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Merge pull request cleanflight#2549 from martinbudden/bf_pg_cli1
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PG CLI additions 1
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@martinbudden
martinbudden committed Mar 5, 2017
2 parents 1611ab9 + 401b3e6 commit 1c971ff
Showing 1 changed file with 82 additions and 25 deletions.
107 changes: 82 additions & 25 deletions src/main/fc/cli.c
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Original file line number Diff line number Diff line change
Expand Up @@ -111,11 +111,12 @@ uint8_t cliMode = 0;
#include "telemetry/frsky.h"
#include "telemetry/telemetry.h"


static serialPort_t *cliPort;
static bufWriter_t *cliWriter;
static uint8_t cliWriteBuffer[sizeof(*cliWriter) + 128];

static char cliBuffer[48];
static char cliBuffer[64];
static uint32_t bufferIndex = 0;

static const char* const emptyName = "-";
Expand Down Expand Up @@ -496,60 +497,116 @@ static const clivalue_t valueTable[] = {
{ "gyro_sync_denom", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 1, 8 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_sync_denom) },
{ "gyro_lowpass_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_LOWPASS_TYPE }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_lpf_type) },
{ "gyro_lowpass", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 255 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_lpf_hz) },
{ "gyro_notch1_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_hz_1) },
{ "gyro_notch1_cutoff", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 1, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_cutoff_1) },
{ "gyro_notch2_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_hz_2) },
{ "gyro_notch1_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_hz_1) },
{ "gyro_notch1_cutoff", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 1, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_cutoff_1) },
{ "gyro_notch2_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_hz_2) },
{ "gyro_notch2_cutoff", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 1, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_cutoff_2) },
{ "moron_threshold", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 128 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyroMovementCalibrationThreshold) },

// PG_ACCELEROMETER_CONFIG
{ "align_acc", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ALIGNMENT }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, acc_align) },
{ "acc_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ACC_HARDWARE }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, acc_hardware) },
{ "acc_lpf_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 400 }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, acc_align) },
{ "acc_trim_pitch", VAR_INT16 | MASTER_VALUE, .config.minmax = { -300, 300 }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, accelerometerTrims.values.pitch) },
{ "acc_trim_roll", VAR_INT16 | MASTER_VALUE, .config.minmax = { -300, 300 }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, accelerometerTrims.values.roll) },
{ "acc_lpf_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 400 }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, acc_align) },
{ "acc_trim_pitch", VAR_INT16 | MASTER_VALUE, .config.minmax = { -300, 300 }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, accelerometerTrims.values.pitch) },
{ "acc_trim_roll", VAR_INT16 | MASTER_VALUE, .config.minmax = { -300, 300 }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, accelerometerTrims.values.roll) },

// PG_COMPASS_CONFIG
#ifdef MAG
{ "align_mag", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ALIGNMENT }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, mag_align) },
{ "mag_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_MAG_HARDWARE }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, mag_hardware) },
{ "mag_declination", VAR_INT16 | MASTER_VALUE, .config.minmax = { -18000, 18000 }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, mag_declination) },
{ "mag_declination", VAR_INT16 | MASTER_VALUE, .config.minmax = { -18000, 18000 }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, mag_declination) },
{ "magzero_x", VAR_INT16 | MASTER_VALUE, .config.minmax = { INT16_MIN, INT16_MAX }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, magZero.raw[X]) },
{ "magzero_y", VAR_INT16 | MASTER_VALUE, .config.minmax = { INT16_MIN, INT16_MAX }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, magZero.raw[Y]) },
{ "magzero_z", VAR_INT16 | MASTER_VALUE, .config.minmax = { INT16_MIN, INT16_MAX }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, magZero.raw[Z]) },
#endif

// PG_BAROMETER_CONFIG
#ifdef BARO
{ "baro_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BARO_HARDWARE }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_hardware) },
{ "baro_tab_size", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, BARO_SAMPLE_COUNT_MAX }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_sample_count) },
{ "baro_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BARO_HARDWARE }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_hardware) },
{ "baro_tab_size", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, BARO_SAMPLE_COUNT_MAX }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_sample_count) },
{ "baro_noise_lpf", VAR_FLOAT | MASTER_VALUE, .config.minmax = { 0 , 1 }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_noise_lpf) },
{ "baro_cf_vel", VAR_FLOAT | MASTER_VALUE, .config.minmax = { 0 , 1 }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_cf_vel) },
{ "baro_cf_alt", VAR_FLOAT | MASTER_VALUE, .config.minmax = { 0 , 1 }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_cf_alt) },
#endif

