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atbetaflight/src/main/io/serial_cli.c

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/*
* 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 <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdarg.h>
#include <string.h>
#include <math.h>
#include <ctype.h>
#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 "io/escservo.h"
#include "io/gps.h"
#include "io/gimbal.h"
#include "io/rc_controls.h"
#include "io/serial.h"
#include "io/serial_1wire.h"
#include "io/ledstrip.h"
#include "io/flashfs.h"
#include "io/beeper.h"
#include "rx/rx.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 "flight/pid.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/navigation.h"
#include "flight/failsafe.h"
#include "telemetry/telemetry.h"
#include "telemetry/frsky.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"
// FIXME remove this for targets that don't need a CLI. Perhaps use a no-op macro when USE_CLI is not enabled
// signal that we're in cli mode
uint8_t cliMode = 0;
#ifdef USE_CLI
extern uint16_t cycleTime; // FIXME dependency on mw.c
void gpsEnablePassthrough(serialPort_t *gpsPassthroughPort);
static serialPort_t *cliPort;
static void cliAux(char *cmdline);
static void cliRxFail(char *cmdline);
static void cliAdjustmentRange(char *cmdline);
static void cliMotorMix(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 cliPlaySound(char *cmdline);
static void cliProfile(char *cmdline);
static void cliRateProfile(char *cmdline);
static void cliReboot(void);
static void cliSave(char *cmdline);
static void cliSerial(char *cmdline);
#ifdef USE_SERVOS
static void cliServo(char *cmdline);
static void cliServoMix(char *cmdline);
#endif
static void cliSet(char *cmdline);
static void cliGet(char *cmdline);
static void cliStatus(char *cmdline);
static void cliVersion(char *cmdline);
static void cliRxRange(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 USE_FLASHFS
static void cliFlashInfo(char *cmdline);
static void cliFlashErase(char *cmdline);
#ifdef USE_FLASH_TOOLS
static void cliFlashWrite(char *cmdline);
static void cliFlashRead(char *cmdline);
#endif
#endif
#ifdef USE_SERIAL_1WIRE
static void cliUSB1Wire(char *cmdline);
#endif
// 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", "CUSTOMAIRPLANE", "CUSTOMTRI", 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", "CHANNEL_FORWARDING", NULL
};
// sync this with rxFailsafeChannelMode_e
static const char rxFailsafeModeCharacters[] = "ahs";
static const rxFailsafeChannelMode_e rxFailsafeModesTable[RX_FAILSAFE_TYPE_COUNT][RX_FAILSAFE_MODE_COUNT] = {
{ RX_FAILSAFE_MODE_AUTO, RX_FAILSAFE_MODE_HOLD, RX_FAILSAFE_MODE_INVALID },
{ RX_FAILSAFE_MODE_INVALID, RX_FAILSAFE_MODE_HOLD, RX_FAILSAFE_MODE_SET }
};
#ifndef CJMCU
// sync this with sensors_e
static const char * const sensorTypeNames[] = {
"GYRO", "ACC", "BARO", "MAG", "SONAR", "GPS", "GPS+MAG", NULL
};
#define SENSOR_NAMES_MASK (SENSOR_GYRO | SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
static const char * const sensorHardwareNames[4][11] = {
{ "", "None", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "FAKE", NULL },
{ "", "None", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "FAKE", NULL },
{ "", "None", "BMP085", "MS5611", NULL },
{ "", "None", "HMC5883", "AK8975", NULL }
};
#endif
typedef struct {
const char *name;
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[] = {
#ifdef USE_SERIAL_1WIRE
CLI_COMMAND_DEF("1wire", "1-wire interface to escs", "<esc index>", cliUSB1Wire),
#endif
CLI_COMMAND_DEF("adjrange", "configure adjustment ranges", NULL, cliAdjustmentRange),
CLI_COMMAND_DEF("aux", "configure modes", NULL, cliAux),
#ifdef LED_STRIP
CLI_COMMAND_DEF("color", "configure colors", NULL, cliColor),
#endif
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
CLI_COMMAND_DEF("flash_erase", "erase flash chip", NULL, cliFlashErase),
CLI_COMMAND_DEF("flash_info", "show flash chip info", NULL, cliFlashInfo),
#ifdef USE_FLASH_TOOLS
CLI_COMMAND_DEF("flash_read", NULL, "<length> <address>", cliFlashRead),
CLI_COMMAND_DEF("flash_write", NULL, "<address> <message>", cliFlashWrite),
#endif
#endif
CLI_COMMAND_DEF("get", "get variable value",
"[name]", cliGet),
#ifdef GPS
CLI_COMMAND_DEF("gpspassthrough", "passthrough gps to serial", NULL, cliGpsPassthrough),
#endif
CLI_COMMAND_DEF("help", NULL, NULL, cliHelp),
#ifdef LED_STRIP
CLI_COMMAND_DEF("led", "configure leds", NULL, cliLed),
#endif
CLI_COMMAND_DEF("map", "configure rc channel order",
"[<map>]", cliMap),
#ifndef USE_QUAD_MIXER_ONLY
CLI_COMMAND_DEF("mixer", "configure mixer",
"list\r\n"
"\t<name>", cliMixer),
#endif
CLI_COMMAND_DEF("mmix", "custom motor mixer", NULL, cliMotorMix),
CLI_COMMAND_DEF("motor", "get/set motor",
"<index> [<value>]", cliMotor),
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("rxrange", "configure rx channel ranges", NULL, cliRxRange),
CLI_COMMAND_DEF("rxfail", "show/set rx failsafe settings", NULL, cliRxFail),
CLI_COMMAND_DEF("save", "save and reboot", NULL, cliSave),
CLI_COMMAND_DEF("serial", "configure serial ports", NULL, cliSerial),
#ifdef USE_SERVOS
CLI_COMMAND_DEF("servo", "configure servos", NULL, cliServo),
#endif
CLI_COMMAND_DEF("set", "change setting",
"[<name>=<value>]", cliSet),
#ifdef USE_SERVOS
CLI_COMMAND_DEF("smix", "servo mixer",
"<rule> <servo> <source> <rate> <speed> <min> <max> <box>\r\n"
"\treset\r\n"
"\tload <mixer>\r\n"
"\treverse <servo> <source> r|n", cliServoMix),
#endif
CLI_COMMAND_DEF("status", "show status", NULL, cliStatus),
CLI_COMMAND_DEF("version", "show version", NULL, 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, 4000 },
{ "sync_gyro_to_loop", VAR_UINT8 | MASTER_VALUE, &masterConfig.syncGyroToLoop, 0, 1 },
{ "emf_avoidance", VAR_UINT8 | MASTER_VALUE, &masterConfig.emf_avoidance, 0, 1 },
{ "rc_smoothing", VAR_UINT8 | MASTER_VALUE, &masterConfig.rcSmoothing, 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 },
{ "rssi_ppm_invert", VAR_INT8 | MASTER_VALUE, &masterConfig.rxConfig.rssi_ppm_invert, 0, 1 },
{ "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 },
{ "fixedwing_althold_dir", VAR_INT8 | MASTER_VALUE, &masterConfig.airplaneConfig.fixedwing_althold_dir, -1, 1 },
{ "reboot_character", VAR_UINT8 | MASTER_VALUE, &masterConfig.serialConfig.reboot_character, 48, 126 },
#ifdef GPS
{ "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_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 },
{ "frsky_vfas_precision", VAR_UINT8 | MASTER_VALUE, &masterConfig.telemetryConfig.frsky_vfas_precision, FRSKY_VFAS_PRECISION_LOW, FRSKY_VFAS_PRECISION_HIGH },
{ "hott_alarm_sound_interval", VAR_UINT8 | MASTER_VALUE, &masterConfig.telemetryConfig.hottAlarmSoundInterval, 0, 120 },
{ "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 },
{ "pid_at_min_throttle", VAR_UINT8 | MASTER_VALUE, &masterConfig.mixerConfig.pid_at_min_throttle, 0, 1 },
{ "yaw_motor_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_motor_direction, -1, 1 },
{ "yaw_jump_prevention_limit", VAR_UINT16 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_jump_prevention_limit, YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH },
#ifdef USE_SERVOS
{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE, &masterConfig.mixerConfig.tri_unarmed_servo, 0, 1 },
{ "servo_lowpass_freq", VAR_INT16 | MASTER_VALUE, &masterConfig.mixerConfig.servo_lowpass_freq, 10, 400},
{ "servo_lowpass_enable", VAR_INT8 | MASTER_VALUE, &masterConfig.mixerConfig.servo_lowpass_enable, 0, 1 },
#endif
{ "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 },
{ "rc_yaw_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcYawExpo8, 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_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_ROLL], 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX },
{ "pitch_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_PITCH], 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX },
{ "yaw_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_YAW], 0, CONTROL_RATE_CONFIG_YAW_RATE_MAX },
{ "tpa_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].dynThrPID, 0, CONTROL_RATE_CONFIG_TPA_MAX},
{ "tpa_breakpoint", VAR_UINT16 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].tpa_breakpoint, PWM_RANGE_MIN, PWM_RANGE_MAX},
{ "failsafe_delay", VAR_UINT8 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_delay, 0, 200 },
{ "failsafe_off_delay", VAR_UINT8 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_off_delay, 0, 200 },
{ "failsafe_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_throttle, PWM_RANGE_MIN, PWM_RANGE_MAX },
{ "failsafe_kill_switch", VAR_UINT8 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_kill_switch, 0, 1 },
{ "failsafe_throttle_low_delay",VAR_UINT16 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_throttle_low_delay, 0, 300 },
{ "rx_min_usec", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.rx_min_usec, PWM_PULSE_MIN, PWM_PULSE_MAX },
{ "rx_max_usec", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.rx_max_usec, PWM_PULSE_MIN, PWM_PULSE_MAX },
#ifdef USE_SERVOS
{ "gimbal_mode", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].gimbalConfig.mode, 0, GIMBAL_MODE_MAX},
#endif
{ "acc_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.acc_hardware, 0, ACC_MAX },
{ "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 },
{ "baro_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.baro_hardware, 0, BARO_MAX },
{ "mag_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.mag_hardware, 0, MAG_MAX },
{ "mag_declination", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].mag_declination, -18000, 18000 },
{ "pid_controller", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.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 },
{ "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX },
{ "gyro_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gyro_cut_hz, 0, 200 },
{ "pterm_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pterm_cut_hz, 0, 200 },
{ "dterm_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_cut_hz, 0, 200 },
#ifdef BLACKBOX
{ "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 },
{ "blackbox_device", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_device, 0, 1 },
#endif
{ "magzero_x", VAR_INT16 | MASTER_VALUE, &masterConfig.magZero.raw[X], -32768, 32767 },
{ "magzero_y", VAR_INT16 | MASTER_VALUE, &masterConfig.magZero.raw[Y], -32768, 32767 },
{ "magzero_z", VAR_INT16 | MASTER_VALUE, &masterConfig.magZero.raw[Z], -32768, 32767 },
};
#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 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 char *processChannelRangeArgs(char *ptr, channelRange_t *range, uint8_t *validArgumentCount)
{
int val;
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) {
if (argIndex == 0) {
range->startStep = val;
} else {
range->endStep = val;
}
(*validArgumentCount)++;
}
}
}
return ptr;
}
// Check if a string's length is zero
static bool isEmpty(const char *string)
{
return *string == '\0';
}
static void cliRxFail(char *cmdline)
{
uint8_t channel;
char buf[3];
if (isEmpty(cmdline)) {
// print out rxConfig failsafe settings
for (channel = 0; channel < MAX_SUPPORTED_RC_CHANNEL_COUNT; channel++) {
cliRxFail(itoa(channel, buf, 10));
}
} else {
char *ptr = cmdline;
channel = atoi(ptr++);
if ((channel < MAX_SUPPORTED_RC_CHANNEL_COUNT)) {
rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &masterConfig.rxConfig.failsafe_channel_configurations[channel];
uint16_t value;
rxFailsafeChannelType_e type = (channel < NON_AUX_CHANNEL_COUNT) ? RX_FAILSAFE_TYPE_FLIGHT : RX_FAILSAFE_TYPE_AUX;
rxFailsafeChannelMode_e mode = channelFailsafeConfiguration->mode;
bool requireValue = channelFailsafeConfiguration->mode == RX_FAILSAFE_MODE_SET;
ptr = strchr(ptr, ' ');
if (ptr) {
char *p = strchr(rxFailsafeModeCharacters, *(++ptr));
if (p) {
uint8_t requestedMode = p - rxFailsafeModeCharacters;
mode = rxFailsafeModesTable[type][requestedMode];
} else {
mode = RX_FAILSAFE_MODE_INVALID;
}
if (mode == RX_FAILSAFE_MODE_INVALID) {
cliShowParseError();
return;
}
requireValue = mode == RX_FAILSAFE_MODE_SET;
ptr = strchr(ptr, ' ');
if (ptr) {
if (!requireValue) {
cliShowParseError();
return;
}
value = atoi(++ptr);
value = CHANNEL_VALUE_TO_RXFAIL_STEP(value);
if (value > MAX_RXFAIL_RANGE_STEP) {
cliPrint("Value out of range\r\n");
return;
}
channelFailsafeConfiguration->step = value;
} else if (requireValue) {
cliShowParseError();
return;
}
channelFailsafeConfiguration->mode = mode;
}
char modeCharacter = rxFailsafeModeCharacters[channelFailsafeConfiguration->mode];
// triple use of printf below
// 1. acknowledge interpretation on command,
// 2. query current setting on single item,
// 3. recursive use for full list.
if (requireValue) {
printf("rxfail %u %c %d\r\n",
channel,
modeCharacter,
RXFAIL_STEP_TO_CHANNEL_VALUE(channelFailsafeConfiguration->step)
);
} else {
printf("rxfail %u %c\r\n",
channel,
modeCharacter
);
}
} else {
cliShowArgumentRangeError("channel", 0, MAX_SUPPORTED_RC_CHANNEL_COUNT - 1);
}
}
}
