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@ -5,44 +5,86 @@ |
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extern uint8_t cliMode; |
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static void cliExit(char *cmdline); |
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static void cliHelp(char *cmdline); |
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static void cliMixer(char *cmdline); |
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static void cliRMode(char *cmdline); |
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static void cliSet(char *cmdline); |
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static void cliVersion(char *cmdline); |
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// buffer |
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char cliBuffer[32]; |
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uint8_t bufferIndex = 0; |
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static char cliBuffer[32]; |
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static uint8_t bufferIndex = 0; |
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static bool unsaved = false; |
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const char *mixerNames[] = { |
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"TRI", "QUADP", "QUADX", "BI", |
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"GIMBAL", "Y6", "HEX6", |
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"FLYING_WING", "Y4", "HEX6X", "OCTOX8", "OCTOFLATP", "OCTOFLATX", |
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"AIRPLANE", "HELI_120_CCPM", "HELI_90_DEG", "VTAIL4" |
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}; |
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typedef struct { |
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char *name; |
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char *param; |
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void (*func)(char *cmdline); |
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} cliCmd; |
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} clicmd_t; |
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// should be sorted a..z for bsearch() |
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const cliCmd cmdTable[] = { |
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const clicmd_t cmdTable[] = { |
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{ "exit", "", cliExit }, |
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{ "help", "", cliHelp }, |
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{ "mixer", "mixer name", cliMixer }, |
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{ "rmode", "pwm / ppm", cliRMode }, |
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{ "set", "name=value", cliSet }, |
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{ "version", "", cliVersion }, |
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}; |
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#define CMD_COUNT (sizeof cmdTable / sizeof cmdTable[0]) |
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#define CMD_COUNT (sizeof(cmdTable) / sizeof(cmdTable[0])) |
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typedef enum { |
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VAR_BOOL, // yes/no true/false 1/0 type stuff |
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VAR_UINT8, |
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VAR_INT8, |
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VAR_UINT16, |
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VAR_INT16 |
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} vartype_e; |
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typedef struct { |
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const char *name; |
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const uint8_t type; // vartype_e |
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void *ptr; |
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const int32_t min; |
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const int32_t max; |
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} clivalue_t; |
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const clivalue_t valueTable[] = { |
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{ "deadband", VAR_UINT8, &cfg.deadband, 0, 32 }, |
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{ "midrc", VAR_UINT16, &cfg.midrc, 1200, 1700 }, |
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{ "minthrottle", VAR_UINT16, &cfg.minthrottle, 0, 2000 }, |
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{ "maxthrottle", VAR_UINT16, &cfg.maxthrottle, 0, 2000 }, |
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{ "mincommand", VAR_UINT16, &cfg.mincommand, 0, 2000 }, |
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{ "yaw_direction", VAR_INT8, &cfg.yaw_direction, -1, 1 }, |
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{ "wing_left_mid", VAR_UINT16, &cfg.wing_left_mid, 0, 2000 }, |
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{ "wing_right_mid", VAR_UINT16, &cfg.wing_right_mid, 0, 2000 }, |
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{ "tri_yaw_middle", VAR_UINT16, &cfg.tri_yaw_middle, 0, 2000 }, |
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{ "tilt_pitch_prop", VAR_INT8, &cfg.tilt_pitch_prop, -100, 100 }, |
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{ "tilt_roll_prop", VAR_INT8, &cfg.tilt_roll_prop, -100, 100 }, |
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}; |
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#define VALUE_COUNT (sizeof(valueTable) / sizeof(valueTable[0])) |
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static void cliPrompt(void) |
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{ |
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uartPrint("\r\n# "); |
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memset(cliBuffer, 0, sizeof(cliBuffer)); |
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bufferIndex = 0; |
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} |
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static int cliCompare(const void *a, const void *b) |
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{ |
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const cliCmd *ca = a, *cb = b; |
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const clicmd_t *ca = a, *cb = b; |
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return strncasecmp(ca->name, cb->name, strlen(cb->name)); |
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} |
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static void cliExit(char *cmdline) |
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{ |
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uartPrint("Leaving CLI mode...\r\n"); |
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uartPrint("\r\nLeaving CLI mode...\r\n"); |
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memset(cliBuffer, 0, sizeof(cliBuffer)); |
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bufferIndex = 0; |
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cliMode = 0; |
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@ -62,6 +104,12 @@ static void cliHelp(char *cmdline) |
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} |
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} |
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static void cliMixer(char *cmdline) |
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{ |
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} |
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static void cliRMode(char *cmdline) |
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{ |
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if (strncasecmp(cmdline, "pwm", 3) == 0) { |
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@ -71,31 +119,78 @@ static void cliRMode(char *cmdline) |
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uartPrint("PPM Mode"); |
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featureSet(FEATURE_PPM); |
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} |
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cliExit(cmdline); |
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writeParams(); |
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systemReset(false); |
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} |
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static void cliSet(char *cmdline) |
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{ |
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} |
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static void cliVersion(char *cmdline) |
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{ |
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uartPrint("Afro32 CLI version 2.0-pre1"); |
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uartPrint("Afro32 CLI version 2.0-pre3"); |
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} |
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void cliProcess(void) |
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{ |
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if (!cliMode) { |
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cliMode = 1; |
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uartPrint("\r\nEntering CLI Mode, type 'exit' to return, or 'help'\r\n"); |
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cliPrompt(); |
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} |
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while (uartAvailable()) { |
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uint8_t c = uartRead(); |
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cliBuffer[bufferIndex++] = c; |
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if (bufferIndex == sizeof(cliBuffer)) { |
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bufferIndex--; |
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c = '\n'; |
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} |
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if (bufferIndex && (c == '\n' || c == '\r')) { |
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if (c == '\t' || c == '?') { |
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const clicmd_t *cmd, *pstart = NULL, *pend = NULL; |
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int i = bufferIndex; |
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for (cmd = cmdTable;cmd < cmdTable + CMD_COUNT;cmd++) { |
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if (bufferIndex && (strncasecmp(cliBuffer, cmd->name, bufferIndex) != 0)) |
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continue; |
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if (!pstart) |
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pstart = cmd; |
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pend = cmd; |
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} |
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if (pstart) { /* Buffer matches one or more commands */ |
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for (;;bufferIndex++) { |
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if (pstart->name[bufferIndex] != pend->name[bufferIndex]) |
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break; |
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if (!pstart->name[bufferIndex]) { |
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/* Unambiguous -- append a space */ |
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cliBuffer[bufferIndex++] = ' '; |
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break; |
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} |
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cliBuffer[bufferIndex] = pstart->name[bufferIndex]; |
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} |
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} |
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if (!bufferIndex || pstart != pend) { |
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/* Print list of ambiguous matches */ |
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uartPrint("\r\033[K"); |
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for (cmd = pstart;cmd <= pend;cmd++) { |
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uartPrint(cmd->name); |
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uartWrite('\t'); |
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} |
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cliPrompt(); |
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i = 0; /* Redraw prompt */ |
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} |
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for (;i < bufferIndex;i++) |
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uartWrite(cliBuffer[i]); |
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} else if (!bufferIndex && c == 4) { |
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cliExit(cliBuffer); |
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return; |
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} else if (c == 12) { |
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uartPrint("\033[2J\033[1;1H"); |
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cliPrompt(); |
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} else if (bufferIndex && (c == '\n' || c == '\r')) { |
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// enter pressed |
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cliCmd *cmd = NULL; |
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cliCmd target; |
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clicmd_t *cmd = NULL; |
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clicmd_t target; |
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uartPrint("\r\n"); |
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cliBuffer[bufferIndex] = 0; // null terminate |
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@ -108,25 +203,23 @@ void cliProcess(void) |
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else |
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uartPrint("ERR: Unknown command, try 'HELP'"); |
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// 'exit' will reset this flag, so we don't need to print prompt again |
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if (cliMode) |
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cliPrompt(); |
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memset(cliBuffer, 0, sizeof(cliBuffer)); |
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bufferIndex = 0; |
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// 'exit' will reset this flag, so we don't need to print prompt again |
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if (!cliMode) |
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return; |
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cliPrompt(); |
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} else if (c == 127) { |
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// backspace |
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if (bufferIndex > 1) { |
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cliBuffer[bufferIndex - 2] = 0; |
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uartPrint("\r# "); |
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uartPrint(cliBuffer); |
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uartWrite(' '); |
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uartPrint("\r# "); |
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uartPrint(cliBuffer); |
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bufferIndex -= 2; |
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if (bufferIndex) { |
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cliBuffer[--bufferIndex] = 0; |
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uartPrint("\010 \010"); |
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} |
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} else if (c < 32 || c > 126) { |
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// non-printable ascii |
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bufferIndex--; |
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} else { |
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} else if (bufferIndex < sizeof(cliBuffer) && c >= 32 && c <= 126) { |
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if (!bufferIndex && c == 32) |
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continue; |
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cliBuffer[bufferIndex++] = c; |
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uartWrite(c); |
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} |
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} |
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timecop
13 years ago