mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-21 23:35:34 +03:00
CF/BF - First cut of allow building of the OSD SLAVE board without all
the flight controller code. Likely the dependencies can be further improved. This is a minimal-impact solution while there are a lot of other Betaflight PR's still pending.
This commit is contained in:
Hydra
Dominic Clifton
parent
2ec39de031
commit
2b1dac4c6d
38 changed files with 923 additions and 409 deletions
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@ -34,7 +34,6 @@
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#include "common/streambuf.h"
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#include "config/config_eeprom.h"
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#include "config/config_profile.h"
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#include "config/feature.h"
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#include "config/parameter_group.h"
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#include "config/parameter_group_ids.h"
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@ -109,11 +108,10 @@
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#include "hardware_revision.h"
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#endif
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extern uint16_t cycleTime; // FIXME dependency on mw.c
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static const char * const flightControllerIdentifier = BETAFLIGHT_IDENTIFIER; // 4 UPPER CASE alpha numeric characters that identify the flight controller.
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static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
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#ifdef USE_FC
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static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
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{ BOXARM, "ARM", 0 },
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{ BOXANGLE, "ANGLE", 1 },
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@ -180,6 +178,7 @@ typedef enum {
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} mspSDCardFlags_e;
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#define RATEPROFILE_MASK (1 << 7)
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#endif
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#ifdef USE_SERIAL_4WAY_BLHELI_INTERFACE
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#define ESC_4WAY 0xff
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@ -244,13 +243,16 @@ static void mspRebootFn(serialPort_t *serialPort)
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{
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UNUSED(serialPort);
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#ifdef USE_FC
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stopPwmAllMotors();
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#endif
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systemReset();
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// control should never return here.
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while (true) ;
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}
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#ifdef USE_FC
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const box_t *findBoxByBoxId(uint8_t boxId)
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{
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for (uint8_t boxIndex = 0; boxIndex < sizeof(boxes) / sizeof(box_t); boxIndex++) {
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@ -537,12 +539,13 @@ static void serializeDataflashReadReply(sbuf_t *dst, uint32_t address, const uin
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}
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}
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#endif
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#endif
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/*
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* Returns true if the command was processd, false otherwise.
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* May set mspPostProcessFunc to a function to be called once the command has been processed
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*/
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static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFnPtr *mspPostProcessFn)
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static bool mspCommonProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFnPtr *mspPostProcessFn)
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{
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switch (cmdMSP) {
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case MSP_API_VERSION:
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@ -585,6 +588,240 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
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sbufWriteData(dst, shortGitRevision, GIT_SHORT_REVISION_LENGTH);
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break;
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case MSP_REBOOT:
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if (mspPostProcessFn) {
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*mspPostProcessFn = mspRebootFn;
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}
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break;
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case MSP_ANALOG:
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sbufWriteU8(dst, (uint8_t)constrain(getBatteryVoltage(), 0, 255));
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sbufWriteU16(dst, (uint16_t)constrain(getMAhDrawn(), 0, 0xFFFF)); // milliamp hours drawn from battery
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sbufWriteU16(dst, 0); // rssi
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sbufWriteU16(dst, (int16_t)constrain(getAmperage(), -0x8000, 0x7FFF)); // send current in 0.01 A steps, range is -320A to 320A
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break;
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case MSP_DEBUG:
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// output some useful QA statistics
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// debug[x] = ((hse_value / 1000000) * 1000) + (SystemCoreClock / 1000000); // XX0YY [crystal clock : core clock]
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for (int i = 0; i < DEBUG16_VALUE_COUNT; i++) {
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sbufWriteU16(dst, debug[i]); // 4 variables are here for general monitoring purpose
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}
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break;
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case MSP_UID:
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sbufWriteU32(dst, U_ID_0);
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sbufWriteU32(dst, U_ID_1);
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sbufWriteU32(dst, U_ID_2);
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break;
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case MSP_FEATURE_CONFIG:
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sbufWriteU32(dst, featureMask());
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break;
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case MSP_BATTERY_STATE: {
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// battery characteristics
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sbufWriteU8(dst, (uint8_t)constrain(getBatteryCellCount(), 0, 255)); // 0 indicates battery not detected.
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sbufWriteU16(dst, batteryConfig()->batteryCapacity); // in mAh
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// battery state
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sbufWriteU8(dst, (uint8_t)constrain(getBatteryVoltage(), 0, 255)); // in 0.1V steps
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sbufWriteU16(dst, (uint16_t)constrain(getMAhDrawn(), 0, 0xFFFF)); // milliamp hours drawn from battery
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sbufWriteU16(dst, (int16_t)constrain(getAmperage(), -0x8000, 0x7FFF)); // send current in 0.01 A steps, range is -320A to 320A
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// battery alerts
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sbufWriteU8(dst, (uint8_t)getBatteryState());
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break;
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}
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case MSP_VOLTAGE_METERS:
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// write out id and voltage meter values, once for each meter we support
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for (int i = 0; i < supportedVoltageMeterCount; i++) {
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voltageMeter_t meter;
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uint8_t id = (uint8_t)voltageMeterIds[i];
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voltageMeterRead(id, &meter);
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sbufWriteU8(dst, id);
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sbufWriteU8(dst, (uint8_t)constrain(meter.filtered, 0, 255));
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}
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break;
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case MSP_CURRENT_METERS:
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// write out id and current meter values, once for each meter we support
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for (int i = 0; i < supportedCurrentMeterCount; i++) {
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currentMeter_t meter;
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uint8_t id = (uint8_t)currentMeterIds[i];
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currentMeterRead(id, &meter);
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sbufWriteU8(dst, id);
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sbufWriteU16(dst, (uint16_t)constrain(meter.mAhDrawn, 0, 0xFFFF)); // milliamp hours drawn from battery
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sbufWriteU16(dst, (uint16_t)constrain(meter.amperage * 10, 0, 0xFFFF)); // send amperage in 0.001 A steps (mA). Negative range is truncated to zero
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}
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break;
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case MSP_VOLTAGE_METER_CONFIG:
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// by using a sensor type and a sub-frame length it's possible to configure any type of voltage meter,
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// e.g. an i2c/spi/can sensor or any sensor not built directly into the FC such as ESC/RX/SPort/SBus that has
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// different configuration requirements.
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BUILD_BUG_ON(VOLTAGE_SENSOR_ADC_VBAT != 0); // VOLTAGE_SENSOR_ADC_VBAT should be the first index,
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sbufWriteU8(dst, MAX_VOLTAGE_SENSOR_ADC); // voltage meters in payload
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for (int i = VOLTAGE_SENSOR_ADC_VBAT; i < MAX_VOLTAGE_SENSOR_ADC; i++) {
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const uint8_t adcSensorSubframeLength = 1 + 1 + 1 + 1 + 1; // length of id, type, vbatscale, vbatresdivval, vbatresdivmultipler, in bytes
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sbufWriteU8(dst, adcSensorSubframeLength); // ADC sensor sub-frame length
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sbufWriteU8(dst, voltageMeterADCtoIDMap[i]); // id of the sensor
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sbufWriteU8(dst, VOLTAGE_SENSOR_TYPE_ADC_RESISTOR_DIVIDER); // indicate the type of sensor that the next part of the payload is for
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sbufWriteU8(dst, voltageSensorADCConfig(i)->vbatscale);
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sbufWriteU8(dst, voltageSensorADCConfig(i)->vbatresdivval);
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sbufWriteU8(dst, voltageSensorADCConfig(i)->vbatresdivmultiplier);
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}
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// if we had any other voltage sensors, this is where we would output any needed configuration
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break;
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case MSP_CURRENT_METER_CONFIG: {
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// the ADC and VIRTUAL sensors have the same configuration requirements, however this API reflects
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// that this situation may change and allows us to support configuration of any current sensor with
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// specialist configuration requirements.
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sbufWriteU8(dst, 2); // current meters in payload (adc + virtual)
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const uint8_t adcSensorSubframeLength = 1 + 1 + 2 + 2; // length of id, type, scale, offset, in bytes
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sbufWriteU8(dst, adcSensorSubframeLength);
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sbufWriteU8(dst, CURRENT_METER_ID_BATTERY_1); // the id of the sensor
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sbufWriteU8(dst, CURRENT_SENSOR_ADC); // indicate the type of sensor that the next part of the payload is for
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sbufWriteU16(dst, currentSensorADCConfig()->scale);
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sbufWriteU16(dst, currentSensorADCConfig()->offset);
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const int8_t virtualSensorSubframeLength = 1 + 1 + 2 + 2; // length of id, type, scale, offset, in bytes
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sbufWriteU8(dst, virtualSensorSubframeLength);
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sbufWriteU8(dst, CURRENT_METER_ID_VIRTUAL_1); // the id of the sensor
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sbufWriteU8(dst, CURRENT_SENSOR_VIRTUAL); // indicate the type of sensor that the next part of the payload is for
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sbufWriteU16(dst, currentSensorVirtualConfig()->scale);
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sbufWriteU16(dst, currentSensorVirtualConfig()->offset);
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// if we had any other current sensors, this is where we would output any needed configuration
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break;
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}
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case MSP_BATTERY_CONFIG:
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sbufWriteU8(dst, batteryConfig()->vbatmincellvoltage);
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sbufWriteU8(dst, batteryConfig()->vbatmaxcellvoltage);
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sbufWriteU8(dst, batteryConfig()->vbatwarningcellvoltage);
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sbufWriteU16(dst, batteryConfig()->batteryCapacity);
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sbufWriteU8(dst, batteryConfig()->voltageMeterSource);
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sbufWriteU8(dst, batteryConfig()->currentMeterSource);
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break;
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case MSP_TRANSPONDER_CONFIG:
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#ifdef TRANSPONDER
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sbufWriteU8(dst, 1); //Transponder supported
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for (unsigned int i = 0; i < sizeof(transponderConfig()->data); i++) {
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sbufWriteU8(dst, transponderConfig()->data[i]);
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}
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#else
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sbufWriteU8(dst, 0); // Transponder not supported
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#endif
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break;
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case MSP_OSD_CONFIG: {
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#define OSD_FLAGS_OSD_FEATURE (1 << 0)
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#define OSD_FLAGS_OSD_SLAVE (1 << 1)
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#define OSD_FLAGS_RESERVED_1 (1 << 2)
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#define OSD_FLAGS_RESERVED_2 (1 << 3)
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#define OSD_FLAGS_OSD_HARDWARE_MAX_7456 (1 << 4)
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uint8_t osdFlags = 0;
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#if defined(OSD)
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osdFlags |= OSD_FLAGS_OSD_FEATURE;
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#endif
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#if defined(USE_OSD_SLAVE)
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osdFlags |= OSD_FLAGS_OSD_SLAVE;
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#endif
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#ifdef USE_MAX7456
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osdFlags |= OSD_FLAGS_OSD_HARDWARE_MAX_7456;
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#endif
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sbufWriteU8(dst, osdFlags);
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#ifdef USE_MAX7456
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// send video system (AUTO/PAL/NTSC)
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sbufWriteU8(dst, vcdProfile()->video_system);
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#else
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sbufWriteU8(dst, 0);
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#endif
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#ifdef OSD
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// OSD specific, not applicable to OSD slaves.
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sbufWriteU8(dst, osdConfig()->units);
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sbufWriteU8(dst, osdConfig()->rssi_alarm);
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sbufWriteU16(dst, osdConfig()->cap_alarm);
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sbufWriteU16(dst, osdConfig()->time_alarm);
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sbufWriteU16(dst, osdConfig()->alt_alarm);
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for (int i = 0; i < OSD_ITEM_COUNT; i++) {
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sbufWriteU16(dst, osdConfig()->item_pos[i]);
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}
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#endif
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break;
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}
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default:
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return false;
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}
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return true;
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}
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#ifdef USE_OSD_SLAVE
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static bool mspOsdSlaveProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFnPtr *mspPostProcessFn)
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{
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UNUSED(mspPostProcessFn);
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switch (cmdMSP) {
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case MSP_STATUS_EX:
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sbufWriteU16(dst, 0); // task delta
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#ifdef USE_I2C
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sbufWriteU16(dst, i2cGetErrorCounter());
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#else
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sbufWriteU16(dst, 0);
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#endif
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sbufWriteU16(dst, 0); // sensors
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sbufWriteU32(dst, 0); // flight modes
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sbufWriteU8(dst, 0); // profile
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sbufWriteU16(dst, constrain(averageSystemLoadPercent, 0, 100));
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sbufWriteU8(dst, 1); // max profiles
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sbufWriteU8(dst, 0); // control rate profile
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break;
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case MSP_STATUS:
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sbufWriteU16(dst, 0); // task delta
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#ifdef USE_I2C
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sbufWriteU16(dst, i2cGetErrorCounter());
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#else
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sbufWriteU16(dst, 0);
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#endif
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sbufWriteU16(dst, 0); // sensors
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sbufWriteU32(dst, 0); // flight modes
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sbufWriteU8(dst, 0); // profile
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sbufWriteU16(dst, constrain(averageSystemLoadPercent, 0, 100));
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sbufWriteU16(dst, 0); // gyro cycle time
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break;
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default:
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return false;
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}
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return true;
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}
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#endif
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#ifdef USE_FC
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static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFnPtr *mspPostProcessFn)
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{
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UNUSED(mspPostProcessFn);
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switch (cmdMSP) {
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case MSP_STATUS_EX:
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sbufWriteU16(dst, getTaskDeltaTime(TASK_GYROPID));
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#ifdef USE_I2C
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@ -600,15 +837,6 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
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sbufWriteU8(dst, getCurrentControlRateProfileIndex());
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break;
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case MSP_NAME:
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{
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const int nameLen = strlen(systemConfig()->name);
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for (int i = 0; i < nameLen; i++) {
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sbufWriteU8(dst, systemConfig()->name[i]);
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}
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}
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break;
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case MSP_STATUS:
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sbufWriteU16(dst, getTaskDeltaTime(TASK_GYROPID));
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#ifdef USE_I2C
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@ -639,6 +867,15 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
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}
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break;
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case MSP_NAME:
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{
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const int nameLen = strlen(systemConfig()->name);
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for (int i = 0; i < nameLen; i++) {
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sbufWriteU8(dst, systemConfig()->name[i]);
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}
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}
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break;
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#ifdef USE_SERVOS
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case MSP_SERVO:
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sbufWriteData(dst, &servo, MAX_SUPPORTED_SERVOS * 2);
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@ -649,8 +886,6 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
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sbufWriteU16(dst, servoParams(i)->max);
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sbufWriteU16(dst, servoParams(i)->middle);
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sbufWriteU8(dst, servoParams(i)->rate);
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sbufWriteU8(dst, servoParams(i)->angleAtMin);
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sbufWriteU8(dst, servoParams(i)->angleAtMax);
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sbufWriteU8(dst, servoParams(i)->forwardFromChannel);
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sbufWriteU32(dst, servoParams(i)->reversedSources);
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}
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@ -708,11 +943,10 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
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#endif
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break;
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case MSP_ANALOG:
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sbufWriteU8(dst, (uint8_t)constrain(getBatteryVoltage(), 0, 255));
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sbufWriteU16(dst, (uint16_t)constrain(getMAhDrawn(), 0, 0xFFFF)); // milliamp hours drawn from battery
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sbufWriteU16(dst, rssi);
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sbufWriteU16(dst, (int16_t)constrain(getAmperage(), -0x8000, 0x7FFF)); // send current in 0.01 A steps, range is -320A to 320A
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case MSP_BOARD_ALIGNMENT_CONFIG:
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sbufWriteU16(dst, boardAlignment()->rollDegrees);
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sbufWriteU16(dst, boardAlignment()->pitchDegrees);
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sbufWriteU16(dst, boardAlignment()->yawDegrees);
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break;
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case MSP_ARMING_CONFIG:
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@ -836,130 +1070,11 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
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break;
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#endif
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case MSP_DEBUG:
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// output some useful QA statistics
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// debug[x] = ((hse_value / 1000000) * 1000) + (SystemCoreClock / 1000000); // XX0YY [crystal clock : core clock]
|
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|
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for (int i = 0; i < DEBUG16_VALUE_COUNT; i++) {
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sbufWriteU16(dst, debug[i]); // 4 variables are here for general monitoring purpose
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}
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break;
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case MSP_ACC_TRIM:
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sbufWriteU16(dst, accelerometerConfig()->accelerometerTrims.values.pitch);
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sbufWriteU16(dst, accelerometerConfig()->accelerometerTrims.values.roll);
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break;
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case MSP_UID:
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sbufWriteU32(dst, U_ID_0);
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sbufWriteU32(dst, U_ID_1);
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sbufWriteU32(dst, U_ID_2);
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break;
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case MSP_FEATURE_CONFIG:
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sbufWriteU32(dst, featureMask());
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break;
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case MSP_BOARD_ALIGNMENT_CONFIG:
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sbufWriteU16(dst, boardAlignment()->rollDegrees);
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sbufWriteU16(dst, boardAlignment()->pitchDegrees);
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sbufWriteU16(dst, boardAlignment()->yawDegrees);
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break;
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case MSP_BATTERY_STATE: {
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// battery characteristics
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sbufWriteU8(dst, (uint8_t)constrain(getBatteryCellCount(), 0, 255)); // 0 indicates battery not detected.
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sbufWriteU16(dst, batteryConfig()->batteryCapacity); // in mAh
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// battery state
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sbufWriteU8(dst, (uint8_t)constrain(getBatteryVoltage(), 0, 255)); // in 0.1V steps
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sbufWriteU16(dst, (uint16_t)constrain(getMAhDrawn(), 0, 0xFFFF)); // milliamp hours drawn from battery
|
||||
sbufWriteU16(dst, (int16_t)constrain(getAmperage(), -0x8000, 0x7FFF)); // send current in 0.01 A steps, range is -320A to 320A
|
||||
|
||||
// battery alerts
|
||||
sbufWriteU8(dst, (uint8_t)getBatteryState());
|
||||
break;
|
||||
}
|
||||
case MSP_VOLTAGE_METERS:
|
||||
// write out id and voltage meter values, once for each meter we support
|
||||
for (int i = 0; i < supportedVoltageMeterCount; i++) {
|
||||
|
||||
voltageMeter_t meter;
|
||||
uint8_t id = (uint8_t)voltageMeterIds[i];
|
||||
voltageMeterRead(id, &meter);
|
||||
|
||||
sbufWriteU8(dst, id);
|
||||
sbufWriteU8(dst, (uint8_t)constrain(meter.filtered, 0, 255));
|
||||
}
|
||||
break;
|
||||
|
||||
case MSP_CURRENT_METERS:
|
||||
// write out id and current meter values, once for each meter we support
|
||||
for (int i = 0; i < supportedCurrentMeterCount; i++) {
|
||||
|
||||
currentMeter_t meter;
|
||||
uint8_t id = (uint8_t)currentMeterIds[i];
|
||||
currentMeterRead(id, &meter);
|
||||
|
||||
sbufWriteU8(dst, id);
|
||||
sbufWriteU16(dst, (uint16_t)constrain(meter.mAhDrawn, 0, 0xFFFF)); // milliamp hours drawn from battery
|
||||
sbufWriteU16(dst, (uint16_t)constrain(meter.amperage * 10, 0, 0xFFFF)); // send amperage in 0.001 A steps (mA). Negative range is truncated to zero
|
||||
}
|
||||
break;
|
||||
|
||||
case MSP_VOLTAGE_METER_CONFIG:
|
||||
// by using a sensor type and a sub-frame length it's possible to configure any type of voltage meter,
|
||||
// e.g. an i2c/spi/can sensor or any sensor not built directly into the FC such as ESC/RX/SPort/SBus that has
|
||||
// different configuration requirements.
|
||||
BUILD_BUG_ON(VOLTAGE_SENSOR_ADC_VBAT != 0); // VOLTAGE_SENSOR_ADC_VBAT should be the first index,
|
||||
sbufWriteU8(dst, MAX_VOLTAGE_SENSOR_ADC); // voltage meters in payload
|
||||
for (int i = VOLTAGE_SENSOR_ADC_VBAT; i < MAX_VOLTAGE_SENSOR_ADC; i++) {
|
||||
const uint8_t adcSensorSubframeLength = 1 + 1 + 1 + 1 + 1; // length of id, type, vbatscale, vbatresdivval, vbatresdivmultipler, in bytes
|
||||
sbufWriteU8(dst, adcSensorSubframeLength); // ADC sensor sub-frame length
|
||||
|
||||
sbufWriteU8(dst, voltageMeterADCtoIDMap[i]); // id of the sensor
|
||||
sbufWriteU8(dst, VOLTAGE_SENSOR_TYPE_ADC_RESISTOR_DIVIDER); // indicate the type of sensor that the next part of the payload is for
|
||||
|
||||
sbufWriteU8(dst, voltageSensorADCConfig(i)->vbatscale);
|
||||
sbufWriteU8(dst, voltageSensorADCConfig(i)->vbatresdivval);
|
||||
sbufWriteU8(dst, voltageSensorADCConfig(i)->vbatresdivmultiplier);
|
||||
}
|
||||
// if we had any other voltage sensors, this is where we would output any needed configuration
|
||||
break;
|
||||
|
||||
case MSP_CURRENT_METER_CONFIG: {
|
||||
// the ADC and VIRTUAL sensors have the same configuration requirements, however this API reflects
|
||||
// that this situation may change and allows us to support configuration of any current sensor with
|
||||
// specialist configuration requirements.
|
||||
|
||||
sbufWriteU8(dst, 2); // current meters in payload (adc + virtual)
|
||||
|
||||
const uint8_t adcSensorSubframeLength = 1 + 1 + 2 + 2; // length of id, type, scale, offset, in bytes
|
||||
sbufWriteU8(dst, adcSensorSubframeLength);
|
||||
sbufWriteU8(dst, CURRENT_METER_ID_BATTERY_1); // the id of the sensor
|
||||
sbufWriteU8(dst, CURRENT_SENSOR_ADC); // indicate the type of sensor that the next part of the payload is for
|
||||
sbufWriteU16(dst, currentSensorADCConfig()->scale);
|
||||
sbufWriteU16(dst, currentSensorADCConfig()->offset);
|
||||
|
||||
const int8_t virtualSensorSubframeLength = 1 + 1 + 2 + 2; // length of id, type, scale, offset, in bytes
|
||||
sbufWriteU8(dst, virtualSensorSubframeLength);
|
||||
sbufWriteU8(dst, CURRENT_METER_ID_VIRTUAL_1); // the id of the sensor
|
||||
sbufWriteU8(dst, CURRENT_SENSOR_VIRTUAL); // indicate the type of sensor that the next part of the payload is for
|
||||
sbufWriteU16(dst, currentSensorVirtualConfig()->scale);
|
||||
sbufWriteU16(dst, currentSensorVirtualConfig()->offset);
|
||||
|
||||
// if we had any other current sensors, this is where we would output any needed configuration
|
||||
break;
|
||||
}
|
||||
case MSP_BATTERY_CONFIG:
|
||||
sbufWriteU8(dst, batteryConfig()->vbatmincellvoltage);
|
||||
sbufWriteU8(dst, batteryConfig()->vbatmaxcellvoltage);
|
||||
sbufWriteU8(dst, batteryConfig()->vbatwarningcellvoltage);
|
||||
sbufWriteU16(dst, batteryConfig()->batteryCapacity);
|
||||
sbufWriteU8(dst, batteryConfig()->voltageMeterSource);
|
||||
sbufWriteU8(dst, batteryConfig()->currentMeterSource);
|
||||
break;
|
||||
|
||||
case MSP_MIXER_CONFIG:
|
||||
sbufWriteU8(dst, mixerConfig()->mixerMode);
|
||||
break;
|
||||
|
|
@ -1094,58 +1209,6 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
|
|||
serializeSDCardSummaryReply(dst);
|
||||
break;
|
||||
|
||||
case MSP_TRANSPONDER_CONFIG:
|
||||
#ifdef TRANSPONDER
|
||||
sbufWriteU8(dst, 1); //Transponder supported
|
||||
for (unsigned int i = 0; i < sizeof(transponderConfig()->data); i++) {
|
||||
sbufWriteU8(dst, transponderConfig()->data[i]);
|
||||
}
|
||||
#else
|
||||
sbufWriteU8(dst, 0); // Transponder not supported
|
||||
#endif
|
||||
break;
|
||||
|
||||
case MSP_OSD_CONFIG: {
|
||||
|
||||
#define OSD_FLAGS_OSD_FEATURE (1 << 0)
|
||||
#define OSD_FLAGS_OSD_SLAVE (1 << 1)
|
||||
#define OSD_FLAGS_RESERVED_1 (1 << 2)
|
||||
#define OSD_FLAGS_RESERVED_2 (1 << 3)
|
||||
#define OSD_FLAGS_OSD_HARDWARE_MAX_7456 (1 << 4)
|
||||
|
||||
uint8_t osdFlags = 0;
|
||||
#if defined(OSD)
|
||||
osdFlags |= OSD_FLAGS_OSD_FEATURE;
|
||||
#endif
|
||||
#if defined(USE_OSD_SLAVE)
|
||||
osdFlags |= OSD_FLAGS_OSD_SLAVE;
|
||||
#endif
|
||||
#ifdef USE_MAX7456
|
||||
osdFlags |= OSD_FLAGS_OSD_HARDWARE_MAX_7456;
|
||||
#endif
|
||||
|
||||
sbufWriteU8(dst, osdFlags);
|
||||
|
||||
#ifdef USE_MAX7456
|
||||
// send video system (AUTO/PAL/NTSC)
|
||||
sbufWriteU8(dst, vcdProfile()->video_system);
|
||||
#else
|
||||
sbufWriteU8(dst, 0);
|
||||
#endif
|
||||
|
||||
#ifdef OSD
|
||||
// OSD specific, not applicable to OSD slaves.
|
||||
sbufWriteU8(dst, osdConfig()->units);
|
||||
sbufWriteU8(dst, osdConfig()->rssi_alarm);
|
||||
sbufWriteU16(dst, osdConfig()->cap_alarm);
|
||||
sbufWriteU16(dst, osdConfig()->time_alarm);
|
||||
sbufWriteU16(dst, osdConfig()->alt_alarm);
|
||||
for (int i = 0; i < OSD_ITEM_COUNT; i++) {
|
||||
sbufWriteU16(dst, osdConfig()->item_pos[i]);
|
||||
}
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
case MSP_MOTOR_3D_CONFIG:
|
||||
sbufWriteU16(dst, flight3DConfig()->deadband3d_low);
|
||||
sbufWriteU16(dst, flight3DConfig()->deadband3d_high);
|
||||
|
|
@ -1218,12 +1281,6 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
|
|||
sbufWriteU8(dst, compassConfig()->mag_hardware);
|
||||
break;
|
||||
|
||||
case MSP_REBOOT:
|
||||
if (mspPostProcessFn) {
|
||||
*mspPostProcessFn = mspRebootFn;
|
||||
}
|
||||
break;
|
||||
|
||||
#if defined(VTX_COMMON)
|
||||
case MSP_VTX_CONFIG:
|
||||
{
|
||||
|
|
@ -1258,6 +1315,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
|
|||
}
|
||||
return true;
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef GPS
|
||||
static void mspFcWpCommand(sbuf_t *dst, sbuf_t *src)
|
||||
|
|
@ -1301,6 +1359,16 @@ static void mspFcDataFlashReadCommand(sbuf_t *dst, sbuf_t *src)
|
|||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_OSD_SLAVE
|
||||
static mspResult_e mspOsdSlaveProcessInCommand(uint8_t cmdMSP, sbuf_t *src) {
|
||||
UNUSED(cmdMSP);
|
||||
UNUSED(src);
|
||||
// Nothing OSD SLAVE specific yet.
|
||||
return MSP_RESULT_ERROR;
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_FC
|
||||
static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
|
||||
{
|
||||
uint32_t i;
|
||||
|
|
@ -1637,75 +1705,6 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
|
|||
break;
|
||||
#endif
|
||||
|
||||
#ifdef TRANSPONDER
|
||||
case MSP_SET_TRANSPONDER_CONFIG:
|
||||
if (dataSize != sizeof(transponderConfig()->data)) {
|
||||
return MSP_RESULT_ERROR;
|
||||
}
|
||||
for (unsigned int i = 0; i < sizeof(transponderConfig()->data); i++) {
|
||||
transponderConfigMutable()->data[i] = sbufReadU8(src);
|
||||
}
|
||||
transponderUpdateData();
|
||||
break;
|
||||
#endif
|
||||
|
||||
#if defined(OSD) || defined (USE_OSD_SLAVE)
|
||||
case MSP_SET_OSD_CONFIG:
|
||||
{
|
||||
const uint8_t addr = sbufReadU8(src);
|
||||
// set all the other settings
|
||||
if ((int8_t)addr == -1) {
|
||||
#ifdef USE_MAX7456
|
||||
vcdProfileMutable()->video_system = sbufReadU8(src);
|
||||
#else
|
||||
sbufReadU8(src); // Skip video system
|
||||
#endif
|
||||
#if defined(OSD)
|
||||
osdConfigMutable()->units = sbufReadU8(src);
|
||||
osdConfigMutable()->rssi_alarm = sbufReadU8(src);
|
||||
osdConfigMutable()->cap_alarm = sbufReadU16(src);
|
||||
osdConfigMutable()->time_alarm = sbufReadU16(src);
|
||||
osdConfigMutable()->alt_alarm = sbufReadU16(src);
|
||||
#endif
|
||||
} else {
|
||||
#if defined(OSD)
|
||||
// set a position setting
|
||||
const uint16_t pos = sbufReadU16(src);
|
||||
if (addr < OSD_ITEM_COUNT) {
|
||||
osdConfigMutable()->item_pos[addr] = pos;
|
||||
}
|
||||
#else
|
||||
return MSP_RESULT_ERROR;
|
||||
#endif
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case MSP_OSD_CHAR_WRITE:
|
||||
#ifdef USE_MAX7456
|
||||
{
|
||||
uint8_t font_data[64];
|
||||
const uint8_t addr = sbufReadU8(src);
|
||||
for (int i = 0; i < 54; i++) {
|
||||
font_data[i] = sbufReadU8(src);
|
||||
}
|
||||
// !!TODO - replace this with a device independent implementation
|
||||
max7456WriteNvm(addr, font_data);
|
||||
}
|
||||
#else
|
||||
return MSP_RESULT_ERROR;
|
||||
/*
|
||||
// just discard the data
|
||||
sbufReadU8(src);
|
||||
for (int i = 0; i < 54; i++) {
|
||||
sbufReadU8(src);
|
||||
}
|
||||
*/
|
||||
#endif
|
||||
break;
|
||||
#endif // OSD || USE_OSD_SLAVE
|
||||
|
||||
|
||||
#if defined(USE_RTC6705) || defined(VTX_COMMON)
|
||||
case MSP_SET_VTX_CONFIG:
|
||||
{
|
||||
|
|
@ -1804,59 +1803,6 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
|
|||
boardAlignmentMutable()->yawDegrees = sbufReadU16(src);
|
||||
break;
|
||||
|
||||
case MSP_SET_VOLTAGE_METER_CONFIG: {
|
||||
int id = sbufReadU8(src);
|
||||
|
||||
//
|
||||
// find and configure an ADC voltage sensor
|
||||
//
|
||||
int voltageSensorADCIndex;
|
||||
for (voltageSensorADCIndex = 0; voltageSensorADCIndex < MAX_VOLTAGE_SENSOR_ADC; voltageSensorADCIndex++) {
|
||||
if (id == voltageMeterADCtoIDMap[voltageSensorADCIndex]) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (voltageSensorADCIndex < MAX_VOLTAGE_SENSOR_ADC) {
|
||||
voltageSensorADCConfigMutable(voltageSensorADCIndex)->vbatscale = sbufReadU8(src);
|
||||
voltageSensorADCConfigMutable(voltageSensorADCIndex)->vbatresdivval = sbufReadU8(src);
|
||||
voltageSensorADCConfigMutable(voltageSensorADCIndex)->vbatresdivmultiplier = sbufReadU8(src);
|
||||
} else {
|
||||
// if we had any other types of voltage sensor to configure, this is where we'd do it.
|
||||
return -1;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case MSP_SET_CURRENT_METER_CONFIG: {
|
||||
int id = sbufReadU8(src);
|
||||
|
||||
switch (id) {
|
||||
case CURRENT_METER_ID_BATTERY_1:
|
||||
currentSensorADCConfigMutable()->scale = sbufReadU16(src);
|
||||
currentSensorADCConfigMutable()->offset = sbufReadU16(src);
|
||||
break;
|
||||
case CURRENT_METER_ID_VIRTUAL_1:
|
||||
currentSensorVirtualConfigMutable()->scale = sbufReadU16(src);
|
||||
currentSensorVirtualConfigMutable()->offset = sbufReadU16(src);
|
||||
break;
|
||||
|
||||
default:
|
||||
return -1;
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
case MSP_SET_BATTERY_CONFIG:
|
||||
batteryConfigMutable()->vbatmincellvoltage = sbufReadU8(src); // vbatlevel_warn1 in MWC2.3 GUI
|
||||
batteryConfigMutable()->vbatmaxcellvoltage = sbufReadU8(src); // vbatlevel_warn2 in MWC2.3 GUI
|
||||
batteryConfigMutable()->vbatwarningcellvoltage = sbufReadU8(src); // vbatlevel when buzzer starts to alert
|
||||
batteryConfigMutable()->batteryCapacity = sbufReadU16(src);
|
||||
batteryConfigMutable()->voltageMeterSource = sbufReadU8(src);
|
||||
batteryConfigMutable()->currentMeterSource = sbufReadU8(src);
|
||||
break;
|
||||
|
||||
case MSP_SET_MIXER_CONFIG:
|
||||
#ifndef USE_QUAD_MIXER_ONLY
|
||||
mixerConfigMutable()->mixerMode = sbufReadU8(src);
|
||||
|
|
@ -2013,6 +1959,145 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
|
|||
}
|
||||
return MSP_RESULT_ACK;
|
||||
}
|
||||
#endif
|
||||
|
||||
static mspResult_e mspCommonProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
|
||||
{
|
||||
// uint32_t i;
|
||||
// uint8_t value;
|
||||
const unsigned int dataSize = sbufBytesRemaining(src);
|
||||
|
||||
switch (cmdMSP) {
|
||||
#ifdef TRANSPONDER
|
||||
case MSP_SET_TRANSPONDER_CONFIG:
|
||||
if (dataSize != sizeof(transponderConfig()->data)) {
|
||||
return MSP_RESULT_ERROR;
|
||||
}
|
||||
for (unsigned int i = 0; i < sizeof(transponderConfig()->data); i++) {
|
||||
transponderConfigMutable()->data[i] = sbufReadU8(src);
|
||||
}
|
||||
transponderUpdateData();
|
||||
break;
|
||||
#endif
|
||||
|
||||
case MSP_SET_VOLTAGE_METER_CONFIG: {
|
||||
int id = sbufReadU8(src);
|
||||
|
||||
//
|
||||
// find and configure an ADC voltage sensor
|
||||
//
|
||||
int voltageSensorADCIndex;
|
||||
for (voltageSensorADCIndex = 0; voltageSensorADCIndex < MAX_VOLTAGE_SENSOR_ADC; voltageSensorADCIndex++) {
|
||||
if (id == voltageMeterADCtoIDMap[voltageSensorADCIndex]) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (voltageSensorADCIndex < MAX_VOLTAGE_SENSOR_ADC) {
|
||||
voltageSensorADCConfigMutable(voltageSensorADCIndex)->vbatscale = sbufReadU8(src);
|
||||
voltageSensorADCConfigMutable(voltageSensorADCIndex)->vbatresdivval = sbufReadU8(src);
|
||||
voltageSensorADCConfigMutable(voltageSensorADCIndex)->vbatresdivmultiplier = sbufReadU8(src);
|
||||
} else {
|
||||
// if we had any other types of voltage sensor to configure, this is where we'd do it.
|
||||
return -1;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case MSP_SET_CURRENT_METER_CONFIG: {
|
||||
int id = sbufReadU8(src);
|
||||
|
||||
switch (id) {
|
||||
case CURRENT_METER_ID_BATTERY_1:
|
||||
currentSensorADCConfigMutable()->scale = sbufReadU16(src);
|
||||
currentSensorADCConfigMutable()->offset = sbufReadU16(src);
|
||||
break;
|
||||
case CURRENT_METER_ID_VIRTUAL_1:
|
||||
currentSensorVirtualConfigMutable()->scale = sbufReadU16(src);
|
||||
currentSensorVirtualConfigMutable()->offset = sbufReadU16(src);
|
||||
break;
|
||||
|
||||
default:
|
||||
return -1;
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
case MSP_SET_BATTERY_CONFIG:
|
||||
batteryConfigMutable()->vbatmincellvoltage = sbufReadU8(src); // vbatlevel_warn1 in MWC2.3 GUI
|
||||
batteryConfigMutable()->vbatmaxcellvoltage = sbufReadU8(src); // vbatlevel_warn2 in MWC2.3 GUI
|
||||
batteryConfigMutable()->vbatwarningcellvoltage = sbufReadU8(src); // vbatlevel when buzzer starts to alert
|
||||
batteryConfigMutable()->batteryCapacity = sbufReadU16(src);
|
||||
batteryConfigMutable()->voltageMeterSource = sbufReadU8(src);
|
||||
batteryConfigMutable()->currentMeterSource = sbufReadU8(src);
|
||||
break;
|
||||
|
||||
#if defined(OSD) || defined (USE_OSD_SLAVE)
|
||||
case MSP_SET_OSD_CONFIG:
|
||||
{
|
||||
const uint8_t addr = sbufReadU8(src);
|
||||
// set all the other settings
|
||||
if ((int8_t)addr == -1) {
|
||||
#ifdef USE_MAX7456
|
||||
vcdProfileMutable()->video_system = sbufReadU8(src);
|
||||
#else
|
||||
sbufReadU8(src); // Skip video system
|
||||
#endif
|
||||
#if defined(OSD)
|
||||
osdConfigMutable()->units = sbufReadU8(src);
|
||||
osdConfigMutable()->rssi_alarm = sbufReadU8(src);
|
||||
osdConfigMutable()->cap_alarm = sbufReadU16(src);
|
||||
osdConfigMutable()->time_alarm = sbufReadU16(src);
|
||||
osdConfigMutable()->alt_alarm = sbufReadU16(src);
|
||||
#endif
|
||||
} else {
|
||||
#if defined(OSD)
|
||||
// set a position setting
|
||||
const uint16_t pos = sbufReadU16(src);
|
||||
if (addr < OSD_ITEM_COUNT) {
|
||||
osdConfigMutable()->item_pos[addr] = pos;
|
||||
}
|
||||
#else
|
||||
return MSP_RESULT_ERROR;
|
||||
#endif
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case MSP_OSD_CHAR_WRITE:
|
||||
#ifdef USE_MAX7456
|
||||
{
|
||||
uint8_t font_data[64];
|
||||
const uint8_t addr = sbufReadU8(src);
|
||||
for (int i = 0; i < 54; i++) {
|
||||
font_data[i] = sbufReadU8(src);
|
||||
}
|
||||
// !!TODO - replace this with a device independent implementation
|
||||
max7456WriteNvm(addr, font_data);
|
||||
}
|
||||
#else
|
||||
return MSP_RESULT_ERROR;
|
||||
/*
|
||||
// just discard the data
|
||||
sbufReadU8(src);
|
||||
for (int i = 0; i < 54; i++) {
|
||||
sbufReadU8(src);
|
||||
}
|
||||
*/
|
||||
#endif
|
||||
break;
|
||||
#endif // OSD || USE_OSD_SLAVE
|
||||
|
||||
default:
|
||||
#ifdef USE_OSD_SLAVE
|
||||
return mspOsdSlaveProcessInCommand(cmdMSP, src);
|
||||
#else
|
||||
return mspFcProcessInCommand(cmdMSP, src);
|
||||
#endif
|
||||
}
|
||||
return MSP_RESULT_ERROR;
|
||||
}
|
||||
|
||||
/*
|
||||
* Returns MSP_RESULT_ACK, MSP_RESULT_ERROR or MSP_RESULT_NO_REPLY
|
||||
|
|
@ -2026,8 +2111,16 @@ mspResult_e mspFcProcessCommand(mspPacket_t *cmd, mspPacket_t *reply, mspPostPro
|
|||
// initialize reply by default
|
||||
reply->cmd = cmd->cmd;
|
||||
|
||||
if (mspFcProcessOutCommand(cmdMSP, dst, mspPostProcessFn)) {
|
||||
if (mspCommonProcessOutCommand(cmdMSP, dst, mspPostProcessFn)) {
|
||||
ret = MSP_RESULT_ACK;
|
||||
#ifdef USE_FC
|
||||
} else if (mspFcProcessOutCommand(cmdMSP, dst, mspPostProcessFn)) {
|
||||
ret = MSP_RESULT_ACK;
|
||||
#endif
|
||||
#ifdef USE_OSD_SLAVE
|
||||
} else if (mspOsdSlaveProcessOutCommand(cmdMSP, dst, mspPostProcessFn)) {
|
||||
ret = MSP_RESULT_ACK;
|
||||
#endif
|
||||
#ifdef USE_SERIAL_4WAY_BLHELI_INTERFACE
|
||||
} else if (cmdMSP == MSP_SET_4WAY_IF) {
|
||||
mspFc4waySerialCommand(dst, src, mspPostProcessFn);
|
||||
|
|
@ -2044,7 +2137,7 @@ mspResult_e mspFcProcessCommand(mspPacket_t *cmd, mspPacket_t *reply, mspPostPro
|
|||
ret = MSP_RESULT_ACK;
|
||||
#endif
|
||||
} else {
|
||||
ret = mspFcProcessInCommand(cmdMSP, src);
|
||||
ret = mspCommonProcessInCommand(cmdMSP, src);
|
||||
}
|
||||
reply->result = ret;
|
||||
return ret;
|
||||
|
|
@ -2104,7 +2197,15 @@ void mspFcProcessReply(mspPacket_t *reply)
|
|||
/*
|
||||
* Return a pointer to the process command function
|
||||
*/
|
||||
#ifdef USE_FC
|
||||
void mspFcInit(void)
|
||||
{
|
||||
initActiveBoxIds();
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_OSD_SLAVE
|
||||
void mspOsdSlaveInit(void)
|
||||
{
|
||||
}
|
||||
#endif
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue