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First cut of custom servo mixers.

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Main rule logic and MSP commands ported from baseflight.

Gimbal mixer updated to use rules.  This allows us to remove more
conditional logic.  Operation of gimbal servos is now different.
This commit is contained in:
Dominic Clifton 2015-06-28 22:27:49 +01:00
parent c142e3dfe9
commit ea6a6ccb3d
9 changed files with 617 additions and 204 deletions
Download patch file Download diff file Expand all files Collapse all files

66
src/main/io/serial_msp.c
View file

@ -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 11 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
#define API_VERSION_MINOR 12 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
#define API_VERSION_LENGTH 2
@ -305,10 +305,13 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
#define MSP_ACC_TRIM 240 //out message get acc angle trim values
#define MSP_SET_ACC_TRIM 239 //in message set acc angle trim values
#define MSP_GPSSVINFO 164 //out message get Signal Strength (only U-Blox)
#define MSP_SERVOMIX_CONF 241 //out message Returns servo mixer configuration
#define MSP_SET_SERVOMIX_CONF 242 //in message Sets servo mixer configuration
#define INBUF_SIZE 64
#define SERVO_CHUNK_SIZE 13
#define SERVO_CHUNK_SIZE 7
// FIXME This is now too big!
#define INBUF_SIZE (SERVO_CHUNK_SIZE * MAX_SUPPORTED_SERVOS)
typedef struct box_e {
const uint8_t boxId; // see boxId_e
@ -341,6 +344,10 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
{ BOXTELEMETRY, "TELEMETRY;", 20 },
{ BOXAUTOTUNE, "AUTOTUNE;", 21 },
{ BOXSONAR, "SONAR;", 22 },
{ BOXSERVO1, "SERVO1;", 23 },
{ BOXSERVO2, "SERVO2;", 24 },
{ BOXSERVO3, "SERVO3;", 25 },
{ CHECKBOX_ITEM_COUNT, NULL, 0xFF }
};
@ -681,6 +688,14 @@ void mspInit(serialConfig_t *serialConfig)
activeBoxIds[activeBoxIdCount++] = BOXSONAR;
}
#ifdef USE_SERVOS
if (masterConfig.mixerMode == MIXER_CUSTOM_AIRPLANE) {
activeBoxIds[activeBoxIdCount++] = BOXSERVO1;
activeBoxIds[activeBoxIdCount++] = BOXSERVO2;
activeBoxIds[activeBoxIdCount++] = BOXSERVO3;
}
#endif
memset(mspPorts, 0x00, sizeof(mspPorts));
mspAllocateSerialPorts(serialConfig);
}
@ -764,7 +779,7 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize8(MW_VERSION);
serialize8(masterConfig.mixerMode);
serialize8(MSP_PROTOCOL_VERSION);
serialize32(CAP_DYNBALANCE | (masterConfig.airplaneConfig.flaps_speed ? CAP_FLAPS : 0)); // "capability"
serialize32(CAP_DYNBALANCE); // "capability"
break;
case MSP_STATUS:
@ -828,7 +843,7 @@ static bool processOutCommand(uint8_t cmdMSP)
s_struct((uint8_t *)&servo, MAX_SUPPORTED_SERVOS * 2);
break;
case MSP_SERVO_CONF:
headSerialReply(MAX_SUPPORTED_SERVOS * 9);
headSerialReply(MAX_SUPPORTED_SERVOS * SERVO_CHUNK_SIZE);
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
serialize16(currentProfile->servoConf[i].min);
serialize16(currentProfile->servoConf[i].max);
@ -836,6 +851,7 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize8(currentProfile->servoConf[i].rate);
serialize8(currentProfile->servoConf[i].angleAtMin);
serialize8(currentProfile->servoConf[i].angleAtMax);
serialize32(currentProfile->servoConf[i].reversedChannels);
}
break;
case MSP_CHANNEL_FORWARDING:
@ -844,6 +860,19 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize8(currentProfile->servoConf[i].forwardFromChannel);
}
break;
case MSP_SERVOMIX_CONF:
headSerialReply(MAX_SERVO_RULES * sizeof(servoMixer_t));
for (i = 0; i < MAX_SERVO_RULES; i++) {
serialize8(masterConfig.customServoMixer[i].targetChannel);
serialize8(masterConfig.customServoMixer[i].fromChannel);
serialize8(masterConfig.customServoMixer[i].rate);
serialize8(masterConfig.customServoMixer[i].speed);
serialize8(masterConfig.customServoMixer[i].min);
serialize8(masterConfig.customServoMixer[i].max);
serialize8(masterConfig.customServoMixer[i].box);
}
break;
#endif
case MSP_MOTOR:
s_struct((uint8_t *)motor, 16);
@ -1420,18 +1449,11 @@ static bool processInCommand(void)
for (i = 0; i < MAX_SUPPORTED_SERVOS && i < servoCount; i++) {
currentProfile->servoConf[i].min = read16();
currentProfile->servoConf[i].max = read16();
// provide temporary support for old clients that try and send a channel index instead of a servo middle
uint16_t potentialServoMiddleOrChannelToForward = read16();
if (potentialServoMiddleOrChannelToForward < MAX_SUPPORTED_SERVOS) {
currentProfile->servoConf[i].forwardFromChannel = potentialServoMiddleOrChannelToForward;
}
if (potentialServoMiddleOrChannelToForward >= PWM_RANGE_MIN && potentialServoMiddleOrChannelToForward <= PWM_RANGE_MAX) {
currentProfile->servoConf[i].middle = potentialServoMiddleOrChannelToForward;
}
currentProfile->servoConf[i].middle = read16();
currentProfile->servoConf[i].rate = read8();
currentProfile->servoConf[i].angleAtMin = read8();
currentProfile->servoConf[i].angleAtMax = read8();
currentProfile->servoConf[i].reversedChannels = read32();
}
}
#endif
@ -1443,6 +1465,22 @@ static bool processInCommand(void)
}
#endif
break;
case MSP_SET_SERVOMIX_CONF:
#ifdef USE_SERVOS
for (i = 0; i < MAX_SERVO_RULES; i++) {
masterConfig.customServoMixer[i].targetChannel = read8();
masterConfig.customServoMixer[i].fromChannel = read8();
masterConfig.customServoMixer[i].rate = read8();
masterConfig.customServoMixer[i].speed = read8();
masterConfig.customServoMixer[i].min = read8();
masterConfig.customServoMixer[i].max = read8();
masterConfig.customServoMixer[i].box = read8();
}
loadCustomServoMixer();
#endif
break;
case MSP_RESET_CONF:
if (!ARMING_FLAG(ARMED)) {
resetEEPROM();