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Merge remote-tracking branch 'origin/master' into sh_mixer_profile

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This commit is contained in:
shota 2023-09-10 15:22:55 +09:00
commit e51fd7862c
85 changed files with 2802 additions and 372 deletions
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50
src/main/fc/fc_msp.c
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@ -1517,6 +1517,18 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
}
break;
case MSP2_INAV_OUTPUT_MAPPING_EXT:
for (uint8_t i = 0; i < timerHardwareCount; ++i)
if (!(timerHardware[i].usageFlags & (TIM_USE_PPM | TIM_USE_PWM))) {
#if defined(SITL_BUILD)
sbufWriteU8(dst, i);
#else
sbufWriteU8(dst, timer2id(timerHardware[i].tim));
#endif
sbufWriteU8(dst, timerHardware[i].usageFlags);
}
break;
case MSP2_INAV_MC_BRAKING:
#ifdef USE_MR_BRAKING_MODE
sbufWriteU16(dst, navConfig()->mc.braking_speed_threshold);
@ -3666,7 +3678,43 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
*ret = MSP_RESULT_ACK;
break;
#endif
#ifndef SITL_BUILD
case MSP2_INAV_TIMER_OUTPUT_MODE:
if (dataSize == 0) {
for (int i = 0; i < HARDWARE_TIMER_DEFINITION_COUNT; ++i) {
sbufWriteU8(dst, i);
sbufWriteU8(dst, timerOverrides(i)->outputMode);
}
*ret = MSP_RESULT_ACK;
} else if(dataSize == 1) {
uint8_t timer = sbufReadU8(src);
if(timer < HARDWARE_TIMER_DEFINITION_COUNT) {
sbufWriteU8(dst, timer);
sbufWriteU8(dst, timerOverrides(timer)->outputMode);
*ret = MSP_RESULT_ACK;
} else {
*ret = MSP_RESULT_ERROR;
}
} else {
*ret = MSP_RESULT_ERROR;
}
break;
case MSP2_INAV_SET_TIMER_OUTPUT_MODE:
if(dataSize == 2) {
uint8_t timer = sbufReadU8(src);
uint8_t outputMode = sbufReadU8(src);
if(timer < HARDWARE_TIMER_DEFINITION_COUNT) {
timerOverridesMutable(timer)->outputMode = outputMode;
*ret = MSP_RESULT_ACK;
} else {
*ret = MSP_RESULT_ERROR;
}
} else {
*ret = MSP_RESULT_ERROR;
}
break;
#endif
default:
// Not handled
return false;