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Code Issues Wiki Activity

Allow max motors to be set in target.h

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This commit is contained in:
Martin Budden 2016-05-21 10:33:03 +01:00
parent 5ec4cf715a
commit 941b72b36f
5 changed files with 73 additions and 29 deletions
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15
src/main/io/serial_msp.c
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@ -238,12 +238,14 @@ static void tailSerialReply(void)
serialEndWrite(mspSerialPort);
}
#ifdef USE_SERVOS
static void s_struct(uint8_t *cb, uint8_t siz)
{
headSerialReply(siz);
while (siz--)
serialize8(*cb++);
}
#endif
static void serializeNames(const char *s)
{
@ -680,7 +682,10 @@ static bool processOutCommand(uint8_t cmdMSP)
break;
#endif
case MSP_MOTOR:
s_struct((uint8_t *)motor, 16);
headSerialReply(16);
for (unsigned i = 0; i < 8; i++) {
serialize16(i < MAX_SUPPORTED_MOTORS ? motor[i] : 0);
}
break;
case MSP_RC:
headSerialReply(2 * rxRuntimeConfig.channelCount);
@ -1265,8 +1270,12 @@ static bool processInCommand(void)
masterConfig.batteryConfig.vbatwarningcellvoltage = read8(); // vbatlevel when buzzer starts to alert
break;
case MSP_SET_MOTOR:
for (i = 0; i < 8; i++) // FIXME should this use MAX_MOTORS or MAX_SUPPORTED_MOTORS instead of 8
motor_disarmed[i] = read16();
for (i = 0; i < 8; i++) {
const int16_t disarmed = read16();
if (i < MAX_SUPPORTED_MOTORS) {
motor_disarmed[i] = disarmed;
}
}
break;
case MSP_SET_SERVO_CONFIGURATION:
#ifdef USE_SERVOS