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inav/src/main/fc/cli.c
giacomo892 c3464ed48a FEATURE FW_LAUNCH initial commit
2018-02-06 13:18:00 +01:00

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/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdarg.h>
#include <string.h>
#include <math.h>
#include <ctype.h>
#include "platform.h"
// 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;
extern uint8_t __config_start; // configured via linker script when building binaries.
extern uint8_t __config_end;
#ifdef USE_CLI
#include "blackbox/blackbox.h"
#include "build/assert.h"
#include "build/build_config.h"
#include "build/version.h"
#include "common/axis.h"
#include "common/color.h"
#include "common/maths.h"
#include "common/printf.h"
#include "common/string_light.h"
#include "common/time.h"
#include "common/typeconversion.h"
#include "config/config_eeprom.h"
#include "config/feature.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "drivers/accgyro/accgyro.h"
#include "drivers/buf_writer.h"
#include "drivers/bus_i2c.h"
#include "drivers/compass/compass.h"
#include "drivers/io.h"
#include "drivers/io_impl.h"
#include "drivers/logging.h"
#include "drivers/rx_pwm.h"
#include "drivers/sdcard.h"
#include "drivers/sensor.h"
#include "drivers/serial.h"
#include "drivers/stack_check.h"
#include "drivers/system.h"
#include "drivers/time.h"
#include "drivers/timer.h"
#include "fc/cli.h"
#include "fc/config.h"
#include "fc/controlrate_profile.h"
#include "fc/rc_adjustments.h"
#include "fc/rc_controls.h"
#include "fc/rc_modes.h"
#include "fc/runtime_config.h"
#include "fc/settings.h"
#include "flight/failsafe.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/pid.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 "navigation/navigation.h"
#include "rx/rx.h"
#include "rx/spektrum.h"
#include "rx/eleres.h"
#include "scheduler/scheduler.h"
#include "sensors/acceleration.h"
#include "sensors/barometer.h"
#include "sensors/battery.h"
#include "sensors/boardalignment.h"
#include "sensors/compass.h"
#include "sensors/diagnostics.h"
#include "sensors/gyro.h"
#include "sensors/pitotmeter.h"
#include "sensors/rangefinder.h"
#include "sensors/opflow.h"
#include "sensors/sensors.h"
#include "telemetry/frsky.h"
#include "telemetry/telemetry.h"
#include "build/debug.h"
#if FLASH_SIZE > 128
#define PLAY_SOUND
#endif
extern timeDelta_t cycleTime; // FIXME dependency on mw.c
extern uint8_t detectedSensors[SENSOR_INDEX_COUNT];
static serialPort_t *cliPort;
static bufWriter_t *cliWriter;
static uint8_t cliWriteBuffer[sizeof(*cliWriter) + 128];
static char cliBuffer[64];
static uint32_t bufferIndex = 0;
#if defined(USE_ASSERT)
static void cliAssert(char *cmdline);
#endif
#if defined(USE_BOOTLOG)
static void cliBootlog(char *cmdline);
#endif
static const char* const emptyName = "-";
#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", NULL
};
#endif
// sync this with features_e
static const char * const featureNames[] = {
"RX_PPM", "VBAT", "RX_UIB", "RX_SERIAL", "MOTOR_STOP",
"SERVO_TILT", "SOFTSERIAL", "GPS", "",
"", "TELEMETRY", "CURRENT_METER", "3D", "RX_PARALLEL_PWM",
"RX_MSP", "RSSI_ADC", "LED_STRIP", "DASHBOARD", "",
"BLACKBOX", "CHANNEL_FORWARDING", "TRANSPONDER", "AIRMODE",
"SUPEREXPO", "VTX", "RX_SPI", "", "PWM_SERVO_DRIVER", "PWM_OUTPUT_ENABLE", "OSD", "FW_LAUNCH", NULL
};
/* Sensor names (used in lookup tables for *_hardware settings and in status command output) */
// sync with gyroSensor_e
static const char * const gyroNames[] = { "NONE", "AUTO", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "FAKE"};
// sync this with sensors_e
static const char * const sensorTypeNames[] = {
"GYRO", "ACC", "BARO", "MAG", "RANGEFINDER", "PITOT", "OPFLOW", "GPS", "GPS+MAG", NULL
};
#define SENSOR_NAMES_MASK (SENSOR_GYRO | SENSOR_ACC | SENSOR_BARO | SENSOR_MAG | SENSOR_RANGEFINDER | SENSOR_PITOT | SENSOR_OPFLOW)
static const char * const hardwareSensorStatusNames[] = {
"NONE", "OK", "UNAVAILABLE", "FAILING"
};
static const char * const *sensorHardwareNames[] = {
gyroNames,
table_acc_hardware,
#ifdef USE_BARO
table_baro_hardware,
#endif
#ifdef USE_MAG
table_mag_hardware,
#endif
#ifdef USE_RANGEFINDER
table_rangefinder_hardware,
#endif
#ifdef USE_PITOT
table_pitot_hardware,
#endif
#ifdef USE_OPTICAL_FLOW
table_opflow_hardware,
#endif
};
static void cliPrint(const char *str)
{
while (*str) {
bufWriterAppend(cliWriter, *str++);
}
}
static void cliPrintLinefeed(void)
{
cliPrint("\r\n");
}
static void cliPrintLine(const char *str)
{
cliPrint(str);
cliPrintLinefeed();
}
#ifdef CLI_MINIMAL_VERBOSITY
#define cliPrintHashLine(str)
#else
static void cliPrintHashLine(const char *str)
{
cliPrint("\r\n# ");
cliPrintLine(str);
}
#endif
static void cliPutp(void *p, char ch)
{
bufWriterAppend(p, ch);
}
typedef enum {
DUMP_MASTER = (1 << 0),
DUMP_PROFILE = (1 << 1),
DUMP_RATES = (1 << 2),
DUMP_ALL = (1 << 3),
DO_DIFF = (1 << 4),
SHOW_DEFAULTS = (1 << 5),
HIDE_UNUSED = (1 << 6)
} dumpFlags_e;
static void cliPrintfva(const char *format, va_list va)
{
tfp_format(cliWriter, cliPutp, format, va);
bufWriterFlush(cliWriter);
}
static void cliPrintLinefva(const char *format, va_list va)
{
tfp_format(cliWriter, cliPutp, format, va);
bufWriterFlush(cliWriter);
cliPrintLinefeed();
}
static bool cliDumpPrintLinef(uint8_t dumpMask, bool equalsDefault, const char *format, ...)
{
if (!((dumpMask & DO_DIFF) && equalsDefault)) {
va_list va;
va_start(va, format);
cliPrintLinefva(format, va);
va_end(va);
return true;
} else {
return false;
}
}
static void cliWrite(uint8_t ch)
{
bufWriterAppend(cliWriter, ch);
}
static bool cliDefaultPrintLinef(uint8_t dumpMask, bool equalsDefault, const char *format, ...)
{
if ((dumpMask & SHOW_DEFAULTS) && !equalsDefault) {
cliWrite('#');
va_list va;
va_start(va, format);
cliPrintLinefva(format, va);
va_end(va);
return true;
} else {
return false;
}
}
static void cliPrintf(const char *format, ...)
{
va_list va;
va_start(va, format);
cliPrintfva(format, va);
va_end(va);
}
static void cliPrintLinef(const char *format, ...)
{
va_list va;
va_start(va, format);
cliPrintLinefva(format, va);
va_end(va);
}
static void printValuePointer(const setting_t *var, const void *valuePointer, uint32_t full)
{
int32_t value = 0;
char buf[SETTING_MAX_NAME_LENGTH];
switch (SETTING_TYPE(var)) {
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;
case VAR_FLOAT:
cliPrintf("%s", ftoa(*(float *)valuePointer, buf));
if (full) {
if (SETTING_MODE(var) == MODE_DIRECT) {
cliPrintf(" %s", ftoa((float)setting_get_min(var), buf));
cliPrintf(" %s", ftoa((float)setting_get_max(var), buf));
}
}
return; // return from case for float only
}
switch (SETTING_MODE(var)) {
case MODE_DIRECT:
if (SETTING_TYPE(var) == VAR_UINT32)
cliPrintf("%u", value);
else
cliPrintf("%d", value);
if (full) {
if (SETTING_MODE(var) == MODE_DIRECT) {
cliPrintf(" %d %u", setting_get_min(var), setting_get_max(var));
}
}
break;
case MODE_LOOKUP:
if (var->config.lookup.tableIndex < LOOKUP_TABLE_COUNT) {
cliPrintf(settingLookupTables[var->config.lookup.tableIndex].values[value]);
} else {
setting_get_name(var, buf);
cliPrintLinef("VALUE %s OUT OF RANGE", buf);
}
break;
}
}
static bool valuePtrEqualsDefault(uint8_t type, const void *ptr, const void *ptrDefault)
{
bool result = false;
switch (type & SETTING_TYPE_MASK) {
case VAR_UINT8:
result = *(uint8_t *)ptr == *(uint8_t *)ptrDefault;
break;
case VAR_INT8:
result = *(int8_t *)ptr == *(int8_t *)ptrDefault;
break;
case VAR_UINT16:
result = *(uint16_t *)ptr == *(uint16_t *)ptrDefault;
break;
case VAR_INT16:
result = *(int16_t *)ptr == *(int16_t *)ptrDefault;
break;
case VAR_UINT32:
result = *(uint32_t *)ptr == *(uint32_t *)ptrDefault;
break;
case VAR_FLOAT:
result = *(float *)ptr == *(float *)ptrDefault;
break;
}
return result;
}
static void dumpPgValue(const setting_t *value, uint8_t dumpMask)
{
char name[SETTING_MAX_NAME_LENGTH];
const char *format = "set %s = ";
const char *defaultFormat = "#set %s = ";
// During a dump, the PGs have been backed up to their "copy"
// regions and the actual values have been reset to its
// defaults. This means that setting_get_value_pointer() will
// return the default value while setting_get_copy_value_pointer()
// will return the actual value.
