Merge pull request #517 from sherlockflight/servo-cli
Add "servo" CLI command to get/set servo conf, and include in dump
This commit is contained in:
commit
5a079063c0
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@ -97,6 +97,7 @@ static void cliProfile(char *cmdline);
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static void cliRateProfile(char *cmdline);
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static void cliReboot(void);
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static void cliSave(char *cmdline);
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static void cliServo(char *cmdline);
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static void cliSet(char *cmdline);
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static void cliGet(char *cmdline);
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static void cliStatus(char *cmdline);
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@ -198,6 +199,7 @@ const clicmd_t cmdTable[] = {
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{ "profile", "index (0 to 2)", cliProfile },
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{ "rateprofile", "index (0 to 2)", cliRateProfile },
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{ "save", "save and reboot", cliSave },
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{ "servo", "servo config", cliServo },
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{ "set", "name=value or blank or * for list", cliSet },
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{ "status", "show system status", cliStatus },
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{ "version", "", cliVersion },
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@ -477,14 +479,18 @@ static char *processChannelRangeArgs(char *ptr, channelRange_t *range, uint8_t *
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return ptr;
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}
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// Check if a string's length is zero
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static bool isEmpty(const char *string)
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{
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return *string == '\0';
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}
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static void cliAux(char *cmdline)
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{
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int i, val = 0;
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uint8_t len;
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char *ptr;
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len = strlen(cmdline);
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if (len == 0) {
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if (isEmpty(cmdline)) {
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// print out aux channel settings
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for (i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
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modeActivationCondition_t *mac = ¤tProfile->modeActivationConditions[i];
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@ -533,11 +539,9 @@ static void cliAux(char *cmdline)
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static void cliAdjustmentRange(char *cmdline)
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{
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int i, val = 0;
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uint8_t len;
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char *ptr;
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len = strlen(cmdline);
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if (len == 0) {
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if (isEmpty(cmdline)) {
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// print out adjustment ranges channel settings
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for (i = 0; i < MAX_ADJUSTMENT_RANGE_COUNT; i++) {
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adjustmentRange_t *ar = ¤tProfile->adjustmentRanges[i];
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@ -612,9 +616,7 @@ static void cliCMix(char *cmdline)
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float mixsum[3];
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char *ptr;
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len = strlen(cmdline);
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if (len == 0) {
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if (isEmpty(cmdline)) {
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cliPrint("Custom mixer: \r\nMotor\tThr\tRoll\tPitch\tYaw\r\n");
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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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@ -698,12 +700,10 @@ static void cliCMix(char *cmdline)
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static void cliLed(char *cmdline)
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{
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int i;
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uint8_t len;
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char *ptr;
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char ledConfigBuffer[20];
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len = strlen(cmdline);
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if (len == 0) {
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if (isEmpty(cmdline)) {
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for (i = 0; i < MAX_LED_STRIP_LENGTH; i++) {
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generateLedConfig(i, ledConfigBuffer, sizeof(ledConfigBuffer));
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printf("led %u %s\r\n", i, ledConfigBuffer);
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@ -714,7 +714,7 @@ static void cliLed(char *cmdline)
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if (i < MAX_LED_STRIP_LENGTH) {
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ptr = strchr(cmdline, ' ');
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if (!parseLedStripConfig(i, ++ptr)) {
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printf("Parse error\r\n", MAX_LED_STRIP_LENGTH);
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cliPrint("Parse error\r\n");
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}
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} else {
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printf("Invalid led index: must be < %u\r\n", MAX_LED_STRIP_LENGTH);
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@ -725,11 +725,9 @@ static void cliLed(char *cmdline)
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static void cliColor(char *cmdline)
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{
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int i;
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uint8_t len;
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char *ptr;
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len = strlen(cmdline);
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if (len == 0) {
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if (isEmpty(cmdline)) {
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for (i = 0; i < CONFIGURABLE_COLOR_COUNT; i++) {
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printf("color %u %d,%u,%u\r\n", i, masterConfig.colors[i].h, masterConfig.colors[i].s, masterConfig.colors[i].v);
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}
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@ -739,7 +737,7 @@ static void cliColor(char *cmdline)
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if (i < CONFIGURABLE_COLOR_COUNT) {
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ptr = strchr(cmdline, ' ');