static void cliAux(char *cmdline)
{
int i, val = 0;
char *ptr;
if (isEmpty(cmdline)) {
// print out aux channel settings
for (i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
modeActivationCondition_t *mac = &currentProfile->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 = &currentProfile->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 {
cliShowArgumentRangeError("index", 0, MAX_MODE_ACTIVATION_CONDITION_COUNT - 1);
}
}
}
static void cliSerial(char *cmdline)
{
int i, val;
char *ptr;
if (isEmpty(cmdline)) {
for (i = 0; i < SERIAL_PORT_COUNT; i++) {
if (!serialIsPortAvailable(masterConfig.serialConfig.portConfigs[i].identifier)) {
continue;
};
printf("serial %d %d %ld %ld %ld %ld\r\n" ,
masterConfig.serialConfig.portConfigs[i].identifier,
masterConfig.serialConfig.portConfigs[i].functionMask,
baudRates[masterConfig.serialConfig.portConfigs[i].msp_baudrateIndex],
baudRates[masterConfig.serialConfig.portConfigs[i].gps_baudrateIndex],
baudRates[masterConfig.serialConfig.portConfigs[i].telemetry_baudrateIndex],
baudRates[masterConfig.serialConfig.portConfigs[i].blackbox_baudrateIndex]
);
}
return;
}
serialPortConfig_t portConfig;
memset(&portConfig, 0 , sizeof(portConfig));
serialPortConfig_t *currentConfig;
uint8_t validArgumentCount = 0;
ptr = cmdline;
val = atoi(ptr++);
currentConfig = serialFindPortConfiguration(val);
if (currentConfig) {
portConfig.identifier = val;
validArgumentCount++;
}
ptr = strchr(ptr, ' ');
if (ptr) {
val = atoi(++ptr);
portConfig.functionMask = val & 0xFFFF;
validArgumentCount++;
}
for (i = 0; i < 4; i ++) {
ptr = strchr(ptr, ' ');
if (!ptr) {
break;
}
val = atoi(++ptr);
uint8_t baudRateIndex = lookupBaudRateIndex(val);
if (baudRates[baudRateIndex] != (uint32_t) val) {
break;
}
switch(i) {
case 0:
if (baudRateIndex < BAUD_9600 || baudRateIndex > BAUD_115200) {
continue;
}
portConfig.msp_baudrateIndex = baudRateIndex;
break;
case 1:
if (baudRateIndex < BAUD_9600 || baudRateIndex > BAUD_115200) {
continue;
}
portConfig.gps_baudrateIndex = baudRateIndex;
break;
case 2:
if (baudRateIndex != BAUD_AUTO && baudRateIndex > BAUD_115200) {
continue;
}
portConfig.telemetry_baudrateIndex = baudRateIndex;
break;
case 3:
if (baudRateIndex < BAUD_19200 || baudRateIndex > BAUD_250000) {
continue;
}
portConfig.blackbox_baudrateIndex = baudRateIndex;
break;
}
validArgumentCount++;
}
if (validArgumentCount < 6) {
cliShowParseError();
return;
}
memcpy(currentConfig, &portConfig, sizeof(portConfig));
}
static void cliAdjustmentRange(char *cmdline)
{
int i, val = 0;
char *ptr;
if (isEmpty(cmdline)) {
// print out adjustment ranges channel settings
for (i = 0; i < MAX_ADJUSTMENT_RANGE_COUNT; i++) {
adjustmentRange_t *ar = &currentProfile->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 = &currentProfile->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));
cliShowParseError();
}
} else {
cliShowArgumentRangeError("index", 0, MAX_ADJUSTMENT_RANGE_COUNT - 1);
}
}
}
static void cliMotorMix(char *cmdline)
{
#ifdef USE_QUAD_MIXER_ONLY
UNUSED(cmdline);
#else
int i, check = 0;
int num_motors = 0;
uint8_t len;
char buf[16];
char *ptr;
if (isEmpty(cmdline)) {
cliPrint("Motor\tThr\tRoll\tPitch\tYaw\r\n");
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
if (masterConfig.customMotorMixer[i].throttle == 0.0f)
break;
num_motors++;
printf("#%d:\t", i);
printf("%s\t", ftoa(masterConfig.customMotorMixer[i].throttle, buf));
printf("%s\t", ftoa(masterConfig.customMotorMixer[i].roll, buf));
printf("%s\t", ftoa(masterConfig.customMotorMixer[i].pitch, buf));
printf("%s\r\n", ftoa(masterConfig.customMotorMixer[i].yaw, buf));
}
return;
} else if (strncasecmp(cmdline, "reset", 5) == 0) {
// erase custom mixer
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
masterConfig.customMotorMixer[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 name\r\n");
break;
}
if (strncasecmp(ptr, mixerNames[i], len) == 0) {
mixerLoadMix(i, masterConfig.customMotorMixer);
printf("Loaded %s\r\n", mixerNames[i]);
cliMotorMix("");
break;
}
}
}
} else {
ptr = cmdline;
i = atoi(ptr); // get motor number
if (i < MAX_SUPPORTED_MOTORS) {
ptr = strchr(ptr, ' ');
if (ptr) {
masterConfig.customMotorMixer[i].throttle = fastA2F(++ptr);
check++;
}
ptr = strchr(ptr, ' ');
if (ptr) {
masterConfig.customMotorMixer[i].roll = fastA2F(++ptr);
check++;
}
ptr = strchr(ptr, ' ');
if (ptr) {
masterConfig.customMotorMixer[i].pitch = fastA2F(++ptr);
check++;
}
ptr = strchr(ptr, ' ');
if (ptr) {
masterConfig.customMotorMixer[i].yaw = fastA2F(++ptr);
check++;
}
if (check != 4) {
cliShowParseError();
} else {
cliMotorMix("");
}
} else {
cliShowArgumentRangeError("index", 1, MAX_SUPPORTED_MOTORS);
}
}
#endif
}
static void cliRxRange(char *cmdline)
{
int i, validArgumentCount = 0;
char *ptr;
if (isEmpty(cmdline)) {
for (i = 0; i < NON_AUX_CHANNEL_COUNT; i++) {
rxChannelRangeConfiguration_t *channelRangeConfiguration = &masterConfig.rxConfig.channelRanges[i];
printf("rxrange %u %u %u\r\n", i, channelRangeConfiguration->min, channelRangeConfiguration->max);
}
} else if (strcasecmp(cmdline, "reset") == 0) {
resetAllRxChannelRangeConfigurations(masterConfig.rxConfig.channelRanges);
} else {
ptr = cmdline;
i = atoi(ptr);
if (i >= 0 && i < NON_AUX_CHANNEL_COUNT) {
int rangeMin, rangeMax;
ptr = strchr(ptr, ' ');
if (ptr) {
rangeMin = atoi(++ptr);
validArgumentCount++;
}
ptr = strchr(ptr, ' ');
if (ptr) {
rangeMax = atoi(++ptr);
validArgumentCount++;
}
if (validArgumentCount != 2) {
cliShowParseError();
} else if (rangeMin < PWM_PULSE_MIN || rangeMin > PWM_PULSE_MAX || rangeMax < PWM_PULSE_MIN || rangeMax > PWM_PULSE_MAX) {
cliShowParseError();
} else {
rxChannelRangeConfiguration_t *channelRangeConfiguration = &masterConfig.rxConfig.channelRanges[i];
channelRangeConfiguration->min = rangeMin;
channelRangeConfiguration->max = rangeMax;
}
} else {
cliShowArgumentRangeError("channel", 0, NON_AUX_CHANNEL_COUNT - 1);
}
}
}
#ifdef LED_STRIP
static void cliLed(char *cmdline)
{
int i;
char *ptr;
char ledConfigBuffer[20];
if (isEmpty(cmdline)) {
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)) {
cliShowParseError();
}
} else {
cliShowArgumentRangeError("index", 0, MAX_LED_STRIP_LENGTH - 1);
}
}
}
static void cliColor(char *cmdline)
{
int i;
char *ptr;
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
);
}
} else {
ptr = cmdline;
i = atoi(ptr);
if (i < CONFIGURABLE_COLOR_COUNT) {
ptr = strchr(cmdline, ' ');
if (!parseColor(i, ++ptr)) {
cliShowParseError();
}
} else {
cliShowArgumentRangeError("index", 0, CONFIGURABLE_COLOR_COUNT - 1);
}
}
}
#endif
#ifdef USE_SERVOS
static void cliServo(char *cmdline)
{
enum { SERVO_ARGUMENT_COUNT = 8 };
int16_t arguments[SERVO_ARGUMENT_COUNT];
servoParam_t *servo;
int i;
char *ptr;
if (isEmpty(cmdline)) {
// print out servo settings
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
servo = &currentProfile->servoConf[i];
printf("servo %u %d %d %d %d %d %d %d\r\n",
i,
servo->min,
servo->max,
servo->middle,
servo->angleAtMin,
servo->angleAtMax,
servo->rate,
servo->forwardFromChannel
);
}
} else {
int validArgumentCount = 0;
ptr = cmdline;
// Command line is integers (possibly negative) separated by spaces, no other characters allowed.
// If command line doesn't fit the format, don't modify the config
while (*ptr) {
if (*ptr == '-' || (*ptr >= '0' && *ptr <= '9')) {
if (validArgumentCount >= SERVO_ARGUMENT_COUNT) {
cliShowParseError();
return;
}
arguments[validArgumentCount++] = atoi(ptr);
do {
ptr++;
} while (*ptr >= '0' && *ptr <= '9');
} else if (*ptr == ' ') {
ptr++;
} else {
cliShowParseError();
return;
}
}
enum {INDEX = 0, MIN, MAX, MIDDLE, ANGLE_AT_MIN, ANGLE_AT_MAX, RATE, FORWARD};
i = arguments[INDEX];
// 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 || i < 0 || i >= MAX_SUPPORTED_SERVOS) {
cliShowParseError();
return;
}
servo = &currentProfile->servoConf[i];
if (
arguments[MIN] < PWM_PULSE_MIN || arguments[MIN] > PWM_PULSE_MAX ||
arguments[MAX] < PWM_PULSE_MIN || arguments[MAX] > PWM_PULSE_MAX ||
arguments[MIDDLE] < arguments[MIN] || arguments[MIDDLE] > arguments[MAX] ||
arguments[MIN] > arguments[MAX] || arguments[MAX] < arguments[MIN] ||
arguments[RATE] < -100 || arguments[RATE] > 100 ||
arguments[FORWARD] >= MAX_SUPPORTED_RC_CHANNEL_COUNT ||
arguments[ANGLE_AT_MIN] < 0 || arguments[ANGLE_AT_MIN] > 180 ||
arguments[ANGLE_AT_MAX] < 0 || arguments[ANGLE_AT_MAX] > 180
) {
cliShowParseError();
return;
}
servo->min = arguments[1];
servo->max = arguments[2];
servo->middle = arguments[3];
servo->angleAtMin = arguments[4];
servo->angleAtMax = arguments[5];
servo->rate = arguments[6];
servo->forwardFromChannel = arguments[7];
}
}
#endif
#ifdef USE_SERVOS
static void cliServoMix(char *cmdline)
{
int i;
uint8_t len;
char *ptr;
int args[8], check = 0;
len = strlen(cmdline);
if (len == 0) {
cliPrint("Rule\tServo\tSource\tRate\tSpeed\tMin\tMax\tBox\r\n");
for (i = 0; i < MAX_SERVO_RULES; i++) {
if (masterConfig.customServoMixer[i].rate == 0)
break;
printf("#%d:\t%d\t%d\t%d\t%d\t%d\t%d\t%d\r\n",
i,
masterConfig.customServoMixer[i].targetChannel,
masterConfig.customServoMixer[i].inputSource,
masterConfig.customServoMixer[i].rate,
masterConfig.customServoMixer[i].speed,
masterConfig.customServoMixer[i].min,
masterConfig.customServoMixer[i].max,
masterConfig.customServoMixer[i].box
);
}
printf("\r\n");
return;
} else if (strncasecmp(cmdline, "reset", 5) == 0) {
// erase custom mixer
memset(masterConfig.customServoMixer, 0, sizeof(masterConfig.customServoMixer));
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
currentProfile->servoConf[i].reversedSources = 0;
}
} else if (strncasecmp(cmdline, "load", 4) == 0) {
ptr = strchr(cmdline, ' ');
if (ptr) {
len = strlen(++ptr);
for (i = 0; ; i++) {
if (mixerNames[i] == NULL) {
printf("Invalid name\r\n");
break;
}
if (strncasecmp(ptr, mixerNames[i], len) == 0) {
servoMixerLoadMix(i, masterConfig.customServoMixer);
printf("Loaded %s\r\n", mixerNames[i]);
cliServoMix("");
break;
}
}
}
} 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("s");
for (inputSource = 0; inputSource < INPUT_SOURCE_COUNT; inputSource++)
printf("\ti%d", inputSource);
printf("\r\n");
for (servoIndex = 0; servoIndex < MAX_SUPPORTED_SERVOS; servoIndex++) {
printf("%d", servoIndex);
for (inputSource = 0; inputSource < INPUT_SOURCE_COUNT; inputSource++)
printf("\t%s ", (currentProfile->servoConf[servoIndex].reversedSources & (1 << inputSource)) ? "r" : "n");
printf("\r\n");
}
return;
}
ptr = strtok(ptr, " ");
while (ptr != NULL && check < ARGS_COUNT - 1) {
args[check++] = atoi(ptr);
ptr = strtok(NULL, " ");
}
if (ptr == NULL || check != ARGS_COUNT - 1) {
cliShowParseError();
return;
}
if (args[SERVO] >= 0 && args[SERVO] < MAX_SUPPORTED_SERVOS
&& args[INPUT] >= 0 && args[INPUT] < INPUT_SOURCE_COUNT
&& (*ptr == 'r' || *ptr == 'n')) {
if (*ptr == 'r')
currentProfile->servoConf[args[SERVO]].reversedSources |= 1 << args[INPUT];
else
currentProfile->servoConf[args[SERVO]].reversedSources &= ~(1 << args[INPUT]);
} else
cliShowParseError();
cliServoMix("reverse");
} else {
enum {RULE = 0, TARGET, INPUT, RATE, SPEED, MIN, MAX, BOX, ARGS_COUNT};
ptr = strtok(cmdline, " ");
while (ptr != NULL && check < ARGS_COUNT) {
args[check++] = atoi(ptr);
ptr = strtok(NULL, " ");
}
if (ptr != NULL || check != ARGS_COUNT) {
cliShowParseError();
return;
}
i = args[RULE];
if (i >= 0 && i < MAX_SERVO_RULES &&
args[TARGET] >= 0 && args[TARGET] < MAX_SUPPORTED_SERVOS &&
args[INPUT] >= 0 && 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 &&
args[MAX] >= 0 && args[MAX] <= 100 && args[MIN] < args[MAX] &&
args[BOX] >= 0 && args[BOX] <= MAX_SERVO_BOXES) {
masterConfig.customServoMixer[i].targetChannel = args[TARGET];
masterConfig.customServoMixer[i].inputSource = args[INPUT];
masterConfig.customServoMixer[i].rate = args[RATE];
masterConfig.customServoMixer[i].speed = args[SPEED];
masterConfig.customServoMixer[i].min = args[MIN];
masterConfig.customServoMixer[i].max = args[MAX];
masterConfig.customServoMixer[i].box = args[BOX];
cliServoMix("");
} else {
cliShowParseError();
}
}
}
#endif
#ifdef USE_FLASHFS
static void cliFlashInfo(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...\r\n");
flashfsEraseCompletely();
while (!flashfsIsReady()) {
delay(100);
}
printf("Done.\r\n");
}
#ifdef USE_FLASH_TOOLS
static void cliFlashWrite(char *cmdline)
{
uint32_t address = atoi(cmdline);
char *text = strchr(cmdline, ' ');
if (!text) {
cliShowParseError();
} else {
flashfsSeekAbs(address);
flashfsWrite((uint8_t*)text, strlen(text), true);
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) {
cliShowParseError();
} 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
#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) {
cliPrint("\r\n# version\r\n");
cliVersion(NULL);
cliPrint("\r\n# dump master\r\n");
cliPrint("\r\n# mixer\r\n");
#ifndef USE_QUAD_MIXER_ONLY
printf("mixer %s\r\n", mixerNames[masterConfig.mixerMode - 1]);
printf("mmix reset\r\n");
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
if (masterConfig.customMotorMixer[i].throttle == 0.0f)
break;
thr = masterConfig.customMotorMixer[i].throttle;
roll = masterConfig.customMotorMixer[i].roll;
pitch = masterConfig.customMotorMixer[i].pitch;
yaw = masterConfig.customMotorMixer[i].yaw;
printf("mmix %d", i);
if (thr < 0)
cliWrite(' ');
printf("%s", ftoa(thr, buf));
if (roll < 0)
cliWrite(' ');
printf("%s", ftoa(roll, buf));
if (pitch < 0)
cliWrite(' ');
printf("%s", ftoa(pitch, buf));
if (yaw < 0)
cliWrite(' ');
printf("%s\r\n", ftoa(yaw, buf));
}
// print custom servo mixer if exists
printf("smix reset\r\n");
for (i = 0; i < MAX_SERVO_RULES; i++) {
if (masterConfig.customServoMixer[i].rate == 0)
break;
printf("smix %d %d %d %d %d %d %d %d\r\n",
i,
masterConfig.customServoMixer[i].targetChannel,
masterConfig.customServoMixer[i].inputSource,
masterConfig.customServoMixer[i].rate,
masterConfig.customServoMixer[i].speed,
masterConfig.customServoMixer[i].min,
masterConfig.customServoMixer[i].max,
masterConfig.customServoMixer[i].box
);
}
#endif
cliPrint("\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]);
}
cliPrint("\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);
cliPrint("\r\n\r\n# serial\r\n");
cliSerial("");
#ifdef LED_STRIP
cliPrint("\r\n\r\n# led\r\n");
cliLed("");
cliPrint("\r\n\r\n# color\r\n");
cliColor("");
#endif
printSectionBreak();
dumpValues(MASTER_VALUE);
cliPrint("\r\n# rxfail\r\n");
cliRxFail("");
}
if (dumpMask & DUMP_PROFILE) {
cliPrint("\r\n# dump profile\r\n");
cliPrint("\r\n# profile\r\n");
cliProfile("");
cliPrint("\r\n# aux\r\n");
cliAux("");
cliPrint("\r\n# adjrange\r\n");
cliAdjustmentRange("");
printf("\r\n# rxrange\r\n");
cliRxRange("");
#ifdef USE_SERVOS
cliPrint("\r\n# servo\r\n");
cliServo("");
// print servo directions
unsigned int channel;
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
for (channel = 0; channel < INPUT_SOURCE_COUNT; channel++) {
if (servoDirection(i, channel) < 0) {
printf("smix reverse %d %d r\r\n", i , channel);
}
}
}
#endif
printSectionBreak();
dumpValues(PROFILE_VALUE);
}
if (dumpMask & DUMP_CONTROL_RATE_PROFILE) {
cliPrint("\r\n# dump rates\r\n");
cliPrint("\r\n# rateprofile\r\n");
cliRateProfile("");
printSectionBreak();
dumpValues(CONTROL_RATE_VALUE);
}
}
void cliEnter(serialPort_t *serialPort)
{
cliMode = 1;
cliPort = serialPort;
setPrintfSerialPort(cliPort);
cliPrint("\r\nEntering CLI Mode, type 'exit' to return, or 'help'\r\n");
cliPrompt();
ENABLE_ARMING_FLAG(PREVENT_ARMING);
}
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
mixerResetDisarmedMotors();
cliReboot();
cliPort = NULL;
}
static void cliFeature(char *cmdline)
{
uint32_t i;
uint32_t len;
uint32_t mask;
len = strlen(cmdline);
mask = featureMask();
if (len == 0) {
cliPrint("Enabled: ");
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: ");
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 name\r\n");
break;
}
if (strncasecmp(cmdline, featureNames[i], len) == 0) {
mask = 1 << i;
#ifndef GPS
if (mask & FEATURE_GPS) {
cliPrint("unavailable\r\n");
break;
}
#endif
#ifndef SONAR
if (mask & FEATURE_SONAR) {
cliPrint("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);
gpsEnablePassthrough(cliPort);
}
#endif
static void cliHelp(char *cmdline)
{
uint32_t i = 0;
UNUSED(cmdline);
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)
{
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;
cliShowParseError();
return;
}
parseRcChannels(cmdline, &masterConfig.rxConfig);
}
cliPrint("Map: ");
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("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 name\r\n");
return;
}
if (strncasecmp(cmdline, mixerNames[i], len) == 0) {
masterConfig.mixerMode = i + 1;
break;
}
}
cliMixer("");
}
#endif
static void cliMotor(char *cmdline)
{
int motor_index = 0;
int motor_value = 0;
int index = 0;
char *pch = NULL;
char *saveptr;
if (isEmpty(cmdline)) {
cliShowParseError();
return;
}
pch = strtok_r(cmdline, " ", &saveptr);
while (pch != NULL) {
switch (index) {
case 0:
motor_index = atoi(pch);
break;
case 1:
motor_value = atoi(pch);
break;
}
index++;
pch = strtok_r(NULL, " ", &saveptr);
}
if (motor_index < 0 || motor_index >= MAX_SUPPORTED_MOTORS) {
cliShowArgumentRangeError("index", 0, MAX_SUPPORTED_MOTORS);
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;
}
}
printf("motor %d: %d\r\n", motor_index, motor_disarmed[motor_index]);
}
static void cliPlaySound(char *cmdline)
{
#if FLASH_SIZE <= 64
UNUSED(cmdline);
#else
int i;
const char *name;
static int lastSoundIdx = -1;
if (isEmpty(cmdline)) {
i = lastSoundIdx + 1; //next sound index
if ((name=beeperNameForTableIndex(i)) == NULL) {
while (true) { //no name for index; try next one
if (++i >= beeperTableEntryCount())
i = 0; //if end then wrap around to first entry
if ((name=beeperNameForTableIndex(i)) != NULL)
break; //if name OK then play sound below
if (i == lastSoundIdx + 1) { //prevent infinite loop
printf("Error playing sound\r\n");
return;
}
}
}
} else { //index value was given
i = atoi(cmdline);
if ((name=beeperNameForTableIndex(i)) == NULL) {
printf("No sound for index %d\r\n", i);
return;
}
}
lastSoundIdx = i;
beeperSilence();
printf("Playing sound %d: %s\r\n", i, name);
beeper(beeperModeForTableIndex(i));
#endif
}
static void cliProfile(char *cmdline)
{
int i;
if (isEmpty(cmdline)) {
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)
{
int i;
if (isEmpty(cmdline)) {
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);
stopMotors();
handleOneshotFeatureChangeOnRestart();
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:
*(int8_t *)ptr = value.int_value;
break;
case VAR_UINT16:
case VAR_INT16:
*(int16_t *)ptr = value.int_value;
break;
case VAR_UINT32:
*(uint32_t *)ptr = 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("Invalid 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);
cliPrint("\r\n");
matchedCommands++;
}
}
if (matchedCommands) {
return;
}
cliPrint("Invalid name\r\n");
}
static void cliStatus(char *cmdline)
{
UNUSED(cmdline);
printf("System Uptime: %d seconds, Voltage: %d * 0.1V (%dS battery - %s)\r\n",
millis() / 1000, vbat, batteryCellCount, getBatteryStateString());
printf("CPU Clock=%dMHz", (SystemCoreClock / 1000000));
#ifndef CJMCU
uint8_t i;
uint32_t mask;
uint32_t detectedSensorsMask = sensorsMask();
for (i = 0; ; i++) {
if (sensorTypeNames[i] == NULL)
break;
mask = (1 << i);
if ((detectedSensorsMask & mask) && (mask & SENSOR_NAMES_MASK)) {
const char *sensorHardware;
uint8_t sensorHardwareIndex = detectedSensors[i];
sensorHardware = sensorHardwareNames[i][sensorHardwareIndex];
printf(", %s=%s", sensorTypeNames[i], sensorHardware);
if (mask == SENSOR_ACC && acc.revisionCode) {
printf(".%c", acc.revisionCode);
}
}
}
#endif
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));
}
#ifdef USE_SERIAL_1WIRE
static void cliUSB1Wire(char *cmdline)
{
int i;
if (isEmpty(cmdline)) {
cliPrint("Please specify a ouput channel. e.g. `1wire 2` to connect to motor 2\r\n");
return;
} else {
i = atoi(cmdline);
if (i >= 0 && i <= ESC_COUNT) {
printf("Switching to BlHeli mode on motor port %d\r\n", i);
}
else {
printf("Invalid motor port, valid range: 1 to %d\r\n", ESC_COUNT);
}
}
// motor 1 => index 0
usb1WirePassthrough(i-1);
}
#endif
static void cliVersion(char *cmdline)
{
UNUSED(cmdline);
printf("# BetaFlight/%s %s %s / %s (%s)",
targetName,
FC_VERSION_STRING,
buildDate,
buildTime,
shortGitRevision
);
}
void cliProcess(void)
{
if (!cliPort) {
return;
}
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) { // CTRL-D
cliExit(cliBuffer);
return;
} else if (c == 12) { // NewPage / CTRL-L
// clear screen
cliPrint("\033[2J\033[1;1H");
cliPrompt();
} else if (bufferIndex && (c == '\n' || c == '\r')) {
// enter pressed
cliPrint("\r\n");
// Strip comment starting with # from line
char *p = cliBuffer;
p = strchr(p, '#');
if (NULL != p) {
bufferIndex = (uint32_t)(p - cliBuffer);
}
// Strip trailing whitespace
while (bufferIndex > 0 && cliBuffer[bufferIndex - 1] == ' ') {
bufferIndex--;
}
// Process non-empty lines
if (bufferIndex > 0) {
cliBuffer[bufferIndex] = 0; // null terminate
const clicmd_t *cmd;
for (cmd = cmdTable; cmd < cmdTable + CMD_COUNT; cmd++) {
if(!strncasecmp(cliBuffer, cmd->name, strlen(cmd->name)) // command names match
&& !isalnum((unsigned)cliBuffer[strlen(cmd->name)])) // next characted in bufffer is not alphanumeric (command is correctly terminated)
break;
}
if(cmd < cmdTable + CMD_COUNT)
cmd->func(cliBuffer + strlen(cmd->name) + 1);
else
cliPrint("Unknown command, try 'help'");
bufferIndex = 0;
}
memset(cliBuffer, 0, sizeof(cliBuffer));
// '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 == ' ')
continue; // Ignore leading spaces
cliBuffer[bufferIndex++] = c;
cliWrite(c);
}
}
}
void cliInit(serialConfig_t *serialConfig)
{
UNUSED(serialConfig);
}
#endif
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