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Reworked msp.js - new code MSP_ARM_CONFIG etc

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tricopterY 2015-03-18 14:46:24 +11:00
parent e5235e46e6
commit a1f932f36a
1 changed files with 30 additions and 11 deletions
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41
js/msp.js
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@ -48,7 +48,9 @@ var MSP_codes = {
MSP_WP: 118,
MSP_BOXIDS: 119,
MSP_SERVO_CONF: 120,
MSP_ARM_CONFIG: 123, //like #define in serial_msp.c
MSP_LOOP_TIME: 124,
MSP_SET_RAW_RC: 200,
MSP_SET_RAW_GPS: 201,
MSP_SET_PID: 202,
@ -63,7 +65,9 @@ var MSP_codes = {
MSP_SET_HEAD: 211,
MSP_SET_SERVO_CONF: 212,
MSP_SET_MOTOR: 214,
MSP_SET_ARM_CONFIG: 216, //like #define in serial_msp.c
MSP_SET_LOOP_TIME: 217,
// MSP_BIND: 240,
MSP_EEPROM_WRITE: 250,
@ -348,7 +352,18 @@ var MSP = {
}
break;
*/
case MSP_codes.MSP_MISC: // 24 bytes
case MSP_codes.MSP_ARM_CONFIG:
if (CONFIG.apiVersion >= 1.8) {
ARM_CONFIG.auto_disarm_delay = data.getUint8(0, 1);
ARM_CONFIG.disarm_kill_switch = data.getUint8(1);
}
break;
case MSP_codes.MSP_LOOP_TIME:
if (CONFIG.apiVersion >= 1.8) {
LOOP_TIME = data.getInt16(0, 1);
}
break;
case MSP_codes.MSP_MISC: // 22 bytes
var offset = 0;
MISC.midrc = data.getInt16(offset, 1);
offset += 2;
@ -372,10 +387,6 @@ var MSP = {
MISC.vbatmincellvoltage = data.getUint8(++offset, 1) / 10; // 10-50
MISC.vbatmaxcellvoltage = data.getUint8(++offset, 1) / 10; // 10-50
MISC.vbatwarningcellvoltage = data.getUint8(++offset, 1) / 10; // 10-50
if (CONFIG.apiVersion >= 1.8) {
MISC.auto_disarm_delay = data.getUint8(++offset, 1);//tri
MISC.disarm_kill_switch = data.getUint8(++offset);
}
break;
case MSP_codes.MSP_MOTOR_PINS:
console.log(data);
@ -969,6 +980,18 @@ MSP.crunch = function (code) {
buffer.push(lowByte(CONFIG.accelerometerTrims[1]));
buffer.push(highByte(CONFIG.accelerometerTrims[1]));
break;
case MSP_codes.MSP_SET_ARM_CONFIG:
if (CONFIG.apiVersion >= 1.8) {
buffer.push(ARM_CONFIG.auto_disarm_delay);
buffer.push(ARM_CONFIG.disarm_kill_switch);
}
break;
case MSP_codes.MSP_SET_LOOP_TIME:
if (CONFIG.apiVersion >= 1.8) {
buffer.push(lowByte(LOOP_TIME));
buffer.push(highByte(LOOP_TIME));
}
break;
case MSP_codes.MSP_SET_MISC:
buffer.push(lowByte(MISC.midrc));
buffer.push(highByte(MISC.midrc));
@ -992,10 +1015,6 @@ MSP.crunch = function (code) {
buffer.push(MISC.vbatmincellvoltage * 10);
buffer.push(MISC.vbatmaxcellvoltage * 10);
buffer.push(MISC.vbatwarningcellvoltage * 10);
if (CONFIG.apiVersion >= 1.8) {
buffer.push(MISC.auto_disarm_delay);
buffer.push(MISC.disarm_kill_switch);
}
break;
case MSP_codes.MSP_SET_SERVO_CONF:
for (var i = 0; i < SERVO_CONFIG.length; i++) {