mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-16 04:45:24 +03:00
Remove MCU name table from CLI (rely on build info), add MCU info MSP2 command (#14148)
This commit is contained in:
Jay Blackman
GitHub
parent
6d5ed84f96
commit
cec5d00bbf
10 changed files with 246 additions and 249 deletions
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@ -409,8 +409,7 @@ void mspReboot(dispatchEntry_t* self)
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mspRebootFn(NULL);
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}
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dispatchEntry_t mspRebootEntry =
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{
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dispatchEntry_t mspRebootEntry = {
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mspReboot, 0, NULL, false
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};
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@ -433,8 +432,7 @@ void writeReadEeprom(dispatchEntry_t* self)
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#endif
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}
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dispatchEntry_t writeReadEepromEntry =
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{
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dispatchEntry_t writeReadEepromEntry = {
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writeReadEeprom, 0, NULL, false
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};
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@ -643,8 +641,13 @@ static bool mspCommonProcessOutCommand(int16_t cmdMSP, sbuf_t *dst, mspPostProce
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sbufWriteU8(dst, FC_VERSION_PATCH_LEVEL);
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break;
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case MSP_BOARD_INFO:
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{
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case MSP2_MCU_INFO: {
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sbufWriteU8(dst, getMcuTypeId());
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sbufWritePString(dst, getMcuTypeName());
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break;
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}
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case MSP_BOARD_INFO: {
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sbufWriteData(dst, systemConfig()->boardIdentifier, BOARD_IDENTIFIER_LENGTH);
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#ifdef USE_HARDWARE_REVISION_DETECTION
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sbufWriteU16(dst, hardwareRevision);
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@ -682,19 +685,14 @@ static bool mspCommonProcessOutCommand(int16_t cmdMSP, sbuf_t *dst, mspPostProce
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sbufWriteU8(dst, targetCapabilities);
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// Target name with explicit length
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sbufWriteU8(dst, strlen(targetName));
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sbufWriteData(dst, targetName, strlen(targetName));
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sbufWritePString(dst, targetName);
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#if defined(USE_BOARD_INFO)
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// Board name with explicit length
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char *value = getBoardName();
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sbufWriteU8(dst, strlen(value));
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sbufWriteString(dst, value);
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sbufWritePString(dst, getBoardName());
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// Manufacturer id with explicit length
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value = getManufacturerId();
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sbufWriteU8(dst, strlen(value));
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sbufWriteString(dst, value);
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sbufWritePString(dst, getManufacturerId());
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#else
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sbufWriteU8(dst, 0);
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sbufWriteU8(dst, 0);
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@ -845,28 +843,27 @@ static bool mspCommonProcessOutCommand(int16_t cmdMSP, sbuf_t *dst, mspPostProce
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break;
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}
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case MSP_VOLTAGE_METER_CONFIG:
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{
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// by using a sensor type and a sub-frame length it's possible to configure any type of voltage meter,
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// e.g. an i2c/spi/can sensor or any sensor not built directly into the FC such as ESC/RX/SPort/SBus that has
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// different configuration requirements.
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STATIC_ASSERT(VOLTAGE_SENSOR_ADC_VBAT == 0, VOLTAGE_SENSOR_ADC_VBAT_incorrect); // VOLTAGE_SENSOR_ADC_VBAT should be the first index
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sbufWriteU8(dst, MAX_VOLTAGE_SENSOR_ADC); // voltage meters in payload
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for (int i = VOLTAGE_SENSOR_ADC_VBAT; i < MAX_VOLTAGE_SENSOR_ADC; i++) {
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const uint8_t adcSensorSubframeLength = 1 + 1 + 1 + 1 + 1; // length of id, type, vbatscale, vbatresdivval, vbatresdivmultipler, in bytes
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sbufWriteU8(dst, adcSensorSubframeLength); // ADC sensor sub-frame length
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case MSP_VOLTAGE_METER_CONFIG: {
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// by using a sensor type and a sub-frame length it's possible to configure any type of voltage meter,
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// e.g. an i2c/spi/can sensor or any sensor not built directly into the FC such as ESC/RX/SPort/SBus that has
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// different configuration requirements.
