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https://github.com/betaflight/betaflight.git
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Merge remote-tracking branch 'upstream/master' into blackbox-flash
This commit is contained in:
Nicholas Sherlock
commit
ebff1bdcd7
18 changed files with 290 additions and 84 deletions
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@ -45,6 +45,8 @@
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#include "flight/mixer.h"
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#include "flight/failsafe.h"
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#include "flight/navigation.h"
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#include "flight/altitudehold.h"
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#include "rx/rx.h"
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#include "rx/msp.h"
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#include "io/escservo.h"
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@ -55,9 +57,11 @@
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#include "io/ledstrip.h"
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#include "io/flashfs.h"
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#include "telemetry/telemetry.h"
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#include "sensors/boardalignment.h"
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#include "sensors/sensors.h"
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#include "sensors/battery.h"
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#include "sensors/sonar.h"
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#include "sensors/acceleration.h"
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#include "sensors/barometer.h"
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#include "sensors/compass.h"
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@ -204,6 +208,10 @@ const char *boardIdentifier = TARGET_BOARD_IDENTIFIER;
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#define MSP_VOLTAGE_METER_CONFIG 56
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#define MSP_SET_VOLTAGE_METER_CONFIG 57
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#define MSP_SONAR_ALTITUDE 58 //out message get sonar altitude [cm]
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#define MSP_PID_CONTROLLER 59
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#define MSP_SET_PID_CONTROLLER 60
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//
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// Baseflight MSP commands (if enabled they exist in Cleanflight)
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//
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@ -373,7 +381,7 @@ static mspPort_t mspPorts[MAX_MSP_PORT_COUNT];
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static mspPort_t *currentPort;
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void serialize32(uint32_t a)
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static void serialize32(uint32_t a)
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{
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static uint8_t t;
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t = a;
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@ -390,7 +398,7 @@ void serialize32(uint32_t a)
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currentPort->checksum ^= t;
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}
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void serialize16(int16_t a)
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static void serialize16(int16_t a)
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{
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static uint8_t t;
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t = a;
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@ -401,32 +409,32 @@ void serialize16(int16_t a)
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currentPort->checksum ^= t;
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}
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void serialize8(uint8_t a)
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static void serialize8(uint8_t a)
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{
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serialWrite(mspSerialPort, a);
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currentPort->checksum ^= a;
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}
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uint8_t read8(void)
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static uint8_t read8(void)
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{
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return currentPort->inBuf[currentPort->indRX++] & 0xff;
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}
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uint16_t read16(void)
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static uint16_t read16(void)
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{
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uint16_t t = read8();
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t += (uint16_t)read8() << 8;
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return t;
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}
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uint32_t read32(void)
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static uint32_t read32(void)
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{
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uint32_t t = read16();
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t += (uint32_t)read16() << 16;
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return t;
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}
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void headSerialResponse(uint8_t err, uint8_t responseBodySize)
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static void headSerialResponse(uint8_t err, uint8_t responseBodySize)
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{
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serialize8('$');
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serialize8('M');
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@ -436,36 +444,36 @@ void headSerialResponse(uint8_t err, uint8_t responseBodySize)
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serialize8(currentPort->cmdMSP);
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}
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void headSerialReply(uint8_t responseBodySize)
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static void headSerialReply(uint8_t responseBodySize)
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{
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headSerialResponse(0, responseBodySize);
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}
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void headSerialError(uint8_t responseBodySize)
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static void headSerialError(uint8_t responseBodySize)
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{
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headSerialResponse(1, responseBodySize);
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}
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void tailSerialReply(void)
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static void tailSerialReply(void)
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{
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serialize8(currentPort->checksum);
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}
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void s_struct(uint8_t *cb, uint8_t siz)
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static void s_struct(uint8_t *cb, uint8_t siz)
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{
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headSerialReply(siz);
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while (siz--)
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serialize8(*cb++);
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}
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void serializeNames(const char *s)
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static void serializeNames(const char *s)
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{
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const char *c;
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for (c = s; *c; c++)
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serialize8(*c);
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}
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const box_t *findBoxByActiveBoxId(uint8_t activeBoxId)
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static const box_t *findBoxByActiveBoxId(uint8_t activeBoxId)
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{
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uint8_t boxIndex;
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const box_t *candidate;
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@ -478,7 +486,7 @@ const box_t *findBoxByActiveBoxId(uint8_t activeBoxId)
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return NULL;
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}
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const box_t *findBoxByPermenantId(uint8_t permenantId)
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static const box_t *findBoxByPermenantId(uint8_t permenantId)
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{
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uint8_t boxIndex;
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const box_t *candidate;
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@ -491,7 +499,7 @@ const box_t *findBoxByPermenantId(uint8_t permenantId)
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return NULL;
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}
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void serializeBoxNamesReply(void)
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static void serializeBoxNamesReply(void)
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{
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int i, activeBoxId, j, flag = 1, count = 0, len;
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const box_t *box;
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@ -523,7 +531,7 @@ reset:
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}
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}
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void serializeDataflashSummaryReply(void)
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static void serializeDataflashSummaryReply(void)
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{
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#ifdef FLASHFS
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const flashGeometry_t *geometry = flashfsGetGeometry();
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@ -538,7 +546,7 @@ void serializeDataflashSummaryReply(void)
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}
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#ifdef FLASHFS
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void serializeDataflashReadReply(uint32_t address, uint8_t size)
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static void serializeDataflashReadReply(uint32_t address, uint8_t size)
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{
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enum { DATAFLASH_READ_REPLY_CHUNK_SIZE = 128 };
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@ -668,7 +676,7 @@ void mspInit(serialConfig_t *serialConfig)
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activeBoxIds[activeBoxIdCount++] = BOXLEDLOW;
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}
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#endif
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if (feature(FEATURE_INFLIGHT_ACC_CAL))
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activeBoxIds[activeBoxIdCount++] = BOXCALIB;
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@ -695,7 +703,6 @@ static bool processOutCommand(uint8_t cmdMSP)
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{
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uint32_t i, tmp, junk;
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#ifdef GPS
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uint8_t wp_no;
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int32_t lat = 0, lon = 0;
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@ -864,18 +871,30 @@ static bool processOutCommand(uint8_t cmdMSP)
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break;
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case MSP_ALTITUDE:
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headSerialReply(6);
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serialize32(EstAlt);
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#if defined(BARO) || defined(SONAR)
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serialize32(altitudeHoldGetEstimatedAltitude());
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#else
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serialize32(0);
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#endif
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serialize16(vario);
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break;
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case MSP_SONAR_ALTITUDE:
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headSerialReply(4);
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#if defined(SONAR)
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serialize32(sonarGetLatestAltitude());
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#else
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serialize32(0);
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#endif
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break;
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case MSP_ANALOG:
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headSerialReply(7);
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serialize8((uint8_t)constrain(vbat, 0, 255));
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serialize16((uint16_t)constrain(mAhDrawn, 0, 0xFFFF)); // milliamphours drawn from battery
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serialize16(rssi);
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if(masterConfig.batteryConfig.multiwiiCurrentMeterOutput) {
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serialize16((uint16_t)constrain((ABS(amperage) * 10), 0, 0xFFFF)); // send amperage in 0.001 A steps
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serialize16((uint16_t)constrain(amperage * 10, 0, 0xFFFF)); // send amperage in 0.001 A steps. Negative range is truncated to zero
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} else
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serialize16((uint16_t)constrain(ABS(amperage), 0, 0xFFFF)); // send amperage in 0.01 A steps
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serialize16((int16_t)constrain(amperage, -0x8000, 0x7FFF)); // send amperage in 0.01 A steps, range is -320A to 320A
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break;
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case MSP_RC_TUNING:
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headSerialReply(7);
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@ -918,6 +937,10 @@ static bool processOutCommand(uint8_t cmdMSP)
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headSerialReply(sizeof(pidnames) - 1);
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serializeNames(pidnames);
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break;
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case MSP_PID_CONTROLLER:
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headSerialReply(1);
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serialize8(currentProfile->pidController);
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break;
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case MSP_MODE_RANGES:
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headSerialReply(4 * MAX_MODE_ACTIVATION_CONDITION_COUNT);
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for (i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
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@ -1240,6 +1263,10 @@ static bool processInCommand(void)
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currentProfile->accelerometerTrims.values.pitch = read16();
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currentProfile->accelerometerTrims.values.roll = read16();
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break;
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case MSP_SET_PID_CONTROLLER:
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currentProfile->pidController = read8();
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setPIDController(currentProfile->pidController);
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break;
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case MSP_SET_PID:
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if (currentProfile->pidController == 2) {
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for (i = 0; i < 3; i++) {
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