static void cliSet(char *cmdline)
{
int i;
int len;
const clivalue_t *val;
char *eqptr = NULL;
int 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
eqptr++;
len--;
value = atoi(eqptr);
valuef = _atof(eqptr);
for (i = 0; i < VALUE_COUNT; i++) {
val = &valueTable[i];
if (strncasecmp(cmdline, valueTable[i].name, strlen(valueTable[i].name)) == 0) {
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("ERR: Value assignment out of range\r\n");
}
return;
}
}
cliPrint("ERR: Unknown variable name\r\n");
} else {
// no equals, check for matching variables.
for (i = 0; i < VALUE_COUNT; i++) {
if (strstr(valueTable[i].name, cmdline)) {
val = &valueTable[i];
printf("%s = ", valueTable[i].name);
cliPrintVar(val, 0);
printf("\r\n");
}
}
}
}
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 == 3 && cmdline[0] == '*') {
// printf("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
cliPrintVar(val, 0);
printf("\r");
}
// f.IMU_GRAPH_OUT=1;
}
else if (strstr(cmdline, "=")) {
void (*Func) (void);
eqptr = strstr(cmdline, "=");
// has equal, set var
eqptr++;
len--;
value= atoi(eqptr);
valuef = _atof(eqptr);
for (i = 0; i < VALUE_COUNT; i++) {
val = &valueTable[i];
if (strncasecmp(cmdline, valueTable[i].name, strlen(valueTable[i].name)) == 0) {
if (valuef >= valueTable[i].min && valuef <= valueTable[i].max) { // here we compare the float value since... it should work, RIGHT?
cliSetVar(val, valueTable[i].type == VAR_FLOAT ? *(uint32_t *)&valuef : value); // this is a silly dirty hack. please fix me later.
if(valueTable[i].function!=NULL) {
Func = valueTable[i].function; //관련된 함수 호출
Func();
}
printf("%s=", valueTable[i].name);
// printf("%d ", value);
cliPrintVar(val, 0);
printf("\r");
// printf(" %d",cfg.gyroPitchKi);
} else {
printf("ERR: Value assignment out of range\r\n");
}
return;
}
}
printf("ERR: Unknown variable name\r\n");
}
}
static void cliSet(char *cmdline)
{
uint32_t i;
uint32_t len;
const clivalue_t *val;
char *eqptr = NULL;
int32_t value = 0;
float valuef = 0;
len = strlen(cmdline);
if (len == 0 || (len == 1 && cmdline[0] == '*')) {
cliPrint("Current settings: \r\n");
for (i = 0; i < VALUE_COUNT; i++) {
val = &valueTable[i];
printf("%s = ", valueTable[i].name);
cliPrintVar(val, len); // when len is 1 (when * is passed as argument), it will print min/max values as well, for gui
cliPrint("\r\n");
}
} else if ((eqptr = strstr(cmdline, "=")) != NULL) {
// has equal, set var
char *lastNonSpaceCharacter = eqptr;
while (*(lastNonSpaceCharacter - 1) == ' ') {
lastNonSpaceCharacter--;
}
uint8_t variableNameLength = lastNonSpaceCharacter - cmdline;
eqptr++;
len--;
value = atoi(eqptr);
valuef = fastA2F(eqptr);
for (i = 0; i < VALUE_COUNT; i++) {
val = &valueTable[i];
// ensure exact match when setting to prevent setting variables with shorter names
if (strncasecmp(cmdline, valueTable[i].name, strlen(valueTable[i].name)) == 0 && variableNameLength == strlen(valueTable[i].name)) {
if (valuef >= valueTable[i].min && valuef <= valueTable[i].max) { // here we compare the float value since... it should work, RIGHT?
int_float_value_t tmp;
if (valueTable[i].type & VAR_FLOAT)
tmp.float_value = valuef;
else
tmp.int_value = value;
cliSetVar(val, tmp);
printf("%s set to ", valueTable[i].name);
cliPrintVar(val, 0);
} else {
cliPrint("Value assignment out of range\r\n");
}
return;
}
}
cliPrint("Unknown variable name\r\n");
} else {
// no equals, check for matching variables.
cliGet(cmdline);
}
}
static void cliSet(char *cmdline)
{
uint32_t i;
uint32_t len;
const clivalue_t *val;
char *eqptr = NULL;
int32_t value = 0;
len = strlen(cmdline);
if (len == 0 || (len == 1 && cmdline[0] == '*')) {
uartPrint("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
uartPrint("\r\n");
}
} else if ((eqptr = strstr(cmdline, "="))) {
// has equal, set var
eqptr++;
len--;
value = atoi(eqptr);
for (i = 0; i < VALUE_COUNT; i++) {
val = &valueTable[i];
if (strncasecmp(cmdline, valueTable[i].name, strlen(valueTable[i].name)) == 0) {
// found
if (value >= valueTable[i].min && value <= valueTable[i].max) {
cliSetVar(val, value);
printf("%s set to ", valueTable[i].name);
cliPrintVar(val, 0);
} else {
uartPrint("ERR: Value assignment out of range\r\n");
}
return;
}
}
uartPrint("ERR: Unknown variable name\r\n");
}
}
static void cliDump(char *cmdline)
{
int i;
const clivalue_t *setval;
// print settings
for (i = 0; i < VALUE_COUNT; i++) {
setval = &valueTable[i];
printf("set %s = ", valueTable[i].name);
cliPrintVar(setval, 0);
cliPrint("\r\n");
}
}
void
cli_cmd_set(char *cmdline) {
uint32_t len;
const clivalue_t *val;
char *eqptr, *ptr2;
len = strlen(cmdline);
if (len == 0 || (len == 1 && cmdline[0] == '*')) {
cli_puts("Current settings:\r\n");
for (val = &value_table[0]; val->name != NULL; val++) {
cli_printf("%s = ", val->name);
cliPrintVar(val, len);
cli_puts("\r\n");
}
} else if ((eqptr = strstr(cmdline, "="))) {
/* Null-terminate the setting name */
ptr2 = eqptr;
*ptr2 = 0;
while (*--ptr2 == ' ') {
*ptr2 = 0;
}
eqptr++;
len--;
while (*eqptr == ' ') {
eqptr++;
len--;
}
for (val = &value_table[0]; val->name != NULL; val++) {
if (!strcmp(cmdline, val->name)) {
cliSetVar(val, eqptr);
cli_printf("%s set to ", val->name);
cliPrintVar(val, 0);
return;
}
}
cli_puts("ERR: Unknown variable name\r\n");
}
}
static void dumpValues(uint8_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");
}
}
static void cliGet(char *cmdline)
{
uint32_t i;
const clivalue_t *val;
int matchedCommands = 0;
for (i = 0; i < VALUE_COUNT; i++) {
if (strstr(valueTable[i].name, cmdline)) {
val = &valueTable[i];
printf("%s = ", valueTable[i].name);
cliPrintVar(val, 0);
printf("\r\n");
matchedCommands++;
}
}
if (matchedCommands) {
return;
}
cliPrint("Unknown variable name\r\n");
}
static void cliDump(char *cmdline)
{
(void)cmdline;
unsigned int i, channel;
char buf[16];
float thr, roll, pitch, yaw;
uint32_t mask;
const clivalue_t *setval;
cliVersion(NULL);
printf("Current Config: Copy everything below here...\r\n");
// print out aux switches
cliAux("");
// print out current motor mix
printf("mixer %s\r\n", mixerNames[mcfg.mixerConfiguration - 1]);
// print custom mix if exists
if (mcfg.customMixer[0].throttle != 0.0f) {
for (i = 0; i < MAX_MOTORS; i++) {
if (mcfg.customMixer[i].throttle == 0.0f)
break;
thr = mcfg.customMixer[i].throttle;
roll = mcfg.customMixer[i].roll;
pitch = mcfg.customMixer[i].pitch;
yaw = mcfg.customMixer[i].yaw;
printf("cmix %d", i + 1);
