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cli.c
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cli.c
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/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software 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 and Betaflight are distributed in the hope that they
* 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 this software.
*
* 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"
// 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
bool cliMode = false;
#ifdef USE_CLI
#include "blackbox/blackbox.h"
#include "build/build_config.h"
#include "build/debug.h"
#include "build/version.h"
#include "cli/settings.h"
#include "cms/cms.h"
#include "common/axis.h"
#include "common/color.h"
#include "common/maths.h"
#include "common/printf.h"
#include "common/printf_serial.h"
#include "common/strtol.h"
#include "common/time.h"
#include "common/typeconversion.h"
#include "common/utils.h"
#include "config/config.h"
#include "config/config_eeprom.h"
#include "config/feature.h"
#include "drivers/accgyro/accgyro.h"
#include "drivers/adc.h"
#include "drivers/buf_writer.h"
#include "drivers/bus_spi.h"
#include "drivers/dma.h"
#include "drivers/dma_reqmap.h"
#include "drivers/dshot.h"
#include "drivers/dshot_command.h"
#include "drivers/dshot_dpwm.h"
#include "drivers/pwm_output_dshot_shared.h"
#include "drivers/camera_control.h"
#include "drivers/compass/compass.h"
#include "drivers/display.h"
#include "drivers/dma.h"
#include "drivers/flash.h"
#include "drivers/inverter.h"
#include "drivers/io.h"
#include "drivers/io_impl.h"
#include "drivers/light_led.h"
#include "drivers/motor.h"
#include "drivers/rangefinder/rangefinder_hcsr04.h"
#include "drivers/resource.h"
#include "drivers/sdcard.h"
#include "drivers/sensor.h"
#include "drivers/serial.h"
#include "drivers/serial_escserial.h"
#include "drivers/sound_beeper.h"
#include "drivers/stack_check.h"
#include "drivers/system.h"
#include "drivers/time.h"
#include "drivers/timer.h"
#include "drivers/transponder_ir.h"
#include "drivers/usb_msc.h"
#include "drivers/vtx_common.h"
#include "drivers/vtx_table.h"
#include "fc/board_info.h"
#include "fc/controlrate_profile.h"
#include "fc/core.h"
#include "fc/rc.h"
#include "fc/rc_adjustments.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
#include "flight/failsafe.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/position.h"
#include "flight/servos.h"
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/beeper.h"
#include "io/flashfs.h"
#include "io/gimbal.h"
#include "io/gps.h"
#include "io/ledstrip.h"
#include "io/serial.h"
#include "io/transponder_ir.h"
#include "io/usb_msc.h"
#include "io/vtx_control.h"
#include "io/vtx.h"
#include "msp/msp.h"
#include "msp/msp_box.h"
#include "msp/msp_protocol.h"
#include "osd/osd.h"
#include "pg/adc.h"
#include "pg/beeper.h"
#include "pg/beeper_dev.h"
#include "pg/board.h"
#include "pg/bus_i2c.h"
#include "pg/bus_spi.h"
#include "pg/gyrodev.h"
#include "pg/max7456.h"
#include "pg/mco.h"
#include "pg/motor.h"
#include "pg/pinio.h"
#include "pg/pin_pull_up_down.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "pg/rx.h"
#include "pg/rx_pwm.h"
#include "pg/rx_spi_cc2500.h"
#include "pg/serial_uart.h"
#include "pg/sdio.h"
#include "pg/timerio.h"
#include "pg/timerup.h"
#include "pg/usb.h"
#include "pg/vtx_table.h"
#include "rx/rx_bind.h"
#include "rx/rx_spi.h"
#include "scheduler/scheduler.h"
#include "sensors/acceleration.h"
#include "sensors/adcinternal.h"
#include "sensors/barometer.h"
#include "sensors/battery.h"
#include "sensors/boardalignment.h"
#include "sensors/compass.h"
#include "sensors/esc_sensor.h"
#include "sensors/gyro.h"
#include "sensors/gyro_init.h"
#include "sensors/sensors.h"
#include "telemetry/frsky_hub.h"
#include "telemetry/telemetry.h"
#include "cli.h"
static serialPort_t *cliPort = NULL;
#ifdef STM32F1
#define CLI_IN_BUFFER_SIZE 128
#else
// Space required to set array parameters
#define CLI_IN_BUFFER_SIZE 256
#endif
#define CLI_OUT_BUFFER_SIZE 64
static bufWriter_t *cliWriter = NULL;
static bufWriter_t *cliErrorWriter = NULL;
static uint8_t cliWriteBuffer[sizeof(*cliWriter) + CLI_OUT_BUFFER_SIZE];
static char cliBuffer[CLI_IN_BUFFER_SIZE];
static uint32_t bufferIndex = 0;
static bool configIsInCopy = false;
#define CURRENT_PROFILE_INDEX -1
static int8_t pidProfileIndexToUse = CURRENT_PROFILE_INDEX;
static int8_t rateProfileIndexToUse = CURRENT_PROFILE_INDEX;
#ifdef USE_CLI_BATCH
static bool commandBatchActive = false;
static bool commandBatchError = false;
#endif
#if defined(USE_BOARD_INFO)
static bool boardInformationUpdated = false;
#if defined(USE_SIGNATURE)
static bool signatureUpdated = false;
#endif
#endif // USE_BOARD_INFO
static const char* const emptyName = "-";
static const char* const emptyString = "";
#if !defined(USE_CUSTOM_DEFAULTS)
#define CUSTOM_DEFAULTS_START ((char*)0)
#define CUSTOM_DEFAULTS_END ((char *)0)
#else
extern char __custom_defaults_start;
extern char __custom_defaults_end;
#define CUSTOM_DEFAULTS_START (&__custom_defaults_start)
#define CUSTOM_DEFAULTS_END (&__custom_defaults_end)
static bool processingCustomDefaults = false;
static char cliBufferTemp[CLI_IN_BUFFER_SIZE];
#define CUSTOM_DEFAULTS_START_PREFIX ("# " FC_FIRMWARE_NAME)
#define CUSTOM_DEFAULTS_MANUFACTURER_ID_PREFIX "# config: manufacturer_id: "
#define CUSTOM_DEFAULTS_BOARD_NAME_PREFIX ", board_name: "
#define CUSTOM_DEFAULTS_CHANGESET_ID_PREFIX ", version: "
#define CUSTOM_DEFAULTS_DATE_PREFIX ", date: "
static bool customDefaultsHeaderParsed = false;
static bool customDefaultsFound = false;
static char customDefaultsManufacturerId[MAX_MANUFACTURER_ID_LENGTH + 1] = { 0 };
static char customDefaultsBoardName[MAX_BOARD_NAME_LENGTH + 1] = { 0 };
static char customDefaultsChangesetId[9] = { 0 };
static char customDefaultsDate[21] = { 0 };
#endif
#if defined(USE_CUSTOM_DEFAULTS_ADDRESS)
static char __attribute__ ((section(".custom_defaults_start_address"))) *customDefaultsStart = CUSTOM_DEFAULTS_START;
static char __attribute__ ((section(".custom_defaults_end_address"))) *customDefaultsEnd = CUSTOM_DEFAULTS_END;
#endif
#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", "QUADX1234", NULL
};
#endif
// sync this with features_e
static const char * const featureNames[] = {
"RX_PPM", "", "INFLIGHT_ACC_CAL", "RX_SERIAL", "MOTOR_STOP",
"SERVO_TILT", "SOFTSERIAL", "GPS", "",
"RANGEFINDER", "TELEMETRY", "", "3D", "RX_PARALLEL_PWM",
"RX_MSP", "RSSI_ADC", "LED_STRIP", "DISPLAY", "OSD",
"", "CHANNEL_FORWARDING", "TRANSPONDER", "AIRMODE",
"", "", "RX_SPI", "", "ESC_SENSOR", "ANTI_GRAVITY", "DYNAMIC_FILTER", 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_SET },
{ RX_FAILSAFE_MODE_INVALID, RX_FAILSAFE_MODE_HOLD, RX_FAILSAFE_MODE_SET }
};
#if defined(USE_SENSOR_NAMES)
// sync this with sensors_e
static const char *const sensorTypeNames[] = {
"GYRO", "ACC", "BARO", "MAG", "RANGEFINDER", "GPS", "GPS+MAG", NULL
};
#define SENSOR_NAMES_MASK (SENSOR_GYRO | SENSOR_ACC | SENSOR_BARO | SENSOR_MAG | SENSOR_RANGEFINDER)
static const char * const *sensorHardwareNames[] = {
lookupTableGyroHardware, lookupTableAccHardware, lookupTableBaroHardware, lookupTableMagHardware, lookupTableRangefinderHardware
};
#endif // USE_SENSOR_NAMES
// Needs to be aligned with mcuTypeId_e
static const char *mcuTypeNames[] = {
"SIMULATOR",
"F103",
"F303",
"F40X",
"F411",
"F446",
"F722",
"F745",
"F746",
"F765",
"H750",
"H743 (Rev Unknown)",
"H743 (Rev.Y)",
"H743 (Rev.X)",
"H743 (Rev.V)",
};
typedef enum dumpFlags_e {
DUMP_MASTER = (1 << 0),
DUMP_PROFILE = (1 << 1),
DUMP_RATES = (1 << 2),
DUMP_ALL = (1 << 3),
DO_DIFF = (1 << 4),
SHOW_DEFAULTS = (1 << 5),
HIDE_UNUSED = (1 << 6),
HARDWARE_ONLY = (1 << 7),
BARE = (1 << 8),
} dumpFlags_t;
typedef bool printFn(dumpFlags_t dumpMask, bool equalsDefault, const char *format, ...);
typedef enum {
REBOOT_TARGET_FIRMWARE,
REBOOT_TARGET_BOOTLOADER_ROM,
REBOOT_TARGET_BOOTLOADER_FLASH,
} rebootTarget_e;
typedef struct serialPassthroughPort_s {
int id;
uint32_t baud;
unsigned mode;
serialPort_t *port;
} serialPassthroughPort_t;
static void cliWriterFlushInternal(bufWriter_t *writer)
{
if (writer) {
bufWriterFlush(writer);
}
}
static void cliPrintInternal(bufWriter_t *writer, const char *str)
{
if (writer) {
while (*str) {
bufWriterAppend(writer, *str++);
}
cliWriterFlushInternal(writer);
}
}
static void cliWriterFlush()
{
cliWriterFlushInternal(cliWriter);
}
void cliPrint(const char *str)
{
cliPrintInternal(cliWriter, str);
}
void cliPrintLinefeed(void)
{
cliPrint("\r\n");
}
void cliPrintLine(const char *str)
{
cliPrint(str);
cliPrintLinefeed();
}
#ifdef MINIMAL_CLI
#define cliPrintHashLine(str)
#else
static void cliPrintHashLine(const char *str)
{
cliPrint("\r\n# ");
cliPrintLine(str);
}
#endif
static void cliPutp(void *p, char ch)
{
bufWriterAppend(p, ch);
}
static void cliPrintfva(const char *format, va_list va)
{
if (cliWriter) {
tfp_format(cliWriter, cliPutp, format, va);
cliWriterFlush();
}
}
static bool cliDumpPrintLinef(dumpFlags_t dumpMask, bool equalsDefault, const char *format, ...)
{
if (!((dumpMask & DO_DIFF) && equalsDefault)) {
va_list va;
va_start(va, format);
cliPrintfva(format, va);
va_end(va);
cliPrintLinefeed();
return true;
} else {
return false;
}
}
static void cliWrite(uint8_t ch)
{
if (cliWriter) {
bufWriterAppend(cliWriter, ch);
}
}
static bool cliDefaultPrintLinef(dumpFlags_t dumpMask, bool equalsDefault, const char *format, ...)
{
if ((dumpMask & SHOW_DEFAULTS) && !equalsDefault) {
cliWrite('#');
va_list va;
va_start(va, format);
cliPrintfva(format, va);
va_end(va);
cliPrintLinefeed();
return true;
} else {
return false;
}
}
void cliPrintf(const char *format, ...)
{
va_list va;
va_start(va, format);
cliPrintfva(format, va);
va_end(va);
}
void cliPrintLinef(const char *format, ...)
{
va_list va;
va_start(va, format);
cliPrintfva(format, va);
va_end(va);
cliPrintLinefeed();
}
static void cliPrintErrorVa(const char *cmdName, const char *format, va_list va)
{
if (cliErrorWriter) {
cliPrintInternal(cliErrorWriter, "###ERROR: ");
cliPrintInternal(cliErrorWriter, cmdName);
cliPrintInternal(cliErrorWriter, ": ");
tfp_format(cliErrorWriter, cliPutp, format, va);
va_end(va);
cliPrintInternal(cliErrorWriter, "###");
}
#ifdef USE_CLI_BATCH
if (commandBatchActive) {
commandBatchError = true;
}
#endif
}
static void cliPrintError(const char *cmdName, const char *format, ...)
{
va_list va;
va_start(va, format);
cliPrintErrorVa(cmdName, format, va);
if (!cliWriter) {
// Supply our own linefeed in case we are printing inside a custom defaults operation
// TODO: Fix this by rewriting the entire CLI to have self contained line feeds
// instead of expecting the directly following command to supply the line feed.
cliPrintInternal(cliErrorWriter, "\r\n");
}
}
static void cliPrintErrorLinef(const char *cmdName, const char *format, ...)
{
va_list va;
va_start(va, format);
cliPrintErrorVa(cmdName, format, va);
cliPrintInternal(cliErrorWriter, "\r\n");
}
static void getMinMax(const clivalue_t *var, int *min, int *max)
{
switch (var->type & VALUE_TYPE_MASK) {
case VAR_UINT8:
case VAR_UINT16:
*min = var->config.minmaxUnsigned.min;
*max = var->config.minmaxUnsigned.max;
break;
default:
*min = var->config.minmax.min;
*max = var->config.minmax.max;
break;
}
}
static void printValuePointer(const char *cmdName, const clivalue_t *var, const void *valuePointer, bool full)
{
if ((var->type & VALUE_MODE_MASK) == MODE_ARRAY) {
for (int i = 0; i < var->config.array.length; i++) {
switch (var->type & VALUE_TYPE_MASK) {
default:
case VAR_UINT8:
// uint8_t array
cliPrintf("%d", ((uint8_t *)valuePointer)[i]);
break;
case VAR_INT8:
// int8_t array
cliPrintf("%d", ((int8_t *)valuePointer)[i]);
break;
case VAR_UINT16:
// uin16_t array
cliPrintf("%d", ((uint16_t *)valuePointer)[i]);
break;
case VAR_INT16:
// int16_t array
cliPrintf("%d", ((int16_t *)valuePointer)[i]);
break;
case VAR_UINT32:
// uin32_t array
cliPrintf("%u", ((uint32_t *)valuePointer)[i]);
break;
}
if (i < var->config.array.length - 1) {
cliPrint(",");
}
}
} else {
int value = 0;
switch (var->type & VALUE_TYPE_MASK) {
case VAR_UINT8:
value = *(uint8_t *)valuePointer;
break;
case VAR_INT8:
value = *(int8_t *)valuePointer;
break;
case VAR_UINT16:
value = *(uint16_t *)valuePointer;
break;
case VAR_INT16:
value = *(int16_t *)valuePointer;
break;
case VAR_UINT32:
value = *(uint32_t *)valuePointer;
break;
}
bool valueIsCorrupted = false;
switch (var->type & VALUE_MODE_MASK) {
case MODE_DIRECT:
if ((var->type & VALUE_TYPE_MASK) == VAR_UINT32) {
cliPrintf("%u", (uint32_t)value);
if ((uint32_t)value > var->config.u32Max) {
valueIsCorrupted = true;
} else if (full) {
cliPrintf(" 0 %u", var->config.u32Max);
}
} else {
int min;
int max;
getMinMax(var, &min, &max);
cliPrintf("%d", value);
if ((value < min) || (value > max)) {
valueIsCorrupted = true;
} else if (full) {
cliPrintf(" %d %d", min, max);
}
}
break;
case MODE_LOOKUP:
if (value < lookupTables[var->config.lookup.tableIndex].valueCount) {
cliPrint(lookupTables[var->config.lookup.tableIndex].values[value]);
} else {
valueIsCorrupted = true;
}
break;
case MODE_BITSET:
if (value & 1 << var->config.bitpos) {
cliPrintf("ON");
} else {
cliPrintf("OFF");
}
break;
case MODE_STRING:
cliPrintf("%s", (strlen((char *)valuePointer) == 0) ? "-" : (char *)valuePointer);
break;
}
if (valueIsCorrupted) {
cliPrintLinefeed();
cliPrintError(cmdName, "CORRUPTED CONFIG: %s = %d", var->name, value);
}
}
}
static bool valuePtrEqualsDefault(const clivalue_t *var, const void *ptr, const void *ptrDefault)
{
bool result = true;
int elementCount = 1;
uint32_t mask = 0xffffffff;
if ((var->type & VALUE_MODE_MASK) == MODE_ARRAY) {
elementCount = var->config.array.length;
}
if ((var->type & VALUE_MODE_MASK) == MODE_BITSET) {
mask = 1 << var->config.bitpos;
}
for (int i = 0; i < elementCount; i++) {
switch (var->type & VALUE_TYPE_MASK) {
case VAR_UINT8:
result = result && (((uint8_t *)ptr)[i] & mask) == (((uint8_t *)ptrDefault)[i] & mask);
break;
case VAR_INT8:
result = result && ((int8_t *)ptr)[i] == ((int8_t *)ptrDefault)[i];
break;
case VAR_UINT16:
result = result && (((uint16_t *)ptr)[i] & mask) == (((uint16_t *)ptrDefault)[i] & mask);
break;
case VAR_INT16:
result = result && ((int16_t *)ptr)[i] == ((int16_t *)ptrDefault)[i];
break;
case VAR_UINT32:
result = result && (((uint32_t *)ptr)[i] & mask) == (((uint32_t *)ptrDefault)[i] & mask);
break;
}
}
return result;
}
static const char *cliPrintSectionHeading(dumpFlags_t dumpMask, bool outputFlag, const char *headingStr)
{
if (headingStr && (!(dumpMask & DO_DIFF) || outputFlag)) {
cliPrintHashLine(headingStr);
return NULL;
} else {
return headingStr;
}
}
static void backupPgConfig(const pgRegistry_t *pg)
{
memcpy(pg->copy, pg->address, pg->size);
}
static void restorePgConfig(const pgRegistry_t *pg)
{
memcpy(pg->address, pg->copy, pg->size);
}
static void backupConfigs(void)
{
if (configIsInCopy) {
return;
}
// make copies of configs to do differencing
PG_FOREACH(pg) {
backupPgConfig(pg);
}
configIsInCopy = true;
}
static void restoreConfigs(void)
{
if (!configIsInCopy) {
return;
}
PG_FOREACH(pg) {
restorePgConfig(pg);
}
configIsInCopy = false;
}
#if defined(USE_RESOURCE_MGMT) || defined(USE_TIMER_MGMT)
static bool isReadingConfigFromCopy()
{
return configIsInCopy;
}
#endif
static bool isWritingConfigToCopy()
{
return configIsInCopy
#if defined(USE_CUSTOM_DEFAULTS)
&& !processingCustomDefaults
#endif
;
}
#if defined(USE_CUSTOM_DEFAULTS)
static bool cliProcessCustomDefaults(bool quiet);
#endif
static void backupAndResetConfigs(const bool useCustomDefaults)
{
backupConfigs();
// reset all configs to defaults to do differencing
resetConfig();
#if defined(USE_CUSTOM_DEFAULTS)
if (useCustomDefaults) {
if (!cliProcessCustomDefaults(true)) {
cliPrintLine("###WARNING: NO CUSTOM DEFAULTS FOUND###");
}
}
#else
UNUSED(useCustomDefaults);
#endif
}
static uint8_t getPidProfileIndexToUse()
{
return pidProfileIndexToUse == CURRENT_PROFILE_INDEX ? getCurrentPidProfileIndex() : pidProfileIndexToUse;
}
static uint8_t getRateProfileIndexToUse()
{
return rateProfileIndexToUse == CURRENT_PROFILE_INDEX ? getCurrentControlRateProfileIndex() : rateProfileIndexToUse;
}
static uint16_t getValueOffset(const clivalue_t *value)
{
switch (value->type & VALUE_SECTION_MASK) {
case MASTER_VALUE:
case HARDWARE_VALUE:
return value->offset;
case PROFILE_VALUE:
return value->offset + sizeof(pidProfile_t) * getPidProfileIndexToUse();
case PROFILE_RATE_VALUE:
return value->offset + sizeof(controlRateConfig_t) * getRateProfileIndexToUse();
}
return 0;
}
STATIC_UNIT_TESTED void *cliGetValuePointer(const clivalue_t *value)
{
const pgRegistry_t* rec = pgFind(value->pgn);
if (isWritingConfigToCopy()) {
return CONST_CAST(void *, rec->copy + getValueOffset(value));
} else {
return CONST_CAST(void *, rec->address + getValueOffset(value));
}
}
static const char *dumpPgValue(const char *cmdName, const clivalue_t *value, dumpFlags_t dumpMask, const char *headingStr)
{
const pgRegistry_t *pg = pgFind(value->pgn);
#ifdef DEBUG
if (!pg) {
cliPrintLinef("VALUE %s ERROR", value->name);
return headingStr; // if it's not found, the pgn shouldn't be in the value table!
}
#endif
const char *format = "set %s = ";
const char *defaultFormat = "#set %s = ";
const int valueOffset = getValueOffset(value);
const bool equalsDefault = valuePtrEqualsDefault(value, pg->copy + valueOffset, pg->address + valueOffset);
headingStr = cliPrintSectionHeading(dumpMask, !equalsDefault, headingStr);
if (((dumpMask & DO_DIFF) == 0) || !equalsDefault) {
if (dumpMask & SHOW_DEFAULTS && !equalsDefault) {
cliPrintf(defaultFormat, value->name);
printValuePointer(cmdName, value, (uint8_t*)pg->address + valueOffset, false);
cliPrintLinefeed();
}
cliPrintf(format, value->name);
printValuePointer(cmdName, value, pg->copy + valueOffset, false);
cliPrintLinefeed();
}
return headingStr;
}
static void dumpAllValues(const char *cmdName, uint16_t valueSection, dumpFlags_t dumpMask, const char *headingStr)
{
headingStr = cliPrintSectionHeading(dumpMask, false, headingStr);
for (uint32_t i = 0; i < valueTableEntryCount; i++) {
const clivalue_t *value = &valueTable[i];
cliWriterFlush();
if ((value->type & VALUE_SECTION_MASK) == valueSection || ((valueSection == MASTER_VALUE) && (value->type & VALUE_SECTION_MASK) == HARDWARE_VALUE)) {
headingStr = dumpPgValue(cmdName, value, dumpMask, headingStr);
}
}
}
static void cliPrintVar(const char *cmdName, const clivalue_t *var, bool full)
{
const void *ptr = cliGetValuePointer(var);
printValuePointer(cmdName, var, ptr, full);
}
static void cliPrintVarRange(const clivalue_t *var)
{
switch (var->type & VALUE_MODE_MASK) {
case (MODE_DIRECT): {
switch (var->type & VALUE_TYPE_MASK) {
case VAR_UINT32:
cliPrintLinef("Allowed range: 0 - %u", var->config.u32Max);
break;
case VAR_UINT8:
case VAR_UINT16:
cliPrintLinef("Allowed range: %d - %d", var->config.minmaxUnsigned.min, var->config.minmaxUnsigned.max);
break;
default:
cliPrintLinef("Allowed range: %d - %d", var->config.minmax.min, var->config.minmax.max);
