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Fix servo middle/channel forwarding variable re-use. Adds a new

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capability flag which is returned by MSP IDENT (CAP_CHANNEL_FORWARDING).
Adds two new MSP commands that are specifically for configuring channel
forwarding (MSP_CHANNEL_FORWARDING/MSP_SET_CHANNEL_FORWARDING).  Servo
'middle' and 'forward from channel' are now stored independently, as
they probably should always have been.
This commit is contained in:
Dominic Clifton 2014-04-18 19:11:25 +01:00
parent 43258c045d
commit b8e7c2d14f
5 changed files with 52 additions and 24 deletions
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17
src/serial_msp.c
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@ -12,6 +12,7 @@
#define CAP_PLATFORM_32BIT ((uint32_t)1 << 31)
#define CAP_DYNBALANCE ((uint32_t)1 << 2)
#define CAP_FLAPS ((uint32_t)1 << 3)
#define CAP_CHANNEL_FORWARDING ((uint32_t)1 << 4)
#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
@ -36,6 +37,7 @@
#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_SET_RAW_RC 200 //in message 8 rc chan
#define MSP_SET_RAW_GPS 201 //in message fix, numsat, lat, lon, alt, speed
@ -50,6 +52,7 @@
#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
@ -367,7 +370,7 @@ static void evaluateCommand(void)
serialize8(VERSION); // multiwii version
serialize8(mcfg.mixerConfiguration); // type of multicopter
serialize8(MSP_VERSION); // MultiWii Serial Protocol Version
serialize32(CAP_PLATFORM_32BIT | CAP_DYNBALANCE | (mcfg.flaps_speed ? CAP_FLAPS : 0)); // "capability"
serialize32(CAP_PLATFORM_32BIT | CAP_DYNBALANCE | (mcfg.flaps_speed ? CAP_FLAPS : 0) | CAP_CHANNEL_FORWARDING); // "capability"
break;
case MSP_STATUS:
headSerialReply(11);
@ -436,6 +439,18 @@ static void evaluateCommand(void)
cfg.servoConf[i].rate = read8();
}
break;
case MSP_CHANNEL_FORWARDING:
headSerialReply(8);
for (i = 0; i < MAX_SERVOS; i++) {
serialize8(cfg.servoConf[i].forwardFromChannel);
}
break;
case MSP_SET_CHANNEL_FORWARDING:
headSerialReply(0);
for (i = 0; i < MAX_SERVOS; i++) {
cfg.servoConf[i].forwardFromChannel = read8();
}
break;
case MSP_MOTOR:
s_struct((uint8_t *)motor, 16);
break;