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merged in mwii2.3 generic servo handler. completely untested.

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git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@434 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-10-12 07:03:01 +00:00
parent 37b73a057b
commit 9ebd82c5ef
7 changed files with 83 additions and 119 deletions
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27
src/serial.c
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@ -149,7 +149,6 @@ static const char pidnames[] =
static uint8_t checksum, indRX, inBuf[INBUF_SIZE];
static uint8_t cmdMSP;
static bool guiConnected = false;
// signal that we're in cli mode
uint8_t cliMode = 0;
@ -468,17 +467,28 @@ static void evaluateCommand(void)
serialize16(magADC[i]);
break;
case MSP_SERVO:
headSerialReply(16);
for (i = 0; i < 8; i++)
serialize16(servo[i]);
s_struct((uint8_t *)&servo, 16);
break;
case MSP_SERVO_CONF:
s_struct((uint8_t *)&cfg.servoConf, 56); // struct servoConf is 7 bytes length: min:2 / max:2 / middle:2 / rate:1 ---- 8 servo => 8x7 = 56
headSerialReply(56);
for (i = 0; i < MAX_SERVOS; i++) {
serialize16(cfg.servoConf[i].min);
serialize16(cfg.servoConf[i].max);
serialize16(cfg.servoConf[i].middle);
serialize8(cfg.servoConf[i].rate);
}
break;
case MSP_SET_SERVO_CONF:
headSerialReply(0);
for (i = 0; i < MAX_SERVOS; i++) {
cfg.servoConf[i].min = read16();
cfg.servoConf[i].max = read16();
cfg.servoConf[i].middle = read16();
cfg.servoConf[i].rate = read8();
}
break;
case MSP_MOTOR:
headSerialReply(16);
for (i = 0; i < 8; i++)
serialize16(motor[i]);
s_struct((uint8_t *)motor, 16);
break;
case MSP_RC:
headSerialReply(16);
@ -718,7 +728,6 @@ void serialCom(void)
indRX = 0;
checksum ^= c;
c_state = HEADER_SIZE; // the command is to follow
guiConnected = true;
} else if (c_state == HEADER_SIZE) {
cmdMSP = c;
checksum ^= c;