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Add mode logic to MSP

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Add msp code 238.
Add MSP_MODE_RANGES code to msp.c.
Add 2 extra byte reads to MSP_SET_MODE_RANGES.
Add check for extra bytes in MSP_SET_MODE_RANGES
Add API documentation for MSP_MODE_RANGES_EXTRA
convert linkedTo storage to boxid
Send length of array in EXTRAS data
Add note that alignment of elements of MODE_RANGES and MODE_RANGES_EXTRA is required and indicated by permanentId.
This commit is contained in:
Dave Huber 2019-02-07 10:27:07 -06:00
parent 760300b562
commit bb95d53e62
3 changed files with 44 additions and 1 deletions
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27
docs/API/MSP_extensions.md
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@ -28,7 +28,32 @@ Unassigned slots have rangeStartStep == rangeEndStep. Each element contains the
| rangeStartStep | uint8 | The start value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
| rangeEndStep | uint8 | The end value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
Thus, for a cleanflight firmware with 40 slots 160 bytes would be returned in response to MSP\_MODE\_RANGES,
Thus, for a cleanflight firmware with 40 slots 160 bytes would be returned in response to MSP\_MODE\_RANGES.
### MSP\_MODE\_RANGES\_EXTRA
The MSP\_MODE\_RANGES\_EXTRA returns the extra mode setting parameters from the flight controller. It should be invoked
in conjunction with MSP\_MODE\_RANGES before any modification is made to the configuration.
The message returns the number of extra elements followed by a group of bytes for each 'slot' available in the flight
controller. The number of slots should be the same as for MSP\_MODE\_RANGES, calculated from the size of the returned
message and the number of bytes per group.
| Command | Msg Id | Direction | Notes |
|---------|--------|-----------|-------|
| MSP\_MODE\_RANGES\_EXTRA | 238 | to FC | Following this command, the FC returns a block of bytes for each auxiliary mode 'slot'|
The return message is prepended with the number of bytes per element (3 bytes). Each element contains the
following fields:
| Data | Type | Notes |
|------|------|-------|
| permanentId | uint8 | See Modes.md for a definition of the permanent ids |
| modeLogic | uint8 | 0 = Logic AND; 1 = Logic OR |
| linkedTo | uint8 | Permanent id to which this mode is linked. Range is ignored if linked. |
Thus, for a cleanflight firmware with 20 slots, 61 bytes (including prepended size) would be returned in response to
MSP\_MODE\_RANGES\_EXTRA.
### MSP\_SET\_MODE\_RANGE