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first extract from Tilting for Servo pull request

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Mauro Mombelli 2015-05-20 15:21:02 +02:00 • committed by Dominic Clifton
parent 9277a8b7bf
commit da6ee6ffb7
5 changed files with 27 additions and 6 deletions
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13
src/main/io/serial_msp.c
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@ -292,6 +292,7 @@ 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
@ -828,12 +829,14 @@ static bool processOutCommand(uint8_t cmdMSP)
s_struct((uint8_t *)&servo, MAX_SUPPORTED_SERVOS * 2);
break;
case MSP_SERVO_CONF:
headSerialReply(MAX_SUPPORTED_SERVOS * 7);
headSerialReply(MAX_SUPPORTED_SERVOS * 9);
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
serialize16(currentProfile->servoConf[i].min);
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);
}
break;
case MSP_CHANNEL_FORWARDING:
@ -1431,6 +1434,14 @@ static bool processInCommand(void)
currentProfile->servoConf[i].rate = 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: