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Add MSP_SET_ADJUSTMENT_RANGE and MSP_ADJUSTMENT_RANGES commands.

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Dominic Clifton 2014-11-01 09:41:33 +00:00
parent ec92a8e6ba
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2 changed files with 154 additions and 61 deletions
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172
docs/API/MSP_extensions.md
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@ -1,57 +1,34 @@
# MSP Extensions # MSP Extensions
Cleanflight includes a number of extensions to the MultiWii Serial Cleanflight includes a number of extensions to the MultiWii Serial Protocol (MSP). This document describes
Protocol (MSP). This document describes those extensions in order that those extensions in order that 3rd party tools may identify cleanflight firmware and react appropriately.
3rd part tools may identify cleanflight firmware and react appropriately.
## MSP_IDENT capabilities Issue the MSP_API_VERSION command to find out if the firmware supports them.
Cleanflight sets a number of non-standard bits in the MSP_IDENT ## Mode Ranges
message in order to identify the firmware. For completeness, this
includes flags defined for baseflight.
|Value|Mnemonic|Notes|Reference|
|-----|--------|-----|---------|
| 1 << 29 | CAP\_CLEANFLIGHT\_CONFIG | The firmware supports cleanflight configuration options. This is the definitive test for cleanflight firmware | src/main/io/serial_msp.c|
| 1 << 30 | CAP\_BASEFLIGHT\_CONFIG | The firmware supports baseflight configuration options. See the baseflight documentation for details. | src/main/io/serial_msp.c |
| 1 << 31 | CAP\_PLATFORM\_32BIT | This is a 32bit platform. | src/main/io/serial_msp.c |
## Modes Extension
The cleanflight modes extension to MSP supports the extended
auxiliary modes introduced 2014-10-14. The CAP\_CLEANFLIGHT\_CONFIG
capabilities flag should be used to confirm the availability of
extended auxiliary modes. If this flag is not present, the legacy MSP
MSP\_BOX and MSP\_SET\_BOX messages should be used.
Note: In the following descriptions, the format of the original MSP
documentation is followed.
### MSP\_MODE\_RANGES ### MSP\_MODE\_RANGES
The MSP\_MODE\_RANGES returns the current auxiliary mode settings from The MSP\_MODE\_RANGES returns the current auxiliary mode settings from the flight controller. It should be invoked
the flight controller. It should be invoked before any modification is before any modification is made to the configuration.
made to the configuration.
The message returns a group of 4 unsigned bytes for each 'slot' The message returns a group of 4 unsigned bytes for each 'slot' available in the flight controller. The number of
available in the flight controller. The number of slots should be slots should be calculated from the size of the returned message.
calculated from the size of the returned message.
| Command | Msg Id | Direction | Data | Type | Notes | | Command | Msg Id | Direction | Notes |
|---------|--------|-----------|------|------|-------| |---------|--------|-----------|-------|
| MSP\_MODE\_RANGES | 34 | to FC | (none) | N/A | Following this command, the FC returns a block of 4 bytes for each auxiliary mode 'slot'| | MSP\_MODE\_RANGES | 34 | to FC | Following this command, the FC returns a block of 4 bytes for each auxiliary mode 'slot'|
Unassigned slots have rangeStartStep == rangeEndStep. Each element contains the following fields. Unassigned slots have rangeStartStep == rangeEndStep. Each element contains the following fields.
| Command | Msg Id | Direction | Data | Type | Notes | | Data | Type | Notes |
|---------|--------|-----------|------|------|-------| |------|------|-------|
| | | returned from FC | permanentId | uint8 | See Modes.md for a definition of the permanent ids | | permanentId | uint8 | See Modes.md for a definition of the permanent ids |
| | | returned from FC | auxChannelIndex | uint8 | The Aux switch number (indexed from 0) | | auxChannelIndex | uint8 | The Aux switch number (indexed from 0) |
| | | returned from FC | rangeStartStep | uint8 | The start value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 | | rangeStartStep | uint8 | The start value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
| | | returned from FC | rangeEndStep | uint8 | The end value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 | | rangeEndStep | uint8 | The end value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
Thus, for a cleanflight firmware with 40 slots for auxiliary settings, Thus, for a cleanflight firmware with 40 slots 160 bytes would be returned in response to MSP\_MODE\_RANGES,
160 bytes would be returned in response to MSP\_MODE\_RANGES,
### MSP\_SET\_MODE\_RANGE ### MSP\_SET\_MODE\_RANGE
@ -60,32 +37,107 @@ auxiliary mode settings. The client *must* return all auxiliary
elements, including those that have been disabled or are undefined, by elements, including those that have been disabled or are undefined, by
sending this message for all auxiliary slots. sending this message for all auxiliary slots.
| Command | Msg Id | Direction | Data | Type | Notes | | Command | Msg Id | Direction |
|---------|--------|-----------|------|------|-------| |---------|--------|-----------|
| MSP\_SET\_MODE\_RANGE | 35 | to FC | sequence id | uint8 | A monotonically increasing ID, from 0 to the number of slots -1 | | MSP\_SET\_MODE\_RANGE | 35 | to FC |
| | | | permanentId | uint8 | See Modes.md for a definition of the permanent ids |
| | | | auxChannelIndex | uint8 | The Aux switch number (indexed from 0) |
| | | | rangeStartStep | uint8 | The start value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
| | | | rangeEndStep | uint8 | The end value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
## Implementation Notes
* The client should make no assumptions about the number of slots | Data | Type | Notes |
available. Rather, the number should be computed from the size of |------|------|-------|
the MSP\_MODE\_RANGES message divided by the size of the returned | sequence id | uint8 | A monotonically increasing ID, from 0 to the number of slots -1 |
data element (4 bytes); | permanentId | uint8 | See Modes.md for a definition of the permanent ids |
* The client should ensure that all changed items are returned to the | auxChannelIndex | uint8 | The Aux channel number (indexed from 0) |
flight controller, including those where a switch or range has been | rangeStartStep | uint8 | The start value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
disabled; | rangeEndStep | uint8 | The end value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
* A 'null' return (with rangeStartStep == rangeEndStep) must be made for all
unused slots, up to the maximum number of slots calculated from the initial ### Implementation Notes
message.
* The client should make no assumptions about the number of slots available. Rather, the number should be computed
from the size of the MSP\_MODE\_RANGES message divided by the size of the returned data element (4 bytes);
* The client should ensure that all changed items are returned to the flight controller, including those where a
switch or range has been disabled;
* A 'null' return, with all values other than the sequence id set to 0, must be made for all unused slots, up to
the maximum number of slots calculated from the initial message.
## Adjustment Ranges
### MSP\_ADJUSTMENT\_RANGES
The MSP\_ADJUSTMENT\_RANGES returns the current adjustment range settings from
the flight controller. It should be invoked before any modification is
made to the configuration.
The message returns a group of 6 unsigned bytes for each 'slot'
available in the flight controller. The number of slots should be
calculated from the size of the returned message.
| Command | Msg Id | Direction | Notes |
|---------|--------|-----------|-------|
| MSP\_ADJUSTMENT\_RANGES | 52 | to FC | Following this command, the FC returns a block of 6 bytes for each adjustment range 'slot'|
Unassigned slots have rangeStartStep == rangeEndStep. Each element contains the following fields.
| Data | Type | Notes |
|------|------|-------|
| adjustmentStateIndex | uint8 | See below |
| auxChannelIndex | uint8 | The Aux channel number (indexed from 0) used to activate the adjustment |
| rangeStartStep | uint8 | The start value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
| rangeEndStep | uint8 | The end value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
| adjustmentFunction | uint8 | See below |
| auxSwitchChannelIndex | uint8 | The Aux channel number used to perform the function (indexed from 0) |
Thus, for a cleanflight firmware with 12 slots 72 bytes would be returned in response to MSP\_ADJUSTMENT\_RANGES,
### MSP\_SET\_ADJUSTMENT\_RANGE
The MSP\_SET\_ADJUSTMENT\_RANGE is used to inform the flight controller of
adjustment range settings. The client *must* return all adjustment range
elements, including those that have been disabled or are undefined, by
sending this message for all adjustment range slots.
| Command | Msg Id | Direction |
|---------|--------|-----------|
| MSP\_SET\_ADJUSTMENT\_RANGE | 53 | to FC |
| Data | Type | Notes |
|------|------|-------|
| sequence id | uint8 | A monotonically increasing ID, from 0 to the number of slots -1 |
| adjustmentStateIndex | uint8 | See below |
| auxChannelIndex | uint8 | The Aux channel number (indexed from 0) |
| rangeStartStep | uint8 | The start value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
| rangeEndStep | uint8 | The end value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
| adjustmentFunction | uint8 | See below |
| auxSwitchChannelIndex | uint8 | The Aux channel number used to perform the function (indexed from 0) |
#### AdjustmentIndex
The FC maintains internal state for each adjustmentStateIndex, currently 4 simultaneous adjustment states are maintained. Multiple adjustment ranges
can be configured to use the same state but care should be taken not to send multiple adjustment ranges that when active would confict.
e.g. Configuring two identical adjustment ranges using the same slot would conflict, but configuring two adjustment ranges that used
only one half of the possible channel range each but used the same adjustmentStateIndex would not conflict.
The FC does NOT check for conflicts.
#### AdjustmentFunction
There are many adjustments that can be made, the numbers of them and their use is found in the documentation of the cli `adjrange` command in the 'Inflight Adjustents' section.
### Implementation Notes
* The client should make no assumptions about the number of slots available. Rather, the number should be computed
from the size of the MSP\_ADJUSTMENT\_RANGES message divided by the size of the returned data element (6 bytes);
* The client should ensure that all changed items are returned to the flight controller, including those where a
switch or range has been disabled;
* A 'null' return, with all values except for the sequence id set to 0, must be made for all unused slots,
up to the maximum number of slots calculated from the initial message.
## Deprecated MSP ## Deprecated MSP
The following MSP commands are replaced by the MSP\_MODE\_RANGES and The following MSP commands are replaced by the MSP\_MODE\_RANGES and
MSP\_SET\_MODE\_RANGE extensions, and are not recognised by MSP\_SET\_MODE\_RANGE extensions, and are not recognised by
cleanflight where CAP\_CLEANFLIGHT\_CONFIG is set. cleanflight.
* MSP\_BOX * MSP\_BOX
* MSP\_SET\_BOX * MSP\_SET\_BOX

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_RSSI_CONFIG 50
#define MSP_SET_RSSI_CONFIG 51 #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) // Baseflight MSP commands (if enabled they exist in Cleanflight)
// //
@ -849,8 +852,26 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize8(mac->range.endStep); serialize8(mac->range.endStep);
} }
break; 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: case MSP_BOXNAMES:
// headSerialReply(sizeof(boxnames) - 1);
serializeBoxNamesReply(); serializeBoxNamesReply();
break; break;
case MSP_BOXIDS: case MSP_BOXIDS:
@ -1097,6 +1118,26 @@ static bool processInCommand(void)
headSerialError(0); headSerialError(0);
} }
break; 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: case MSP_SET_RC_TUNING:
currentControlRateProfile->rcRate8 = read8(); currentControlRateProfile->rcRate8 = read8();
currentControlRateProfile->rcExpo8 = read8(); currentControlRateProfile->rcExpo8 = read8();