const void *valuePointer = setting_get_copy_value_pointer(value);
const void *defaultValuePointer = setting_get_value_pointer(value);
const bool equalsDefault = valuePtrEqualsDefault(value->type, valuePointer, defaultValuePointer);
if (((dumpMask & DO_DIFF) == 0) || !equalsDefault) {
setting_get_name(value, name);
if (dumpMask & SHOW_DEFAULTS && !equalsDefault) {
cliPrintf(defaultFormat, name);
printValuePointer(value, defaultValuePointer, 0);
cliPrintLinefeed();
}
cliPrintf(format, name);
printValuePointer(value, valuePointer, 0);
cliPrintLinefeed();
}
}
static void dumpAllValues(uint16_t valueSection, uint8_t dumpMask)
{
for (uint32_t i = 0; i < SETTINGS_TABLE_COUNT; i++) {
const setting_t *value = &settingsTable[i];
bufWriterFlush(cliWriter);
if (SETTING_SECTION(value) == valueSection) {
dumpPgValue(value, dumpMask);
}
}
}
static void cliPrintVar(const setting_t *var, uint32_t full)
{
const void *ptr = setting_get_value_pointer(var);
printValuePointer(var, ptr, full);
}
static void cliPrintVarRange(const setting_t *var)
{
switch (SETTING_MODE(var)) {
case (MODE_DIRECT):
cliPrintLinef("Allowed range: %d - %u", setting_get_min(var), setting_get_max(var));
break;
case (MODE_LOOKUP): {
const lookupTableEntry_t *tableEntry = &settingLookupTables[var->config.lookup.tableIndex];
cliPrint("Allowed values:");
for (uint32_t i = 0; i < tableEntry->valueCount ; i++) {
if (i > 0)
cliPrint(",");
cliPrintf(" %s", tableEntry->values[i]);
}
cliPrintLinefeed();
}
break;
}
}
typedef union {
uint32_t uint_value;
int32_t int_value;
float float_value;
} int_float_value_t;
static void cliSetVar(const setting_t *var, const int_float_value_t value)
{
void *ptr = setting_get_value_pointer(var);
switch (SETTING_TYPE(var)) {
case VAR_UINT8:
case VAR_INT8:
*(int8_t *)ptr = value.int_value;
break;
case VAR_UINT16:
case VAR_INT16:
*(int16_t *)ptr = value.int_value;
break;
case VAR_UINT32:
*(uint32_t *)ptr = value.uint_value;
break;
case VAR_FLOAT:
*(float *)ptr = (float)value.float_value;
break;
}
}
static void cliPrompt(void)
{
cliPrint("\r\n# ");
bufWriterFlush(cliWriter);
}
static void cliShowParseError(void)
{
cliPrintLine("Parse error");
}
static void cliShowArgumentRangeError(char *name, int min, int max)
{
cliPrintLinef("%s must be 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 = fastA2I(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;
}
#if defined(USE_ASSERT)
static void cliAssert(char *cmdline)
{
UNUSED(cmdline);
if (assertFailureLine) {
if (assertFailureFile) {
cliPrintLinef("Assertion failed at line %d, file %s", assertFailureLine, assertFailureFile);
}
else {
cliPrintLinef("Assertion failed at line %d", assertFailureLine);
}
}
else {
cliPrintLine("No assert() failed");
}
}
#endif
#if defined(USE_BOOTLOG)
static void cliBootlog(char *cmdline)
{
UNUSED(cmdline);
int bootEventCount = getBootlogEventCount();
#if defined(BOOTLOG_DESCRIPTIONS)
cliPrintLine("Time Evt Description Parameters");
#else
cliPrintLine("Time Evt Parameters");
#endif
for (int idx = 0; idx < bootEventCount; idx++) {
bootLogEntry_t * event = getBootlogEvent(idx);
#if defined(BOOTLOG_DESCRIPTIONS)
const char * eventDescription = getBootlogEventDescription(event->eventCode);
if (!eventDescription) {
eventDescription = "";
}
cliPrintf("%4d: %2d %22s ", event->timestamp, event->eventCode, eventDescription);
#else
cliPrintf("%4d: %2d ", event->timestamp, event->eventCode);
#endif
if (event->eventFlags & BOOT_EVENT_FLAGS_PARAM16) {
cliPrintLinef(" (%d, %d, %d, %d)", event->params.u16[0], event->params.u16[1], event->params.u16[2], event->params.u16[3]);
}
else if (event->eventFlags & BOOT_EVENT_FLAGS_PARAM32) {
cliPrintLinef(" (%d, %d)", event->params.u32[0], event->params.u32[1]);
}
else {
cliPrintLinefeed();
}
}
}
#endif
static void printAux(uint8_t dumpMask, const modeActivationCondition_t *modeActivationConditions, const modeActivationCondition_t *defaultModeActivationConditions)
{
const char *format = "aux %u %u %u %u %u";
// print out aux channel settings
for (uint32_t i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
const modeActivationCondition_t *mac = &modeActivationConditions[i];
bool equalsDefault = false;
if (defaultModeActivationConditions) {
const modeActivationCondition_t *macDefault = &defaultModeActivationConditions[i];
equalsDefault = mac->modeId == macDefault->modeId
&& mac->auxChannelIndex == macDefault->auxChannelIndex
&& mac->range.startStep == macDefault->range.startStep
&& mac->range.endStep == macDefault->range.endStep;
cliDefaultPrintLinef(dumpMask, equalsDefault, format,
i,
macDefault->modeId,
macDefault->auxChannelIndex,
MODE_STEP_TO_CHANNEL_VALUE(macDefault->range.startStep),
MODE_STEP_TO_CHANNEL_VALUE(macDefault->range.endStep)
);
}
cliDumpPrintLinef(dumpMask, equalsDefault, format,
i,
mac->modeId,
mac->auxChannelIndex,
MODE_STEP_TO_CHANNEL_VALUE(mac->range.startStep),
MODE_STEP_TO_CHANNEL_VALUE(mac->range.endStep)
);
}
}
static void cliAux(char *cmdline)
{
int i, val = 0;
const char *ptr;
if (isEmpty(cmdline)) {
printAux(DUMP_MASTER, modeActivationConditions(0), NULL);
} else {
ptr = cmdline;
i = fastA2I(ptr++);
if (i < MAX_MODE_ACTIVATION_CONDITION_COUNT) {
modeActivationCondition_t *mac = modeActivationConditionsMutable(i);
uint8_t validArgumentCount = 0;
ptr = nextArg(ptr);
if (ptr) {
val = fastA2I(ptr);
if (val >= 0 && val < CHECKBOX_ITEM_COUNT) {
mac->modeId = val;
validArgumentCount++;
}
}
ptr = nextArg(ptr);
if (ptr) {
val = fastA2I(ptr);
if (val >= 0 && val < MAX_AUX_CHANNEL_COUNT) {
mac->auxChannelIndex = val;
validArgumentCount++;
}
}
ptr = processChannelRangeArgs(ptr, &mac->range, &validArgumentCount);
if (validArgumentCount != 4) {
memset(mac, 0, sizeof(modeActivationCondition_t));
}
} else {
cliShowArgumentRangeError("index", 0, MAX_MODE_ACTIVATION_CONDITION_COUNT - 1);
}
}
}
static void printSerial(uint8_t dumpMask, const serialConfig_t *serialConfig, const serialConfig_t *serialConfigDefault)
{
const char *format = "serial %d %d %ld %ld %ld %ld";
for (uint32_t i = 0; i < SERIAL_PORT_COUNT; i++) {
if (!serialIsPortAvailable(serialConfig->portConfigs[i].identifier)) {
continue;
};
bool equalsDefault = false;
if (serialConfigDefault) {
equalsDefault = serialConfig->portConfigs[i].identifier == serialConfigDefault->portConfigs[i].identifier
&& serialConfig->portConfigs[i].functionMask == serialConfigDefault->portConfigs[i].functionMask
&& serialConfig->portConfigs[i].msp_baudrateIndex == serialConfigDefault->portConfigs[i].msp_baudrateIndex
&& serialConfig->portConfigs[i].gps_baudrateIndex == serialConfigDefault->portConfigs[i].gps_baudrateIndex
&& serialConfig->portConfigs[i].telemetry_baudrateIndex == serialConfigDefault->portConfigs[i].telemetry_baudrateIndex
&& serialConfig->portConfigs[i].peripheral_baudrateIndex == serialConfigDefault->portConfigs[i].peripheral_baudrateIndex;
cliDefaultPrintLinef(dumpMask, equalsDefault, format,
serialConfigDefault->portConfigs[i].identifier,
serialConfigDefault->portConfigs[i].functionMask,
baudRates[serialConfigDefault->portConfigs[i].msp_baudrateIndex],
baudRates[serialConfigDefault->portConfigs[i].gps_baudrateIndex],
baudRates[serialConfigDefault->portConfigs[i].telemetry_baudrateIndex],
baudRates[serialConfigDefault->portConfigs[i].peripheral_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].peripheral_baudrateIndex]
);
}
}
static void cliSerial(char *cmdline)
{
if (isEmpty(cmdline)) {
printSerial(DUMP_MASTER, serialConfig(), NULL);
return;
}
serialPortConfig_t portConfig;
memset(&portConfig, 0 , sizeof(portConfig));
serialPortConfig_t *currentConfig;
uint8_t validArgumentCount = 0;
const char *ptr = cmdline;
int val = fastA2I(ptr++);
currentConfig = serialFindPortConfiguration(val);
if (currentConfig) {
portConfig.identifier = val;
validArgumentCount++;
}
ptr = nextArg(ptr);
if (ptr) {
val = fastA2I(ptr);
portConfig.functionMask = val & 0xFFFF;
validArgumentCount++;
}
for (int i = 0; i < 4; i ++) {
ptr = nextArg(ptr);
if (!ptr) {
break;
}
val = fastA2I(ptr);
uint8_t baudRateIndex = lookupBaudRateIndex(val);
if (baudRates[baudRateIndex] != (uint32_t) val) {
break;
}
switch (i) {
case 0:
if (baudRateIndex < BAUD_1200 || baudRateIndex > BAUD_2470000) {
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_250000) {
continue;
}
portConfig.peripheral_baudrateIndex = baudRateIndex;
break;
}
validArgumentCount++;
}
if (validArgumentCount < 6) {
cliShowParseError();
return;
}
memcpy(currentConfig, &portConfig, sizeof(portConfig));
}
#ifdef USE_SERIAL_PASSTHROUGH
static void cliSerialPassthrough(char *cmdline)
{
char * saveptr;
if (isEmpty(cmdline)) {
cliShowParseError();
return;
}
int id = -1;
uint32_t baud = 0;
unsigned mode = 0;
char* tok = strtok_r(cmdline, " ", &saveptr);
int index = 0;
while (tok != NULL) {
switch (index) {
case 0:
id = fastA2I(tok);
break;
case 1:
baud = fastA2I(tok);
break;
case 2:
if (strstr(tok, "rx") || strstr(tok, "RX"))
mode |= MODE_RX;
if (strstr(tok, "tx") || strstr(tok, "TX"))
mode |= MODE_TX;
break;
}
index++;
tok = strtok_r(NULL, " ", &saveptr);
}
serialPort_t *passThroughPort;
serialPortUsage_t *passThroughPortUsage = findSerialPortUsageByIdentifier(id);
if (!passThroughPortUsage || passThroughPortUsage->serialPort == NULL) {
if (!baud) {
printf("Port %d is closed, must specify baud.\r\n", id);
return;
}
if (!mode)
mode = MODE_RXTX;
passThroughPort = openSerialPort(id, FUNCTION_NONE, NULL, NULL,
baud, mode,
SERIAL_NOT_INVERTED);
if (!passThroughPort) {
printf("Port %d could not be opened.\r\n", id);
return;
}
printf("Port %d opened, baud = %d.\r\n", id, 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.
printf("Port %d already open.\r\n", id);
if (mode && passThroughPort->mode != mode) {
printf("Adjusting mode 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) {
printf("Removing rxCallback\r\n");
passThroughPort->rxCallback = 0;
}
}
printf("Forwarding data to %d, power cycle to exit.\r\n", id);
serialPassthrough(cliPort, passThroughPort, NULL, NULL);
}
#endif
static void printAdjustmentRange(uint8_t dumpMask, const adjustmentRange_t *adjustmentRanges, const adjustmentRange_t *defaultAdjustmentRanges)
{
const char *format = "adjrange %u %u %u %u %u %u %u";
// print out adjustment ranges channel settings
for (uint32_t i = 0; i < MAX_ADJUSTMENT_RANGE_COUNT; i++) {
const adjustmentRange_t *ar = &adjustmentRanges[i];
bool equalsDefault = false;
if (defaultAdjustmentRanges) {
const adjustmentRange_t *arDefault = &defaultAdjustmentRanges[i];
equalsDefault = ar->auxChannelIndex == arDefault->auxChannelIndex
&& ar->range.startStep == arDefault->range.startStep
&& ar->range.endStep == arDefault->range.endStep
&& ar->adjustmentFunction == arDefault->adjustmentFunction
&& ar->auxSwitchChannelIndex == arDefault->auxSwitchChannelIndex
&& ar->adjustmentIndex == arDefault->adjustmentIndex;
cliDefaultPrintLinef(dumpMask, equalsDefault, format,
i,
arDefault->adjustmentIndex,
arDefault->auxChannelIndex,
MODE_STEP_TO_CHANNEL_VALUE(arDefault->range.startStep),
MODE_STEP_TO_CHANNEL_VALUE(arDefault->range.endStep),
arDefault->adjustmentFunction,
arDefault->auxSwitchChannelIndex
);
}
cliDumpPrintLinef(dumpMask, equalsDefault, format,
i,
ar->adjustmentIndex,
ar->auxChannelIndex,
MODE_STEP_TO_CHANNEL_VALUE(ar->range.startStep),
MODE_STEP_TO_CHANNEL_VALUE(ar->range.endStep),
ar->adjustmentFunction,
ar->auxSwitchChannelIndex
);
}
}
static void cliAdjustmentRange(char *cmdline)
{
int i, val = 0;
const char *ptr;
if (isEmpty(cmdline)) {
printAdjustmentRange(DUMP_MASTER, adjustmentRanges(0), NULL);
} else {
ptr = cmdline;
i = fastA2I(ptr++);
if (i < MAX_ADJUSTMENT_RANGE_COUNT) {
adjustmentRange_t *ar = adjustmentRangesMutable(i);
uint8_t validArgumentCount = 0;
ptr = nextArg(ptr);
if (ptr) {
val = fastA2I(ptr);
if (val >= 0 && val < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT) {
ar->adjustmentIndex = val;
validArgumentCount++;
}
}
ptr = nextArg(ptr);
if (ptr) {
val = fastA2I(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 = fastA2I(ptr);
if (val >= 0 && val < ADJUSTMENT_FUNCTION_COUNT) {
ar->adjustmentFunction = val;
validArgumentCount++;
}
}
ptr = nextArg(ptr);
if (ptr) {
val = fastA2I(ptr);
if (val >= 0 && val < MAX_AUX_CHANNEL_COUNT) {
ar->auxSwitchChannelIndex = val;
validArgumentCount++;
}
}
if (validArgumentCount != 6) {
memset(ar, 0, sizeof(adjustmentRange_t));
cliShowParseError();
}
} else {
cliShowArgumentRangeError("index", 0, MAX_ADJUSTMENT_RANGE_COUNT - 1);
}
}
}
#ifndef USE_QUAD_MIXER_ONLY
static void printMotorMix(uint8_t dumpMask, const motorMixer_t *customMotorMixer, const motorMixer_t *defaultCustomMotorMixer)
{
const char *format = "mmix %d %s %s %s %s";
char buf0[FTOA_BUFFER_SIZE];
char buf1[FTOA_BUFFER_SIZE];
char buf2[FTOA_BUFFER_SIZE];
char buf3[FTOA_BUFFER_SIZE];
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));
}
}
static void cliMotorMix(char *cmdline)
{
int check = 0;
uint8_t len;
const char *ptr;
if (isEmpty(cmdline)) {
printMotorMix(DUMP_MASTER, customMotorMixer(0), NULL);
} else if (sl_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 (sl_strncasecmp(cmdline, "load", 4) == 0) {
ptr = nextArg(cmdline);
if (ptr) {
len = strlen(ptr);
for (uint32_t i = 0; ; i++) {
if (mixerNames[i] == NULL) {
cliPrintLine("Invalid name");
break;
}
if (sl_strncasecmp(ptr, mixerNames[i], len) == 0) {
mixerLoadMix(i, customMotorMixerMutable(0));
cliPrintLinef("Loaded %s", mixerNames[i]);
cliMotorMix("");
break;
}
}
}
} else {
ptr = cmdline;
uint32_t i = fastA2I(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 // USE_QUAD_MIXER_ONLY
static void printRxRange(uint8_t dumpMask, const rxChannelRangeConfig_t *channelRangeConfigs, const rxChannelRangeConfig_t *defaultChannelRangeConfigs)
{
const char *format = "rxrange %u %u %u";
for (uint32_t i = 0; i < NON_AUX_CHANNEL_COUNT; i++) {
bool equalsDefault = false;
if (defaultChannelRangeConfigs) {
equalsDefault = channelRangeConfigs[i].min == defaultChannelRangeConfigs[i].min
&& channelRangeConfigs[i].max == defaultChannelRangeConfigs[i].max;
cliDefaultPrintLinef(dumpMask, equalsDefault, format,
i,
defaultChannelRangeConfigs[i].min,
defaultChannelRangeConfigs[i].max
);
}
cliDumpPrintLinef(dumpMask, equalsDefault, format,
i,
channelRangeConfigs[i].min,
channelRangeConfigs[i].max
);
}
}
static void cliRxRange(char *cmdline)
{
int i, validArgumentCount = 0;
const char *ptr;
if (isEmpty(cmdline)) {
printRxRange(DUMP_MASTER, rxChannelRangeConfigs(0), NULL);
} else if (sl_strcasecmp(cmdline, "reset") == 0) {
resetAllRxChannelRangeConfigurations();
} else {
ptr = cmdline;
i = fastA2I(ptr);
if (i >= 0 && i < NON_AUX_CHANNEL_COUNT) {
int rangeMin, rangeMax;
ptr = nextArg(ptr);
if (ptr) {
rangeMin = fastA2I(ptr);
validArgumentCount++;
}
ptr = nextArg(ptr);
if (ptr) {
rangeMax = fastA2I(ptr);
validArgumentCount++;
}
if (validArgumentCount != 2) {
cliShowParseError();
} else if (rangeMin < PWM_PULSE_MIN || rangeMin > PWM_PULSE_MAX || rangeMax < PWM_PULSE_MIN || rangeMax > PWM_PULSE_MAX) {
cliShowParseError();
} else {
rxChannelRangeConfig_t *channelRangeConfig = rxChannelRangeConfigsMutable(i);
channelRangeConfig->min = rangeMin;
channelRangeConfig->max = rangeMax;
}
} else {
cliShowArgumentRangeError("channel", 0, NON_AUX_CHANNEL_COUNT - 1);
}
}
}
#ifdef USE_LED_STRIP
static void printLed(uint8_t dumpMask, const ledConfig_t *ledConfigs, const ledConfig_t *defaultLedConfigs)
{
const char *format = "led %u %s";
char ledConfigBuffer[20];
char ledConfigDefaultBuffer[20];
for (uint32_t i = 0; i < LED_MAX_STRIP_LENGTH; i++) {
ledConfig_t ledConfig = ledConfigs[i];
generateLedConfig(&ledConfig, ledConfigBuffer, sizeof(ledConfigBuffer));
bool equalsDefault = false;
if (defaultLedConfigs) {
ledConfig_t ledConfigDefault = defaultLedConfigs[i];
equalsDefault = ledConfig == ledConfigDefault;
generateLedConfig(&ledConfigDefault, ledConfigDefaultBuffer, sizeof(ledConfigDefaultBuffer));
cliDefaultPrintLinef(dumpMask, equalsDefault, format, i, ledConfigDefaultBuffer);
}
cliDumpPrintLinef(dumpMask, equalsDefault, format, i, ledConfigBuffer);
}
}
static void cliLed(char *cmdline)
{
int i;
const char *ptr;
if (isEmpty(cmdline)) {
printLed(DUMP_MASTER, ledStripConfig()->ledConfigs, NULL);
} else {
ptr = cmdline;
i = fastA2I(ptr);
if (i < LED_MAX_STRIP_LENGTH) {
ptr = nextArg(cmdline);
if (!parseLedStripConfig(i, ptr)) {
cliShowParseError();
}
} else {
cliShowArgumentRangeError("index", 0, LED_MAX_STRIP_LENGTH - 1);
}
}
}
static void printColor(uint8_t dumpMask, const hsvColor_t *colors, const hsvColor_t *defaultColors)
{
const char *format = "color %u %d,%u,%u";
for (uint32_t i = 0; i < LED_CONFIGURABLE_COLOR_COUNT; i++) {
const hsvColor_t *color = &colors[i];
bool equalsDefault = false;
if (defaultColors) {
const hsvColor_t *colorDefault = &defaultColors[i];
equalsDefault = color->h == colorDefault->h
&& color->s == colorDefault->s
&& color->v == colorDefault->v;
cliDefaultPrintLinef(dumpMask, equalsDefault, format, i,colorDefault->h, colorDefault->s, colorDefault->v);
}
cliDumpPrintLinef(dumpMask, equalsDefault, format, i, color->h, color->s, color->v);
}
}
static void cliColor(char *cmdline)
{
if (isEmpty(cmdline)) {
printColor(DUMP_MASTER, ledStripConfig()->colors, NULL);
} else {
const char *ptr = cmdline;
