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Code Issues Wiki Activity

MSP LOOP_TIME commands for Configurator 0.66

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This commit is contained in:
Moto Moto 2015-10-03 17:13:37 -05:00
parent 421f0b81e0
commit fe89535126
1 changed files with 10 additions and 0 deletions
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10
src/main/io/serial_msp.c
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@ -93,6 +93,7 @@ static serialPort_t *mspSerialPort;
extern uint16_t cycleTime; // FIXME dependency on mw.c extern uint16_t cycleTime; // FIXME dependency on mw.c
extern uint16_t rssi; // 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); 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_READ 71 //out message - get content of dataflash chip
#define MSP_DATAFLASH_ERASE 72 //in message - erase 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_FAILSAFE_CONFIG 75 //out message Returns FC Fail-Safe settings
#define MSP_SET_FAILSAFE_CONFIG 76 //in message Sets 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.auto_disarm_delay);
serialize8(masterConfig.disarm_kill_switch); serialize8(masterConfig.disarm_kill_switch);
break; break;
case MSP_LOOP_TIME:
headSerialReply(2);
serialize16((uint16_t)targetLooptime);
break;
case MSP_RC_TUNING: case MSP_RC_TUNING:
headSerialReply(11); headSerialReply(11);
serialize8(currentControlRateProfile->rcRate8); serialize8(currentControlRateProfile->rcRate8);
@ -1348,6 +1356,8 @@ static bool processInCommand(void)
masterConfig.auto_disarm_delay = read8(); masterConfig.auto_disarm_delay = read8();
masterConfig.disarm_kill_switch = read8(); masterConfig.disarm_kill_switch = read8();
break; break;
case MSP_SET_LOOP_TIME:
break;
case MSP_SET_PID_CONTROLLER: case MSP_SET_PID_CONTROLLER:
currentProfile->pidProfile.pidController = read8(); currentProfile->pidProfile.pidController = read8();
pidSetController(currentProfile->pidProfile.pidController); pidSetController(currentProfile->pidProfile.pidController);