mirror of
https://github.com/iNavFlight/inav-configurator.git
synced 2025-07-19 06:15:11 +03:00
9cf60224b2
Added Warning Cell Voltage to Battery voltage in Configuration tab. When battery has deployed to level that is defined with warning cell voltage buzzer starts slow beeping and copter can still land safely. When min voltage is reached beeper start fast "screaming" and LIPO is empty (to point when it could be damaged from over discharging if using that default 3.3V).
704 lines
No EOL
29 KiB
JavaScript
704 lines
No EOL
29 KiB
JavaScript
'use strict';
|
|
|
|
// MSP_codes needs to be re-integrated inside MSP object
|
|
var MSP_codes = {
|
|
MSP_IDENT: 100,
|
|
MSP_STATUS: 101,
|
|
MSP_RAW_IMU: 102,
|
|
MSP_SERVO: 103,
|
|
MSP_MOTOR: 104,
|
|
MSP_RC: 105,
|
|
MSP_RAW_GPS: 106,
|
|
MSP_COMP_GPS: 107,
|
|
MSP_ATTITUDE: 108,
|
|
MSP_ALTITUDE: 109,
|
|
MSP_ANALOG: 110,
|
|
MSP_RC_TUNING: 111,
|
|
MSP_PID: 112,
|
|
MSP_BOX: 113,
|
|
MSP_MISC: 114,
|
|
MSP_MOTOR_PINS: 115,
|
|
MSP_BOXNAMES: 116,
|
|
MSP_PIDNAMES: 117,
|
|
MSP_WP: 118,
|
|
MSP_BOXIDS: 119,
|
|
MSP_SERVO_CONF: 120,
|
|
|
|
MSP_SET_RAW_RC: 200,
|
|
MSP_SET_RAW_GPS: 201,
|
|
MSP_SET_PID: 202,
|
|
MSP_SET_BOX: 203,
|
|
MSP_SET_RC_TUNING: 204,
|
|
MSP_ACC_CALIBRATION: 205,
|
|
MSP_MAG_CALIBRATION: 206,
|
|
MSP_SET_MISC: 207,
|
|
MSP_RESET_CONF: 208,
|
|
MSP_SET_WP: 209,
|
|
MSP_SELECT_SETTING: 210,
|
|
MSP_SET_HEAD: 211,
|
|
MSP_SET_SERVO_CONF: 212,
|
|
MSP_SET_MOTOR: 214,
|
|
|
|
// MSP_BIND: 240,
|
|
|
|
MSP_EEPROM_WRITE: 250,
|
|
|
|
MSP_DEBUGMSG: 253,
|
|
MSP_DEBUG: 254,
|
|
|
|
// Additional baseflight commands that are not compatible with MultiWii
|
|
MSP_UID: 160, // Unique device ID
|
|
MSP_ACC_TRIM: 240, // get acc angle trim values
|
|
MSP_SET_ACC_TRIM: 239, // set acc angle trim values
|
|
MSP_GPSSVINFO: 164, // get Signal Strength (only U-Blox)
|
|
|
|
// Additional private MSP for baseflight configurator (yes thats us \o/)
|
|
MSP_RCMAP: 64, // get channel map (also returns number of channels total)
|
|
MSP_SET_RCMAP: 65, // set rc map, numchannels to set comes from MSP_RCMAP
|
|
MSP_CONFIG: 66, // baseflight-specific settings that aren't covered elsewhere
|
|
MSP_SET_CONFIG: 67, // baseflight-specific settings save
|
|
MSP_SET_REBOOT: 68, // reboot settings
|
|
MSP_BUILDINFO: 69 // build date as well as some space for future expansion
|
|
};
|
|
|
|
var MSP = {
|
|
state: 0,
|
|
message_direction: 1,
|
|
code: 0,
|
|
message_length_expected: 0,
|
|
message_length_received: 0,
|
|
message_buffer: null,
|
|
message_buffer_uint8_view: null,
|
|
message_checksum: 0,
|
|
|
|
callbacks: [],
|
|
packet_error: 0,
|
|
|
|
read: function (readInfo) {
|
|
var data = new Uint8Array(readInfo.data);
|
|
|
|
for (var i = 0; i < data.length; i++) {
|
|
switch (this.state) {
|
|
case 0: // sync char 1
|
|
if (data[i] == 36) { // $
|
|
this.state++;
|
|
}
|
|
break;
|
|
case 1: // sync char 2
|
|
if (data[i] == 77) { // M
|
|
this.state++;
|
|
} else { // restart and try again
|
|
this.state = 0;
|
|
}
|
|
break;
|
|
case 2: // direction (should be >)
|
|
if (data[i] == 62) { // >
|
|
this.message_direction = 1;
|
|
} else { // <
|
|
this.message_direction = 0;
|
|
}
|
|
|
|
this.state++;
|
|
break;
|
|
case 3:
|
|
this.message_length_expected = data[i];
|
|
|
|
this.message_checksum = data[i];
|
|
|
|
// setup arraybuffer
|
|
this.message_buffer = new ArrayBuffer(this.message_length_expected);
|
|
this.message_buffer_uint8_view = new Uint8Array(this.message_buffer);
|
|
|
|
this.state++;
|
|
break;
|
|
case 4:
|
|
this.code = data[i];
|
|
this.message_checksum ^= data[i];
|
|
|
|
if (this.message_length_expected > 0) {
|
|
// process payload
|
|
this.state++;
|
|
} else {
|
|
// no payload
|
|
this.state += 2;
|
|
}
|
|
break;
|
|
case 5: // payload
|
|
this.message_buffer_uint8_view[this.message_length_received] = data[i];
|
|
this.message_checksum ^= data[i];
|
|
this.message_length_received++;
|
|
|
|
if (this.message_length_received >= this.message_length_expected) {
|
|
this.state++;
|
|
}
|
|
break;
|
|
case 6:
|
|
if (this.message_checksum == data[i]) {
|
|
// message received, process
|
|
this.process_data(this.code, this.message_buffer, this.message_length_expected);
|
|
} else {
|
|
console.log('code: ' + this.code + ' - crc failed');
|
|
|
|
this.packet_error++;
|
|
$('span.packet-error').html(this.packet_error);
|
|
}
|
|
|
|
// Reset variables
|
|
this.message_length_received = 0;
|
|
this.state = 0;
|
|
break;
|
|
|
|
default:
|
|
console.log('Unknown state detected: ' + this.state);
|
|
}
|
|
}
|
|
},
|
|
process_data: function (code, message_buffer, message_length) {
|
|
var data = new DataView(message_buffer, 0); // DataView (allowing us to view arrayBuffer as struct/union)
|
|
|
|
switch (code) {
|
|
case MSP_codes.MSP_IDENT:
|
|
CONFIG.version = parseFloat((data.getUint8(0) / 100).toFixed(2));
|
|
CONFIG.multiType = data.getUint8(1);
|
|
CONFIG.msp_version = data.getUint8(2);
|
|
CONFIG.capability = data.getUint32(3, 1);
|
|
break;
|
|
case MSP_codes.MSP_STATUS:
|
|
CONFIG.cycleTime = data.getUint16(0, 1);
|
|
CONFIG.i2cError = data.getUint16(2, 1);
|
|
CONFIG.activeSensors = data.getUint16(4, 1);
|
|
CONFIG.mode = data.getUint32(6, 1);
|
|
CONFIG.profile = data.getUint8(10);
|
|
|
|
sensor_status(CONFIG.activeSensors);
|
|
$('span.i2c-error').text(CONFIG.i2cError);
|
|
$('span.cycle-time').text(CONFIG.cycleTime);
|
|
break;
|
|
case MSP_codes.MSP_RAW_IMU:
|
|
// 512 for mpu6050, 256 for mma
|
|
// currently we are unable to differentiate between the sensor types, so we are goign with 512
|
|
SENSOR_DATA.accelerometer[0] = data.getInt16(0, 1) / 512;
|
|
SENSOR_DATA.accelerometer[1] = data.getInt16(2, 1) / 512;
|
|
SENSOR_DATA.accelerometer[2] = data.getInt16(4, 1) / 512;
|
|
|
|
// properly scaled
|
|
SENSOR_DATA.gyroscope[0] = data.getInt16(6, 1) * (4 / 16.4);
|
|
SENSOR_DATA.gyroscope[1] = data.getInt16(8, 1) * (4 / 16.4);
|
|
SENSOR_DATA.gyroscope[2] = data.getInt16(10, 1) * (4 / 16.4);
|
|
|
|
// no clue about scaling factor
|
|
SENSOR_DATA.magnetometer[0] = data.getInt16(12, 1) / 1090;
|
|
SENSOR_DATA.magnetometer[1] = data.getInt16(14, 1) / 1090;
|
|
SENSOR_DATA.magnetometer[2] = data.getInt16(16, 1) / 1090;
|
|
break;
|
|
case MSP_codes.MSP_SERVO:
|
|
var needle = 0;
|
|
for (var i = 0; i < 8; i++) {
|
|
SERVO_DATA[i] = data.getUint16(needle, 1);
|
|
|
|
needle += 2;
|
|
}
|
|
break;
|
|
case MSP_codes.MSP_MOTOR:
|
|
var needle = 0;
|
|
for (var i = 0; i < 8; i++) {
|
|
MOTOR_DATA[i] = data.getUint16(needle, 1);
|
|
|
|
needle += 2;
|
|
}
|
|
break;
|
|
case MSP_codes.MSP_RC:
|
|
RC.active_channels = message_length / 2;
|
|
|
|
for (var i = 0; i < RC.active_channels; i++) {
|
|
RC.channels[i] = data.getUint16((i * 2), 1);
|
|
}
|
|
break;
|
|
case MSP_codes.MSP_RAW_GPS:
|
|
GPS_DATA.fix = data.getUint8(0);
|
|
GPS_DATA.numSat = data.getUint8(1);
|
|
GPS_DATA.lat = data.getInt32(2, 1);
|
|
GPS_DATA.lon = data.getInt32(6, 1);
|
|
GPS_DATA.alt = data.getUint16(10, 1);
|
|
GPS_DATA.speed = data.getUint16(12, 1);
|
|
GPS_DATA.ground_course = data.getUint16(14, 1);
|
|
break;
|
|
case MSP_codes.MSP_COMP_GPS:
|
|
GPS_DATA.distanceToHome = data.getUint16(0, 1);
|
|
GPS_DATA.directionToHome = data.getUint16(2, 1);
|
|
GPS_DATA.update = data.getUint8(4);
|
|
break;
|
|
case MSP_codes.MSP_ATTITUDE:
|
|
SENSOR_DATA.kinematics[0] = data.getInt16(0, 1) / 10.0; // x
|
|
SENSOR_DATA.kinematics[1] = data.getInt16(2, 1) / 10.0; // y
|
|
SENSOR_DATA.kinematics[2] = data.getInt16(4, 1); // z
|
|
break;
|
|
case MSP_codes.MSP_ALTITUDE:
|
|
SENSOR_DATA.altitude = parseFloat((data.getInt32(0, 1) / 100.0).toFixed(2)); // correct scale factor
|
|
break;
|
|
case MSP_codes.MSP_ANALOG:
|
|
ANALOG.voltage = data.getUint8(0) / 10.0;
|
|
ANALOG.mAhdrawn = data.getUint16(1, 1);
|
|
ANALOG.rssi = data.getUint16(3, 1); // 0-1023
|
|
ANALOG.amperage = data.getUint16(5, 1) / 100; // A
|
|
break;
|
|
case MSP_codes.MSP_RC_TUNING:
|
|
RC_tuning.RC_RATE = parseFloat((data.getUint8(0) / 100).toFixed(2));
|
|
RC_tuning.RC_EXPO = parseFloat((data.getUint8(1) / 100).toFixed(2));
|
|
RC_tuning.roll_pitch_rate = parseFloat((data.getUint8(2) / 100).toFixed(2));
|
|
RC_tuning.yaw_rate = parseFloat((data.getUint8(3) / 100).toFixed(2));
|
|
RC_tuning.dynamic_THR_PID = parseFloat((data.getUint8(4) / 100).toFixed(2));
|
|
RC_tuning.throttle_MID = parseFloat((data.getUint8(5) / 100).toFixed(2));
|
|
RC_tuning.throttle_EXPO = parseFloat((data.getUint8(6) / 100).toFixed(2));
|
|
break;
|
|
case MSP_codes.MSP_PID:
|
|
// PID data arrived, we need to scale it and save to appropriate bank / array
|
|
for (var i = 0, needle = 0; i < (message_length / 3); i++, needle += 3) {
|
|
// main for loop selecting the pid section
|
|
switch (i) {
|
|
case 0:
|
|
case 1:
|
|
case 2:
|
|
case 3:
|
|
case 7:
|
|
case 8:
|
|
case 9:
|
|
PIDs[i][0] = data.getUint8(needle) / 10;
|
|
PIDs[i][1] = data.getUint8(needle + 1) / 1000;
|
|
PIDs[i][2] = data.getUint8(needle + 2);
|
|
break;
|
|
case 4:
|
|
PIDs[i][0] = data.getUint8(needle) / 100;
|
|
PIDs[i][1] = data.getUint8(needle + 1) / 100;
|
|
PIDs[i][2] = data.getUint8(needle + 2) / 1000;
|
|
break;
|
|
case 5:
|
|
case 6:
|
|
PIDs[i][0] = data.getUint8(needle) / 10;
|
|
PIDs[i][1] = data.getUint8(needle + 1) / 100;
|
|
PIDs[i][2] = data.getUint8(needle + 2) / 1000;
|
|
break;
|
|
}
|
|
}
|
|
break;
|
|
case MSP_codes.MSP_BOX:
|
|
AUX_CONFIG_values = []; // empty the array as new data is coming in
|
|
|
|
// fill in current data
|
|
for (var i = 0; i < data.byteLength; i += 2) { // + 2 because uint16_t = 2 bytes
|
|
AUX_CONFIG_values.push(data.getUint16(i, 1));
|
|
}
|
|
break;
|
|
case MSP_codes.MSP_MISC: // 22 bytes
|
|
MISC.midrc = data.getInt16(0, 1);
|
|
MISC.minthrottle = data.getUint16(2, 1); // 0-2000
|
|
MISC.maxthrottle = data.getUint16(4, 1); // 0-2000
|
|
MISC.mincommand = data.getUint16(6, 1); // 0-2000
|
|
MISC.failsafe_throttle = data.getUint16(8, 1); // 1000-2000
|
|
MISC.gps_type = data.getUint8(10);
|
|
MISC.gps_baudrate = data.getUint8(11);
|
|
MISC.gps_ubx_sbas = data.getInt8(12);
|
|
MISC.multiwiicurrentoutput = data.getUint8(13);
|
|
MISC.rssi_aux_channel = data.getUint8(14);
|
|
MISC.placeholder2 = data.getUint8(15);
|
|
MISC.mag_declination = data.getInt16(16, 1) / 10; // -18000-18000
|
|
MISC.vbatscale = data.getUint8(18, 1); // 10-200
|
|
MISC.vbatmincellvoltage = data.getUint8(19, 1) / 10; // 10-50
|
|
MISC.vbatmaxcellvoltage = data.getUint8(20, 1) / 10; // 10-50
|
|
MISC.vbatwarningcellvoltage = data.getUint8(21, 1) / 10; // 10-50
|
|
break;
|
|
case MSP_codes.MSP_MOTOR_PINS:
|
|
console.log(data);
|
|
break;
|
|
case MSP_codes.MSP_BOXNAMES:
|
|
AUX_CONFIG = []; // empty the array as new data is coming in
|
|
|
|
var buff = [];
|
|
for (var i = 0; i < data.byteLength; i++) {
|
|
if (data.getUint8(i) == 0x3B) { // ; (delimeter char)
|
|
AUX_CONFIG.push(String.fromCharCode.apply(null, buff)); // convert bytes into ASCII and save as strings
|
|
|
|
// empty buffer
|
|
buff = [];
|
|
} else {
|
|
buff.push(data.getUint8(i));
|
|
}
|
|
}
|
|
break;
|
|
case MSP_codes.MSP_PIDNAMES:
|
|
PID_names = []; // empty the array as new data is coming in
|
|
|
|
var buff = [];
|
|
for (var i = 0; i < data.byteLength; i++) {
|
|
if (data.getUint8(i) == 0x3B) { // ; (delimeter char)
|
|
PID_names.push(String.fromCharCode.apply(null, buff)); // convert bytes into ASCII and save as strings
|
|
|
|
// empty buffer
|
|
buff = [];
|
|
} else {
|
|
buff.push(data.getUint8(i));
|
|
}
|
|
}
|
|
break;
|
|