const int i = fastA2I(ptr);
if (i < LED_CONFIGURABLE_COLOR_COUNT) {
ptr = nextArg(cmdline);
if (!parseColor(i, ptr)) {
cliShowParseError();
}
} else {
cliShowArgumentRangeError("index", 0, LED_CONFIGURABLE_COLOR_COUNT - 1);
}
}
}
static void printModeColor(uint8_t dumpMask, const ledStripConfig_t *ledStripConfig, const ledStripConfig_t *defaultLedStripConfig)
{
const char *format = "mode_color %u %u %u";
for (uint32_t i = 0; i < LED_MODE_COUNT; i++) {
for (uint32_t j = 0; j < LED_DIRECTION_COUNT; j++) {
int colorIndex = ledStripConfig->modeColors[i].color[j];
bool equalsDefault = false;
if (defaultLedStripConfig) {
int colorIndexDefault = defaultLedStripConfig->modeColors[i].color[j];
equalsDefault = colorIndex == colorIndexDefault;
cliDefaultPrintLinef(dumpMask, equalsDefault, format, i, j, colorIndexDefault);
}
cliDumpPrintLinef(dumpMask, equalsDefault, format, i, j, colorIndex);
}
}
for (uint32_t j = 0; j < LED_SPECIAL_COLOR_COUNT; j++) {
const int colorIndex = ledStripConfig->specialColors.color[j];
bool equalsDefault = false;
if (defaultLedStripConfig) {
const int colorIndexDefault = defaultLedStripConfig->specialColors.color[j];
equalsDefault = colorIndex == colorIndexDefault;
cliDefaultPrintLinef(dumpMask, equalsDefault, format, LED_SPECIAL, j, colorIndexDefault);
}
cliDumpPrintLinef(dumpMask, equalsDefault, format, LED_SPECIAL, j, colorIndex);
}
}
static void cliModeColor(char *cmdline)
{
char * saveptr;
if (isEmpty(cmdline)) {
printModeColor(DUMP_MASTER, ledStripConfig(), NULL);
} else {
enum {MODE = 0, FUNCTION, COLOR, ARGS_COUNT};
int args[ARGS_COUNT];
int argNo = 0;
const char* ptr = strtok_r(cmdline, " ", &saveptr);
while (ptr && argNo < ARGS_COUNT) {
args[argNo++] = fastA2I(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 *servoParam, const servoParam_t *defaultServoParam)
{
// 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 = &servoParam[i];
bool equalsDefault = false;
if (defaultServoParam) {
const servoParam_t *servoConfDefault = &defaultServoParam[i];
equalsDefault = servoConf->min == servoConfDefault->min
&& servoConf->max == servoConfDefault->max
&& servoConf->middle == servoConfDefault->middle
&& servoConf->rate == servoConfDefault->rate
&& servoConf->forwardFromChannel == servoConfDefault->forwardFromChannel;
cliDefaultPrintLinef(dumpMask, equalsDefault, format,
i,
servoConfDefault->min,
servoConfDefault->max,
servoConfDefault->middle,
servoConfDefault->rate,
servoConfDefault->forwardFromChannel
);
}
cliDumpPrintLinef(dumpMask, equalsDefault, format,
i,
servoConf->min,
servoConf->max,
servoConf->middle,
servoConf->rate,
servoConf->forwardFromChannel
);
}
// print servo directions
if (defaultServoParam) {
for (uint32_t i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
const servoParam_t *servoConf = &servoParam[i];
const servoParam_t *servoConfDefault = &defaultServoParam[i];
bool equalsDefault = servoConf->reversedSources == servoConfDefault->reversedSources;
for (uint32_t channel = 0; channel < INPUT_SOURCE_COUNT; channel++) {
equalsDefault = ~(servoConf->reversedSources ^ servoConfDefault->reversedSources) & (1 << channel);
const char *format = "smix reverse %d %d r";
if (servoConfDefault->reversedSources & (1 << channel)) {
cliDefaultPrintLinef(dumpMask, equalsDefault, format, i , channel);
}
if (servoConf->reversedSources & (1 << channel)) {
cliDumpPrintLinef(dumpMask, equalsDefault, format, i , channel);
}
}
}
}
}
static void cliServo(char *cmdline)
{
enum { SERVO_ARGUMENT_COUNT = 6 };
int16_t arguments[SERVO_ARGUMENT_COUNT];
servoParam_t *servo;
int i;
const 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++] = fastA2I(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] < -125 || arguments[RATE] > 125 ||
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];
}
}
static void printServoMix(uint8_t dumpMask, const servoMixer_t *customServoMixers, const servoMixer_t *defaultCustomServoMixers)
{
const char *format = "smix %d %d %d %d %d";
for (uint32_t i = 0; i < MAX_SERVO_RULES; i++) {
const servoMixer_t customServoMixer = customServoMixers[i];
if (customServoMixer.rate == 0) {
break;
}
bool equalsDefault = false;
if (defaultCustomServoMixers) {
servoMixer_t customServoMixerDefault = defaultCustomServoMixers[i];
equalsDefault = customServoMixer.targetChannel == customServoMixerDefault.targetChannel
&& customServoMixer.inputSource == customServoMixerDefault.inputSource
&& customServoMixer.rate == customServoMixerDefault.rate
&& customServoMixer.speed == customServoMixerDefault.speed;
cliDefaultPrintLinef(dumpMask, equalsDefault, format,
i,
customServoMixerDefault.targetChannel,
customServoMixerDefault.inputSource,
customServoMixerDefault.rate,
customServoMixerDefault.speed
);
}
cliDumpPrintLinef(dumpMask, equalsDefault, format,
i,
customServoMixer.targetChannel,
customServoMixer.inputSource,
customServoMixer.rate,
customServoMixer.speed
);
}
}
static void cliServoMix(char *cmdline)
{
char * saveptr;
int args[8], check = 0;
uint8_t len = strlen(cmdline);
if (len == 0) {
printServoMix(DUMP_MASTER, customServoMixers(0), NULL);
} else if (sl_strncasecmp(cmdline, "reset", 5) == 0) {
// erase custom mixer
pgResetCopy(customServoMixersMutable(0), PG_SERVO_MIXER);
for (uint32_t i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
servoParamsMutable(i)->reversedSources = 0;
}
} else if (sl_strncasecmp(cmdline, "load", 4) == 0) {
const char *ptr = nextArg(cmdline);
if (ptr) {
len = strlen(ptr);
for (uint32_t i = 0; ; i++) {
if (mixerNames[i] == NULL) {
cliPrintLine("Invalid name");
break;
}
if (sl_strncasecmp(ptr, mixerNames[i], len) == 0) {
servoMixerLoadMix(i);
cliPrintLinef("Loaded %s", mixerNames[i]);
cliServoMix("");
break;
}
}
}
} else if (sl_strncasecmp(cmdline, "reverse", 7) == 0) {
enum {SERVO = 0, INPUT, REVERSE, ARGS_COUNT};
char *ptr = strchr(cmdline, ' ');
len = strlen(ptr);
if (len == 0) {
cliPrintf("s");
for (uint32_t inputSource = 0; inputSource < INPUT_SOURCE_COUNT; inputSource++)
cliPrintf("\ti%d", inputSource);
cliPrintLinefeed();
for (uint32_t servoIndex = 0; servoIndex < MAX_SUPPORTED_SERVOS; servoIndex++) {
cliPrintf("%d", servoIndex);
for (uint32_t inputSource = 0; inputSource < INPUT_SOURCE_COUNT; inputSource++)
cliPrintf("\t%s ", (servoParams(servoIndex)->reversedSources & (1 << inputSource)) ? "r" : "n");
cliPrintLinefeed();
}
return;
}
ptr = strtok_r(ptr, " ", &saveptr);
while (ptr != NULL && check < ARGS_COUNT - 1) {
args[check++] = fastA2I(ptr);
ptr = strtok_r(NULL, " ", &saveptr);
}
if (ptr == NULL || check != ARGS_COUNT - 1) {
cliShowParseError();
return;
}
if (args[SERVO] >= 0 && args[SERVO] < MAX_SUPPORTED_SERVOS
&& args[INPUT] >= 0 && args[INPUT] < INPUT_SOURCE_COUNT
&& (*ptr == 'r' || *ptr == 'n')) {
if (*ptr == 'r')
servoParamsMutable(args[SERVO])->reversedSources |= 1 << args[INPUT];
else
servoParamsMutable(args[SERVO])->reversedSources &= ~(1 << args[INPUT]);
} else
cliShowParseError();
cliServoMix("reverse");
} else {
enum {RULE = 0, TARGET, INPUT, RATE, SPEED, ARGS_COUNT};
char *ptr = strtok_r(cmdline, " ", &saveptr);
while (ptr != NULL && check < ARGS_COUNT) {
args[check++] = fastA2I(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] >= -125 && args[RATE] <= 125 &&
args[SPEED] >= 0 && args[SPEED] <= MAX_SERVO_SPEED) {
customServoMixersMutable(i)->targetChannel = args[TARGET];
customServoMixersMutable(i)->inputSource = args[INPUT];
customServoMixersMutable(i)->rate = args[RATE];
customServoMixersMutable(i)->speed = args[SPEED];
cliServoMix("");
} else {
cliShowParseError();
}
}
}
#endif // USE_SERVOS
#ifdef USE_SDCARD
static void cliWriteBytes(const uint8_t *buffer, int count)
{
while (count > 0) {
cliWrite(*buffer);
buffer++;
count--;
}
}
static void cliSdInfo(char *cmdline)
{
UNUSED(cmdline);
cliPrint("SD card: ");
if (!sdcard_isInserted()) {
cliPrintLine("None inserted");
return;
}
if (!sdcard_isInitialized()) {
cliPrintLine("Startup failed");
return;
}
const sdcardMetadata_t *metadata = sdcard_getMetadata();
cliPrintf("Manufacturer 0x%x, %ukB, %02d/%04d, v%d.%d, '",
metadata->manufacturerID,
metadata->numBlocks / 2, /* One block is half a kB */
metadata->productionMonth,
metadata->productionYear,
metadata->productRevisionMajor,
metadata->productRevisionMinor
);
cliWriteBytes((uint8_t*)metadata->productName, sizeof(metadata->productName));
cliPrint("'\r\n" "Filesystem: ");
switch (afatfs_getFilesystemState()) {
case AFATFS_FILESYSTEM_STATE_READY:
cliPrint("Ready");
break;
case AFATFS_FILESYSTEM_STATE_INITIALIZATION:
cliPrint("Initializing");
break;
case AFATFS_FILESYSTEM_STATE_UNKNOWN:
case AFATFS_FILESYSTEM_STATE_FATAL:
cliPrint("Fatal");
switch (afatfs_getLastError()) {
case AFATFS_ERROR_BAD_MBR:
cliPrint(" - no FAT MBR partitions");
break;
case AFATFS_ERROR_BAD_FILESYSTEM_HEADER:
cliPrint(" - bad FAT header");
break;
case AFATFS_ERROR_GENERIC:
case AFATFS_ERROR_NONE:
; // Nothing more detailed to print
break;
}
break;
}
cliPrintLinefeed();
}
#endif
#ifdef USE_FLASHFS
static void cliFlashInfo(char *cmdline)
{
const flashGeometry_t *layout = flashfsGetGeometry();
UNUSED(cmdline);
cliPrintLinef("Flash sectors=%u, sectorSize=%u, pagesPerSector=%u, pageSize=%u, totalSize=%u, usedSize=%u",
layout->sectors, layout->sectorSize, layout->pagesPerSector, layout->pageSize, layout->totalSize, flashfsGetOffset());
}
static void cliFlashErase(char *cmdline)
{
UNUSED(cmdline);
cliPrintLine("Erasing...");
flashfsEraseCompletely();
while (!flashfsIsReady()) {
delay(100);
}
cliPrintLine("Done.");
}
#ifdef USE_FLASH_TOOLS
static void cliFlashWrite(char *cmdline)
{
const uint32_t address = fastA2I(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 = fastA2I(cmdline);
const char *nextArg = strchr(cmdline, ' ');
if (!nextArg) {
cliShowParseError();
} else {
uint32_t length = fastA2I(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
static void printFeature(uint8_t dumpMask, const featureConfig_t *featureConfig, const featureConfig_t *featureConfigDefault)
{
uint32_t mask = featureConfig->enabledFeatures;
uint32_t defaultMask = featureConfigDefault->enabledFeatures;
for (uint32_t i = 0; ; i++) { // disable all feature first
if (featureNames[i] == NULL)
break;
if (featureNames[i][0] == '\0')
continue;
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; ; i++) { // reenable what we want.
if (featureNames[i] == NULL)
break;
if (featureNames[i][0] == '\0')
continue;
const char *format = "feature %s";
if (defaultMask & (1 << i)) {
cliDefaultPrintLinef(dumpMask, (~defaultMask | mask) & (1 << i), format, featureNames[i]);
}
if (mask & (1 << i)) {
cliDumpPrintLinef(dumpMask, (defaultMask | ~mask) & (1 << i), format, featureNames[i]);
}
}
}
static void cliFeature(char *cmdline)
{
uint32_t len = strlen(cmdline);
uint32_t mask = featureMask();
if (len == 0) {
cliPrint("Enabled: ");
for (uint32_t i = 0; ; i++) {
if (featureNames[i] == NULL)
break;
if (featureNames[i][0] == '\0')
continue;
if (mask & (1 << i))
cliPrintf("%s ", featureNames[i]);
}
cliPrintLinefeed();
} else if (sl_strncasecmp(cmdline, "list", len) == 0) {
cliPrint("Available: ");
for (uint32_t i = 0; ; i++) {
if (featureNames[i] == NULL)
break;
if (featureNames[i][0] == '\0')
continue;
cliPrintf("%s ", featureNames[i]);
}
cliPrintLinefeed();
return;
} else {
bool remove = false;
if (cmdline[0] == '-') {
// remove feature
remove = true;
cmdline++; // skip over -
len--;
}
for (uint32_t i = 0; ; i++) {
if (featureNames[i] == NULL) {
cliPrintLine("Invalid name");
break;
}
if (sl_strncasecmp(cmdline, featureNames[i], len) == 0) {
mask = 1 << i;
#ifndef USE_GPS
if (mask & FEATURE_GPS) {
cliPrintLine("unavailable");
break;
}
#endif
if (remove) {
featureClear(mask);
cliPrint("Disabled");
} else {
featureSet(mask);
cliPrint("Enabled");
}
cliPrintLinef(" %s", featureNames[i]);
break;
}
}
}
}
#ifdef BEEPER
static void printBeeper(uint8_t dumpMask, const beeperConfig_t *beeperConfig, const beeperConfig_t *beeperConfigDefault)
{
const uint8_t beeperCount = beeperTableEntryCount();
const uint32_t mask = beeperConfig->beeper_off_flags;
const uint32_t defaultMask = beeperConfigDefault->beeper_off_flags;
for (int i = 0; i < beeperCount - 2; i++) {
const char *formatOff = "beeper -%s";
const char *formatOn = "beeper %s";
cliDefaultPrintLinef(dumpMask, ~(mask ^ defaultMask) & (1 << i), mask & (1 << i) ? formatOn : formatOff, beeperNameForTableIndex(i));
cliDumpPrintLinef(dumpMask, ~(mask ^ defaultMask) & (1 << i), mask & (1 << i) ? formatOff : formatOn, beeperNameForTableIndex(i));
}
}
static void cliBeeper(char *cmdline)
{
uint32_t len = strlen(cmdline);
uint8_t beeperCount = beeperTableEntryCount();
uint32_t mask = getBeeperOffMask();
if (len == 0) {
cliPrintf("Disabled:");
for (int32_t i = 0; ; i++) {
if (i == beeperCount - 2){
if (mask == 0)
cliPrint(" none");
break;
}
if (mask & (1 << (beeperModeForTableIndex(i) - 1)))
cliPrintf(" %s", beeperNameForTableIndex(i));
}
cliPrintLinefeed();
} else if (sl_strncasecmp(cmdline, "list", len) == 0) {
cliPrint("Available:");
for (uint32_t i = 0; i < beeperCount; i++)
cliPrintf(" %s", beeperNameForTableIndex(i));
cliPrintLinefeed();
return;
} else {
bool remove = false;
if (cmdline[0] == '-') {
remove = true; // this is for beeper OFF condition
cmdline++;
len--;
}
for (uint32_t i = 0; ; i++) {
if (i == beeperCount) {
cliPrintLine("Invalid name");
break;
}
if (sl_strncasecmp(cmdline, beeperNameForTableIndex(i), len) == 0) {
if (remove) { // beeper off
if (i == BEEPER_ALL-1)
beeperOffSetAll(beeperCount-2);
else
if (i == BEEPER_PREFERENCE-1)
setBeeperOffMask(getPreferredBeeperOffMask());
else {
mask = 1 << (beeperModeForTableIndex(i) - 1);
beeperOffSet(mask);
}
cliPrint("Disabled");
}
else { // beeper on
if (i == BEEPER_ALL-1)
beeperOffClearAll();
else
if (i == BEEPER_PREFERENCE-1)
setPreferredBeeperOffMask(getBeeperOffMask());
else {
mask = 1 << (beeperModeForTableIndex(i) - 1);
beeperOffClear(mask);
}
cliPrint("Enabled");
}
cliPrintLinef(" %s", beeperNameForTableIndex(i));
break;
}
}
}
}
#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 < MAX_MAPPABLE_RX_INPUTS; i++) {
buf[i] = bufDefault[i] = 0;
}
for (i = 0; i < MAX_MAPPABLE_RX_INPUTS; i++) {
buf[rxConfig->rcmap[i]] = rcChannelLetters[i];
if (defaultRxConfig) {
bufDefault[defaultRxConfig->rcmap[i]] = rcChannelLetters[i];
equalsDefault = equalsDefault && (rxConfig->rcmap[i] == defaultRxConfig->rcmap[i]);
}
}
buf[i] = '\0';
const char *formatMap = "map %s";
cliDefaultPrintLinef(dumpMask, equalsDefault, formatMap, bufDefault);
cliDumpPrintLinef(dumpMask, equalsDefault, formatMap, buf);
}
static void cliMap(char *cmdline)
{
uint32_t len;
char out[9];
len = strlen(cmdline);
if (len == 8) {
// uppercase it
for (uint32_t i = 0; i < 8; i++)
cmdline[i] = sl_toupper((unsigned char)cmdline[i]);
for (uint32_t i = 0; i < 8; i++) {
if (strchr(rcChannelLetters, cmdline[i]) && !strchr(cmdline + i + 1, cmdline[i]))
continue;
cliShowParseError();
return;
}
parseRcChannels(cmdline);
}
cliPrint("Map: ");
uint32_t i;
for (i = 0; i < 8; i++)
out[rxConfig()->rcmap[i]] = rcChannelLetters[i];
out[i] = '\0';
cliPrintLinef("%s", out);
}
static const char *checkCommand(const char *cmdLine, const char *command)
{
if (!sl_strncasecmp(cmdLine, command, strlen(command)) // command names match
