Merge branch 'upstream' of https://github.com/davibe/baseflight into davibe-upstream
This commit is contained in:
commit
d7b99e7938
43
src/cli.c
43
src/cli.c
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@ -12,6 +12,7 @@ static void cliFeature(char *cmdline);
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static void cliHelp(char *cmdline);
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static void cliMap(char *cmdline);
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static void cliMixer(char *cmdline);
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static void cliMotor(char *cmdline);
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static void cliProfile(char *cmdline);
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static void cliSave(char *cmdline);
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static void cliSet(char *cmdline);
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@ -25,6 +26,9 @@ extern uint8_t accHardware;
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// from config.c RC Channel mapping
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extern const char rcChannelLetters[];
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// from mixer.c
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extern int16_t motor_disarmed[MAX_MOTORS];
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// buffer
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static char cliBuffer[48];
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static uint32_t bufferIndex = 0;
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@ -76,6 +80,7 @@ const clicmd_t cmdTable[] = {
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{ "help", "", cliHelp },
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{ "map", "mapping of rc channel order", cliMap },
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{ "mixer", "mixer name or list", cliMixer },
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{ "motor", "get/set motor output value", cliMotor },
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{ "profile", "index (0 to 2)", cliProfile },
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{ "save", "save and reboot", cliSave },
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{ "set", "name=value or blank or * for list", cliSet },
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@ -727,6 +732,44 @@ static void cliMixer(char *cmdline)
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}
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}
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static void cliMotor(char *cmdline)
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{
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int motor_index;
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int motor_value;
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int len;
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char *tmp = NULL;
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char *sep = " ";
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len = strlen(cmdline);
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tmp = strtok(cmdline, sep);
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if (tmp == NULL) {
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printf("Usage:\r\n");
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printf("motor [index] shows the output value of one motor\r\n");
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printf("motor [index] [value] sets the output value of one motor\r\n");
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return;
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}
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motor_index = atoi(tmp);
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if (motor_index < 0 || motor_index >= MAX_MOTORS) {
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printf("No such motor, use a number [0, %d]\r\n", MAX_MOTORS);
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return;
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}
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tmp = strtok(NULL, sep);
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if (tmp == NULL) {
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tmp = strtok(cmdline, sep);
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motor_index = atoi(tmp);
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printf("Motor %d is set at %d\r\n", motor_index,
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motor_disarmed[motor_index]);
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return;
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}
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motor_value = atoi(tmp);
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printf("Setting motor %d to %d\r\n", motor_index, motor_value);
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motor_disarmed[motor_index] = motor_value;
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}
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static void cliProfile(char *cmdline)
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{
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uint8_t len;
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11
src/mixer.c
11
src/mixer.c
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@ -3,6 +3,7 @@
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static uint8_t numberMotor = 0;
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int16_t motor[MAX_MOTORS];
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int16_t motor_disarmed[MAX_MOTORS];
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int16_t servo[MAX_SERVOS] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 };
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static motorMixer_t currentMixer[MAX_MOTORS];
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@ -210,6 +211,11 @@ void mixerInit(void)
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}
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}
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}
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// set disarmed motor values
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for (i = 0; i < MAX_MOTORS; i++) {
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motor_disarmed[i] = feature(FEATURE_3D) ? mcfg.neutral3d : mcfg.mincommand;
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}
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}
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void mixerLoadMix(int index)
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@ -481,7 +487,8 @@ void mixTable(void)
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motor[i] = mcfg.mincommand;
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}
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}
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if (!f.ARMED)
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motor[i] = feature(FEATURE_3D) ? mcfg.neutral3d : mcfg.mincommand;
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if (!f.ARMED) {
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motor[i] = motor_disarmed[i];
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}
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}
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}
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