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Revert "Merge pull request #9873 from iNavFlight/dzikuvx-new-msp-frames-for-servos"

Browse source 
This reverts commit f7bda375d2, reversing
changes made to a8de611b1a.
This commit is contained in:
Pawel Spychalski (DzikuVx) 2024-04-10 20:44:01 +02:00
parent 225a8efe32
commit 2d20132ecb
4 changed files with 41 additions and 7 deletions
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41
src/main/fc/fc_msp.c
View file

@ -492,16 +492,29 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
case MSP_SERVO:
sbufWriteData(dst, &servo, MAX_SUPPORTED_SERVOS * 2);
break;
case MSP2_INAV_SERVO_CONFIG:
case MSP_SERVO_CONFIGURATIONS:
for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
sbufWriteU16(dst, servoParams(i)->min);
sbufWriteU16(dst, servoParams(i)->max);
sbufWriteU16(dst, servoParams(i)->middle);
sbufWriteU8(dst, servoParams(i)->rate);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 255); // used to be forwardFromChannel, not used anymore, send 0xff for compatibility reasons
sbufWriteU32(dst, 0); //Input reversing is not required since it can be done on mixer level
}
break;
case MSP_SERVO_MIX_RULES:
for (int i = 0; i < MAX_SERVO_RULES; i++) {
sbufWriteU8(dst, customServoMixers(i)->targetChannel);
sbufWriteU8(dst, customServoMixers(i)->inputSource);
sbufWriteU16(dst, customServoMixers(i)->rate);
sbufWriteU8(dst, customServoMixers(i)->speed);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 100);
sbufWriteU8(dst, 0);
}
break;
case MSP2_INAV_SERVO_MIXER:
for (int i = 0; i < MAX_SERVO_RULES; i++) {
sbufWriteU8(dst, customServoMixers(i)->targetChannel);
@ -2065,8 +2078,8 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
return MSP_RESULT_ERROR;
break;
case MSP2_INAV_SET_SERVO_CONFIG:
if (dataSize != 8) {
case MSP_SET_SERVO_CONFIGURATION:
if (dataSize != (1 + 14)) {
return MSP_RESULT_ERROR;
}
tmp_u8 = sbufReadU8(src);
@ -2077,10 +2090,28 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
servoParamsMutable(tmp_u8)->max = sbufReadU16(src);
servoParamsMutable(tmp_u8)->middle = sbufReadU16(src);
servoParamsMutable(tmp_u8)->rate = sbufReadU8(src);
sbufReadU8(src);
sbufReadU8(src);
sbufReadU8(src); // used to be forwardFromChannel, ignored
sbufReadU32(src); // used to be reversedSources
servoComputeScalingFactors(tmp_u8);
}
break;
case MSP_SET_SERVO_MIX_RULE:
sbufReadU8Safe(&tmp_u8, src);
if ((dataSize == 9) && (tmp_u8 < MAX_SERVO_RULES)) {
customServoMixersMutable(tmp_u8)->targetChannel = sbufReadU8(src);
customServoMixersMutable(tmp_u8)->inputSource = sbufReadU8(src);
customServoMixersMutable(tmp_u8)->rate = sbufReadU16(src);
customServoMixersMutable(tmp_u8)->speed = sbufReadU8(src);
sbufReadU16(src); //Read 2bytes for min/max and ignore it
sbufReadU8(src); //Read 1 byte for `box` and ignore it
loadCustomServoMixer();
} else
return MSP_RESULT_ERROR;
break;
case MSP2_INAV_SET_SERVO_MIXER:
sbufReadU8Safe(&tmp_u8, src);
if ((dataSize == 7) && (tmp_u8 < MAX_SERVO_RULES)) {

4
src/main/msp/msp_protocol.h
View file

@ -243,6 +243,7 @@
#define MSP_PIDNAMES 117 //out message the PID names
#define MSP_WP 118 //out message get a WP, WP# is in the payload, returns (WP#, lat, lon, alt, flags) WP#0-home, WP#16-poshold
#define MSP_BOXIDS 119 //out message get the permanent IDs associated to BOXes
#define MSP_SERVO_CONFIGURATIONS 120 //out message All servo configurations.
#define MSP_NAV_STATUS 121 //out message Returns navigation status
#define MSP_NAV_CONFIG 122 //out message Returns navigation parameters
#define MSP_3D 124 //out message Settings needed for reversible ESCs
@ -262,6 +263,7 @@
#define MSP_SET_WP 209 //in message sets a given WP (WP#,lat, lon, alt, flags)
#define MSP_SELECT_SETTING 210 //in message Select Setting Number (0-2)
#define MSP_SET_HEAD 211 //in message define a new heading hold direction
#define MSP_SET_SERVO_CONFIGURATION 212 //in message Servo settings
#define MSP_SET_MOTOR 214 //in message PropBalance function
#define MSP_SET_NAV_CONFIG 215 //in message Sets nav config parameters - write to the eeprom
#define MSP_SET_3D 217 //in message Settings needed for reversible ESCs
@ -288,6 +290,8 @@
#define MSP_GPSSTATISTICS 166 //out message get GPS debugging data
#define MSP_ACC_TRIM 240 //out message get acc angle trim values
#define MSP_SET_ACC_TRIM 239 //in message set acc angle trim values
#define MSP_SERVO_MIX_RULES 241 //out message Returns servo mixer configuration
#define MSP_SET_SERVO_MIX_RULE 242 //in message Sets servo mixer configuration
#define MSP_SET_PASSTHROUGH 245 //in message Sets up passthrough to different peripherals (4way interface, uart, etc...)
#define MSP_RTC 246 //out message Gets the RTC clock (returns: secs(i32) millis(u16) - (0,0) if time is not known)
#define MSP_SET_RTC 247 //in message Sets the RTC clock (args: secs(i32) millis(u16))

1
src/main/msp/msp_protocol_v2_common.h
View file

@ -32,3 +32,4 @@
// radar commands
#define MSP2_COMMON_SET_RADAR_POS 0x100B //SET radar position information
#define MSP2_COMMON_SET_RADAR_ITD 0x100C //SET radar information to display

2
src/main/msp/msp_protocol_v2_inav.h
View file

@ -108,5 +108,3 @@
#define MSP2_INAV_CUSTOM_OSD_ELEMENTS 0x2100
#define MSP2_INAV_SET_CUSTOM_OSD_ELEMENTS 0x2101
#define MSP2_INAV_SERVO_CONFIG 0x2200
#define MSP2_INAV_SET_SERVO_CONFIG 0x2201