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if (!parseColor(i, ++ptr)) {
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printf("Parse error\r\n", CONFIGURABLE_COLOR_COUNT);
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cliPrint("Parse error\r\n");
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}
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} else {
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printf("Invalid color index: must be < %u\r\n", CONFIGURABLE_COLOR_COUNT);
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@ -748,6 +746,74 @@ static void cliColor(char *cmdline)
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}
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#endif
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static void cliServo(char *cmdline)
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{
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enum { SERVO_ARGUMENT_COUNT = 6 };
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int16_t arguments[SERVO_ARGUMENT_COUNT];
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servoParam_t *servo;
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int i;
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char *ptr;
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if (isEmpty(cmdline)) {
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// print out servo settings
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for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
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servo = ¤tProfile->servoConf[i];
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printf("servo %u %d %d %d %d %d\r\n",
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i,
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servo->min,
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servo->max,
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servo->middle,
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servo->rate,
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servo->forwardFromChannel
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);
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}
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} else {
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int validArgumentCount = 0;
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ptr = cmdline;
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// Command line is integers (possibly negative) separated by spaces, no other characters allowed.
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// If command line doesn't fit the format, don't modify the config
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while (*ptr) {
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if (*ptr == '-' || (*ptr >= '0' && *ptr <= '9')) {
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if (validArgumentCount >= SERVO_ARGUMENT_COUNT) {
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cliPrint("Parse error\r\n");
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return;
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}
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arguments[validArgumentCount++] = atoi(ptr);
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do {
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ptr++;
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} while (*ptr >= '0' && *ptr <= '9');
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} else if (*ptr == ' ') {
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ptr++;
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} else {
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cliPrint("Parse error\r\n");
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return;
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}
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}
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// Check we got the right number of args and the servo index is correct (don't validate the other values)
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if (validArgumentCount != SERVO_ARGUMENT_COUNT || arguments[0] < 0 || arguments[0] >= MAX_SUPPORTED_SERVOS) {
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cliPrint("Parse error\r\n");
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return;
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}
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servo = ¤tProfile->servoConf[arguments[0]];
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servo->min = arguments[1];
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servo->max = arguments[2];
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servo->middle = arguments[3];
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servo->rate = arguments[4];
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servo->forwardFromChannel = arguments[5];
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}
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}
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static void dumpValues(uint16_t mask)
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{
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uint32_t i;
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@ -801,11 +867,11 @@ static void cliDump(char *cmdline)
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if (dumpMask & DUMP_MASTER) {
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printf("\r\n# version\r\n");
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cliPrint("\r\n# version\r\n");
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cliVersion(NULL);
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printf("\r\n# dump master\r\n");
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printf("\r\n# mixer\r\n");
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cliPrint("\r\n# dump master\r\n");
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cliPrint("\r\n# mixer\r\n");
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#ifndef USE_QUAD_MIXER_ONLY
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printf("mixer %s\r\n", mixerNames[masterConfig.mixerMode - 1]);
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@ -820,23 +886,23 @@ static void cliDump(char *cmdline)
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yaw = masterConfig.customMixer[i].yaw;
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printf("cmix %d", i + 1);
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if (thr < 0)
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printf(" ");
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cliWrite(' ');
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printf("%s", ftoa(thr, buf));
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if (roll < 0)
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printf(" ");
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cliWrite(' ');
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printf("%s", ftoa(roll, buf));
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if (pitch < 0)
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printf(" ");
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cliWrite(' ');
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printf("%s", ftoa(pitch, buf));
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if (yaw < 0)
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printf(" ");
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cliWrite(' ');
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printf("%s\r\n", ftoa(yaw, buf));
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}
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printf("cmix %d 0 0 0 0\r\n", i + 1);
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}
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#endif