&& !sl_isalnum((unsigned)cmdLine[strlen(command)])) { // next characted in bufffer is not alphanumeric (command is correctly terminated)
return cmdLine + strlen(command) + 1;
} else {
return 0;
}
}
static void cliRebootEx(bool bootLoader)
{
cliPrint("\r\nRebooting");
bufWriterFlush(cliWriter);
waitForSerialPortToFinishTransmitting(cliPort);
stopMotors();
stopPwmAllMotors();
delay(1000);
if (bootLoader) {
systemResetToBootloader();
return;
}
systemReset();
}
static void cliReboot(void)
{
cliRebootEx(false);
}
static void cliDfu(char *cmdline)
{
UNUSED(cmdline);
#ifndef CLI_MINIMAL_VERBOSITY
cliPrint("\r\nRestarting in DFU mode");
#endif
cliRebootEx(true);
}
#ifdef USE_RX_ELERES
static void cliEleresBind(char *cmdline)
{
UNUSED(cmdline);
if (!(rxConfig()->receiverType == RX_TYPE_SPI && rxConfig()->rx_spi_protocol == RFM22_ELERES)) {
cliPrintLine("Eleres not active. Please enable feature ELERES and restart IMU");
return;
}
cliPrintLine("Waiting for correct bind signature....");
bufWriterFlush(cliWriter);
if (eleresBind()) {
cliPrintLine("Bind timeout!");
} else {
cliPrintLine("Bind OK!\r\nPlease restart your transmitter.");
}
}
#endif // USE_RX_ELERES
static void cliExit(char *cmdline)
{
UNUSED(cmdline);
#ifndef CLI_MINIMAL_VERBOSITY
cliPrintLine("\r\nLeaving CLI mode, unsaved changes lost.");
#endif
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
#ifndef USE_QUAD_MIXER_ONLY
static void cliMixer(char *cmdline)
{
int len;
len = strlen(cmdline);
if (len == 0) {
cliPrintLinef("Mixer: %s", mixerNames[mixerConfigMutable()->mixerMode - 1]);
return;
} else if (sl_strncasecmp(cmdline, "list", len) == 0) {
cliPrint("Available mixers: ");
for (uint32_t i = 0; ; i++) {
if (mixerNames[i] == NULL)
break;
cliPrintf("%s ", mixerNames[i]);
}
cliPrintLinefeed();
return;
}
for (uint32_t i = 0; ; i++) {
if (mixerNames[i] == NULL) {
cliPrintLine("Invalid name");
return;
}
if (sl_strncasecmp(cmdline, mixerNames[i], len) == 0) {
mixerConfigMutable()->mixerMode = i + 1;
break;
}
}
cliMixer("");
}
#endif
static void cliMotor(char *cmdline)
{
int motor_index = 0;
int motor_value = 0;
int index = 0;
char *pch = NULL;
char *saveptr;
if (isEmpty(cmdline)) {
cliShowParseError();
return;
}
pch = strtok_r(cmdline, " ", &saveptr);
while (pch != NULL) {
switch (index) {
case 0:
motor_index = fastA2I(pch);
break;
case 1:
motor_value = fastA2I(pch);
break;
}
index++;
pch = strtok_r(NULL, " ", &saveptr);
}
if (motor_index < 0 || motor_index >= MAX_SUPPORTED_MOTORS) {
cliShowArgumentRangeError("index", 0, MAX_SUPPORTED_MOTORS - 1);
return;
}
if (index == 2) {
if (motor_value < PWM_RANGE_MIN || motor_value > PWM_RANGE_MAX) {
cliShowArgumentRangeError("value", 1000, 2000);
return;
} else {
motor_disarmed[motor_index] = motor_value;
}
}
cliPrintLinef("motor %d: %d", motor_index, motor_disarmed[motor_index]);
}
static void printName(uint8_t dumpMask, const systemConfig_t * sConfig)
{
bool equalsDefault = strlen(sConfig->name) == 0;
cliDumpPrintLinef(dumpMask, equalsDefault, "name %s", equalsDefault ? emptyName : sConfig->name);
}
static void cliName(char *cmdline)
{
int32_t len = strlen(cmdline);
if (len > 0) {
memset(systemConfigMutable()->name, 0, ARRAYLEN(systemConfigMutable()->name));
if (strncmp(cmdline, emptyName, len)) {
strncpy(systemConfigMutable()->name, cmdline, MIN(len, MAX_NAME_LENGTH));
}
}
printName(DUMP_MASTER, systemConfig());
}
#ifdef PLAY_SOUND
static void cliPlaySound(char *cmdline)
{
int i;
const char *name;
static int lastSoundIdx = -1;
if (isEmpty(cmdline)) {
i = lastSoundIdx + 1; //next sound index
if ((name=beeperNameForTableIndex(i)) == NULL) {
while (true) { //no name for index; try next one
if (++i >= beeperTableEntryCount())
i = 0; //if end then wrap around to first entry
if ((name=beeperNameForTableIndex(i)) != NULL)
break; //if name OK then play sound below
if (i == lastSoundIdx + 1) { //prevent infinite loop
cliPrintLine("Error playing sound");
return;
}
}
}
} else { //index value was given
i = fastA2I(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)
{
// CLI profile index is 1-based
if (isEmpty(cmdline)) {
cliPrintLinef("profile %d", getConfigProfile() + 1);
return;
} else {
const int i = fastA2I(cmdline) - 1;
if (i >= 0 && i < MAX_PROFILE_COUNT) {
setConfigProfileAndWriteEEPROM(i);
cliProfile("");
}
}
}
static void cliDumpProfile(uint8_t profileIndex, uint8_t dumpMask)
{
if (profileIndex >= MAX_PROFILE_COUNT) {
// Faulty values
return;
}
setConfigProfile(profileIndex);
cliPrintHashLine("profile");
cliPrintLinef("profile %d\r\n", getConfigProfile() + 1);
dumpAllValues(PROFILE_VALUE, dumpMask);
dumpAllValues(CONTROL_RATE_VALUE, dumpMask);
}
static void cliSave(char *cmdline)
{
UNUSED(cmdline);
cliPrint("Saving");
//copyCurrentProfileToProfileSlot(getConfigProfile();
writeEEPROM();
cliReboot();
}
static void cliDefaults(char *cmdline)
{
UNUSED(cmdline);
cliPrint("Resetting to defaults");
resetEEPROM();
if (!checkCommand(cmdline, "noreboot"))
cliReboot();
}
static void cliGet(char *cmdline)
{
const setting_t *val;
int matchedCommands = 0;
char name[SETTING_MAX_NAME_LENGTH];
for (uint32_t i = 0; i < SETTINGS_TABLE_COUNT; i++) {
val = &settingsTable[i];
if (setting_name_contains(val, name, cmdline)) {
cliPrintf("%s = ", name);
cliPrintVar(val, 0);
cliPrintLinefeed();
cliPrintVarRange(val);
cliPrintLinefeed();
matchedCommands++;
}
}
if (matchedCommands) {
return;
}
cliPrintLine("Invalid name");
}
static void cliSet(char *cmdline)
{
uint32_t len;
const setting_t *val;
char *eqptr = NULL;
char name[SETTING_MAX_NAME_LENGTH];
len = strlen(cmdline);
if (len == 0 || (len == 1 && cmdline[0] == '*')) {
cliPrintLine("Current settings:");
for (uint32_t i = 0; i < SETTINGS_TABLE_COUNT; i++) {
val = &settingsTable[i];
setting_get_name(val, name);
cliPrintf("%s = ", 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
char *lastNonSpaceCharacter = eqptr;
while (*(lastNonSpaceCharacter - 1) == ' ') {
lastNonSpaceCharacter--;
}
uint8_t variableNameLength = lastNonSpaceCharacter - cmdline;
// skip the '=' and any ' ' characters
eqptr++;
while (*(eqptr) == ' ') {
eqptr++;
}
for (uint32_t i = 0; i < SETTINGS_TABLE_COUNT; i++) {
val = &settingsTable[i];
// ensure exact match when setting to prevent setting variables with shorter names
if (setting_name_exact_match(val, name, cmdline, variableNameLength)) {
bool changeValue = false;
int_float_value_t tmp = {0};
const int mode = SETTING_MODE(val);
const int type = SETTING_TYPE(val);
switch (mode) {
case MODE_DIRECT: {
if (*eqptr != 0 && strspn(eqptr, "0123456789.+-") == strlen(eqptr)) {
float valuef = fastA2F(eqptr);
// note: compare float values
if (valuef >= (float)setting_get_min(val) && valuef <= (float)setting_get_max(val)) {
if (type == VAR_FLOAT)
tmp.float_value = valuef;
else if (type == VAR_UINT32)
tmp.uint_value = fastA2UL(eqptr);
else
tmp.int_value = fastA2I(eqptr);
changeValue = true;
}
}
}
break;
case MODE_LOOKUP: {
const lookupTableEntry_t *tableEntry = &settingLookupTables[settingsTable[i].config.lookup.tableIndex];
bool matched = false;
for (uint32_t tableValueIndex = 0; tableValueIndex < tableEntry->valueCount && !matched; tableValueIndex++) {
matched = sl_strcasecmp(tableEntry->values[tableValueIndex], eqptr) == 0;
if (matched) {
tmp.int_value = tableValueIndex;
changeValue = true;
}
}
}
break;
}
if (changeValue) {
cliSetVar(val, tmp);
cliPrintf("%s set to ", name);
cliPrintVar(val, 0);
} else {
cliPrint("Invalid value.");
cliPrintVarRange(val);
cliPrintLinefeed();
}
return;
}
}
cliPrintLine("Invalid name");
} else {
// no equals, check for matching variables.
cliGet(cmdline);
}
}
static const char * getBatteryStateString(void)
{
static const char * const batteryStateStrings[] = {"OK", "WARNING", "CRITICAL", "NOT PRESENT"};
return batteryStateStrings[getBatteryState()];
}
static void cliStatus(char *cmdline)
{
UNUSED(cmdline);
char buf[FORMATTED_DATE_TIME_BUFSIZE];
dateTime_t dt;
cliPrintLinef("System Uptime: %d seconds", millis() / 1000);
rtcGetDateTime(&dt);
dateTimeFormatLocal(buf, &dt);
cliPrintLinef("Current Time: %s", buf);
cliPrintLinef("Voltage: %d.%dV (%dS battery - %s)", vbat / 100, vbat % 100, batteryCellCount, getBatteryStateString());
cliPrintf("CPU Clock=%dMHz", (SystemCoreClock / 1000000));
#if (FLASH_SIZE > 64)
const uint32_t detectedSensorsMask = sensorsMask();
for (int i = 0; i < SENSOR_INDEX_COUNT; i++) {
const uint32_t mask = (1 << i);
if ((detectedSensorsMask & mask) && (mask & SENSOR_NAMES_MASK)) {
const int sensorHardwareIndex = detectedSensors[i];
const char *sensorHardware = sensorHardwareNames[i][sensorHardwareIndex];
cliPrintf(", %s=%s", sensorTypeNames[i], sensorHardware);
}
}
cliPrintLinefeed();
cliPrintLine("STM32 system clocks:");
#if defined(USE_HAL_DRIVER)
cliPrintLinef(" SYSCLK = %d MHz", HAL_RCC_GetSysClockFreq() / 1000000);
cliPrintLinef(" HCLK = %d MHz", HAL_RCC_GetHCLKFreq() / 1000000);
cliPrintLinef(" PCLK1 = %d MHz", HAL_RCC_GetPCLK1Freq() / 1000000);
cliPrintLinef(" PCLK2 = %d MHz", HAL_RCC_GetPCLK2Freq() / 1000000);
#else
RCC_ClocksTypeDef clocks;
RCC_GetClocksFreq(&clocks);
cliPrintLinef(" SYSCLK = %d MHz", clocks.SYSCLK_Frequency / 1000000);
cliPrintLinef(" HCLK = %d MHz", clocks.HCLK_Frequency / 1000000);
cliPrintLinef(" PCLK1 = %d MHz", clocks.PCLK1_Frequency / 1000000);
cliPrintLinef(" PCLK2 = %d MHz", clocks.PCLK2_Frequency / 1000000);
#endif
cliPrintLinef("Sensor status: GYRO=%s, ACC=%s, MAG=%s, BARO=%s, RANGEFINDER=%s, OPFLOW=%s, GPS=%s",
hardwareSensorStatusNames[getHwGyroStatus()],
hardwareSensorStatusNames[getHwAccelerometerStatus()],
hardwareSensorStatusNames[getHwCompassStatus()],
hardwareSensorStatusNames[getHwBarometerStatus()],
hardwareSensorStatusNames[getHwRangefinderStatus()],
hardwareSensorStatusNames[getHwOpticalFlowStatus()],
hardwareSensorStatusNames[getHwGPSStatus()]
);
#endif
#ifdef USE_SDCARD
cliSdInfo(NULL);
#endif
#ifdef USE_I2C
const uint16_t i2cErrorCounter = i2cGetErrorCounter();
#else
const uint16_t i2cErrorCounter = 0;
#endif
#ifdef STACK_CHECK
cliPrintf("Stack used: %d, ", stackUsedSize());
#endif
cliPrintLinef("Stack size: %d, Stack address: 0x%x", stackTotalSize(), stackHighMem());
cliPrintLinef("I2C Errors: %d, config size: %d, max available config: %d", i2cErrorCounter, getEEPROMConfigSize(), &__config_end - &__config_start);
#ifdef USE_ADC
static char * adcFunctions[] = { "BATTERY", "RSSI", "CURRENT", "AIRSPEED" };
cliPrintLine("ADC channel usage:");
for (int i = 0; i < ADC_FUNCTION_COUNT; i++) {
cliPrintf(" %8s :", adcFunctions[i]);
cliPrint(" configured = ");
if (adcChannelConfig()->adcFunctionChannel[i] == ADC_CHN_NONE) {
cliPrint("none");
}
else {
cliPrintf("ADC %d", adcChannelConfig()->adcFunctionChannel[i]);
}
cliPrint(", used = ");
if (adcGetFunctionChannelAllocation(i) == ADC_CHN_NONE) {
cliPrintLine("none");
}
else {
cliPrintLinef("ADC %d", adcGetFunctionChannelAllocation(i));
}
}
#endif
cliPrintf("System load: %d", averageSystemLoadPercent);
#ifdef USE_ASYNC_GYRO_PROCESSING
const timeDelta_t pidTaskDeltaTime = getTaskDeltaTime(TASK_PID);
#else
const timeDelta_t pidTaskDeltaTime = getTaskDeltaTime(TASK_GYROPID);
#endif
const int pidRate = pidTaskDeltaTime == 0 ? 0 : (int)(1000000.0f / ((float)pidTaskDeltaTime));
const int rxRate = getTaskDeltaTime(TASK_RX) == 0 ? 0 : (int)(1000000.0f / ((float)getTaskDeltaTime(TASK_RX)));
const int systemRate = getTaskDeltaTime(TASK_SYSTEM) == 0 ? 0 : (int)(1000000.0f / ((float)getTaskDeltaTime(TASK_SYSTEM)));
cliPrintLinef(", cycle time: %d, PID rate: %d, RX rate: %d, System rate: %d", (uint16_t)cycleTime, pidRate, rxRate, systemRate);
#if !defined(CLI_MINIMAL_VERBOSITY)
cliPrint("Arming disabled flags:");
uint32_t flags = armingFlags & ARMING_DISABLED_ALL_FLAGS;
while (flags) {
int bitpos = ffs(flags) - 1;
flags &= ~(1 << bitpos);
if (bitpos > 6) cliPrintf(" %s", armingDisableFlagNames[bitpos - 7]);
}
cliPrintLinefeed();
#else
cliPrintLinef("Arming disabled flags: 0x%lx", armingFlags & ARMING_DISABLED_ALL_FLAGS);
#endif
}
#ifndef SKIP_TASK_STATISTICS
static void cliTasks(char *cmdline)
{
UNUSED(cmdline);
int maxLoadSum = 0;
int averageLoadSum = 0;
cfCheckFuncInfo_t checkFuncInfo;
cliPrintLinef("Task list rate/hz max/us avg/us maxload avgload total/ms");
for (cfTaskId_e taskId = 0; taskId < TASK_COUNT; taskId++) {
cfTaskInfo_t taskInfo;
getTaskInfo(taskId, &taskInfo);
if (taskInfo.isEnabled) {
const int taskFrequency = taskInfo.latestDeltaTime == 0 ? 0 : (int)(1000000.0f / ((float)taskInfo.latestDeltaTime));
const int maxLoad = (taskInfo.maxExecutionTime * taskFrequency + 5000) / 1000;
const int averageLoad = (taskInfo.averageExecutionTime * taskFrequency + 5000) / 1000;
if (taskId != TASK_SERIAL) {
maxLoadSum += maxLoad;
averageLoadSum += averageLoad;
}
cliPrintLinef("%2d - %12s %6d %5d %5d %4d.%1d%% %4d.%1d%% %8d",
taskId, taskInfo.taskName, taskFrequency, (uint32_t)taskInfo.maxExecutionTime, (uint32_t)taskInfo.averageExecutionTime,
maxLoad/10, maxLoad%10, averageLoad/10, averageLoad%10, (uint32_t)taskInfo.totalExecutionTime / 1000);
}
}
getCheckFuncInfo(&checkFuncInfo);
cliPrintLinef("Task check function %13d %7d %25d", (uint32_t)checkFuncInfo.maxExecutionTime, (uint32_t)checkFuncInfo.averageExecutionTime, (uint32_t)checkFuncInfo.totalExecutionTime / 1000);
cliPrintLinef("Total (excluding SERIAL) %21d.%1d%% %4d.%1d%%", maxLoadSum/10, maxLoadSum%10, averageLoadSum/10, averageLoadSum%10);
}
#endif
static void cliVersion(char *cmdline)
{
UNUSED(cmdline);
cliPrintLinef("# %s/%s %s %s / %s (%s)",
FC_FIRMWARE_NAME,
targetName,
FC_VERSION_STRING,
buildDate,
buildTime,
shortGitRevision
);
}
#if !defined(SKIP_TASK_STATISTICS) && !defined(SKIP_CLI_RESOURCES)
static void cliResource(char *cmdline)
{
UNUSED(cmdline);
cliPrintLinef("IO:\r\n----------------------");
for (unsigned i = 0; i < DEFIO_IO_USED_COUNT; i++) {
const char* owner;
owner = ownerNames[ioRecs[i].owner];
const char* resource;
resource = resourceNames[ioRecs[i].resource];
if (ioRecs[i].index > 0) {
cliPrintLinef("%c%02d: %s%d %s", IO_GPIOPortIdx(ioRecs + i) + 'A', IO_GPIOPinIdx(ioRecs + i), owner, ioRecs[i].index, resource);
} else {
cliPrintLinef("%c%02d: %s %s", IO_GPIOPortIdx(ioRecs + i) + 'A', IO_GPIOPinIdx(ioRecs + i), owner, resource);
}
}
}
#endif
static void backupConfigs(void)
{
// make copies of configs to do differencing
PG_FOREACH(pg) {
if (pgIsProfile(pg)) {
memcpy(pg->copy, pg->address, pgSize(pg) * MAX_PROFILE_COUNT);
} else {
memcpy(pg->copy, pg->address, pgSize(pg));
}
}
}
static void restoreConfigs(void)
{
PG_FOREACH(pg) {
if (pgIsProfile(pg)) {
memcpy(pg->address, pg->copy, pgSize(pg) * MAX_PROFILE_COUNT);
} else {
memcpy(pg->address, pg->copy, pgSize(pg));
}
}
}
static void printConfig(const char *cmdline, bool doDiff)
{
uint8_t dumpMask = DUMP_MASTER;
const 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, "all"))) {
dumpMask = DUMP_ALL; // all profiles and rates
} else {
options = cmdline;
}
if (doDiff) {
dumpMask = dumpMask | DO_DIFF;
}
const int currentProfileIndexSave = getConfigProfile();
backupConfigs();
// reset all configs to defaults to do differencing
resetConfigs();
// restore the profile indices, since they should not be reset for proper comparison
setConfigProfile(currentProfileIndexSave);
if (checkCommand(options, "showdefaults")) {
dumpMask = dumpMask | SHOW_DEFAULTS; // add default values as comments for changed values
}
if ((dumpMask & DUMP_MASTER) || (dumpMask & DUMP_ALL)) {
cliPrintHashLine("version");
cliVersion(NULL);
if ((dumpMask & (DUMP_ALL | DO_DIFF)) == (DUMP_ALL | DO_DIFF)) {
#ifndef CLI_MINIMAL_VERBOSITY
cliPrintHashLine("reset configuration to default settings\r\ndefaults noreboot");
#else
cliPrintLinef("defaults noreboot");
#endif
}
cliPrintHashLine("resources");
//printResource(dumpMask, &defaultConfig);
#ifndef USE_QUAD_MIXER_ONLY
cliPrintHashLine("mixer");
const bool equalsDefault = mixerConfig_Copy.mixerMode == mixerConfig()->mixerMode;
const char *formatMixer = "mixer %s";
cliDefaultPrintLinef(dumpMask, equalsDefault, formatMixer, mixerNames[mixerConfig()->mixerMode - 1]);
cliDumpPrintLinef(dumpMask, equalsDefault, formatMixer, mixerNames[mixerConfig_Copy.mixerMode - 1]);
cliDumpPrintLinef(dumpMask, customMotorMixer(0)->throttle == 0.0f, "\r\nmmix reset\r\n");
printMotorMix(dumpMask, customMotorMixer_CopyArray, customMotorMixer(0));
#ifdef USE_SERVOS
cliPrintHashLine("servo");
printServo(dumpMask, servoParams_CopyArray, servoParams(0));
cliPrintHashLine("servo mix");
// print custom servo mixer if exists
cliDumpPrintLinef(dumpMask, customServoMixers(0)->rate == 0, "smix reset\r\n");
printServoMix(dumpMask, customServoMixers_CopyArray, customServoMixers(0));
#endif
#endif
cliPrintHashLine("feature");
printFeature(dumpMask, &featureConfig_Copy, featureConfig());
#ifdef BEEPER
cliPrintHashLine("beeper");
printBeeper(dumpMask, &beeperConfig_Copy, beeperConfig());
#endif
cliPrintHashLine("map");
printMap(dumpMask, &rxConfig_Copy, rxConfig());
cliPrintHashLine("name");
printName(dumpMask, &systemConfig_Copy);
cliPrintHashLine("serial");
printSerial(dumpMask, &serialConfig_Copy, serialConfig());
#ifdef USE_LED_STRIP
cliPrintHashLine("led");
printLed(dumpMask, ledStripConfig_Copy.ledConfigs, ledStripConfig()->ledConfigs);
cliPrintHashLine("color");
printColor(dumpMask, ledStripConfig_Copy.colors, ledStripConfig()->colors);
cliPrintHashLine("mode_color");
printModeColor(dumpMask, &ledStripConfig_Copy, ledStripConfig());
#endif
cliPrintHashLine("aux");
printAux(dumpMask, modeActivationConditions_CopyArray, modeActivationConditions(0));
cliPrintHashLine("adjrange");
printAdjustmentRange(dumpMask, adjustmentRanges_CopyArray, adjustmentRanges(0));
cliPrintHashLine("rxrange");
printRxRange(dumpMask, rxChannelRangeConfigs_CopyArray, rxChannelRangeConfigs(0));
cliPrintHashLine("master");
dumpAllValues(MASTER_VALUE, dumpMask);
if (dumpMask & DUMP_ALL) {
// dump all profiles
const int currentProfileIndexSave = getConfigProfile();
for (int ii = 0; ii < MAX_PROFILE_COUNT; ++ii) {
cliDumpProfile(ii, dumpMask);
}
setConfigProfile(currentProfileIndexSave);
cliPrintHashLine("restore original profile selection");
cliPrintLinef("profile %d", currentProfileIndexSave + 1);
cliPrintHashLine("save configuration\r\nsave");
} else {
// dump just the current profile
cliDumpProfile(getConfigProfile(), dumpMask);
}
}
if (dumpMask & DUMP_PROFILE) {
cliDumpProfile(getConfigProfile(), dumpMask);
}
// restore configs from copies
restoreConfigs();
}
static void cliDump(char *cmdline)
{
printConfig(cmdline, false);
}
static void cliDiff(char *cmdline)
{
printConfig(cmdline, true);
}
typedef struct {
const char *name;
#ifndef SKIP_CLI_COMMAND_HELP
const char *description;
const char *args;
#endif
void (*func)(char *cmdline);
} clicmd_t;
#ifndef SKIP_CLI_COMMAND_HELP
#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),
#if defined(USE_ASSERT)
CLI_COMMAND_DEF("assert", "", NULL, cliAssert),
#endif
CLI_COMMAND_DEF("aux", "configure modes", NULL, cliAux),
#ifdef BEEPER
CLI_COMMAND_DEF("beeper", "turn on/off beeper", "list\r\n"
"\t<+|->[name]", cliBeeper),
#endif
#if defined(USE_BOOTLOG)
CLI_COMMAND_DEF("bootlog", "show boot events", NULL, cliBootlog),
#endif
#ifdef USE_LED_STRIP
CLI_COMMAND_DEF("color", "configure colors", NULL, cliColor),
CLI_COMMAND_DEF("mode_color", "configure mode and special colors", NULL, cliModeColor),
#endif
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",
"[master|profile|rates|all] {showdefaults}", cliDiff),
CLI_COMMAND_DEF("dump", "dump configuration",
"[master|profile|rates|all] {showdefaults}", cliDump),
#ifdef USE_RX_ELERES
CLI_COMMAND_DEF("eleres_bind", NULL, NULL, cliEleresBind),
#endif // USE_RX_ELERES
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
CLI_COMMAND_DEF("help", NULL, NULL, cliHelp),
#ifdef USE_LED_STRIP
CLI_COMMAND_DEF("led", "configure leds", NULL, cliLed),
#endif
CLI_COMMAND_DEF("map", "configure rc channel order", "[<map>]", cliMap),
#ifndef USE_QUAD_MIXER_ONLY
CLI_COMMAND_DEF("mixer", "configure mixer",
"list\r\n"
"\t<name>", cliMixer),
CLI_COMMAND_DEF("mmix", "custom motor mixer", NULL, cliMotorMix),
#endif
CLI_COMMAND_DEF("motor", "get/set motor", "<index> [<value>]", cliMotor),
CLI_COMMAND_DEF("name", "name of craft", NULL, cliName),
#ifdef PLAY_SOUND
CLI_COMMAND_DEF("play_sound", NULL, "[<index>]\r\n", cliPlaySound),
#endif
CLI_COMMAND_DEF("profile", "change profile",
"[<index>]", cliProfile),
#if !defined(SKIP_TASK_STATISTICS) && !defined(SKIP_CLI_RESOURCES)
CLI_COMMAND_DEF("resource", "view currently used resources", NULL, cliResource),
#endif
CLI_COMMAND_DEF("rxrange", "configure rx channel ranges", NULL, cliRxRange),
CLI_COMMAND_DEF("save", "save and reboot", NULL, cliSave),
CLI_COMMAND_DEF("serial", "configure serial ports", NULL, cliSerial),
#ifdef USE_SERIAL_PASSTHROUGH
CLI_COMMAND_DEF("serialpassthrough", "passthrough serial data to port", "<id> [baud] [mode] : passthrough to serial", cliSerialPassthrough),
#endif
#ifdef USE_SERVOS
CLI_COMMAND_DEF("servo", "configure servos", NULL, cliServo),
#endif
CLI_COMMAND_DEF("set", "change setting", "[<name>=<value>]", cliSet),
#ifdef USE_SERVOS
CLI_COMMAND_DEF("smix", "servo mixer",
"<rule> <servo> <source> <rate> <speed>\r\n"
"\treset\r\n"
"\tload <mixer>\r\n"
"\treverse <servo> <source> r|n", cliServoMix),
#endif
#ifdef USE_SDCARD
CLI_COMMAND_DEF("sd_info", "sdcard info", NULL, cliSdInfo),
#endif
CLI_COMMAND_DEF("status", "show status", NULL, cliStatus),
#ifndef SKIP_TASK_STATISTICS
CLI_COMMAND_DEF("tasks", "show task stats", NULL, cliTasks),
#endif
CLI_COMMAND_DEF("version", "show version", NULL, cliVersion),
};
static void cliHelp(char *cmdline)
{
UNUSED(cmdline);
for (uint32_t i = 0; i < ARRAYLEN(cmdTable); i++) {
cliPrint(cmdTable[i].name);
#ifndef SKIP_CLI_COMMAND_HELP
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 && (sl_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;
for (cmd = cmdTable; cmd < cmdTable + ARRAYLEN(cmdTable); cmd++) {
if (!sl_strncasecmp(cliBuffer, cmd->name, strlen(cmd->name)) // command names match
&& !sl_isalnum((unsigned)cliBuffer[strlen(cmd->name)])) // next characted in bufffer is not alphanumeric (command is correctly terminated)
break;
}
if (cmd < cmdTable + ARRAYLEN(cmdTable))
cmd->func(cliBuffer + strlen(cmd->name) + 1);
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);
#ifndef CLI_MINIMAL_VERBOSITY
cliPrintLine("\r\nEntering CLI Mode, type 'exit' to return, or 'help'");
#else
cliPrintLine("\r\nCLI");
#endif
cliPrompt();
ENABLE_ARMING_FLAG(ARMING_DISABLED_CLI);
}
void cliInit(const serialConfig_t *serialConfig)
{
UNUSED(serialConfig);
}
#endif // USE_CLI
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