mirror of
https://github.com/iNavFlight/inav.git
synced 2025-07-24 16:55:29 +03:00
Remove serial_cli.c's dependency on mw.h/board.h.
Rename yawdeadband to yaw_deadband to match other variables/cli commands. Fix a couple of usages of MAX_MOTORS where MAX_SUPPORTED_MOTORS should be used instead.
This commit is contained in:
Dominic Clifton
parent
bcc55abcc8
commit
a5f0999c26
12 changed files with 250 additions and 220 deletions
248
src/serial_cli.c
248
src/serial_cli.c
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@ -1,16 +1,42 @@
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <stdarg.h>
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#include <string.h>
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#include <math.h>
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#include <ctype.h>
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#include "board.h"
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#include "mw.h"
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#include "platform.h"
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#include "common/axis.h"
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#include "common/printf.h"
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#include "common/typeconversion.h"
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#include "drivers/system_common.h"
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#include "drivers/accgyro_common.h"
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#include "drivers/serial_common.h"
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#include "drivers/bus_i2c.h"
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#include "serial_common.h"
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#include "flight_common.h"
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#include "flight_mixer.h"
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#include "rc_controls.h"
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#include "boardalignment.h"
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#include "telemetry_common.h"
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#include "gps_common.h"
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#include "rx_common.h"
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#include "battery.h"
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#include "sensors_common.h"
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#include "sensors_acceleration.h"
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#include "sensors_gyro.h"
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#include "sensors_barometer.h"
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#include "failsafe.h"
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#include "runtime_config.h"
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#include "config.h"
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#include "config_profile.h"
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#include "config_master.h"
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#include "serial_cli.h"
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// we unset this on 'exit'
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extern uint8_t cliMode;
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@ -31,14 +57,7 @@ static void cliSet(char *cmdline);
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static void cliStatus(char *cmdline);
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static void cliVersion(char *cmdline);
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// from sensors.c
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extern uint8_t batteryCellCount;
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// from config.c RC Channel mapping
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extern const char rcChannelLetters[];
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// from mixer.c
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extern int16_t motor_disarmed[MAX_MOTORS];
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uint16_t cycleTime; // FIXME dependency on mw.c
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// signal that we're in cli mode
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uint8_t cliMode = 0;
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@ -47,9 +66,6 @@ uint8_t cliMode = 0;
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static char cliBuffer[48];
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static uint32_t bufferIndex = 0;
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static float _atof(const char *p);
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static char *ftoa(float x, char *floatString);
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// sync this with MultiType enum from mw.h
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static const char * const mixerNames[] = {
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"TRI", "QUADP", "QUADX", "BI",
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@ -169,7 +185,7 @@ const clivalue_t valueTable[] = {
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{ "gyro_cmpfm_factor", VAR_UINT16, &masterConfig.gyro_cmpfm_factor, 100, 1000 },
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{ "pid_controller", VAR_UINT8, ¤tProfile.pidController, 0, 1 },
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{ "deadband", VAR_UINT8, ¤tProfile.deadband, 0, 32 },
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{ "yawdeadband", VAR_UINT8, ¤tProfile.yawdeadband, 0, 100 },
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{ "yawdeadband", VAR_UINT8, ¤tProfile.yaw_deadband, 0, 100 },
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{ "alt_hold_throttle_neutral", VAR_UINT8, ¤tProfile.alt_hold_throttle_neutral, 1, 250 },
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{ "alt_hold_fast_change", VAR_UINT8, ¤tProfile.alt_hold_fast_change, 0, 1 },
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{ "throttle_correction_value", VAR_UINT8, ¤tProfile.throttle_correction_value, 0, 150 },
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@ -248,184 +264,6 @@ static void cliPrintVar(const clivalue_t *var, uint32_t full);
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static void cliPrint(const char *str);
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static void cliWrite(uint8_t ch);
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#ifndef HAVE_ITOA_FUNCTION
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/*
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** The following two functions together make up an itoa()
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** implementation. Function i2a() is a 'private' function
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** called by the public itoa() function.
