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Merge pull request #9619 from mikeller/add_motor_protocol_disabled

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Added 'disabled' motor protocol and made it the default.
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Michael Keller 2020-04-11 12:41:18 +12:00 • committed by GitHub
commit 2101326a1d
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17 changed files with 193 additions and 149 deletions
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62
src/main/msp/msp.c
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@ -595,41 +595,39 @@ static bool mspCommonProcessOutCommand(int16_t cmdMSP, sbuf_t *dst, mspPostProce
#else
sbufWriteU8(dst, 0); // 0 == FC
#endif
// Target capabilities (uint8)
#define TARGET_HAS_VCP_BIT 0
#define TARGET_HAS_SOFTSERIAL_BIT 1
#define TARGET_IS_UNIFIED_BIT 2
#define TARGET_HAS_FLASH_BOOTLOADER_BIT 3
#define TARGET_SUPPORTS_CUSTOM_DEFAULTS_BIT 4
#define TARGET_HAS_CUSTOM_DEFAULTS_BIT 5
#define TARGET_SUPPORTS_RX_BIND_BIT 6
#define TARGET_ACC_NEEDS_CALIBRATION_BIT 7
#define TARGET_HAS_VCP 0
#define TARGET_HAS_SOFTSERIAL 1
#define TARGET_IS_UNIFIED 2
#define TARGET_HAS_FLASH_BOOTLOADER 3
#define TARGET_SUPPORTS_CUSTOM_DEFAULTS 4
#define TARGET_HAS_CUSTOM_DEFAULTS 5
#define TARGET_SUPPORTS_RX_BIND 6
uint8_t targetCapabilities = 0;
#ifdef USE_VCP
targetCapabilities |= 1 << TARGET_HAS_VCP_BIT;
targetCapabilities |= BIT(TARGET_HAS_VCP);
#endif
#if defined(USE_SOFTSERIAL1) || defined(USE_SOFTSERIAL2)
targetCapabilities |= 1 << TARGET_HAS_SOFTSERIAL_BIT;
targetCapabilities |= BIT(TARGET_HAS_SOFTSERIAL);
#endif
#if defined(USE_UNIFIED_TARGET)
targetCapabilities |= 1 << TARGET_IS_UNIFIED_BIT;
targetCapabilities |= BIT(TARGET_IS_UNIFIED);
#endif
#if defined(USE_FLASH_BOOT_LOADER)
targetCapabilities |= 1 << TARGET_HAS_FLASH_BOOTLOADER_BIT;
targetCapabilities |= BIT(TARGET_HAS_FLASH_BOOTLOADER);
#endif
#if defined(USE_CUSTOM_DEFAULTS)
targetCapabilities |= 1 << TARGET_SUPPORTS_CUSTOM_DEFAULTS_BIT;
targetCapabilities |= BIT(TARGET_SUPPORTS_CUSTOM_DEFAULTS);
if (hasCustomDefaults()) {
targetCapabilities |= 1 << TARGET_HAS_CUSTOM_DEFAULTS_BIT;
targetCapabilities |= BIT(TARGET_HAS_CUSTOM_DEFAULTS);
}
#endif
#if defined(USE_RX_BIND)
targetCapabilities |= (getRxBindSupported() << TARGET_SUPPORTS_RX_BIND_BIT);
#endif
#if defined(USE_ACC)
targetCapabilities |= (!accHasBeenCalibrated() << TARGET_ACC_NEEDS_CALIBRATION_BIT);
if (getRxBindSupported()) {
targetCapabilities |= BIT(TARGET_SUPPORTS_RX_BIND);
}
#endif
sbufWriteU8(dst, targetCapabilities);
@ -667,9 +665,27 @@ static bool mspCommonProcessOutCommand(int16_t cmdMSP, sbuf_t *dst, mspPostProce
// Added in API version 1.42
sbufWriteU8(dst, systemConfig()->configurationState);
//Added in API version 1.43
// Added in API version 1.43
sbufWriteU16(dst, gyro.sampleRateHz); // informational so the configurator can display the correct gyro/pid frequencies in the drop-down
// Configuration warnings / problems (uint32_t)
#define PROBLEM_ACC_NEEDS_CALIBRATION 0
#define PROBLEM_MOTOR_PROTOCOL_DISABLED 1
uint32_t configurationProblems = 0;
#if defined(USE_ACC)
if (!accHasBeenCalibrated()) {
configurationProblems |= BIT(PROBLEM_ACC_NEEDS_CALIBRATION);
}
#endif
if (!checkMotorProtocolEnabled(&motorConfig()->dev, NULL)) {
configurationProblems |= BIT(PROBLEM_MOTOR_PROTOCOL_DISABLED);
}
sbufWriteU32(dst, configurationProblems);
break;
}
@ -2454,11 +2470,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
sbufReadU8(src); // was gyroConfigMutable()->gyro_sync_denom - removed in API 1.43
pidConfigMutable()->pid_process_denom = sbufReadU8(src);
motorConfigMutable()->dev.useUnsyncedPwm = sbufReadU8(src);
#ifdef USE_DSHOT
motorConfigMutable()->dev.motorPwmProtocol = constrain(sbufReadU8(src), 0, PWM_TYPE_MAX - 1);
#else
motorConfigMutable()->dev.motorPwmProtocol = constrain(sbufReadU8(src), 0, PWM_TYPE_BRUSHED);
#endif
motorConfigMutable()->dev.motorPwmProtocol = sbufReadU8(src);
motorConfigMutable()->dev.motorPwmRate = sbufReadU16(src);
if (sbufBytesRemaining(src) >= 2) {
motorConfigMutable()->digitalIdleOffsetValue = sbufReadU16(src);