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Add MSP_SET_ADJUSTMENT_RANGE and MSP_ADJUSTMENT_RANGES commands.

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This commit is contained in:
Dominic Clifton 2014-11-01 09:41:33 +00:00
parent ec92a8e6ba
commit 0ba2933611
2 changed files with 154 additions and 61 deletions
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43
src/main/io/serial_msp.c
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@ -197,6 +197,9 @@ const char *boardIdentifier = TARGET_BOARD_IDENTIFIER;
#define MSP_RSSI_CONFIG 50
#define MSP_SET_RSSI_CONFIG 51
#define MSP_ADJUSTMENT_RANGES 52
#define MSP_SET_ADJUSTMENT_RANGE 53
//
// Baseflight MSP commands (if enabled they exist in Cleanflight)
//
@ -849,8 +852,26 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize8(mac->range.endStep);
}
break;
case MSP_ADJUSTMENT_RANGES:
headSerialReply(MAX_ADJUSTMENT_RANGE_COUNT * (
1 + // adjustment index/slot
1 + // aux channel index
1 + // start step
1 + // end step
1 + // adjustment function
1 // aux switch channel index
));
for (i = 0; i < MAX_ADJUSTMENT_RANGE_COUNT; i++) {
adjustmentRange_t *adjRange = &currentProfile->adjustmentRanges[i];
serialize8(adjRange->adjustmentIndex);
serialize8(adjRange->auxChannelIndex);
serialize8(adjRange->range.startStep);
serialize8(adjRange->range.endStep);
serialize8(adjRange->adjustmentFunction);
serialize8(adjRange->auxSwitchChannelIndex);
}
break;
case MSP_BOXNAMES:
// headSerialReply(sizeof(boxnames) - 1);
serializeBoxNamesReply();
break;
case MSP_BOXIDS:
@ -1097,6 +1118,26 @@ static bool processInCommand(void)
headSerialError(0);
}
break;
case MSP_SET_ADJUSTMENT_RANGE:
i = read8();
if (i < MAX_ADJUSTMENT_RANGE_COUNT) {
adjustmentRange_t *adjRange = &currentProfile->adjustmentRanges[i];
i = read8();
if (i < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT) {
adjRange->adjustmentIndex = i;
adjRange->auxChannelIndex = read8();
adjRange->range.startStep = read8();
adjRange->range.endStep = read8();
adjRange->adjustmentFunction = read8();
adjRange->auxSwitchChannelIndex = read8();
} else {
headSerialError(0);
}
} else {
headSerialError(0);
}
break;
case MSP_SET_RC_TUNING:
currentControlRateProfile->rcRate8 = read8();
currentControlRateProfile->rcExpo8 = read8();