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Add MSP_API_VERSION command. Added MSP development guidelines. Define 

board identifiers for all cleanflight targets.
This commit is contained in:
Dominic Clifton 2014-10-17 22:34:15 +01:00
parent 4f96e3c20e
commit 596d798732
12 changed files with 184 additions and 17 deletions
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2
src/main/io/serial_cli.c
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@ -1219,7 +1219,7 @@ static void cliVersion(char *cmdline)
{
UNUSED(cmdline);
printf("Cleanflight/%s " __DATE__ " / " __TIME__ " (%s)", targetName, shortGitRevision);
printf("Cleanflight/%s %s / %s (%s)", targetName, buildDate, buildTime, shortGitRevision);
}
void cliProcess(void)

171
src/main/io/serial_msp.c
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@ -64,6 +64,9 @@
#include "config/config_master.h"
#include "version.h"
#ifdef NAZE
#include "hardware_revision.h"
#endif
#include "serial_msp.h"
@ -73,16 +76,97 @@ extern uint16_t cycleTime; // FIXME dependency on mw.c
extern uint16_t rssi; // FIXME dependency on mw.c
extern int16_t debug[4]; // FIXME dependency on mw.c
// Multiwii Serial Protocol 0
#define MSP_VERSION 0
/**
* 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 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 version may cause problems before using API command 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 that 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 0 // 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 BASEFLIGHT_IDENTIFIER "BAFL";
#define FLIGHT_CONTROLLER_IDENTIFIER_LENGTH 4
static const char *flightControllerIdentifier = CLEANFLIGHT_IDENTIFIER; // 4 UPPER CASE alpha numeric characters that identify the flight controller.
#define FLIGHT_CONTROLLER_VERSION_LENGTH 3
#define FLIGHT_CONTROLLER_VERSION_MASK 0xFFF
const char *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)
#define CAP_CLEANFLIGHT_CONFIG ((uint32_t)1 << 29)
// 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_CHANNEL_FORWARDING ((uint32_t)1 << 4)
#define CAP_NAVCAP ((uint32_t)1 << 4)
#define CAP_EXTAUX ((uint32_t)1 << 5)
/**
* Returns MSP protocol version
* API version
* Flight Controller Identifier
* Flight Controller build version (major, minor, patchlevel)
* Board Identifier
* Board Hardware Revision
* Build Date - "MMM DD YYYY" MMM = Jan/Feb/...
* Build Time - "HH:MM:SS"
* SCM reference length
* SCM reference (git revision, svn commit id)
* Additional FC information length
* Additional FC information (as decided by the FC, for FC specific tools to use as required)
**/
#define MSP_API_VERSION 1 //out message
//
// MSP commands for Cleanflight original features
//
#define MSP_CHANNEL_FORWARDING 32 //out message Returns channel forwarding settings
#define MSP_SET_CHANNEL_FORWARDING 33 //in message Channel forwarding settings
@ -113,8 +197,9 @@ extern int16_t debug[4]; // FIXME dependency on mw.c
#define MSP_RSSI_CONFIG 50
#define MSP_SET_RSSI_CONFIG 51
//
// 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
@ -123,10 +208,18 @@ extern int16_t debug[4]; // FIXME dependency on mw.c
//#define MSP_SET_CONFIG 67 //in message baseflight-specific settings save
#define MSP_REBOOT 68 //in message reboot settings
#define MSP_BUILD_INFO 69 //out message build date as well as some space for future expansion
// DEPRECATED - Use MSP_API_VERSION instead
//#define MSP_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 multitype + 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 8 servos
@ -538,20 +631,68 @@ static bool processOutCommand(uint8_t cmdMSP)
#endif
switch (cmdMSP) {
case MSP_API_VERSION:
// the components of this command are in an order such that future changes could be made to it without breaking clients.
// i.e. most important first.
headSerialReply(
1 + // protocol version length
API_VERSION_LENGTH +
FLIGHT_CONTROLLER_IDENTIFIER_LENGTH +
FLIGHT_CONTROLLER_VERSION_LENGTH +
BOARD_IDENTIFIER_LENGTH +
BOARD_HARDWARE_REVISION_LENGTH +
BUILD_DATE_LENGTH +
BUILD_TIME_LENGTH +
1 + // scm reference length
GIT_SHORT_REVISION_LENGTH +
1 // additional FC specific length
// no addition FC specific data yet.
);
serialize8(MSP_PROTOCOL_VERSION);
serialize8(API_VERSION_MAJOR);
serialize8(API_VERSION_MINOR);
for (i = 0; i < FLIGHT_CONTROLLER_IDENTIFIER_LENGTH; i++) {
serialize8(flightControllerIdentifier[i]);
}
serialize8(FC_VERSION_MAJOR);
serialize8(FC_VERSION_MINOR);
serialize8(FC_VERSION_PATCH_LEVEL);
for (i = 0; i < BOARD_IDENTIFIER_LENGTH; i++) {
serialize8(boardIdentifier[i]);
}
#ifdef NAZE
serialize16(hardwareRevision);
#else
serialize16(0); // No other build targets currently have hardware revision detection.
#endif
for (i = 0; i < BUILD_DATE_LENGTH; i++) {
serialize8(buildDate[i]);
}
for (i = 0; i < BUILD_TIME_LENGTH; i++) {
serialize8(buildTime[i]);
}
serialize8(GIT_SHORT_REVISION_LENGTH);
for (i = 0; i < GIT_SHORT_REVISION_LENGTH; i++) {
serialize8(shortGitRevision[i]);
}
serialize8(0); // No flight controller specific information to follow.
break;
// DEPRECATED - Use MSP_API_VERSION
case MSP_IDENT:
headSerialReply(7);
serialize8(MW_VERSION);
serialize8(masterConfig.mixerConfiguration); // type of multicopter
serialize8(MSP_VERSION); // MultiWii Serial Protocol Version
serialize32(CAP_PLATFORM_32BIT | CAP_CLEANFLIGHT_CONFIG | CAP_DYNBALANCE | (masterConfig.airplaneConfig.flaps_speed ? CAP_FLAPS : 0) | CAP_CHANNEL_FORWARDING); // "capability"
break;
case MSP_BUILD_INFO:
headSerialReply(BUILD_DATE_LENGTH + (sizeof(uint32_t) * 2));
for (i = 0; i < BUILD_DATE_LENGTH; i++)
serialize8(buildDate[i]);
serialize32(0); // future exp
serialize32(0); // future exp
serialize8(MSP_PROTOCOL_VERSION);
serialize32(CAP_DYNBALANCE | (masterConfig.airplaneConfig.flaps_speed ? CAP_FLAPS : 0)); // "capability"
break;
case MSP_STATUS:
headSerialReply(11);
serialize16(cycleTime);

2
src/main/target/CC3D/target.h
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@ -15,6 +15,8 @@
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#define TARGET_BOARD_IDENTIFIER "CC3D" // CopterControl 3D
#define LED0_GPIO GPIOB
#define LED0_PIN Pin_3 // PB3 (LED)
#define LED0_PERIPHERAL RCC_APB2Periph_GPIOB

2
src/main/target/CHEBUZZF3/target.h
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@ -17,6 +17,8 @@
#pragma once
#define TARGET_BOARD_IDENTIFIER "CHF3" // Chebuzz F3
#define LED0_GPIO GPIOE
#define LED0_PIN Pin_8|Pin_12 // Blue LEDs - PE8/PE12
#define LED0_PERIPHERAL RCC_AHBPeriph_GPIOE

2
src/main/target/CJMCU/target.h
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@ -17,6 +17,8 @@
#pragma once
#define TARGET_BOARD_IDENTIFIER "CJM1" // CJMCU
#define FLASH_PAGE_COUNT 64
#define FLASH_PAGE_SIZE ((uint16_t)0x400)

2
src/main/target/EUSTM32F103RC/target.h
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@ -17,6 +17,8 @@
#pragma once
#define TARGET_BOARD_IDENTIFIER "EUF1"
#define MPU6000_CS_GPIO GPIOB
#define MPU6000_CS_PIN GPIO_Pin_12
#define MPU6000_SPI_INSTANCE SPI2

2
src/main/target/NAZE/target.h
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@ -17,6 +17,8 @@
#pragma once
#define TARGET_BOARD_IDENTIFIER "AFNA" // AFroNAze - NAZE might be considerd misleading on Naze clones like the flip32.
#define LED0_GPIO GPIOB
#define LED0_PIN Pin_3 // PB3 (LED)
#define LED0_PERIPHERAL RCC_APB2Periph_GPIOB

2
src/main/target/NAZE32PRO/target.h
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@ -15,6 +15,8 @@
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#define TARGET_BOARD_IDENTIFIER "AFF3" // AFro F3
#pragma once
#define LED0_GPIO GPIOB

2
src/main/target/OLIMEXINO/target.h
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@ -17,6 +17,8 @@
#pragma once
#define TARGET_BOARD_IDENTIFIER "OLI1" // Olimexino
//#define OLIMEXINO_UNCUT_LED1_E_JUMPER
//#define OLIMEXINO_UNCUT_LED2_E_JUMPER

2
src/main/target/STM32F3DISCOVERY/target.h
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@ -17,6 +17,8 @@
#pragma once
#define TARGET_BOARD_IDENTIFIER "SDF3" // STM Discovery F3
#define LED0_GPIO GPIOE
#define LED0_PIN Pin_8|Pin_12 // Blue LEDs - PE8/PE12
#define LED0_PERIPHERAL RCC_AHBPeriph_GPIOE

1
src/main/version.c
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@ -18,3 +18,4 @@
char *targetName = __TARGET__;
char *shortGitRevision = __REVISION__;
char *buildDate = __DATE__;
char *buildTime = __TIME__;

11
src/main/version.h
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@ -15,10 +15,19 @@
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#define MW_VERSION 230
#define FC_VERSION_MAJOR 1 // increment when a major release is made (big new feature, etc)
#define FC_VERSION_MINOR 0 // increment when a minor release is made (small new feature, change etc)
#define FC_VERSION_PATCH_LEVEL 0 // increment when a bug is fixed
#define MW_VERSION 230
extern char* targetName;
#define GIT_SHORT_REVISION_LENGTH 7 // lower case hexadecimal digits.
extern char* shortGitRevision;
#define BUILD_DATE_LENGTH 11
extern char* buildDate; // "MMM DD YYYY" MMM = Jan/Feb/...
#define BUILD_TIME_LENGTH 8
extern char* buildTime; // "HH:MM:SS"