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Adding MSP for new profile settings introduced in 3.4.

This commit is contained in:
mikeller 2018-07-15 15:48:46 +12:00
parent 46fec897ed
commit b4b88a5972
1 changed files with 61 additions and 14 deletions
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75
src/main/interface/msp.c
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@ -530,9 +530,6 @@ static bool mspCommonProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProce
break; break;
case MSP_DEBUG: case MSP_DEBUG:
// output some useful QA statistics
// debug[x] = ((hse_value / 1000000) * 1000) + (SystemCoreClock / 1000000); // XX0YY [crystal clock : core clock]
for (int i = 0; i < DEBUG16_VALUE_COUNT; i++) { for (int i = 0; i < DEBUG16_VALUE_COUNT; i++) {
sbufWriteU16(dst, debug[i]); // 4 variables are here for general monitoring purpose sbufWriteU16(dst, debug[i]); // 4 variables are here for general monitoring purpose
} }
@ -1302,11 +1299,38 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU16(dst, currentPidProfile->itermThrottleThreshold); sbufWriteU16(dst, currentPidProfile->itermThrottleThreshold);
sbufWriteU16(dst, currentPidProfile->itermAcceleratorGain); sbufWriteU16(dst, currentPidProfile->itermAcceleratorGain);
sbufWriteU16(dst, currentPidProfile->dtermSetpointWeight); sbufWriteU16(dst, currentPidProfile->dtermSetpointWeight);
sbufWriteU8(dst, currentPidProfile->iterm_rotation);
#if defined(USE_SMART_FEEDFORWARD)
sbufWriteU8(dst, currentPidProfile->smart_feedforward); sbufWriteU8(dst, currentPidProfile->smart_feedforward);
sbufWriteU8(dst, currentPidProfile->throttle_boost); #else
sbufWriteU8(dst, currentPidProfile->throttle_boost_cutoff); sbufWriteU8(dst, 0);
break; #endif
#if defined(USE_ITERM_RELAX)
sbufWriteU8(dst, currentPidProfile->iterm_relax);
#else
sbufWriteU8(dst, 0);
#endif
#if defined(USE_ABSOLUTE_CONTROL)
sbufWriteU8(dst, currentPidProfile->abs_control_gain);
sbufWriteU8(dst, currentPidProfile->abs_control_limit);
sbufWriteU8(dst, currentPidProfile->abs_control_error_limit);
#else
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
#endif
#if defined(USE_ACRO_TRAINER)
sbufWriteU8(dst, currentPidProfile->acro_trainer_angle_limit);
sbufWriteU16(dst, currentPidProfile->acro_trainer_lookahead_ms);
sbufWriteU8(dst, currentPidProfile->acro_trainer_gain);
#else
sbufWriteU8(dst, 0);
sbufWriteU16(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
#endif
break;
case MSP_SENSOR_CONFIG: case MSP_SENSOR_CONFIG:
sbufWriteU8(dst, accelerometerConfig()->acc_hardware); sbufWriteU8(dst, accelerometerConfig()->acc_hardware);
sbufWriteU8(dst, barometerConfig()->baro_hardware); sbufWriteU8(dst, barometerConfig()->baro_hardware);
@ -1825,14 +1849,41 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
if (sbufBytesRemaining(src) >= 2) { if (sbufBytesRemaining(src) >= 2) {
currentPidProfile->dtermSetpointWeight = sbufReadU16(src); currentPidProfile->dtermSetpointWeight = sbufReadU16(src);
} }
if (sbufBytesRemaining(src) >= 3) { if (sbufBytesRemaining(src) >= 10) {
// Added in MSP API 1.40
currentPidProfile->iterm_rotation = sbufReadU8(src);
#if defined(USE_SMART_FEEDFORWARD)
currentPidProfile->smart_feedforward = sbufReadU8(src); currentPidProfile->smart_feedforward = sbufReadU8(src);
currentPidProfile->throttle_boost = sbufReadU8(src); #else
currentPidProfile->throttle_boost_cutoff = sbufReadU8(src); sbufReadU8(src);
#endif
#if defined(USE_ITERM_RELAX)
currentPidProfile->iterm_relax = sbufReadU8(src);
#else
sbufReadU8(src);
#endif
#if defined(USE_ABSOLUTE_CONTROL)
currentPidProfile->abs_control_gain = sbufReadU8(src);
currentPidProfile->abs_control_limit = sbufReadU8(src);
currentPidProfile->abs_control_error_limit = sbufReadU8(src);
#else
sbufReadU8(src);
sbufReadU8(src);
sbufReadU8(src);
#endif
#if defined(USE_ACRO_TRAINER)
currentPidProfile->acro_trainer_angle_limit = sbufReadU8(src);
currentPidProfile->acro_trainer_lookahead_ms = sbufReadU16(src);
currentPidProfile->acro_trainer_gain = sbufReadU8(src);
#else
sbufReadU8(src);
sbufReadU16(src);
sbufReadU8(src);
#endif
} }
pidInitConfig(currentPidProfile); pidInitConfig(currentPidProfile);
break;
break;
case MSP_SET_SENSOR_CONFIG: case MSP_SET_SENSOR_CONFIG:
accelerometerConfigMutable()->acc_hardware = sbufReadU8(src); accelerometerConfigMutable()->acc_hardware = sbufReadU8(src);
barometerConfigMutable()->baro_hardware = sbufReadU8(src); barometerConfigMutable()->baro_hardware = sbufReadU8(src);
@ -2481,19 +2532,15 @@ void mspFcProcessReply(mspPacket_t *reply)
switch (subCmd) { switch (subCmd) {
case 0: // HEARTBEAT case 0: // HEARTBEAT
//debug[0]++;
osdSlaveHeartbeat(); osdSlaveHeartbeat();
break; break;
case 1: // RELEASE case 1: // RELEASE
//debug[1]++;
break; break;
case 2: // CLEAR case 2: // CLEAR
//debug[2]++;
osdSlaveClearScreen(); osdSlaveClearScreen();
break; break;
case 3: case 3:
{ {
//debug[3]++;
#define MSP_OSD_MAX_STRING_LENGTH 30 // FIXME move this #define MSP_OSD_MAX_STRING_LENGTH 30 // FIXME move this
const uint8_t y = sbufReadU8(src); // row const uint8_t y = sbufReadU8(src); // row
const uint8_t x = sbufReadU8(src); // column const uint8_t x = sbufReadU8(src); // column