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**
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** itoa() takes three arguments:
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** 1) the integer to be converted,
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** 2) a pointer to a character conversion buffer,
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** 3) the radix for the conversion
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** which can range between 2 and 36 inclusive
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** range errors on the radix default it to base10
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** Code from http://groups.google.com/group/comp.lang.c/msg/66552ef8b04fe1ab?pli=1
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*/
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static char *i2a(unsigned i, char *a, unsigned r)
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{
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if (i / r > 0)
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a = i2a(i / r, a, r);
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*a = "0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZ"[i % r];
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return a + 1;
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}
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char *itoa(int i, char *a, int r)
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{
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if ((r < 2) || (r > 36))
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r = 10;
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if (i < 0) {
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*a = '-';
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*i2a(-(unsigned)i, a + 1, r) = 0;
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} else
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*i2a(i, a, r) = 0;
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return a;
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}
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#endif
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////////////////////////////////////////////////////////////////////////////////
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// String to Float Conversion
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///////////////////////////////////////////////////////////////////////////////
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// Simple and fast atof (ascii to float) function.
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//
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// - Executes about 5x faster than standard MSCRT library atof().
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// - An attractive alternative if the number of calls is in the millions.
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// - Assumes input is a proper integer, fraction, or scientific format.
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// - Matches library atof() to 15 digits (except at extreme exponents).
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// - Follows atof() precedent of essentially no error checking.
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//
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// 09-May-2009 Tom Van Baak (tvb) www.LeapSecond.com
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//
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#define white_space(c) ((c) == ' ' || (c) == '\t')
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#define valid_digit(c) ((c) >= '0' && (c) <= '9')
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static float _atof(const char *p)
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{
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int frac = 0;
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float sign, value, scale;
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// Skip leading white space, if any.
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while (white_space(*p) ) {
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p += 1;
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}
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// Get sign, if any.
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sign = 1.0f;
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if (*p == '-') {
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sign = -1.0f;
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p += 1;
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} else if (*p == '+') {
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p += 1;
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}
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// Get digits before decimal point or exponent, if any.
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value = 0.0f;
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while (valid_digit(*p)) {
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value = value * 10.0f + (*p - '0');
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p += 1;
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}
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// Get digits after decimal point, if any.
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if (*p == '.') {
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float pow10 = 10.0f;
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p += 1;
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while (valid_digit(*p)) {
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value += (*p - '0') / pow10;
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pow10 *= 10.0f;
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p += 1;
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}
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}
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// Handle exponent, if any.
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scale = 1.0f;
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if ((*p == 'e') || (*p == 'E')) {
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unsigned int expon;
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p += 1;
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// Get sign of exponent, if any.
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frac = 0;
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if (*p == '-') {
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frac = 1;
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p += 1;
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} else if (*p == '+') {
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p += 1;
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}
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// Get digits of exponent, if any.
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expon = 0;
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while (valid_digit(*p)) {
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expon = expon * 10 + (*p - '0');
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p += 1;
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}
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if (expon > 308)
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expon = 308;
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// Calculate scaling factor.
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// while (expon >= 50) { scale *= 1E50f; expon -= 50; }
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while (expon >= 8) { scale *= 1E8f; expon -= 8; }
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while (expon > 0) { scale *= 10.0f; expon -= 1; }
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}
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// Return signed and scaled floating point result.
