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atbetaflight
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Merge branch 'upstream' of https://github.com/davibe/baseflight into davibe-upstream

This commit is contained in:
dongie 2013-11-02 14:40:50 +09:00
parent e1087cf921 786d727705
commit d7b99e7938
2 changed files with 52 additions and 2 deletions
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43
src/cli.c
View File

@ -12,6 +12,7 @@ static void cliFeature(char *cmdline);
static void cliHelp(char *cmdline);
static void cliMap(char *cmdline);
static void cliMixer(char *cmdline);
static void cliMotor(char *cmdline);
static void cliProfile(char *cmdline);
static void cliSave(char *cmdline);
static void cliSet(char *cmdline);
@ -25,6 +26,9 @@ extern uint8_t accHardware;
// from config.c RC Channel mapping
extern const char rcChannelLetters[];
// from mixer.c
extern int16_t motor_disarmed[MAX_MOTORS];
// buffer
static char cliBuffer[48];
static uint32_t bufferIndex = 0;
@ -76,6 +80,7 @@ const clicmd_t cmdTable[] = {
{ "help", "", cliHelp },
{ "map", "mapping of rc channel order", cliMap },
{ "mixer", "mixer name or list", cliMixer },
{ "motor", "get/set motor output value", cliMotor },
{ "profile", "index (0 to 2)", cliProfile },
{ "save", "save and reboot", cliSave },
{ "set", "name=value or blank or * for list", cliSet },
@ -727,6 +732,44 @@ static void cliMixer(char *cmdline)
}
}
static void cliMotor(char *cmdline)
{
int motor_index;
int motor_value;
int len;
char *tmp = NULL;
char *sep = " ";
len = strlen(cmdline);
tmp = strtok(cmdline, sep);
if (tmp == NULL) {
printf("Usage:\r\n");
printf("motor [index] shows the output value of one motor\r\n");
printf("motor [index] [value] sets the output value of one motor\r\n");
return;
}
motor_index = atoi(tmp);
if (motor_index < 0 || motor_index >= MAX_MOTORS) {
printf("No such motor, use a number [0, %d]\r\n", MAX_MOTORS);
return;
}
tmp = strtok(NULL, sep);
if (tmp == NULL) {
tmp = strtok(cmdline, sep);
motor_index = atoi(tmp);
printf("Motor %d is set at %d\r\n", motor_index,
motor_disarmed[motor_index]);
return;
}
motor_value = atoi(tmp);
printf("Setting motor %d to %d\r\n", motor_index, motor_value);
motor_disarmed[motor_index] = motor_value;
}
static void cliProfile(char *cmdline)
{
uint8_t len;

11
src/mixer.c
View File

@ -3,6 +3,7 @@
static uint8_t numberMotor = 0;
int16_t motor[MAX_MOTORS];
int16_t motor_disarmed[MAX_MOTORS];
int16_t servo[MAX_SERVOS] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 };
static motorMixer_t currentMixer[MAX_MOTORS];
@ -210,6 +211,11 @@ void mixerInit(void)
}
}
}
// set disarmed motor values
for (i = 0; i < MAX_MOTORS; i++) {
motor_disarmed[i] = feature(FEATURE_3D) ? mcfg.neutral3d : mcfg.mincommand;
}
}
void mixerLoadMix(int index)
@ -481,7 +487,8 @@ void mixTable(void)
motor[i] = mcfg.mincommand;
}
}
if (!f.ARMED)
motor[i] = feature(FEATURE_3D) ? mcfg.neutral3d : mcfg.mincommand;
if (!f.ARMED) {
motor[i] = motor_disarmed[i];
}
}
}