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printf("\r\n\r\n# feature\r\n");
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cliPrint("\r\n\r\n# feature\r\n");
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mask = featureMask();
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for (i = 0; ; i++) { // disable all feature first
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@ -851,7 +917,7 @@ static void cliDump(char *cmdline)
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printf("feature %s\r\n", featureNames[i]);
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}
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printf("\r\n\r\n# map\r\n");
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cliPrint("\r\n\r\n# map\r\n");
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for (i = 0; i < 8; i++)
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buf[masterConfig.rxConfig.rcmap[i]] = rcChannelLetters[i];
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@ -859,10 +925,10 @@ static void cliDump(char *cmdline)
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printf("map %s\r\n", buf);
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#ifdef LED_STRIP
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printf("\r\n\r\n# led\r\n");
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cliPrint("\r\n\r\n# led\r\n");
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cliLed("");
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printf("\r\n\r\n# color\r\n");
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cliPrint("\r\n\r\n# color\r\n");
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cliColor("");
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#endif
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printSectionBreak();
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@ -870,28 +936,32 @@ static void cliDump(char *cmdline)
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}
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if (dumpMask & DUMP_PROFILE) {
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printf("\r\n# dump profile\r\n");
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cliPrint("\r\n# dump profile\r\n");
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printf("\r\n# profile\r\n");
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cliPrint("\r\n# profile\r\n");
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cliProfile("");
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printf("\r\n# aux\r\n");
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cliPrint("\r\n# aux\r\n");
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cliAux("");
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printf("\r\n# adjrange\r\n");
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cliPrint("\r\n# adjrange\r\n");
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cliAdjustmentRange("");
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cliPrint("\r\n# servo\r\n");
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cliServo("");
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printSectionBreak();
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dumpValues(PROFILE_VALUE);
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}
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if (dumpMask & DUMP_CONTROL_RATE_PROFILE) {
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printf("\r\n# dump rates\r\n");
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cliPrint("\r\n# dump rates\r\n");
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printf("\r\n# rateprofile\r\n");
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cliPrint("\r\n# rateprofile\r\n");
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cliRateProfile("");
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printSectionBreak();
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@ -1088,12 +1158,11 @@ static void cliMotor(char *cmdline)
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{
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int motor_index = 0;
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int motor_value = 0;
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int len, index = 0;
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int index = 0;
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char *pch = NULL;
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len = strlen(cmdline);
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if (len == 0) {
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printf("Usage:\r\nmotor index [value] - show [or set] motor value\r\n");
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if (isEmpty(cmdline)) {
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cliPrint("Usage:\r\nmotor index [value] - show [or set] motor value\r\n");
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return;
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}
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@ -1122,7 +1191,7 @@ static void cliMotor(char *cmdline)
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}
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if (motor_value < PWM_RANGE_MIN || motor_value > PWM_RANGE_MAX) {
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printf("Invalid motor value, 1000..2000\r\n");
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cliPrint("Invalid motor value, 1000..2000\r\n");
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return;
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}
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@ -1132,11 +1201,9 @@ static void cliMotor(char *cmdline)
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static void cliProfile(char *cmdline)
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{
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uint8_t len;
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int i;
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len = strlen(cmdline);
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if (len == 0) {
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if (isEmpty(cmdline)) {
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printf("profile %d\r\n", getCurrentProfile());
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return;
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} else {
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@ -1152,11 +1219,9 @@ static void cliProfile(char *cmdline)
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static void cliRateProfile(char *cmdline)
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{
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uint8_t len;
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int i;
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len = strlen(cmdline);
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if (len == 0) {
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if (isEmpty(cmdline)) {
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printf("rateprofile %d\r\n", getCurrentControlRateProfile());
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return;
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} else {
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@ -1350,7 +1415,7 @@ static void cliGet(char *cmdline)
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val = &valueTable[i];
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printf("%s = ", valueTable[i].name);
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cliPrintVar(val, 0);
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printf("\r\n");
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cliPrint("\r\n");
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matchedCommands++;
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}
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