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Update MSP // Sync to Cleanflight version

This commit is contained in:
borisbstyle 2016-02-03 11:00:26 +01:00
parent 364029afec
commit 4888a3a375
3 changed files with 428 additions and 434 deletions
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590
src/main/io/serial_msp.c
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@ -23,8 +23,8 @@
#include "build_config.h"
#include "debug.h"
#include "platform.h"
#include "scheduler.h"
#include "common/axis.h"
#include "common/color.h"
@ -55,6 +55,7 @@
#include "io/serial.h"
#include "io/ledstrip.h"
#include "io/flashfs.h"
#include "io/transponder_ir.h"
#include "io/asyncfatfs/asyncfatfs.h"
#include "telemetry/telemetry.h"
@ -98,236 +99,11 @@ static serialPort_t *mspSerialPort;
extern uint16_t cycleTime; // FIXME dependency on mw.c
extern uint16_t rssi; // FIXME dependency on mw.c
extern void resetPidProfile(pidProfile_t *pidProfile);
void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse, pidProfile_t *pidProfileToUse);
/**
* MSP Guidelines, emphasis is used to clarify.
*
* Each FlightController (FC, Server) MUST change the API version when any MSP command is added, deleted, or changed.
*
* If you fork the FC source code and release your own version, you MUST change the Flight Controller Identifier.
*
* NEVER release a modified copy of this code that shares the same Flight controller IDENT and API version
* if the API doesn't match EXACTLY.
*
* Consumers of the API (API clients) SHOULD first attempt to get a response from the MSP_API_VERSION command.
* If no response is obtained then client MAY try the legacy MSP_IDENT command.
*
* API consumers should ALWAYS handle communication failures gracefully and attempt to continue
* without the information if possible. Clients MAY log/display a suitable message.
*
* API clients should NOT attempt any communication if they can't handle the returned API MAJOR VERSION.
*
* API clients SHOULD attempt communication if the API MINOR VERSION has increased from the time
* the API client was written and handle command failures gracefully. Clients MAY disable
* functionality that depends on the commands while still leaving other functionality intact.
* Clients SHOULD operate in READ-ONLY mode and SHOULD present a warning to the user to state
* that the newer API version may cause problems before using API commands that change FC state.
*
* It is for this reason that each MSP command should be specific as possible, such that changes
* to commands break as little functionality as possible.
*
* API client authors MAY use a compatibility matrix/table when determining if they can support
* a given command from a given flight controller at a given api version level.
*
* Developers MUST NOT create new MSP commands that do more than one thing.
*
* Failure to follow these guidelines will likely invoke the wrath of developers trying to write tools
* that use the API and the users of those tools.
*/
#define MSP_PROTOCOL_VERSION 0
#define API_VERSION_MAJOR 1 // increment when major changes are made
#define API_VERSION_MINOR 13 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
#define API_VERSION_LENGTH 2
#define MULTIWII_IDENTIFIER "MWII";
#define CLEANFLIGHT_IDENTIFIER "CLFL"
#define BETAFLIGHT_IDENTIFIER "BTFL"
#define BASEFLIGHT_IDENTIFIER "BAFL";
#define FLIGHT_CONTROLLER_IDENTIFIER_LENGTH 4
static const char * const flightControllerIdentifier = BETAFLIGHT_IDENTIFIER; // 4 UPPER CASE alpha numeric characters that identify the flight controller.
#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
// These are baseflight specific flags but they are useless now since MW 2.3 uses the upper 4 bits for the navigation version.
#define CAP_PLATFORM_32BIT ((uint32_t)1 << 31)
#define CAP_BASEFLIGHT_CONFIG ((uint32_t)1 << 30)
// MW 2.3 stores NAVI_VERSION in the top 4 bits of the capability mask.
#define CAP_NAVI_VERSION_BIT_4_MSB ((uint32_t)1 << 31)
#define CAP_NAVI_VERSION_BIT_3 ((uint32_t)1 << 30)
#define CAP_NAVI_VERSION_BIT_2 ((uint32_t)1 << 29)
#define CAP_NAVI_VERSION_BIT_1_LSB ((uint32_t)1 << 28)
#define CAP_DYNBALANCE ((uint32_t)1 << 2)
#define CAP_FLAPS ((uint32_t)1 << 3)
#define CAP_NAVCAP ((uint32_t)1 << 4)
#define CAP_EXTAUX ((uint32_t)1 << 5)
#define MSP_API_VERSION 1 //out message
#define MSP_FC_VARIANT 2 //out message
#define MSP_FC_VERSION 3 //out message
#define MSP_BOARD_INFO 4 //out message
#define MSP_BUILD_INFO 5 //out message
//
// MSP commands for Cleanflight original features
//
#define MSP_MODE_RANGES 34 //out message Returns all mode ranges
#define MSP_SET_MODE_RANGE 35 //in message Sets a single mode range
#define MSP_FEATURE 36
#define MSP_SET_FEATURE 37
#define MSP_BOARD_ALIGNMENT 38
#define MSP_SET_BOARD_ALIGNMENT 39
#define MSP_CURRENT_METER_CONFIG 40
#define MSP_SET_CURRENT_METER_CONFIG 41
#define MSP_MIXER 42
#define MSP_SET_MIXER 43
#define MSP_RX_CONFIG 44
#define MSP_SET_RX_CONFIG 45
#define MSP_LED_COLORS 46
#define MSP_SET_LED_COLORS 47
#define MSP_LED_STRIP_CONFIG 48
#define MSP_SET_LED_STRIP_CONFIG 49
#define MSP_RSSI_CONFIG 50
#define MSP_SET_RSSI_CONFIG 51
#define MSP_ADJUSTMENT_RANGES 52
#define MSP_SET_ADJUSTMENT_RANGE 53
// private - only to be used by the configurator, the commands are likely to change
#define MSP_CF_SERIAL_CONFIG 54
#define MSP_SET_CF_SERIAL_CONFIG 55
#define MSP_VOLTAGE_METER_CONFIG 56
#define MSP_SET_VOLTAGE_METER_CONFIG 57
#define MSP_SONAR_ALTITUDE 58 //out message get sonar altitude [cm]
#define MSP_PID_CONTROLLER 59
#define MSP_SET_PID_CONTROLLER 60
#define MSP_ARMING_CONFIG 61 //out message Returns auto_disarm_delay and disarm_kill_switch parameters
#define MSP_SET_ARMING_CONFIG 62 //in message Sets auto_disarm_delay and disarm_kill_switch parameters
#define MSP_DATAFLASH_SUMMARY 70 //out message - get description of dataflash chip
#define MSP_DATAFLASH_READ 71 //out message - get content of dataflash chip
#define MSP_DATAFLASH_ERASE 72 //in message - erase dataflash chip
#define MSP_LOOP_TIME 73 //out message Returns FC cycle time i.e looptime parameter
#define MSP_SET_LOOP_TIME 74 //in message Sets FC cycle time i.e looptime parameter
#define MSP_FAILSAFE_CONFIG 75 //out message Returns FC Fail-Safe settings
#define MSP_SET_FAILSAFE_CONFIG 76 //in message Sets FC Fail-Safe settings
#define MSP_RXFAIL_CONFIG 77 //out message Returns RXFAIL settings
#define MSP_SET_RXFAIL_CONFIG 78 //in message Sets RXFAIL settings
#define MSP_SDCARD_SUMMARY 79 //out message Get the state of the SD card
#define MSP_BLACKBOX_CONFIG 80 //out message Get blackbox settings
#define MSP_SET_BLACKBOX_CONFIG 81 //in message Set blackbox settings
//
// Baseflight MSP commands (if enabled they exist in Cleanflight)
//
#define MSP_RX_MAP 64 //out message get channel map (also returns number of channels total)
#define MSP_SET_RX_MAP 65 //in message set rx map, numchannels to set comes from MSP_RX_MAP
// FIXME - Provided for backwards compatibility with configurator code until configurator is updated.
// DEPRECATED - DO NOT USE "MSP_BF_CONFIG" and MSP_SET_BF_CONFIG. In Cleanflight, isolated commands already exist and should be used instead.
#define MSP_BF_CONFIG 66 //out message baseflight-specific settings that aren't covered elsewhere
#define MSP_SET_BF_CONFIG 67 //in message baseflight-specific settings save
#define MSP_REBOOT 68 //in message reboot settings
// DEPRECATED - Use MSP_BUILD_INFO instead
#define MSP_BF_BUILD_INFO 69 //out message build date as well as some space for future expansion
//
// Multwii original MSP commands
//
// DEPRECATED - See MSP_API_VERSION and MSP_MIXER
#define MSP_IDENT 100 //out message mixerMode + multiwii version + protocol version + capability variable
#define MSP_STATUS 101 //out message cycletime & errors_count & sensor present & box activation & current setting number
#define MSP_RAW_IMU 102 //out message 9 DOF
#define MSP_SERVO 103 //out message servos
#define MSP_MOTOR 104 //out message motors
#define MSP_RC 105 //out message rc channels and more
#define MSP_RAW_GPS 106 //out message fix, numsat, lat, lon, alt, speed, ground course
#define MSP_COMP_GPS 107 //out message distance home, direction home
#define MSP_ATTITUDE 108 //out message 2 angles 1 heading
#define MSP_ALTITUDE 109 //out message altitude, variometer
#define MSP_ANALOG 110 //out message vbat, powermetersum, rssi if available on RX
#define MSP_RC_TUNING 111 //out message rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
#define MSP_PID 112 //out message P I D coeff (9 are used currently)
#define MSP_BOX 113 //out message BOX setup (number is dependant of your setup)
#define MSP_MISC 114 //out message powermeter trig
#define MSP_MOTOR_PINS 115 //out message which pins are in use for motors & servos, for GUI
#define MSP_BOXNAMES 116 //out message the aux switch names
#define MSP_PIDNAMES 117 //out message the PID names
#define MSP_WP 118 //out message get a WP, WP# is in the payload, returns (WP#, lat, lon, alt, flags) WP#0-home, WP#16-poshold
#define MSP_BOXIDS 119 //out message get the permanent IDs associated to BOXes
#define MSP_SERVO_CONFIGURATIONS 120 //out message All servo configurations.
#define MSP_NAV_STATUS 121 //out message Returns navigation status
#define MSP_NAV_CONFIG 122 //out message Returns navigation parameters
#define MSP_PID_FLOAT 123 //out message P I D Used for Luxfloat
#define MSP_SET_RAW_RC 200 //in message 8 rc chan
#define MSP_SET_RAW_GPS 201 //in message fix, numsat, lat, lon, alt, speed
#define MSP_SET_PID 202 //in message P I D coeff (9 are used currently)
#define MSP_SET_BOX 203 //in message BOX setup (number is dependant of your setup)
#define MSP_SET_RC_TUNING 204 //in message rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID, yaw expo
#define MSP_ACC_CALIBRATION 205 //in message no param
#define MSP_MAG_CALIBRATION 206 //in message no param
#define MSP_SET_MISC 207 //in message powermeter trig + 8 free for future use
#define MSP_RESET_CONF 208 //in message no param
#define MSP_SET_WP 209 //in message sets a given WP (WP#,lat, lon, alt, flags)
#define MSP_SELECT_SETTING 210 //in message Select Setting Number (0-2)
#define MSP_SET_HEAD 211 //in message define a new heading hold direction
#define MSP_SET_SERVO_CONFIGURATION 212 //in message Servo settings
#define MSP_SET_MOTOR 214 //in message PropBalance function
#define MSP_SET_NAV_CONFIG 215 //in message Sets nav config parameters - write to the eeprom
#define MSP_SET_PID_FLOAT 216 //in message P I D used for luxfloat
// #define MSP_BIND 240 //in message no param
#define MSP_EEPROM_WRITE 250 //in message no param
#define MSP_DEBUGMSG 253 //out message debug string buffer
#define MSP_DEBUG 254 //out message debug1,debug2,debug3,debug4
// Additional commands that are not compatible with MultiWii
#define MSP_UID 160 //out message Unique device ID
#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_GPSSVINFO 164 //out message get Signal Strength (only U-Blox)
#define MSP_SERVO_MIX_RULES 241 //out message Returns servo mixer configuration
#define MSP_SET_SERVO_MIX_RULE 242 //in message Sets servo mixer configuration
#define MSP_SET_1WIRE 243 //in message Sets 1Wire paththrough
#define INBUF_SIZE 64
const char * const flightControllerIdentifier = CLEANFLIGHT_IDENTIFIER; // 4 UPPER CASE alpha numeric characters that identify the flight controller.