break;
}
}
break;
case (MODE_LOOKUP): {
const lookupTableEntry_t *tableEntry = &lookupTables[var->config.lookup.tableIndex];
cliPrint("Allowed values: ");
bool firstEntry = true;
for (unsigned i = 0; i < tableEntry->valueCount; i++) {
if (tableEntry->values[i]) {
if (!firstEntry) {
cliPrint(", ");
}
cliPrintf("%s", tableEntry->values[i]);
firstEntry = false;
}
}
cliPrintLinefeed();
}
break;
case (MODE_ARRAY): {
cliPrintLinef("Array length: %d", var->config.array.length);
}
break;
case (MODE_STRING): {
cliPrintLinef("String length: %d - %d", var->config.string.minlength, var->config.string.maxlength);
}
break;
case (MODE_BITSET): {
cliPrintLinef("Allowed values: OFF, ON");
}
break;
}
}
static void cliSetVar(const clivalue_t *var, const uint32_t value)
{
void *ptr = cliGetValuePointer(var);
uint32_t workValue;
uint32_t mask;
if ((var->type & VALUE_MODE_MASK) == MODE_BITSET) {
switch (var->type & VALUE_TYPE_MASK) {
case VAR_UINT8:
mask = (1 << var->config.bitpos) & 0xff;
if (value) {
workValue = *(uint8_t *)ptr | mask;
} else {
workValue = *(uint8_t *)ptr & ~mask;
}
*(uint8_t *)ptr = workValue;
break;
case VAR_UINT16:
mask = (1 << var->config.bitpos) & 0xffff;
if (value) {
workValue = *(uint16_t *)ptr | mask;
} else {
workValue = *(uint16_t *)ptr & ~mask;
}
*(uint16_t *)ptr = workValue;
break;
case VAR_UINT32:
mask = 1 << var->config.bitpos;
if (value) {
workValue = *(uint32_t *)ptr | mask;
} else {
workValue = *(uint32_t *)ptr & ~mask;
}
*(uint32_t *)ptr = workValue;
break;
}
} else {
switch (var->type & VALUE_TYPE_MASK) {
case VAR_UINT8:
*(uint8_t *)ptr = value;
break;
case VAR_INT8:
*(int8_t *)ptr = value;
break;
case VAR_UINT16:
*(uint16_t *)ptr = value;
break;
case VAR_INT16:
*(int16_t *)ptr = value;
break;
case VAR_UINT32:
*(uint32_t *)ptr = value;
break;
}
}
}
#if defined(USE_RESOURCE_MGMT) && !defined(MINIMAL_CLI)
static void cliRepeat(char ch, uint8_t len)
{
if (cliWriter) {
for (int i = 0; i < len; i++) {
bufWriterAppend(cliWriter, ch);
}
cliPrintLinefeed();
}
}
#endif
static void cliPrompt(void)
{
#if defined(USE_CUSTOM_DEFAULTS) && defined(DEBUG_CUSTOM_DEFAULTS)
if (processingCustomDefaults) {
cliPrint("\r\nd: #");
} else
#endif
{
cliPrint("\r\n# ");
}
}
static void cliShowParseError(const char *cmdName)
{
cliPrintErrorLinef(cmdName, "PARSING FAILED");
}
static void cliShowInvalidArgumentCountError(const char *cmdName)
{
cliPrintErrorLinef(cmdName, "INVALID ARGUMENT COUNT", cmdName);
}
static void cliShowArgumentRangeError(const char *cmdName, char *name, int min, int max)
{
if (name) {
cliPrintErrorLinef(cmdName, "%s: %s NOT BETWEEN %d AND %d", name, min, max);
} else {
cliPrintErrorLinef(cmdName, "ARGUMENT OUT OF RANGE");
}
}
static const char *nextArg(const char *currentArg)
{
const char *ptr = strchr(currentArg, ' ');
while (ptr && *ptr == ' ') {
ptr++;
}
return ptr;
}
static const char *processChannelRangeArgs(const char *ptr, channelRange_t *range, uint8_t *validArgumentCount)
{
for (uint32_t argIndex = 0; argIndex < 2; argIndex++) {
ptr = nextArg(ptr);
if (ptr) {
int val = atoi(ptr);
val = CHANNEL_VALUE_TO_STEP(val);