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return sign * (frac ? (value / scale) : (value * scale));
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}
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///////////////////////////////////////////////////////////////////////////////
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// FTOA
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///////////////////////////////////////////////////////////////////////////////
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static char *ftoa(float x, char *floatString)
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{
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int32_t value;
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char intString1[12];
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char intString2[12] = { 0, };
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char *decimalPoint = ".";
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uint8_t dpLocation;
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if (x > 0) // Rounding for x.xxx display format
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x += 0.0005f;
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else
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x -= 0.0005f;
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value = (int32_t) (x * 1000.0f); // Convert float * 1000 to an integer
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itoa(abs(value), intString1, 10); // Create string from abs of integer value
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if (value >= 0)
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intString2[0] = ' '; // Positive number, add a pad space
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else
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intString2[0] = '-'; // Negative number, add a negative sign
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if (strlen(intString1) == 1) {
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intString2[1] = '0';
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intString2[2] = '0';
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intString2[3] = '0';
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strcat(intString2, intString1);
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} else if (strlen(intString1) == 2) {
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intString2[1] = '0';
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intString2[2] = '0';
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strcat(intString2, intString1);
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} else if (strlen(intString1) == 3) {
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intString2[1] = '0';
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strcat(intString2, intString1);
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} else {
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strcat(intString2, intString1);
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}
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dpLocation = strlen(intString2) - 3;
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strncpy(floatString, intString2, dpLocation);
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floatString[dpLocation] = '\0';
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strcat(floatString, decimalPoint);
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strcat(floatString, intString2 + dpLocation);
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return floatString;
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}
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static void cliPrompt(void)
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{
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cliPrint("\r\n# ");
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@ -474,7 +312,7 @@ static void cliCMix(char *cmdline)
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if (len == 0) {
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cliPrint("Custom mixer: \r\nMotor\tThr\tRoll\tPitch\tYaw\r\n");
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for (i = 0; i < MAX_MOTORS; i++) {
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for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
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if (masterConfig.customMixer[i].throttle == 0.0f)
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break;
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num_motors++;
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@ -497,7 +335,7 @@ static void cliCMix(char *cmdline)
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return;
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} else if (strncasecmp(cmdline, "reset", 5) == 0) {
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// erase custom mixer
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for (i = 0; i < MAX_MOTORS; i++)
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for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
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masterConfig.customMixer[i].throttle = 0.0f;
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} else if (strncasecmp(cmdline, "load", 4) == 0) {
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ptr = strchr(cmdline, ' ');
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@ -519,25 +357,25 @@ static void cliCMix(char *cmdline)
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} else {
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ptr = cmdline;
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i = atoi(ptr); // get motor number
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if (--i < MAX_MOTORS) {
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if (--i < MAX_SUPPORTED_MOTORS) {
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ptr = strchr(ptr, ' ');
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if (ptr) {
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masterConfig.customMixer[i].throttle = _atof(++ptr);
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masterConfig.customMixer[i].throttle = fastA2F(++ptr);
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check++;
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}
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ptr = strchr(ptr, ' ');
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if (ptr) {
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masterConfig.customMixer[i].roll = _atof(++ptr);
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masterConfig.customMixer[i].roll = fastA2F(++ptr);
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check++;
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}
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ptr = strchr(ptr, ' ');
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if (ptr) {
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masterConfig.customMixer[i].pitch = _atof(++ptr);
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masterConfig.customMixer[i].pitch = fastA2F(++ptr);
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check++;
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}
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ptr = strchr(ptr, ' ');
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if (ptr) {
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masterConfig.customMixer[i].yaw = _atof(++ptr);
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masterConfig.customMixer[i].yaw = fastA2F(++ptr);
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check++;
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}
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if (check != 4) {
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@ -546,7 +384,7 @@ static void cliCMix(char *cmdline)
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cliCMix("");
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}
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} else {
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printf("Motor number must be between 1 and %d\r\n", MAX_MOTORS);
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printf("Motor number must be between 1 and %d\r\n", MAX_SUPPORTED_MOTORS);
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}
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}
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}
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@ -569,7 +407,7 @@ static void cliDump(char *cmdline)
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// print custom mix if exists
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if (masterConfig.customMixer[0].throttle != 0.0f) {
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for (i = 0; i < MAX_MOTORS; i++) {
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for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
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if (masterConfig.customMixer[i].throttle == 0.0f)
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break;
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thr = masterConfig.customMixer[i].throttle;
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@ -795,8 +633,8 @@ static void cliMotor(char *cmdline)
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pch = strtok(NULL, " ");
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}
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if (motor_index < 0 || motor_index >= MAX_MOTORS) {
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printf("No such motor, use a number [0, %d]\r\n", MAX_MOTORS);
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if (motor_index < 0 || motor_index >= MAX_SUPPORTED_MOTORS) {
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printf("No such motor, use a number [0, %d]\r\n", MAX_SUPPORTED_MOTORS);
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return;
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}
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@ -952,7 +790,7 @@ static void cliSet(char *cmdline)
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eqptr++;
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len--;
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value = atoi(eqptr);
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valuef = _atof(eqptr);
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valuef = fastA2F(eqptr);
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for (i = 0; i < VALUE_COUNT; i++) {
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val = &valueTable[i];
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if (strncasecmp(cmdline, valueTable[i].name, strlen(valueTable[i].name)) == 0) {
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