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Merge pull request #6361 from mikeller/adding_profile_msp 

Adding MSP for new profile settings introduced in 3.4.
This commit is contained in:
Michael Keller 2018-07-18 02:19:25 +12:00 committed by GitHub
parent 46fec897ed 80a29b9ad5
commit ee0113ffff
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 56 additions and 12 deletions
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68
src/main/interface/msp.c
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@ -530,9 +530,6 @@ static bool mspCommonProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProce
break;
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++) {
sbufWriteU16(dst, debug[i]); // 4 variables are here for general monitoring purpose
}
@ -1302,11 +1299,36 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU16(dst, currentPidProfile->itermThrottleThreshold);
sbufWriteU16(dst, currentPidProfile->itermAcceleratorGain);
sbufWriteU16(dst, currentPidProfile->dtermSetpointWeight);
sbufWriteU8(dst, currentPidProfile->iterm_rotation);
#if defined(USE_SMART_FEEDFORWARD)
sbufWriteU8(dst, currentPidProfile->smart_feedforward);
#else
sbufWriteU8(dst, 0);
#endif
#if defined(USE_ITERM_RELAX)
sbufWriteU8(dst, currentPidProfile->iterm_relax);
sbufWriteU8(dst, currentPidProfile->iterm_relax_type);
#else
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
#endif
#if defined(USE_ABSOLUTE_CONTROL)
sbufWriteU8(dst, currentPidProfile->abs_control_gain);
#else
sbufWriteU8(dst, 0);
#endif
#if defined(USE_THROTTLE_BOOST)
sbufWriteU8(dst, currentPidProfile->throttle_boost);
sbufWriteU8(dst, currentPidProfile->throttle_boost_cutoff);
break;
#else
sbufWriteU8(dst, 0);
#endif
#if defined(USE_ACRO_TRAINER)
sbufWriteU8(dst, currentPidProfile->acro_trainer_angle_limit);
#else
sbufWriteU8(dst, 0);
#endif
break;
case MSP_SENSOR_CONFIG:
sbufWriteU8(dst, accelerometerConfig()->acc_hardware);
sbufWriteU8(dst, barometerConfig()->baro_hardware);
@ -1825,14 +1847,40 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
if (sbufBytesRemaining(src) >= 2) {
currentPidProfile->dtermSetpointWeight = sbufReadU16(src);
}
if (sbufBytesRemaining(src) >= 3) {
if (sbufBytesRemaining(src) >= 7) {
// Added in MSP API 1.40
currentPidProfile->iterm_rotation = sbufReadU8(src);
#if defined(USE_SMART_FEEDFORWARD)
currentPidProfile->smart_feedforward = sbufReadU8(src);
#else
sbufReadU8(src);
#endif
#if defined(USE_ITERM_RELAX)
currentPidProfile->iterm_relax = sbufReadU8(src);
currentPidProfile->iterm_relax_type = sbufReadU8(src);
#else
sbufReadU8(src);
sbufReadU8(src);
#endif
#if defined(USE_ABSOLUTE_CONTROL)
currentPidProfile->abs_control_gain = sbufReadU8(src);
#else
sbufReadU8(src);
#endif
#if defined(USE_THROTTLE_BOOST)
currentPidProfile->throttle_boost = sbufReadU8(src);
currentPidProfile->throttle_boost_cutoff = sbufReadU8(src);
#else
sbufReadU8(src);
#endif
#if defined(USE_ACRO_TRAINER)
currentPidProfile->acro_trainer_angle_limit = sbufReadU8(src);
#else
sbufReadU8(src);
#endif
}
pidInitConfig(currentPidProfile);
break;
break;
case MSP_SET_SENSOR_CONFIG:
accelerometerConfigMutable()->acc_hardware = sbufReadU8(src);
barometerConfigMutable()->baro_hardware = sbufReadU8(src);
@ -2481,19 +2529,15 @@ void mspFcProcessReply(mspPacket_t *reply)
switch (subCmd) {
case 0: // HEARTBEAT
//debug[0]++;
osdSlaveHeartbeat();
break;
case 1: // RELEASE
//debug[1]++;
break;
case 2: // CLEAR
//debug[2]++;
osdSlaveClearScreen();
break;
case 3:
{
//debug[3]++;
#define MSP_OSD_MAX_STRING_LENGTH 30 // FIXME move this
const uint8_t y = sbufReadU8(src); // row
const uint8_t x = sbufReadU8(src); // column