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Code Issues Wiki Activity

Some cleanup of MSP code

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This commit is contained in:
KiteAnton 2016-08-05 12:54:33 +02:00
parent ce9ade16e5
commit 2ffefb065f
11 changed files with 29 additions and 81 deletions
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72
js/msp.js
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@ -63,7 +63,7 @@ var MSP_codes = {
MSP_SET_SPECIAL_PARAMETERS: 99,
// Multiwii MSP commands
MSP_IDENT: 100,
MSP_IDENT: 100, // Not used
MSP_STATUS: 101,
MSP_RAW_IMU: 102,
MSP_SERVO: 103,
@ -76,12 +76,12 @@ var MSP_codes = {
MSP_ANALOG: 110,
MSP_RC_TUNING: 111,
MSP_PID: 112,
MSP_BOX: 113,
MSP_BOX: 113, // Not used
MSP_MISC: 114,
MSP_MOTOR_PINS: 115,
MSP_MOTOR_PINS: 115, // Not used
MSP_BOXNAMES: 116,
MSP_PIDNAMES: 117,
MSP_WP: 118,
MSP_WP: 118, // Not used
MSP_BOXIDS: 119,
MSP_SERVO_CONFIGURATIONS: 120,
MSP_3D: 124,
@ -91,7 +91,7 @@ var MSP_codes = {
MSP_STATUS_EX: 150,
MSP_SET_RAW_RC: 200,
MSP_SET_RAW_GPS: 201,
MSP_SET_RAW_GPS: 201, // Not used
MSP_SET_PID: 202,
MSP_SET_BOX: 203,
MSP_SET_RC_TUNING: 204,
@ -99,9 +99,9 @@ var MSP_codes = {
MSP_MAG_CALIBRATION: 206,
MSP_SET_MISC: 207,
MSP_RESET_CONF: 208,
MSP_SET_WP: 209,
MSP_SET_WP: 209, // Not used
MSP_SELECT_SETTING: 210,
MSP_SET_HEAD: 211,
MSP_SET_HEAD: 211, // Not used
MSP_SET_SERVO_CONFIGURATION: 212,
MSP_SET_MOTOR: 214,
MSP_SET_3D: 217,
@ -110,14 +110,13 @@ var MSP_codes = {
MSP_SET_SENSOR_ALIGNMENT: 220,
MSP_SET_LED_STRIP_MODECOLOR:221,
// MSP_BIND: 240,
MSP_SERVO_MIX_RULES: 241,
MSP_SET_SERVO_MIX_RULE: 242,
MSP_SET_SERVO_MIX_RULE: 242, // Not used
MSP_EEPROM_WRITE: 250,
MSP_DEBUGMSG: 253,
MSP_DEBUGMSG: 253, // Not used
MSP_DEBUG: 254,
// Additional baseflight commands that are not compatible with MultiWii
@ -132,7 +131,7 @@ var MSP_codes = {
MSP_BF_CONFIG: 66, // baseflight-specific settings that aren't covered elsewhere
MSP_SET_BF_CONFIG: 67, // baseflight-specific settings save
MSP_SET_REBOOT: 68, // reboot settings
MSP_BF_BUILD_INFO: 69 // build date as well as some space for future expansion
MSP_BF_BUILD_INFO: 69 // Not used
};
var MSP = {
@ -269,14 +268,6 @@ var MSP = {
var data = new DataView(message_buffer, 0); // DataView (allowing us to view arrayBuffer as struct/union)
if (!this.unsupported) switch (code) {
case MSP_codes.MSP_IDENT:
console.log('Using deprecated msp command: MSP_IDENT');
// Deprecated
CONFIG.version = parseFloat((data.getUint8(0) / 100).toFixed(2));
CONFIG.multiType = data.getUint8(1);
CONFIG.msp_version = data.getUint8(2);
CONFIG.capability = data.getUint32(3, 1);
break;
case MSP_codes.MSP_STATUS:
CONFIG.cycleTime = data.getUint16(0, 1);
CONFIG.i2cError = data.getUint16(2, 1);
@ -448,17 +439,7 @@ var MSP = {
}
}
break;
// Disabled, cleanflight does not use MSP_BOX.
/*
case MSP_codes.MSP_BOX:
AUX_CONFIG_values = []; // empty the array as new data is coming in
// fill in current data
for (var i = 0; i < data.byteLength; i += 2) { // + 2 because uint16_t = 2 bytes
AUX_CONFIG_values.push(data.getUint16(i, 1));
}
break;
*/
case MSP_codes.MSP_ARMING_CONFIG:
if (semver.gte(CONFIG.apiVersion, "1.8.0")) {
ARMING_CONFIG.auto_disarm_delay = data.getUint8(0, 1);
@ -511,9 +492,6 @@ var MSP = {
_3D.deadband3d_throttle = data.getUint16(offset, 1);
}
break;
case MSP_codes.MSP_MOTOR_PINS:
console.log(data);
break;
case MSP_codes.MSP_BOXNAMES:
AUX_CONFIG = []; // empty the array as new data is coming in
@ -544,9 +522,6 @@ var MSP = {
}
}
break;
case MSP_codes.MSP_WP:
console.log(data);
break;
case MSP_codes.MSP_BOXIDS:
AUX_CONFIG_IDS = []; // empty the array as new data is coming in
@ -623,8 +598,6 @@ var MSP = {
break;
case MSP_codes.MSP_SET_RAW_RC:
break;
case MSP_codes.MSP_SET_RAW_GPS:
break;
case MSP_codes.MSP_SET_PID:
console.log('PID settings saved');
break;
@ -657,8 +630,6 @@ var MSP = {
case MSP_codes.MSP_EEPROM_WRITE:
console.log('Settings Saved in EEPROM');
break;
case MSP_codes.MSP_DEBUGMSG:
break;
case MSP_codes.MSP_DEBUG:
for (var i = 0; i < 4; i++)
SENSOR_DATA.debug[i] = data.getInt16((2 * i), 1);
@ -1725,6 +1696,11 @@ MSP.crunch = function (code) {
}
break;
case MSP_codes.MSP_SET_BLACKBOX_CONFIG:
buffer.push(BLACKBOX.blackboxDevice);
buffer.push(BLACKBOX.blackboxRateNum);
buffer.push(BLACKBOX.blackboxRateDenom);
break;
default:
return false;
@ -1749,19 +1725,6 @@ MSP.setRawRx = function(channels) {
MSP.send_message(MSP_codes.MSP_SET_RAW_RC, buffer, false);
}
MSP.sendBlackboxConfiguration = function(onDataCallback) {
var
message = [
BLACKBOX.blackboxDevice & 0xFF,
BLACKBOX.blackboxRateNum & 0xFF,
BLACKBOX.blackboxRateDenom & 0xFF
];
MSP.send_message(MSP_codes.MSP_SET_BLACKBOX_CONFIG, message, false, function(response) {
onDataCallback();
});
}
/**
* Send a request to read a block of data from the dataflash at the given address and pass that address and a dataview
* of the returned data to the given callback (or null for the data if an error occured).
@ -1784,11 +1747,6 @@ MSP.dataflashRead = function(address, onDataCallback) {
});
};
MSP.sendServoMixRules = function(onCompleteCallback) {
// TODO implement
onCompleteCallback();
};
MSP.sendServoConfigurations = function(onCompleteCallback) {
var nextFunction = send_next_servo_configuration;