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Code Issues Wiki Activity

cleaned up cliMotor(), added MSP_SET_MOTORS and enabled CAP_DYNBALANCE so the motors can be controlled from GUI

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This commit is contained in:
dongie 2013-11-02 15:09:46 +09:00
parent d7b99e7938
commit bd8b1a1c8f
4 changed files with 45 additions and 23 deletions
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11
src/serial.c
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@ -3,7 +3,8 @@
// Multiwii Serial Protocol 0
#define MSP_VERSION 0
#define PLATFORM_32BIT ((uint32_t)1 << 31)
#define CAP_PLATFORM_32BIT ((uint32_t)1 << 31)
#define CAP_DYNBALANCE ((uint32_t)1 << 2)
#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
@ -89,6 +90,8 @@ struct box_t {
static uint8_t availableBoxes[CHECKBOXITEMS];
// this is the number of filled indexes in above array
static uint8_t numberBoxItems = 0;
// from mixer.c
extern int16_t motor_disarmed[MAX_MOTORS];
static const char pidnames[] =
"ROLL;"
@ -328,6 +331,10 @@ static void evaluateCommand(void)
read8(); // vbatlevel_crit (unused)
headSerialReply(0);
break;
case MSP_SET_MOTOR:
for (i = 0; i < 8; i++)
motor_disarmed[i] = read16();
break;
case MSP_SELECT_SETTING:
if (!f.ARMED) {
mcfg.current_profile = read8();
@ -347,7 +354,7 @@ static void evaluateCommand(void)
serialize8(VERSION); // multiwii version
serialize8(mcfg.mixerConfiguration); // type of multicopter
serialize8(MSP_VERSION); // MultiWii Serial Protocol Version
serialize32(PLATFORM_32BIT); // "capability"
serialize32(CAP_PLATFORM_32BIT | CAP_DYNBALANCE); // "capability"
break;
case MSP_STATUS:
headSerialReply(11);