Initial commit

src/main/fc/cli.c

@@ -140,6 +140,7 @@ static uint8_t cliWriteBuffer[sizeof(*cliWriter) + 128];
 
 static char cliBuffer[64];
 static uint32_t bufferIndex = 0;
+static uint16_t cliDelayMs = 0;
 
 #if defined(USE_ASSERT)
 static void cliAssert(char *cmdline);
@@ -222,6 +223,9 @@ static void cliPrint(const char *str)
 static void cliPrintLinefeed(void)
 {
     cliPrint("\r\n");
+    if (cliDelayMs) {
+        delay(cliDelayMs);
+    }
 }
 
 static void cliPrintLine(const char *str)
@@ -1672,6 +1676,25 @@ static void cliModeColor(char *cmdline)
 }
 #endif
 
+static void cliDelay(char* cmdLine) {
+    int ms = 0;
+    if (isEmpty(cmdLine)) {
+        cliDelayMs = 0;
+        cliPrintLine("CLI delay deactivated");
+        return;
+    }
+    
+    ms = fastA2I(cmdLine);
+    if (ms) {
+        cliDelayMs = ms;
+        cliPrintLinef("CLI delay set to %d ms", ms);
+
+    } else {
+        cliShowParseError();
+    }
+    
+}
+
 static void printServo(uint8_t dumpMask, const servoParam_t *servoParam, const servoParam_t *defaultServoParam)
 {
     // print out servo settings
@@ -3856,6 +3879,7 @@ const clicmd_t cmdTable[] = {
     CLI_COMMAND_DEF("color", "configure colors", NULL, cliColor),
     CLI_COMMAND_DEF("mode_color", "configure mode and special colors", NULL, cliModeColor),
 #endif
+    CLI_COMMAND_DEF("cli_delay", "CLI Delay", "Delay in ms", cliDelay),
     CLI_COMMAND_DEF("defaults", "reset to defaults and reboot", NULL, cliDefaults),
     CLI_COMMAND_DEF("dfu", "DFU mode on reboot", NULL, cliDfu),
     CLI_COMMAND_DEF("diff", "list configuration changes from default",

src/main/fc/fc_msp.c

@@ -534,18 +534,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         }
         break;
 #ifdef USE_PROGRAMMING_FRAMEWORK
-    case MSP2_INAV_LOGIC_CONDITIONS:
-        for (int i = 0; i < MAX_LOGIC_CONDITIONS; i++) {
-            sbufWriteU8(dst, logicConditions(i)->enabled);
-            sbufWriteU8(dst, logicConditions(i)->activatorId);
-            sbufWriteU8(dst, logicConditions(i)->operation);
-            sbufWriteU8(dst, logicConditions(i)->operandA.type);
-            sbufWriteU32(dst, logicConditions(i)->operandA.value);
-            sbufWriteU8(dst, logicConditions(i)->operandB.type);
-            sbufWriteU32(dst, logicConditions(i)->operandB.value);
-            sbufWriteU8(dst, logicConditions(i)->flags);
-        }
-        break;
     case MSP2_INAV_LOGIC_CONDITIONS_STATUS:
         for (int i = 0; i < MAX_LOGIC_CONDITIONS; i++) {
             sbufWriteU32(dst, logicConditionGetValue(i));
@@ -1547,6 +1535,23 @@ static mspResult_e mspFcSafeHomeOutCommand(sbuf_t *dst, sbuf_t *src)
     }
 }
 
+static mspResult_e mspFcLogicConditionCommand(sbuf_t *dst, sbuf_t *src) {
+    const uint8_t idx = sbufReadU8(src);
+    if (idx < MAX_LOGIC_CONDITIONS) {
+        sbufWriteU8(dst, logicConditions(idx)->enabled);
+        sbufWriteU8(dst, logicConditions(idx)->activatorId);
+        sbufWriteU8(dst, logicConditions(idx)->operation);
+        sbufWriteU8(dst, logicConditions(idx)->operandA.type);
+        sbufWriteU32(dst, logicConditions(idx)->operandA.value);
+        sbufWriteU8(dst, logicConditions(idx)->operandB.type);
+        sbufWriteU32(dst, logicConditions(idx)->operandB.value);
+        sbufWriteU8(dst, logicConditions(idx)->flags);
+        return MSP_RESULT_ACK;
+    } else {
+        return MSP_RESULT_ERROR;
+    }
+}
+
 static void mspFcWaypointOutCommand(sbuf_t *dst, sbuf_t *src)
 {
     const uint8_t msp_wp_no = sbufReadU8(src);    // get the wp number
@@ -3225,6 +3230,11 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
         break;
 #endif
 
+#ifdef USE_PROGRAMMING_FRAMEWORK
+    case MSP2_INAV_LOGIC_CONDITIONS:
+        *ret = mspFcLogicConditionCommand(dst, src);
+        break;
+#endif
     case MSP2_INAV_SAFEHOME:
          *ret = mspFcSafeHomeOutCommand(dst, src);
          break;