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betaflight/src/main/cli/cli.c
Bruce Luckcuck 42af168854 Optimize rc modes activation conditions processing 
Analyze the rc modes activation conditions and only process configured entries. Previously the entire possible list was processed even though typically only a handful are configured.

Reduces the RX task processing time by about 25% (~44us to ~33us) with an average setup of 3 modes configured (F405, SBUS). Processing time savings will diminish as the user configures more modes. But typically far fewer than the maximum of 20 will be configured.
2019-02-05 16:05:16 -05:00

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/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software 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 and Betaflight are distributed in the hope that they
* 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 this software.
*
* 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"
// 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 "cli/settings.h"
#include "cms/cms.h"
#include "common/axis.h"
#include "common/color.h"
#include "common/maths.h"
#include "common/printf.h"
#include "common/strtol.h"
#include "common/time.h"
#include "common/typeconversion.h"
#include "common/utils.h"
#include "config/config_eeprom.h"
#include "config/feature.h"
#include "drivers/accgyro/accgyro.h"
#include "drivers/adc.h"
#include "drivers/buf_writer.h"
#include "drivers/bus_spi.h"
#include "drivers/dma_reqmap.h"
#include "drivers/camera_control.h"
#include "drivers/compass/compass.h"
#include "drivers/display.h"
#include "drivers/dma.h"
#include "drivers/flash.h"
#include "drivers/inverter.h"
#include "drivers/io.h"
#include "drivers/io_impl.h"
#include "drivers/light_led.h"
#include "drivers/rangefinder/rangefinder_hcsr04.h"
#include "drivers/sdcard.h"
#include "drivers/sensor.h"
#include "drivers/serial.h"
#include "drivers/serial_escserial.h"
#include "drivers/sound_beeper.h"
#include "drivers/stack_check.h"
#include "drivers/system.h"
#include "drivers/time.h"
#include "drivers/timer.h"
#include "drivers/transponder_ir.h"
#include "drivers/usb_msc.h"
#include "drivers/vtx_common.h"
#include "fc/board_info.h"
#include "fc/config.h"
#include "fc/controlrate_profile.h"
#include "fc/core.h"
#include "fc/rc.h"
#include "fc/rc_adjustments.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
#include "flight/failsafe.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/position.h"
#include "flight/servos.h"
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/beeper.h"
#include "io/flashfs.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/usb_msc.h"
#include "io/vtx_control.h"
#include "io/vtx.h"
#include "msp/msp.h"
#include "msp/msp_box.h"
#include "msp/msp_protocol.h"
#include "pg/adc.h"
#include "pg/beeper.h"
#include "pg/beeper_dev.h"
#include "pg/board.h"
#include "pg/bus_i2c.h"
#include "pg/bus_spi.h"
#include "pg/gyrodev.h"
#include "pg/max7456.h"
#include "pg/mco.h"
#include "pg/pinio.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "pg/rx.h"
#include "pg/rx_spi.h"
#include "pg/rx_pwm.h"
#include "pg/serial_uart.h"
#include "pg/sdio.h"
#include "pg/timerio.h"
#include "pg/usb.h"
#include "rx/rx.h"
#include "rx/spektrum.h"
#include "rx/rx_spi_common.h"
#include "scheduler/scheduler.h"
#include "sensors/acceleration.h"
#include "sensors/adcinternal.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_hub.h"
#include "telemetry/telemetry.h"
#include "cli.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;
#define CURRENT_PROFILE_INDEX -1
static int8_t pidProfileIndexToUse = CURRENT_PROFILE_INDEX;
static int8_t rateProfileIndexToUse = CURRENT_PROFILE_INDEX;
static bool featureMaskIsCopied = false;
static uint32_t featureMaskCopy;
#if defined(USE_BOARD_INFO)
static bool boardInformationUpdated = false;
#if defined(USE_SIGNATURE)
static bool signatureUpdated = false;
#endif
#endif // USE_BOARD_INFO
static const char* const emptyName = "-";
static const char* const emptyString = "";
#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", "",
"RANGEFINDER", "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_SET },
{ 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", "RANGEFINDER", "GPS", "GPS+MAG", NULL
};
#define SENSOR_NAMES_MASK (SENSOR_GYRO | SENSOR_ACC | SENSOR_BARO | SENSOR_MAG | SENSOR_RANGEFINDER)
static const char * const *sensorHardwareNames[] = {
lookupTableGyroHardware, lookupTableAccHardware, lookupTableBaroHardware, lookupTableMagHardware, lookupTableRangefinderHardware
};
#endif // USE_SENSOR_NAMES
#if defined(USE_DSHOT) && defined(USE_DSHOT_TELEMETRY)
extern uint32_t readDoneCount;
extern uint32_t inputBuffer[DSHOT_TELEMETRY_INPUT_LEN];
extern uint32_t setDirectionMicros;
#endif
static void backupPgConfig(const pgRegistry_t *pg)
{
memcpy(pg->copy, pg->address, pg->size);
}
static void restorePgConfig(const pgRegistry_t *pg)
{
memcpy(pg->address, pg->copy, pg->size);
}
static void backupConfigs(void)
{
// make copies of configs to do differencing
PG_FOREACH(pg) {
backupPgConfig(pg);
}
configIsInCopy = true;
}
static void restoreConfigs(void)
{
PG_FOREACH(pg) {
restorePgConfig(pg);
}
configIsInCopy = false;
}
static void backupAndResetConfigs(void)
{
backupConfigs();
// reset all configs to defaults to do differencing
resetConfigs();
}
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 bool cliDumpPrintLinef(uint8_t dumpMask, bool equalsDefault, const char *format, ...)
{
if (!((dumpMask & DO_DIFF) && equalsDefault)) {
va_list va;
va_start(va, format);
cliPrintfva(format, va);
va_end(va);
cliPrintLinefeed();
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);
cliPrintfva(format, va);
va_end(va);
cliPrintLinefeed();
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);
cliPrintfva(format, va);
va_end(va);
cliPrintLinefeed();
}
static void cliPrintErrorLinef(const char *format, ...)
{
cliPrint("###");
va_list va;
va_start(va, format);
cliPrintfva(format, va);
va_end(va);
cliPrintLine("###");
}
static void cliPrintCorruptMessage(int value)
{
cliPrintf("%d ###CORRUPTED CONFIG###", value);
}
static void getMinMax(const clivalue_t *var, int *min, int *max)
{
switch (var->type & VALUE_TYPE_MASK) {
case VAR_UINT8:
case VAR_UINT16:
*min = var->config.minmaxUnsigned.min;
*max = var->config.minmaxUnsigned.max;
break;
default:
*min = var->config.minmax.min;
*max = var->config.minmax.max;
break;
}
}
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:
value = *(uint16_t *)valuePointer;
break;
case VAR_INT16:
value = *(int16_t *)valuePointer;
break;
case VAR_UINT32:
value = *(uint32_t *)valuePointer;
break;
}
switch (var->type & VALUE_MODE_MASK) {
case MODE_DIRECT:
if ((var->type & VALUE_TYPE_MASK) == VAR_UINT32) {
if ((uint32_t) value > var->config.u32Max) {
cliPrintCorruptMessage(value);
} else {
cliPrintf("%d", value);
if (full) {
cliPrintf(" 0 %d", var->config.u32Max);
}
}
} else {
int min;
int max;
getMinMax(var, &min, &max);
if ((value < min) || (value > max)) {
cliPrintCorruptMessage(value);
} else {
cliPrintf("%d", value);
if (full) {
cliPrintf(" %d %d", min, max);
}
}
}
break;
case MODE_LOOKUP:
if (value < lookupTables[var->config.lookup.tableIndex].valueCount) {
cliPrint(lookupTables[var->config.lookup.tableIndex].values[value]);
} else {
cliPrintCorruptMessage(value);
}
break;
case MODE_BITSET:
if (value & 1 << var->config.bitpos) {
cliPrintf("ON");
} else {
cliPrintf("OFF");
}
}
}
}
static bool valuePtrEqualsDefault(const clivalue_t *var, const void *ptr, const void *ptrDefault)
{
bool result = true;
int elementCount = 1;
uint32_t mask = 0xffffffff;
if ((var->type & VALUE_MODE_MASK) == MODE_ARRAY) {
elementCount = var->config.array.length;
}
if ((var->type & VALUE_MODE_MASK) == MODE_BITSET) {
mask = 1 << var->config.bitpos;
}
for (int i = 0; i < elementCount; i++) {
switch (var->type & VALUE_TYPE_MASK) {
case VAR_UINT8:
result = result && (((uint8_t *)ptr)[i] & mask) == (((uint8_t *)ptrDefault)[i] & mask);
break;
case VAR_INT8:
result = result && ((int8_t *)ptr)[i] == ((int8_t *)ptrDefault)[i];
break;
case VAR_UINT16:
result = result && (((uint16_t *)ptr)[i] & mask) == (((uint16_t *)ptrDefault)[i] & mask);
break;
case VAR_INT16:
result = result && ((int16_t *)ptr)[i] == ((int16_t *)ptrDefault)[i];
break;
case VAR_UINT32:
result = result && (((uint32_t *)ptr)[i] & mask) == (((uint32_t *)ptrDefault)[i] & mask);
break;
}
}
return result;
}
static uint8_t getPidProfileIndexToUse()
{
return pidProfileIndexToUse == CURRENT_PROFILE_INDEX ? getCurrentPidProfileIndex() : pidProfileIndexToUse;
}
static uint8_t getRateProfileIndexToUse()
{
return rateProfileIndexToUse == CURRENT_PROFILE_INDEX ? getCurrentControlRateProfileIndex() : rateProfileIndexToUse;
}
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) * getPidProfileIndexToUse();
case PROFILE_RATE_VALUE:
return value->offset + sizeof(controlRateConfig_t) * getRateProfileIndexToUse();
}
return 0;
}
void *cliGetValuePointer(const clivalue_t *value)
{
const pgRegistry_t* rec = pgFind(value->pgn);
if (configIsInCopy) {
return CONST_CAST(void *, rec->copy + getValueOffset(value));
} else {
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, 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): {
switch (var->type & VALUE_TYPE_MASK) {
case VAR_UINT32:
cliPrintLinef("Allowed range: %d - %d", 0, var->config.u32Max);
break;
case VAR_UINT8:
case VAR_UINT16:
cliPrintLinef("Allowed range: %d - %d", var->config.minmaxUnsigned.min, var->config.minmaxUnsigned.max);
break;
default:
cliPrintLinef("Allowed range: %d - %d", var->config.minmax.min, var->config.minmax.max);
break;
}
}
break;
case (MODE_LOOKUP): {
const lookupTableEntry_t *tableEntry = &lookupTables[var->config.lookup.tableIndex];
cliPrint("Allowed values: ");
bool firstEntry = true;
for (unsigned i = 0; i < tableEntry->valueCount; i++) {
if (tableEntry->values[i]) {
if (!firstEntry) {
cliPrint(", ");
}
cliPrintf("%s", tableEntry->values[i]);
firstEntry = false;
}
}
cliPrintLinefeed();
}
break;
case (MODE_ARRAY): {
cliPrintLinef("Array length: %d", var->config.array.length);
}
break;
case (MODE_BITSET): {
cliPrintLinef("Allowed values: OFF, ON");
}
break;
}
}
static void cliSetVar(const clivalue_t *var, const uint32_t value)
{
void *ptr = cliGetValuePointer(var);
uint32_t workValue;
uint32_t mask;
if ((var->type & VALUE_MODE_MASK) == MODE_BITSET) {
switch (var->type & VALUE_TYPE_MASK) {
case VAR_UINT8:
mask = (1 << var->config.bitpos) & 0xff;
if (value) {
workValue = *(uint8_t *)ptr | mask;
} else {
workValue = *(uint8_t *)ptr & ~mask;
}
*(uint8_t *)ptr = workValue;
break;
case VAR_UINT16:
mask = (1 << var->config.bitpos) & 0xffff;
if (value) {
workValue = *(uint16_t *)ptr | mask;
} else {
workValue = *(uint16_t *)ptr & ~mask;
}
*(uint16_t *)ptr = workValue;
break;
case VAR_UINT32:
mask = 1 << var->config.bitpos;
if (value) {
workValue = *(uint32_t *)ptr | mask;
} else {
workValue = *(uint32_t *)ptr & ~mask;
}
*(uint32_t *)ptr = workValue;
break;
}
} else {
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:
*(uint16_t *)ptr = value;
break;
case VAR_INT16:
*(int16_t *)ptr = value;
break;
case VAR_UINT32:
*(uint32_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)
{
cliPrintErrorLinef("PARSE ERROR");
}
static void cliShowArgumentRangeError(char *name, int min, int max)
{
cliPrintErrorLinef("%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 = !memcmp(channelFailsafeConfig, defaultChannelFailsafeConfig, sizeof(*channelFailsafeConfig));
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 %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 = !isModeActivationConditionConfigured(mac, macDefault);
const box_t *box = findBoxByBoxId(macDefault->modeId);
const box_t *linkedTo = findBoxByBoxId(macDefault->linkedTo);
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),
macDefault->modeLogic,
linkedTo ? linkedTo->permanentId : 0
);
}
}
const box_t *box = findBoxByBoxId(mac->modeId);
const box_t *linkedTo = findBoxByBoxId(mac->linkedTo);
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),
mac->modeLogic,
linkedTo ? linkedTo->permanentId : 0
);
}
}
}
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);
ptr = nextArg(ptr);
if (ptr) {
val = atoi(ptr);
if (val == MODELOGIC_OR || val == MODELOGIC_AND) {
mac->modeLogic = val;
validArgumentCount++;
}
}
ptr = nextArg(ptr);
if (ptr) {
val = atoi(ptr);
const box_t *box = findBoxByPermanentId(val);
if (box) {
mac->linkedTo = box->boxId;
validArgumentCount++;
}
}
if (validArgumentCount == 4) { // for backwards compatibility
mac->modeLogic = MODELOGIC_OR;
} else if (validArgumentCount == 5) { // for backwards compatibility
mac->linkedTo = 0;
} else if (validArgumentCount != 6) {
memset(mac, 0, sizeof(modeActivationCondition_t));
}
analyzeModeActivationConditions();
cliPrintLinef( "aux %u %u %u %u %u %u %u",
i,
mac->modeId,
mac->auxChannelIndex,
MODE_STEP_TO_CHANNEL_VALUE(mac->range.startStep),
MODE_STEP_TO_CHANNEL_VALUE(mac->range.endStep),
mac->modeLogic,
mac->linkedTo
);
} 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 = !memcmp(&serialConfig->portConfigs[i], &serialConfigDefault->portConfigs[i], sizeof(serialConfig->portConfigs[i]));
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)
{
const char *format = "serial %d %d %ld %ld %ld %ld";
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));
cliDumpPrintLinef(0, false, format,
portConfig.identifier,
portConfig.functionMask,
baudRates[portConfig.msp_baudrateIndex],
baudRates[portConfig.gps_baudrateIndex],
baudRates[portConfig.telemetry_baudrateIndex],
baudRates[portConfig.blackbox_baudrateIndex]
);
}
#if defined(USE_SERIAL_PASSTHROUGH)
static void cbCtrlLine(void *context, uint16_t ctrl)
{
#ifdef USE_PINIO
int contextValue = (int)(long)context;
if (contextValue) {
pinioSet(contextValue - 1, !(ctrl & CTRL_LINE_STATE_DTR));
} else
#endif /* USE_PINIO */
UNUSED(context);
if (!(ctrl & CTRL_LINE_STATE_DTR)) {
systemReset();
}
}
static void cliSerialPassthrough(char *cmdline)
{
if (isEmpty(cmdline)) {
cliShowParseError();
return;
}
int id = -1;
uint32_t baud = 0;
bool enableBaudCb = false;
int pinioDtr = 0;
bool resetOnDtr = false;
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 (strcasestr(tok, "rx")) {
mode |= MODE_RX;
}
if (strcasestr(tok, "tx")) {
mode |= MODE_TX;
}
break;
case 3:
if (strncasecmp(tok, "reset", strlen(tok)) == 0) {
resetOnDtr = true;
#ifdef USE_PINIO
} else {
pinioDtr = atoi(tok);
#endif /* USE_PINIO */
}
break;
}
index++;
tok = strtok_r(NULL, " ", &saveptr);
}
if (baud == 0) {
enableBaudCb = true;
}
cliPrintf("Port %d ", id);
serialPort_t *passThroughPort;
serialPortUsage_t *passThroughPortUsage = findSerialPortUsageByIdentifier(id);
if (!passThroughPortUsage || passThroughPortUsage->serialPort == NULL) {
if (enableBaudCb) {
// Set default baud
baud = 57600;
}
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;
}
if (enableBaudCb) {
cliPrintf("opened, default baud = %d.\r\n", baud);
} else {
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.
// Set the baud rate if specified
if (baud) {
cliPrintf("already open, setting baud = %d.\n\r", baud);
serialSetBaudRate(passThroughPort, baud);
} else {
cliPrintf("already open, baud = %d.\n\r", passThroughPort->baudRate);
}
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;
}
}
// If no baud rate is specified allow to be set via USB
if (enableBaudCb) {
cliPrintLine("Baud rate change over USB enabled.");
// Register the right side baud rate setting routine with the left side which allows setting of the UART
// baud rate over USB without setting it using the serialpassthrough command
serialSetBaudRateCb(cliPort, serialSetBaudRate, passThroughPort);
}
char *resetMessage = "";
if (resetOnDtr) {
resetMessage = "or drop DTR ";
}
cliPrintLinef("Forwarding, power cycle %sto exit.", resetMessage);
if (resetOnDtr
#ifdef USE_PINIO
|| pinioDtr
#endif /* USE_PINIO */
) {
// Register control line state callback
serialSetCtrlLineStateCb(cliPort, cbCtrlLine, (void *)(intptr_t)(pinioDtr));
}
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 %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 = !memcmp(ar, arDefault, sizeof(*ar));
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->adjustmentConfig,
arDefault->auxSwitchChannelIndex,
arDefault->adjustmentCenter,
arDefault->adjustmentScale
);
}
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->adjustmentConfig,
ar->auxSwitchChannelIndex,
ar->adjustmentCenter,
ar->adjustmentScale
);
}
}
static void cliAdjustmentRange(char *cmdline)
{
const char *format = "adjrange %u %u %u %u %u %u %u %u %u";
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->adjustmentConfig = 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();
return;
}
// Optional arguments
ar->adjustmentCenter = 0;
ar->adjustmentScale = 0;
ptr = nextArg(ptr);
if (ptr) {
val = atoi(ptr);
ar->adjustmentCenter = val;
validArgumentCount++;
}
ptr = nextArg(ptr);
if (ptr) {
val = atoi(ptr);
ar->adjustmentScale = val;
validArgumentCount++;
}
activeAdjustmentRangeReset();
cliDumpPrintLinef(0, false, format,
i,
ar->adjustmentIndex,
ar->auxChannelIndex,
MODE_STEP_TO_CHANNEL_VALUE(ar->range.startStep),
MODE_STEP_TO_CHANNEL_VALUE(ar->range.endStep),
ar->adjustmentConfig,
ar->auxSwitchChannelIndex,
ar->adjustmentCenter,
ar->adjustmentScale
);
} 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) {
cliPrintErrorLinef("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 = !memcmp(&channelRangeConfigs[i], &defaultChannelRangeConfigs[i], sizeof(channelRangeConfigs[i]));
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)
{
const char *format = "rxrange %u %u %u";
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 = PWM_PULSE_MIN, rangeMax = PWM_PULSE_MAX;
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;
cliDumpPrintLinef(0, false, format,
i,
channelRangeConfig->min,
channelRangeConfig->max
);
}
} else {
cliShowArgumentRangeError("CHANNEL", 0, NON_AUX_CHANNEL_COUNT - 1);
}
}
}
#ifdef USE_LED_STRIP_STATUS_MODE
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)
{
const char *format = "led %u %s";
char ledConfigBuffer[20];
int i;
const char *ptr;
if (isEmpty(cmdline)) {
printLed(DUMP_MASTER, ledStripStatusModeConfig()->ledConfigs, NULL);
} else {
ptr = cmdline;
i = atoi(ptr);
if (i < LED_MAX_STRIP_LENGTH) {
ptr = nextArg(cmdline);
if (parseLedStripConfig(i, ptr)) {
generateLedConfig((ledConfig_t *)&ledStripStatusModeConfig()->ledConfigs[i], ledConfigBuffer, sizeof(ledConfigBuffer));
cliDumpPrintLinef(0, false, format, i, ledConfigBuffer);
} else {
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 = !memcmp(color, colorDefault, sizeof(*color));
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)
{
const char *format = "color %u %d,%u,%u";
if (isEmpty(cmdline)) {
printColor(DUMP_MASTER, ledStripStatusModeConfig()->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)) {
const hsvColor_t *color = &ledStripStatusModeConfig()->colors[i];
cliDumpPrintLinef(0, false, format, i, color->h, color->s, color->v);
} else {
cliShowParseError();
}
} else {
cliShowArgumentRangeError("INDEX", 0, LED_CONFIGURABLE_COLOR_COUNT - 1);
}
}
}
static void printModeColor(uint8_t dumpMask, const ledStripStatusModeConfig_t *ledStripStatusModeConfig, const ledStripStatusModeConfig_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 = ledStripStatusModeConfig->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 = ledStripStatusModeConfig->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 = ledStripStatusModeConfig->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, ledStripStatusModeConfig(), 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 = !memcmp(servoConf, defaultServoConf, sizeof(*servoConf));
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)
{
const char *format = "servo %u %d %d %d %d %d";
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];
cliDumpPrintLinef(0, false, format,
i,
servo->min,
servo->max,
servo->middle,
servo->rate,
servo->forwardFromChannel
);
}
}
#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 = !memcmp(&customServoMixer, &customServoMixerDefault, sizeof(customServoMixer));
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) {
cliPrintErrorLinef("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, ' ');
if (ptr == NULL) {
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();
return;
}
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_isFunctional() || !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);
if (!flashfsIsSupported()) {
return;
}
#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 USE_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 = !memcmp(cac, cacDefault, sizeof(*cac));
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)
{
const char *format = "vtx %u %u %u %u %u %u";
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));
cliShowParseError();
} else {
cliDumpPrintLinef(0, false, format,
i,
cac->auxChannelIndex,
cac->band,
cac->channel,
MODE_STEP_TO_CHANNEL_VALUE(cac->range.startStep),
MODE_STEP_TO_CHANNEL_VALUE(cac->range.endStep)
);
}
} else {
cliShowArgumentRangeError("INDEX", 0, MAX_CHANNEL_ACTIVATION_CONDITION_COUNT - 1);
}
}
}
#endif // VTX_CONTROL
#ifdef USE_OSD
static void printDisplayName(uint8_t dumpMask, const pilotConfig_t *pilotConfig)
{
const bool equalsDefault = strlen(pilotConfig->displayName) == 0;
cliDumpPrintLinef(dumpMask, equalsDefault, "display_name %s", equalsDefault ? emptyName : pilotConfig->displayName);
}
static void cliDisplayName(char *cmdline)
{
const unsigned int len = strlen(cmdline);
if (len > 0) {
memset(pilotConfigMutable()->displayName, 0, ARRAYLEN(pilotConfig()->displayName));
if (strncmp(cmdline, emptyName, len)) {
strncpy(pilotConfigMutable()->displayName, cmdline, MIN(len, MAX_NAME_LENGTH));
}
}
printDisplayName(DUMP_MASTER, pilotConfig());
}
#endif
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());
}
#if defined(USE_BOARD_INFO)
#define ERROR_MESSAGE "%s CANNOT BE CHANGED. CURRENT VALUE: '%s'"
static void cliBoardName(char *cmdline)
{
const unsigned int len = strlen(cmdline);
if (len > 0 && boardInformationIsSet() && (len != strlen(getBoardName()) || strncmp(getBoardName(), cmdline, len))) {
cliPrintErrorLinef(ERROR_MESSAGE, "BOARD_NAME", getBoardName());
} else {
if (len > 0) {
setBoardName(cmdline);
boardInformationUpdated = true;
}
cliPrintLinef("board_name %s", getBoardName());
}
}
static void cliManufacturerId(char *cmdline)
{
const unsigned int len = strlen(cmdline);
if (len > 0 && boardInformationIsSet() && (len != strlen(getManufacturerId()) || strncmp(getManufacturerId(), cmdline, len))) {
cliPrintErrorLinef(ERROR_MESSAGE, "MANUFACTURER_ID", getManufacturerId());
} else {
if (len > 0) {
setManufacturerId(cmdline);
boardInformationUpdated = true;
}
cliPrintLinef("manufacturer_id %s", getManufacturerId());
}
}
#if defined(USE_SIGNATURE)
static void writeSignature(char *signatureStr, uint8_t *signature)
{
for (unsigned i = 0; i < SIGNATURE_LENGTH; i++) {
tfp_sprintf(&signatureStr[2 * i], "%02x", signature[i]);
}
}
static void cliSignature(char *cmdline)
{
const int len = strlen(cmdline);
uint8_t signature[SIGNATURE_LENGTH] = {0};
if (len > 0) {
if (len != 2 * SIGNATURE_LENGTH) {
cliPrintErrorLinef("INVALID LENGTH: %d (EXPECTED: %d)", len, 2 * SIGNATURE_LENGTH);
return;
}
#define BLOCK_SIZE 2
for (unsigned i = 0; i < SIGNATURE_LENGTH; i++) {
char temp[BLOCK_SIZE + 1];
strncpy(temp, &cmdline[i * BLOCK_SIZE], BLOCK_SIZE);
temp[BLOCK_SIZE] = '\0';
char *end;
unsigned result = strtoul(temp, &end, 16);
if (end == &temp[BLOCK_SIZE]) {
signature[i] = result;
} else {
cliPrintErrorLinef("INVALID CHARACTER FOUND: %c", end[0]);
return;
}
}
#undef BLOCK_SIZE
}
char signatureStr[SIGNATURE_LENGTH * 2 + 1] = {0};
if (len > 0 && signatureIsSet() && memcmp(signature, getSignature(), SIGNATURE_LENGTH)) {
writeSignature(signatureStr, getSignature());
cliPrintErrorLinef(ERROR_MESSAGE, "SIGNATURE", signatureStr);
} else {
if (len > 0) {
setSignature(signature);
signatureUpdated = true;
writeSignature(signatureStr, getSignature());
} else if (signatureUpdated || signatureIsSet()) {
writeSignature(signatureStr, getSignature());
}
cliPrintLinef("signature %s", signatureStr);
}
}
#endif
#undef ERROR_MESSAGE
#endif // USE_BOARD_INFO
static void cliMcuId(char *cmdline)
{
UNUSED(cmdline);
cliPrintLinef("mcu_id %08x%08x%08x", U_ID_0, U_ID_1, U_ID_2);
}
static uint32_t getFeatureMask(const uint32_t featureMask)
{
if (featureMaskIsCopied) {
return featureMaskCopy;
} else {
return featureMask;
}
}
static void printFeature(uint8_t dumpMask, const featureConfig_t *featureConfig, const featureConfig_t *featureConfigDefault)
{
const uint32_t mask = getFeatureMask(featureConfig->enabledFeatures);
const uint32_t defaultMask = featureConfigDefault->enabledFeatures;
for (uint32_t i = 0; featureNames[i]; i++) { // disabled features first
if (strcmp(featureNames[i], emptyString) != 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], emptyString) != 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);
const uint32_t mask = getFeatureMask(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], emptyString) != 0) //Skip unused
cliPrintf(" %s", featureNames[i]);
}
cliPrintLinefeed();
return;
} else {
if (!featureMaskIsCopied) {
featureMaskCopy = featureMask();
featureMaskIsCopied = true;
}
uint32_t feature;
bool remove = false;
if (cmdline[0] == '-') {
// remove feature
remove = true;
cmdline++; // skip over -
len--;
}
for (uint32_t i = 0; ; i++) {
if (featureNames[i] == NULL) {
cliPrintErrorLinef("INVALID NAME");
break;
}
if (strncasecmp(cmdline, featureNames[i], len) == 0) {
feature = 1 << i;
#ifndef USE_GPS
if (feature & FEATURE_GPS) {
cliPrintLine("unavailable");
break;
}
#endif
#ifndef USE_RANGEFINDER
if (feature & FEATURE_RANGEFINDER) {
cliPrintLine("unavailable");
break;
}
#endif
if (remove) {
featureClear(feature, &featureMaskCopy);
cliPrint("Disabled");
} else {
featureSet(feature, &featureMaskCopy);
cliPrint("Enabled");
}
cliPrintLinef(" %s", featureNames[i]);
break;
}
}
}
}
#if defined(USE_BEEPER)
static void printBeeper(uint8_t dumpMask, const uint32_t offFlags, const uint32_t offFlagsDefault, const char *name)
{
const uint8_t beeperCount = beeperTableEntryCount();
for (int32_t i = 0; i < beeperCount - 1; i++) {
const char *formatOff = "%s -%s";
const char *formatOn = "%s %s";
const uint32_t beeperModeMask = beeperModeMaskForTableIndex(i);
cliDefaultPrintLinef(dumpMask, ~(offFlags ^ offFlagsDefault) & beeperModeMask, offFlags & beeperModeMask ? formatOn : formatOff, name, beeperNameForTableIndex(i));
cliDumpPrintLinef(dumpMask, ~(offFlags ^ offFlagsDefault) & beeperModeMask, offFlags & beeperModeMask ? formatOff : formatOn, name, beeperNameForTableIndex(i));
}
}
static void processBeeperCommand(char *cmdline, uint32_t *offFlags, const uint32_t allowedFlags)
{
uint32_t len = strlen(cmdline);
uint8_t beeperCount = beeperTableEntryCount();
if (len == 0) {
cliPrintf("Disabled:");
for (int32_t i = 0; ; i++) {
if (i == beeperCount - 1) {
if (*offFlags == 0)
cliPrint(" none");
break;
}
if (beeperModeMaskForTableIndex(i) & *offFlags)
cliPrintf(" %s", beeperNameForTableIndex(i));
}
cliPrintLinefeed();
} else if (strncasecmp(cmdline, "list", len) == 0) {
cliPrint("Available:");
for (uint32_t i = 0; i < beeperCount; i++) {
if (beeperModeMaskForTableIndex(i) & allowedFlags) {
cliPrintf(" %s", beeperNameForTableIndex(i));
}
}
cliPrintLinefeed();
} 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) {
cliPrintErrorLinef("INVALID NAME");
break;
}
if (strncasecmp(cmdline, beeperNameForTableIndex(i), len) == 0 && beeperModeMaskForTableIndex(i) & (allowedFlags | BEEPER_GET_FLAG(BEEPER_ALL))) {
if (remove) { // beeper off
if (i == BEEPER_ALL - 1) {
*offFlags = allowedFlags;
} else {
*offFlags |= beeperModeMaskForTableIndex(i);
}
cliPrint("Disabled");
}
else { // beeper on
if (i == BEEPER_ALL - 1) {
*offFlags = 0;
} else {
*offFlags &= ~beeperModeMaskForTableIndex(i);
}
cliPrint("Enabled");
}
cliPrintLinef(" %s", beeperNameForTableIndex(i));
break;
}
}
}
}
#if defined(USE_DSHOT)
static void cliBeacon(char *cmdline)
{
processBeeperCommand(cmdline, &(beeperConfigMutable()->dshotBeaconOffFlags), DSHOT_BEACON_ALLOWED_MODES);
}
#endif
static void cliBeeper(char *cmdline)
{
processBeeperCommand(cmdline, &(beeperConfigMutable()->beeper_off_flags), BEEPER_ALLOWED_MODES);
}
#endif
#ifdef USE_RX_SPI
void cliRxSpiBind(char *cmdline){
UNUSED(cmdline);
switch (rxSpiConfig()->rx_spi_protocol) {
default:
cliPrint("Not supported.");
break;
#if defined(USE_RX_FRSKY_SPI)
#if defined(USE_RX_FRSKY_SPI_D)
case RX_SPI_FRSKY_D:
#endif
#if defined(USE_RX_FRSKY_SPI_X)
case RX_SPI_FRSKY_X:
case RX_SPI_FRSKY_X_LBT:
#endif
#endif // USE_RX_FRSKY_SPI
#ifdef USE_RX_SFHSS_SPI
case RX_SPI_SFHSS:
#endif
#ifdef USE_RX_FLYSKY
case RX_SPI_A7105_FLYSKY:
case RX_SPI_A7105_FLYSKY_2A:
#endif
#ifdef USE_RX_SPEKTRUM
case RX_SPI_CYRF6936_DSM:
#endif
#if defined(USE_RX_FRSKY_SPI) || defined(USE_RX_SFHSS_SPI) || defined(USE_RX_FLYSKY) || defined(USE_RX_SPEKTRUM)
rxSpiBind();
cliPrint("Binding...");
break;
#endif
}
}
#endif
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";
if (defaultRxConfig) {
bufDefault[i] = '\0';
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 *skipSpace(char *buffer)
{
while (*(buffer) == ' ') {
buffer++;
}
return buffer;
}
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 skipSpace(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
#if defined(USE_GYRO_REGISTER_DUMP) && !defined(SIMULATOR_BUILD)
static void cliPrintGyroRegisters(uint8_t whichSensor)
{
cliPrintLinef("# WHO_AM_I 0x%X", gyroReadRegister(whichSensor, MPU_RA_WHO_AM_I));
cliPrintLinef("# CONFIG 0x%X", gyroReadRegister(whichSensor, MPU_RA_CONFIG));
cliPrintLinef("# GYRO_CONFIG 0x%X", gyroReadRegister(whichSensor, MPU_RA_GYRO_CONFIG));
}
static void cliDumpGyroRegisters(char *cmdline)
{
#ifdef USE_MULTI_GYRO
if ((gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_1) || (gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_BOTH)) {
cliPrintLinef("\r\n# Gyro 1");
cliPrintGyroRegisters(GYRO_CONFIG_USE_GYRO_1);
}
if ((gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_2) || (gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_BOTH)) {
cliPrintLinef("\r\n# Gyro 2");
cliPrintGyroRegisters(GYRO_CONFIG_USE_GYRO_2);
}
#else
cliPrintGyroRegisters(GYRO_CONFIG_USE_GYRO_1);
#endif
UNUSED(cmdline);
}
#endif
static int parseOutputIndex(char *pch, bool allowAllEscs) {
int outputIndex = atoi(pch);
if ((outputIndex >= 0) && (outputIndex < getMotorCount())) {
cliPrintLinef("Using output %d.", outputIndex);
} else if (allowAllEscs && outputIndex == ALL_MOTORS) {
cliPrintLinef("Using all outputs.");
} else {
cliPrintErrorLinef("INVALID OUTPUT NUMBER. RANGE: 0 - %d.", getMotorCount() - 1);
return -1;
}
return outputIndex;
}
#if defined(USE_DSHOT)
#if defined(USE_ESC_SENSOR) && defined(USE_ESC_SENSOR_INFO)
#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 {
cliPrintErrorLinef("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, true);
delay(10);
printEscInfo(escInfoBuffer, getNumberEscBytesRead());
}
#endif // USE_ESC_SENSOR && USE_ESC_SENSOR_INFO
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, true);
} else {
#if defined(USE_ESC_SENSOR) && defined(USE_ESC_SENSOR_INFO)
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
if (escIndex != ALL_MOTORS) {
executeEscInfoCommand(escIndex);
} else {
for (uint8_t i = 0; i < getMotorCount(); i++) {
executeEscInfoCommand(i);
}
}
} else
#endif
{
cliPrintLine("Not supported.");
}
}
cliPrintLinef("Command Sent: %d", command);
} else {
cliPrintErrorLinef("INVALID COMMAND. RANGE: 1 - %d.", DSHOT_MIN_THROTTLE - 1);
}
}
break;
}
pos++;
pch = strtok_r(NULL, " ", &saveptr);
}
pwmEnableMotors();
}
#endif // USE_DSHOT
#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) {
cliPrintErrorLinef("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
cliPrintErrorLinef("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", getPidProfileIndexToUse());
return;
} else {
const int i = atoi(cmdline);
if (i >= 0 && i < MAX_PROFILE_COUNT) {
changePidProfile(i);
cliProfile("");
} else {
cliPrintErrorLinef("PROFILE OUTSIDE OF [0..%d]", MAX_PROFILE_COUNT - 1);
}
}
}
static void cliRateProfile(char *cmdline)
{
if (isEmpty(cmdline)) {
cliPrintLinef("rateprofile %d", getRateProfileIndexToUse());
return;
} else {
const int i = atoi(cmdline);
if (i >= 0 && i < CONTROL_RATE_PROFILE_COUNT) {
changeControlRateProfile(i);
cliRateProfile("");
} else {
cliPrintErrorLinef("RATE PROFILE OUTSIDE OF [0..%d]", CONTROL_RATE_PROFILE_COUNT - 1);
}
}
}
static void cliDumpPidProfile(uint8_t pidProfileIndex, uint8_t dumpMask)
{
if (pidProfileIndex >= MAX_PROFILE_COUNT) {
// Faulty values
return;
}
pidProfileIndexToUse = pidProfileIndex;
cliPrintHashLine("profile");
cliProfile("");
cliPrintLinefeed();
dumpAllValues(PROFILE_VALUE, dumpMask);
pidProfileIndexToUse = CURRENT_PROFILE_INDEX;
}
static void cliDumpRateProfile(uint8_t rateProfileIndex, uint8_t dumpMask)
{
if (rateProfileIndex >= CONTROL_RATE_PROFILE_COUNT) {
// Faulty values
return;
}
rateProfileIndexToUse = rateProfileIndex;
cliPrintHashLine("rateprofile");
cliRateProfile("");
cliPrintLinefeed();
dumpAllValues(PROFILE_RATE_VALUE, dumpMask);
rateProfileIndexToUse = CURRENT_PROFILE_INDEX;
}
static void cliSave(char *cmdline)
{
UNUSED(cmdline);
cliPrintHashLine("saving");
#if defined(USE_BOARD_INFO)
if (boardInformationUpdated) {
persistBoardInformation();
}
#if defined(USE_SIGNATURE)
if (signatureUpdated) {
persistSignature();
}
#endif
#endif // USE_BOARD_INFO
if (featureMaskIsCopied) {
writeEEPROMWithFeatures(featureMaskCopy);
} else {
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);
}
}
void cliPrintVarDefault(const clivalue_t *value)
{
const pgRegistry_t *pg = pgFind(value->pgn);
if (pg) {
const char *defaultFormat = "Default value: ";
const int valueOffset = getValueOffset(value);
const bool equalsDefault = valuePtrEqualsDefault(value, pg->copy + valueOffset, pg->address + valueOffset);
if (!equalsDefault) {
cliPrintf(defaultFormat, value->name);
printValuePointer(value, (uint8_t*)pg->address + valueOffset, false);
cliPrintLinefeed();
}
}
}
STATIC_UNIT_TESTED void cliGet(char *cmdline)
{
const clivalue_t *val;
int matchedCommands = 0;
pidProfileIndexToUse = getCurrentPidProfileIndex();
rateProfileIndexToUse = getCurrentControlRateProfileIndex();
backupAndResetConfigs();
for (uint32_t i = 0; i < valueTableEntryCount; i++) {
if (strcasestr(valueTable[i].name, cmdline)) {
val = &valueTable[i];
if (matchedCommands > 0) {
cliPrintLinefeed();
}
cliPrintf("%s = ", valueTable[i].name);
cliPrintVar(val, 0);
cliPrintLinefeed();
switch (val->type & VALUE_SECTION_MASK) {
case PROFILE_VALUE:
cliProfile("");
break;
case PROFILE_RATE_VALUE:
cliRateProfile("");
break;
default:
break;
}
cliPrintVarRange(val);
cliPrintVarDefault(val);
matchedCommands++;
}
}
restoreConfigs();
pidProfileIndexToUse = CURRENT_PROFILE_INDEX;
rateProfileIndexToUse = CURRENT_PROFILE_INDEX;
if (matchedCommands) {
return;
}
cliPrintErrorLinef("INVALID NAME");
}
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: {
if ((val->type & VALUE_TYPE_MASK) == VAR_UINT32) {
uint32_t value = strtol(eqptr, NULL, 10);
if (value <= val->config.u32Max) {
cliSetVar(val, value);
valueChanged = true;
}
} else {
int value = atoi(eqptr);
int min;
int max;
getMinMax(val, &min, &max);
if (value >= min && value <= max) {
cliSetVar(val, value);
valueChanged = true;
}
}
}
break;
case MODE_LOOKUP:
case MODE_BITSET: {
int tableIndex;
if ((val->type & VALUE_MODE_MASK) == MODE_BITSET) {
tableIndex = TABLE_OFF_ON;
} else {
tableIndex = val->config.lookup.tableIndex;
}
const lookupTableEntry_t *tableEntry = &lookupTables[tableIndex];
bool matched = false;
for (uint32_t tableValueIndex = 0; tableValueIndex < tableEntry->valueCount && !matched; tableValueIndex++) {
matched = tableEntry->values[tableValueIndex] && 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;
int i = 0;
while (i < arrayLength && valPtr != NULL) {
// skip spaces
valPtr = skipSpace(valPtr);
// process substring starting at valPtr
// 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;
}
// find next comma (or end of string)
valPtr = strchr(valPtr, ',') + 1;
i++;
}
}
// mark as changed
valueChanged = true;
break;
}
if (valueChanged) {
cliPrintf("%s set to ", val->name);
cliPrintVar(val, 0);
} else {
cliPrintErrorLinef("INVALID VALUE");
cliPrintVarRange(val);
}
return;
}
}
cliPrintErrorLinef("INVALID NAME");
} else {
// no equals, check for matching variables.
cliGet(cmdline);
}
}
static void cliStatus(char *cmdline)
{
UNUSED(cmdline);
// MCU type, clock, vrefint, core temperature
cliPrintf("MCU %s Clock=%dMHz", MCU_TYPE_NAME, (SystemCoreClock / 1000000));
#ifdef STM32F4
// Only F4 is capable of switching between HSE/HSI (for now)
int sysclkSource = SystemSYSCLKSource();
const char *SYSCLKSource[] = { "HSI", "HSE", "PLLP", "PLLR" };
const char *PLLSource[] = { "-HSI", "-HSE" };
int pllSource;
if (sysclkSource >= 2) {
pllSource = SystemPLLSource();
}
cliPrintf(" (%s%s)", SYSCLKSource[sysclkSource], (sysclkSource < 2) ? "" : PLLSource[pllSource]);
#endif
#ifdef USE_ADC_INTERNAL
uint16_t vrefintMv = getVrefMv();
int16_t coretemp = getCoreTemperatureCelsius();
cliPrintLinef(", Vref=%d.%2dV, Core temp=%ddegC", vrefintMv / 1000, (vrefintMv % 1000) / 10, coretemp);
#else
cliPrintLinefeed();
#endif
// Stack and config sizes and usages
cliPrintf("Stack size: %d, Stack address: 0x%x", stackTotalSize(), stackHighMem());
#ifdef STACK_CHECK
cliPrintf(", Stack used: %d", stackUsedSize());
#endif
cliPrintLinefeed();
#ifdef EEPROM_IN_RAM
#define CONFIG_SIZE EEPROM_SIZE
#else
#define CONFIG_SIZE (&__config_end - &__config_start)
#endif
cliPrintLinef("Config size: %d, Max available config: %d", getEEPROMConfigSize(), CONFIG_SIZE);
// Sensors
#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];
if (i) {
cliPrint(", ");
}
cliPrintf("%s=%s", sensorTypeNames[i], sensorHardware);
if (mask == SENSOR_ACC && acc.dev.revisionCode) {
cliPrintf(".%c", acc.dev.revisionCode);
}
}
}
cliPrintLinefeed();
#endif /* USE_SENSOR_NAMES */
// Uptime and wall clock
cliPrintf("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);
cliPrintf(", Current Time: %s", buf);
}
#endif
cliPrintLinefeed();
// Run status
const int gyroRate = getTaskDeltaTime(TASK_GYROPID) == 0 ? 0 : (int)(1000000.0f / ((float)getTaskDeltaTime(TASK_GYROPID)));
const int rxRate = currentRxRefreshRate == 0 ? 0 : (int)(1000000.0f / ((float)currentRxRefreshRate));
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);
// Battery meter
cliPrintLinef("Voltage: %d * 0.01V (%dS battery - %s)", getBatteryVoltage(), getBatteryCellCount(), getBatteryStateString());
// Other devices and status
#ifdef USE_I2C
const uint16_t i2cErrorCounter = i2cGetErrorCounter();
#else
const uint16_t i2cErrorCounter = 0;
#endif
cliPrintLinef("I2C Errors: %d", i2cErrorCounter);
#ifdef USE_SDCARD
cliSdInfo(NULL);
#endif
cliPrint("Arming disable flags:");
armingDisableFlags_e flags = getArmingDisableFlags();
while (flags) {
const int bitpos = ffs(flags) - 1;
flags &= ~(1 << bitpos);
cliPrintf(" %s", armingDisableFlagNames[bitpos]);
}
cliPrintLinefeed();
#if defined(USE_DSHOT) && defined(USE_DSHOT_TELEMETRY)
if (useDshotTelemetry) {
cliPrintLinef("Dshot reads: %u", readDoneCount);
cliPrintLinef("Dshot invalid pkts: %u", dshotInvalidPacketCount);
extern uint32_t setDirectionMicros;
cliPrintLinef("Dshot irq micros: %u", setDirectionMicros);
for (int i = 0; i<getMotorCount(); i++) {
cliPrintLinef( "Dshot RPM Motor %u: %u", i, (int)getDshotTelemetry(i));
}
bool proshot = (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_PROSHOT1000);
int modulo = proshot ? MOTOR_NIBBLE_LENGTH_PROSHOT : MOTOR_BITLENGTH;
int len = proshot ? 8 : DSHOT_TELEMETRY_INPUT_LEN;
for (int i=0; i<len; i++) {
cliPrintf("%u ", (int)inputBuffer[i]);
}
cliPrintLinefeed();
for (int i=1; i<len; i+=2) {
cliPrintf("%u ", (int)(inputBuffer[i] + modulo - inputBuffer[i-1]) % modulo);
}
cliPrintLinefeed();
}
#endif
}
#if defined(USE_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.movingAverageCycleTime == 0.0f ? 0.0f : (int)(1000000.0f / (taskInfo.movingAverageCycleTime));
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.averageDeltaTime == 0 ? 0 : (int)(1000000.0f / ((float)taskInfo.averageDeltaTime));
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);
}
schedulerResetTaskMaxExecutionTime(taskId);
}
}
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);
cliPrintf("# %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
);
#ifdef FEATURE_CUT_LEVEL
cliPrintLinef(" / FEATURE CUT LEVEL %d", FEATURE_CUT_LEVEL);
#else
cliPrintLinefeed();
#endif
}
#ifdef USE_RC_SMOOTHING_FILTER
static void cliRcSmoothing(char *cmdline)
{
UNUSED(cmdline);
cliPrint("# RC Smoothing Type: ");
if (rxConfig()->rc_smoothing_type == RC_SMOOTHING_TYPE_FILTER) {
cliPrintLine("FILTER");
uint16_t avgRxFrameMs = rcSmoothingGetValue(RC_SMOOTHING_VALUE_AVERAGE_FRAME);
if (rcSmoothingAutoCalculate()) {
cliPrint("# Detected RX frame rate: ");
if (avgRxFrameMs == 0) {
cliPrintLine("NO SIGNAL");
} else {
cliPrintLinef("%d.%dms", avgRxFrameMs / 1000, avgRxFrameMs % 1000);
}
}
cliPrint("# Input filter type: ");
cliPrintLinef(lookupTables[TABLE_RC_SMOOTHING_INPUT_TYPE].values[rxConfig()->rc_smoothing_input_type]);
cliPrintf("# Active input cutoff: %dhz ", rcSmoothingGetValue(RC_SMOOTHING_VALUE_INPUT_ACTIVE));
if (rxConfig()->rc_smoothing_input_cutoff == 0) {
cliPrintLine("(auto)");
} else {
cliPrintLine("(manual)");
}
cliPrint("# Derivative filter type: ");
cliPrintLinef(lookupTables[TABLE_RC_SMOOTHING_DERIVATIVE_TYPE].values[rxConfig()->rc_smoothing_derivative_type]);
cliPrintf("# Active derivative cutoff: %dhz (", rcSmoothingGetValue(RC_SMOOTHING_VALUE_DERIVATIVE_ACTIVE));
if (rxConfig()->rc_smoothing_derivative_type == RC_SMOOTHING_DERIVATIVE_OFF) {
cliPrintLine("off)");
} else {
if (rxConfig()->rc_smoothing_derivative_cutoff == 0) {
cliPrintLine("auto)");
} else {
cliPrintLine("manual)");
}
}
} else {
cliPrintLine("INTERPOLATION");
}
}
#endif // USE_RC_SMOOTHING_FILTER
#if defined(USE_RESOURCE_MGMT)
#define MAX_RESOURCE_INDEX(x) ((x) == 0 ? 1 : (x))
typedef struct {
const uint8_t owner;
pgn_t pgn;
uint8_t stride;
uint8_t offset;
const uint8_t maxIndex;
} cliResourceValue_t;
// Handy macros for keeping the table tidy.
// DEFS : Single entry
// DEFA : Array of uint8_t (stride = 1)
// DEFW : Wider stride case; array of structs.
#define DEFS(owner, pgn, type, member) \
{ owner, pgn, 0, offsetof(type, member), 0 }
#define DEFA(owner, pgn, type, member, max) \
{ owner, pgn, sizeof(ioTag_t), offsetof(type, member), max }
#define DEFW(owner, pgn, type, member, max) \
{ owner, pgn, sizeof(type), offsetof(type, member), max }
const cliResourceValue_t resourceTable[] = {
#ifdef USE_BEEPER
DEFS( OWNER_BEEPER, PG_BEEPER_DEV_CONFIG, beeperDevConfig_t, ioTag) ,
#endif
DEFA( OWNER_MOTOR, PG_MOTOR_CONFIG, motorConfig_t, dev.ioTags[0], MAX_SUPPORTED_MOTORS ),
#ifdef USE_SERVOS
DEFA( OWNER_SERVO, PG_SERVO_CONFIG, servoConfig_t, dev.ioTags[0], MAX_SUPPORTED_SERVOS ),
#endif
#if defined(USE_PPM)
DEFS( OWNER_PPMINPUT, PG_PPM_CONFIG, ppmConfig_t, ioTag ),
#endif
#if defined(USE_PWM)
DEFA( OWNER_PWMINPUT, PG_PWM_CONFIG, pwmConfig_t, ioTags[0], PWM_INPUT_PORT_COUNT ),
#endif
#ifdef USE_RANGEFINDER_HCSR04
DEFS( OWNER_SONAR_TRIGGER, PG_SONAR_CONFIG, sonarConfig_t, triggerTag ),
DEFS( OWNER_SONAR_ECHO, PG_SONAR_CONFIG, sonarConfig_t, echoTag ),
#endif
#ifdef USE_LED_STRIP
DEFS( OWNER_LED_STRIP, PG_LED_STRIP_CONFIG, ledStripConfig_t, ioTag ),
#endif
#ifdef USE_UART
DEFA( OWNER_SERIAL_TX, PG_SERIAL_PIN_CONFIG, serialPinConfig_t, ioTagTx[0], SERIAL_PORT_MAX_INDEX ),
DEFA( OWNER_SERIAL_RX, PG_SERIAL_PIN_CONFIG, serialPinConfig_t, ioTagRx[0], SERIAL_PORT_MAX_INDEX ),
#endif
#ifdef USE_INVERTER
DEFA( OWNER_INVERTER, PG_SERIAL_PIN_CONFIG, serialPinConfig_t, ioTagInverter[0], SERIAL_PORT_MAX_INDEX ),
#endif
#ifdef USE_I2C
DEFW( OWNER_I2C_SCL, PG_I2C_CONFIG, i2cConfig_t, ioTagScl, I2CDEV_COUNT ),
DEFW( OWNER_I2C_SDA, PG_I2C_CONFIG, i2cConfig_t, ioTagSda, I2CDEV_COUNT ),
#endif
DEFA( OWNER_LED, PG_STATUS_LED_CONFIG, statusLedConfig_t, ioTags[0], STATUS_LED_NUMBER ),
#ifdef USE_SPEKTRUM_BIND
DEFS( OWNER_RX_BIND, PG_RX_CONFIG, rxConfig_t, spektrum_bind_pin_override_ioTag ),
DEFS( OWNER_RX_BIND_PLUG, PG_RX_CONFIG, rxConfig_t, spektrum_bind_plug_ioTag ),
#endif
#ifdef USE_TRANSPONDER
DEFS( OWNER_TRANSPONDER, PG_TRANSPONDER_CONFIG, transponderConfig_t, ioTag ),
#endif
#ifdef USE_SPI
DEFW( OWNER_SPI_SCK, PG_SPI_PIN_CONFIG, spiPinConfig_t, ioTagSck, SPIDEV_COUNT ),
DEFW( OWNER_SPI_MISO, PG_SPI_PIN_CONFIG, spiPinConfig_t, ioTagMiso, SPIDEV_COUNT ),
DEFW( OWNER_SPI_MOSI, PG_SPI_PIN_CONFIG, spiPinConfig_t, ioTagMosi, SPIDEV_COUNT ),
#endif
#ifdef USE_ESCSERIAL
DEFS( OWNER_ESCSERIAL, PG_ESCSERIAL_CONFIG, escSerialConfig_t, ioTag ),
#endif
#ifdef USE_CAMERA_CONTROL
DEFS( OWNER_CAMERA_CONTROL, PG_CAMERA_CONTROL_CONFIG, cameraControlConfig_t, ioTag ),
#endif
#ifdef USE_ADC
DEFS( OWNER_ADC_BATT, PG_ADC_CONFIG, adcConfig_t, vbat.ioTag ),
DEFS( OWNER_ADC_RSSI, PG_ADC_CONFIG, adcConfig_t, rssi.ioTag ),
DEFS( OWNER_ADC_CURR, PG_ADC_CONFIG, adcConfig_t, current.ioTag ),
DEFS( OWNER_ADC_EXT, PG_ADC_CONFIG, adcConfig_t, external1.ioTag ),
#endif
#ifdef USE_BARO
DEFS( OWNER_BARO_CS, PG_BAROMETER_CONFIG, barometerConfig_t, baro_spi_csn ),
#endif
#ifdef USE_MAG
DEFS( OWNER_COMPASS_CS, PG_COMPASS_CONFIG, compassConfig_t, mag_spi_csn ),
#ifdef USE_MAG_DATA_READY_SIGNAL
DEFS( OWNER_COMPASS_EXTI, PG_COMPASS_CONFIG, compassConfig_t, interruptTag ),
#endif
#endif
#ifdef USE_SDCARD_SPI
DEFS( OWNER_SDCARD_CS, PG_SDCARD_CONFIG, sdcardConfig_t, chipSelectTag ),
#endif
#ifdef USE_SDCARD
DEFS( OWNER_SDCARD_DETECT, PG_SDCARD_CONFIG, sdcardConfig_t, cardDetectTag ),
#endif
#ifdef USE_PINIO
DEFA( OWNER_PINIO, PG_PINIO_CONFIG, pinioConfig_t, ioTag, PINIO_COUNT ),
#endif
#if defined(USE_USB_MSC)
DEFS( OWNER_USB_MSC_PIN, PG_USB_CONFIG, usbDev_t, mscButtonPin ),
#endif
#ifdef USE_FLASH_CHIP
DEFS( OWNER_FLASH_CS, PG_FLASH_CONFIG, flashConfig_t, csTag ),
#endif
#ifdef USE_MAX7456
DEFS( OWNER_OSD_CS, PG_MAX7456_CONFIG, max7456Config_t, csTag ),
#endif
#ifdef USE_RX_SPI
DEFS( OWNER_RX_SPI_CS, PG_RX_SPI_CONFIG, rxSpiConfig_t, csnTag ),
DEFS( OWNER_RX_SPI_BIND, PG_RX_SPI_CONFIG, rxSpiConfig_t, bindIoTag ),
DEFS( OWNER_RX_SPI_LED, PG_RX_SPI_CONFIG, rxSpiConfig_t, ledIoTag ),
#endif
#ifdef USE_GYRO_EXTI
DEFW( OWNER_GYRO_EXTI, PG_GYRO_DEVICE_CONFIG, gyroDeviceConfig_t, extiTag, MAX_GYRODEV_COUNT ),
#endif
DEFW( OWNER_GYRO_CS, PG_GYRO_DEVICE_CONFIG, gyroDeviceConfig_t, csnTag, MAX_GYRODEV_COUNT ),
#ifdef USE_USB_DETECT
DEFS( OWNER_USB_DETECT, PG_USB_CONFIG, usbDev_t, detectPin ),
#endif
};
#undef DEFS
#undef DEFA
#undef DEFW
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.stride * index + value.offset);
}
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 = *(ioTag_t *)((const uint8_t *)currentConfig + resourceTable[i].stride * index + resourceTable[i].offset);
ioTag_t ioTagDefault = NULL;
if (defaultConfig) {
ioTagDefault = *(ioTag_t *)((const uint8_t *)defaultConfig + resourceTable[i].stride * index + resourceTable[i].offset);
}
const bool equalsDefault = ioTag == ioTagDefault;
const char *format = "resource %s %d %c%02d";
const char *formatUnassigned = "resource %s %d NONE";
if (ioTagDefault) {
cliDefaultPrintLinef(dumpMask, equalsDefault, format, owner, RESOURCE_INDEX(index), IO_GPIOPortIdxByTag(ioTagDefault) + 'A', IO_GPIOPinIdxByTag(ioTagDefault));
} else if (defaultConfig) {
cliDefaultPrintLinef(dumpMask, equalsDefault, formatUnassigned, owner, RESOURCE_INDEX(index));
}
if (ioTag) {
cliDumpPrintLinef(dumpMask, equalsDefault, format, owner, RESOURCE_INDEX(index), IO_GPIOPortIdxByTag(ioTag) + 'A', IO_GPIOPinIdxByTag(ioTag));
} else if (!(dumpMask & HIDE_UNUSED)) {
cliDumpPrintLinef(dumpMask, equalsDefault, formatUnassigned, owner, RESOURCE_INDEX(index));
}
}
}
}
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 bool strToPin(char *pch, ioTag_t *tag)
{
if (strcasecmp(pch, "NONE") == 0) {
*tag = IO_TAG_NONE;
return true;
} else {
unsigned pin = 0;
unsigned port = (*pch >= 'a') ? *pch - 'a' : *pch - 'A';
if (port < 8) {
pch++;
pin = atoi(pch);
if (pin < 16) {
*tag = DEFIO_TAG_MAKE(port, pin);
return true;
}
}
}
return false;
}
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();
}
#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)) {
cliPrintErrorLinef("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);
if (strlen(pch) > 0) {
if (strToPin(pch, tag)) {
if (*tag == IO_TAG_NONE) {
#ifdef MINIMAL_CLI
cliPrintLine("Freed");
#else
cliPrintLine("Resource is freed");
#endif
return;
} else {
ioRec_t *rec = IO_Rec(IOGetByTag(*tag));
if (rec) {
resourceCheck(resourceIndex, index, *tag);
#ifdef MINIMAL_CLI
cliPrintLinef(" %c%02d set", IO_GPIOPortIdx(rec) + 'A', IO_GPIOPinIdx(rec));
#else
cliPrintLinef("\r\nResource is set to %c%02d", IO_GPIOPortIdx(rec) + 'A', IO_GPIOPinIdx(rec));
#endif
} else {
cliShowParseError();
}
return;
}
}
}
cliShowParseError();
}
static void printDma(void)
{
cliPrintLinefeed();
#ifdef MINIMAL_CLI
cliPrintLine("DMA:");
#else
cliPrintLine("Currently active DMA:");
cliRepeat('-', 20);
#endif
for (int i = 1; i <= DMA_LAST_HANDLER; i++) {
const char* owner;
owner = ownerNames[dmaGetOwner(i)];
cliPrintf(DMA_OUTPUT_STRING, DMA_DEVICE_NO(i), DMA_DEVICE_INDEX(i));
uint8_t resourceIndex = dmaGetResourceIndex(i);
if (resourceIndex > 0) {
cliPrintLinef(" %s %d", owner, resourceIndex);
} else {
cliPrintLinef(" %s", owner);
}
}
}
static void cliDma(char* cmdLine)
{
UNUSED(cmdLine);
printDma();
}
#ifdef USE_DMA_SPEC
typedef struct dmaoptEntry_s {
char *device;
dmaPeripheral_e peripheral;
pgn_t pgn;
uint8_t stride;
uint8_t offset;
uint8_t maxIndex;
} dmaoptEntry_t;
// Handy macros for keeping the table tidy.
// DEFS : Single entry
// DEFA : Array of uint8_t (stride = 1)
// DEFW : Wider stride case; array of structs.
#define DEFS(device, peripheral, pgn, type, member) \
{ device, peripheral, pgn, 0, offsetof(type, member), 0 }
#define DEFA(device, peripheral, pgn, type, member, max) \
{ device, peripheral, pgn, sizeof(uint8_t), offsetof(type, member), max }
#define DEFW(device, peripheral, pgn, type, member, max) \
{ device, peripheral, pgn, sizeof(type), offsetof(type, member), max }
dmaoptEntry_t dmaoptEntryTable[] = {
DEFW("SPI_TX", DMA_PERIPH_SPI_TX, PG_SPI_PIN_CONFIG, spiPinConfig_t, txDmaopt, SPIDEV_COUNT),
DEFW("SPI_RX", DMA_PERIPH_SPI_RX, PG_SPI_PIN_CONFIG, spiPinConfig_t, rxDmaopt, SPIDEV_COUNT),
DEFA("ADC", DMA_PERIPH_ADC, PG_ADC_CONFIG, adcConfig_t, dmaopt, ADCDEV_COUNT),
DEFS("SDIO", DMA_PERIPH_SDIO, PG_SDIO_CONFIG, sdioConfig_t, dmaopt),
DEFA("UART_TX", DMA_PERIPH_UART_TX, PG_SERIAL_UART_CONFIG, serialUartConfig_t, txDmaopt, UARTDEV_CONFIG_MAX),
DEFA("UART_RX", DMA_PERIPH_UART_RX, PG_SERIAL_UART_CONFIG, serialUartConfig_t, rxDmaopt, UARTDEV_CONFIG_MAX),
};
#undef DEFS
#undef DEFA
#undef DEFW
#define DMA_OPT_UI_INDEX(i) ((i) + 1)
#define DMA_OPT_STRING_BUFSIZE 5
static void dmaoptToString(int optval, char *buf)
{
if (optval == -1) {
memcpy(buf, "NONE", DMA_OPT_STRING_BUFSIZE);
} else {
tfp_sprintf(buf, "%d", optval);
}
}
static void printPeripheralDmaopt(dmaoptEntry_t *entry, int index, uint8_t dumpMask)
{
const pgRegistry_t* pg = pgFind(entry->pgn);
const void *currentConfig;
const void *defaultConfig;
if (configIsInCopy) {
currentConfig = pg->copy;
defaultConfig = pg->address;
} else {
currentConfig = pg->address;
defaultConfig = NULL;
}
dmaoptValue_t currentOpt = *(dmaoptValue_t *)((uint8_t *)currentConfig + entry->stride * index + entry->offset);
dmaoptValue_t defaultOpt;
if (defaultConfig) {
defaultOpt = *(dmaoptValue_t *)((uint8_t *)defaultConfig + entry->stride * index + entry->offset);
} else {
defaultOpt = DMA_OPT_UNUSED;
}
bool equalsDefault = currentOpt == defaultOpt;
if (defaultConfig) {
if (defaultOpt != DMA_OPT_UNUSED) {
const dmaChannelSpec_t *dmaChannelSpec = dmaGetChannelSpec(entry->peripheral, index, defaultOpt);
dmaCode_t dmaCode = 0;
if (dmaChannelSpec) {
dmaCode = dmaChannelSpec->code;
}
cliDefaultPrintLinef(dumpMask, equalsDefault,
"dmaopt %s %d %d # DMA%d Stream %d Channel %d",
entry->device, DMA_OPT_UI_INDEX(index), defaultOpt, DMA_CODE_CONTROLLER(dmaCode), DMA_CODE_STREAM(dmaCode), DMA_CODE_CHANNEL(dmaCode));
} else {
cliDefaultPrintLinef(dumpMask, equalsDefault,
"dmaopt %s %d NONE",
entry->device, DMA_OPT_UI_INDEX(index));
}
}
if (currentOpt != DMA_OPT_UNUSED) {
const dmaChannelSpec_t *dmaChannelSpec = dmaGetChannelSpec(entry->peripheral, index, currentOpt);
dmaCode_t dmaCode = 0;
if (dmaChannelSpec) {
dmaCode = dmaChannelSpec->code;
}
cliDumpPrintLinef(dumpMask, equalsDefault,
"dmaopt %s %d %d # DMA%d Stream %d Channel %d",
entry->device, DMA_OPT_UI_INDEX(index), currentOpt, DMA_CODE_CONTROLLER(dmaCode), DMA_CODE_STREAM(dmaCode), DMA_CODE_CHANNEL(dmaCode));
} else {
if (!(dumpMask & HIDE_UNUSED)) {
cliDumpPrintLinef(dumpMask, equalsDefault,
"dmaopt %s %d NONE",
entry->device, DMA_OPT_UI_INDEX(index));
}
}
}
static void printDmaopt(uint8_t dumpMask)
{
UNUSED(dumpMask); // XXX For now
for (size_t i = 0; i < ARRAYLEN(dmaoptEntryTable); i++) {
dmaoptEntry_t *entry = &dmaoptEntryTable[i];
for (int index = 0; index < entry->maxIndex; index++) {
printPeripheralDmaopt(entry, index, dumpMask);
}
}
}
static void cliDmaopt(char *cmdline)
{
char *pch = NULL;
char *saveptr;
// Peripheral name or command option
pch = strtok_r(cmdline, " ", &saveptr);
if (!pch) {
printDmaopt(DUMP_MASTER | HIDE_UNUSED);
return;
}
if (strcasecmp(pch, "all") == 0) {
printDmaopt(DUMP_MASTER);
return;
}
dmaoptEntry_t *entry = NULL;
for (unsigned i = 0; i < ARRAYLEN(dmaoptEntryTable); i++) {
if (strcasecmp(pch, dmaoptEntryTable[i].device) == 0) {
entry = &dmaoptEntryTable[i];
}
}
if (!entry) {
cliPrintLinef("bad device %s", pch);
return;
}
// Index
pch = strtok_r(NULL, " ", &saveptr);
int index = atoi(pch) - 1;
if (index < 0 || index >= entry->maxIndex) {
cliPrintLinef("bad index %s", pch);
return;
}
const pgRegistry_t* pg = pgFind(entry->pgn);
const void *currentConfig;
if (configIsInCopy) {
currentConfig = pg->copy;
} else {
currentConfig = pg->address;
}
dmaoptValue_t *optaddr = (dmaoptValue_t *)((uint8_t *)currentConfig + entry->stride * index + entry->offset);
// opt or list
pch = strtok_r(NULL, " ", &saveptr);
if (!pch) {
if (*optaddr == -1) {
cliPrintLinef("%s %d NONE", entry->device, index + 1);
} else {
cliPrintLinef("%s %d %d", entry->device, index + 1, *optaddr);
}
return;
} else if (strcasecmp(pch, "list") == 0) {
// Show possible opts
const dmaChannelSpec_t *dmaChannelSpec;
for (int opt = 0; (dmaChannelSpec = dmaGetChannelSpec(entry->peripheral, index, opt)); opt++) {
cliPrintLinef("# %d: DMA%d Stream %d channel %d", opt, DMA_CODE_CONTROLLER(dmaChannelSpec->code), DMA_CODE_STREAM(dmaChannelSpec->code), DMA_CODE_CHANNEL(dmaChannelSpec->code));
}
return;
} else if (pch) {
int optval;
if (strcasecmp(pch, "none") == 0) {
optval = -1;
} else {
optval = atoi(pch);
if (optval < 0) { // XXX Check against opt max? How?
cliPrintLinef("bad optnum %s", pch);
return;
}
}
dmaoptValue_t orgval = *optaddr;
char optvalString[5];
char orgvalString[5];
dmaoptToString(optval, optvalString);
dmaoptToString(orgval, orgvalString);
if (optval != orgval) {
*optaddr = optval;
cliPrintLinef("dmaopt %s %d: changed from %s to %s", entry->device, DMA_OPT_UI_INDEX(index), orgvalString, optvalString);
} else {
cliPrintLinef("dmaopt %s %d: no change", entry->device, DMA_OPT_UI_INDEX(index), orgvalString);
}
} else {
cliPrintLinef("bad option %s", pch);
}
}
#endif // USE_DMA_SPEC
#endif // USE_RESOURCE_MGMT
#ifdef USE_TIMER_MGMT
static void printTimer(uint8_t dumpMask)
{
cliPrintLine("# examples: ");
const char *format = "timer %c%02d %d";
cliPrint("#");
cliPrintLinef(format, 'A', 1, 1);
cliPrint("#");
cliPrintLinef(format, 'A', 1, 0);
for (unsigned int i = 0; i < MAX_TIMER_PINMAP_COUNT; i++) {
const ioTag_t ioTag = timerIOConfig(i)->ioTag;
const uint8_t timerIndex = timerIOConfig(i)->index;
if (!ioTag) {
continue;
}
if (timerIndex != 0 && !(dumpMask & HIDE_UNUSED)) {
cliDumpPrintLinef(dumpMask, false, format,
IO_GPIOPortIdxByTag(ioTag) + 'A',
IO_GPIOPinIdxByTag(ioTag),
timerIndex - 1
);
}
}
}
static void cliTimer(char *cmdline)
{
int len = strlen(cmdline);
if (len == 0) {
printTimer(DUMP_MASTER | HIDE_UNUSED);
return;
} else if (strncasecmp(cmdline, "list", len) == 0) {
printTimer(DUMP_MASTER);
return;
}
char *pch = NULL;
char *saveptr;
int timerIOIndex = -1;
ioTag_t ioTag = 0;
pch = strtok_r(cmdline, " ", &saveptr);
if (!pch || !(strToPin(pch, &ioTag) && IOGetByTag(ioTag))) {
goto error;
}
/* find existing entry, or go for next available */
for (unsigned i = 0; i < MAX_TIMER_PINMAP_COUNT; i++) {
if (timerIOConfig(i)->ioTag == ioTag) {
timerIOIndex = i;
break;
}
/* first available empty slot */
if (timerIOIndex < 0 && timerIOConfig(i)->ioTag == IO_TAG_NONE) {
timerIOIndex = i;
}
}
if (timerIOIndex < 0) {
cliPrintErrorLinef("INDEX OUT OF RANGE.");
return;
}
uint8_t timerIndex = 0;
pch = strtok_r(NULL, " ", &saveptr);
if (pch) {
if (strcasecmp(pch, "list") == 0) {
/* output the list of available options */
uint8_t index = 0;
for (unsigned i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
if (timerHardware[i].tag == ioTag) {
cliPrintLinef("# %d. TIM%d CH%d",
index,
timerGetTIMNumber(timerHardware[i].tim),
CC_INDEX_FROM_CHANNEL(timerHardware[i].channel) + 1
);
index++;
}
}
return;
} else if (strcasecmp(pch, "none") == 0) {
goto success;
} else {
timerIndex = atoi(pch) + 1;
}
} else {
goto error;
}
success:
timerIOConfigMutable(timerIOIndex)->ioTag = timerIndex == 0 ? IO_TAG_NONE : ioTag;
timerIOConfigMutable(timerIOIndex)->index = timerIndex;
cliPrintLine("Success");
return;
error:
cliShowParseError();
}
#endif
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;
}
backupAndResetConfigs();
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);
cliPrintLinefeed();
#if defined(USE_BOARD_INFO)
cliBoardName("");
cliManufacturerId("");
#endif
if (dumpMask & DUMP_ALL) {
cliMcuId(NULL);
#if defined(USE_BOARD_INFO) && defined(USE_SIGNATURE)
cliSignature("");
#endif
}
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_OSD
cliPrintHashLine("display_name");
printDisplayName(dumpMask, &pilotConfig_Copy);
#endif
#ifdef USE_RESOURCE_MGMT
cliPrintHashLine("resources");
printResource(dumpMask);
#ifdef USE_DMA_SPEC
cliPrintHashLine("dmaopt");
printDmaopt(dumpMask);
#endif
#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());
#if defined(USE_BEEPER)
cliPrintHashLine("beeper");
printBeeper(dumpMask, beeperConfig_Copy.beeper_off_flags, beeperConfig()->beeper_off_flags, "beeper");
#if defined(USE_DSHOT)
cliPrintHashLine("beacon");
printBeeper(dumpMask, beeperConfig_Copy.dshotBeaconOffFlags, beeperConfig()->dshotBeaconOffFlags, "beacon");
#endif
#endif // USE_BEEPER
cliPrintHashLine("map");
printMap(dumpMask, &rxConfig_Copy, rxConfig());
cliPrintHashLine("serial");
printSerial(dumpMask, &serialConfig_Copy, serialConfig());
#ifdef USE_LED_STRIP_STATUS_MODE
cliPrintHashLine("led");
printLed(dumpMask, ledStripStatusModeConfig_Copy.ledConfigs, ledStripStatusModeConfig()->ledConfigs);
cliPrintHashLine("color");
printColor(dumpMask, ledStripStatusModeConfig_Copy.colors, ledStripStatusModeConfig()->colors);
cliPrintHashLine("mode_color");
printModeColor(dumpMask, &ledStripStatusModeConfig_Copy, ledStripStatusModeConfig());
#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 USE_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) {
for (uint32_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
cliDumpPidProfile(pidProfileIndex, dumpMask);
}
cliPrintHashLine("restore original profile selection");
pidProfileIndexToUse = systemConfig_Copy.pidProfileIndex;
cliProfile("");
pidProfileIndexToUse = CURRENT_PROFILE_INDEX;
for (uint32_t rateIndex = 0; rateIndex < CONTROL_RATE_PROFILE_COUNT; rateIndex++) {
cliDumpRateProfile(rateIndex, dumpMask);
}
cliPrintHashLine("restore original rateprofile selection");
rateProfileIndexToUse = systemConfig_Copy.activeRateProfile;
cliRateProfile("");
rateProfileIndexToUse = CURRENT_PROFILE_INDEX;
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);
}
#if defined(USE_USB_MSC)
static void cliMsc(char *cmdline)
{
if (mscCheckFilesystemReady()) {
#ifdef USE_RTC_TIME
int timezoneOffsetMinutes = timeConfig()->tz_offsetMinutes;
if (!isEmpty(cmdline)) {
timezoneOffsetMinutes = atoi(cmdline);
if ((timezoneOffsetMinutes < TIMEZONE_OFFSET_MINUTES_MIN) || (timezoneOffsetMinutes > TIMEZONE_OFFSET_MINUTES_MAX)) {
cliPrintErrorLinef("INVALID TIMEZONE OFFSET");
return;
}
}
#else
int timezoneOffsetMinutes = 0;
UNUSED(cmdline);
#endif
cliPrintHashLine("Restarting in mass storage mode");
cliPrint("\r\nRebooting");
bufWriterFlush(cliWriter);
waitForSerialPortToFinishTransmitting(cliPort);
stopPwmAllMotors();
systemResetToMsc(timezoneOffsetMinutes);
} else {
cliPrintHashLine("Storage not present or failed to initialize!");
}
}
#endif
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", "<index> <mode> <aux> <start> <end> <logic>", cliAux),
#if defined(USE_BEEPER)
#if defined(USE_DSHOT)
CLI_COMMAND_DEF("beacon", "enable/disable Dshot beacon for a condition", "list\r\n"
"\t<->[name]", cliBeacon),
#endif
CLI_COMMAND_DEF("beeper", "enable/disable beeper for a condition", "list\r\n"
"\t<->[name]", cliBeeper),
#endif // USE_BEEPER
#ifdef USE_RX_SPI
CLI_COMMAND_DEF("bind_rx_spi", "initiate binding for RX SPI", NULL, cliRxSpiBind),
#endif
CLI_COMMAND_DEF("bl", "reboot into bootloader", NULL, cliBootloader),
#if defined(USE_BOARD_INFO)
CLI_COMMAND_DEF("board_name", "get / set the name of the board model", "[board name]", cliBoardName),
#endif
#ifdef USE_LED_STRIP_STATUS_MODE
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_OSD
CLI_COMMAND_DEF("display_name", "display name of craft", NULL, cliDisplayName),
#endif
#ifdef USE_RESOURCE_MGMT
CLI_COMMAND_DEF("dma", "list dma utilisation", NULL, cliDma),
#ifdef USE_DMA_SPEC
CLI_COMMAND_DEF("dmaopt", "assign dma spec to a device", "<device> <index> <optnum>", cliDmaopt),
#endif
#endif
#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
CLI_COMMAND_DEF("get", "get variable value", "[name]", cliGet),
#ifdef USE_GPS
CLI_COMMAND_DEF("gpspassthrough", "passthrough gps to serial", NULL, cliGpsPassthrough),
#endif
#if defined(USE_GYRO_REGISTER_DUMP) && !defined(SIMULATOR_BUILD)
CLI_COMMAND_DEF("gyroregisters", "dump gyro config registers contents", NULL, cliDumpGyroRegisters),
#endif
CLI_COMMAND_DEF("help", NULL, NULL, cliHelp),
#ifdef USE_LED_STRIP_STATUS_MODE
CLI_COMMAND_DEF("led", "configure leds", NULL, cliLed),
#endif
#if defined(USE_BOARD_INFO)
CLI_COMMAND_DEF("manufacturer_id", "get / set the id of the board manufacturer", "[manufacturer id]", cliManufacturerId),
#endif
CLI_COMMAND_DEF("map", "configure rc channel order", "[<map>]", cliMap),
CLI_COMMAND_DEF("mcu_id", "id of the microcontroller", NULL, cliMcuId),
#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_STATUS_MODE
CLI_COMMAND_DEF("mode_color", "configure mode and special colors", NULL, cliModeColor),
#endif
CLI_COMMAND_DEF("motor", "get/set motor", "<index> [<value>]", cliMotor),
#ifdef USE_USB_MSC
#ifdef USE_RTC_TIME
CLI_COMMAND_DEF("msc", "switch into msc mode", "[<timezone offset minutes>]", cliMsc),
#else
CLI_COMMAND_DEF("msc", "switch into msc mode", NULL, cliMsc),
#endif
#endif
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),
#ifdef USE_RC_SMOOTHING_FILTER
CLI_COMMAND_DEF("rc_smoothing_info", "show rc_smoothing operational settings", NULL, cliRcSmoothing),
#endif // USE_RC_SMOOTHING_FILTER
#ifdef 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),
#if defined(USE_SERIAL_PASSTHROUGH)
#if defined(USE_PINIO)
CLI_COMMAND_DEF("serialpassthrough", "passthrough serial data to port", "<id> [baud] [mode] [dtr pinio|'reset']", cliSerialPassthrough),
#else
CLI_COMMAND_DEF("serialpassthrough", "passthrough serial data to port", "<id> [baud] [mode] ['reset']", cliSerialPassthrough),
#endif
#endif
#ifdef USE_SERVOS
CLI_COMMAND_DEF("servo", "configure servos", NULL, cliServo),
#endif
CLI_COMMAND_DEF("set", "change setting", "[<name>=<value>]", cliSet),
#if defined(USE_BOARD_INFO) && defined(USE_SIGNATURE)
CLI_COMMAND_DEF("signature", "get / set the board type signature", "[signature]", cliSignature),
#endif
#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),
#if defined(USE_TASK_STATISTICS)
CLI_COMMAND_DEF("tasks", "show task stats", NULL, cliTasks),
#endif
#ifdef USE_TIMER_MGMT
CLI_COMMAND_DEF("timer", "show timer configuration", NULL, cliTimer),
#endif
CLI_COMMAND_DEF("version", "show version", NULL, cliVersion),
#ifdef USE_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
setArmingDisabled(ARMING_DISABLED_CLI);
cliPrompt();
}
void cliInit(const serialConfig_t *serialConfig)
{
UNUSED(serialConfig);
}
#endif // USE_CLI
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