case MSP_codes.MSP_WP:
|
|
console.log(data);
|
|
break;
|
|
case MSP_codes.MSP_BOXIDS:
|
|
AUX_CONFIG_IDS = []; // empty the array as new data is coming in
|
|
|
|
for (var i = 0; i < data.byteLength; i++) {
|
|
AUX_CONFIG_IDS.push(data.getUint8(i));
|
|
}
|
|
break;
|
|
case MSP_codes.MSP_SERVO_CONF:
|
|
SERVO_CONFIG = []; // empty the array as new data is coming in
|
|
|
|
for (var i = 0; i < 56; i += 7) {
|
|
var arr = {
|
|
'min': data.getInt16(i, 1),
|
|
'max': data.getInt16(i + 2, 1),
|
|
'middle': data.getInt16(i + 4, 1),
|
|
'rate': data.getInt8(i + 6)
|
|
};
|
|
|
|
SERVO_CONFIG.push(arr);
|
|
}
|
|
break;
|
|
case MSP_codes.MSP_SET_RAW_RC:
|
|
break;
|
|
case MSP_codes.MSP_SET_RAW_GPS:
|
|
break;
|
|
case MSP_codes.MSP_SET_PID:
|
|
console.log('PID settings saved');
|
|
break;
|
|
case MSP_codes.MSP_SET_BOX:
|
|
console.log('AUX Configuration saved');
|
|
break;
|
|
case MSP_codes.MSP_SET_RC_TUNING:
|
|
console.log('RC Tuning saved');
|
|
break;
|
|
case MSP_codes.MSP_ACC_CALIBRATION:
|
|
console.log('Accel calibration executed');
|
|
break;
|
|
case MSP_codes.MSP_MAG_CALIBRATION:
|
|
console.log('Mag calibration executed');
|
|
break;
|
|
case MSP_codes.MSP_SET_MISC:
|
|
console.log('MISC Configuration saved');
|
|
break;
|
|
case MSP_codes.MSP_RESET_CONF:
|
|
console.log('Settings Reset');
|
|
break;
|
|
case MSP_codes.MSP_SELECT_SETTING:
|
|
console.log('Profile selected');
|
|
break;
|
|
case MSP_codes.MSP_SET_SERVO_CONF:
|
|
console.log('Servo Configuration saved');
|
|
break;
|
|
case MSP_codes.MSP_EEPROM_WRITE:
|
|
console.log('Settings Saved in EEPROM');
|
|
break;
|
|
case MSP_codes.MSP_DEBUGMSG:
|
|
break;
|
|
case MSP_codes.MSP_DEBUG:
|
|
for (var i = 0; i < 4; i++)
|
|
SENSOR_DATA.debug[i] = data.getInt16((2 * i), 1);
|
|
break;
|
|
case MSP_codes.MSP_SET_MOTOR:
|
|
console.log('Motor Speeds Updated');
|
|
break;
|
|
// Additional baseflight commands that are not compatible with MultiWii
|
|
case MSP_codes.MSP_UID:
|
|
CONFIG.uid[0] = data.getUint32(0, 1);
|
|
CONFIG.uid[1] = data.getUint32(4, 1);
|
|
CONFIG.uid[2] = data.getUint32(8, 1);
|
|
break;
|
|
case MSP_codes.MSP_ACC_TRIM:
|
|
CONFIG.accelerometerTrims[0] = data.getInt16(0, 1); // pitch
|
|
CONFIG.accelerometerTrims[1] = data.getInt16(2, 1); // roll
|
|
break;
|
|
case MSP_codes.MSP_SET_ACC_TRIM:
|
|
console.log('Accelerometer trimms saved.');
|
|
break;
|
|
case MSP_codes.MSP_GPSSVINFO:
|
|
if (data.byteLength > 0) {
|
|
var numCh = data.getUint8(0);
|
|
|
|
var needle = 1;
|
|
for (var i = 0; i < numCh; i++) {
|
|
GPS_DATA.chn[i] = data.getUint8(needle);
|
|
GPS_DATA.svid[i] = data.getUint8(needle + 1);
|
|
GPS_DATA.quality[i] = data.getUint8(needle + 2);
|
|
GPS_DATA.cno[i] = data.getUint8(needle + 3);
|
|
|
|
needle += 4;
|
|
}
|
|
}
|
|
break;
|
|
// Additional private MSP for baseflight configurator
|
|
case MSP_codes.MSP_RCMAP:
|
|
RC_MAP = []; // empty the array as new data is coming in
|
|
|
|
for (var i = 0; i < data.byteLength; i++) {
|
|
RC_MAP.push(data.getUint8(i));
|
|
}
|
|
break;
|
|
case MSP_codes.MSP_SET_RCMAP:
|
|
console.log('RCMAP saved');
|
|
break;
|
|
case MSP_codes.MSP_CONFIG:
|
|
BF_CONFIG.mixerConfiguration = data.getUint8(0);
|
|
BF_CONFIG.features = data.getUint32(1, 1);
|
|
BF_CONFIG.serialrx_type = data.getUint8(5);
|
|
BF_CONFIG.board_align_roll = data.getInt16(6, 1);
|
|
BF_CONFIG.board_align_pitch = data.getInt16(8, 1);
|
|
BF_CONFIG.board_align_yaw = data.getInt16(10, 1);
|
|
BF_CONFIG.currentscale = data.getUint16(12, 1);
|
|
BF_CONFIG.currentoffset = data.getUint16(14, 1);
|
|
break;
|
|
case MSP_codes.MSP_SET_CONFIG:
|
|
break;
|
|
case MSP_codes.MSP_SET_REBOOT:
|
|
console.log('Reboot request accepted');
|
|
break;
|
|
case MSP_codes.MSP_BUILDINFO:
|
|
var buff = [];
|
|
|
|
for (var i = 0; i < data.byteLength; i++) {
|
|
buff.push(data.getUint8(i));
|
|
}
|
|
|
|
CONFIG.buildInfo = String.fromCharCode.apply(null, buff);
|
|
break;
|
|
|
|
default:
|
|
console.log('Unknown code detected: ' + code);
|
|
}
|
|
|
|
// trigger callbacks, cleanup/remove callback after trigger
|
|
for (var i = this.callbacks.length - 1; i >= 0; i--) { // itterating in reverse because we use .splice which modifies array length
|
|
if (this.callbacks[i].code == code) {
|
|
// save callback reference
|
|
var callback = this.callbacks[i].callback;
|
|
|
|
// remove timeout
|
|
clearInterval(this.callbacks[i].timer);
|
|
|
|
// remove object from array
|
|
this.callbacks.splice(i, 1);
|
|
|
|
// fire callback
|
|
if (callback) callback({'command': code, 'data': data, 'length': message_length});
|
|
}
|
|
}
|
|
},
|
|
send_message: function (code, data, callback_sent, callback_msp) {
|
|
var bufferOut,
|
|
bufView;
|
|
|
|
// always reserve 6 bytes for protocol overhead !
|
|
if (data) {
|
|
var size = data.length + 6,
|
|
checksum = 0;
|
|
|
|
bufferOut = new ArrayBuffer(size);
|
|
bufView = new Uint8Array(bufferOut);
|
|
|
|
bufView[0] = 36; // $
|
|
bufView[1] = 77; // M
|
|
bufView[2] = 60; // <
|
|
bufView[3] = data.length;
|
|
bufView[4] = code;
|
|
|
|
checksum = bufView[3] ^ bufView[4];
|
|
|
|
for (var i = 0; i < data.length; i++) {
|
|
bufView[i + 5] = data[i];
|
|
|
|
checksum ^= bufView[i + 5];
|
|
}
|
|
|
|
bufView[5 + data.length] = checksum;
|
|
} else {
|
|
bufferOut = new ArrayBuffer(6);
|
|
bufView = new Uint8Array(bufferOut);
|
|
|
|
bufView[0] = 36; // $
|
|
bufView[1] = 77; // M
|
|
bufView[2] = 60; // <
|
|
bufView[3] = 0; // data length
|
|
bufView[4] = code; // code
|
|
bufView[5] = bufView[3] ^ bufView[4]; // checksum
|
|
}
|
|
|
|
// dev version 0.57 code below got recently changed due to the fact that queueing same MSP codes was unsupported
|
|
// and was causing trouble while backup/restoring configurations
|
|
// watch out if the recent change create any inconsistencies and then adjust accordingly
|
|
var obj = {'code': code, 'requestBuffer': bufferOut, 'callback': (callback_msp) ? callback_msp : false, 'timer': false};
|
|
|
|
var requestExists = false;
|
|
for (var i = 0; i < MSP.callbacks.length; i++) {
|
|
if (MSP.callbacks[i].code == code) {
|
|
// request already exist, we will just attach
|
|
requestExists = true;
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (!requestExists) {
|
|
obj.timer = setInterval(function () {
|
|
console.log('MSP data request timed-out: ' + code);
|
|
|
|
serial.send(bufferOut, false);
|
|
}, 1000); // we should be able to define timeout in the future
|
|
}
|
|
|
|
MSP.callbacks.push(obj);
|
|
|
|
// always send messages with data payload (even when there is a message already in the queue)
|
|
if (data || !requestExists) {
|
|
serial.send(bufferOut, function (sendInfo) {
|
|
if (sendInfo.bytesSent == bufferOut.length) {
|
|
if (callback_sent) callback_sent();
|
|
}
|
|
});
|
|
}
|
|
|
|
return true;
|
|
},
|
|
callbacks_cleanup: function () {
|
|
for (var i = 0; i < this.callbacks.length; i++) {
|
|
clearInterval(this.callbacks[i].timer);
|
|
}
|
|
|
|
this.callbacks = [];
|
|
},
|
|
disconnect_cleanup: function () {
|
|
this.state = 0; // reset packet state for "clean" initial entry (this is only required if user hot-disconnects)
|
|
this.packet_error = 0; // reset CRC packet error counter for next session
|
|
|
|
this.callbacks_cleanup();
|
|
}
|
|
};
|
|
|
|
MSP.crunch = function (code) {
|
|
var buffer = [];
|
|
|
|
switch (code) {
|
|
case MSP_codes.MSP_SET_CONFIG:
|
|
buffer.push(BF_CONFIG.mixerConfiguration);
|
|
buffer.push(specificByte(BF_CONFIG.features, 0));
|
|
buffer.push(specificByte(BF_CONFIG.features, 1));
|
|
buffer.push(specificByte(BF_CONFIG.features, 2));
|
|
buffer.push(specificByte(BF_CONFIG.features, 3));
|
|
buffer.push(BF_CONFIG.serialrx_type);
|
|
buffer.push(specificByte(BF_CONFIG.board_align_roll, 0));
|
|
buffer.push(specificByte(BF_CONFIG.board_align_roll, 1));
|
|
buffer.push(specificByte(BF_CONFIG.board_align_pitch, 0));
|
|
buffer.push(specificByte(BF_CONFIG.board_align_pitch, 1));
|
|
buffer.push(specificByte(BF_CONFIG.board_align_yaw, 0));
|
|
buffer.push(specificByte(BF_CONFIG.board_align_yaw, 1));
|
|
buffer.push(lowByte(BF_CONFIG.currentscale));
|
|
buffer.push(highByte(BF_CONFIG.currentscale));
|
|
buffer.push(lowByte(BF_CONFIG.currentoffset));
|
|
buffer.push(highByte(BF_CONFIG.currentoffset));
|
|
break;
|
|
case MSP_codes.MSP_SET_PID:
|
|
for (var i = 0; i < PIDs.length; i++) {
|
|
switch (i) {
|
|
case 0:
|
|
case 1:
|
|
case 2:
|
|
case 3:
|
|
case 7:
|
|
case 8:
|
|
case 9:
|
|
buffer.push(parseInt(PIDs[i][0] * 10));
|
|
buffer.push(parseInt(PIDs[i][1] * 1000));
|
|
buffer.push(parseInt(PIDs[i][2]));
|
|
break;
|
|
case 4:
|
|
buffer.push(parseInt(PIDs[i][0] * 100));
|
|
buffer.push(parseInt(PIDs[i][1] * 100));
|
|
buffer.push(parseInt(PIDs[i][2]));
|
|
break;
|
|
case 5:
|
|
case 6:
|
|
buffer.push(parseInt(PIDs[i][0] * 10));
|
|
buffer.push(parseInt(PIDs[i][1] * 100));
|
|
buffer.push(parseInt(PIDs[i][2] * 1000));
|
|
break;
|
|
}
|
|
}
|
|
break;
|
|
case MSP_codes.MSP_SET_RC_TUNING:
|
|
buffer.push(parseInt(RC_tuning.RC_RATE * 100));
|
|
buffer.push(parseInt(RC_tuning.RC_EXPO * 100));
|
|
buffer.push(parseInt(RC_tuning.roll_pitch_rate * 100));
|
|
buffer.push(parseInt(RC_tuning.yaw_rate * 100));
|
|
buffer.push(parseInt(RC_tuning.dynamic_THR_PID * 100));
|
|
buffer.push(parseInt(RC_tuning.throttle_MID * 100));
|
|
buffer.push(parseInt(RC_tuning.throttle_EXPO * 100));
|
|
break;
|
|
case MSP_codes.MSP_SET_BOX:
|
|
for (var i = 0; i < AUX_CONFIG_values.length; i++) {
|
|
buffer.push(lowByte(AUX_CONFIG_values[i]));
|
|
buffer.push(highByte(AUX_CONFIG_values[i]));
|
|
}
|
|
break;
|
|
case MSP_codes.MSP_SET_RCMAP:
|
|
for (var i = 0; i < RC_MAP.length; i++) {
|
|
buffer.push(RC_MAP[i]);
|
|
}
|
|
break;
|
|
case MSP_codes.MSP_SET_ACC_TRIM:
|
|
buffer.push(lowByte(CONFIG.accelerometerTrims[0]));
|
|
buffer.push(highByte(CONFIG.accelerometerTrims[0]));
|
|
buffer.push(lowByte(CONFIG.accelerometerTrims[1]));
|
|
buffer.push(highByte(CONFIG.accelerometerTrims[1]));
|
|
break;
|
|
case MSP_codes.MSP_SET_MISC:
|
|
buffer.push(lowByte(MISC.midrc));
|
|
buffer.push(highByte(MISC.midrc));
|
|
buffer.push(lowByte(MISC.minthrottle));
|
|
buffer.push(highByte(MISC.minthrottle));
|
|
buffer.push(lowByte(MISC.maxthrottle));
|
|
buffer.push(highByte(MISC.maxthrottle));
|
|
buffer.push(lowByte(MISC.mincommand));
|
|
buffer.push(highByte(MISC.mincommand));
|
|
buffer.push(lowByte(MISC.failsafe_throttle));
|
|
buffer.push(highByte(MISC.failsafe_throttle));
|
|
buffer.push(MISC.gps_type);
|
|
buffer.push(MISC.gps_baudrate);
|
|
buffer.push(MISC.gps_ubx_sbas);
|
|
buffer.push(MISC.multiwiicurrentoutput);
|
|
buffer.push(MISC.rssi_aux_channel);
|
|
buffer.push(MISC.placeholder2);
|
|
buffer.push(lowByte(MISC.mag_declination * 10));
|
|
buffer.push(highByte(MISC.mag_declination * 10));
|
|
buffer.push(MISC.vbatscale);
|
|
buffer.push(MISC.vbatmincellvoltage * 10);
|
|
buffer.push(MISC.vbatmaxcellvoltage * 10);
|
|
buffer.push(MISC.vbatwarningcellvoltage * 10);
|
|
break;
|
|
case MSP_codes.MSP_SET_SERVO_CONF:
|
|
for (var i = 0; i < SERVO_CONFIG.length; i++) {
|
|
buffer.push(lowByte(SERVO_CONFIG[i].min));
|
|
buffer.push(highByte(SERVO_CONFIG[i].min));
|
|
|
|
buffer.push(lowByte(SERVO_CONFIG[i].max));
|
|
buffer.push(highByte(SERVO_CONFIG[i].max));
|
|
|
|
buffer.push(lowByte(SERVO_CONFIG[i].middle));
|
|
buffer.push(highByte(SERVO_CONFIG[i].middle));
|
|
|
|
buffer.push(lowByte(SERVO_CONFIG[i].rate));
|
|
}
|
|
break;
|
|
|
|
default:
|
|
return false;
|
|
}
|
|
|
|
return buffer;
|
|
}; |