/*
* 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 .
*/
#include
#include
#include
#include
#include
#include
#include
#include "platform.h"
#include "version.h"
#include "build_config.h"
#include "common/axis.h"
#include "common/maths.h"
#include "common/color.h"
#include "common/typeconversion.h"
#include "drivers/system.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "drivers/compass.h"
#include "drivers/serial.h"
#include "drivers/bus_i2c.h"
#include "drivers/gpio.h"
#include "drivers/timer.h"
#include "drivers/pwm_rx.h"
#include "flight/flight.h"
#include "flight/mixer.h"
#include "flight/navigation.h"
#include "flight/failsafe.h"
#include "rx/rx.h"
#include "io/escservo.h"
#include "io/gps.h"
#include "io/gimbal.h"
#include "io/rc_controls.h"
#include "io/serial.h"
#include "io/ledstrip.h"
#include "io/flashfs.h"
#include "rx/spektrum.h"
#include "sensors/battery.h"
#include "sensors/boardalignment.h"
#include "sensors/sensors.h"
#include "sensors/acceleration.h"
#include "sensors/gyro.h"
#include "sensors/compass.h"
#include "sensors/barometer.h"
#include "telemetry/telemetry.h"
#include "config/runtime_config.h"
#include "config/config.h"
#include "config/config_profile.h"
#include "config/config_master.h"
#include "common/printf.h"
#include "serial_cli.h"
extern uint16_t cycleTime; // FIXME dependency on mw.c
static serialPort_t *cliPort;
static void cliAux(char *cmdline);
static void cliAdjustmentRange(char *cmdline);
static void cliCMix(char *cmdline);
static void cliDefaults(char *cmdline);
static void cliDump(char *cmdLine);
static void cliExit(char *cmdline);
static void cliFeature(char *cmdline);
static void cliMotor(char *cmdline);
static void cliProfile(char *cmdline);
static void cliRateProfile(char *cmdline);
static void cliReboot(void);
static void cliSave(char *cmdline);
static void cliSet(char *cmdline);
static void cliGet(char *cmdline);
static void cliStatus(char *cmdline);
static void cliVersion(char *cmdline);
#ifdef GPS
static void cliGpsPassthrough(char *cmdline);
#endif
static void cliHelp(char *cmdline);
static void cliMap(char *cmdline);
#ifdef LED_STRIP
static void cliLed(char *cmdline);
static void cliColor(char *cmdline);
#endif
#ifndef USE_QUAD_MIXER_ONLY
static void cliMixer(char *cmdline);
#endif
#ifdef FLASHFS
static void cliFlashIdent(char *cmdline);
static void cliFlashErase(char *cmdline);
static void cliFlashWrite(char *cmdline);
static void cliFlashRead(char *cmdline);
#endif
// signal that we're in cli mode
uint8_t cliMode = 0;
// buffer
static char cliBuffer[48];
static uint32_t bufferIndex = 0;
#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", NULL
};
#endif
// sync this with features_e
static const char * const featureNames[] = {
"RX_PPM", "VBAT", "INFLIGHT_ACC_CAL", "RX_SERIAL", "MOTOR_STOP",
"SERVO_TILT", "SOFTSERIAL", "GPS", "FAILSAFE",
"SONAR", "TELEMETRY", "CURRENT_METER", "3D", "RX_PARALLEL_PWM",
"RX_MSP", "RSSI_ADC", "LED_STRIP", "DISPLAY", "ONESHOT125",
"BLACKBOX", NULL
};
// sync this with sensors_e
static const char * const sensorNames[] = {
"GYRO", "ACC", "BARO", "MAG", "SONAR", "GPS", "GPS+MAG", NULL
};
static const char * const accNames[] = {
"", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "FAKE", "None", NULL
};
typedef struct {
const char *name;
const char *param;
void (*func)(char *cmdline);
} clicmd_t;
// 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 },
#ifdef LED_STRIP
{ "color", "configure colors", cliColor },
#endif
{ "defaults", "reset to defaults and reboot", cliDefaults },
{ "dump", "print configurable settings in a pastable form", cliDump },
{ "exit", "", cliExit },
{ "feature", "list or -val or val", cliFeature },
#ifdef FLASHFS
{ "flash_erase", "erase flash chip", cliFlashErase },
{ "flash_ident", "get flash chip details", cliFlashIdent },
{ "flash_read", "read text from the given address", cliFlashRead },
{ "flash_write", "write text to the given address", cliFlashWrite },
#endif
{ "get", "get variable value", cliGet },
#ifdef GPS
{ "gpspassthrough", "passthrough gps to serial", cliGpsPassthrough },
#endif
{ "help", "", cliHelp },
#ifdef LED_STRIP
{ "led", "configure leds", cliLed },
#endif
{ "map", "mapping of rc channel order", cliMap },
#ifndef USE_QUAD_MIXER_ONLY
{ "mixer", "mixer name or list", cliMixer },
#endif
{ "motor", "get/set motor output value", cliMotor },
{ "profile", "index (0 to 2)", cliProfile },
{ "rateprofile", "index (0 to 2)", cliRateProfile },
{ "save", "save and reboot", cliSave },
{ "set", "name=value or blank or * for list", cliSet },
{ "status", "show system status", cliStatus },
{ "version", "", cliVersion },
};
#define CMD_COUNT (sizeof(cmdTable) / sizeof(clicmd_t))
typedef enum {
VAR_UINT8 = (1 << 0),
VAR_INT8 = (1 << 1),
VAR_UINT16 = (1 << 2),
VAR_INT16 = (1 << 3),
VAR_UINT32 = (1 << 4),
VAR_FLOAT = (1 << 5),
MASTER_VALUE = (1 << 6),
PROFILE_VALUE = (1 << 7),
CONTROL_RATE_VALUE = (1 << 8)
} cliValueFlag_e;
#define VALUE_TYPE_MASK (VAR_UINT8 | VAR_INT8 | VAR_UINT16 | VAR_INT16 | VAR_UINT32 | VAR_FLOAT)
#define SECTION_MASK (MASTER_VALUE | PROFILE_VALUE | CONTROL_RATE_VALUE)
typedef struct {
const char *name;
const uint16_t type; // cliValueFlag_e - specify one of each from VALUE_TYPE_MASK and SECTION_MASK
void *ptr;
const int32_t min;
const int32_t max;
} clivalue_t;
const clivalue_t valueTable[] = {
{ "looptime", VAR_UINT16 | MASTER_VALUE, &masterConfig.looptime, 0, 9000 },
{ "emf_avoidance", VAR_UINT8 | MASTER_VALUE, &masterConfig.emf_avoidance, 0, 1 },
{ "mid_rc", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.midrc, 1200, 1700 },
{ "min_check", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.mincheck, PWM_RANGE_ZERO, PWM_RANGE_MAX },
{ "max_check", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.maxcheck, PWM_RANGE_ZERO, PWM_RANGE_MAX },
{ "rssi_channel", VAR_INT8 | MASTER_VALUE, &masterConfig.rxConfig.rssi_channel, 0, MAX_SUPPORTED_RC_CHANNEL_COUNT },
{ "rssi_scale", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.rssi_scale, RSSI_SCALE_MIN, RSSI_SCALE_MAX },
{ "input_filtering_mode", VAR_INT8 | MASTER_VALUE, &masterConfig.inputFilteringMode, 0, 1 },
{ "min_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.escAndServoConfig.minthrottle, PWM_RANGE_ZERO, PWM_RANGE_MAX },
{ "max_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.escAndServoConfig.maxthrottle, PWM_RANGE_ZERO, PWM_RANGE_MAX },
{ "min_command", VAR_UINT16 | MASTER_VALUE, &masterConfig.escAndServoConfig.mincommand, PWM_RANGE_ZERO, PWM_RANGE_MAX },
{ "servo_center_pulse", VAR_UINT16 | MASTER_VALUE, &masterConfig.escAndServoConfig.servoCenterPulse, PWM_RANGE_ZERO, PWM_RANGE_MAX },
{ "3d_deadband_low", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.deadband3d_low, PWM_RANGE_ZERO, PWM_RANGE_MAX }, // FIXME upper limit should match code in the mixer, 1500 currently
{ "3d_deadband_high", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.deadband3d_high, PWM_RANGE_ZERO, PWM_RANGE_MAX }, // FIXME lower limit should match code in the mixer, 1500 currently,
{ "3d_neutral", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.neutral3d, PWM_RANGE_ZERO, PWM_RANGE_MAX },
{ "3d_deadband_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.deadband3d_throttle, PWM_RANGE_ZERO, PWM_RANGE_MAX },
{ "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.motor_pwm_rate, 50, 32000 },
{ "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.servo_pwm_rate, 50, 498 },
{ "retarded_arm", VAR_UINT8 | MASTER_VALUE, &masterConfig.retarded_arm, 0, 1 },
{ "disarm_kill_switch", VAR_UINT8 | MASTER_VALUE, &masterConfig.disarm_kill_switch, 0, 1 },
{ "auto_disarm_delay", VAR_UINT8 | MASTER_VALUE, &masterConfig.auto_disarm_delay, 0, 60 },
{ "small_angle", VAR_UINT8 | MASTER_VALUE, &masterConfig.small_angle, 0, 180 },
{ "flaps_speed", VAR_UINT8 | MASTER_VALUE, &masterConfig.airplaneConfig.flaps_speed, 0, 100 },
{ "fixedwing_althold_dir", VAR_INT8 | MASTER_VALUE, &masterConfig.airplaneConfig.fixedwing_althold_dir, -1, 1 },
{ "serial_port_1_scenario", VAR_UINT8 | MASTER_VALUE, &masterConfig.serialConfig.serial_port_scenario[0], 0, SERIAL_PORT_SCENARIO_MAX },
{ "serial_port_2_scenario", VAR_UINT8 | MASTER_VALUE, &masterConfig.serialConfig.serial_port_scenario[1], 0, SERIAL_PORT_SCENARIO_MAX },
#if (SERIAL_PORT_COUNT > 2)
{ "serial_port_3_scenario", VAR_UINT8 | MASTER_VALUE, &masterConfig.serialConfig.serial_port_scenario[2], 0, SERIAL_PORT_SCENARIO_MAX },
#if !defined(CC3D)
{ "serial_port_4_scenario", VAR_UINT8 | MASTER_VALUE, &masterConfig.serialConfig.serial_port_scenario[3], 0, SERIAL_PORT_SCENARIO_MAX },
#if (SERIAL_PORT_COUNT > 4)
{ "serial_port_5_scenario", VAR_UINT8 | MASTER_VALUE, &masterConfig.serialConfig.serial_port_scenario[4], 0, SERIAL_PORT_SCENARIO_MAX },
#endif
#endif
#endif
{ "reboot_character", VAR_UINT8 | MASTER_VALUE, &masterConfig.serialConfig.reboot_character, 48, 126 },
{ "msp_baudrate", VAR_UINT32 | MASTER_VALUE, &masterConfig.serialConfig.msp_baudrate, 1200, 115200 },
{ "cli_baudrate", VAR_UINT32 | MASTER_VALUE, &masterConfig.serialConfig.cli_baudrate, 1200, 115200 },
#ifdef GPS
{ "gps_baudrate", VAR_UINT32 | MASTER_VALUE, &masterConfig.serialConfig.gps_baudrate, 0, 115200 },
{ "gps_passthrough_baudrate", VAR_UINT32 | MASTER_VALUE, &masterConfig.serialConfig.gps_passthrough_baudrate, 1200, 115200 },
{ "gps_provider", VAR_UINT8 | MASTER_VALUE, &masterConfig.gpsConfig.provider, 0, GPS_PROVIDER_MAX },
{ "gps_sbas_mode", VAR_UINT8 | MASTER_VALUE, &masterConfig.gpsConfig.sbasMode, 0, SBAS_MODE_MAX },
{ "gps_auto_config", VAR_UINT8 | MASTER_VALUE, &masterConfig.gpsConfig.autoConfig, GPS_AUTOCONFIG_OFF, GPS_AUTOCONFIG_ON },
{ "gps_auto_baud", VAR_UINT8 | MASTER_VALUE, &masterConfig.gpsConfig.autoBaud, GPS_AUTOBAUD_OFF, GPS_AUTOBAUD_ON },
{ "gps_pos_p", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDPOS], 0, 200 },
{ "gps_pos_i", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDPOS], 0, 200 },
{ "gps_pos_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDPOS], 0, 200 },
{ "gps_posr_p", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDPOSR], 0, 200 },
{ "gps_posr_i", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDPOSR], 0, 200 },
{ "gps_posr_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDPOSR], 0, 200 },
{ "gps_nav_p", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDNAVR], 0, 200 },
{ "gps_nav_i", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDNAVR], 0, 200 },
{ "gps_nav_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDNAVR], 0, 200 },
{ "gps_wp_radius", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].gpsProfile.gps_wp_radius, 0, 2000 },
{ "nav_controls_heading", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].gpsProfile.nav_controls_heading, 0, 1 },
{ "nav_speed_min", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].gpsProfile.nav_speed_min, 10, 2000 },
{ "nav_speed_max", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].gpsProfile.nav_speed_max, 10, 2000 },
{ "nav_slew_rate", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].gpsProfile.nav_slew_rate, 0, 100 },
#endif
{ "serialrx_provider", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.serialrx_provider, 0, SERIALRX_PROVIDER_MAX },
{ "spektrum_sat_bind", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.spektrum_sat_bind, SPEKTRUM_SAT_BIND_DISABLED, SPEKTRUM_SAT_BIND_MAX},
{ "telemetry_provider", VAR_UINT8 | MASTER_VALUE, &masterConfig.telemetryConfig.telemetry_provider, 0, TELEMETRY_PROVIDER_MAX },
{ "telemetry_switch", VAR_UINT8 | MASTER_VALUE, &masterConfig.telemetryConfig.telemetry_switch, 0, 1 },
{ "telemetry_inversion", VAR_UINT8 | MASTER_VALUE, &masterConfig.telemetryConfig.telemetry_inversion, 0, 1 },
{ "frsky_default_lattitude", VAR_FLOAT | MASTER_VALUE, &masterConfig.telemetryConfig.gpsNoFixLatitude, -90.0, 90.0 },
{ "frsky_default_longitude", VAR_FLOAT | MASTER_VALUE, &masterConfig.telemetryConfig.gpsNoFixLongitude, -180.0, 180.0 },
{ "frsky_coordinates_format", VAR_UINT8 | MASTER_VALUE, &masterConfig.telemetryConfig.frsky_coordinate_format, 0, FRSKY_FORMAT_NMEA },
{ "frsky_unit", VAR_UINT8 | MASTER_VALUE, &masterConfig.telemetryConfig.frsky_unit, 0, FRSKY_UNIT_IMPERIALS },
{ "battery_capacity", VAR_UINT16 | MASTER_VALUE, &masterConfig.batteryConfig.batteryCapacity, 0, 20000 },
{ "vbat_scale", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.vbatscale, VBAT_SCALE_MIN, VBAT_SCALE_MAX },
{ "vbat_max_cell_voltage", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.vbatmaxcellvoltage, 10, 50 },
{ "vbat_min_cell_voltage", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.vbatmincellvoltage, 10, 50 },
{ "vbat_warning_cell_voltage", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.vbatwarningcellvoltage, 10, 50 },
{ "current_meter_scale", VAR_INT16 | MASTER_VALUE, &masterConfig.batteryConfig.currentMeterScale, -10000, 10000 },
{ "current_meter_offset", VAR_UINT16 | MASTER_VALUE, &masterConfig.batteryConfig.currentMeterOffset, 0, 3300 },
{ "multiwii_current_meter_output", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.multiwiiCurrentMeterOutput, 0, 1 },
{ "current_meter_type", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.currentMeterType, 0, CURRENT_SENSOR_MAX },
{ "align_gyro", VAR_UINT8 | MASTER_VALUE, &masterConfig.sensorAlignmentConfig.gyro_align, 0, 8 },
{ "align_acc", VAR_UINT8 | MASTER_VALUE, &masterConfig.sensorAlignmentConfig.acc_align, 0, 8 },
{ "align_mag", VAR_UINT8 | MASTER_VALUE, &masterConfig.sensorAlignmentConfig.mag_align, 0, 8 },
{ "align_board_roll", VAR_INT16 | MASTER_VALUE, &masterConfig.boardAlignment.rollDegrees, -180, 360 },
{ "align_board_pitch", VAR_INT16 | MASTER_VALUE, &masterConfig.boardAlignment.pitchDegrees, -180, 360 },
{ "align_board_yaw", VAR_INT16 | MASTER_VALUE, &masterConfig.boardAlignment.yawDegrees, -180, 360 },
{ "max_angle_inclination", VAR_UINT16 | MASTER_VALUE, &masterConfig.max_angle_inclination, 100, 900 },
{ "gyro_lpf", VAR_UINT16 | MASTER_VALUE, &masterConfig.gyro_lpf, 0, 256 },
{ "moron_threshold", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyroConfig.gyroMovementCalibrationThreshold, 0, 128 },
{ "gyro_cmpf_factor", VAR_UINT16 | MASTER_VALUE, &masterConfig.gyro_cmpf_factor, 100, 1000 },
{ "gyro_cmpfm_factor", VAR_UINT16 | MASTER_VALUE, &masterConfig.gyro_cmpfm_factor, 100, 1000 },
{ "alt_hold_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].rcControlsConfig.alt_hold_deadband, 1, 250 },
{ "alt_hold_fast_change", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].rcControlsConfig.alt_hold_fast_change, 0, 1 },
{ "deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].rcControlsConfig.deadband, 0, 32 },
{ "yaw_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].rcControlsConfig.yaw_deadband, 0, 100 },
{ "throttle_correction_value", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].throttle_correction_value, 0, 150 },
{ "throttle_correction_angle", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].throttle_correction_angle, 1, 900 },
{ "yaw_control_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.yaw_control_direction, -1, 1 },
{ "yaw_direction", VAR_INT8 | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.yaw_direction, -1, 1 },
{ "tri_unarmed_servo", VAR_INT8 | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.tri_unarmed_servo, 0, 1 },
{ "default_rate_profile", VAR_UINT8 | PROFILE_VALUE , &masterConfig.profile[0].defaultRateProfileIndex, 0, MAX_CONTROL_RATE_PROFILE_COUNT - 1 },
{ "rc_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcRate8, 0, 250 },
{ "rc_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcExpo8, 0, 100 },
{ "thr_mid", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].thrMid8, 0, 100 },
{ "thr_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].thrExpo8, 0, 100 },
{ "roll_pitch_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rollPitchRate, 0, 100 },
{ "yaw_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].yawRate, 0, 100 },
{ "tpa_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].dynThrPID, 0, 100},
{ "tpa_breakpoint", VAR_UINT16 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].tpa_breakpoint, PWM_RANGE_MIN, PWM_RANGE_MAX},
{ "failsafe_delay", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].failsafeConfig.failsafe_delay, 0, 200 },
{ "failsafe_off_delay", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].failsafeConfig.failsafe_off_delay, 0, 200 },
{ "failsafe_throttle", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].failsafeConfig.failsafe_throttle, PWM_RANGE_MIN, PWM_RANGE_MAX },
{ "failsafe_min_usec", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].failsafeConfig.failsafe_min_usec, 100, PWM_RANGE_MAX },
{ "failsafe_max_usec", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].failsafeConfig.failsafe_max_usec, 100, PWM_RANGE_MAX + (PWM_RANGE_MAX - PWM_RANGE_MIN) },
{ "gimbal_flags", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].gimbalConfig.gimbal_flags, 0, 255},
{ "acc_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.acc_hardware, 0, ACC_NONE },
{ "acc_lpf_factor", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].acc_lpf_factor, 0, 250 },
{ "accxy_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].accDeadband.xy, 0, 100 },
{ "accz_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].accDeadband.z, 0, 100 },
{ "accz_lpf_cutoff", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].accz_lpf_cutoff, 1, 20 },
{ "acc_unarmedcal", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].acc_unarmedcal, 0, 1 },
{ "acc_trim_pitch", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].accelerometerTrims.values.pitch, -300, 300 },
{ "acc_trim_roll", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].accelerometerTrims.values.roll, -300, 300 },
{ "baro_tab_size", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_sample_count, 0, BARO_SAMPLE_COUNT_MAX },
{ "baro_noise_lpf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_noise_lpf, 0, 1 },
{ "baro_cf_vel", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_cf_vel, 0, 1 },
{ "baro_cf_alt", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_cf_alt, 0, 1 },
{ "mag_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.mag_hardware, 0, MAG_NONE },
{ "mag_declination", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].mag_declination, -18000, 18000 },
{ "pid_controller", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidController, 0, 5 },
{ "p_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PITCH], 0, 200 },
{ "i_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PITCH], 0, 200 },
{ "d_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PITCH], 0, 200 },
{ "p_roll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[ROLL], 0, 200 },
{ "i_roll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[ROLL], 0, 200 },
{ "d_roll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[ROLL], 0, 200 },
{ "p_yaw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[YAW], 0, 200 },
{ "i_yaw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[YAW], 0, 200 },
{ "d_yaw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[YAW], 0, 200 },
{ "p_pitchf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P_f[PITCH], 0, 100 },
{ "i_pitchf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I_f[PITCH], 0, 100 },
{ "d_pitchf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D_f[PITCH], 0, 100 },
{ "p_rollf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P_f[ROLL], 0, 100 },
{ "i_rollf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I_f[ROLL], 0, 100 },
{ "d_rollf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D_f[ROLL], 0, 100 },
{ "p_yawf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P_f[YAW], 0, 100 },
{ "i_yawf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I_f[YAW], 0, 100 },
{ "d_yawf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D_f[YAW], 0, 100 },
{ "level_horizon", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.H_level, 0, 10 },
{ "level_angle", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.A_level, 0, 10 },
{ "sensitivity_horizon", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.H_sensitivity, 0, 250 },
{ "p_alt", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDALT], 0, 200 },
{ "i_alt", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDALT], 0, 200 },
{ "d_alt", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDALT], 0, 200 },
{ "p_level", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDLEVEL], 0, 200 },
{ "i_level", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDLEVEL], 0, 200 },
{ "d_level", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDLEVEL], 0, 200 },
{ "p_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDVEL], 0, 200 },
{ "i_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDVEL], 0, 200 },
{ "d_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDVEL], 0, 200 },
{ "blackbox_device", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_device, 0, 1 },
{ "blackbox_rate_num", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_rate_num, 1, 32 },
{ "blackbox_rate_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_rate_denom, 1, 32 },
};
#define VALUE_COUNT (sizeof(valueTable) / sizeof(clivalue_t))
typedef union {
int32_t int_value;
float float_value;
} int_float_value_t;
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 int cliCompare(const void *a, const void *b)
{
const clicmd_t *ca = a, *cb = b;
return strncasecmp(ca->name, cb->name, strlen(cb->name));
}
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)++;
}
}
return ptr;
}
static void cliAux(char *cmdline)
{
int i, val = 0;
uint8_t len;
char *ptr;
len = strlen(cmdline);
if (len == 0) {
// print out aux channel settings
for (i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
modeActivationCondition_t *mac = ¤tProfile->modeActivationConditions[i];
printf("aux %u %u %u %u %u\r\n",
i,
mac->modeId,
mac->auxChannelIndex,
MODE_STEP_TO_CHANNEL_VALUE(mac->range.startStep),
MODE_STEP_TO_CHANNEL_VALUE(mac->range.endStep)
);
}
} else {
ptr = cmdline;
i = atoi(ptr++);
if (i < MAX_MODE_ACTIVATION_CONDITION_COUNT) {
modeActivationCondition_t *mac = ¤tProfile->modeActivationConditions[i];
uint8_t validArgumentCount = 0;
ptr = strchr(ptr, ' ');
if (ptr) {
val = atoi(++ptr);
if (val >= 0 && val < CHECKBOX_ITEM_COUNT) {
mac->modeId = val;
validArgumentCount++;
}
}
ptr = strchr(ptr, ' ');
if (ptr) {
val = atoi(++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 {
printf("index: must be < %u\r\n", MAX_MODE_ACTIVATION_CONDITION_COUNT);
}
}
}
static void cliAdjustmentRange(char *cmdline)
{
int i, val = 0;
uint8_t len;
char *ptr;
len = strlen(cmdline);
if (len == 0) {
// print out adjustment ranges channel settings
for (i = 0; i < MAX_ADJUSTMENT_RANGE_COUNT; i++) {
adjustmentRange_t *ar = ¤tProfile->adjustmentRanges[i];
printf("adjrange %u %u %u %u %u %u %u\r\n",
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
);
}
} else {
ptr = cmdline;
i = atoi(ptr++);
if (i < MAX_ADJUSTMENT_RANGE_COUNT) {
adjustmentRange_t *ar = ¤tProfile->adjustmentRanges[i];
uint8_t validArgumentCount = 0;
ptr = strchr(ptr, ' ');
if (ptr) {
val = atoi(++ptr);
if (val >= 0 && val < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT) {
ar->adjustmentIndex = val;
validArgumentCount++;
}
}
ptr = strchr(ptr, ' ');
if (ptr) {
val = atoi(++ptr);
if (val >= 0 && val < MAX_AUX_CHANNEL_COUNT) {
ar->auxChannelIndex = val;
validArgumentCount++;
}
}
ptr = processChannelRangeArgs(ptr, &ar->range, &validArgumentCount);
ptr = strchr(ptr, ' ');
if (ptr) {
val = atoi(++ptr);
if (val >= 0 && val < ADJUSTMENT_FUNCTION_COUNT) {
ar->adjustmentFunction = val;
validArgumentCount++;
}
}
ptr = strchr(ptr, ' ');
if (ptr) {
val = atoi(++ptr);
if (val >= 0 && val < MAX_AUX_CHANNEL_COUNT) {
ar->auxSwitchChannelIndex = val;
validArgumentCount++;
}
}
if (validArgumentCount != 6) {
memset(ar, 0, sizeof(adjustmentRange_t));
}
} else {
printf("index: must be < %u\r\n", MAX_ADJUSTMENT_RANGE_COUNT);
}
}
}
static void cliCMix(char *cmdline)
{
#ifdef USE_QUAD_MIXER_ONLY
UNUSED(cmdline);
#else
int i, check = 0;
int num_motors = 0;
uint8_t len;
char buf[16];
float mixsum[3];
char *ptr;
len = strlen(cmdline);
if (len == 0) {
cliPrint("Custom mixer: \r\nMotor\tThr\tRoll\tPitch\tYaw\r\n");
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
if (masterConfig.customMixer[i].throttle == 0.0f)
break;
num_motors++;
printf("#%d:\t", i + 1);
printf("%s\t", ftoa(masterConfig.customMixer[i].throttle, buf));
printf("%s\t", ftoa(masterConfig.customMixer[i].roll, buf));
printf("%s\t", ftoa(masterConfig.customMixer[i].pitch, buf));
printf("%s\r\n", ftoa(masterConfig.customMixer[i].yaw, buf));
}
mixsum[0] = mixsum[1] = mixsum[2] = 0.0f;
for (i = 0; i < num_motors; i++) {
mixsum[0] += masterConfig.customMixer[i].roll;
mixsum[1] += masterConfig.customMixer[i].pitch;
mixsum[2] += masterConfig.customMixer[i].yaw;
}
cliPrint("Sanity check:\t");
for (i = 0; i < 3; i++)
cliPrint(fabsf(mixsum[i]) > 0.01f ? "NG\t" : "OK\t");
cliPrint("\r\n");
return;
} else if (strncasecmp(cmdline, "reset", 5) == 0) {
// erase custom mixer
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
masterConfig.customMixer[i].throttle = 0.0f;
} else if (strncasecmp(cmdline, "load", 4) == 0) {
ptr = strchr(cmdline, ' ');
if (ptr) {
len = strlen(++ptr);
for (i = 0; ; i++) {
if (mixerNames[i] == NULL) {
cliPrint("Invalid mixer type\r\n");
break;
}
if (strncasecmp(ptr, mixerNames[i], len) == 0) {
mixerLoadMix(i, masterConfig.customMixer);
printf("Loaded %s mix\r\n", mixerNames[i]);
cliCMix("");
break;
}
}
}
} else {
ptr = cmdline;
i = atoi(ptr); // get motor number
if (--i < MAX_SUPPORTED_MOTORS) {
ptr = strchr(ptr, ' ');
if (ptr) {
masterConfig.customMixer[i].throttle = fastA2F(++ptr);
check++;
}
ptr = strchr(ptr, ' ');
if (ptr) {
masterConfig.customMixer[i].roll = fastA2F(++ptr);
check++;
}
ptr = strchr(ptr, ' ');
if (ptr) {
masterConfig.customMixer[i].pitch = fastA2F(++ptr);
check++;
}
ptr = strchr(ptr, ' ');
if (ptr) {
masterConfig.customMixer[i].yaw = fastA2F(++ptr);
check++;
}
if (check != 4) {
cliPrint("Wrong number of arguments, needs idx thr roll pitch yaw\r\n");
} else {
cliCMix("");
}
} else {
printf("Motor number must be between 1 and %d\r\n", MAX_SUPPORTED_MOTORS);
}
}
#endif
}
#ifdef LED_STRIP
static void cliLed(char *cmdline)
{
int i;
uint8_t len;
char *ptr;
char ledConfigBuffer[20];
len = strlen(cmdline);
if (len == 0) {
for (i = 0; i < MAX_LED_STRIP_LENGTH; i++) {
generateLedConfig(i, ledConfigBuffer, sizeof(ledConfigBuffer));
printf("led %u %s\r\n", i, ledConfigBuffer);
}
} else {
ptr = cmdline;
i = atoi(ptr);
if (i < MAX_LED_STRIP_LENGTH) {
ptr = strchr(cmdline, ' ');
if (!parseLedStripConfig(i, ++ptr)) {
printf("Parse error\r\n", MAX_LED_STRIP_LENGTH);
}
} else {
printf("Invalid led index: must be < %u\r\n", MAX_LED_STRIP_LENGTH);
}
}
}
static void cliColor(char *cmdline)
{
int i;
uint8_t len;
char *ptr;
len = strlen(cmdline);
if (len == 0) {
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);
}
} else {
ptr = cmdline;
i = atoi(ptr);
if (i < CONFIGURABLE_COLOR_COUNT) {
ptr = strchr(cmdline, ' ');
if (!parseColor(i, ++ptr)) {
printf("Parse error\r\n", CONFIGURABLE_COLOR_COUNT);
}
} else {
printf("Invalid color index: must be < %u\r\n", CONFIGURABLE_COLOR_COUNT);
}
}
}
#endif
#ifdef FLASHFS
static void cliFlashIdent(char *cmdline)
{
const flashGeometry_t *layout = flashfsGetGeometry();
UNUSED(cmdline);
printf("Flash sectors=%u, sectorSize=%u, pagesPerSector=%u, pageSize=%u, totalSize=%u, usedSize=%u\r\n",
layout->sectors, layout->sectorSize, layout->pagesPerSector, layout->pageSize, layout->totalSize, flashfsGetOffset());
}
static void cliFlashErase(char *cmdline)
{
UNUSED(cmdline);
printf("Erasing, please wait...\r\n");
flashfsEraseCompletely();
printf("Erased flash chip.\r\n");
}
static void cliFlashWrite(char *cmdline)
{
uint32_t address = atoi(cmdline);
char *text = strchr(cmdline, ' ');
if (!text) {
printf("Missing text to write.\r\n");
} else {
flashfsSeekAbs(address);
flashfsWrite((uint8_t*)text, strlen(text));
flashfsFlushSync();
printf("Wrote %u bytes at %u.\r\n", strlen(text), address);
}
}
static void cliFlashRead(char *cmdline)
{
uint32_t address = atoi(cmdline);
uint32_t length;
int i;
uint8_t buffer[32];
char *nextArg = strchr(cmdline, ' ');
if (!nextArg) {
printf("Missing length argument.\r\n");
} else {
length = atoi(nextArg);
printf("Reading %u bytes at %u:\r\n", length, address);
while (length > 0) {
int bytesRead;
bytesRead = flashfsReadAbs(address, buffer, length < sizeof(buffer) ? length : sizeof(buffer));
for (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;
}
}
printf("\r\n");
}
}
#endif
static void dumpValues(uint16_t mask)
{
uint32_t i;
const clivalue_t *value;
for (i = 0; i < VALUE_COUNT; i++) {
value = &valueTable[i];
if ((value->type & mask) == 0) {
continue;
}
printf("set %s = ", valueTable[i].name);
cliPrintVar(value, 0);
cliPrint("\r\n");
}
}
typedef enum {
DUMP_MASTER = (1 << 0),
DUMP_PROFILE = (1 << 1),
DUMP_CONTROL_RATE_PROFILE = (1 << 2)
} dumpFlags_e;
#define DUMP_ALL (DUMP_MASTER | DUMP_PROFILE | DUMP_CONTROL_RATE_PROFILE)
static const char* const sectionBreak = "\r\n";
#define printSectionBreak() printf((char *)sectionBreak)
static void cliDump(char *cmdline)
{
unsigned int i;
char buf[16];
uint32_t mask;
#ifndef USE_QUAD_MIXER_ONLY
float thr, roll, pitch, yaw;
#endif
uint8_t dumpMask = DUMP_ALL;
if (strcasecmp(cmdline, "master") == 0) {
dumpMask = DUMP_MASTER; // only
}
if (strcasecmp(cmdline, "profile") == 0) {
dumpMask = DUMP_PROFILE; // only
}
if (strcasecmp(cmdline, "rates") == 0) {
dumpMask = DUMP_CONTROL_RATE_PROFILE; // only
}
if (dumpMask & DUMP_MASTER) {
printf("\r\n# version\r\n");
cliVersion(NULL);
printf("\r\n# dump master\r\n");
printf("\r\n# mixer\r\n");
#ifndef USE_QUAD_MIXER_ONLY
printf("mixer %s\r\n", mixerNames[masterConfig.mixerMode - 1]);
if (masterConfig.customMixer[0].throttle != 0.0f) {
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
if (masterConfig.customMixer[i].throttle == 0.0f)
break;
thr = masterConfig.customMixer[i].throttle;
roll = masterConfig.customMixer[i].roll;
pitch = masterConfig.customMixer[i].pitch;
yaw = masterConfig.customMixer[i].yaw;
printf("cmix %d", i + 1);
if (thr < 0)
printf(" ");
printf("%s", ftoa(thr, buf));
if (roll < 0)
printf(" ");
printf("%s", ftoa(roll, buf));
if (pitch < 0)
printf(" ");
printf("%s", ftoa(pitch, buf));
if (yaw < 0)
printf(" ");
printf("%s\r\n", ftoa(yaw, buf));
}
printf("cmix %d 0 0 0 0\r\n", i + 1);
}
#endif
printf("\r\n\r\n# feature\r\n");
mask = featureMask();
for (i = 0; ; i++) { // disable all feature first
if (featureNames[i] == NULL)
break;
printf("feature -%s\r\n", featureNames[i]);
}
for (i = 0; ; i++) { // reenable what we want.
if (featureNames[i] == NULL)
break;
if (mask & (1 << i))
printf("feature %s\r\n", featureNames[i]);
}
printf("\r\n\r\n# map\r\n");
for (i = 0; i < 8; i++)
buf[masterConfig.rxConfig.rcmap[i]] = rcChannelLetters[i];
buf[i] = '\0';
printf("map %s\r\n", buf);
#ifdef LED_STRIP
printf("\r\n\r\n# led\r\n");
cliLed("");
printf("\r\n\r\n# color\r\n");
cliColor("");
#endif
printSectionBreak();
dumpValues(MASTER_VALUE);
}
if (dumpMask & DUMP_PROFILE) {
printf("\r\n# dump profile\r\n");
printf("\r\n# profile\r\n");
cliProfile("");
printf("\r\n# aux\r\n");
cliAux("");
printf("\r\n# adjrange\r\n");
cliAdjustmentRange("");
printSectionBreak();
dumpValues(PROFILE_VALUE);
}
if (dumpMask & DUMP_CONTROL_RATE_PROFILE) {
printf("\r\n# dump rates\r\n");
printf("\r\n# rateprofile\r\n");
cliRateProfile("");
printSectionBreak();
dumpValues(CONTROL_RATE_VALUE);
}
}
static void cliEnter(void)
{
cliMode = 1;
beginSerialPortFunction(cliPort, FUNCTION_CLI);
setPrintfSerialPort(cliPort);
cliPrint("\r\nEntering CLI Mode, type 'exit' to return, or 'help'\r\n");
cliPrompt();
}
static void cliExit(char *cmdline)
{
UNUSED(cmdline);
cliPrint("\r\nLeaving CLI mode, unsaved changes lost.\r\n");
*cliBuffer = '\0';
bufferIndex = 0;
cliMode = 0;
// incase a motor was left running during motortest, clear it here
mixerResetMotors();
cliReboot();
}
static void cliFeature(char *cmdline)
{
uint32_t i;
uint32_t len;
uint32_t mask;
len = strlen(cmdline);
mask = featureMask();
if (len == 0) {
cliPrint("Enabled features: ");
for (i = 0; ; i++) {
if (featureNames[i] == NULL)
break;
if (mask & (1 << i))
printf("%s ", featureNames[i]);
}
cliPrint("\r\n");
} else if (strncasecmp(cmdline, "list", len) == 0) {
cliPrint("Available features: ");
for (i = 0; ; i++) {
if (featureNames[i] == NULL)
break;
printf("%s ", featureNames[i]);
}
cliPrint("\r\n");
return;
} else {
bool remove = false;
if (cmdline[0] == '-') {
// remove feature
remove = true;
cmdline++; // skip over -
len--;
}
for (i = 0; ; i++) {
if (featureNames[i] == NULL) {
cliPrint("Invalid feature name\r\n");
break;
}
if (strncasecmp(cmdline, featureNames[i], len) == 0) {
mask = 1 << i;
#ifndef GPS
if (mask & FEATURE_GPS) {
cliPrint("GPS unavailable\r\n");
break;
}
#endif
#ifndef SONAR
if (mask & FEATURE_SONAR) {
cliPrint("SONAR unavailable\r\n");
break;
}
#endif
if (remove) {
featureClear(mask);
cliPrint("Disabled ");
} else {
featureSet(mask);
cliPrint("Enabled ");
}
printf("%s\r\n", featureNames[i]);
break;
}
}
}
}
#ifdef GPS
static void cliGpsPassthrough(char *cmdline)
{
UNUSED(cmdline);
gpsEnablePassthroughResult_e result = gpsEnablePassthrough();
switch (result) {
case GPS_PASSTHROUGH_NO_SERIAL_PORT:
cliPrint("Error: Enable and plug in GPS first\r\n");
break;
default:
break;
}
}
#endif
static void cliHelp(char *cmdline)
{
uint32_t i = 0;
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);
}
static void cliMap(char *cmdline)
{
uint32_t len;
uint32_t i;
char out[9];
len = strlen(cmdline);
if (len == 8) {
// uppercase it
for (i = 0; i < 8; i++)
cmdline[i] = toupper((unsigned char)cmdline[i]);
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");
return;
}
parseRcChannels(cmdline, &masterConfig.rxConfig);
}
cliPrint("Current assignment: ");
for (i = 0; i < 8; i++)
out[masterConfig.rxConfig.rcmap[i]] = rcChannelLetters[i];
out[i] = '\0';
printf("%s\r\n", out);
}
#ifndef USE_QUAD_MIXER_ONLY
static void cliMixer(char *cmdline)
{
int i;
int len;
len = strlen(cmdline);
if (len == 0) {
printf("Current mixer: %s\r\n", mixerNames[masterConfig.mixerMode - 1]);
return;
} else if (strncasecmp(cmdline, "list", len) == 0) {
cliPrint("Available mixers: ");
for (i = 0; ; i++) {
if (mixerNames[i] == NULL)
break;
printf("%s ", mixerNames[i]);
}
cliPrint("\r\n");
return;
}
for (i = 0; ; i++) {
if (mixerNames[i] == NULL) {
cliPrint("Invalid mixer type\r\n");
break;
}
if (strncasecmp(cmdline, mixerNames[i], len) == 0) {
masterConfig.mixerMode = i + 1;
printf("Mixer set to %s\r\n", mixerNames[i]);
break;
}
}
}
#endif
static void cliMotor(char *cmdline)
{
int motor_index = 0;
int motor_value = 0;
int len, index = 0;
char *pch = NULL;
len = strlen(cmdline);
if (len == 0) {
printf("Usage:\r\nmotor index [value] - show [or set] motor value\r\n");
return;
}
pch = strtok(cmdline, " ");
while (pch != NULL) {
switch (index) {
case 0:
motor_index = atoi(pch);
break;
case 1:
motor_value = atoi(pch);
break;
}
index++;
pch = strtok(NULL, " ");
}
if (motor_index < 0 || motor_index >= MAX_SUPPORTED_MOTORS) {
printf("No such motor, use a number [0, %d]\r\n", MAX_SUPPORTED_MOTORS);
return;
}
if (index < 2) {
printf("Motor %d is set at %d\r\n", motor_index, motor_disarmed[motor_index]);
return;
}
if (motor_value < PWM_RANGE_MIN || motor_value > PWM_RANGE_MAX) {
printf("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;
}
static void cliProfile(char *cmdline)
{
uint8_t len;
int i;
len = strlen(cmdline);
if (len == 0) {
printf("profile %d\r\n", getCurrentProfile());
return;
} else {
i = atoi(cmdline);
if (i >= 0 && i < MAX_PROFILE_COUNT) {
masterConfig.current_profile_index = i;
writeEEPROM();
readEEPROM();
cliProfile("");
}
}
}
static void cliRateProfile(char *cmdline)
{
uint8_t len;
int i;
len = strlen(cmdline);
if (len == 0) {
printf("rateprofile %d\r\n", getCurrentControlRateProfile());
return;
} else {
i = atoi(cmdline);
if (i >= 0 && i < MAX_CONTROL_RATE_PROFILE_COUNT) {
changeControlRateProfile(i);
cliRateProfile("");
}
}
}
static void cliReboot(void) {
cliPrint("\r\nRebooting");
waitForSerialPortToFinishTransmitting(cliPort);
systemReset();
}
static void cliSave(char *cmdline)
{
UNUSED(cmdline);
cliPrint("Saving");
//copyCurrentProfileToProfileSlot(masterConfig.current_profile_index);
writeEEPROM();
cliReboot();
}
static void cliDefaults(char *cmdline)
{
UNUSED(cmdline);
cliPrint("Resetting to defaults");
resetEEPROM();
cliReboot();
}
static void cliPrint(const char *str)
{
while (*str)
serialWrite(cliPort, *(str++));
}
static void cliWrite(uint8_t ch)
{
serialWrite(cliPort, ch);
}
static void cliPrintVar(const clivalue_t *var, uint32_t full)
{
int32_t value = 0;
char buf[8];
void *ptr = var->ptr;
if (var->type & PROFILE_VALUE) {
ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * masterConfig.current_profile_index);
}
if (var->type & CONTROL_RATE_VALUE) {
ptr = ((uint8_t *)ptr) + (sizeof(controlRateConfig_t) * getCurrentControlRateProfile());
}
switch (var->type & VALUE_TYPE_MASK) {
case VAR_UINT8:
value = *(uint8_t *)ptr;
break;
case VAR_INT8:
value = *(int8_t *)ptr;
break;
case VAR_UINT16:
value = *(uint16_t *)ptr;
break;
case VAR_INT16:
value = *(int16_t *)ptr;
break;
case VAR_UINT32:
value = *(uint32_t *)ptr;
break;
case VAR_FLOAT:
printf("%s", ftoa(*(float *)ptr, buf));
if (full) {
printf(" %s", ftoa((float)var->min, buf));
printf(" %s", ftoa((float)var->max, buf));
}
return; // return from case for float only
}
printf("%d", value);
if (full)
printf(" %d %d", var->min, var->max);
}
static void cliSetVar(const clivalue_t *var, const int_float_value_t value)
{
void *ptr = var->ptr;
if (var->type & PROFILE_VALUE) {
ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * masterConfig.current_profile_index);
}
if (var->type & CONTROL_RATE_VALUE) {
ptr = ((uint8_t *)ptr) + (sizeof(controlRateConfig_t) * getCurrentControlRateProfile());
}
switch (var->type & VALUE_TYPE_MASK) {
case VAR_UINT8:
case VAR_INT8:
*(char *)ptr = (char)value.int_value;
break;
case VAR_UINT16:
case VAR_INT16:
*(short *)ptr = (short)value.int_value;
break;
case VAR_UINT32:
*(int *)ptr = (int)value.int_value;
break;
case VAR_FLOAT:
*(float *)ptr = (float)value.float_value;
break;
}
}
static void cliSet(char *cmdline)
{
uint32_t i;
uint32_t len;
const clivalue_t *val;
char *eqptr = NULL;
int32_t value = 0;
float valuef = 0;
len = strlen(cmdline);
if (len == 0 || (len == 1 && cmdline[0] == '*')) {
cliPrint("Current settings: \r\n");
for (i = 0; i < VALUE_COUNT; i++) {
val = &valueTable[i];
printf("%s = ", valueTable[i].name);
cliPrintVar(val, len); // when len is 1 (when * is passed as argument), it will print min/max values as well, for gui
cliPrint("\r\n");
}
} else if ((eqptr = strstr(cmdline, "=")) != NULL) {
// has equal, set var
char *lastNonSpaceCharacter = eqptr;
while (*(lastNonSpaceCharacter - 1) == ' ') {
lastNonSpaceCharacter--;
}
uint8_t variableNameLength = lastNonSpaceCharacter - cmdline;
eqptr++;
len--;
value = atoi(eqptr);
valuef = fastA2F(eqptr);
for (i = 0; i < VALUE_COUNT; i++) {
val = &valueTable[i];
// ensure exact match when setting to prevent setting variables with shorter names
if (strncasecmp(cmdline, valueTable[i].name, strlen(valueTable[i].name)) == 0 && variableNameLength == strlen(valueTable[i].name)) {
if (valuef >= valueTable[i].min && valuef <= valueTable[i].max) { // here we compare the float value since... it should work, RIGHT?
int_float_value_t tmp;
if (valueTable[i].type & VAR_FLOAT)
tmp.float_value = valuef;
else
tmp.int_value = value;
cliSetVar(val, tmp);
printf("%s set to ", valueTable[i].name);
cliPrintVar(val, 0);
} else {
cliPrint("Value assignment out of range\r\n");
}
return;
}
}
cliPrint("Unknown variable name\r\n");
} else {
// no equals, check for matching variables.
cliGet(cmdline);
}
}
static void cliGet(char *cmdline)
{
uint32_t i;
const clivalue_t *val;
int matchedCommands = 0;
for (i = 0; i < VALUE_COUNT; i++) {
if (strstr(valueTable[i].name, cmdline)) {
val = &valueTable[i];
printf("%s = ", valueTable[i].name);
cliPrintVar(val, 0);
printf("\r\n");
matchedCommands++;
}
}
if (matchedCommands) {
return;
}
cliPrint("Unknown variable name\r\n");
}
static void cliStatus(char *cmdline)
{
uint8_t i;
uint32_t mask;
UNUSED(cmdline);
printf("System Uptime: %d seconds, Voltage: %d * 0.1V (%dS battery)\r\n",
millis() / 1000, vbat, batteryCellCount);
mask = sensorsMask();
printf("CPU %dMHz, detected sensors: ", (SystemCoreClock / 1000000));
for (i = 0; ; i++) {
if (sensorNames[i] == NULL)
break;
if (mask & (1 << i))
printf("%s ", sensorNames[i]);
}
if (sensors(SENSOR_ACC)) {
printf("ACCHW: %s", accNames[accHardware]);
if (acc.revisionCode)
printf(".%c", acc.revisionCode);
}
cliPrint("\r\n");
#ifdef USE_I2C
uint16_t i2cErrorCounter = i2cGetErrorCounter();
#else
uint16_t i2cErrorCounter = 0;
#endif
printf("Cycle Time: %d, I2C Errors: %d, config size: %d\r\n", cycleTime, i2cErrorCounter, sizeof(master_t));
}
static void cliVersion(char *cmdline)
{
UNUSED(cmdline);
printf("Cleanflight/%s %s / %s (%s)", targetName, buildDate, buildTime, shortGitRevision);
}
void cliProcess(void)
{
if (!cliMode) {
cliEnter();
}
while (serialTotalBytesWaiting(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 + CMD_COUNT; cmd++) {
if (bufferIndex && (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) {
cliExit(cliBuffer);
return;
} else if (c == 12) {
// clear screen
cliPrint("\033[2J\033[1;1H");
cliPrompt();
} else if (bufferIndex && (c == '\n' || c == '\r')) {
// enter pressed
clicmd_t *cmd = NULL;
clicmd_t target;
cliPrint("\r\n");
cliBuffer[bufferIndex] = 0; // null terminate
if (cliBuffer[0] != '#') {
target.name = cliBuffer;
target.param = NULL;
cmd = bsearch(&target, cmdTable, CMD_COUNT, sizeof cmdTable[0], cliCompare);
if (cmd)
cmd->func(cliBuffer + strlen(cmd->name) + 1);
else
cliPrint("Unknown command, try 'help'");
}
memset(cliBuffer, 0, sizeof(cliBuffer));
bufferIndex = 0;
// '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 == 32)
continue;
cliBuffer[bufferIndex++] = c;
cliWrite(c);
}
}
}
void cliInit(serialConfig_t *serialConfig)
{
cliPort = findOpenSerialPort(FUNCTION_CLI);
if (!cliPort) {
cliPort = openSerialPort(FUNCTION_CLI, NULL, serialConfig->cli_baudrate, MODE_RXTX, SERIAL_NOT_INVERTED);
}
}