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Rename minLimit/maxLimit to angleAtMin and angleAtMax. Remove unneeded

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MSP_SET_SERVO_LIMIT.  Bump MSP API version.  Add basic sanity checks to
MSP_SET_SERVO_CONF, reset all servos and adhere to the msp packet's data
size.
This commit is contained in:
Dominic Clifton 2015-06-04 21:13:32 +01:00
parent da6ee6ffb7
commit c142e3dfe9
6 changed files with 17 additions and 28 deletions
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18
src/main/io/serial_msp.c
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@ -131,7 +131,7 @@ void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, es
#define MSP_PROTOCOL_VERSION 0
#define API_VERSION_MAJOR 1 // increment when major changes are made
#define API_VERSION_MINOR 10 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
#define API_VERSION_MINOR 11 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
#define API_VERSION_LENGTH 2
@ -292,7 +292,6 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
#define MSP_SET_SERVO_CONF 212 //in message Servo 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
#define MSP_SET_SERVO_LIMIT 216 //in message Servo settings limits
// #define MSP_BIND 240 //in message no param
@ -835,8 +834,8 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize16(currentProfile->servoConf[i].max);
serialize16(currentProfile->servoConf[i].middle);
serialize8(currentProfile->servoConf[i].rate);
serialize8(currentProfile->servoConf[i].minLimit);
serialize8(currentProfile->servoConf[i].maxLimit);
serialize8(currentProfile->servoConf[i].angleAtMin);
serialize8(currentProfile->servoConf[i].angleAtMax);
}
break;
case MSP_CHANNEL_FORWARDING:
@ -1418,7 +1417,6 @@ static bool processInCommand(void)
headSerialError(0);
} else {
uint8_t servoCount = currentPort->dataSize / SERVO_CHUNK_SIZE;
for (i = 0; i < MAX_SUPPORTED_SERVOS && i < servoCount; i++) {
currentProfile->servoConf[i].min = read16();
currentProfile->servoConf[i].max = read16();
@ -1432,16 +1430,10 @@ static bool processInCommand(void)
currentProfile->servoConf[i].middle = potentialServoMiddleOrChannelToForward;
}
currentProfile->servoConf[i].rate = read8();
currentProfile->servoConf[i].angleAtMin = read8();
currentProfile->servoConf[i].angleAtMax = read8();
}
}
#endif
break;
case MSP_SET_SERVO_LIMIT:
#ifdef USE_SERVOS
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
currentProfile->servoConf[i].minLimit = read8();
currentProfile->servoConf[i].maxLimit = read8();
}
#endif
break;
case MSP_SET_CHANNEL_FORWARDING: