
cliPrintVarRange(val);
}
return;
}
}
cliPrintLine("Invalid name");
} else {
// no equals, check for matching variables.
cliGet(cmdline);
}
}
static void cliStatus(char *cmdline)
{
UNUSED(cmdline);
cliPrintLinef("System Uptime: %d seconds", millis() / 1000);
#ifdef USE_RTC_TIME
char buf[FORMATTED_DATE_TIME_BUFSIZE];
dateTime_t dt;
if (rtcGetDateTime(&dt)) {
dateTimeFormatLocal(buf, &dt);
cliPrintLinef("Current Time: %s", buf);
}
#endif
cliPrintLinef("Voltage: %d * 0.1V (%dS battery - %s)", getBatteryVoltage(), getBatteryCellCount(), getBatteryStateString());
cliPrintf("CPU Clock=%dMHz", (SystemCoreClock / 1000000));
#if defined(USE_SENSOR_NAMES)
const uint32_t detectedSensorsMask = sensorsMask();
for (uint32_t i = 0; ; i++) {
if (sensorTypeNames[i] == NULL) {
break;
}
const uint32_t mask = (1 << i);
if ((detectedSensorsMask & mask) && (mask & SENSOR_NAMES_MASK)) {
const uint8_t sensorHardwareIndex = detectedSensors[i];
const char *sensorHardware = sensorHardwareNames[i][sensorHardwareIndex];
cliPrintf(", %s=%s", sensorTypeNames[i], sensorHardware);
if (mask == SENSOR_ACC && acc.dev.revisionCode) {
cliPrintf(".%c", acc.dev.revisionCode);
}
}
}
#endif /* USE_SENSOR_NAMES */
cliPrintLinefeed();
#ifdef USE_SDCARD
cliSdInfo(NULL);
#endif
#ifdef USE_I2C
const uint16_t i2cErrorCounter = i2cGetErrorCounter();
#else
const uint16_t i2cErrorCounter = 0;
#endif
#ifdef STACK_CHECK
cliPrintf("Stack used: %d, ", stackUsedSize());
#endif
cliPrintLinef("Stack size: %d, Stack address: 0x%x", stackTotalSize(), stackHighMem());
#ifdef EEPROM_IN_RAM
#define CONFIG_SIZE EEPROM_SIZE
#else
#define CONFIG_SIZE (&__config_end - &__config_start)
#endif
cliPrintLinef("I2C Errors: %d, config size: %d, max available config: %d", i2cErrorCounter, getEEPROMConfigSize(), CONFIG_SIZE);
const int gyroRate = getTaskDeltaTime(TASK_GYROPID) == 0 ? 0 : (int)(1000000.0f / ((float)getTaskDeltaTime(TASK_GYROPID)));
const int rxRate = getTaskDeltaTime(TASK_RX) == 0 ? 0 : (int)(1000000.0f / ((float)getTaskDeltaTime(TASK_RX)));
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);
#if defined(USE_OSD) || !defined(MINIMAL_CLI)
/* Flag strings are present if OSD is compiled so may as well use them even with MINIMAL_CLI */
cliPrint("Arming disable flags:");
armingDisableFlags_e flags = getArmingDisableFlags();
while (flags) {
int bitpos = ffs(flags) - 1;
flags &= ~(1 << bitpos);
cliPrintf(" %s", armingDisableFlagNames[bitpos]);
}
cliPrintLinefeed();
#else
cliPrintLinef("Arming disable flags: 0x%x", getArmingDisableFlags());
#endif
}
#ifndef SKIP_TASK_STATISTICS
static void cliTasks(char *cmdline)
{
UNUSED(cmdline);
int maxLoadSum = 0;
int averageLoadSum = 0;
#ifndef MINIMAL_CLI
if (systemConfig()->task_statistics) {
cliPrintLine("Task list rate/hz max/us avg/us maxload avgload total/ms");
} else {
cliPrintLine("Task list");
}
#endif
for (cfTaskId_e taskId = 0; taskId < TASK_COUNT; taskId++) {
cfTaskInfo_t taskInfo;
getTaskInfo(taskId, &taskInfo);
if (taskInfo.isEnabled) {
int taskFrequency;
int subTaskFrequency = 0;
if (taskId == TASK_GYROPID) {
subTaskFrequency = taskInfo.latestDeltaTime == 0 ? 0 : (int)(1000000.0f / ((float)taskInfo.latestDeltaTime));
taskFrequency = subTaskFrequency / pidConfig()->pid_process_denom;
if (pidConfig()->pid_process_denom > 1) {
cliPrintf("%02d - (%15s) ", taskId, taskInfo.taskName);
} else {
taskFrequency = subTaskFrequency;
cliPrintf("%02d - (%11s/%3s) ", taskId, taskInfo.subTaskName, taskInfo.taskName);
}
} else {
taskFrequency = taskInfo.latestDeltaTime == 0 ? 0 : (int)(1000000.0f / ((float)taskInfo.latestDeltaTime));
cliPrintf("%02d - (%15s) ", taskId, taskInfo.taskName);
}
const int maxLoad = taskInfo.maxExecutionTime == 0 ? 0 :(taskInfo.maxExecutionTime * taskFrequency + 5000) / 1000;
const int averageLoad = taskInfo.averageExecutionTime == 0 ? 0 : (taskInfo.averageExecutionTime * taskFrequency + 5000) / 1000;
if (taskId != TASK_SERIAL) {
maxLoadSum += maxLoad;
averageLoadSum += averageLoad;
}
if (systemConfig()->task_statistics) {
cliPrintLinef("%6d %7d %7d %4d.%1d%% %4d.%1d%% %9d",
taskFrequency, taskInfo.maxExecutionTime, taskInfo.averageExecutionTime,
maxLoad/10, maxLoad%10, averageLoad/10, averageLoad%10, taskInfo.totalExecutionTime / 1000);
} else {
cliPrintLinef("%6d", taskFrequency);
}
if (taskId == TASK_GYROPID && pidConfig()->pid_process_denom > 1) {
cliPrintLinef(" - (%15s) %6d", taskInfo.subTaskName, subTaskFrequency);
}
}
}
if (systemConfig()->task_statistics) {
cfCheckFuncInfo_t checkFuncInfo;
getCheckFuncInfo(&checkFuncInfo);
cliPrintLinef("RX Check Function %19d %7d %25d", checkFuncInfo.maxExecutionTime, checkFuncInfo.averageExecutionTime, checkFuncInfo.totalExecutionTime / 1000);
cliPrintLinef("Total (excluding SERIAL) %25d.%1d%% %4d.%1d%%", maxLoadSum/10, maxLoadSum%10, averageLoadSum/10, averageLoadSum%10);
}
}
#endif
static void cliVersion(char *cmdline)
{
UNUSED(cmdline);
cliPrintLinef("# %s / %s (%s) %s %s / %s (%s) MSP API: %s",
FC_FIRMWARE_NAME,
targetName,
systemConfig()->boardIdentifier,
FC_VERSION_STRING,
buildDate,
buildTime,
shortGitRevision,
MSP_API_VERSION_STRING
);
}
#if defined(USE_RESOURCE_MGMT)
#define MAX_RESOURCE_INDEX(x) ((x) == 0 ? 1 : (x))
typedef struct {
const uint8_t owner;
pgn_t pgn;
uint16_t offset;
const uint8_t maxIndex;
} cliResourceValue_t;
const cliResourceValue_t resourceTable[] = {
#ifdef BEEPER
{ OWNER_BEEPER, PG_BEEPER_DEV_CONFIG, offsetof(beeperDevConfig_t, ioTag), 0 },
#endif
{ OWNER_MOTOR, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.ioTags[0]), MAX_SUPPORTED_MOTORS },
#ifdef USE_SERVOS
{ OWNER_SERVO, PG_SERVO_CONFIG, offsetof(servoConfig_t, dev.ioTags[0]), MAX_SUPPORTED_SERVOS },
#endif
#if defined(USE_PWM) || defined(USE_PPM)
{ OWNER_PPMINPUT, PG_PPM_CONFIG, offsetof(ppmConfig_t, ioTag), 0 },
{ OWNER_PWMINPUT, PG_PWM_CONFIG, offsetof(pwmConfig_t, ioTags[0]), PWM_INPUT_PORT_COUNT },
#endif
#ifdef USE_SONAR
{ OWNER_SONAR_TRIGGER, PG_SONAR_CONFIG, offsetof(sonarConfig_t, triggerTag), 0 },
{ OWNER_SONAR_ECHO, PG_SONAR_CONFIG, offsetof(sonarConfig_t, echoTag), 0 },
#endif
#ifdef USE_LED_STRIP
{ OWNER_LED_STRIP, PG_LED_STRIP_CONFIG, offsetof(ledStripConfig_t, ioTag), 0 },
#endif
{ OWNER_SERIAL_TX, PG_SERIAL_PIN_CONFIG, offsetof(serialPinConfig_t, ioTagTx[0]), SERIAL_PORT_MAX_INDEX },
{ OWNER_SERIAL_RX, PG_SERIAL_PIN_CONFIG, offsetof(serialPinConfig_t, ioTagRx[0]), SERIAL_PORT_MAX_INDEX },
#ifdef USE_INVERTER
{ OWNER_INVERTER, PG_SERIAL_PIN_CONFIG, offsetof(serialPinConfig_t, ioTagInverter[0]), SERIAL_PORT_MAX_INDEX },
#endif
#ifdef USE_I2C
{ OWNER_I2C_SCL, PG_I2C_CONFIG, offsetof(i2cConfig_t, ioTagScl[0]), I2CDEV_COUNT },
{ OWNER_I2C_SDA, PG_I2C_CONFIG, offsetof(i2cConfig_t, ioTagSda[0]), I2CDEV_COUNT },
#endif
{ OWNER_LED, PG_STATUS_LED_CONFIG, offsetof(statusLedConfig_t, ioTags[0]), STATUS_LED_NUMBER },
#ifdef USE_SPEKTRUM_BIND
{ 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 },
{ OWNER_SPI_MOSI, PG_SPI_PIN_CONFIG, offsetof(spiPinConfig_t, ioTagMosi[0]), SPIDEV_COUNT },
#endif
#ifdef USE_ESCSERIAL
{ OWNER_ESCSERIAL, PG_ESCSERIAL_CONFIG, offsetof(escSerialConfig_t, ioTag), 0 },
#endif
#ifdef USE_CAMERA_CONTROL
{ OWNER_CAMERA_CONTROL, PG_CAMERA_CONTROL_CONFIG, offsetof(cameraControlConfig_t, ioTag), 0 },
#endif
#ifdef USE_ADC
{ OWNER_ADC_BATT, PG_ADC_CONFIG, offsetof(adcConfig_t, vbat.ioTag), 0 },
{ OWNER_ADC_RSSI, PG_ADC_CONFIG, offsetof(adcConfig_t, rssi.ioTag), 0 },
{ OWNER_ADC_CURR, PG_ADC_CONFIG, offsetof(adcConfig_t, current.ioTag), 0 },
{ OWNER_ADC_EXT, PG_ADC_CONFIG, offsetof(adcConfig_t, external1.ioTag), 0 },
#endif
#ifdef USE_BARO
{ OWNER_BARO_CS, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_spi_csn), 0 },
#endif
#ifdef USE_MAG
{ OWNER_COMPASS_CS, PG_COMPASS_CONFIG, offsetof(compassConfig_t, mag_spi_csn), 0 },
#endif
};
static ioTag_t *getIoTag(const cliResourceValue_t value, uint8_t index)
{
const pgRegistry_t* rec = pgFind(value.pgn);
return CONST_CAST(ioTag_t *, rec->address + value.offset + index);
}
static void printResource(uint8_t dumpMask)
{
for (unsigned int i = 0; i < ARRAYLEN(resourceTable); i++) {
const char* owner = ownerNames[resourceTable[i].owner];
const pgRegistry_t* pg = pgFind(resourceTable[i].pgn);
const void *currentConfig;
const void *defaultConfig;
if (configIsInCopy) {
currentConfig = pg->copy;
defaultConfig = pg->address;
} else {
currentConfig = pg->address;
defaultConfig = NULL;
}
for (int index = 0; index < MAX_RESOURCE_INDEX(resourceTable[i].maxIndex); index++) {
const ioTag_t ioTag = *((const ioTag_t *)currentConfig + resourceTable[i].offset + index);
const ioTag_t ioTagDefault = *((const ioTag_t *)defaultConfig + resourceTable[i].offset + index);
bool equalsDefault = ioTag == ioTagDefault;
const char *format = "resource %s %d %c%02d";
const char *formatUnassigned = "resource %s %d NONE";
if (!ioTagDefault) {
cliDefaultPrintLinef(dumpMask, equalsDefault, formatUnassigned, owner, RESOURCE_INDEX(index));
} else {
cliDefaultPrintLinef(dumpMask, equalsDefault, format, owner, RESOURCE_INDEX(index), IO_GPIOPortIdxByTag(ioTagDefault) + 'A', IO_GPIOPinIdxByTag(ioTagDefault));
}
if (!ioTag) {
if (!(dumpMask & HIDE_UNUSED)) {
cliDumpPrintLinef(dumpMask, equalsDefault, formatUnassigned, owner, RESOURCE_INDEX(index));
}
} else {
cliDumpPrintLinef(dumpMask, equalsDefault, format, owner, RESOURCE_INDEX(index), IO_GPIOPortIdxByTag(ioTag) + 'A', IO_GPIOPinIdxByTag(ioTag));
}
}
}
}
static void printResourceOwner(uint8_t owner, uint8_t index)
{
cliPrintf("%s", ownerNames[resourceTable[owner].owner]);
if (resourceTable[owner].maxIndex > 0) {
cliPrintf(" %d", RESOURCE_INDEX(index));
}
}
static void resourceCheck(uint8_t resourceIndex, uint8_t index, ioTag_t newTag)
{
if (!newTag) {
return;
}
const char * format = "\r\nNOTE: %c%02d already assigned to ";
for (int r = 0; r < (int)ARRAYLEN(resourceTable); r++) {
for (int i = 0; i < MAX_RESOURCE_INDEX(resourceTable[r].maxIndex); i++) {
ioTag_t *tag = getIoTag(resourceTable[r], i);
if (*tag == newTag) {
bool cleared = false;
if (r == resourceIndex) {
if (i == index) {
continue;
}
*tag = IO_TAG_NONE;
cleared = true;
}
cliPrintf(format, DEFIO_TAG_GPIOID(newTag) + 'A', DEFIO_TAG_PIN(newTag));
printResourceOwner(r, i);
if (cleared) {
cliPrintf(". ");
printResourceOwner(r, i);
cliPrintf(" disabled");
}
cliPrintLine(".");
}
}
}
}
static void cliResource(char *cmdline)
{
int len = strlen(cmdline);
if (len == 0) {
printResource(DUMP_MASTER | HIDE_UNUSED);
return;
} else if (strncasecmp(cmdline, "list", len) == 0) {
#ifdef MINIMAL_CLI
cliPrintLine("IO");
#else
cliPrintLine("Currently active IO resource assignments:\r\n(reboot to update)");
cliRepeat('-', 20);
#endif
for (int i = 0; i < DEFIO_IO_USED_COUNT; i++) {
const char* owner;
owner = ownerNames[ioRecs[i].owner];
cliPrintf("%c%02d: %s", IO_GPIOPortIdx(ioRecs + i) + 'A', IO_GPIOPinIdx(ioRecs + i), owner);
if (ioRecs[i].index > 0) {
cliPrintf(" %d", ioRecs[i].index);
}
cliPrintLinefeed();
}
cliPrintLinefeed();
#ifdef MINIMAL_CLI
cliPrintLine("DMA:");
#else
cliPrintLine("Currently active DMA:");
cliRepeat('-', 20);
#endif
for (int i = 0; i < DMA_MAX_DESCRIPTORS; i++) {
const char* owner;
owner = ownerNames[dmaGetOwner(i)];
cliPrintf(DMA_OUTPUT_STRING, i / DMA_MOD_VALUE + 1, (i % DMA_MOD_VALUE) + DMA_MOD_OFFSET);
uint8_t resourceIndex = dmaGetResourceIndex(i);
if (resourceIndex > 0) {
cliPrintLinef(" %s %d", owner, resourceIndex);
} else {
cliPrintLinef(" %s", owner);
}
}
#ifndef MINIMAL_CLI
cliPrintLine("\r\nUse: 'resource' to see how to change resources.");
#endif
return;
}
uint8_t resourceIndex = 0;
int index = 0;
char *pch = NULL;
char *saveptr;
pch = strtok_r(cmdline, " ", &saveptr);
for (resourceIndex = 0; ; resourceIndex++) {
if (resourceIndex >= ARRAYLEN(resourceTable)) {
cliPrintLine("Invalid");
return;
}
if (strncasecmp(pch, ownerNames[resourceTable[resourceIndex].owner], len) == 0) {
break;
}
}
pch = strtok_r(NULL, " ", &saveptr);
index = atoi(pch);
if (resourceTable[resourceIndex].maxIndex > 0 || index > 0) {
if (index <= 0 || index > MAX_RESOURCE_INDEX(resourceTable[resourceIndex].maxIndex)) {
cliShowArgumentRangeError("index", 1, MAX_RESOURCE_INDEX(resourceTable[resourceIndex].maxIndex));
return;
}
index -= 1;
pch = strtok_r(NULL, " ", &saveptr);
}
ioTag_t *tag = getIoTag(resourceTable[resourceIndex], index);
uint8_t pin = 0;
if (strlen(pch) > 0) {
if (strcasecmp(pch, "NONE") == 0) {
*tag = IO_TAG_NONE;
#ifdef MINIMAL_CLI
cliPrintLine("Freed");
#else
cliPrintLine("Resource is freed");
#endif
return;
} else {
uint8_t port = (*pch) - 'A';
if (port >= 8) {
port = (*pch) - 'a';
}
if (port < 8) {
pch++;
pin = atoi(pch);
if (pin < 16) {
ioRec_t *rec = IO_Rec(IOGetByTag(DEFIO_TAG_MAKE(port, pin)));
if (rec) {
resourceCheck(resourceIndex, index, DEFIO_TAG_MAKE(port, pin));
#ifdef MINIMAL_CLI
cliPrintLinef(" %c%02d set", port + 'A', pin);
#else
cliPrintLinef("\r\nResource is set to %c%02d", port + 'A', pin);
#endif
*tag = DEFIO_TAG_MAKE(port, pin);
} else {
cliShowParseError();
}
return;
}
}
}
}
cliShowParseError();
}
#endif /* USE_RESOURCE_MGMT */
static void backupConfigs(void)
{
// make copies of configs to do differencing
PG_FOREACH(pg) {
memcpy(pg->copy, pg->address, pg->size);
}
configIsInCopy = true;
}
static void restoreConfigs(void)
{
PG_FOREACH(pg) {
memcpy(pg->address, pg->copy, pg->size);
}
configIsInCopy = false;
}
static void printConfig(char *cmdline, bool doDiff)
{
uint8_t dumpMask = DUMP_MASTER;
char *options;
if ((options = checkCommand(cmdline, "master"))) {
dumpMask = DUMP_MASTER; // only
} else if ((options = checkCommand(cmdline, "profile"))) {
dumpMask = DUMP_PROFILE; // only
} else if ((options = checkCommand(cmdline, "rates"))) {
dumpMask = DUMP_RATES; // only
} else if ((options = checkCommand(cmdline, "all"))) {
dumpMask = DUMP_ALL; // all profiles and rates
} else {
options = cmdline;
}
if (doDiff) {
dumpMask = dumpMask | DO_DIFF;
}
backupConfigs();
// reset all configs to defaults to do differencing
resetConfigs();
#if defined(USE_TARGET_CONFIG)
targetConfiguration();
#endif
if (checkCommand(options, "defaults")) {
dumpMask = dumpMask | SHOW_DEFAULTS; // add default values as comments for changed values
}
if ((dumpMask & DUMP_MASTER) || (dumpMask & DUMP_ALL)) {
cliPrintHashLine("version");
cliVersion(NULL);
if ((dumpMask & (DUMP_ALL | DO_DIFF)) == (DUMP_ALL | DO_DIFF)) {
cliPrintHashLine("reset configuration to default settings");
cliPrint("defaults nosave");
cliPrintLinefeed();
}
cliPrintHashLine("name");
printName(dumpMask, &pilotConfig_Copy);
#ifdef USE_RESOURCE_MGMT
cliPrintHashLine("resources");
printResource(dumpMask);
#endif
#ifndef USE_QUAD_MIXER_ONLY
cliPrintHashLine("mixer");
const bool equalsDefault = mixerConfig_Copy.mixerMode == mixerConfig()->mixerMode;
const char *formatMixer = "mixer %s";
cliDefaultPrintLinef(dumpMask, equalsDefault, formatMixer, mixerNames[mixerConfig()->mixerMode - 1]);
cliDumpPrintLinef(dumpMask, equalsDefault, formatMixer, mixerNames[mixerConfig_Copy.mixerMode - 1]);
cliDumpPrintLinef(dumpMask, customMotorMixer(0)->throttle == 0.0f, "\r\nmmix reset\r\n");
printMotorMix(dumpMask, customMotorMixer_CopyArray, customMotorMixer(0));
#ifdef USE_SERVOS
cliPrintHashLine("servo");
printServo(dumpMask, servoParams_CopyArray, servoParams(0));
cliPrintHashLine("servo mix");
// print custom servo mixer if exists
cliDumpPrintLinef(dumpMask, customServoMixers(0)->rate == 0, "smix reset\r\n");
printServoMix(dumpMask, customServoMixers_CopyArray, customServoMixers(0));
#endif
#endif
cliPrintHashLine("feature");
printFeature(dumpMask, &featureConfig_Copy, featureConfig());
#ifdef BEEPER
cliPrintHashLine("beeper");
printBeeper(dumpMask, &beeperConfig_Copy, beeperConfig());
#endif
cliPrintHashLine("map");
printMap(dumpMask, &rxConfig_Copy, rxConfig());
cliPrintHashLine("serial");
printSerial(dumpMask, &serialConfig_Copy, serialConfig());
#ifdef USE_LED_STRIP
cliPrintHashLine("led");
printLed(dumpMask, ledStripConfig_Copy.ledConfigs, ledStripConfig()->ledConfigs);
cliPrintHashLine("color");
printColor(dumpMask, ledStripConfig_Copy.colors, ledStripConfig()->colors);
cliPrintHashLine("mode_color");
printModeColor(dumpMask, &ledStripConfig_Copy, ledStripConfig());
#endif
cliPrintHashLine("aux");
printAux(dumpMask, modeActivationConditions_CopyArray, modeActivationConditions(0));
cliPrintHashLine("adjrange");
printAdjustmentRange(dumpMask, adjustmentRanges_CopyArray, adjustmentRanges(0));
cliPrintHashLine("rxrange");
printRxRange(dumpMask, rxChannelRangeConfigs_CopyArray, rxChannelRangeConfigs(0));
#ifdef VTX_CONTROL
cliPrintHashLine("vtx");
printVtx(dumpMask, &vtxConfig_Copy, vtxConfig());
#endif
cliPrintHashLine("rxfail");
printRxFailsafe(dumpMask, rxFailsafeChannelConfigs_CopyArray, rxFailsafeChannelConfigs(0));
cliPrintHashLine("master");
dumpAllValues(MASTER_VALUE, dumpMask);
if (dumpMask & DUMP_ALL) {
const uint8_t pidProfileIndexSave = systemConfig_Copy.pidProfileIndex;
for (uint32_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
cliDumpPidProfile(pidProfileIndex, dumpMask);
}
changePidProfile(pidProfileIndexSave);
cliPrintHashLine("restore original profile selection");
cliProfile("");
const uint8_t controlRateProfileIndexSave = systemConfig_Copy.activeRateProfile;
for (uint32_t rateIndex = 0; rateIndex < CONTROL_RATE_PROFILE_COUNT; rateIndex++) {
cliDumpRateProfile(rateIndex, dumpMask);
}
changeControlRateProfile(controlRateProfileIndexSave);
cliPrintHashLine("restore original rateprofile selection");
cliRateProfile("");
cliPrintHashLine("save configuration");
cliPrint("save");
} else {
cliDumpPidProfile(systemConfig_Copy.pidProfileIndex, dumpMask);
cliDumpRateProfile(systemConfig_Copy.activeRateProfile, dumpMask);
}
}
if (dumpMask & DUMP_PROFILE) {
cliDumpPidProfile(systemConfig_Copy.pidProfileIndex, dumpMask);
}
if (dumpMask & DUMP_RATES) {
cliDumpRateProfile(systemConfig_Copy.activeRateProfile, dumpMask);
}
// restore configs from copies
restoreConfigs();
}
static void cliDump(char *cmdline)
{
printConfig(cmdline, false);
}
static void cliDiff(char *cmdline)
{
printConfig(cmdline, true);
}
typedef struct {
const char *name;
#ifndef MINIMAL_CLI
const char *description;
const char *args;
#endif
void (*func)(char *cmdline);
} clicmd_t;
#ifndef MINIMAL_CLI
#define CLI_COMMAND_DEF(name, description, args, method) \
{ \
name , \
description , \
args , \
method \
}
#else
#define CLI_COMMAND_DEF(name, description, args, method) \
{ \
name, \
method \
}
#endif
static void cliHelp(char *cmdline);
// should be sorted a..z for bsearch()
const clicmd_t cmdTable[] = {
CLI_COMMAND_DEF("adjrange", "configure adjustment ranges", NULL, cliAdjustmentRange),
CLI_COMMAND_DEF("aux", "configure modes", NULL, cliAux),
#ifdef BEEPER
CLI_COMMAND_DEF("beeper", "turn on/off beeper", "list\r\n"
"\t<+|->[name]", cliBeeper),
#endif
CLI_COMMAND_DEF("bl", "reboot into bootloader", NULL, cliBootloader),
#ifdef USE_LED_STRIP
CLI_COMMAND_DEF("color", "configure colors", NULL, cliColor),
#endif
CLI_COMMAND_DEF("defaults", "reset to defaults and reboot", "[nosave]", cliDefaults),
CLI_COMMAND_DEF("diff", "list configuration changes from default",
"[master|profile|rates|all] {defaults}", cliDiff),
#ifdef USE_DSHOT
CLI_COMMAND_DEF("dshotprog", "program DShot ESC(s)", "<index> <command>+", cliDshotProg),
#endif
CLI_COMMAND_DEF("dump", "dump configuration",
"[master|profile|rates|all] {defaults}", cliDump),
#ifdef USE_ESCSERIAL
CLI_COMMAND_DEF("escprog", "passthrough esc to serial", "<mode [sk/bl/ki/cc]> <index>", cliEscPassthrough),
#endif
CLI_COMMAND_DEF("exit", NULL, NULL, cliExit),
CLI_COMMAND_DEF("feature", "configure features",
"list\r\n"
"\t<+|->[name]", cliFeature),
#ifdef USE_FLASHFS
CLI_COMMAND_DEF("flash_erase", "erase flash chip", NULL, cliFlashErase),
CLI_COMMAND_DEF("flash_info", "show flash chip info", NULL, cliFlashInfo),
#ifdef USE_FLASH_TOOLS
CLI_COMMAND_DEF("flash_read", NULL, "<length> <address>", cliFlashRead),
CLI_COMMAND_DEF("flash_write", NULL, "<address> <message>", cliFlashWrite),
#endif
#endif
#ifdef USE_RX_FRSKY_SPI
CLI_COMMAND_DEF("frsky_bind", "initiate binding for FrSky SPI RX", NULL, cliFrSkyBind),
#endif
CLI_COMMAND_DEF("get", "get variable value", "[name]", cliGet),
#ifdef USE_GPS
CLI_COMMAND_DEF("gpspassthrough", "passthrough gps to serial", NULL, cliGpsPassthrough),
#endif
CLI_COMMAND_DEF("help", NULL, NULL, cliHelp),
#ifdef USE_LED_STRIP
CLI_COMMAND_DEF("led", "configure leds", NULL, cliLed),
#endif
CLI_COMMAND_DEF("map", "configure rc channel order", "[<map>]", cliMap),
#ifndef USE_QUAD_MIXER_ONLY
CLI_COMMAND_DEF("mixer", "configure mixer", "list\r\n\t<name>", cliMixer),
#endif
CLI_COMMAND_DEF("mmix", "custom motor mixer", NULL, cliMotorMix),
#ifdef USE_LED_STRIP
CLI_COMMAND_DEF("mode_color", "configure mode and special colors", NULL, cliModeColor),
#endif
CLI_COMMAND_DEF("motor", "get/set motor", "<index> [<value>]", cliMotor),
CLI_COMMAND_DEF("name", "name of craft", NULL, cliName),
#ifndef MINIMAL_CLI
CLI_COMMAND_DEF("play_sound", NULL, "[<index>]", cliPlaySound),
#endif
CLI_COMMAND_DEF("profile", "change profile", "[<index>]", cliProfile),
CLI_COMMAND_DEF("rateprofile", "change rate profile", "[<index>]", cliRateProfile),
#if defined(USE_RESOURCE_MGMT)
CLI_COMMAND_DEF("resource", "show/set resources", NULL, cliResource),
#endif
CLI_COMMAND_DEF("rxfail", "show/set rx failsafe settings", NULL, cliRxFailsafe),
CLI_COMMAND_DEF("rxrange", "configure rx channel ranges", NULL, cliRxRange),
CLI_COMMAND_DEF("save", "save and reboot", NULL, cliSave),
#ifdef USE_SDCARD
CLI_COMMAND_DEF("sd_info", "sdcard info", NULL, cliSdInfo),
#endif
CLI_COMMAND_DEF("serial", "configure serial ports", NULL, cliSerial),
#ifndef SKIP_SERIAL_PASSTHROUGH
CLI_COMMAND_DEF("serialpassthrough", "passthrough serial data to port", "<id> [baud] [mode] : passthrough to serial", cliSerialPassthrough),
#endif
#ifdef USE_SERVOS
CLI_COMMAND_DEF("servo", "configure servos", NULL, cliServo),
#endif
CLI_COMMAND_DEF("set", "change setting", "[<name>=<value>]", cliSet),
#ifdef USE_SERVOS
CLI_COMMAND_DEF("smix", "servo mixer", "<rule> <servo> <source> <rate> <speed> <min> <max> <box>\r\n"
"\treset\r\n"
"\tload <mixer>\r\n"
"\treverse <servo> <source> r|n", cliServoMix),
#endif
CLI_COMMAND_DEF("status", "show status", NULL, cliStatus),
#ifndef SKIP_TASK_STATISTICS
CLI_COMMAND_DEF("tasks", "show task stats", NULL, cliTasks),
#endif
CLI_COMMAND_DEF("version", "show version", NULL, cliVersion),
#ifdef VTX_CONTROL
CLI_COMMAND_DEF("vtx", "vtx channels on switch", NULL, cliVtx),
#endif
};
static void cliHelp(char *cmdline)
{
UNUSED(cmdline);
for (uint32_t i = 0; i < ARRAYLEN(cmdTable); i++) {
cliPrint(cmdTable[i].name);
#ifndef MINIMAL_CLI
if (cmdTable[i].description) {
cliPrintf(" - %s", cmdTable[i].description);
}
if (cmdTable[i].args) {
cliPrintf("\r\n\t%s", cmdTable[i].args);
}
#endif
cliPrintLinefeed();
}
}
void cliProcess(void)
{
if (!cliWriter) {
return;
}
// Be a little bit tricky. Flush the last inputs buffer, if any.
bufWriterFlush(cliWriter);
while (serialRxBytesWaiting(cliPort)) {
uint8_t c = serialRead(cliPort);
if (c == '\t' || c == '?') {
// do tab completion
const clicmd_t *cmd, *pstart = NULL, *pend = NULL;
uint32_t i = bufferIndex;
for (cmd = cmdTable; cmd < cmdTable + ARRAYLEN(cmdTable); cmd++) {
if (bufferIndex && (strncasecmp(cliBuffer, cmd->name, bufferIndex) != 0))
continue;
if (!pstart)
pstart = cmd;
pend = cmd;
}
if (pstart) { /* Buffer matches one or more commands */
for (; ; bufferIndex++) {
if (pstart->name[bufferIndex] != pend->name[bufferIndex])
break;
if (!pstart->name[bufferIndex] && bufferIndex < sizeof(cliBuffer) - 2) {
/* Unambiguous -- append a space */
cliBuffer[bufferIndex++] = ' ';
cliBuffer[bufferIndex] = '\0';
break;
}
cliBuffer[bufferIndex] = pstart->name[bufferIndex];
}
}
if (!bufferIndex || pstart != pend) {
/* Print list of ambiguous matches */
cliPrint("\r\033[K");
for (cmd = pstart; cmd <= pend; cmd++) {
cliPrint(cmd->name);
cliWrite('\t');
}
cliPrompt();
i = 0; /* Redraw prompt */
}
for (; i < bufferIndex; i++)
cliWrite(cliBuffer[i]);
} else if (!bufferIndex && c == 4) { // CTRL-D
cliExit(cliBuffer);
return;
} else if (c == 12) { // NewPage / CTRL-L
// clear screen
cliPrint("\033[2J\033[1;1H");
cliPrompt();
} else if (bufferIndex && (c == '\n' || c == '\r')) {
// enter pressed
cliPrintLinefeed();
// Strip comment starting with # from line
char *p = cliBuffer;
p = strchr(p, '#');
if (NULL != p) {
bufferIndex = (uint32_t)(p - cliBuffer);
}
// Strip trailing whitespace
while (bufferIndex > 0 && cliBuffer[bufferIndex - 1] == ' ') {
bufferIndex--;
}
// Process non-empty lines
if (bufferIndex > 0) {
cliBuffer[bufferIndex] = 0; // null terminate
const clicmd_t *cmd;
char *options;
for (cmd = cmdTable; cmd < cmdTable + ARRAYLEN(cmdTable); cmd++) {
if ((options = checkCommand(cliBuffer, cmd->name))) {
break;
}
}
if (cmd < cmdTable + ARRAYLEN(cmdTable))
cmd->func(options);
else
cliPrint("Unknown command, try 'help'");
bufferIndex = 0;
}
memset(cliBuffer, 0, sizeof(cliBuffer));
// 'exit' will reset this flag, so we don't need to print prompt again
if (!cliMode)
return;
cliPrompt();
} else if (c == 127) {
// backspace
if (bufferIndex) {
cliBuffer[--bufferIndex] = 0;
cliPrint("\010 \010");
}
} else if (bufferIndex < sizeof(cliBuffer) && c >= 32 && c <= 126) {
if (!bufferIndex && c == ' ')
continue; // Ignore leading spaces
cliBuffer[bufferIndex++] = c;
cliWrite(c);
}
}
}
void cliEnter(serialPort_t *serialPort)
{
cliMode = 1;
cliPort = serialPort;
setPrintfSerialPort(cliPort);
cliWriter = bufWriterInit(cliWriteBuffer, sizeof(cliWriteBuffer), (bufWrite_t)serialWriteBufShim, serialPort);
schedulerSetCalulateTaskStatistics(systemConfig()->task_statistics);
#ifndef MINIMAL_CLI
cliPrintLine("\r\nEntering CLI Mode, type 'exit' to return, or 'help'");
#else
cliPrintLine("\r\nCLI");
#endif
cliPrompt();
setArmingDisabled(ARMING_DISABLED_CLI);
}
void cliInit(const serialConfig_t *serialConfig)
{
UNUSED(serialConfig);
}
#endif // USE_CLI
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