From fe8953512600ec2bafe93df930eb4be1208ad7de Mon Sep 17 00:00:00 2001 From: Moto Moto Date: Sat, 3 Oct 2015 17:13:37 -0500 Subject: [PATCH] MSP LOOP_TIME commands for Configurator 0.66 --- src/main/io/serial_msp.c | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c index edb61d468e..740c85f35e 100644 --- a/src/main/io/serial_msp.c +++ b/src/main/io/serial_msp.c @@ -93,6 +93,7 @@ static serialPort_t *mspSerialPort; extern uint16_t cycleTime; // FIXME dependency on mw.c extern uint16_t rssi; // FIXME dependency on mw.c +extern uint32_t targetLooptime; void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse, pidProfile_t *pidProfileToUse); @@ -226,6 +227,9 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER; #define MSP_DATAFLASH_READ 71 //out message - get content of dataflash chip #define MSP_DATAFLASH_ERASE 72 //in message - erase dataflash chip +#define MSP_LOOP_TIME 73 //out message Returns FC cycle time i.e looptime parameter +#define MSP_SET_LOOP_TIME 74 //in message Sets FC cycle time i.e looptime parameter + #define MSP_FAILSAFE_CONFIG 75 //out message Returns FC Fail-Safe settings #define MSP_SET_FAILSAFE_CONFIG 76 //in message Sets FC Fail-Safe settings @@ -927,6 +931,10 @@ static bool processOutCommand(uint8_t cmdMSP) serialize8(masterConfig.auto_disarm_delay); serialize8(masterConfig.disarm_kill_switch); break; + case MSP_LOOP_TIME: + headSerialReply(2); + serialize16((uint16_t)targetLooptime); + break; case MSP_RC_TUNING: headSerialReply(11); serialize8(currentControlRateProfile->rcRate8); @@ -1348,6 +1356,8 @@ static bool processInCommand(void) masterConfig.auto_disarm_delay = read8(); masterConfig.disarm_kill_switch = read8(); break; + case MSP_SET_LOOP_TIME: + break; case MSP_SET_PID_CONTROLLER: currentProfile->pidProfile.pidController = read8(); pidSetController(currentProfile->pidProfile.pidController);