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Cleanup CLI 

* optimize for code size.
* consolidate error message handling.
* replace similar error messages with identical ones.
* shorten all strings where possible.
* made less verbose.

This was required for the CC3D OPBL build.
This commit is contained in:
Dominic Clifton 2015-06-29 03:15:33 +01:00
parent 9389239207
commit b5e18a90a2
5 changed files with 211 additions and 159 deletions
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9
src/main/flight/mixer.c
View File

@ -391,10 +391,11 @@ int16_t determineServoMiddleOrForwardFromChannel(servoIndex_e servoIndex)
return servoConf[servoIndex].middle;
}
// FIXME rename 'fromChannel' to inputSource
int servoDirection(int servoIndex, int fromChannel)
{
// determine the direction (reversed or not) from the direction bitfield of the servo
if (servoConf[servoIndex].reversedChannels & (1 << fromChannel))
if (servoConf[servoIndex].reversedSources & (1 << fromChannel))
return -1;
else
return 1;
@ -700,7 +701,7 @@ void StopPwmAllMotors()
#ifndef USE_QUAD_MIXER_ONLY
static void servoMixer(void)
{
int16_t input[INPUT_ITEM_COUNT];
int16_t input[INPUT_SOURCE_COUNT];
static int16_t currentOutput[MAX_SERVO_RULES];
uint8_t i;
@ -749,7 +750,7 @@ static void servoMixer(void)
// consider rule if no box assigned or box is active
if (currentServoMixer[i].box == 0 || IS_RC_MODE_ACTIVE(BOXSERVO1 + currentServoMixer[i].box - 1)) {
uint8_t target = currentServoMixer[i].targetChannel;
uint8_t from = currentServoMixer[i].fromChannel;
uint8_t from = currentServoMixer[i].fromChannel; // FIXME rename 'from' to inputSource
uint16_t servo_width = servoConf[target].max - servoConf[target].min;
int16_t min = currentServoMixer[i].min * servo_width / 100 - servo_width / 2;
int16_t max = currentServoMixer[i].max * servo_width / 100 - servo_width / 2;
@ -763,8 +764,6 @@ static void servoMixer(void)
currentOutput[i] = constrain(currentOutput[i] - currentServoMixer[i].speed, input[from], currentOutput[i]);
}
// FIXME if the 'from' really only works for 0 to 8 currently. e.g. See INPUT_ROLL and INPUT_RC_ROLL. (0 vs 8, the intention is likely to use 0 in both cases)
// Really, there should be a translation from INPUT_* to 'fromChannel' and servoDirection() should only be used if needed.
servo[target] += servoDirection(target, from) * constrain(((int32_t)currentOutput[i] * currentServoMixer[i].rate) / 100, min, max);
} else {
currentOutput[i] = 0;

11
src/main/flight/mixer.h
View File

@ -94,6 +94,7 @@ typedef struct airplaneConfig_t {
#ifdef USE_SERVOS
// These must be consecutive, see 'reversedSources'
enum {
INPUT_ROLL = 0,
INPUT_PITCH,
@ -109,12 +110,16 @@ enum {
INPUT_RC_THROTTLE,
INPUT_GIMBAL_PITCH,
INPUT_GIMBAL_ROLL,
INPUT_ITEM_COUNT
} servoInput_e;
INPUT_SOURCE_COUNT
} inputSource_e;
typedef struct servoMixer_t {
uint8_t targetChannel; // servo that receives the output of the rule
// FIXME rename to inputSource
uint8_t fromChannel; // input channel for this rule
int8_t rate; // range [-125;+125] ; can be used to adjust a rate 0-125% and a direction
uint8_t speed; // reduces the speed of the rule, 0=unlimited speed
int8_t min; // lower bound of rule range [0;100]% of servo max-min
@ -137,7 +142,7 @@ typedef struct servoParam_t {
int16_t max; // servo max
int16_t middle; // servo middle
int8_t rate; // range [-125;+125] ; can be used to adjust a rate 0-125% and a direction
uint32_t reversedChannels; // the direction of servo movement for each input channel of the servo mixer, bit set=inverted
uint32_t reversedSources; // the direction of servo movement for each input source of the servo mixer, bit set=inverted
uint8_t angleAtMin; // range [0;180] the measured angle in degrees from the middle when the servo is at the 'min' value.
uint8_t angleAtMax; // range [0;180] the measured angle in degrees from the middle when the servo is at the 'max' value.
int8_t forwardFromChannel; // RX channel index, 0 based. See CHANNEL_FORWARDING_DISABLED

345
src/main/io/serial_cli.c
View File

@ -98,7 +98,7 @@ static serialPort_t *cliPort;
static void cliAux(char *cmdline);
static void cliAdjustmentRange(char *cmdline);
static void cliCMix(char *cmdline);
static void cliMotorMix(char *cmdline);
static void cliDefaults(char *cmdline);
static void cliDump(char *cmdLine);
static void cliExit(char *cmdline);
@ -183,55 +183,89 @@ static const char * const sensorHardwareNames[4][11] = {
typedef struct {
const char *name;
const char *param;
const char *description;
const char *args;
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, \
NULL, \
NULL, \
method \
}
#endif
// should be sorted a..z for bsearch()
const clicmd_t cmdTable[] = {
{ "adjrange", "show/set adjustment ranges settings", cliAdjustmentRange },
{ "aux", "show/set aux settings", cliAux },
{ "cmix", "design custom mixer", cliCMix },
CLI_COMMAND_DEF("adjrange", "configure adjustment ranges", NULL, cliAdjustmentRange),
CLI_COMMAND_DEF("aux", "configure modes", NULL, cliAux),
#ifdef LED_STRIP
{ "color", "configure colors", cliColor },
CLI_COMMAND_DEF("color", "configure colors", NULL, cliColor),
#endif
{ "defaults", "reset to defaults and reboot", cliDefaults },
{ "dump", "dump configuration", cliDump },
{ "exit", "", cliExit },
{ "feature", "list or -val or val", cliFeature },
CLI_COMMAND_DEF("defaults", "reset to defaults and reboot", NULL, cliDefaults),
CLI_COMMAND_DEF("dump", "dump configuration",
"[master|profile]", cliDump),
CLI_COMMAND_DEF("exit", NULL, NULL, cliExit),
CLI_COMMAND_DEF("feature", "configure features",
"list\r\n"
"\t<+|->[name]", cliFeature),
#ifdef USE_FLASHFS
{ "flash_erase", "erase flash chip", cliFlashErase },
{ "flash_info", "get flash chip details", cliFlashInfo },
{ "flash_read", "read text from the given address", cliFlashRead },
{ "flash_write", "write text to the given address", cliFlashWrite },
CLI_COMMAND_DEF("flash_erase", "erase flash chip", NULL, cliFlashErase),
CLI_COMMAND_DEF("flash_info", "show flash chip info", NULL, cliFlashInfo),
CLI_COMMAND_DEF("flash_read", NULL, "<length> <address>", cliFlashRead),
CLI_COMMAND_DEF("flash_write", NULL, "<address> <message>", cliFlashWrite),
#endif
{ "get", "get variable value", cliGet },
CLI_COMMAND_DEF("get", "get variable value",
"[name]", cliGet),
#ifdef GPS
{ "gpspassthrough", "passthrough gps to serial", cliGpsPassthrough },
CLI_COMMAND_DEF("gpspassthrough", "passthrough gps to serial", NULL, cliGpsPassthrough),
#endif
{ "help", "", cliHelp },
CLI_COMMAND_DEF("help", NULL, NULL, cliHelp),
#ifdef LED_STRIP
{ "led", "configure leds", cliLed },
CLI_COMMAND_DEF("led", "configure leds", NULL, cliLed),
#endif
{ "map", "mapping of rc channel order", cliMap },
CLI_COMMAND_DEF("map", "configure rc channel order",
"[<map>]", cliMap),
#ifndef USE_QUAD_MIXER_ONLY
{ "mixer", "mixer name or list", cliMixer },
CLI_COMMAND_DEF("mixer", "configure mixer",
"list\r\n"
"\t<name>", cliMixer),
#endif
{ "motor", "get/set motor output value", cliMotor },
{ "play_sound", "index, or none for next", cliPlaySound },
{ "profile", "index (0 to 2)", cliProfile },
{ "rateprofile", "index (0 to 2)", cliRateProfile },
{ "save", "save and reboot", cliSave },
{ "serial", "show/set serial settings", cliSerial },
CLI_COMMAND_DEF("motor", "get/set motor",
"<index> [<value>]", cliMotor),
CLI_COMMAND_DEF("motormix", "custom motor mixer", NULL, cliMotorMix),
CLI_COMMAND_DEF("play_sound", NULL,
"[<index>]\r\n", cliPlaySound),
CLI_COMMAND_DEF("profile", "change profile",
"[<index>]", cliProfile),
CLI_COMMAND_DEF("rateprofile", "change rate profile",
"[<index>]", cliRateProfile),
CLI_COMMAND_DEF("save", "save and reboot", NULL, cliSave),
CLI_COMMAND_DEF("serial", "configure serial ports", NULL, cliSerial),
#ifdef USE_SERVOS
{ "servo", "servo config", cliServo },
CLI_COMMAND_DEF("servo", "configure servos", NULL, cliServo),
CLI_COMMAND_DEF("servomix", "servo mixer",
"<rule> <servo> <source> <rate> <speed> <min> <max> <box>\r\n"
"\treset\r\n"
"\tload <mixer>\r\n"
"\treverse <servo> <source> -1|1", cliServoMix),
#endif
{ "set", "name=value or blank or * for list", cliSet },
#ifdef USE_SERVOS
{ "smix", "design custom servo mixer", cliServoMix },
#endif
{ "status", "show system status", cliStatus },
{ "version", "", cliVersion },
CLI_COMMAND_DEF("set", "change setting",
"[<name>=<value>]", cliSet),
CLI_COMMAND_DEF("status", "show status", NULL, cliStatus),
CLI_COMMAND_DEF("version", "show version", NULL, cliVersion),
};
#define CMD_COUNT (sizeof(cmdTable) / sizeof(clicmd_t))
@ -470,11 +504,22 @@ static void cliSetVar(const clivalue_t *var, const int_float_value_t value);
static void cliPrintVar(const clivalue_t *var, uint32_t full);
static void cliPrint(const char *str);
static void cliWrite(uint8_t ch);
static void cliPrompt(void)
{
cliPrint("\r\n# ");
}
static void cliShowParseError(void)
{
cliPrint("Parse error\r\n");
}
static void cliShowArgumentRangeError(char *name, int min, int max)
{
printf("%s must be between %d and %d\r\n", name, min, max);
}
static int cliCompare(const void *a, const void *b)
{
const clicmd_t *ca = a, *cb = b;
@ -484,24 +529,19 @@ static int cliCompare(const void *a, const void *b)
static char *processChannelRangeArgs(char *ptr, channelRange_t *range, uint8_t *validArgumentCount)
{
int val;
ptr = strchr(ptr, ' ');
if (ptr) {
val = atoi(++ptr);
val = CHANNEL_VALUE_TO_STEP(val);
if (val >= MIN_MODE_RANGE_STEP && val <= MAX_MODE_RANGE_STEP) {
range->startStep = val;
(*validArgumentCount)++;
}
}
ptr = strchr(ptr, ' ');
if (ptr) {
val = atoi(++ptr);
val = CHANNEL_VALUE_TO_STEP(val);
if (val >= MIN_MODE_RANGE_STEP && val <= MAX_MODE_RANGE_STEP) {
range->endStep = val;
(*validArgumentCount)++;
for (int argIndex = 0; argIndex < 2; argIndex++) {
ptr = strchr(ptr, ' ');
if (ptr) {
val = atoi(++ptr);
val = CHANNEL_VALUE_TO_STEP(val);
if (val >= MIN_MODE_RANGE_STEP && val <= MAX_MODE_RANGE_STEP) {
range->startStep = val;
(*validArgumentCount)++;
}
}
}
return ptr;
}
@ -556,7 +596,7 @@ static void cliAux(char *cmdline)
memset(mac, 0, sizeof(modeActivationCondition_t));
}
} else {
printf("index: must be < %u\r\n", MAX_MODE_ACTIVATION_CONDITION_COUNT);
cliShowArgumentRangeError("index", 0, MAX_MODE_ACTIVATION_CONDITION_COUNT - 1);
}
}
}
@ -650,7 +690,7 @@ static void cliSerial(char *cmdline)
}
if (validArgumentCount < 6) {
cliPrint("Parse error\r\n");
cliShowParseError();
return;
}
@ -683,6 +723,7 @@ static void cliAdjustmentRange(char *cmdline)
if (i < MAX_ADJUSTMENT_RANGE_COUNT) {
adjustmentRange_t *ar = &currentProfile->adjustmentRanges[i];
uint8_t validArgumentCount = 0;
ptr = strchr(ptr, ' ');
if (ptr) {
val = atoi(++ptr);
@ -699,7 +740,9 @@ static void cliAdjustmentRange(char *cmdline)
validArgumentCount++;
}
}
ptr = processChannelRangeArgs(ptr, &ar->range, &validArgumentCount);
ptr = strchr(ptr, ' ');
if (ptr) {
val = atoi(++ptr);
@ -719,14 +762,15 @@ static void cliAdjustmentRange(char *cmdline)
if (validArgumentCount != 6) {
memset(ar, 0, sizeof(adjustmentRange_t));
cliShowParseError();
}
} else {
printf("index: must be < %u\r\n", MAX_ADJUSTMENT_RANGE_COUNT);
cliShowArgumentRangeError("index", 0, MAX_ADJUSTMENT_RANGE_COUNT - 1);
}
}
}
static void cliCMix(char *cmdline)
static void cliMotorMix(char *cmdline)
{
#ifdef USE_QUAD_MIXER_ONLY
UNUSED(cmdline);
@ -738,7 +782,7 @@ static void cliCMix(char *cmdline)
char *ptr;
if (isEmpty(cmdline)) {
cliPrint("Custom mixer: \r\nMotor\tThr\tRoll\tPitch\tYaw\r\n");
cliPrint("Motor\tThr\tRoll\tPitch\tYaw\r\n");
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
if (masterConfig.customMotorMixer[i].throttle == 0.0f)
break;
@ -760,13 +804,13 @@ static void cliCMix(char *cmdline)
len = strlen(++ptr);
for (i = 0; ; i++) {
if (mixerNames[i] == NULL) {
cliPrint("Invalid mixer type\r\n");
cliPrint("Invalid name\r\n");
break;
}
if (strncasecmp(ptr, mixerNames[i], len) == 0) {
mixerLoadMix(i, masterConfig.customMotorMixer);
printf("Loaded %s mix\r\n", mixerNames[i]);
cliCMix("");
printf("Loaded %s\r\n", mixerNames[i]);
cliMotorMix("");
break;
}
}
@ -796,12 +840,12 @@ static void cliCMix(char *cmdline)
check++;
}
if (check != 4) {
cliPrint("Wrong number of arguments, needs idx thr roll pitch yaw\r\n");
cliShowParseError();
} else {
cliCMix("");
cliMotorMix("");
}
} else {
printf("Motor number must be between 1 and %d\r\n", MAX_SUPPORTED_MOTORS);
cliShowArgumentRangeError("index", 1, MAX_SUPPORTED_MOTORS);
}
}
#endif
@ -825,10 +869,10 @@ static void cliLed(char *cmdline)
if (i < MAX_LED_STRIP_LENGTH) {
ptr = strchr(cmdline, ' ');
if (!parseLedStripConfig(i, ++ptr)) {
cliPrint("Parse error\r\n");
cliShowParseError();
}
} else {
printf("Invalid led index: must be < %u\r\n", MAX_LED_STRIP_LENGTH);
cliShowArgumentRangeError("index", 0, MAX_LED_STRIP_LENGTH - 1);
}
}
}
@ -840,7 +884,12 @@ static void cliColor(char *cmdline)
if (isEmpty(cmdline)) {
for (i = 0; i < CONFIGURABLE_COLOR_COUNT; i++) {
printf("color %u %d,%u,%u\r\n", i, masterConfig.colors[i].h, masterConfig.colors[i].s, masterConfig.colors[i].v);
printf("color %u %d,%u,%u\r\n",
i,
masterConfig.colors[i].h,
masterConfig.colors[i].s,
masterConfig.colors[i].v
);
}
} else {
ptr = cmdline;
@ -848,10 +897,10 @@ static void cliColor(char *cmdline)
if (i < CONFIGURABLE_COLOR_COUNT) {
ptr = strchr(cmdline, ' ');
if (!parseColor(i, ++ptr)) {
cliPrint("Parse error\r\n");
cliShowParseError();
}
} else {
printf("Invalid color index: must be < %u\r\n", CONFIGURABLE_COLOR_COUNT);
cliShowArgumentRangeError("index", 0, CONFIGURABLE_COLOR_COUNT - 1);
}
}
}
@ -897,7 +946,7 @@ static void cliServo(char *cmdline)
while (*ptr) {
if (*ptr == '-' || (*ptr >= '0' && *ptr <= '9')) {
if (validArgumentCount >= SERVO_ARGUMENT_COUNT) {
cliPrint("Parse error\r\n");
cliShowParseError();
return;
}
@ -909,14 +958,14 @@ static void cliServo(char *cmdline)
} else if (*ptr == ' ') {
ptr++;
} else {
cliPrint("Parse error\r\n");
cliShowParseError();
return;
}
}
// 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 || arguments[0] < 0 || arguments[0] >= MAX_SUPPORTED_SERVOS) {
cliPrint("Parse error\r\n");
cliShowParseError();
return;
}
@ -945,19 +994,23 @@ static void cliServoMix(char *cmdline)
len = strlen(cmdline);
if (len == 0) {
printf("Custom servo mixer: \r\nchange mixer: smix rule\ttarget_channel\tinput_channel\trate\tspeed\t\tmin\tmax\tbox\r\n");
printf("reset mixer: smix reset\r\nload mixer: smix load\r\nchange direction of channel: smix direction\r\n");
for (i = 0; i < MAX_SERVO_RULES; i++) {
if (masterConfig.customServoMixer[i].rate == 0)
break;
printf("#%d:\t", i + 1);
printf("%d\t", masterConfig.customServoMixer[i].targetChannel + 1);
printf("%d\t", masterConfig.customServoMixer[i].fromChannel + 1);
printf("%d\t", masterConfig.customServoMixer[i].rate);
printf("%d\t", masterConfig.customServoMixer[i].speed);
printf("%d\t", masterConfig.customServoMixer[i].min);
printf("%d\t", masterConfig.customServoMixer[i].max);
printf("%d\r\n", masterConfig.customServoMixer[i].box);
cliPrint("Rule Servo Source Rate Speed Min Max Box\r\n");
printf("#%d:\t%d\t%d\t%d\t%d\t%d\t%d\t%d\r\n",
i + 1,
masterConfig.customServoMixer[i].targetChannel + 1,
masterConfig.customServoMixer[i].fromChannel + 1,
masterConfig.customServoMixer[i].rate,
masterConfig.customServoMixer[i].speed,
masterConfig.customServoMixer[i].min,
masterConfig.customServoMixer[i].max,
masterConfig.customServoMixer[i].box
);
}
printf("\r\n");
return;
@ -965,7 +1018,7 @@ static void cliServoMix(char *cmdline)
// erase custom mixer
memset(masterConfig.customServoMixer, 0, sizeof(masterConfig.customServoMixer));
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
currentProfile->servoConf[i].reversedChannels = 0;
currentProfile->servoConf[i].reversedSources = 0;
}
} else if (strncasecmp(cmdline, "load", 4) == 0) {
ptr = strchr(cmdline, ' ');
@ -973,34 +1026,33 @@ static void cliServoMix(char *cmdline)
len = strlen(++ptr);
for (i = 0; ; i++) {
if (mixerNames[i] == NULL) {
printf("Invalid mixer type...\r\n");
printf("Invalid name\r\n");
break;
}
if (strncasecmp(ptr, mixerNames[i], len) == 0) {
servoMixerLoadMix(i, masterConfig.customServoMixer);
printf("Loaded %s mix...\r\n", mixerNames[i]);
printf("Loaded %s\r\n", mixerNames[i]);
cliServoMix("");
break;
}
}
}
} else if (strncasecmp(cmdline, "direction", 9) == 0) {
enum {SERVO = 0, INPUT, DIRECTION, ARGS_COUNT};
int servoIndex, channel;
} else if (strncasecmp(cmdline, "reverse", 7) == 0) {
enum {SERVO = 0, INPUT, REVERSE, ARGS_COUNT};
int servoIndex, inputSource;
ptr = strchr(cmdline, ' ');
len = strlen(ptr);
if (len == 0) {
printf("change the direction a servo reacts to a input channel: \r\nservo input -1|1\r\n");
printf("s");
for (channel = 0; channel < INPUT_ITEM_COUNT; channel++)
printf("\ti%d", channel + 1);
for (inputSource = 0; inputSource < INPUT_SOURCE_COUNT; inputSource++)
printf("\ti%d", inputSource + 1);
printf("\r\n");
for (servoIndex = 0; servoIndex < MAX_SUPPORTED_SERVOS; servoIndex++) {
printf("%d", servoIndex + 1);
for (channel = 0; channel < INPUT_ITEM_COUNT; channel++)
printf("\t%s ", (currentProfile->servoConf[servoIndex].reversedChannels & (1 << channel)) ? "r" : "n");
for (inputSource = 0; inputSource < INPUT_SOURCE_COUNT; inputSource++)
printf("\t%s ", (currentProfile->servoConf[servoIndex].reversedSources & (1 << inputSource)) ? "r" : "n");
printf("\r\n");
}
return;
@ -1013,21 +1065,21 @@ static void cliServoMix(char *cmdline)
}
if (ptr != NULL || check != ARGS_COUNT) {
printf("Wrong number of arguments, needs servo input direction\r\n");
cliShowParseError();
return;
}
if (args[SERVO] >= 1 && args[SERVO] <= MAX_SUPPORTED_SERVOS && args[INPUT] >= 1 && args[INPUT] <= INPUT_ITEM_COUNT && (args[DIRECTION] == -1 || args[DIRECTION] == 1)) {
if (args[SERVO] >= 1 && args[SERVO] <= MAX_SUPPORTED_SERVOS && args[INPUT] >= 1 && args[INPUT] <= INPUT_SOURCE_COUNT && (args[REVERSE] == -1 || args[REVERSE] == 1)) {
args[SERVO] -= 1;
args[INPUT] -= 1;
if (args[DIRECTION] == -1)
currentProfile->servoConf[args[SERVO]].reversedChannels |= 1 << args[INPUT];
if (args[REVERSE] == -1)
currentProfile->servoConf[args[SERVO]].reversedSources |= 1 << args[INPUT];
else
currentProfile->servoConf[args[SERVO]].reversedChannels &= ~(1 << args[INPUT]);
currentProfile->servoConf[args[SERVO]].reversedSources &= ~(1 << args[INPUT]);
} else
printf("ERR: Wrong range for arguments\r\n");
cliShowParseError();
cliServoMix("direction");
cliServoMix("reverse");
} else {
enum {RULE = 0, TARGET, INPUT, RATE, SPEED, MIN, MAX, BOX, ARGS_COUNT};
ptr = strtok(cmdline, " ");
@ -1037,14 +1089,14 @@ static void cliServoMix(char *cmdline)
}
if (ptr != NULL || check != ARGS_COUNT) {
printf("ERR: Wrong number of arguments, needs rule target_channel input_channel rate speed min max box\r\n");
cliShowParseError();
return;
}
i = args[RULE] - 1;
if (i >= 0 && i < MAX_SERVO_RULES &&
args[TARGET] > 0 && args[TARGET] <= MAX_SUPPORTED_SERVOS &&
args[INPUT] >= 1 && args[INPUT] <= INPUT_ITEM_COUNT &&
args[INPUT] >= 1 && args[INPUT] <= INPUT_SOURCE_COUNT &&
args[RATE] >= -100 && args[RATE] <= 100 &&
args[SPEED] >= 0 && args[SPEED] <= MAX_SERVO_SPEED &&
args[MIN] >= 0 && args[MIN] <= 100 &&
@ -1058,8 +1110,9 @@ static void cliServoMix(char *cmdline)
masterConfig.customServoMixer[i].max = args[MAX];
masterConfig.customServoMixer[i].box = args[BOX];
cliServoMix("");
} else
printf("ERR: Wrong range for arguments\r\n");
} else {
cliShowParseError();
}
}
#endif
}
@ -1081,7 +1134,7 @@ static void cliFlashErase(char *cmdline)
{
UNUSED(cmdline);
printf("Erasing, please wait...\r\n");
printf("Erasing...\r\n");
flashfsEraseCompletely();
while (!flashfsIsReady()) {
@ -1097,7 +1150,7 @@ static void cliFlashWrite(char *cmdline)
char *text = strchr(cmdline, ' ');
if (!text) {
printf("Missing text to write.\r\n");
cliShowParseError();
} else {
flashfsSeekAbs(address);
flashfsWrite((uint8_t*)text, strlen(text), true);
@ -1118,7 +1171,7 @@ static void cliFlashRead(char *cmdline)
char *nextArg = strchr(cmdline, ' ');
if (!nextArg) {
printf("Missing length argument.\r\n");
cliShowParseError();
} else {
length = atoi(nextArg);
@ -1255,23 +1308,11 @@ static void cliDump(char *cmdline)
// print servo directions
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
for (channel = 0; channel < INPUT_ITEM_COUNT; channel++) {
if (currentProfile->servoConf[i].reversedChannels & (1 << channel)) {
printf("smix direction %d %d -1\r\n", i + 1 , channel + 1);
}
for (channel = 0; channel < INPUT_SOURCE_COUNT; channel++) {
printf("smix direction %d %d -1\r\n", i + 1 , channel + 1);
}
}
// print servo config
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
printf("servo %d %d %d %d %d\r\n", i + 1,
currentProfile->servoConf[i].min,
currentProfile->servoConf[i].middle,
currentProfile->servoConf[i].max,
currentProfile->servoConf[i].rate
);
}
#endif
cliPrint("\r\n\r\n# feature\r\n");
@ -1379,7 +1420,7 @@ static void cliFeature(char *cmdline)
mask = featureMask();
if (len == 0) {
cliPrint("Enabled features: ");
cliPrint("Enabled: ");
for (i = 0; ; i++) {
if (featureNames[i] == NULL)
break;
@ -1388,7 +1429,7 @@ static void cliFeature(char *cmdline)
}
cliPrint("\r\n");
} else if (strncasecmp(cmdline, "list", len) == 0) {
cliPrint("Available features: ");
cliPrint("Available: ");
for (i = 0; ; i++) {
if (featureNames[i] == NULL)
break;
@ -1407,7 +1448,7 @@ static void cliFeature(char *cmdline)
for (i = 0; ; i++) {
if (featureNames[i] == NULL) {
cliPrint("Invalid feature name\r\n");
cliPrint("Invalid name\r\n");
break;
}
@ -1416,24 +1457,24 @@ static void cliFeature(char *cmdline)
mask = 1 << i;
#ifndef GPS
if (mask & FEATURE_GPS) {
cliPrint("GPS unavailable\r\n");
cliPrint("unavailable\r\n");
break;
}
#endif
#ifndef SONAR
if (mask & FEATURE_SONAR) {
cliPrint("SONAR unavailable\r\n");
cliPrint("unavailable\r\n");
break;
}
#endif
if (remove) {
featureClear(mask);
cliPrint("Disabled ");
cliPrint("Disabled");
} else {
featureSet(mask);
cliPrint("Enabled ");
cliPrint("Enabled");
}
printf("%s\r\n", featureNames[i]);
printf(" %s\r\n", featureNames[i]);
break;
}
}
@ -1455,9 +1496,16 @@ static void cliHelp(char *cmdline)
UNUSED(cmdline);
cliPrint("Available commands:\r\n");
for (i = 0; i < CMD_COUNT; i++)
printf("%s\t%s\r\n", cmdTable[i].name, cmdTable[i].param);
for (i = 0; i < CMD_COUNT; i++) {
cliPrint(cmdTable[i].name);
if (cmdTable[i].description) {
printf(" - %s", cmdTable[i].description);
}
if (cmdTable[i].args) {
printf("\r\n\t%s", cmdTable[i].args);
}
cliPrint("\r\n");
}
}
static void cliMap(char *cmdline)
@ -1475,12 +1523,12 @@ static void cliMap(char *cmdline)
for (i = 0; i < 8; i++) {
if (strchr(rcChannelLetters, cmdline[i]) && !strchr(cmdline + i + 1, cmdline[i]))
continue;
cliPrint("Must be any order of AETR1234\r\n");
cliShowParseError();
return;
}
parseRcChannels(cmdline, &masterConfig.rxConfig);
}
cliPrint("Current assignment: ");
cliPrint("Map: ");
for (i = 0; i < 8; i++)
out[masterConfig.rxConfig.rcmap[i]] = rcChannelLetters[i];
out[i] = '\0';
@ -1496,7 +1544,7 @@ static void cliMixer(char *cmdline)
len = strlen(cmdline);
if (len == 0) {
printf("Current mixer: %s\r\n", mixerNames[masterConfig.mixerMode - 1]);
printf("Mixer: %s\r\n", mixerNames[masterConfig.mixerMode - 1]);
return;
} else if (strncasecmp(cmdline, "list", len) == 0) {
cliPrint("Available mixers: ");
@ -1511,15 +1559,16 @@ static void cliMixer(char *cmdline)
for (i = 0; ; i++) {
if (mixerNames[i] == NULL) {
cliPrint("Invalid mixer type\r\n");
break;
cliPrint("Invalid name\r\n");
return;
}
if (strncasecmp(cmdline, mixerNames[i], len) == 0) {
masterConfig.mixerMode = i + 1;
printf("Mixer set to %s\r\n", mixerNames[i]);
break;
}
}
cliMixer("");
}
#endif
@ -1532,7 +1581,7 @@ static void cliMotor(char *cmdline)
char *saveptr;
if (isEmpty(cmdline)) {
cliPrint("Usage:\r\nmotor index [value] - show [or set] motor value\r\n");
cliShowParseError();
return;
}
@ -1551,22 +1600,20 @@ static void cliMotor(char *cmdline)
}
if (motor_index < 0 || motor_index >= MAX_SUPPORTED_MOTORS) {
printf("No such motor, use a number [0, %d]\r\n", MAX_SUPPORTED_MOTORS);
cliShowArgumentRangeError("index", 0, MAX_SUPPORTED_MOTORS);
return;
}
if (index < 2) {
printf("Motor %d is set at %d\r\n", motor_index, motor_disarmed[motor_index]);
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;
}
}
if (motor_value < PWM_RANGE_MIN || motor_value > PWM_RANGE_MAX) {
cliPrint("Invalid motor value, 1000..2000\r\n");
return;
}
printf("Setting motor %d to %d\r\n", motor_index, motor_value);
motor_disarmed[motor_index] = motor_value;
printf("motor %d: %d\r\n", motor_index, motor_disarmed[motor_index]);
}
static void cliPlaySound(char *cmdline)
@ -1806,7 +1853,7 @@ static void cliSet(char *cmdline)
return;
}
}
cliPrint("Unknown variable name\r\n");
cliPrint("Invalid name\r\n");
} else {
// no equals, check for matching variables.
cliGet(cmdline);
@ -1835,7 +1882,7 @@ static void cliGet(char *cmdline)
return;
}
cliPrint("Unknown variable name\r\n");
cliPrint("Invalid name\r\n");
}
static void cliStatus(char *cmdline)
@ -1969,7 +2016,7 @@ void cliProcess(void)
if (bufferIndex > 0) {
cliBuffer[bufferIndex] = 0; // null terminate
target.name = cliBuffer;
target.param = NULL;
target.args = NULL;
cmd = bsearch(&target, cmdTable, CMD_COUNT, sizeof cmdTable[0], cliCompare);
if (cmd)

4
src/main/io/serial_msp.c
View File

@ -851,7 +851,7 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize8(currentProfile->servoConf[i].rate);
serialize8(currentProfile->servoConf[i].angleAtMin);
serialize8(currentProfile->servoConf[i].angleAtMax);
serialize32(currentProfile->servoConf[i].reversedChannels);
serialize32(currentProfile->servoConf[i].reversedSources);
}
break;
case MSP_CHANNEL_FORWARDING:
@ -1453,7 +1453,7 @@ static bool processInCommand(void)
currentProfile->servoConf[i].rate = read8();
currentProfile->servoConf[i].angleAtMin = read8();
currentProfile->servoConf[i].angleAtMax = read8();
currentProfile->servoConf[i].reversedChannels = read32();
currentProfile->servoConf[i].reversedSources = read32();
}
}
#endif

1
src/main/target/CC3D/target.h
View File

@ -120,6 +120,7 @@
// disabled some features for OPBL build due to code size.
#undef AUTOTUNE
#undef SONAR
#define SKIP_CLI_COMMAND_HELP
#endif