// PG_RX_CONFIG
{ "mid_rc", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 1200, 1700 }, PG_RX_CONFIG, offsetof(rxConfig_t, midrc) },
{ "min_check", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, mincheck) },
{ "max_check", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, maxcheck) },
{ "rssi_channel", VAR_INT8 | MASTER_VALUE, .config.minmax = { 0, MAX_SUPPORTED_RC_CHANNEL_COUNT }, PG_RX_CONFIG, offsetof(rxConfig_t, rssi_channel) },
{ "rssi_scale", VAR_UINT8 | MASTER_VALUE, .config.minmax = { RSSI_SCALE_MIN, RSSI_SCALE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rssi_scale) },
{ "mid_rc", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 1200, 1700 }, PG_RX_CONFIG, offsetof(rxConfig_t, midrc) },
{ "min_check", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, mincheck) },
{ "max_check", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, maxcheck) },
{ "rssi_channel", VAR_INT8 | MASTER_VALUE, .config.minmax = { 0, MAX_SUPPORTED_RC_CHANNEL_COUNT }, PG_RX_CONFIG, offsetof(rxConfig_t, rssi_channel) },
{ "rssi_scale", VAR_UINT8 | MASTER_VALUE, .config.minmax = { RSSI_SCALE_MIN, RSSI_SCALE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rssi_scale) },
{ "rssi_invert", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, rssi_invert) },
{ "rc_interpolation", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RC_INTERPOLATION }, PG_RX_CONFIG, offsetof(rxConfig_t, rcInterpolation) },
{ "rc_interpolation_interval", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 1, 50 }, PG_RX_CONFIG, offsetof(rxConfig_t, rcInterpolationInterval) },
{ "rssi_invert", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, rssi_invert) },
{ "roll_yaw_cam_mix_degrees", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 50 }, PG_RX_CONFIG, offsetof(rxConfig_t, fpvCamAngleDegrees) },
{ "max_aux_channels", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 13 }, PG_RX_CONFIG, offsetof(rxConfig_t, max_aux_channel) },
{ "rc_interpolation_interval", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 1, 50 }, PG_RX_CONFIG, offsetof(rxConfig_t, rcInterpolationInterval) },
{ "roll_yaw_cam_mix_degrees", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 50 }, PG_RX_CONFIG, offsetof(rxConfig_t, fpvCamAngleDegrees) },
{ "max_aux_channels", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 13 }, PG_RX_CONFIG, offsetof(rxConfig_t, max_aux_channel) },
#ifdef SERIAL_RX
{ "serialrx_provider", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_SERIAL_RX }, PG_RX_CONFIG, offsetof(rxConfig_t, serialrx_provider) },
{ "serialrx_provider", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_SERIAL_RX }, PG_RX_CONFIG, offsetof(rxConfig_t, serialrx_provider) },
{ "sbus_inversion", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, sbus_inversion) },
#endif
{ "sbus_inversion", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, sbus_inversion) },
#ifdef SPEKTRUM_BIND
{ "spektrum_sat_bind", VAR_UINT8 | MASTER_VALUE, .config.minmax = { SPEKTRUM_SAT_BIND_DISABLED, SPEKTRUM_SAT_BIND_MAX}, PG_RX_CONFIG, offsetof(rxConfig_t, spektrum_sat_bind) },
{ "spektrum_sat_bind_autoreset",VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 1}, PG_RX_CONFIG, offsetof(rxConfig_t, spektrum_sat_bind_autoreset) },
{ "spektrum_sat_bind", VAR_UINT8 | MASTER_VALUE, .config.minmax = { SPEKTRUM_SAT_BIND_DISABLED, SPEKTRUM_SAT_BIND_MAX}, PG_RX_CONFIG, offsetof(rxConfig_t, spektrum_sat_bind) },
{ "spektrum_sat_bind_autoreset",VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 1}, PG_RX_CONFIG, offsetof(rxConfig_t, spektrum_sat_bind_autoreset) },
#endif
{ "airmode_activate_throttle", VAR_UINT16 | MASTER_VALUE, .config.minmax = {1000, 2000 }, PG_RX_CONFIG, offsetof(rxConfig_t, airModeActivateThreshold) },
{ "rx_min_usec", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rx_min_usec) },
{ "rx_max_usec", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rx_max_usec) },
{ "rx_min_usec", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rx_min_usec) },
{ "rx_max_usec", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rx_max_usec) },

// PG_BLACKBOX_CONFIG
#ifdef BLACKBOX
{ "blackbox_rate_num", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 1, 32 }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, rate_num) },
{ "blackbox_rate_denom", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 1, 32 }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, rate_denom) },
{ "blackbox_device", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BLACKBOX_DEVICE }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, device) },
{ "blackbox_on_motor_test", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, on_motor_test) },
#endif

// PG_MOTOR_CONFIG
{ "min_throttle", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, minthrottle) },
{ "max_throttle", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, maxthrottle) },
{ "min_command", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, mincommand) },
#ifdef USE_DSHOT
{ "digital_idle_percent", VAR_FLOAT | MASTER_VALUE, .config.minmax = { 0, 20}, PG_MOTOR_CONFIG, offsetof(motorConfig_t, digitalIdleOffsetPercent) },
#endif
{ "use_unsynced_pwm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useUnsyncedPwm) },
{ "motor_pwm_protocol", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_MOTOR_PWM_PROTOCOL }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.motorPwmProtocol) },
{ "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 200, 32000 }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.motorPwmRate) },
{ "motor_pwm_inversion", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.motorPwmInversion) },

// PG_FAILSAFE_CONFIG

// PG_BOARDALIGNMENT_CONFIG

// PG_GIMBAL_CONFIG

// PG_BATTERY_CONFIG

// PG_MIXER_CONFIG

// PG_MOTOR_3D_CONFIG

// PG_SERVO_CONFIG

// PG_CONTROLRATE_PROFILE

// PG_SERIAL_CONFIG

// PG_IMU_CONFIG

// PG_ARMING_CONFIG

// PG_GPS_CONFIG

// PG_RC_CONTROLS_CONFIG

// PG_PID_PROFILE

// PG_TELEMETRY_CONFIG

// PG_LED_STRIP_CONFIG

// PG_OSD_CONFIG

// PG_SYSTEM_CONFIG
};

#else
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