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https://github.com/iNavFlight/inav-configurator.git
synced 2025-07-15 04:15:28 +03:00
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skaman82
parent
3a9c7f3794
commit
d61970e177
5 changed files with 251 additions and 221 deletions
299
js/msp.js
299
js/msp.js
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@ -51,7 +51,7 @@ var MSP_codes = {
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MSP_PIDNAMES: 117,
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MSP_WP: 118,
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MSP_BOXIDS: 119,
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MSP_SERVO_CONF: 120,
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MSP_SERVO_CONFIGURATIONS: 120,
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MSP_SET_RAW_RC: 200,
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MSP_SET_RAW_GPS: 201,
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@ -65,10 +65,13 @@ var MSP_codes = {
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MSP_SET_WP: 209,
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MSP_SELECT_SETTING: 210,
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MSP_SET_HEAD: 211,
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MSP_SET_SERVO_CONF: 212,
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MSP_SET_SERVO_CONFIGURATION: 212,
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MSP_SET_MOTOR: 214,
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// MSP_BIND: 240,
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MSP_SERVO_MIX_RULES: 241,
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MSP_SET_SERVO_MIX_RULE: 242,
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MSP_EEPROM_WRITE: 250,
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@ -80,7 +83,7 @@ var MSP_codes = {
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MSP_ACC_TRIM: 240, // get acc angle trim values
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MSP_SET_ACC_TRIM: 239, // set acc angle trim values
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MSP_GPS_SV_INFO: 164, // get Signal Strength
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// Additional private MSP for baseflight configurator (yes thats us \o/)
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MSP_RX_MAP: 64, // get channel map (also returns number of channels total)
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MSP_SET_RX_MAP: 65, // set rc map, numchannels to set comes from MSP_RX_MAP
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@ -102,6 +105,7 @@ var MSP = {
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callbacks: [],
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packet_error: 0,
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unsupported: 0,
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ledDirectionLetters: ['n', 'e', 's', 'w', 'u', 'd'], // in LSB bit order
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ledFunctionLetters: ['i', 'w', 'f', 'a', 't', 'r', 'c'], // in LSB bit order
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@ -138,10 +142,14 @@ var MSP = {
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}
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break;
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case 2: // direction (should be >)
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this.unsupported = 0;
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if (data[i] == 62) { // >
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this.message_direction = 1;
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} else { // <
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} else if (data[i] == 60) { // <
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this.message_direction = 0;
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} else if (data[i] == 33) { // !
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// FC reports unsupported message error
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this.unsupported = 1;
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}
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this.state++;
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@ -202,7 +210,7 @@ var MSP = {
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process_data: function (code, message_buffer, message_length) {
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var data = new DataView(message_buffer, 0); // DataView (allowing us to view arrayBuffer as struct/union)
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switch (code) {
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if (!this.unsupported) switch (code) {
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case MSP_codes.MSP_IDENT:
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console.log('Using deprecated msp command: MSP_IDENT');
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// Deprecated
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@ -377,7 +385,6 @@ var MSP = {
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}
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break;
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case MSP_codes.MSP_MISC: // 22 bytes
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<<<<<<< HEAD
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var offset = 0;
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MISC.midrc = data.getInt16(offset, 1);
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offset += 2;
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@ -401,24 +408,6 @@ var MSP = {
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MISC.vbatmincellvoltage = data.getUint8(offset++, 1) / 10; // 10-50
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MISC.vbatmaxcellvoltage = data.getUint8(offset++, 1) / 10; // 10-50
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MISC.vbatwarningcellvoltage = data.getUint8(offset++, 1) / 10; // 10-50
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=======
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MISC.midrc = data.getInt16(0, 1);
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MISC.minthrottle = data.getUint16(2, 1); // 0-2000
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MISC.maxthrottle = data.getUint16(4, 1); // 0-2000
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MISC.mincommand = data.getUint16(6, 1); // 0-2000
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MISC.failsafe_throttle = data.getUint16(8, 1); // 1000-2000
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MISC.gps_type = data.getUint8(10);
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MISC.gps_baudrate = data.getUint8(11);
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MISC.gps_ubx_sbas = data.getInt8(12);
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MISC.multiwiicurrentoutput = data.getUint8(13);
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MISC.rssi_aux_channel = data.getUint8(14);
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MISC.placeholder2 = data.getUint8(15);
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MISC.mag_declination = data.getInt16(16, 1) / 10; // -18000-18000
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MISC.vbatscale = data.getUint8(18, 1); // 10-200
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MISC.vbatmincellvoltage = data.getUint8(19, 1) / 10; // 10-50
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MISC.vbatmaxcellvoltage = data.getUint8(20, 1) / 10; // 10-50
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MISC.vbatwarningcellvoltage = data.getUint8(21, 1) / 10; // 10-50
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>>>>>>> origin/baseflight-configurator-development
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break;
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case MSP_codes.MSP_MOTOR_PINS:
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console.log(data);
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@ -463,19 +452,52 @@ var MSP = {
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AUX_CONFIG_IDS.push(data.getUint8(i));
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}
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break;
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case MSP_codes.MSP_SERVO_CONF:
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case MSP_codes.MSP_SERVO_MIX_RULES:
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break;
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case MSP_codes.MSP_SERVO_CONFIGURATIONS:
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SERVO_CONFIG = []; // empty the array as new data is coming in
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if (data.byteLength % 7 == 0) {
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for (var i = 0; i < data.byteLength; i += 7) {
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var arr = {
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'min': data.getInt16(i, 1),
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'max': data.getInt16(i + 2, 1),
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'middle': data.getInt16(i + 4, 1),
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'rate': data.getInt8(i + 6)
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};
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SERVO_CONFIG.push(arr);
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if (semver.gte(CONFIG.apiVersion, "1.12.0")) {
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if (data.byteLength % 14 == 0) {
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for (var i = 0; i < data.byteLength; i += 14) {
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var arr = {
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'min': data.getInt16(i + 0, 1),
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'max': data.getInt16(i + 2, 1),
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'middle': data.getInt16(i + 4, 1),
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'rate': data.getInt8(i + 6),
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'angleAtMin': data.getInt8(i + 7),
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'angleAtMax': data.getInt8(i + 8),
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'indexOfChannelToForward': data.getInt8(i + 9),
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'reversedInputSources': data.getUint32(i + 10)
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};
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SERVO_CONFIG.push(arr);
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}
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}
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} else {
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if (data.byteLength % 7 == 0) {
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for (var i = 0; i < data.byteLength; i += 7) {
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var arr = {
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'min': data.getInt16(i + 0, 1),
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'max': data.getInt16(i + 2, 1),
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'middle': data.getInt16(i + 4, 1),
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'rate': data.getInt8(i + 6),
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'angleAtMin': 90,
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'angleAtMax': 90,
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'indexOfChannelToForward': undefined,
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'reversedInputSources': 0
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};
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SERVO_CONFIG.push(arr);
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}
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}
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if (semver.eq(CONFIG.apiVersion, '1.10.0')) {
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// drop two unused servo configurations due to MSP rx buffer to small)
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while (SERVO_CONFIG.length > 8) {
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SERVO_CONFIG.pop();
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}
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}
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}
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break;
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@ -509,7 +531,7 @@ var MSP = {
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case MSP_codes.MSP_SELECT_SETTING:
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console.log('Profile selected');
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break;
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case MSP_codes.MSP_SET_SERVO_CONF:
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case MSP_codes.MSP_SET_SERVO_CONFIGURATION:
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console.log('Servo Configuration saved');
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break;
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case MSP_codes.MSP_EEPROM_WRITE:
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@ -817,6 +839,8 @@ var MSP = {
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default:
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console.log('Unknown code detected: ' + code);
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} else {
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console.log('FC reports unsupported message error: ' + code);
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}
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// trigger callbacks, cleanup/remove callback after trigger
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@ -963,43 +987,43 @@ MSP.crunch = function (code) {
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case 7:
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case 8:
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case 9:
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buffer.push(parseInt(PIDs[i][0] * 10));
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buffer.push(parseInt(PIDs[i][1] * 1000));
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buffer.push(Math.round(PIDs[i][0] * 10));
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buffer.push(Math.round(PIDs[i][1] * 1000));
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buffer.push(parseInt(PIDs[i][2]));
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break;
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case 4:
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buffer.push(parseInt(PIDs[i][0] * 100));
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buffer.push(parseInt(PIDs[i][1] * 100));
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buffer.push(Math.round(PIDs[i][0] * 100));
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buffer.push(Math.round(PIDs[i][1] * 100));
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buffer.push(parseInt(PIDs[i][2]));
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break;
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case 5:
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case 6:
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buffer.push(parseInt(PIDs[i][0] * 10));
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buffer.push(parseInt(PIDs[i][1] * 100));
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buffer.push(parseInt(PIDs[i][2] * 1000));
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buffer.push(Math.round(PIDs[i][0] * 10));
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buffer.push(Math.round(PIDs[i][1] * 100));
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buffer.push(Math.round(PIDs[i][2] * 1000));
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break;
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}
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}
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break;
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case MSP_codes.MSP_SET_RC_TUNING:
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buffer.push(parseInt(RC_tuning.RC_RATE * 100));
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buffer.push(parseInt(RC_tuning.RC_EXPO * 100));
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buffer.push(Math.round(RC_tuning.RC_RATE * 100));
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buffer.push(Math.round(RC_tuning.RC_EXPO * 100));
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if (semver.lt(CONFIG.apiVersion, "1.7.0")) {
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buffer.push(parseInt(RC_tuning.roll_pitch_rate * 100));
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buffer.push(Math.round(RC_tuning.roll_pitch_rate * 100));
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} else {
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buffer.push(parseInt(RC_tuning.roll_rate * 100));
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buffer.push(parseInt(RC_tuning.pitch_rate * 100));
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buffer.push(Math.round(RC_tuning.roll_rate * 100));
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buffer.push(Math.round(RC_tuning.pitch_rate * 100));
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}
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buffer.push(parseInt(RC_tuning.yaw_rate * 100));
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buffer.push(parseInt(RC_tuning.dynamic_THR_PID * 100));
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buffer.push(parseInt(RC_tuning.throttle_MID * 100));
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buffer.push(parseInt(RC_tuning.throttle_EXPO * 100));
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buffer.push(Math.round(RC_tuning.yaw_rate * 100));
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buffer.push(Math.round(RC_tuning.dynamic_THR_PID * 100));
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buffer.push(Math.round(RC_tuning.throttle_MID * 100));
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buffer.push(Math.round(RC_tuning.throttle_EXPO * 100));
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if (semver.gte(CONFIG.apiVersion, "1.7.0")) {
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buffer.push(lowByte(RC_tuning.dynamic_THR_breakpoint));
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buffer.push(highByte(RC_tuning.dynamic_THR_breakpoint));
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}
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if (semver.gte(CONFIG.apiVersion, "1.10.0")) {
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buffer.push(parseInt(RC_tuning.RC_YAW_EXPO * 100));
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buffer.push(Math.round(RC_tuning.RC_YAW_EXPO * 100));
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}
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break;
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// Disabled, cleanflight does not use MSP_SET_BOX.
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@ -1047,26 +1071,12 @@ MSP.crunch = function (code) {
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buffer.push(MISC.multiwiicurrentoutput);
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buffer.push(MISC.rssi_channel);
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buffer.push(MISC.placeholder2);
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buffer.push(lowByte(MISC.mag_declination * 10));
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buffer.push(highByte(MISC.mag_declination * 10));
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buffer.push(lowByte(Math.round(MISC.mag_declination * 10)));
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buffer.push(highByte(Math.round(MISC.mag_declination * 10)));
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buffer.push(MISC.vbatscale);
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buffer.push(MISC.vbatmincellvoltage * 10);
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buffer.push(MISC.vbatmaxcellvoltage * 10);
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buffer.push(MISC.vbatwarningcellvoltage * 10);
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break;
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case MSP_codes.MSP_SET_SERVO_CONF:
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for (var i = 0; i < SERVO_CONFIG.length; i++) {
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buffer.push(lowByte(SERVO_CONFIG[i].min));
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buffer.push(highByte(SERVO_CONFIG[i].min));
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buffer.push(lowByte(SERVO_CONFIG[i].max));
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buffer.push(highByte(SERVO_CONFIG[i].max));
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buffer.push(lowByte(SERVO_CONFIG[i].middle));
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buffer.push(highByte(SERVO_CONFIG[i].middle));
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buffer.push(lowByte(SERVO_CONFIG[i].rate));
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}
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buffer.push(Math.round(MISC.vbatmincellvoltage * 10));
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buffer.push(Math.round(MISC.vbatmaxcellvoltage * 10));
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buffer.push(Math.round(MISC.vbatwarningcellvoltage * 10));
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break;
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case MSP_codes.MSP_SET_CHANNEL_FORWARDING:
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for (var i = 0; i < SERVO_CONFIG.length; i++) {
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@ -1127,6 +1137,22 @@ MSP.crunch = function (code) {
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return buffer;
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};
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/**
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* Set raw Rx values over MSP protocol.
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*
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* Channels is an array of 16-bit unsigned integer channel values to be sent. 8 channels is probably the maximum.
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*/
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MSP.setRawRx = function(channels) {
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var buffer = [];
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for (var i = 0; i < channels.length; i++) {
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buffer.push(specificByte(channels[i], 0));
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buffer.push(specificByte(channels[i], 1));
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}
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MSP.send_message(MSP_codes.MSP_SET_RAW_RC, buffer, false);
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}
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/**
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* Send a request to read a block of data from the dataflash at the given address and pass that address and a dataview
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* of the returned data to the given callback (or null for the data if an error occured).
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@ -1147,7 +1173,102 @@ MSP.dataflashRead = function(address, onDataCallback) {
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onDataCallback(address, null);
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}
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});
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} ;
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};
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MSP.sendServoMixRules = function(onCompleteCallback) {
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// TODO implement
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onCompleteCallback();
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};
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MSP.sendServoConfigurations = function(onCompleteCallback) {
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var nextFunction = send_next_servo_configuration;
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var servoIndex = 0;
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if (SERVO_CONFIG.length == 0) {
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onCompleteCallback();
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}
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nextFunction();
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function send_next_servo_configuration() {
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var buffer = [];
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if (semver.lt(CONFIG.apiVersion, "1.12.0")) {
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// send all in one go
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// 1.9.0 had a bug where the MSP input buffer was too small, limit to 8.
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for (var i = 0; i < SERVO_CONFIG.length && i < 8; i++) {
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buffer.push(lowByte(SERVO_CONFIG[i].min));
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buffer.push(highByte(SERVO_CONFIG[i].min));
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buffer.push(lowByte(SERVO_CONFIG[i].max));
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buffer.push(highByte(SERVO_CONFIG[i].max));
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buffer.push(lowByte(SERVO_CONFIG[i].middle));
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buffer.push(highByte(SERVO_CONFIG[i].middle));
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buffer.push(lowByte(SERVO_CONFIG[i].rate));
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}
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nextFunction = send_channel_forwarding;
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} else {
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// send one at a time, with index
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var servoConfiguration = SERVO_CONFIG[servoIndex];
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buffer.push(servoIndex);
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buffer.push(lowByte(servoConfiguration.min));
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buffer.push(highByte(servoConfiguration.min));
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buffer.push(lowByte(servoConfiguration.max));
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buffer.push(highByte(servoConfiguration.max));
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buffer.push(lowByte(servoConfiguration.middle));
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buffer.push(highByte(servoConfiguration.middle));
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buffer.push(lowByte(servoConfiguration.rate));
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buffer.push(servoConfiguration.angleAtMin);
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buffer.push(servoConfiguration.angleAtMax);
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var out = servoConfiguration.indexOfChannelToForward;
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if (out == undefined) {
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out = 255; // Cleanflight defines "CHANNEL_FORWARDING_DISABLED" as "(uint8_t)0xFF"
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}
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buffer.push(out);
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buffer.push(specificByte(servoConfiguration.reversedInputSources, 0));
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buffer.push(specificByte(servoConfiguration.reversedInputSources, 1));
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buffer.push(specificByte(servoConfiguration.reversedInputSources, 2));
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buffer.push(specificByte(servoConfiguration.reversedInputSources, 3));
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// prepare for next iteration
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servoIndex++;
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if (servoIndex == SERVO_CONFIG.length) {
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nextFunction = onCompleteCallback;
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}
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}
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MSP.send_message(MSP_codes.MSP_SET_SERVO_CONFIGURATION, buffer, false, nextFunction);
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}
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function send_channel_forwarding() {
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var buffer = [];
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for (var i = 0; i < SERVO_CONFIG.length; i++) {
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var out = SERVO_CONFIG[i].indexOfChannelToForward;
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if (out == undefined) {
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out = 255; // Cleanflight defines "CHANNEL_FORWARDING_DISABLED" as "(uint8_t)0xFF"
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}
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buffer.push(out);
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}
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nextFunction = onCompleteCallback;
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MSP.send_message(MSP_codes.MSP_SET_CHANNEL_FORWARDING, buffer, false, nextFunction);
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}
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};
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MSP.sendModeRanges = function(onCompleteCallback) {
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var nextFunction = send_next_mode_range;
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@ -1165,12 +1286,12 @@ MSP.sendModeRanges = function(onCompleteCallback) {
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var modeRange = MODE_RANGES[modeRangeIndex];
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var AUX_val_buffer_out = [];
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AUX_val_buffer_out.push(modeRangeIndex);
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AUX_val_buffer_out.push(modeRange.id);
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AUX_val_buffer_out.push(modeRange.auxChannelIndex);
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AUX_val_buffer_out.push((modeRange.range.start - 900) / 25);
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AUX_val_buffer_out.push((modeRange.range.end - 900) / 25);
|
||||
var buffer = [];
|
||||
buffer.push(modeRangeIndex);
|
||||
buffer.push(modeRange.id);
|
||||
buffer.push(modeRange.auxChannelIndex);
|
||||
buffer.push((modeRange.range.start - 900) / 25);
|
||||
buffer.push((modeRange.range.end - 900) / 25);
|
||||
|
||||
// prepare for next iteration
|
||||
modeRangeIndex++;
|
||||
|
|
@ -1178,7 +1299,7 @@ MSP.sendModeRanges = function(onCompleteCallback) {
|
|||
nextFunction = onCompleteCallback;
|
||||
|
||||
}
|
||||
MSP.send_message(MSP_codes.MSP_SET_MODE_RANGE, AUX_val_buffer_out, false, nextFunction);
|
||||
MSP.send_message(MSP_codes.MSP_SET_MODE_RANGE, buffer, false, nextFunction);
|
||||
}
|
||||
};
|
||||
|
||||
|
|
@ -1198,14 +1319,14 @@ MSP.sendAdjustmentRanges = function(onCompleteCallback) {
|
|||
|
||||
var adjustmentRange = ADJUSTMENT_RANGES[adjustmentRangeIndex];
|
||||
|
||||
var ADJUSTMENT_val_buffer_out = [];
|
||||
ADJUSTMENT_val_buffer_out.push(adjustmentRangeIndex);
|
||||
ADJUSTMENT_val_buffer_out.push(adjustmentRange.slotIndex);
|
||||
ADJUSTMENT_val_buffer_out.push(adjustmentRange.auxChannelIndex);
|
||||
ADJUSTMENT_val_buffer_out.push((adjustmentRange.range.start - 900) / 25);
|
||||
ADJUSTMENT_val_buffer_out.push((adjustmentRange.range.end - 900) / 25);
|
||||
ADJUSTMENT_val_buffer_out.push(adjustmentRange.adjustmentFunction);
|
||||
ADJUSTMENT_val_buffer_out.push(adjustmentRange.auxSwitchChannelIndex);
|
||||
var buffer = [];
|
||||
buffer.push(adjustmentRangeIndex);
|
||||
buffer.push(adjustmentRange.slotIndex);
|
||||
buffer.push(adjustmentRange.auxChannelIndex);
|
||||
buffer.push((adjustmentRange.range.start - 900) / 25);
|
||||
buffer.push((adjustmentRange.range.end - 900) / 25);
|
||||
buffer.push(adjustmentRange.adjustmentFunction);
|
||||
buffer.push(adjustmentRange.auxSwitchChannelIndex);
|
||||
|
||||
// prepare for next iteration
|
||||
adjustmentRangeIndex++;
|
||||
|
|
@ -1213,7 +1334,7 @@ MSP.sendAdjustmentRanges = function(onCompleteCallback) {
|
|||
nextFunction = onCompleteCallback;
|
||||
|
||||
}
|
||||
MSP.send_message(MSP_codes.MSP_SET_ADJUSTMENT_RANGE, ADJUSTMENT_val_buffer_out, false, nextFunction);
|
||||
MSP.send_message(MSP_codes.MSP_SET_ADJUSTMENT_RANGE, buffer, false, nextFunction);
|
||||
}
|
||||
};
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue