Add MSP_SET_ADJUSTMENT_RANGE and MSP_ADJUSTMENT_RANGES commands.
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Dominic Clifton
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# MSP Extensions
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Cleanflight includes a number of extensions to the MultiWii Serial
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Protocol (MSP). This document describes those extensions in order that
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3rd part tools may identify cleanflight firmware and react appropriately.
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Cleanflight includes a number of extensions to the MultiWii Serial Protocol (MSP). This document describes
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those extensions in order that 3rd party tools may identify cleanflight firmware and react appropriately.
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## MSP_IDENT capabilities
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Issue the MSP_API_VERSION command to find out if the firmware supports them.
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Cleanflight sets a number of non-standard bits in the MSP_IDENT
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message in order to identify the firmware. For completeness, this
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includes flags defined for baseflight.
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|Value|Mnemonic|Notes|Reference|
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|-----|--------|-----|---------|
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| 1 << 29 | CAP\_CLEANFLIGHT\_CONFIG | The firmware supports cleanflight configuration options. This is the definitive test for cleanflight firmware | src/main/io/serial_msp.c|
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| 1 << 30 | CAP\_BASEFLIGHT\_CONFIG | The firmware supports baseflight configuration options. See the baseflight documentation for details. | src/main/io/serial_msp.c |
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| 1 << 31 | CAP\_PLATFORM\_32BIT | This is a 32bit platform. | src/main/io/serial_msp.c |
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## Modes Extension
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The cleanflight modes extension to MSP supports the extended
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auxiliary modes introduced 2014-10-14. The CAP\_CLEANFLIGHT\_CONFIG
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capabilities flag should be used to confirm the availability of
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extended auxiliary modes. If this flag is not present, the legacy MSP
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MSP\_BOX and MSP\_SET\_BOX messages should be used.
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Note: In the following descriptions, the format of the original MSP
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documentation is followed.
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## Mode Ranges
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### MSP\_MODE\_RANGES
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The MSP\_MODE\_RANGES returns the current auxiliary mode settings from
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the flight controller. It should be invoked before any modification is
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made to the configuration.
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The MSP\_MODE\_RANGES returns the current auxiliary mode settings from the flight controller. It should be invoked
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before any modification is made to the configuration.
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The message returns a group of 4 unsigned bytes for each 'slot'
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available in the flight controller. The number of slots should be
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calculated from the size of the returned message.
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The message returns a group of 4 unsigned bytes for each 'slot' available in the flight controller. The number of
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slots should be calculated from the size of the returned message.
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| Command | Msg Id | Direction | Data | Type | Notes |
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|---------|--------|-----------|------|------|-------|
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| MSP\_MODE\_RANGES | 34 | to FC | (none) | N/A | Following this command, the FC returns a block of 4 bytes for each auxiliary mode 'slot'|
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| Command | Msg Id | Direction | Notes |
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|---------|--------|-----------|-------|
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| MSP\_MODE\_RANGES | 34 | to FC | Following this command, the FC returns a block of 4 bytes for each auxiliary mode 'slot'|
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Unassigned slots have rangeStartStep == rangeEndStep. Each element contains the following fields.
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| Command | Msg Id | Direction | Data | Type | Notes |
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|---------|--------|-----------|------|------|-------|
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| | | returned from FC | permanentId | uint8 | See Modes.md for a definition of the permanent ids |
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| | | returned from FC | auxChannelIndex | uint8 | The Aux switch number (indexed from 0) |
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| | | returned from FC | rangeStartStep | uint8 | The start value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
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| | | returned from FC | rangeEndStep | uint8 | The end value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
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| Data | Type | Notes |
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|------|------|-------|
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| permanentId | uint8 | See Modes.md for a definition of the permanent ids |
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| auxChannelIndex | uint8 | The Aux switch number (indexed from 0) |
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| rangeStartStep | uint8 | The start value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
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| rangeEndStep | uint8 | The end value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
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Thus, for a cleanflight firmware with 40 slots for auxiliary settings,
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160 bytes would be returned in response to MSP\_MODE\_RANGES,
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Thus, for a cleanflight firmware with 40 slots 160 bytes would be returned in response to MSP\_MODE\_RANGES,
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### MSP\_SET\_MODE\_RANGE
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@ -60,32 +37,107 @@ auxiliary mode settings. The client *must* return all auxiliary
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elements, including those that have been disabled or are undefined, by
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sending this message for all auxiliary slots.
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| Command | Msg Id | Direction | Data | Type | Notes |
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|---------|--------|-----------|------|------|-------|
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| MSP\_SET\_MODE\_RANGE | 35 | to FC | sequence id | uint8 | A monotonically increasing ID, from 0 to the number of slots -1 |
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| | | | permanentId | uint8 | See Modes.md for a definition of the permanent ids |
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| | | | auxChannelIndex | uint8 | The Aux switch number (indexed from 0) |
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| | | | rangeStartStep | uint8 | The start value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
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| | | | rangeEndStep | uint8 | The end value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
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| Command | Msg Id | Direction |
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|---------|--------|-----------|
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| MSP\_SET\_MODE\_RANGE | 35 | to FC |
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## Implementation Notes
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* The client should make no assumptions about the number of slots
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available. Rather, the number should be computed from the size of
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the MSP\_MODE\_RANGES message divided by the size of the returned
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data element (4 bytes);
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* The client should ensure that all changed items are returned to the
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flight controller, including those where a switch or range has been
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disabled;
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* A 'null' return (with rangeStartStep == rangeEndStep) must be made for all
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unused slots, up to the maximum number of slots calculated from the initial
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message.
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| Data | Type | Notes |
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|------|------|-------|
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| sequence id | uint8 | A monotonically increasing ID, from 0 to the number of slots -1 |
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| permanentId | uint8 | See Modes.md for a definition of the permanent ids |
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| auxChannelIndex | uint8 | The Aux channel number (indexed from 0) |
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| rangeStartStep | uint8 | The start value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
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| rangeEndStep | uint8 | The end value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
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### Implementation Notes
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* The client should make no assumptions about the number of slots available. Rather, the number should be computed
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from the size of the MSP\_MODE\_RANGES message divided by the size of the returned data element (4 bytes);
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* The client should ensure that all changed items are returned to the flight controller, including those where a
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switch or range has been disabled;
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* A 'null' return, with all values other than the sequence id set to 0, must be made for all unused slots, up to
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the maximum number of slots calculated from the initial message.
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## Adjustment Ranges
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### MSP\_ADJUSTMENT\_RANGES
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The MSP\_ADJUSTMENT\_RANGES returns the current adjustment range settings from
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the flight controller. It should be invoked before any modification is
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made to the configuration.
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The message returns a group of 6 unsigned bytes for each 'slot'
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available in the flight controller. The number of slots should be
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calculated from the size of the returned message.
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| Command | Msg Id | Direction | Notes |
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|---------|--------|-----------|-------|
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| MSP\_ADJUSTMENT\_RANGES | 52 | to FC | Following this command, the FC returns a block of 6 bytes for each adjustment range 'slot'|
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Unassigned slots have rangeStartStep == rangeEndStep. Each element contains the following fields.
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| Data | Type | Notes |
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|------|------|-------|
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| adjustmentStateIndex | uint8 | See below |
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| auxChannelIndex | uint8 | The Aux channel number (indexed from 0) used to activate the adjustment |
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| rangeStartStep | uint8 | The start value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
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| rangeEndStep | uint8 | The end value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
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| adjustmentFunction | uint8 | See below |
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| auxSwitchChannelIndex | uint8 | The Aux channel number used to perform the function (indexed from 0) |
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Thus, for a cleanflight firmware with 12 slots 72 bytes would be returned in response to MSP\_ADJUSTMENT\_RANGES,
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### MSP\_SET\_ADJUSTMENT\_RANGE
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The MSP\_SET\_ADJUSTMENT\_RANGE is used to inform the flight controller of
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adjustment range settings. The client *must* return all adjustment range
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elements, including those that have been disabled or are undefined, by
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sending this message for all adjustment range slots.
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| Command | Msg Id | Direction |
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|---------|--------|-----------|
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| MSP\_SET\_ADJUSTMENT\_RANGE | 53 | to FC |
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| Data | Type | Notes |
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|------|------|-------|
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| sequence id | uint8 | A monotonically increasing ID, from 0 to the number of slots -1 |
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| adjustmentStateIndex | uint8 | See below |
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| auxChannelIndex | uint8 | The Aux channel number (indexed from 0) |
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| rangeStartStep | uint8 | The start value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
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| rangeEndStep | uint8 | The end value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
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| adjustmentFunction | uint8 | See below |
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| auxSwitchChannelIndex | uint8 | The Aux channel number used to perform the function (indexed from 0) |
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#### AdjustmentIndex
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The FC maintains internal state for each adjustmentStateIndex, currently 4 simultaneous adjustment states are maintained. Multiple adjustment ranges
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can be configured to use the same state but care should be taken not to send multiple adjustment ranges that when active would confict.
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e.g. Configuring two identical adjustment ranges using the same slot would conflict, but configuring two adjustment ranges that used
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only one half of the possible channel range each but used the same adjustmentStateIndex would not conflict.
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The FC does NOT check for conflicts.
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#### AdjustmentFunction
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There are many adjustments that can be made, the numbers of them and their use is found in the documentation of the cli `adjrange` command in the 'Inflight Adjustents' section.
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### Implementation Notes
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* The client should make no assumptions about the number of slots available. Rather, the number should be computed
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from the size of the MSP\_ADJUSTMENT\_RANGES message divided by the size of the returned data element (6 bytes);
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* The client should ensure that all changed items are returned to the flight controller, including those where a
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switch or range has been disabled;
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* A 'null' return, with all values except for the sequence id set to 0, must be made for all unused slots,
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up to the maximum number of slots calculated from the initial message.
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## Deprecated MSP
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The following MSP commands are replaced by the MSP\_MODE\_RANGES and
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MSP\_SET\_MODE\_RANGE extensions, and are not recognised by
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cleanflight where CAP\_CLEANFLIGHT\_CONFIG is set.
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cleanflight.
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* MSP\_BOX
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* MSP\_SET\_BOX
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@ -197,6 +197,9 @@ const char *boardIdentifier = TARGET_BOARD_IDENTIFIER;
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#define MSP_RSSI_CONFIG 50
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#define MSP_SET_RSSI_CONFIG 51
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#define MSP_ADJUSTMENT_RANGES 52
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#define MSP_SET_ADJUSTMENT_RANGE 53
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//
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// Baseflight MSP commands (if enabled they exist in Cleanflight)
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//
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@ -849,8 +852,26 @@ static bool processOutCommand(uint8_t cmdMSP)
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serialize8(mac->range.endStep);
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}
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break;
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case MSP_ADJUSTMENT_RANGES:
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headSerialReply(MAX_ADJUSTMENT_RANGE_COUNT * (
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1 + // adjustment index/slot
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1 + // aux channel index
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1 + // start step
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1 + // end step
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1 + // adjustment function
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1 // aux switch channel index
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));
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for (i = 0; i < MAX_ADJUSTMENT_RANGE_COUNT; i++) {
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adjustmentRange_t *adjRange = ¤tProfile->adjustmentRanges[i];
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serialize8(adjRange->adjustmentIndex);
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serialize8(adjRange->auxChannelIndex);
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serialize8(adjRange->range.startStep);
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serialize8(adjRange->range.endStep);
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serialize8(adjRange->adjustmentFunction);
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serialize8(adjRange->auxSwitchChannelIndex);
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}
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break;
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case MSP_BOXNAMES:
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// headSerialReply(sizeof(boxnames) - 1);
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serializeBoxNamesReply();
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break;
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case MSP_BOXIDS:
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@ -1097,6 +1118,26 @@ static bool processInCommand(void)
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headSerialError(0);
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}
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break;
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case MSP_SET_ADJUSTMENT_RANGE:
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i = read8();
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if (i < MAX_ADJUSTMENT_RANGE_COUNT) {
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adjustmentRange_t *adjRange = ¤tProfile->adjustmentRanges[i];
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i = read8();
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if (i < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT) {
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adjRange->adjustmentIndex = i;
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adjRange->auxChannelIndex = read8();
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adjRange->range.startStep = read8();
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adjRange->range.endStep = read8();
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adjRange->adjustmentFunction = read8();
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adjRange->auxSwitchChannelIndex = read8();
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} else {
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headSerialError(0);
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}
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} else {
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headSerialError(0);
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}
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break;
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case MSP_SET_RC_TUNING:
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currentControlRateProfile->rcRate8 = read8();
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currentControlRateProfile->rcExpo8 = read8();
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