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STATIC_ASSERT(VOLTAGE_SENSOR_ADC_VBAT == 0, VOLTAGE_SENSOR_ADC_VBAT_incorrect); // VOLTAGE_SENSOR_ADC_VBAT should be the first index
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sbufWriteU8(dst, MAX_VOLTAGE_SENSOR_ADC); // voltage meters in payload
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for (int i = VOLTAGE_SENSOR_ADC_VBAT; i < MAX_VOLTAGE_SENSOR_ADC; i++) {
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const uint8_t adcSensorSubframeLength = 1 + 1 + 1 + 1 + 1; // length of id, type, vbatscale, vbatresdivval, vbatresdivmultipler, in bytes
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sbufWriteU8(dst, adcSensorSubframeLength); // ADC sensor sub-frame length
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sbufWriteU8(dst, voltageMeterADCtoIDMap[i]); // id of the sensor
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sbufWriteU8(dst, VOLTAGE_SENSOR_TYPE_ADC_RESISTOR_DIVIDER); // indicate the type of sensor that the next part of the payload is for
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sbufWriteU8(dst, voltageMeterADCtoIDMap[i]); // id of the sensor
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sbufWriteU8(dst, VOLTAGE_SENSOR_TYPE_ADC_RESISTOR_DIVIDER); // indicate the type of sensor that the next part of the payload is for
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sbufWriteU8(dst, voltageSensorADCConfig(i)->vbatscale);
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sbufWriteU8(dst, voltageSensorADCConfig(i)->vbatresdivval);
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sbufWriteU8(dst, voltageSensorADCConfig(i)->vbatresdivmultiplier);
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}
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// if we had any other voltage sensors, this is where we would output any needed configuration
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sbufWriteU8(dst, voltageSensorADCConfig(i)->vbatscale);
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sbufWriteU8(dst, voltageSensorADCConfig(i)->vbatresdivval);
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sbufWriteU8(dst, voltageSensorADCConfig(i)->vbatresdivmultiplier);
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}
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// if we had any other voltage sensors, this is where we would output any needed configuration
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break;
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}
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case MSP_CURRENT_METER_CONFIG: {
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// the ADC and VIRTUAL sensors have the same configuration requirements, however this API reflects
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// that this situation may change and allows us to support configuration of any current sensor with
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@ -1085,78 +1082,75 @@ static bool mspProcessOutCommand(mspDescriptor_t srcDesc, int16_t cmdMSP, sbuf_t
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switch (cmdMSP) {
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case MSP_STATUS_EX:
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case MSP_STATUS:
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{
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boxBitmask_t flightModeFlags;
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const int flagBits = packFlightModeFlags(&flightModeFlags);
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case MSP_STATUS: {
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boxBitmask_t flightModeFlags;
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const int flagBits = packFlightModeFlags(&flightModeFlags);
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sbufWriteU16(dst, getTaskDeltaTimeUs(TASK_PID));
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sbufWriteU16(dst, getTaskDeltaTimeUs(TASK_PID));
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#ifdef USE_I2C
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sbufWriteU16(dst, i2cGetErrorCounter());
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sbufWriteU16(dst, i2cGetErrorCounter());
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#else
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sbufWriteU16(dst, 0);
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sbufWriteU16(dst, 0);
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#endif
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sbufWriteU16(dst, sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_RANGEFINDER) << 4 | sensors(SENSOR_GYRO) << 5);
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sbufWriteData(dst, &flightModeFlags, 4); // unconditional part of flags, first 32 bits
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sbufWriteU8(dst, getCurrentPidProfileIndex());
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sbufWriteU16(dst, constrain(getAverageSystemLoadPercent(), 0, LOAD_PERCENTAGE_ONE));
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if (cmdMSP == MSP_STATUS_EX) {
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sbufWriteU8(dst, PID_PROFILE_COUNT);
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sbufWriteU8(dst, getCurrentControlRateProfileIndex());
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} else { // MSP_STATUS
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sbufWriteU16(dst, 0); // gyro cycle time
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}
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sbufWriteU16(dst, sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_RANGEFINDER) << 4 | sensors(SENSOR_GYRO) << 5);
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sbufWriteData(dst, &flightModeFlags, 4); // unconditional part of flags, first 32 bits
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sbufWriteU8(dst, getCurrentPidProfileIndex());
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sbufWriteU16(dst, constrain(getAverageSystemLoadPercent(), 0, LOAD_PERCENTAGE_ONE));
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if (cmdMSP == MSP_STATUS_EX) {
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sbufWriteU8(dst, PID_PROFILE_COUNT);
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sbufWriteU8(dst, getCurrentControlRateProfileIndex());
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} else { // MSP_STATUS
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sbufWriteU16(dst, 0); // gyro cycle time
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}
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// write flightModeFlags header. Lowest 4 bits contain number of bytes that follow
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// header is emited even when all bits fit into 32 bits to allow future extension
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int byteCount = (flagBits - 32 + 7) / 8; // 32 already stored, round up
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byteCount = constrain(byteCount, 0, 15); // limit to 16 bytes (128 bits)
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sbufWriteU8(dst, byteCount);
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sbufWriteData(dst, ((uint8_t*)&flightModeFlags) + 4, byteCount);
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// write flightModeFlags header. Lowest 4 bits contain number of bytes that follow
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// header is emited even when all bits fit into 32 bits to allow future extension
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int byteCount = (flagBits - 32 + 7) / 8; // 32 already stored, round up
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byteCount = constrain(byteCount, 0, 15); // limit to 16 bytes (128 bits)
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sbufWriteU8(dst, byteCount);
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sbufWriteData(dst, ((uint8_t*)&flightModeFlags) + 4, byteCount);
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// Write arming disable flags
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// 1 byte, flag count
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sbufWriteU8(dst, ARMING_DISABLE_FLAGS_COUNT);
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// 4 bytes, flags
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const uint32_t armingDisableFlags = getArmingDisableFlags();
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sbufWriteU32(dst, armingDisableFlags);
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// Write arming disable flags
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// 1 byte, flag count
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sbufWriteU8(dst, ARMING_DISABLE_FLAGS_COUNT);
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// 4 bytes, flags
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const uint32_t armingDisableFlags = getArmingDisableFlags();
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sbufWriteU32(dst, armingDisableFlags);
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// config state flags - bits to indicate the state of the configuration, reboot required, etc.
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// other flags can be added as needed
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sbufWriteU8(dst, (getRebootRequired() << 0));
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// config state flags - bits to indicate the state of the configuration, reboot required, etc.
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// other flags can be added as needed
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sbufWriteU8(dst, (getRebootRequired() << 0));
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// Added in API version 1.46
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// Write CPU temp
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// Added in API version 1.46
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// Write CPU temp
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#ifdef USE_ADC_INTERNAL
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sbufWriteU16(dst, getCoreTemperatureCelsius());
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sbufWriteU16(dst, getCoreTemperatureCelsius());
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#else
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sbufWriteU16(dst, 0);
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#endif
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break;
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}
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case MSP_RAW_IMU: {
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for (int i = 0; i < 3; i++) {
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#if defined(USE_ACC)
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sbufWriteU16(dst, lrintf(acc.accADC.v[i]));
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#else
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sbufWriteU16(dst, 0);
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#endif
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}
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for (int i = 0; i < 3; i++) {
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sbufWriteU16(dst, gyroRateDps(i));
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}
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for (int i = 0; i < 3; i++) {
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#if defined(USE_MAG)
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sbufWriteU16(dst, lrintf(mag.magADC.v[i]));
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#else
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sbufWriteU16(dst, 0);
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#endif
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}
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break;
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case MSP_RAW_IMU:
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{
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for (int i = 0; i < 3; i++) {
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#if defined(USE_ACC)
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sbufWriteU16(dst, lrintf(acc.accADC.v[i]));
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#else
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sbufWriteU16(dst, 0);
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#endif
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}
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for (int i = 0; i < 3; i++) {
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sbufWriteU16(dst, gyroRateDps(i));
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}
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for (int i = 0; i < 3; i++) {
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#if defined(USE_MAG)
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sbufWriteU16(dst, lrintf(mag.magADC.v[i]));
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#else
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sbufWriteU16(dst, 0);
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#endif
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}
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}
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break;
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}
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case MSP_NAME:
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sbufWriteString(dst, pilotConfig()->craftName);
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@ -1203,7 +1197,6 @@ case MSP_NAME:
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sbufWriteU16(dst, 0);
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#endif
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}
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break;
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// Added in API version 1.42
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@ -1285,32 +1278,29 @@ case MSP_NAME:
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break;
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#ifdef USE_VTX_COMMON
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case MSP2_GET_VTX_DEVICE_STATUS:
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{
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const vtxDevice_t *vtxDevice = vtxCommonDevice();
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vtxCommonSerializeDeviceStatus(vtxDevice, dst);
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}
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case MSP2_GET_VTX_DEVICE_STATUS: {
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const vtxDevice_t *vtxDevice = vtxCommonDevice();
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vtxCommonSerializeDeviceStatus(vtxDevice, dst);
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break;
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}
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#endif
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#ifdef USE_OSD
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case MSP2_GET_OSD_WARNINGS:
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{
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bool isBlinking;
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uint8_t displayAttr;
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char warningsBuffer[OSD_WARNINGS_MAX_SIZE + 1];
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case MSP2_GET_OSD_WARNINGS: {
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bool isBlinking;
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uint8_t displayAttr;
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char warningsBuffer[OSD_WARNINGS_MAX_SIZE + 1];
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renderOsdWarning(warningsBuffer, &isBlinking, &displayAttr);
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const uint8_t warningsLen = strlen(warningsBuffer);
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renderOsdWarning(warningsBuffer, &isBlinking, &displayAttr);
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if (isBlinking) {
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displayAttr |= DISPLAYPORT_BLINK;
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}
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sbufWriteU8(dst, displayAttr); // see displayPortSeverity_e
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sbufWriteU8(dst, warningsLen); // length byte followed by the actual characters
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sbufWriteData(dst, warningsBuffer, warningsLen);
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break;
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if (isBlinking) {
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displayAttr |= DISPLAYPORT_BLINK;
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}
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sbufWriteU8(dst, displayAttr); // see displayPortSeverity_e
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sbufWritePString(dst, warningsBuffer);
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break;
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}
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#endif
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case MSP_RC:
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@ -1687,6 +1677,7 @@ case MSP_NAME:
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sbufWriteU8(dst, serialConfig()->portConfigs[i].blackbox_baudrateIndex);
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}
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break;
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case MSP2_COMMON_SERIAL_CONFIG: {
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uint8_t count = 0;
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for (int i = 0; i < SERIAL_PORT_COUNT; i++) {
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@ -1876,6 +1867,7 @@ case MSP_NAME:
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#endif
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break;
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}
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case MSP_ADVANCED_CONFIG:
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sbufWriteU8(dst, 1); // was gyroConfig()->gyro_sync_denom - removed in API 1.43
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sbufWriteU8(dst, pidConfig()->pid_process_denom);
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@ -1894,9 +1886,9 @@ case MSP_NAME:
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//Added in MSP API 1.42
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sbufWriteU8(dst, systemConfig()->debug_mode);
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sbufWriteU8(dst, DEBUG_COUNT);
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break;
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case MSP_FILTER_CONFIG :
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case MSP_FILTER_CONFIG:
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sbufWriteU8(dst, gyroConfig()->gyro_lpf1_static_hz);
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sbufWriteU16(dst, currentPidProfile->dterm_lpf1_static_hz);
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sbufWriteU16(dst, currentPidProfile->yaw_lowpass_hz);
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@ -1963,8 +1955,8 @@ case MSP_NAME:
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#else
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sbufWriteU8(dst, 0);
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#endif
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break;
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case MSP_PID_ADVANCED:
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sbufWriteU16(dst, 0);
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sbufWriteU16(dst, 0);
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@ -2147,44 +2139,43 @@ case MSP_NAME:
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break;
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#if defined(USE_VTX_COMMON)
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case MSP_VTX_CONFIG:
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{
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const vtxDevice_t *vtxDevice = vtxCommonDevice();
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unsigned vtxStatus = 0;
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vtxDevType_e vtxType = VTXDEV_UNKNOWN;
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uint8_t deviceIsReady = 0;
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if (vtxDevice) {
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vtxCommonGetStatus(vtxDevice, &vtxStatus);
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vtxType = vtxCommonGetDeviceType(vtxDevice);
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deviceIsReady = vtxCommonDeviceIsReady(vtxDevice) ? 1 : 0;
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}
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sbufWriteU8(dst, vtxType);
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sbufWriteU8(dst, vtxSettingsConfig()->band);
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sbufWriteU8(dst, vtxSettingsConfig()->channel);
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sbufWriteU8(dst, vtxSettingsConfig()->power);
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sbufWriteU8(dst, (vtxStatus & VTX_STATUS_PIT_MODE) ? 1 : 0);
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sbufWriteU16(dst, vtxSettingsConfig()->freq);
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sbufWriteU8(dst, deviceIsReady);
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sbufWriteU8(dst, vtxSettingsConfig()->lowPowerDisarm);
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case MSP_VTX_CONFIG: {
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const vtxDevice_t *vtxDevice = vtxCommonDevice();
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unsigned vtxStatus = 0;
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vtxDevType_e vtxType = VTXDEV_UNKNOWN;
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uint8_t deviceIsReady = 0;
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if (vtxDevice) {
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vtxCommonGetStatus(vtxDevice, &vtxStatus);
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vtxType = vtxCommonGetDeviceType(vtxDevice);
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deviceIsReady = vtxCommonDeviceIsReady(vtxDevice) ? 1 : 0;
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}
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sbufWriteU8(dst, vtxType);
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sbufWriteU8(dst, vtxSettingsConfig()->band);
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sbufWriteU8(dst, vtxSettingsConfig()->channel);
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sbufWriteU8(dst, vtxSettingsConfig()->power);
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sbufWriteU8(dst, (vtxStatus & VTX_STATUS_PIT_MODE) ? 1 : 0);
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sbufWriteU16(dst, vtxSettingsConfig()->freq);
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sbufWriteU8(dst, deviceIsReady);
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sbufWriteU8(dst, vtxSettingsConfig()->lowPowerDisarm);
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// API version 1.42
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sbufWriteU16(dst, vtxSettingsConfig()->pitModeFreq);
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// API version 1.42
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sbufWriteU16(dst, vtxSettingsConfig()->pitModeFreq);
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#ifdef USE_VTX_TABLE
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sbufWriteU8(dst, 1); // vtxtable is available
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sbufWriteU8(dst, vtxTableConfig()->bands);
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sbufWriteU8(dst, vtxTableConfig()->channels);
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sbufWriteU8(dst, vtxTableConfig()->powerLevels);
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sbufWriteU8(dst, 1); // vtxtable is available
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sbufWriteU8(dst, vtxTableConfig()->bands);
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sbufWriteU8(dst, vtxTableConfig()->channels);
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sbufWriteU8(dst, vtxTableConfig()->powerLevels);
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#else
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sbufWriteU8(dst, 0);
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sbufWriteU8(dst, 0);
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sbufWriteU8(dst, 0);
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sbufWriteU8(dst, 0);
|
||||
sbufWriteU8(dst, 0);
|
||||
sbufWriteU8(dst, 0);
|
||||
sbufWriteU8(dst, 0);
|
||||
sbufWriteU8(dst, 0);
|
||||
#endif
|
||||
#ifdef USE_VTX_MSP
|
||||
setMspVtxDeviceStatusReady(srcDesc);
|
||||
setMspVtxDeviceStatusReady(srcDesc);
|
||||
#endif
|
||||
}
|
||||
break;
|
||||
}
|
||||
#endif
|
||||
|
||||
case MSP_TX_INFO:
|
||||
|
|
@ -2199,25 +2190,24 @@ case MSP_NAME:
|
|||
rtcDateTimeIsSet = RTC_NOT_SUPPORTED;
|
||||
#endif
|
||||
sbufWriteU8(dst, rtcDateTimeIsSet);
|
||||
|
||||
break;
|
||||
|
||||
#ifdef USE_RTC_TIME
|
||||
case MSP_RTC:
|
||||
{
|
||||
dateTime_t dt;
|
||||
if (rtcGetDateTime(&dt)) {
|
||||
sbufWriteU16(dst, dt.year);
|
||||
sbufWriteU8(dst, dt.month);
|
||||
sbufWriteU8(dst, dt.day);
|
||||
sbufWriteU8(dst, dt.hours);
|
||||
sbufWriteU8(dst, dt.minutes);
|
||||
sbufWriteU8(dst, dt.seconds);
|
||||
sbufWriteU16(dst, dt.millis);
|
||||
}
|
||||
case MSP_RTC: {
|
||||
dateTime_t dt;
|
||||
if (rtcGetDateTime(&dt)) {
|
||||
sbufWriteU16(dst, dt.year);
|
||||
sbufWriteU8(dst, dt.month);
|
||||
sbufWriteU8(dst, dt.day);
|
||||
sbufWriteU8(dst, dt.hours);
|
||||
sbufWriteU8(dst, dt.minutes);
|
||||
sbufWriteU8(dst, dt.seconds);
|
||||
sbufWriteU16(dst, dt.millis);
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
#endif
|
||||
|
||||
default:
|
||||
unsupportedCommand = true;
|
||||
}
|
||||
|
|
@ -2629,12 +2619,9 @@ static mspResult_e mspFcProcessOutCommandWithArg(mspDescriptor_t srcDesc, int16_
|
|||
|
||||
if (!textVar) return MSP_RESULT_ERROR;
|
||||
|
||||
const uint8_t textLength = strlen(textVar);
|
||||
|
||||
// type byte, then length byte followed by the actual characters
|
||||
sbufWriteU8(dst, textType);
|
||||
sbufWriteU8(dst, textLength);
|
||||
sbufWriteData(dst, textVar, textLength);
|
||||
sbufWritePString(dst, textVar);
|
||||
}
|
||||
break;
|
||||
#ifdef USE_LED_STRIP
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue