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Add MSP capability bit so clients can detect Cleanflight and use an

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appropriate API.  Renumber some cleanflight specific MSP commands,
Cleanflight will use the range 32-63 for new MSP commands.
This commit is contained in:
Dominic Clifton 2014-10-13 22:36:00 +01:00
parent 1257367705
commit 79c2e5648f
1 changed files with 10 additions and 6 deletions
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16
src/main/io/serial_msp.c
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@ -76,11 +76,19 @@ extern int16_t debug[4]; // FIXME dependency on mw.c
// Multiwii Serial Protocol 0
#define MSP_VERSION 0
#define CAP_PLATFORM_32BIT ((uint32_t)1 << 31)
#define CAP_BASEFLIGHT_CONFIG ((uint32_t)1 << 30)
#define CAP_CLEANFLIGHT_CONFIG ((uint32_t)1 << 29)
#define CAP_DYNBALANCE ((uint32_t)1 << 2)
#define CAP_FLAPS ((uint32_t)1 << 3)
#define CAP_CHANNEL_FORWARDING ((uint32_t)1 << 4)
#define CAP_ACTIVATE_AUX1_TO_AUX8 ((uint32_t)1 << 5)
// MSP commands for Cleanflight original features
#define MSP_CHANNEL_FORWARDING 32 //out message Returns channel forwarding settings
#define MSP_SET_CHANNEL_FORWARDING 33 //in message Channel forwarding settings
#define MSP_MODE_RANGES 34 //out message Returns all mode ranges
#define MSP_SET_MODE_RANGE 35 //in message Sets a single mode range
// Multiwii MSP commands
#define MSP_IDENT 100 //out message multitype + multiwii version + protocol version + capability variable
#define MSP_STATUS 101 //out message cycletime & errors_count & sensor present & box activation & current setting number
#define MSP_RAW_IMU 102 //out message 9 DOF
@ -104,8 +112,6 @@ extern int16_t debug[4]; // FIXME dependency on mw.c
#define MSP_SERVO_CONF 120 //out message Servo settings
#define MSP_NAV_STATUS 121 //out message Returns navigation status
#define MSP_NAV_CONFIG 122 //out message Returns navigation parameters
#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_GPS 201 //in message fix, numsat, lat, lon, alt, speed
@ -120,10 +126,8 @@ extern int16_t debug[4]; // FIXME dependency on mw.c
#define MSP_SELECT_SETTING 210 //in message Select Setting Number (0-2)
#define MSP_SET_HEAD 211 //in message define a new heading hold direction
#define MSP_SET_SERVO_CONF 212 //in message Servo settings
#define MSP_SET_CHANNEL_FORWARDING 213 //in message Channel forwarding settings
#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_MODE_RANGE 216 //in message Sets a single mode range
// #define MSP_BIND 240 //in message no param
@ -501,7 +505,7 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize8(MW_VERSION);
serialize8(masterConfig.mixerConfiguration); // type of multicopter
serialize8(MSP_VERSION); // MultiWii Serial Protocol Version
serialize32(CAP_PLATFORM_32BIT | CAP_DYNBALANCE | (masterConfig.airplaneConfig.flaps_speed ? CAP_FLAPS : 0) | CAP_CHANNEL_FORWARDING | CAP_ACTIVATE_AUX1_TO_AUX8); // "capability"
serialize32(CAP_PLATFORM_32BIT | CAP_CLEANFLIGHT_CONFIG | CAP_DYNBALANCE | (masterConfig.airplaneConfig.flaps_speed ? CAP_FLAPS : 0) | CAP_CHANNEL_FORWARDING); // "capability"
break;
case MSP_STATUS:
headSerialReply(11);