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atbetaflight
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Add extra MSP commands to allow settings to be made via a GUI in 

addition to setting via the CLI.

Note: MSP_CONFIG from baseflight
bc68d89983d762d35cc1cf5e3fa0c2cf03287b70 will not be supported because
more specific commands exist in cleanflight.

MSP_MISC and MSP_CONFIG are good examples of single responsibility
violations.
This commit is contained in:
Dominic Clifton 2014-10-17 01:25:30 +01:00
parent afb77484ea
commit 6f3aa6fb86
10 changed files with 240 additions and 46 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
src/main/drivers/system.h
View File

@ -28,7 +28,8 @@ uint32_t millis(void);
void failureMode(uint8_t mode);
// bootloader/IAP
void systemReset(bool toBootloader);
void systemReset(void);
void systemResetToBootloader(void);
void enableGPIOPowerUsageAndNoiseReductions(void);
// current crystal frequency - 8 or 12MHz

17
src/main/drivers/system_stm32f10x.c
View File

@ -25,19 +25,20 @@
#define AIRCR_VECTKEY_MASK ((uint32_t)0x05FA0000)
void systemReset(bool toBootloader)
void systemReset(void)
{
if (toBootloader) {
// 1FFFF000 -> 20000200 -> SP
// 1FFFF004 -> 1FFFF021 -> PC
*((uint32_t *)0x20004FF0) = 0xDEADBEEF; // 20KB STM32F103
}
// Generate system reset
SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
}
void systemResetToBootloader(void) {
// 1FFFF000 -> 20000200 -> SP
// 1FFFF004 -> 1FFFF021 -> PC
*((uint32_t *)0x20004FF0) = 0xDEADBEEF; // 20KB STM32F103
systemReset();
}
void enableGPIOPowerUsageAndNoiseReductions(void)
{

18
src/main/drivers/system_stm32f30x.c
View File

@ -25,19 +25,21 @@
#define AIRCR_VECTKEY_MASK ((uint32_t)0x05FA0000)
void systemReset(bool toBootloader)
void systemReset(void)
{
if (toBootloader) {
// 1FFFF000 -> 20000200 -> SP
// 1FFFF004 -> 1FFFF021 -> PC
*((uint32_t *)0x20009FFC) = 0xDEADBEEF; // 40KB SRAM STM32F30X
}
// Generate system reset
SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
}
void systemResetToBootloader(void) {
// 1FFFF000 -> 20000200 -> SP
// 1FFFF004 -> 1FFFF021 -> PC
*((uint32_t *)0x20009FFC) = 0xDEADBEEF; // 40KB SRAM STM32F30X
systemReset();
}
void enableGPIOPowerUsageAndNoiseReductions(void)
{

6
src/main/io/ledstrip.h
View File

@ -47,6 +47,12 @@ typedef enum {
LED_FUNCTION_THROTTLE = (1 << 10)
} ledFlag_e;
#define LED_DIRECTION_BIT_OFFSET 0
#define LED_DIRECTION_MASK 0x3F
#define LED_FUNCTION_BIT_OFFSET 6
#define LED_FUNCTION_MASK 0x7C0
typedef struct ledConfig_s {
uint8_t xy; // see LED_X/Y_MASK defines
uint16_t flags; // see ledFlag_e

2
src/main/io/serial.c
View File

@ -642,6 +642,6 @@ void evaluateOtherData(uint8_t sr)
if (sr == '#')
cliProcess();
else if (sr == serialConfig->reboot_character)
systemReset(true); // reboot to bootloader
systemResetToBootloader();
}

2
src/main/io/serial_cli.c
View File

@ -994,7 +994,7 @@ static void cliProfile(char *cmdline)
static void cliReboot(void) {
cliPrint("\r\nRebooting");
waitForSerialPortToFinishTransmitting(cliPort);
systemReset(false);
systemReset();
}
static void cliSave(char *cmdline)

230
src/main/io/serial_msp.c
View File

@ -83,12 +83,49 @@ extern int16_t debug[4]; // FIXME dependency on mw.c
#define CAP_CHANNEL_FORWARDING ((uint32_t)1 << 4)
// 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
#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_CHANNEL_FORWARDING 32 //out message Returns channel forwarding settings
#define MSP_SET_CHANNEL_FORWARDING 33 //in message Channel forwarding settings
//
#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
// 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
// DO NOT IMPLEMENT "MSP_CONFIG" and MSP_SET_CONFIG in Cleanflight, isolated commands already exist
//#define MSP_CONFIG 66 //out message baseflight-specific settings that aren't covered elsewhere
//#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
// Multwii original MSP commands
#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
@ -144,8 +181,6 @@ extern int16_t debug[4]; // FIXME dependency on mw.c
#define INBUF_SIZE 64
#define ACTIVATE_MASK 0xFFF // see
typedef struct box_e {
const uint8_t boxId; // see boxId_e
const char *boxName; // GUI-readable box name
@ -187,6 +222,9 @@ static uint8_t activeBoxIdCount = 0;
// from mixer.c
extern int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
// cause reboot after MSP processing complete
static bool isRebootScheduled = false;
static const char pidnames[] =
"ROLL;"
"PITCH;"
@ -507,6 +545,13 @@ static bool processOutCommand(uint8_t cmdMSP)
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
break;
case MSP_STATUS:
headSerialReply(11);
serialize16(cycleTime);
@ -663,16 +708,6 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize8(mac->rangeEndStep);
}
break;
// FIXME provide backward compatible solution? what what version of MSP? 6pos? would only work if all step values are on 6pos boundaries
/*
case MSP_BOX:
headSerialReply(4 * activeBoxIdCount);
for (i = 0; i < activeBoxIdCount; i++)
serialize16(currentProfile->activate[activeBoxIds[i]] & ACTIVATE_MASK);
for (i = 0; i < activeBoxIdCount; i++)
serialize16((currentProfile->activate[activeBoxIds[i]] >> 16) & ACTIVATE_MASK);
break;
*/
case MSP_BOXNAMES:
// headSerialReply(sizeof(boxnames) - 1);
serializeBoxNamesReply();
@ -767,12 +802,78 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize16(currentProfile->accelerometerTrims.values.pitch);
serialize16(currentProfile->accelerometerTrims.values.roll);
break;
case MSP_UID:
headSerialReply(12);
serialize32(U_ID_0);
serialize32(U_ID_1);
serialize32(U_ID_2);
break;
case MSP_FEATURE:
headSerialReply(4);
serialize32(featureMask());
break;
case MSP_BOARD_ALIGNMENT:
headSerialReply(3);
serialize16(masterConfig.boardAlignment.rollDegrees);
serialize16(masterConfig.boardAlignment.pitchDegrees);
serialize16(masterConfig.boardAlignment.yawDegrees);
break;
case MSP_CURRENT_METER_CONFIG:
headSerialReply(4);
serialize16(masterConfig.batteryConfig.currentMeterScale);
serialize16(masterConfig.batteryConfig.currentMeterOffset);
break;
case MSP_MIXER:
headSerialReply(1);
serialize8(masterConfig.mixerConfiguration);
break;
case MSP_RX_CONFIG:
headSerialReply(7);
serialize8(masterConfig.rxConfig.serialrx_provider);
serialize16(masterConfig.rxConfig.maxcheck);
serialize16(masterConfig.rxConfig.midrc);
serialize16(masterConfig.rxConfig.mincheck);
case MSP_RSSI_CONFIG:
headSerialReply(1);
serialize8(masterConfig.rxConfig.rssi_channel);
break;
case MSP_RX_MAP:
headSerialReply(MAX_MAPPABLE_RX_INPUTS);
for (i = 0; i < MAX_MAPPABLE_RX_INPUTS; i++)
serialize8(masterConfig.rxConfig.rcmap[i]);
break;
#ifdef LED_STRIP
case MSP_LED_COLORS:
headSerialReply(CONFIGURABLE_COLOR_COUNT * 4);
for (i = 0; i < CONFIGURABLE_COLOR_COUNT; i++) {
hsvColor_t *color = &masterConfig.colors[i];
serialize16(color->h);
serialize8(color->s);
serialize8(color->v);
}
break;
case MSP_LED_STRIP_CONFIG:
headSerialReply(MAX_LED_STRIP_LENGTH * 4);
for (i = 0; i < MAX_LED_STRIP_LENGTH; i++) {
ledConfig_t *ledConfig = &masterConfig.ledConfigs[i];
serialize16((ledConfig->flags & LED_DIRECTION_MASK) >> LED_DIRECTION_BIT_OFFSET);
serialize16((ledConfig->flags & LED_FUNCTION_MASK) >> LED_FUNCTION_BIT_OFFSET);
serialize8(GET_LED_X(ledConfig));
serialize8(GET_LED_Y(ledConfig));
}
break;
#endif
default:
return false;
}
@ -855,15 +956,6 @@ static bool processInCommand(void)
headSerialError(0);
}
break;
// FIXME provide backward compatible solution? what what version of MSP? 6pos? would only work if all step values are on 6pos boundaries
/*
case MSP_SET_BOX:
for (i = 0; i < activeBoxIdCount; i++)
currentProfile->activate[activeBoxIds[i]] = read16() & ACTIVATE_MASK;
for (i = 0; i < activeBoxIdCount; i++)
currentProfile->activate[activeBoxIds[i]] |= (read16() & ACTIVATE_MASK) << 16;
break;
*/
case MSP_SET_RC_TUNING:
currentProfile->controlRateConfig.rcRate8 = read8();
currentProfile->controlRateConfig.rcExpo8 = read8();
@ -972,6 +1064,88 @@ static bool processInCommand(void)
}
break;
#endif
case MSP_SET_FEATURE:
headSerialReply(0);
featureClearAll();
featureSet(read32()); // features bitmap
break;
case MSP_SET_BOARD_ALIGNMENT:
headSerialReply(0);
masterConfig.boardAlignment.rollDegrees = read16();
masterConfig.boardAlignment.pitchDegrees = read16();
masterConfig.boardAlignment.yawDegrees = read16();
break;
case MSP_SET_CURRENT_METER_CONFIG:
headSerialReply(0);
masterConfig.batteryConfig.currentMeterScale = read16();
masterConfig.batteryConfig.currentMeterOffset = read16();
break;
case MSP_SET_MIXER:
headSerialReply(0);
masterConfig.mixerConfiguration = read8();
break;
case MSP_SET_RX_CONFIG:
headSerialReply(0);
masterConfig.rxConfig.serialrx_provider = read8();
masterConfig.rxConfig.maxcheck = read16();
masterConfig.rxConfig.midrc = read16();
masterConfig.rxConfig.mincheck = read16();
break;
case MSP_SET_RSSI_CONFIG:
headSerialReply(0);
masterConfig.rxConfig.rssi_channel = read8();
break;
case MSP_SET_RX_MAP:
headSerialReply(0);
for (i = 0; i < MAX_MAPPABLE_RX_INPUTS; i++) {
masterConfig.rxConfig.rcmap[i] = read8();
}
break;
#ifdef LED_STRIP
case MSP_SET_LED_COLORS:
headSerialReply(0);
for (i = 0; i < CONFIGURABLE_COLOR_COUNT; i++) {
hsvColor_t *color = &masterConfig.colors[i];
color->h = read16();
color->s = read8();
color->v = read8();
}
break;
case MSP_SET_LED_STRIP_CONFIG:
headSerialReply(MAX_LED_STRIP_LENGTH * 6);
for (i = 0; i < MAX_LED_STRIP_LENGTH; i++) {
ledConfig_t *ledConfig = &masterConfig.ledConfigs[i];
uint16_t mask;
// currently we're storing directions and functions in a uint16 (flags)
// the msp uses 2 x uint16_t to cater for future expansion
mask = read16();
ledConfig->flags = (mask << LED_DIRECTION_BIT_OFFSET) & LED_DIRECTION_MASK;
mask = read16();
ledConfig->flags |= (mask << LED_FUNCTION_BIT_OFFSET) & LED_FUNCTION_MASK;
mask = read8();
ledConfig->xy = CALCULATE_LED_X(mask);
mask = read8();
ledConfig->xy |= CALCULATE_LED_Y(mask);
}
break;
#endif
case MSP_REBOOT:
headSerialReply(0);
isRebootScheduled = true;
break;
default:
// we do not know how to handle the (valid) message, indicate error MSP $M!
return false;
@ -1045,6 +1219,10 @@ void mspProcess(void)
setCurrentPort(candidatePort);
mspProcessPort();
if (isRebootScheduled) {
systemReset();
}
}
}

4
src/main/rx/rx.h
View File

@ -56,8 +56,10 @@ extern const char rcChannelLetters[];
extern int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT]; // interval [1000;2000]
#define MAX_MAPPABLE_RX_INPUTS 8
typedef struct rxConfig_s {
uint8_t rcmap[8]; // mapping of radio channels to internal RPYTA+ order
uint8_t rcmap[MAX_MAPPABLE_RX_INPUTS]; // mapping of radio channels to internal RPYTA+ order
uint8_t serialrx_provider; // type of UART-based receiver (0 = spek 10, 1 = spek 11, 2 = sbus). Must be enabled by FEATURE_RX_SERIAL first.
uint16_t midrc; // Some radios have not a neutral point centered on 1500. can be changed here
uint16_t mincheck; // minimum rc end

1
src/main/version.c
View File

@ -17,3 +17,4 @@
char *targetName = __TARGET__;
char *shortGitRevision = __REVISION__;
char *buildDate = __DATE__;

3
src/main/version.h
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@ -19,3 +19,6 @@
extern char* targetName;
extern char* shortGitRevision;
#define BUILD_DATE_LENGTH 11
extern char* buildDate; // "MMM DD YYYY" MMM = Jan/Feb/...