typedef struct box_e {
const uint8_t boxId; // see boxId_e
@ -392,16 +168,6 @@ static const char pidnames[] =
"MAG;"
"VEL;";
typedef enum {
IDLE,
HEADER_START,
HEADER_M,
HEADER_ARROW,
HEADER_SIZE,
HEADER_CMD,
COMMAND_RECEIVED
} mspState_e;
typedef enum {
MSP_SDCARD_STATE_NOT_PRESENT = 0,
MSP_SDCARD_STATE_FATAL = 1,
@ -410,28 +176,11 @@ typedef enum {
MSP_SDCARD_STATE_READY = 4
} mspSDCardState_e;
typedef enum {
UNUSED_PORT = 0,
FOR_GENERAL_MSP,
FOR_TELEMETRY
} mspPortUsage_e;
typedef struct mspPort_s {
serialPort_t *port;
uint8_t offset;
uint8_t dataSize;
uint8_t checksum;
uint8_t indRX;
uint8_t inBuf[INBUF_SIZE];
mspState_e c_state;
uint8_t cmdMSP;
mspPortUsage_e mspPortUsage;
} mspPort_t;
STATIC_UNIT_TESTED mspPort_t mspPorts[MAX_MSP_PORT_COUNT];
static mspPort_t mspPorts[MAX_MSP_PORT_COUNT];
static mspPort_t *currentPort;
static bufWriter_t *writer;
STATIC_UNIT_TESTED mspPort_t *currentPort;
STATIC_UNIT_TESTED bufWriter_t *writer;
static void serialize8(uint8_t a)
{
@ -660,12 +409,11 @@ static void serializeDataflashReadReply(uint32_t address, uint8_t size)
}
#endif
static void resetMspPort(mspPort_t *mspPortToReset, serialPort_t *serialPort, mspPortUsage_e usage)
static void resetMspPort(mspPort_t *mspPortToReset, serialPort_t *serialPort)
{
memset(mspPortToReset, 0, sizeof(mspPort_t));
mspPortToReset->port = serialPort;
mspPortToReset->mspPortUsage = usage;
}
void mspAllocateSerialPorts(serialConfig_t *serialConfig)
@ -680,14 +428,14 @@ void mspAllocateSerialPorts(serialConfig_t *serialConfig)
while (portConfig && portIndex < MAX_MSP_PORT_COUNT) {
mspPort_t *mspPort = &mspPorts[portIndex];
if (mspPort->mspPortUsage != UNUSED_PORT) {
if (mspPort->port) {
portIndex++;
continue;
}
serialPort = openSerialPort(portConfig->identifier, FUNCTION_MSP, NULL, baudRates[portConfig->msp_baudrateIndex], MODE_RXTX, SERIAL_NOT_INVERTED);
if (serialPort) {
resetMspPort(mspPort, serialPort, FOR_GENERAL_MSP);
resetMspPort(mspPort, serialPort);
portIndex++;
}
@ -723,6 +471,7 @@ void mspInit(serialConfig_t *serialConfig)
activeBoxIds[activeBoxIdCount++] = BOXAIRMODE;
activeBoxIds[activeBoxIdCount++] = BOXACROPLUS;
if (sensors(SENSOR_BARO)) {
activeBoxIds[activeBoxIdCount++] = BOXBARO;
}
@ -794,9 +543,53 @@ void mspInit(serialConfig_t *serialConfig)
#define IS_ENABLED(mask) (mask == 0 ? 0 : 1)
static uint32_t packFlightModeFlags(void)
{
uint32_t i, junk, tmp;
// Serialize the flags in the order we delivered them, ignoring BOXNAMES and BOXINDEXES
// Requires new Multiwii protocol version to fix
// It would be preferable to setting the enabled bits based on BOXINDEX.
junk = 0;
tmp = IS_ENABLED(FLIGHT_MODE(ANGLE_MODE)) << BOXANGLE |
IS_ENABLED(FLIGHT_MODE(HORIZON_MODE)) << BOXHORIZON |
IS_ENABLED(FLIGHT_MODE(BARO_MODE)) << BOXBARO |
IS_ENABLED(FLIGHT_MODE(MAG_MODE)) << BOXMAG |
IS_ENABLED(FLIGHT_MODE(HEADFREE_MODE)) << BOXHEADFREE |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXHEADADJ)) << BOXHEADADJ |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMSTAB)) << BOXCAMSTAB |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMTRIG)) << BOXCAMTRIG |
IS_ENABLED(FLIGHT_MODE(GPS_HOME_MODE)) << BOXGPSHOME |
IS_ENABLED(FLIGHT_MODE(GPS_HOLD_MODE)) << BOXGPSHOLD |
IS_ENABLED(FLIGHT_MODE(PASSTHRU_MODE)) << BOXPASSTHRU |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBEEPERON)) << BOXBEEPERON |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLEDMAX)) << BOXLEDMAX |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLEDLOW)) << BOXLEDLOW |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLLIGHTS)) << BOXLLIGHTS |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCALIB)) << BOXCALIB |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGOV)) << BOXGOV |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXOSD)) << BOXOSD |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXTELEMETRY)) << BOXTELEMETRY |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGTUNE)) << BOXGTUNE |
IS_ENABLED(FLIGHT_MODE(SONAR_MODE)) << BOXSONAR |
IS_ENABLED(ARMING_FLAG(ARMED)) << BOXARM |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBLACKBOX)) << BOXBLACKBOX |
IS_ENABLED(FLIGHT_MODE(FAILSAFE_MODE)) << BOXFAILSAFE |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAIRMODE)) << BOXAIRMODE |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXACROPLUS)) << BOXACROPLUS;
for (i = 0; i < activeBoxIdCount; i++) {
int flag = (tmp & (1 << activeBoxIds[i]));
if (flag)
junk |= 1 << i;
}
return junk;
}
static bool processOutCommand(uint8_t cmdMSP)
{
uint32_t i, tmp, junk;
uint32_t i;
#ifdef GPS
uint8_t wp_no;
@ -839,7 +632,7 @@ static bool processOutCommand(uint8_t cmdMSP)
for (i = 0; i < BOARD_IDENTIFIER_LENGTH; i++) {
serialize8(boardIdentifier[i]);
}
#ifdef USE_HARDWARE_REVISION_DETECTION
#ifdef NAZE
serialize16(hardwareRevision);
#else
serialize16(0); // No other build targets currently have hardware revision detection.
@ -874,6 +667,20 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize32(CAP_DYNBALANCE); // "capability"
break;
case MSP_STATUS_EX:
headSerialReply(12);
serialize16(cycleTime);
#ifdef USE_I2C
serialize16(i2cGetErrorCounter());
#else
serialize16(0);
#endif
serialize16(sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4);
serialize32(packFlightModeFlags());
serialize8(masterConfig.current_profile_index);
//serialize16(averageSystemLoadPercent);
break;
case MSP_STATUS:
headSerialReply(11);
serialize16(cycleTime);
@ -883,41 +690,7 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize16(0);
#endif
serialize16(sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4);
// Serialize the flags in the order we delivered them, ignoring BOXNAMES and BOXINDEXES
// Requires new Multiwii protocol version to fix
// It would be preferable to setting the enabled bits based on BOXINDEX.
junk = 0;
tmp = IS_ENABLED(FLIGHT_MODE(ANGLE_MODE)) << BOXANGLE |
IS_ENABLED(FLIGHT_MODE(HORIZON_MODE)) << BOXHORIZON |
IS_ENABLED(FLIGHT_MODE(BARO_MODE)) << BOXBARO |
IS_ENABLED(FLIGHT_MODE(MAG_MODE)) << BOXMAG |
IS_ENABLED(FLIGHT_MODE(HEADFREE_MODE)) << BOXHEADFREE |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXHEADADJ)) << BOXHEADADJ |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMSTAB)) << BOXCAMSTAB |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMTRIG)) << BOXCAMTRIG |
IS_ENABLED(FLIGHT_MODE(GPS_HOME_MODE)) << BOXGPSHOME |
IS_ENABLED(FLIGHT_MODE(GPS_HOLD_MODE)) << BOXGPSHOLD |
IS_ENABLED(FLIGHT_MODE(PASSTHRU_MODE)) << BOXPASSTHRU |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBEEPERON)) << BOXBEEPERON |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLEDMAX)) << BOXLEDMAX |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLEDLOW)) << BOXLEDLOW |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLLIGHTS)) << BOXLLIGHTS |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCALIB)) << BOXCALIB |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGOV)) << BOXGOV |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXOSD)) << BOXOSD |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXTELEMETRY)) << BOXTELEMETRY |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGTUNE)) << BOXGTUNE |
IS_ENABLED(FLIGHT_MODE(SONAR_MODE)) << BOXSONAR |
IS_ENABLED(ARMING_FLAG(ARMED)) << BOXARM |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBLACKBOX)) << BOXBLACKBOX |
IS_ENABLED(FLIGHT_MODE(FAILSAFE_MODE)) << BOXFAILSAFE |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAIRMODE)) << BOXAIRMODE;
for (i = 0; i < activeBoxIdCount; i++) {
int flag = (tmp & (1 << activeBoxIds[i]));
if (flag)
junk |= 1 << i;
}
serialize32(junk);
serialize32(packFlightModeFlags());
serialize8(masterConfig.current_profile_index);
break;
case MSP_RAW_IMU:
@ -1053,26 +826,6 @@ static bool processOutCommand(uint8_t cmdMSP)
}
}
break;
case MSP_PID_FLOAT:
headSerialReply(3 * PID_ITEM_COUNT * 2);
for (i = 0; i < 3; i++) {
serialize16(lrintf(currentProfile->pidProfile.P_f[i] * 1000.0f));
serialize16(lrintf(currentProfile->pidProfile.I_f[i] * 1000.0f));
serialize16(lrintf(currentProfile->pidProfile.D_f[i] * 1000.0f));
}
for (i = 3; i < PID_ITEM_COUNT; i++) {
if (i == PIDLEVEL) {
serialize16(lrintf(currentProfile->pidProfile.A_level * 1000.0f));
serialize16(lrintf(currentProfile->pidProfile.H_level * 1000.0f));
serialize16(currentProfile->pidProfile.H_sensitivity);
}
else {
serialize16(currentProfile->pidProfile.P8[i]);
serialize16(currentProfile->pidProfile.I8[i]);
serialize16(currentProfile->pidProfile.D8[i]);
}
}
break;
case MSP_PIDNAMES:
headSerialReply(sizeof(pidnames) - 1);
serializeNames(pidnames);
@ -1276,10 +1029,13 @@ static bool processOutCommand(uint8_t cmdMSP)
break;
case MSP_FAILSAFE_CONFIG:
headSerialReply(4);
headSerialReply(8);
serialize8(masterConfig.failsafeConfig.failsafe_delay);
serialize8(masterConfig.failsafeConfig.failsafe_off_delay);
serialize16(masterConfig.failsafeConfig.failsafe_throttle);
serialize8(masterConfig.failsafeConfig.failsafe_kill_switch);
serialize16(masterConfig.failsafeConfig.failsafe_throttle_low_delay);
serialize8(1);
break;
case MSP_RXFAIL_CONFIG:
@ -1392,6 +1148,21 @@ static bool processOutCommand(uint8_t cmdMSP)
serializeSDCardSummaryReply();
break;
case MSP_TRANSPONDER_CONFIG:
#ifdef TRANSPONDER
headSerialReply(1 + sizeof(masterConfig.transponderData));
serialize8(1); //Transponder supported
for (i = 0; i < sizeof(masterConfig.transponderData); i++) {
serialize8(masterConfig.transponderData[i]);
}
#else
headSerialReply(1);
serialize8(0); // Transponder not supported
#endif
break;
case MSP_BF_BUILD_INFO:
headSerialReply(11 + 4 + 4);
for (i = 0; i < 11; i++)
@ -1400,6 +1171,27 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize32(0); // future exp
break;
case MSP_3D:
headSerialReply(2 * 4);
serialize16(masterConfig.flight3DConfig.deadband3d_low);
serialize16(masterConfig.flight3DConfig.deadband3d_high);
serialize16(masterConfig.flight3DConfig.neutral3d);
serialize16(masterConfig.flight3DConfig.deadband3d_throttle);
break;
case MSP_RC_DEADBAND:
headSerialReply(3);
serialize8(currentProfile->rcControlsConfig.deadband);
serialize8(currentProfile->rcControlsConfig.yaw_deadband);
serialize8(currentProfile->rcControlsConfig.alt_hold_deadband);
break;
case MSP_SENSOR_ALIGNMENT:
headSerialReply(3);
serialize8(masterConfig.sensorAlignmentConfig.gyro_align);
serialize8(masterConfig.sensorAlignmentConfig.acc_align);
serialize8(masterConfig.sensorAlignmentConfig.mag_align);
break;
default:
return false;
}
@ -1455,9 +1247,10 @@ static bool processInCommand(void)
masterConfig.disarm_kill_switch = read8();
break;
case MSP_SET_LOOP_TIME:
read16();
break;
case MSP_SET_PID_CONTROLLER:
currentProfile->pidProfile.pidController = constrain(read8(), 1, 2); // Temporary configurator compatibility
currentProfile->pidProfile.pidController = constrain(read8(), 1, 2);
pidSetController(currentProfile->pidProfile.pidController);
break;
case MSP_SET_PID:
@ -1486,25 +1279,6 @@ static bool processInCommand(void)
}
}
break;
case MSP_SET_PID_FLOAT:
for (i = 0; i < 3; i++) {
currentProfile->pidProfile.P_f[i] = (float)read16() / 1000.0f;
currentProfile->pidProfile.I_f[i] = (float)read16() / 1000.0f;
currentProfile->pidProfile.D_f[i] = (float)read16() / 1000.0f;
}
for (i = 3; i < PID_ITEM_COUNT; i++) {
if (i == PIDLEVEL) {
currentProfile->pidProfile.A_level = (float)read16() / 1000.0f;
currentProfile->pidProfile.H_level = (float)read16() / 1000.0f;
currentProfile->pidProfile.H_sensitivity = read16();
}
else {
currentProfile->pidProfile.P8[i] = read16();
currentProfile->pidProfile.I8[i] = read16();
currentProfile->pidProfile.D8[i] = read16();
}
}
break;
case MSP_SET_MODE_RANGE:
i = read8();
if (i < MAX_MODE_ACTIVATION_CONDITION_COUNT) {
@ -1640,6 +1414,29 @@ static bool processInCommand(void)
#endif
break;
case MSP_SET_3D:
masterConfig.flight3DConfig.deadband3d_low = read16();
masterConfig.flight3DConfig.deadband3d_high = read16();
masterConfig.flight3DConfig.neutral3d = read16();
masterConfig.flight3DConfig.deadband3d_throttle = read16();
break;
case MSP_SET_RC_DEADBAND:
currentProfile->rcControlsConfig.deadband = read8();
currentProfile->rcControlsConfig.yaw_deadband = read8();
currentProfile->rcControlsConfig.alt_hold_deadband = read8();
break;
case MSP_SET_RESET_CURR_PID:
//resetPidProfile(&currentProfile->pidProfile);
break;
case MSP_SET_SENSOR_ALIGNMENT:
masterConfig.sensorAlignmentConfig.gyro_align = read8();
masterConfig.sensorAlignmentConfig.acc_align = read8();
masterConfig.sensorAlignmentConfig.mag_align = read8();
break;
case MSP_RESET_CONF:
if (!ARMING_FLAG(ARMED)) {
resetEEPROM();
@ -1674,6 +1471,21 @@ static bool processInCommand(void)
break;
#endif
#ifdef TRANSPONDER
case MSP_SET_TRANSPONDER_CONFIG:
if (currentPort->dataSize != sizeof(masterConfig.transponderData)) {
headSerialError(0);
break;
}
for (i = 0; i < sizeof(masterConfig.transponderData); i++) {
masterConfig.transponderData[i] = read8();
}
transponderUpdateData(masterConfig.transponderData);
break;
#endif
#ifdef USE_FLASHFS
case MSP_DATAFLASH_ERASE:
flashfsEraseCompletely();
@ -1766,19 +1578,19 @@ static bool processInCommand(void)
masterConfig.failsafeConfig.failsafe_delay = read8();
masterConfig.failsafeConfig.failsafe_off_delay = read8();
masterConfig.failsafeConfig.failsafe_throttle = read16();
masterConfig.failsafeConfig.failsafe_kill_switch = read8();
masterConfig.failsafeConfig.failsafe_throttle_low_delay = read16();
//masterConfig.failsafeConfig.failsafe_procedure = read8();
read8();
break;
case MSP_SET_RXFAIL_CONFIG:
{
uint8_t channelCount = currentPort->dataSize / 3;
if (channelCount > MAX_SUPPORTED_RC_CHANNEL_COUNT) {
headSerialError(0);
} else {
for (i = 0; i < channelCount; i++) {
i = read8();
if (i < MAX_SUPPORTED_RC_CHANNEL_COUNT) {
masterConfig.rxConfig.failsafe_channel_configurations[i].mode = read8();
masterConfig.rxConfig.failsafe_channel_configurations[i].step = CHANNEL_VALUE_TO_RXFAIL_STEP(read16());
}
}
} else {
headSerialError(0);
}
break;
@ -1958,7 +1770,7 @@ static bool processInCommand(void)
return true;
}
static void mspProcessReceivedCommand() {
STATIC_UNIT_TESTED void mspProcessReceivedCommand() {
if (!(processOutCommand(currentPort->cmdMSP) || processInCommand())) {
headSerialError(0);
}
@ -1979,7 +1791,7 @@ static bool mspProcessReceivedData(uint8_t c)
} else if (currentPort->c_state == HEADER_M) {
currentPort->c_state = (c == '<') ? HEADER_ARROW : IDLE;
} else if (currentPort->c_state == HEADER_ARROW) {
if (c > INBUF_SIZE) {
if (c > MSP_PORT_INBUF_SIZE) {
currentPort->c_state = IDLE;
} else {
@ -2007,7 +1819,7 @@ static bool mspProcessReceivedData(uint8_t c)
return true;
}
static void setCurrentPort(mspPort_t *port)
STATIC_UNIT_TESTED void setCurrentPort(mspPort_t *port)
{
currentPort = port;
mspSerialPort = currentPort->port;
@ -2020,7 +1832,7 @@ void mspProcess(void)
for (portIndex = 0; portIndex < MAX_MSP_PORT_COUNT; portIndex++) {
candidatePort = &mspPorts[portIndex];
if (candidatePort->mspPortUsage != FOR_GENERAL_MSP) {
if (!candidatePort->port) {
continue;
}
@ -2055,77 +1867,3 @@ void mspProcess(void)
}
}
}
static const uint8_t mspTelemetryCommandSequence[] = {
MSP_BOXNAMES, // repeat boxnames, in case the first transmission was lost or never received.
MSP_STATUS,
MSP_IDENT,
MSP_RAW_IMU,
MSP_ALTITUDE,
MSP_RAW_GPS,
MSP_RC,
MSP_MOTOR_PINS,
MSP_ATTITUDE,
MSP_SERVO
};
#define TELEMETRY_MSP_COMMAND_SEQUENCE_ENTRY_COUNT (sizeof(mspTelemetryCommandSequence) / sizeof(mspTelemetryCommandSequence[0]))
static mspPort_t *mspTelemetryPort = NULL;
void mspSetTelemetryPort(serialPort_t *serialPort)
{
uint8_t portIndex;
mspPort_t *candidatePort = NULL;
mspPort_t *matchedPort = NULL;
// find existing telemetry port
for (portIndex = 0; portIndex < MAX_MSP_PORT_COUNT; portIndex++) {
candidatePort = &mspPorts[portIndex];
if (candidatePort->mspPortUsage == FOR_TELEMETRY) {
matchedPort = candidatePort;
break;
}
}
if (!matchedPort) {
// find unused port
for (portIndex = 0; portIndex < MAX_MSP_PORT_COUNT; portIndex++) {
candidatePort = &mspPorts[portIndex];
if (candidatePort->mspPortUsage == UNUSED_PORT) {
matchedPort = candidatePort;
break;
}
}
}
mspTelemetryPort = matchedPort;
if (!mspTelemetryPort) {
return;
}
resetMspPort(mspTelemetryPort, serialPort, FOR_TELEMETRY);
}
void sendMspTelemetry(void)
{
static uint32_t sequenceIndex = 0;
if (!mspTelemetryPort) {
return;
}
setCurrentPort(mspTelemetryPort);
uint8_t buf[sizeof(bufWriter_t) + 16];
writer = bufWriterInit(buf, sizeof(buf),
(bufWrite_t)serialWriteBufShim, currentPort->port);
processOutCommand(mspTelemetryCommandSequence[sequenceIndex]);
tailSerialReply();
bufWriterFlush(writer);
sequenceIndex++;
if (sequenceIndex >= TELEMETRY_MSP_COMMAND_SEQUENCE_ENTRY_COUNT) {
sequenceIndex = 0;
}
}

262
src/main/io/serial_msp.h
View File

@ -20,13 +20,269 @@
#include "io/serial.h"
#include "drivers/serial.h"
/**
* MSP Guidelines, emphasis is used to clarify.
*
* Each FlightController (FC, Server) MUST change the API version when any MSP command is added, deleted, or changed.
*
* If you fork the FC source code and release your own version, you MUST change the Flight Controller Identifier.
*
* NEVER release a modified copy of this code that shares the same Flight controller IDENT and API version
* if the API doesn't match EXACTLY.
*
* Consumers of the API (API clients) SHOULD first attempt to get a response from the MSP_API_VERSION command.
* If no response is obtained then client MAY try the legacy MSP_IDENT command.
*
* API consumers should ALWAYS handle communication failures gracefully and attempt to continue
* without the information if possible. Clients MAY log/display a suitable message.
*
* API clients should NOT attempt any communication if they can't handle the returned API MAJOR VERSION.
*
* API clients SHOULD attempt communication if the API MINOR VERSION has increased from the time
* the API client was written and handle command failures gracefully. Clients MAY disable
* functionality that depends on the commands while still leaving other functionality intact.
* Clients SHOULD operate in READ-ONLY mode and SHOULD present a warning to the user to state
* that the newer API version may cause problems before using API commands that change FC state.
*
* It is for this reason that each MSP command should be specific as possible, such that changes
* to commands break as little client functionality as possible.
*
* API client authors MAY use a compatibility matrix/table when determining if they can support
* a given command from a given flight controller at a given api version level.
*
* Developers MUST NOT create new MSP commands that do more than one thing.
*
* Failure to follow these guidelines will likely invoke the wrath of developers trying to write tools
* that use the API and the users of those tools.
*/
#define MSP_PROTOCOL_VERSION 0
#define API_VERSION_MAJOR 1 // increment when major changes are made
#define API_VERSION_MINOR 16 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
#define API_VERSION_LENGTH 2
#define MULTIWII_IDENTIFIER "MWII";
#define CLEANFLIGHT_IDENTIFIER "CLFL"
#define BETAFLIGHT_IDENTIFIER "BTFL"
#define BASEFLIGHT_IDENTIFIER "BAFL";
#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
// These are baseflight specific flags but they are useless now since MW 2.3 uses the upper 4 bits for the navigation version.
#define CAP_PLATFORM_32BIT ((uint32_t)1 << 31)
#define CAP_BASEFLIGHT_CONFIG ((uint32_t)1 << 30)
// MW 2.3 stores NAVI_VERSION in the top 4 bits of the capability mask.
#define CAP_NAVI_VERSION_BIT_4_MSB ((uint32_t)1 << 31)
#define CAP_NAVI_VERSION_BIT_3 ((uint32_t)1 << 30)
#define CAP_NAVI_VERSION_BIT_2 ((uint32_t)1 << 29)
#define CAP_NAVI_VERSION_BIT_1_LSB ((uint32_t)1 << 28)
#define CAP_DYNBALANCE ((uint32_t)1 << 2)
#define CAP_FLAPS ((uint32_t)1 << 3)
#define CAP_NAVCAP ((uint32_t)1 << 4)
#define CAP_EXTAUX ((uint32_t)1 << 5)
#define MSP_API_VERSION 1 //out message
#define MSP_FC_VARIANT 2 //out message
#define MSP_FC_VERSION 3 //out message
#define MSP_BOARD_INFO 4 //out message
#define MSP_BUILD_INFO 5 //out message
//
// MSP commands for Cleanflight original features
//
#define MSP_MODE_RANGES 34 //out message Returns all mode ranges
#define MSP_SET_MODE_RANGE 35 //in message Sets a single mode range
#define MSP_FEATURE 36
#define MSP_SET_FEATURE 37
#define MSP_BOARD_ALIGNMENT 38
#define MSP_SET_BOARD_ALIGNMENT 39
#define MSP_CURRENT_METER_CONFIG 40
#define MSP_SET_CURRENT_METER_CONFIG 41
#define MSP_MIXER 42
#define MSP_SET_MIXER 43
#define MSP_RX_CONFIG 44
#define MSP_SET_RX_CONFIG 45
#define MSP_LED_COLORS 46
#define MSP_SET_LED_COLORS 47
#define MSP_LED_STRIP_CONFIG 48
#define MSP_SET_LED_STRIP_CONFIG 49
#define MSP_RSSI_CONFIG 50
#define MSP_SET_RSSI_CONFIG 51
#define MSP_ADJUSTMENT_RANGES 52
#define MSP_SET_ADJUSTMENT_RANGE 53
// private - only to be used by the configurator, the commands are likely to change
#define MSP_CF_SERIAL_CONFIG 54
#define MSP_SET_CF_SERIAL_CONFIG 55
#define MSP_VOLTAGE_METER_CONFIG 56
#define MSP_SET_VOLTAGE_METER_CONFIG 57
#define MSP_SONAR_ALTITUDE 58 //out message get sonar altitude [cm]
#define MSP_PID_CONTROLLER 59
#define MSP_SET_PID_CONTROLLER 60
#define MSP_ARMING_CONFIG 61 //out message Returns auto_disarm_delay and disarm_kill_switch parameters
#define MSP_SET_ARMING_CONFIG 62 //in message Sets auto_disarm_delay and disarm_kill_switch parameters
#define MSP_DATAFLASH_SUMMARY 70 //out message - get description of dataflash chip
#define MSP_DATAFLASH_READ 71 //out message - get content of dataflash chip
#define MSP_DATAFLASH_ERASE 72 //in message - erase dataflash chip
#define MSP_LOOP_TIME 73 //out message Returns FC cycle time i.e looptime parameter
#define MSP_SET_LOOP_TIME 74 //in message Sets FC cycle time i.e looptime parameter
#define MSP_FAILSAFE_CONFIG 75 //out message Returns FC Fail-Safe settings
#define MSP_SET_FAILSAFE_CONFIG 76 //in message Sets FC Fail-Safe settings
#define MSP_RXFAIL_CONFIG 77 //out message Returns RXFAIL settings
#define MSP_SET_RXFAIL_CONFIG 78 //in message Sets RXFAIL settings
#define MSP_SDCARD_SUMMARY 79 //out message Get the state of the SD card
#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
//
// Baseflight MSP commands (if enabled they exist in Cleanflight)
//
#define MSP_RX_MAP 64 //out message get channel map (also returns number of channels total)
#define MSP_SET_RX_MAP 65 //in message set rx map, numchannels to set comes from MSP_RX_MAP
// FIXME - Provided for backwards compatibility with configurator code until configurator is updated.
// DEPRECATED - DO NOT USE "MSP_BF_CONFIG" and MSP_SET_BF_CONFIG. In Cleanflight, isolated commands already exist and should be used instead.
#define MSP_BF_CONFIG 66 //out message baseflight-specific settings that aren't covered elsewhere
#define MSP_SET_BF_CONFIG 67 //in message baseflight-specific settings save
#define MSP_REBOOT 68 //in message reboot settings
// DEPRECATED - Use MSP_BUILD_INFO instead
#define MSP_BF_BUILD_INFO 69 //out message build date as well as some space for future expansion
//
// Multwii original MSP commands
//
// DEPRECATED - See MSP_API_VERSION and MSP_MIXER
#define MSP_IDENT 100 //out message mixerMode + multiwii version + protocol version + capability variable
#define MSP_STATUS 101 //out message cycletime & errors_count & sensor present & box activation & current setting number
#define MSP_RAW_IMU 102 //out message 9 DOF
#define MSP_SERVO 103 //out message servos
#define MSP_MOTOR 104 //out message motors
#define MSP_RC 105 //out message rc channels and more
#define MSP_RAW_GPS 106 //out message fix, numsat, lat, lon, alt, speed, ground course
#define MSP_COMP_GPS 107 //out message distance home, direction home
#define MSP_ATTITUDE 108 //out message 2 angles 1 heading
#define MSP_ALTITUDE 109 //out message altitude, variometer
#define MSP_ANALOG 110 //out message vbat, powermetersum, rssi if available on RX
#define MSP_RC_TUNING 111 //out message rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
#define MSP_PID 112 //out message P I D coeff (9 are used currently)
#define MSP_BOX 113 //out message BOX setup (number is dependant of your setup)
#define MSP_MISC 114 //out message powermeter trig
#define MSP_MOTOR_PINS 115 //out message which pins are in use for motors & servos, for GUI
#define MSP_BOXNAMES 116 //out message the aux switch names
#define MSP_PIDNAMES 117 //out message the PID names
#define MSP_WP 118 //out message get a WP, WP# is in the payload, returns (WP#, lat, lon, alt, flags) WP#0-home, WP#16-poshold
#define MSP_BOXIDS 119 //out message get the permanent IDs associated to BOXes
#define MSP_SERVO_CONFIGURATIONS 120 //out message All servo configurations.
#define MSP_NAV_STATUS 121 //out message Returns navigation status
#define MSP_NAV_CONFIG 122 //out message Returns navigation parameters
#define MSP_3D 124 //out message Settings needed for reversible ESCs
#define MSP_RC_DEADBAND 125 //out message deadbands for yaw alt pitch roll
#define MSP_SENSOR_ALIGNMENT 126 //out message orientation of acc,gyro,mag
#define MSP_SET_RAW_RC 200 //in message 8 rc chan
#define MSP_SET_RAW_GPS 201 //in message fix, numsat, lat, lon, alt, speed
#define MSP_SET_PID 202 //in message P I D coeff (9 are used currently)
#define MSP_SET_BOX 203 //in message BOX setup (number is dependant of your setup)
#define MSP_SET_RC_TUNING 204 //in message rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID, yaw expo
#define MSP_ACC_CALIBRATION 205 //in message no param
#define MSP_MAG_CALIBRATION 206 //in message no param
#define MSP_SET_MISC 207 //in message powermeter trig + 8 free for future use
#define MSP_RESET_CONF 208 //in message no param
#define MSP_SET_WP 209 //in message sets a given WP (WP#,lat, lon, alt, flags)
#define MSP_SELECT_SETTING 210 //in message Select Setting Number (0-2)
#define MSP_SET_HEAD 211 //in message define a new heading hold direction
#define MSP_SET_SERVO_CONFIGURATION 212 //in message Servo settings
#define MSP_SET_MOTOR 214 //in message PropBalance function
#define MSP_SET_NAV_CONFIG 215 //in message Sets nav config parameters - write to the eeprom
#define MSP_SET_3D 217 //in message Settings needed for reversible ESCs
#define MSP_SET_RC_DEADBAND 218 //in message deadbands for yaw alt pitch roll
#define MSP_SET_RESET_CURR_PID 219 //in message resetting the current pid profile to defaults
#define MSP_SET_SENSOR_ALIGNMENT 220 //in message set the orientation of the acc,gyro,mag
// #define MSP_BIND 240 //in message no param
// #define MSP_ALARMS 242
#define MSP_EEPROM_WRITE 250 //in message no param
#define MSP_DEBUGMSG 253 //out message debug string buffer
#define MSP_DEBUG 254 //out message debug1,debug2,debug3,debug4
// 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_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
#define MSP_SET_SERVO_MIX_RULE 242 //in message Sets servo mixer configuration
#define MSP_SET_1WIRE 243 //in message Sets 1Wire paththrough
// Each MSP port requires state and a receive buffer, revisit this default if someone needs more than 2 MSP ports.
#define MAX_MSP_PORT_COUNT 2
void mspInit(serialConfig_t *serialConfig);
typedef enum {
IDLE,
HEADER_START,
HEADER_M,
HEADER_ARROW,
HEADER_SIZE,
HEADER_CMD,
COMMAND_RECEIVED
} mspState_e;
#define MSP_PORT_INBUF_SIZE 64
typedef struct mspPort_s {
serialPort_t *port; // null when port unused.
uint8_t offset;
uint8_t dataSize;
uint8_t checksum;
uint8_t indRX;
uint8_t inBuf[MSP_PORT_INBUF_SIZE];
mspState_e c_state;
uint8_t cmdMSP;
} mspPort_t;
void mspInit(serialConfig_t *serialConfig);
void mspProcess(void);
void sendMspTelemetry(void);
void mspSetTelemetryPort(serialPort_t *mspTelemetryPort);
void mspAllocateSerialPorts(serialConfig_t *serialConfig);
void mspReleasePortIfAllocated(serialPort_t *serialPort);

4
src/main/telemetry/msp.c
View File

@ -79,7 +79,7 @@ void handleMSPTelemetry(void)
return;
}
sendMspTelemetry();
//sendMspTelemetry(); TODO - Cleanup / fix
}
void freeMSPTelemetryPort(void)
@ -106,7 +106,7 @@ void configureMSPTelemetryPort(void)
if (!mspTelemetryPort) {
return;
}
mspSetTelemetryPort(mspTelemetryPort);
//mspSetTelemetryPort(mspTelemetryPort); TODO - Cleanup / Fix
mspTelemetryEnabled = true;
}