if (thr < 0)
printf(" ");
printf("%s", ftoa(thr, buf));
if (roll < 0)
printf(" ");
printf("%s", ftoa(roll, buf));
if (pitch < 0)
printf(" ");
printf("%s", ftoa(pitch, buf));
if (yaw < 0)
printf(" ");
printf("%s\r\n", ftoa(yaw, buf));
}
printf("cmix %d 0 0 0 0\r\n", i + 1);
}
// print custom servo mixer if exists
if (mcfg.customServoMixer[0].rate != 0) {
for (i = 0; i < MAX_SERVO_RULES; i++) {
if (mcfg.customServoMixer[i].rate == 0)
break;
printf("smix %d ", i + 1);
printf("%d ", mcfg.customServoMixer[i].targetChannel + 1);
printf("%d ", mcfg.customServoMixer[i].fromChannel + 1);
printf("%d ", mcfg.customServoMixer[i].rate);
printf("%d ", mcfg.customServoMixer[i].speed);
printf("%d ", mcfg.customServoMixer[i].min);
printf("%d ", mcfg.customServoMixer[i].max);
printf("%d\r\n", mcfg.customServoMixer[i].box);
}
printf("smix %d 0 0 0 0\r\n", i + 1);
}
// print servo directions
for (i = 0; i < MAX_SERVOS; i++)
for (channel = 0; channel < INPUT_ITEMS; channel++)
if (cfg.servoConf[i].direction & (1 << channel))
printf("smix direction %d %d -1\r\n", i + 1 , channel + 1);
// print servo config
for (i = 0; i < MAX_SERVOS; i++)
printf("servo %d %d %d %d %d\r\n", i + 1, cfg.servoConf[i].min, cfg.servoConf[i].middle, cfg.servoConf[i].max, cfg.servoConf[i].rate);
// print enabled features
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]);
}
// print RC MAPPING
for (i = 0; i < mcfg.rc_channel_count; i++)
buf[mcfg.rcmap[i]] = rcChannelLetters[i];
buf[i] = '\0';
printf("map %s\r\n", buf);
// print settings
for (i = 0; i < VALUE_COUNT; i++) {
setval = &valueTable[i];
printf("set %s = ", valueTable[i].name);
cliPrintVar(setval, 0);
cliPrint("\r\n");
}
}
static void cliDump(char *cmdline)
{
int i;
char buf[16];
float thr, roll, pitch, yaw;
uint32_t mask;
const clivalue_t *setval;
printf("Current Config: Copy everything below here...\r\n");
// print out aux switches
cliAux("");
// print out current motor mix
printf("mixer %s\r\n", mixerNames[mcfg.mixerConfiguration - 1]);
// print custom mix if exists
if (mcfg.customMixer[0].throttle != 0.0f) {
for (i = 0; i < MAX_MOTORS; i++) {
if (mcfg.customMixer[i].throttle == 0.0f)
break;
thr = mcfg.customMixer[i].throttle;
roll = mcfg.customMixer[i].roll;
pitch = mcfg.customMixer[i].pitch;
yaw = mcfg.customMixer[i].yaw;
printf("cmix %d", i + 1);
if (thr < 0)
printf(" ");
printf("%s", ftoa(thr, buf));
if (roll < 0)
printf(" ");
printf("%s", ftoa(roll, buf));
if (pitch < 0)
printf(" ");
printf("%s", ftoa(pitch, buf));
if (yaw < 0)
printf(" ");
printf("%s\r\n", ftoa(yaw, buf));
}
printf("cmix %d 0 0 0 0\r\n", i + 1);
}
// print enabled features
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]);
}
// print RC MAPPING
for (i = 0; i < 8; i++)
buf[mcfg.rcmap[i]] = rcChannelLetters[i];
buf[i] = '\0';
printf("map %s\r\n", buf);
// print settings
for (i = 0; i < VALUE_COUNT; i++) {
setval = &valueTable[i];
printf("set %s = ", valueTable[i].name);
cliPrintVar(setval, 0);
cliPrint("\r\n");
}
}