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Updated MSP protocol with Cleanflight and iNav commands to help avoid future conflicts

This commit is contained in:
Martin Budden 2016-07-19 09:02:33 +01:00
parent b914cddf15
commit 2f52d4b731
2 changed files with 25 additions and 16 deletions
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40
src/main/io/msp_protocol.h
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@ -64,17 +64,16 @@
#define API_VERSION_LENGTH 2
#define MULTIWII_IDENTIFIER "MWII";
#define CLEANFLIGHT_IDENTIFIER "CLFL"
#define BETAFLIGHT_IDENTIFIER "BTFL"
#define BASEFLIGHT_IDENTIFIER "BAFL";
#define BETAFLIGHT_IDENTIFIER "BTFL"
#define CLEANFLIGHT_IDENTIFIER "CLFL"
#define INAV_IDENTIFIER "INAV"
#define RACEFLIGHT_IDENTIFIER "RCFL"
#define FLIGHT_CONTROLLER_IDENTIFIER_LENGTH 4
extern const char * const flightControllerIdentifier;
#define FLIGHT_CONTROLLER_VERSION_LENGTH 3
#define FLIGHT_CONTROLLER_VERSION_MASK 0xFFF
static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
#define BOARD_IDENTIFIER_LENGTH 4 // 4 UPPER CASE alpha numeric characters that identify the board being used.
#define BOARD_HARDWARE_REVISION_LENGTH 2
@ -99,8 +98,8 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
#define MSP_BOARD_INFO 4 //out message
#define MSP_BUILD_INFO 5 //out message
#define MSP_NAME 10
#define MSP_SET_NAME 11
#define MSP_NAME 10 //out message Returns user set board name - betaflight
#define MSP_SET_NAME 11 //in message Sets board name - betaflight
//
@ -186,17 +185,17 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
#define MSP_BLACKBOX_CONFIG 80 //out message Get blackbox settings
#define MSP_SET_BLACKBOX_CONFIG 81 //in message Set blackbox settings
#define MSP_TRANSPONDER_CONFIG 82 //in message Get transponder settings
#define MSP_SET_TRANSPONDER_CONFIG 83 //out message Set transponder settings
#define MSP_TRANSPONDER_CONFIG 82 //out message Get transponder settings
#define MSP_SET_TRANSPONDER_CONFIG 83 //in message Set transponder settings
#define MSP_OSD_CONFIG 84 //in message Get osd settings
#define MSP_SET_OSD_CONFIG 85 //out message Set osd settings
#define MSP_OSD_CONFIG 84 //out message Get osd settings - betaflight
#define MSP_SET_OSD_CONFIG 85 //in message Set osd settings - betaflight
#define MSP_OSD_CHAR_READ 86 //in message Get osd settings
#define MSP_OSD_CHAR_WRITE 87 //out message Set osd settings
#define MSP_OSD_CHAR_READ 86 //out message Get osd settings - betaflight
#define MSP_OSD_CHAR_WRITE 87 //in message Set osd settings - betaflight
#define MSP_VTX_CONFIG 88 //in message Get vtx settings
#define MSP_SET_VTX_CONFIG 89 //out message Set vtx settings
#define MSP_VTX_CONFIG 88 //out message Get vtx settings - betaflight
#define MSP_SET_VTX_CONFIG 89 //in message Set vtx settings - betaflight
// Betaflight Additional Commands
#define MSP_PID_ADVANCED_CONFIG 90
@ -214,6 +213,12 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
#define MSP_SPECIAL_PARAMETERS 98 // Temporary betaflight parameters before cleanup and keep CF compatibility
#define MSP_SET_SPECIAL_PARAMETERS 99 // Temporary betaflight parameters before cleanup and keep CF compatibility
//
// OSD specific
//
#define MSP_OSD_VIDEO_CONFIG 180
#define MSP_SET_OSD_VIDEO_CONFIG 181
//
// Multwii original MSP commands
//
@ -274,14 +279,17 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
// #define MSP_ALARMS 242
#define MSP_EEPROM_WRITE 250 //in message no param
#define MSP_RESERVE_1 251 //reserved for system usage
#define MSP_RESERVE_2 252 //reserved for system usage
#define MSP_DEBUGMSG 253 //out message debug string buffer
#define MSP_DEBUG 254 //out message debug1,debug2,debug3,debug4
#define MSP_RESERVE_3 255 //reserved for system usage
// Additional commands that are not compatible with MultiWii
#define MSP_STATUS_EX 150 //out message cycletime, errors_count, CPU load, sensor present etc
#define MSP_UID 160 //out message Unique device ID
#define MSP_GPSSVINFO 164 //out message get Signal Strength (only U-Blox)
#define MSP_GPSSTATISTICS 166 //out message get GPS debugging data
#define MSP_ACC_TRIM 240 //out message get acc angle trim values
#define MSP_SET_ACC_TRIM 239 //in message set acc angle trim values
#define MSP_SERVO_MIX_RULES 241 //out message Returns servo mixer configuration

1
src/main/io/serial_msp.c
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@ -108,6 +108,7 @@ extern void resetPidProfile(pidProfile_t *pidProfile);
void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse, pidProfile_t *pidProfileToUse);
const char * const flightControllerIdentifier = BETAFLIGHT_IDENTIFIER; // 4 UPPER CASE alpha numeric characters that identify the flight controller.
static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
typedef struct box_e {
const uint8_t boxId; // see boxId_e