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Code Issues Wiki Activity

Preparation for conversion to parameter groups

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This commit is contained in:
Martin Budden 2017-01-24 19:42:29 +00:00
parent 6f872ba899
commit 79d4b2146d
90 changed files with 1150 additions and 507 deletions
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274
src/main/fc/fc_msp.c
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@ -36,9 +36,11 @@
#include "config/config_eeprom.h"
#include "config/config_profile.h"
#include "config/config_master.h"
#include "config/feature.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "drivers/system.h"
#include "drivers/accgyro.h"
#include "drivers/bus_i2c.h"
#include "drivers/compass.h"
@ -673,25 +675,25 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
break;
case MSP_SERVO_CONFIGURATIONS:
for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
sbufWriteU16(dst, servoProfile()->servoConf[i].min);
sbufWriteU16(dst, servoProfile()->servoConf[i].max);
sbufWriteU16(dst, servoProfile()->servoConf[i].middle);
sbufWriteU8(dst, servoProfile()->servoConf[i].rate);
sbufWriteU8(dst, servoProfile()->servoConf[i].angleAtMin);
sbufWriteU8(dst, servoProfile()->servoConf[i].angleAtMax);
sbufWriteU8(dst, servoProfile()->servoConf[i].forwardFromChannel);
sbufWriteU32(dst, servoProfile()->servoConf[i].reversedSources);
sbufWriteU16(dst, servoParams(i)->min);
sbufWriteU16(dst, servoParams(i)->max);
sbufWriteU16(dst, servoParams(i)->middle);
sbufWriteU8(dst, servoParams(i)->rate);
sbufWriteU8(dst, servoParams(i)->angleAtMin);
sbufWriteU8(dst, servoParams(i)->angleAtMax);
sbufWriteU8(dst, servoParams(i)->forwardFromChannel);
sbufWriteU32(dst, servoParams(i)->reversedSources);
}
break;
case MSP_SERVO_MIX_RULES:
for (int i = 0; i < MAX_SERVO_RULES; i++) {
sbufWriteU8(dst, customServoMixer(i)->targetChannel);
sbufWriteU8(dst, customServoMixer(i)->inputSource);
sbufWriteU8(dst, customServoMixer(i)->rate);
sbufWriteU8(dst, customServoMixer(i)->speed);
sbufWriteU8(dst, customServoMixer(i)->min);
sbufWriteU8(dst, customServoMixer(i)->max);
sbufWriteU8(dst, customServoMixer(i)->box);
sbufWriteU8(dst, customServoMixers(i)->targetChannel);
sbufWriteU8(dst, customServoMixers(i)->inputSource);
sbufWriteU8(dst, customServoMixers(i)->rate);
sbufWriteU8(dst, customServoMixers(i)->speed);
sbufWriteU8(dst, customServoMixers(i)->min);
sbufWriteU8(dst, customServoMixers(i)->max);
sbufWriteU8(dst, customServoMixers(i)->box);
}
break;
#endif
@ -798,7 +800,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
case MSP_ADJUSTMENT_RANGES:
for (int i = 0; i < MAX_ADJUSTMENT_RANGE_COUNT; i++) {
adjustmentRange_t *adjRange = &adjustmentProfile()->adjustmentRanges[i];
const adjustmentRange_t *adjRange = adjustmentRanges(i);
sbufWriteU8(dst, adjRange->adjustmentIndex);
sbufWriteU8(dst, adjRange->auxChannelIndex);
sbufWriteU8(dst, adjRange->range.startStep);
@ -965,8 +967,8 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
case MSP_RXFAIL_CONFIG:
for (int i = 0; i < rxRuntimeConfig.channelCount; i++) {
sbufWriteU8(dst, rxConfig()->failsafe_channel_configurations[i].mode);
sbufWriteU16(dst, RXFAIL_STEP_TO_CHANNEL_VALUE(rxConfig()->failsafe_channel_configurations[i].step));
sbufWriteU8(dst, rxFailsafeChannelConfigs(i)->mode);
sbufWriteU16(dst, RXFAIL_STEP_TO_CHANNEL_VALUE(rxFailsafeChannelConfigs(i)->step));
}
break;
@ -1012,7 +1014,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
#ifdef LED_STRIP
case MSP_LED_COLORS:
for (int i = 0; i < LED_CONFIGURABLE_COLOR_COUNT; i++) {
hsvColor_t *color = &ledStripConfig()->colors[i];
const hsvColor_t *color = &ledStripConfig()->colors[i];
sbufWriteU16(dst, color->h);
sbufWriteU8(dst, color->s);
sbufWriteU8(dst, color->v);
@ -1021,7 +1023,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
case MSP_LED_STRIP_CONFIG:
for (int i = 0; i < LED_MAX_STRIP_LENGTH; i++) {
ledConfig_t *ledConfig = &ledStripConfig()->ledConfigs[i];
const ledConfig_t *ledConfig = &ledStripConfig()->ledConfigs[i];
sbufWriteU32(dst, *ledConfig);
}
break;
@ -1089,13 +1091,13 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
#else
sbufWriteU8(dst, 0);
#endif
sbufWriteU8(dst, osdProfile()->units);
sbufWriteU8(dst, osdProfile()->rssi_alarm);
sbufWriteU16(dst, osdProfile()->cap_alarm);
sbufWriteU16(dst, osdProfile()->time_alarm);
sbufWriteU16(dst, osdProfile()->alt_alarm);
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, osdProfile()->item_pos[i]);
sbufWriteU16(dst, osdConfig()->item_pos[i]);
}
#else
sbufWriteU8(dst, 0); // OSD not supported
@ -1315,12 +1317,12 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
#endif
break;
case MSP_SET_ACC_TRIM:
accelerometerConfig()->accelerometerTrims.values.pitch = sbufReadU16(src);
accelerometerConfig()->accelerometerTrims.values.roll = sbufReadU16(src);
accelerometerConfigMutable()->accelerometerTrims.values.pitch = sbufReadU16(src);
accelerometerConfigMutable()->accelerometerTrims.values.roll = sbufReadU16(src);
break;
case MSP_SET_ARMING_CONFIG:
armingConfig()->auto_disarm_delay = sbufReadU8(src);
armingConfig()->disarm_kill_switch = sbufReadU8(src);
armingConfigMutable()->auto_disarm_delay = sbufReadU8(src);
armingConfigMutable()->disarm_kill_switch = sbufReadU8(src);
break;
case MSP_SET_LOOP_TIME:
@ -1342,7 +1344,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
case MSP_SET_MODE_RANGE:
i = sbufReadU8(src);
if (i < MAX_MODE_ACTIVATION_CONDITION_COUNT) {
modeActivationCondition_t *mac = &modeActivationProfile()->modeActivationConditions[i];
modeActivationCondition_t *mac = modeActivationConditionsMutable(i);
i = sbufReadU8(src);
const box_t *box = findBoxByPermenantId(i);
if (box) {
@ -1351,7 +1353,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
mac->range.startStep = sbufReadU8(src);
mac->range.endStep = sbufReadU8(src);
useRcControlsConfig(modeActivationProfile()->modeActivationConditions, &masterConfig.motorConfig, &currentProfile->pidProfile);
useRcControlsConfig(modeActivationConditions(0), motorConfig(), &currentProfile->pidProfile);
} else {
return MSP_RESULT_ERROR;
}
@ -1363,7 +1365,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
case MSP_SET_ADJUSTMENT_RANGE:
i = sbufReadU8(src);
if (i < MAX_ADJUSTMENT_RANGE_COUNT) {
adjustmentRange_t *adjRange = &adjustmentProfile()->adjustmentRanges[i];
adjustmentRange_t *adjRange = adjustmentRangesMutable(i);
i = sbufReadU8(src);
if (i < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT) {
adjRange->adjustmentIndex = i;
@ -1405,32 +1407,32 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break;
case MSP_SET_MISC:
rxConfig()->midrc = sbufReadU16(src);
motorConfig()->minthrottle = sbufReadU16(src);
motorConfig()->maxthrottle = sbufReadU16(src);
motorConfig()->mincommand = sbufReadU16(src);
rxConfigMutable()->midrc = sbufReadU16(src);
motorConfigMutable()->minthrottle = sbufReadU16(src);
motorConfigMutable()->maxthrottle = sbufReadU16(src);
motorConfigMutable()->mincommand = sbufReadU16(src);
failsafeConfig()->failsafe_throttle = sbufReadU16(src);
failsafeConfigMutable()->failsafe_throttle = sbufReadU16(src);
#ifdef GPS
gpsConfig()->provider = sbufReadU8(src); // gps_type
gpsConfigMutable()->provider = sbufReadU8(src); // gps_type
sbufReadU8(src); // gps_baudrate
gpsConfig()->sbasMode = sbufReadU8(src); // gps_ubx_sbas
gpsConfigMutable()->sbasMode = sbufReadU8(src); // gps_ubx_sbas
#else
sbufReadU8(src); // gps_type
sbufReadU8(src); // gps_baudrate
sbufReadU8(src); // gps_ubx_sbas
#endif
batteryConfig()->multiwiiCurrentMeterOutput = sbufReadU8(src);
rxConfig()->rssi_channel = sbufReadU8(src);
batteryConfigMutable()->multiwiiCurrentMeterOutput = sbufReadU8(src);
rxConfigMutable()->rssi_channel = sbufReadU8(src);
sbufReadU8(src);
compassConfig()->mag_declination = sbufReadU16(src) * 10;
compassConfigMutable()->mag_declination = sbufReadU16(src) * 10;
batteryConfig()->vbatscale = sbufReadU8(src); // actual vbatscale as intended
batteryConfig()->vbatmincellvoltage = sbufReadU8(src); // vbatlevel_warn1 in MWC2.3 GUI
batteryConfig()->vbatmaxcellvoltage = sbufReadU8(src); // vbatlevel_warn2 in MWC2.3 GUI
batteryConfig()->vbatwarningcellvoltage = sbufReadU8(src); // vbatlevel when buzzer starts to alert
batteryConfigMutable()->vbatscale = sbufReadU8(src); // actual vbatscale as intended
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
break;
case MSP_SET_MOTOR:
@ -1448,14 +1450,14 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
if (i >= MAX_SUPPORTED_SERVOS) {
return MSP_RESULT_ERROR;
} else {
servoProfile()->servoConf[i].min = sbufReadU16(src);
servoProfile()->servoConf[i].max = sbufReadU16(src);
servoProfile()->servoConf[i].middle = sbufReadU16(src);
servoProfile()->servoConf[i].rate = sbufReadU8(src);
servoProfile()->servoConf[i].angleAtMin = sbufReadU8(src);
servoProfile()->servoConf[i].angleAtMax = sbufReadU8(src);
servoProfile()->servoConf[i].forwardFromChannel = sbufReadU8(src);
servoProfile()->servoConf[i].reversedSources = sbufReadU32(src);
servoParamsMutable(i)->min = sbufReadU16(src);
servoParamsMutable(i)->max = sbufReadU16(src);
servoParamsMutable(i)->middle = sbufReadU16(src);
servoParamsMutable(i)->rate = sbufReadU8(src);
servoParamsMutable(i)->angleAtMin = sbufReadU8(src);
servoParamsMutable(i)->angleAtMax = sbufReadU8(src);
servoParamsMutable(i)->forwardFromChannel = sbufReadU8(src);
servoParamsMutable(i)->reversedSources = sbufReadU32(src);
}
#endif
break;
@ -1466,59 +1468,59 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
if (i >= MAX_SERVO_RULES) {
return MSP_RESULT_ERROR;
} else {
customServoMixer(i)->targetChannel = sbufReadU8(src);
customServoMixer(i)->inputSource = sbufReadU8(src);
customServoMixer(i)->rate = sbufReadU8(src);
customServoMixer(i)->speed = sbufReadU8(src);
customServoMixer(i)->min = sbufReadU8(src);
customServoMixer(i)->max = sbufReadU8(src);
customServoMixer(i)->box = sbufReadU8(src);
customServoMixersMutable(i)->targetChannel = sbufReadU8(src);
customServoMixersMutable(i)->inputSource = sbufReadU8(src);
customServoMixersMutable(i)->rate = sbufReadU8(src);
customServoMixersMutable(i)->speed = sbufReadU8(src);
customServoMixersMutable(i)->min = sbufReadU8(src);
customServoMixersMutable(i)->max = sbufReadU8(src);
customServoMixersMutable(i)->box = sbufReadU8(src);
loadCustomServoMixer();
}
#endif
break;
case MSP_SET_3D:
flight3DConfig()->deadband3d_low = sbufReadU16(src);
flight3DConfig()->deadband3d_high = sbufReadU16(src);
flight3DConfig()->neutral3d = sbufReadU16(src);
flight3DConfigMutable()->deadband3d_low = sbufReadU16(src);
flight3DConfigMutable()->deadband3d_high = sbufReadU16(src);
flight3DConfigMutable()->neutral3d = sbufReadU16(src);
break;
case MSP_SET_RC_DEADBAND:
rcControlsConfig()->deadband = sbufReadU8(src);
rcControlsConfig()->yaw_deadband = sbufReadU8(src);
rcControlsConfig()->alt_hold_deadband = sbufReadU8(src);
flight3DConfig()->deadband3d_throttle = sbufReadU16(src);
rcControlsConfigMutable()->deadband = sbufReadU8(src);
rcControlsConfigMutable()->yaw_deadband = sbufReadU8(src);
rcControlsConfigMutable()->alt_hold_deadband = sbufReadU8(src);
flight3DConfigMutable()->deadband3d_throttle = sbufReadU16(src);
break;
case MSP_SET_RESET_CURR_PID:
resetProfile(currentProfile);
break;
case MSP_SET_SENSOR_ALIGNMENT:
gyroConfig()->gyro_align = sbufReadU8(src);
accelerometerConfig()->acc_align = sbufReadU8(src);
compassConfig()->mag_align = sbufReadU8(src);
gyroConfigMutable()->gyro_align = sbufReadU8(src);
accelerometerConfigMutable()->acc_align = sbufReadU8(src);
compassConfigMutable()->mag_align = sbufReadU8(src);
break;
case MSP_SET_ADVANCED_CONFIG:
gyroConfig()->gyro_sync_denom = sbufReadU8(src);
pidConfig()->pid_process_denom = sbufReadU8(src);
motorConfig()->useUnsyncedPwm = sbufReadU8(src);
gyroConfigMutable()->gyro_sync_denom = sbufReadU8(src);
pidConfigMutable()->pid_process_denom = sbufReadU8(src);
motorConfigMutable()->useUnsyncedPwm = sbufReadU8(src);
#ifdef USE_DSHOT
motorConfig()->motorPwmProtocol = constrain(sbufReadU8(src), 0, PWM_TYPE_MAX - 1);
motorConfigMutable()->motorPwmProtocol = constrain(sbufReadU8(src), 0, PWM_TYPE_MAX - 1);
#else
motorConfig()->motorPwmProtocol = constrain(sbufReadU8(src), 0, PWM_TYPE_BRUSHED);
motorConfigMutable()->motorPwmProtocol = constrain(sbufReadU8(src), 0, PWM_TYPE_BRUSHED);
#endif
motorConfig()->motorPwmRate = sbufReadU16(src);
if (sbufBytesRemaining(src) >= 2) {
motorConfig()->digitalIdleOffsetPercent = sbufReadU16(src) / 100.0f;
}
if (sbufBytesRemaining(src)) {
gyroConfig()->gyro_use_32khz = sbufReadU8(src);
gyroConfigMutable()->gyro_use_32khz = sbufReadU8(src);
}
//!!TODO gyro_isr_update to be added pending decision
/*if (sbufBytesRemaining(src)) {
gyroConfig()->gyro_isr_update = sbufReadU8(src);
gyroConfigMutable()->gyro_isr_update = sbufReadU8(src);
}*/
validateAndFixGyroConfig();
@ -1528,18 +1530,18 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break;
case MSP_SET_FILTER_CONFIG:
gyroConfig()->gyro_soft_lpf_hz = sbufReadU8(src);
gyroConfigMutable()->gyro_soft_lpf_hz = sbufReadU8(src);
currentProfile->pidProfile.dterm_lpf_hz = sbufReadU16(src);
currentProfile->pidProfile.yaw_lpf_hz = sbufReadU16(src);
if (dataSize > 5) {
gyroConfig()->gyro_soft_notch_hz_1 = sbufReadU16(src);
gyroConfig()->gyro_soft_notch_cutoff_1 = sbufReadU16(src);
gyroConfigMutable()->gyro_soft_notch_hz_1 = sbufReadU16(src);
gyroConfigMutable()->gyro_soft_notch_cutoff_1 = sbufReadU16(src);
currentProfile->pidProfile.dterm_notch_hz = sbufReadU16(src);
currentProfile->pidProfile.dterm_notch_cutoff = sbufReadU16(src);
}
if (dataSize > 13) {
gyroConfig()->gyro_soft_notch_hz_2 = sbufReadU16(src);
gyroConfig()->gyro_soft_notch_cutoff_2 = sbufReadU16(src);
gyroConfigMutable()->gyro_soft_notch_hz_2 = sbufReadU16(src);
gyroConfigMutable()->gyro_soft_notch_cutoff_2 = sbufReadU16(src);
}
// reinitialize the gyro filters with the new values
validateAndFixGyroConfig();
@ -1569,9 +1571,9 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break;
case MSP_SET_SENSOR_CONFIG:
accelerometerConfig()->acc_hardware = sbufReadU8(src);
barometerConfig()->baro_hardware = sbufReadU8(src);
compassConfig()->mag_hardware = sbufReadU8(src);
accelerometerConfigMutable()->acc_hardware = sbufReadU8(src);
barometerConfigMutable()->baro_hardware = sbufReadU8(src);
compassConfigMutable()->mag_hardware = sbufReadU8(src);
break;
case MSP_RESET_CONF:
@ -1603,9 +1605,9 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
case MSP_SET_BLACKBOX_CONFIG:
// Don't allow config to be updated while Blackbox is logging
if (blackboxMayEditConfig()) {
blackboxConfig()->device = sbufReadU8(src);
blackboxConfig()->rate_num = sbufReadU8(src);
blackboxConfig()->rate_denom = sbufReadU8(src);
blackboxConfigMutable()->device = sbufReadU8(src);
blackboxConfigMutable()->rate_num = sbufReadU8(src);
blackboxConfigMutable()->rate_denom = sbufReadU8(src);
}
break;
#endif
@ -1761,53 +1763,53 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break;
case MSP_SET_BOARD_ALIGNMENT:
boardAlignment()->rollDegrees = sbufReadU16(src);
boardAlignment()->pitchDegrees = sbufReadU16(src);
boardAlignment()->yawDegrees = sbufReadU16(src);
boardAlignmentMutable()->rollDegrees = sbufReadU16(src);
boardAlignmentMutable()->pitchDegrees = sbufReadU16(src);
boardAlignmentMutable()->yawDegrees = sbufReadU16(src);
break;
case MSP_SET_VOLTAGE_METER_CONFIG:
batteryConfig()->vbatscale = sbufReadU8(src); // actual vbatscale as intended
batteryConfig()->vbatmincellvoltage = sbufReadU8(src); // vbatlevel_warn1 in MWC2.3 GUI
batteryConfig()->vbatmaxcellvoltage = sbufReadU8(src); // vbatlevel_warn2 in MWC2.3 GUI
batteryConfig()->vbatwarningcellvoltage = sbufReadU8(src); // vbatlevel when buzzer starts to alert
batteryConfigMutable()->vbatscale = sbufReadU8(src); // actual vbatscale as intended
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
if (dataSize > 4) {
batteryConfig()->batteryMeterType = sbufReadU8(src);
batteryConfigMutable()->batteryMeterType = sbufReadU8(src);
}
break;
case MSP_SET_CURRENT_METER_CONFIG:
batteryConfig()->currentMeterScale = sbufReadU16(src);
batteryConfig()->currentMeterOffset = sbufReadU16(src);
batteryConfig()->currentMeterType = sbufReadU8(src);
batteryConfig()->batteryCapacity = sbufReadU16(src);
batteryConfigMutable()->currentMeterScale = sbufReadU16(src);
batteryConfigMutable()->currentMeterOffset = sbufReadU16(src);
batteryConfigMutable()->currentMeterType = sbufReadU8(src);
batteryConfigMutable()->batteryCapacity = sbufReadU16(src);
break;
#ifndef USE_QUAD_MIXER_ONLY
case MSP_SET_MIXER:
mixerConfig()->mixerMode = sbufReadU8(src);
mixerConfigMutable()->mixerMode = sbufReadU8(src);
break;
#endif
case MSP_SET_RX_CONFIG:
rxConfig()->serialrx_provider = sbufReadU8(src);
rxConfig()->maxcheck = sbufReadU16(src);
rxConfig()->midrc = sbufReadU16(src);
rxConfig()->mincheck = sbufReadU16(src);
rxConfig()->spektrum_sat_bind = sbufReadU8(src);
rxConfigMutable()->serialrx_provider = sbufReadU8(src);
rxConfigMutable()->maxcheck = sbufReadU16(src);
rxConfigMutable()->midrc = sbufReadU16(src);
rxConfigMutable()->mincheck = sbufReadU16(src);
rxConfigMutable()->spektrum_sat_bind = sbufReadU8(src);
if (dataSize > 8) {
rxConfig()->rx_min_usec = sbufReadU16(src);
rxConfig()->rx_max_usec = sbufReadU16(src);
rxConfigMutable()->rx_min_usec = sbufReadU16(src);
rxConfigMutable()->rx_max_usec = sbufReadU16(src);
}
if (dataSize > 12) {
rxConfig()->rcInterpolation = sbufReadU8(src);
rxConfig()->rcInterpolationInterval = sbufReadU8(src);
rxConfig()->airModeActivateThreshold = sbufReadU16(src);
rxConfigMutable()->rcInterpolation = sbufReadU8(src);
rxConfigMutable()->rcInterpolationInterval = sbufReadU8(src);
rxConfigMutable()->airModeActivateThreshold = sbufReadU16(src);
}
if (dataSize > 16) {
rxConfig()->rx_spi_protocol = sbufReadU8(src);
rxConfig()->rx_spi_id = sbufReadU32(src);
rxConfig()->rx_spi_rf_channel_count = sbufReadU8(src);
rxConfigMutable()->rx_spi_protocol = sbufReadU8(src);
rxConfigMutable()->rx_spi_id = sbufReadU32(src);
rxConfigMutable()->rx_spi_rf_channel_count = sbufReadU8(src);
}
if (dataSize > 22) {
rxConfig()->fpvCamAngleDegrees = sbufReadU8(src);
@ -1815,31 +1817,31 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break;
case MSP_SET_FAILSAFE_CONFIG:
failsafeConfig()->failsafe_delay = sbufReadU8(src);
failsafeConfig()->failsafe_off_delay = sbufReadU8(src);
failsafeConfig()->failsafe_throttle = sbufReadU16(src);
failsafeConfig()->failsafe_kill_switch = sbufReadU8(src);
failsafeConfig()->failsafe_throttle_low_delay = sbufReadU16(src);
failsafeConfig()->failsafe_procedure = sbufReadU8(src);
failsafeConfigMutable()->failsafe_delay = sbufReadU8(src);
failsafeConfigMutable()->failsafe_off_delay = sbufReadU8(src);
failsafeConfigMutable()->failsafe_throttle = sbufReadU16(src);
failsafeConfigMutable()->failsafe_kill_switch = sbufReadU8(src);
failsafeConfigMutable()->failsafe_throttle_low_delay = sbufReadU16(src);
failsafeConfigMutable()->failsafe_procedure = sbufReadU8(src);
break;
case MSP_SET_RXFAIL_CONFIG:
i = sbufReadU8(src);
if (i < MAX_SUPPORTED_RC_CHANNEL_COUNT) {
rxConfig()->failsafe_channel_configurations[i].mode = sbufReadU8(src);
rxConfig()->failsafe_channel_configurations[i].step = CHANNEL_VALUE_TO_RXFAIL_STEP(sbufReadU16(src));
rxConfigMutable()->failsafe_channel_configurations[i].mode = sbufReadU8(src);
rxConfigMutable()->failsafe_channel_configurations[i].step = CHANNEL_VALUE_TO_RXFAIL_STEP(sbufReadU16(src));
} else {
return MSP_RESULT_ERROR;
}
break;
case MSP_SET_RSSI_CONFIG:
rxConfig()->rssi_channel = sbufReadU8(src);
rxConfigMutable()->rssi_channel = sbufReadU8(src);
break;
case MSP_SET_RX_MAP:
for (int i = 0; i < MAX_MAPPABLE_RX_INPUTS; i++) {
rxConfig()->rcmap[i] = sbufReadU8(src);
rxConfigMutable()->rcmap[i] = sbufReadU8(src);
}
break;
@ -1847,20 +1849,20 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
#ifdef USE_QUAD_MIXER_ONLY
sbufReadU8(src); // mixerMode ignored
#else
mixerConfig()->mixerMode = sbufReadU8(src); // mixerMode
mixerConfigMutable()->mixerMode = sbufReadU8(src); // mixerMode
#endif
featureClearAll();
featureSet(sbufReadU32(src)); // features bitmap
rxConfig()->serialrx_provider = sbufReadU8(src); // serialrx_type
rxConfigMutable()->serialrx_provider = sbufReadU8(src); // serialrx_type
boardAlignment()->rollDegrees = sbufReadU16(src); // board_align_roll
boardAlignment()->pitchDegrees = sbufReadU16(src); // board_align_pitch
boardAlignment()->yawDegrees = sbufReadU16(src); // board_align_yaw
boardAlignmentMutable()->rollDegrees = sbufReadU16(src); // board_align_roll
boardAlignmentMutable()->pitchDegrees = sbufReadU16(src); // board_align_pitch
boardAlignmentMutable()->yawDegrees = sbufReadU16(src); // board_align_yaw
batteryConfig()->currentMeterScale = sbufReadU16(src);
batteryConfig()->currentMeterOffset = sbufReadU16(src);
batteryConfigMutable()->currentMeterScale = sbufReadU16(src);
batteryConfigMutable()->currentMeterOffset = sbufReadU16(src);
break;
case MSP_SET_CF_SERIAL_CONFIG:
@ -1894,7 +1896,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
#ifdef LED_STRIP
case MSP_SET_LED_COLORS:
for (int i = 0; i < LED_CONFIGURABLE_COLOR_COUNT; i++) {
hsvColor_t *color = &ledStripConfig()->colors[i];
hsvColor_t *color = &ledStripConfigMutable()->colors[i];
color->h = sbufReadU16(src);
color->s = sbufReadU8(src);
color->v = sbufReadU8(src);
@ -1907,7 +1909,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
if (i >= LED_MAX_STRIP_LENGTH || dataSize != (1 + 4)) {
return MSP_RESULT_ERROR;
}
ledConfig_t *ledConfig = &ledStripConfig()->ledConfigs[i];
ledConfig_t *ledConfig = &ledStripConfigMutable()->ledConfigs[i];
*ledConfig = sbufReadU32(src);
reevaluateLedConfig();
}