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Drop more frames

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2022-02-23 16:28:15 +01:00
parent 1b06f89d10
commit 8c22c97a85
3 changed files with 0 additions and 77 deletions
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16
src/main/fc/fc_msp.c
View file

@ -398,14 +398,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteData(dst, shortGitRevision, GIT_SHORT_REVISION_LENGTH); sbufWriteData(dst, shortGitRevision, GIT_SHORT_REVISION_LENGTH);
break; break;
// DEPRECATED - Use MSP_API_VERSION
case MSP_IDENT:
sbufWriteU8(dst, MW_VERSION);
sbufWriteU8(dst, 3); //We no longer have mixerMode, just sent 3 (QuadX) as fallback
sbufWriteU8(dst, MSP_PROTOCOL_VERSION);
sbufWriteU32(dst, CAP_PLATFORM_32BIT | CAP_DYNBALANCE | CAP_FLAPS | CAP_NAVCAP | CAP_EXTAUX); // "capability"
break;
#ifdef HIL #ifdef HIL
case MSP_HIL_STATE: case MSP_HIL_STATE:
sbufWriteU16(dst, hilToSIM.pidCommand[ROLL]); sbufWriteU16(dst, hilToSIM.pidCommand[ROLL]);
@ -731,10 +723,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
} }
break; break;
case MSP_PID_CONTROLLER:
sbufWriteU8(dst, 2); // FIXME: Report as LuxFloat
break;
case MSP_MODE_RANGES: case MSP_MODE_RANGES:
for (int i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) { for (int i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
const modeActivationCondition_t *mac = modeActivationConditions(i); const modeActivationCondition_t *mac = modeActivationConditions(i);
@ -1672,10 +1660,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
return MSP_RESULT_ERROR; return MSP_RESULT_ERROR;
break; break;
case MSP_SET_PID_CONTROLLER:
// FIXME: Do nothing
break;
case MSP_SET_PID: case MSP_SET_PID:
if (dataSize >= PID_ITEM_COUNT * 3) { if (dataSize >= PID_ITEM_COUNT * 3) {
for (int i = 0; i < PID_ITEM_COUNT; i++) { for (int i = 0; i < PID_ITEM_COUNT; i++) {

12
src/main/msp/msp_protocol.h
View file

@ -26,7 +26,6 @@
* if the API doesn't match EXACTLY. * if the API doesn't match EXACTLY.
* *
* Consumers of the API (API clients) SHOULD first attempt to get a response from the MSP_API_VERSION command. * Consumers of the API (API clients) SHOULD first attempt to get a response from the MSP_API_VERSION command.
* If no response is obtained then client MAY try the legacy MSP_IDENT command.
* *
* API consumers should ALWAYS handle communication failures gracefully and attempt to continue * API consumers should ALWAYS handle communication failures gracefully and attempt to continue
* without the information if possible. Clients MAY log/display a suitable message. * without the information if possible. Clients MAY log/display a suitable message.
@ -164,9 +163,6 @@
#define MSP_SONAR_ALTITUDE 58 //out message get surface altitude [cm] #define MSP_SONAR_ALTITUDE 58 //out message get surface altitude [cm]
#define MSP_PID_CONTROLLER 59
#define MSP_SET_PID_CONTROLLER 60
#define MSP_ARMING_CONFIG 61 //out message Returns auto_disarm_delay and disarm_kill_switch parameters #define MSP_ARMING_CONFIG 61 //out message Returns auto_disarm_delay and disarm_kill_switch parameters
#define MSP_SET_ARMING_CONFIG 62 //in message Sets auto_disarm_delay and disarm_kill_switch parameters #define MSP_SET_ARMING_CONFIG 62 //in message Sets auto_disarm_delay and disarm_kill_switch parameters
@ -188,10 +184,6 @@
#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
// DEPRECATED
//#define MSP_RXFAIL_CONFIG 77 //out message Returns RXFAIL settings
//#define MSP_SET_RXFAIL_CONFIG 78 //in message Sets RXFAIL settings
#define MSP_SDCARD_SUMMARY 79 //out message Get the state of the SD card #define MSP_SDCARD_SUMMARY 79 //out message Get the state of the SD card
#define MSP_BLACKBOX_CONFIG 80 //out message Get blackbox settings #define MSP_BLACKBOX_CONFIG 80 //out message Get blackbox settings
@ -240,10 +232,6 @@
// Multwii original MSP commands // Multwii original MSP commands
// //
// DEPRECATED - See MSP_API_VERSION and MSP_MIXER
#define MSP_IDENT 100 //out message mixerMode + multiwii version + protocol version + capability variable
#define MSP_STATUS 101 //out message cycletime & errors_count & sensor present & box activation & current setting number #define MSP_STATUS 101 //out message cycletime & errors_count & sensor present & box activation & current setting number
#define MSP_RAW_IMU 102 //out message 9 DOF #define MSP_RAW_IMU 102 //out message 9 DOF
#define MSP_SERVO 103 //out message servos #define MSP_SERVO 103 //out message servos

49
src/test/unit/serial_msp_unittest.cc.txt
View file

@ -229,55 +229,6 @@ TEST_F(SerialMspUnitTest, TestMspProcessReceivedCommand)
checksum = FLIGHT_CONTROLLER_VERSION_LENGTH ^ MSP_FC_VERSION; checksum = FLIGHT_CONTROLLER_VERSION_LENGTH ^ MSP_FC_VERSION;
checksum ^= FC_VERSION_MAJOR ^ FC_VERSION_MINOR ^ FC_VERSION_PATCH_LEVEL; checksum ^= FC_VERSION_MAJOR ^ FC_VERSION_MINOR ^ FC_VERSION_PATCH_LEVEL;
EXPECT_EQ(checksum, serialBuffer.mspResponse.payload[3]); EXPECT_EQ(checksum, serialBuffer.mspResponse.payload[3]);
// check the MSP_PID_CONTROLLER is written out correctly
serialWritePos = 0;
serialReadPos = 0;
currentProfile = &profile;
currentProfile->pidProfile.pidController = PID_CONTROLLER_MWREWRITE;
currentPort->cmdMSP = MSP_PID_CONTROLLER;
mspProcessReceivedCommand();
EXPECT_EQ('$', serialBuffer.mspResponse.header.dollar);
EXPECT_EQ('M', serialBuffer.mspResponse.header.m);
EXPECT_EQ('>', serialBuffer.mspResponse.header.direction);
EXPECT_EQ(1, serialBuffer.mspResponse.header.size);
EXPECT_EQ(MSP_PID_CONTROLLER, serialBuffer.mspResponse.header.type);
EXPECT_EQ(PID_CONTROLLER_MWREWRITE, serialBuffer.mspResponse.payload[0]);
checksum = 1 ^ MSP_PID_CONTROLLER ^ PID_CONTROLLER_MWREWRITE;
EXPECT_EQ(checksum, serialBuffer.mspResponse.payload[1]);
}
TEST_F(SerialMspUnitTest, Test_PID_CONTROLLER)
{
// Use the MSP to write out the PID values
currentProfile = &profile;
currentProfile->pidProfile.pidController = PID_CONTROLLER_MWREWRITE;
serialWritePos = 0;
serialReadPos = 0;
currentPort->cmdMSP = MSP_PID_CONTROLLER;
mspProcessReceivedCommand();
EXPECT_EQ(PID_CONTROLLER_MWREWRITE, serialBuffer.mspResponse.payload[0]);
// set the pidController to a different value so we can check if it gets read back properly
currentProfile->pidProfile.pidController = PID_CONTROLLER_LUX_FLOAT;
// Now use the MSP to read back the picController and check if it is the same
// spoof a change from the written MSP_PID_CONTROLLER to the readable MSP_SET_PID_CONTROLLER
currentPort->cmdMSP = MSP_SET_PID_CONTROLLER;
serialBuffer.mspResponse.header.direction = '<';
serialBuffer.mspResponse.header.type = currentPort->cmdMSP;
// force the checksum
serialBuffer.mspResponse.payload[1] ^= MSP_PID_CONTROLLER;
serialBuffer.mspResponse.payload[1] ^= MSP_SET_PID_CONTROLLER;
// copy the command data into the current port inBuf so it can be processed
memcpy(currentPort->inBuf, serialBuffer.buf, MSP_PORT_INBUF_SIZE);
// set the offset into the payload
currentPort->indRX = offsetof(struct mspResonse_s, payload);
mspProcessReceivedCommand();
// check the pidController value has been read correctly
EXPECT_EQ(PID_CONTROLLER_MWREWRITE, currentProfile->pidProfile.pidController);
} }
TEST_F(SerialMspUnitTest, Test_PIDValuesInt) TEST_F(SerialMspUnitTest, Test_PIDValuesInt)