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Add two new MSP commands to get ALL mode ranges and to set individual

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mode ranges.
This commit is contained in:
Dominic Clifton 2014-10-12 21:22:05 +01:00
parent ca9f183b83
commit 2555858687
1 changed files with 24 additions and 0 deletions
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24
src/main/io/serial_msp.c
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@ -105,6 +105,7 @@ extern int16_t debug[4]; // FIXME dependency on mw.c
#define MSP_NAV_STATUS 121 //out message Returns navigation status #define MSP_NAV_STATUS 121 //out message Returns navigation status
#define MSP_NAV_CONFIG 122 //out message Returns navigation parameters #define MSP_NAV_CONFIG 122 //out message Returns navigation parameters
#define MSP_CHANNEL_FORWARDING 123 //out message Returns channel forwarding settings #define MSP_CHANNEL_FORWARDING 123 //out message Returns channel forwarding settings
#define MSP_MODE_RANGES 124 //out message Returns all mode ranges
#define MSP_SET_RAW_RC 200 //in message 8 rc chan #define MSP_SET_RAW_RC 200 //in message 8 rc chan
#define MSP_SET_RAW_GPS 201 //in message fix, numsat, lat, lon, alt, speed #define MSP_SET_RAW_GPS 201 //in message fix, numsat, lat, lon, alt, speed
@ -122,6 +123,7 @@ extern int16_t debug[4]; // FIXME dependency on mw.c
#define MSP_SET_CHANNEL_FORWARDING 213 //in message Channel forwarding settings #define MSP_SET_CHANNEL_FORWARDING 213 //in message Channel forwarding settings
#define MSP_SET_MOTOR 214 //in message PropBalance function #define MSP_SET_MOTOR 214 //in message PropBalance function
#define MSP_SET_NAV_CONFIG 215 //in message Sets nav config parameters - write to the eeprom #define MSP_SET_NAV_CONFIG 215 //in message Sets nav config parameters - write to the eeprom
#define MSP_SET_MODE_RANGE 216 //in message Sets a single mode range
// #define MSP_BIND 240 //in message no param // #define MSP_BIND 240 //in message no param
@ -633,6 +635,16 @@ static bool processOutCommand(uint8_t cmdMSP)
headSerialReply(sizeof(pidnames) - 1); headSerialReply(sizeof(pidnames) - 1);
serializeNames(pidnames); serializeNames(pidnames);
break; break;
case MSP_MODE_RANGES:
headSerialReply(4 * MAX_MODE_ACTIVATION_CONDITION_COUNT);
for (i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
modeActivationCondition_t *mac = &currentProfile->modeActivationConditions[i];
serialize8(mac->modeId);
serialize8(mac->auxChannelIndex);
serialize8(mac->rangeStartStep);
serialize8(mac->rangeEndStep);
}
break;
// FIXME provide backward compatible solution? what what version of MSP? 6pos? would only work if all step values are on 6pos boundaries // FIXME provide backward compatible solution? what what version of MSP? 6pos? would only work if all step values are on 6pos boundaries
/* /*
case MSP_BOX: case MSP_BOX:
@ -807,6 +819,18 @@ static bool processInCommand(void)
} }
} }
break; break;
case MSP_SET_MODE_RANGE:
i = read8();
if (i > 0 && i < MAX_MODE_ACTIVATION_CONDITION_COUNT) {
modeActivationCondition_t *mac = &currentProfile->modeActivationConditions[i];
mac->modeId = read8();
mac->auxChannelIndex = read8();
mac->rangeStartStep = read8();
mac->rangeEndStep = read8();
} else {
headSerialError(0);
}
break;
// FIXME provide backward compatible solution? what what version of MSP? 6pos? would only work if all step values are on 6pos boundaries // FIXME provide backward compatible solution? what what version of MSP? 6pos? would only work if all step values are on 6pos boundaries
/* /*
case MSP_SET_BOX: case MSP_SET_BOX: