forked from multiwii/multiwii-firmware
-
Notifications
You must be signed in to change notification settings - Fork 0
/
Protocol.cpp
845 lines (805 loc) · 28.1 KB
/
Protocol.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
#include "Arduino.h"
#include "config.h"
#include "def.h"
#include "types.h"
#include "EEPROM.h"
#include "LCD.h"
#include "Output.h"
#include "GPS.h"
#include "MultiWii.h"
#include "Serial.h"
#include "Protocol.h"
#include "RX.h"
/************************************** MultiWii Serial Protocol *******************************************************/
// Multiwii Serial Protocol 0
#define MSP_VERSION 0
//to multiwii developpers/committers : do not add new MSP messages without a proper argumentation/agreement on the forum
//range id [50-99] won't be assigned and can therefore be used for any custom multiwii fork without further MSP id conflict
#define MSP_PRIVATE 1 //in+out message to be used for a generic framework : MSP + function code (LIST/GET/SET) + data. no code yet
#define MSP_IDENT 100 //out message multitype + multiwii version + protocol version + capability variable
#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_SERVO 103 //out message 8 servos
#define MSP_MOTOR 104 //out message 8 motors
#define MSP_RC 105 //out message 8 rc chan and more
#define MSP_RAW_GPS 106 //out message fix, numsat, lat, lon, alt, speed, ground course
#define MSP_COMP_GPS 107 //out message distance home, direction home
#define MSP_ATTITUDE 108 //out message 2 angles 1 heading
#define MSP_ALTITUDE 109 //out message altitude, variometer
#define MSP_ANALOG 110 //out message vbat, powermetersum, rssi if available on RX
#define MSP_RC_TUNING 111 //out message rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
#define MSP_PID 112 //out message P I D coeff (9 are used currently)
#define MSP_BOX 113 //out message BOX setup (number is dependant of your setup)
#define MSP_MISC 114 //out message powermeter trig
#define MSP_MOTOR_PINS 115 //out message which pins are in use for motors & servos, for GUI
#define MSP_BOXNAMES 116 //out message the aux switch names
#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_CONF 120 //out message Servo settings
#define MSP_NAV_STATUS 121 //out message Returns navigation status
#define MSP_NAV_CONFIG 122 //out message Returns navigation parameters
#define MSP_CELLS 130 //out message FRSKY Battery Cell Voltages
#define MSP_SET_RAW_RC 200 //in message 8 rc chan
#define MSP_SET_RAW_GPS 201 //in message fix, numsat, lat, lon, alt, speed
#define MSP_SET_PID 202 //in message P I D coeff (9 are used currently)
#define MSP_SET_BOX 203 //in message BOX setup (number is dependant of your setup)
#define MSP_SET_RC_TUNING 204 //in message rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
#define MSP_ACC_CALIBRATION 205 //in message no param
#define MSP_MAG_CALIBRATION 206 //in message no param
#define MSP_SET_MISC 207 //in message powermeter trig + 8 free for future use
#define MSP_RESET_CONF 208 //in message no param
#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_CONF 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_ACC_TRIM 239 //in message set acc angle trim values
#define MSP_ACC_TRIM 240 //out message get acc angle trim values
#define MSP_BIND 241 //in message no param
#define MSP_EEPROM_WRITE 250 //in message no param
#define MSP_DEBUGMSG 253 //out message debug string buffer
#define MSP_DEBUG 254 //out message debug1,debug2,debug3,debug4
#ifdef DEBUGMSG
#define DEBUG_MSG_BUFFER_SIZE 128
static char debug_buf[DEBUG_MSG_BUFFER_SIZE];
static uint8_t head_debug;
static uint8_t tail_debug;
static uint8_t debugmsg_available();
static void debugmsg_serialize(uint8_t l);
#endif
static uint8_t CURRENTPORT=0;
#define INBUF_SIZE 64
static uint8_t inBuf[INBUF_SIZE][UART_NUMBER];
static uint8_t checksum[UART_NUMBER];
static uint8_t indRX[UART_NUMBER];
static uint8_t cmdMSP[UART_NUMBER];
void evaluateOtherData(uint8_t sr);
void evaluateCommand(uint8_t c);
static uint8_t read8() {
return inBuf[indRX[CURRENTPORT]++][CURRENTPORT]&0xff;
}
static uint16_t read16() {
uint16_t t = read8();
t+= (uint16_t)read8()<<8;
return t;
}
static uint32_t read32() {
uint32_t t = read16();
t+= (uint32_t)read16()<<16;
return t;
}
static void serialize8(uint8_t a) {
SerialSerialize(CURRENTPORT,a);
checksum[CURRENTPORT] ^= a;
}
static void serialize16(int16_t a) {
serialize8((a ) & 0xFF);
serialize8((a>>8) & 0xFF);
}
static void serialize32(uint32_t a) {
serialize8((a ) & 0xFF);
serialize8((a>> 8) & 0xFF);
serialize8((a>>16) & 0xFF);
serialize8((a>>24) & 0xFF);
}
static void headSerialResponse(uint8_t err, uint8_t s) {
serialize8('$');
serialize8('M');
serialize8(err ? '!' : '>');
checksum[CURRENTPORT] = 0; // start calculating a new checksum
serialize8(s);
serialize8(cmdMSP[CURRENTPORT]);
}
static void headSerialReply(uint8_t s) {
headSerialResponse(0, s);
}
static void headSerialError() {
headSerialResponse(1,0);
}
static void tailSerialReply() {
serialize8(checksum[CURRENTPORT]);UartSendData(CURRENTPORT);
}
static void serializeNames(PGM_P s) {
headSerialReply(strlen_P(s));
for (PGM_P c = s; pgm_read_byte(c); c++)
serialize8(pgm_read_byte(c));
tailSerialReply();
}
static void __attribute__ ((noinline)) s_struct_w(uint8_t *cb,uint8_t siz) {
while(siz--) *cb++ = read8();
}
static void s_struct_partial(uint8_t *cb,uint8_t siz) {
while(siz--) serialize8(*cb++);
}
static void s_struct(uint8_t *cb,uint8_t siz) {
headSerialReply(siz);
s_struct_partial(cb,siz);
tailSerialReply();
}
static void mspAck() {
headSerialReply(0);tailSerialReply();
}
enum MSP_protocol_bytes {
IDLE,
HEADER_START,
HEADER_M,
HEADER_ARROW,
HEADER_SIZE,
HEADER_CMD
};
void serialCom() {
uint8_t c,cc,port,state,bytesTXBuff;
static uint8_t offset[UART_NUMBER];
static uint8_t dataSize[UART_NUMBER];
static uint8_t c_state[UART_NUMBER];
uint32_t timeMax; // limit max time in this function in case of GPS
timeMax = micros();
for(port=0;port<UART_NUMBER;port++) {
CURRENTPORT=port;
#define RX_COND
#if defined(SERIAL_RX) && (UART_NUMBER > 1)
#define RX_COND && (RX_SERIAL_PORT != port)
#endif
cc = SerialAvailable(port);
while (cc-- RX_COND) {
bytesTXBuff = SerialUsedTXBuff(port); // indicates the number of occupied bytes in TX buffer
if (bytesTXBuff > TX_BUFFER_SIZE - 50 ) return; // ensure there is enough free TX buffer to go further (50 bytes margin)
c = SerialRead(port);
#ifdef SUPPRESS_ALL_SERIAL_MSP
evaluateOtherData(c); // no MSP handling, so go directly
#else //SUPPRESS_ALL_SERIAL_MSP
state = c_state[port];
// regular data handling to detect and handle MSP and other data
if (state == IDLE) {
if (c=='$') state = HEADER_START;
else evaluateOtherData(c); // evaluate all other incoming serial data
} else if (state == HEADER_START) {
state = (c=='M') ? HEADER_M : IDLE;
} else if (state == HEADER_M) {
state = (c=='<') ? HEADER_ARROW : IDLE;
} else if (state == HEADER_ARROW) {
if (c > INBUF_SIZE) { // now we are expecting the payload size
state = IDLE;
continue;
}
dataSize[port] = c;
checksum[port] = c;
offset[port] = 0;
indRX[port] = 0;
state = HEADER_SIZE; // the command is to follow
} else if (state == HEADER_SIZE) {
cmdMSP[port] = c;
checksum[port] ^= c;
state = HEADER_CMD;
} else if (state == HEADER_CMD) {
if (offset[port] < dataSize[port]) {
checksum[port] ^= c;
inBuf[offset[port]++][port] = c;
} else {
if (checksum[port] == c) // compare calculated and transferred checksum
evaluateCommand(cmdMSP[port]); // we got a valid packet, evaluate it
state = IDLE;
cc = 0; // no more than one MSP per port and per cycle
}
}
c_state[port] = state;
// SERIAL: try to detect a new nav frame based on the current received buffer
#if defined(GPS_SERIAL)
if (GPS_SERIAL == port) {
static uint32_t GPS_last_frame_seen; //Last gps frame seen at this time, used to detect stalled gps communication
if (GPS_newFrame(c)) {
//We had a valid GPS data frame, so signal task scheduler to switch to compute
if (GPS_update == 1) GPS_update = 0; else GPS_update = 1; //Blink GPS update
GPS_last_frame_seen = timeMax;
GPS_Frame = 1;
}
// Check for stalled GPS, if no frames seen for 1.2sec then consider it LOST
if ((timeMax - GPS_last_frame_seen) > 1200000) {
//No update since 1200ms clear fix...
f.GPS_FIX = 0;
GPS_numSat = 0;
}
}
if (micros()-timeMax>250) return; // Limit the maximum execution time of serial decoding to avoid time spike
#endif
#endif // SUPPRESS_ALL_SERIAL_MSP
} // while
} // for
}
void evaluateCommand(uint8_t c) {
uint32_t tmp=0;
switch(c) {
// adding this message as a comment will return an error status for MSP_PRIVATE (end of switch), allowing third party tools to distinguish the implementation of this message
//case MSP_PRIVATE:
// headSerialError();tailSerialReply(); // we don't have any custom msp currently, so tell the gui we do not use that
// break;
case MSP_SET_RAW_RC:
s_struct_w((uint8_t*)&rcSerial,16);
rcSerialCount = 50; // 1s transition
break;
case MSP_SET_PID:
mspAck();
s_struct_w((uint8_t*)&conf.pid[0].P8,3*PIDITEMS);
break;
case MSP_SET_BOX:
mspAck();
#if EXTAUX
s_struct_w((uint8_t*)&conf.activate[0],CHECKBOXITEMS*4);
#else
s_struct_w((uint8_t*)&conf.activate[0],CHECKBOXITEMS*2);
#endif
break;
case MSP_SET_RC_TUNING:
mspAck();
s_struct_w((uint8_t*)&conf.rcRate8,7);
break;
#if !defined(DISABLE_SETTINGS_TAB)
case MSP_SET_MISC:
struct {
uint16_t a,b,c,d,e,f;
uint32_t g;
uint16_t h;
uint8_t i,j,k,l;
} set_misc;
mspAck();
s_struct_w((uint8_t*)&set_misc,22);
#if defined(POWERMETER)
conf.powerTrigger1 = set_misc.a / PLEVELSCALE;
#endif
conf.minthrottle = set_misc.b;
#ifdef FAILSAFE
conf.failsafe_throttle = set_misc.e;
#endif
#if MAG
conf.mag_declination = set_misc.h;
#endif
#if defined(VBAT)
conf.vbatscale = set_misc.i;
conf.vbatlevel_warn1 = set_misc.j;
conf.vbatlevel_warn2 = set_misc.k;
conf.vbatlevel_crit = set_misc.l;
#endif
break;
case MSP_MISC:
struct {
uint16_t a,b,c,d,e,f;
uint32_t g;
uint16_t h;
uint8_t i,j,k,l;
} misc;
misc.a = intPowerTrigger1;
misc.b = conf.minthrottle;
misc.c = MAXTHROTTLE;
misc.d = MINCOMMAND;
#ifdef FAILSAFE
misc.e = conf.failsafe_throttle;
#else
misc.e = 0;
#endif
#ifdef LOG_PERMANENT
misc.f = plog.arm;
misc.g = plog.lifetime + (plog.armed_time / 1000000); // <- computation must be moved outside from serial
#else
misc.f = 0; misc.g =0;
#endif
#if MAG
misc.h = conf.mag_declination;
#else
misc.h = 0;
#endif
#ifdef VBAT
misc.i = conf.vbatscale;
misc.j = conf.vbatlevel_warn1;
misc.k = conf.vbatlevel_warn2;
misc.l = conf.vbatlevel_crit;
#else
misc.i = 0;misc.j = 0;misc.k = 0;misc.l = 0;
#endif
s_struct((uint8_t*)&misc,22);
break;
#endif
#if defined (DYNBALANCE)
case MSP_SET_MOTOR:
mspAck();
s_struct_w((uint8_t*)&motor,16);
break;
#endif
#ifdef MULTIPLE_CONFIGURATION_PROFILES
case MSP_SELECT_SETTING:
if(!f.ARMED) {
global_conf.currentSet = read8();
if(global_conf.currentSet>2) global_conf.currentSet = 0;
writeGlobalSet(0);
readEEPROM();
}
mspAck();
break;
#endif
case MSP_SET_HEAD:
mspAck();
s_struct_w((uint8_t*)&magHold,2);
break;
case MSP_IDENT:
struct {
uint8_t v,t,msp_v;
uint32_t cap;
} id;
id.v = VERSION;
id.t = MULTITYPE;
id.msp_v = MSP_VERSION;
id.cap = (0+BIND_CAPABLE)|DYNBAL<<2|FLAP<<3|NAVCAP<<4|EXTAUX<<5|((uint32_t)NAVI_VERSION<<28); //Navi version is stored in the upper four bits;
s_struct((uint8_t*)&id,7);
break;
case MSP_STATUS:
struct {
uint16_t cycleTime,i2c_errors_count,sensor;
uint32_t flag;
uint8_t set;
} st;
st.cycleTime = cycleTime;
st.i2c_errors_count = i2c_errors_count;
st.sensor = ACC|BARO<<1|MAG<<2|GPS<<3|SONAR<<4;
#if ACC
if(f.ANGLE_MODE) tmp |= 1<<BOXANGLE;
if(f.HORIZON_MODE) tmp |= 1<<BOXHORIZON;
#endif
#if BARO && (!defined(SUPPRESS_BARO_ALTHOLD))
if(f.BARO_MODE) tmp |= 1<<BOXBARO;
#endif
if(f.MAG_MODE) tmp |= 1<<BOXMAG;
#if !defined(FIXEDWING)
#if defined(HEADFREE)
if(f.HEADFREE_MODE) tmp |= 1<<BOXHEADFREE;
if(rcOptions[BOXHEADADJ]) tmp |= 1<<BOXHEADADJ;
#endif
#endif
#if defined(SERVO_TILT) || defined(GIMBAL)|| defined(SERVO_MIX_TILT)
if(rcOptions[BOXCAMSTAB]) tmp |= 1<<BOXCAMSTAB;
#endif
#if defined(CAMTRIG)
if(rcOptions[BOXCAMTRIG]) tmp |= 1<<BOXCAMTRIG;
#endif
#if GPS
switch (f.GPS_mode) {
case GPS_MODE_HOLD:
tmp |= 1<<BOXGPSHOLD;
break;
case GPS_MODE_RTH:
tmp |= 1<<BOXGPSHOME;
break;
case GPS_MODE_NAV:
tmp |= 1<<BOXGPSNAV;
break;
}
#endif
#if defined(FIXEDWING) || defined(HELICOPTER)
if(f.PASSTHRU_MODE) tmp |= 1<<BOXPASSTHRU;
#endif
#if defined(BUZZER)
if(rcOptions[BOXBEEPERON]) tmp |= 1<<BOXBEEPERON;
#endif
#if defined(LED_FLASHER)
if(rcOptions[BOXLEDMAX]) tmp |= 1<<BOXLEDMAX;
if(rcOptions[BOXLEDLOW]) tmp |= 1<<BOXLEDLOW;
#endif
#if defined(LANDING_LIGHTS_DDR)
if(rcOptions[BOXLLIGHTS]) tmp |= 1<<BOXLLIGHTS;
#endif
#if defined(VARIOMETER)
if(rcOptions[BOXVARIO]) tmp |= 1<<BOXVARIO;
#endif
#if defined(INFLIGHT_ACC_CALIBRATION)
if(rcOptions[BOXCALIB]) tmp |= 1<<BOXCALIB;
#endif
#if defined(GOVERNOR_P)
if(rcOptions[BOXGOV]) tmp |= 1<<BOXGOV;
#endif
#if defined(OSD_SWITCH)
if(rcOptions[BOXOSD]) tmp |= 1<<BOXOSD;
#endif
if(f.ARMED) tmp |= 1<<BOXARM;
st.flag = tmp;
st.set = global_conf.currentSet;
s_struct((uint8_t*)&st,11);
break;
case MSP_RAW_IMU:
#if defined(DYNBALANCE)
for(uint8_t axis=0;axis<3;axis++) {imu.gyroData[axis]=imu.gyroADC[axis];imu.accSmooth[axis]= imu.accADC[axis];} // Send the unfiltered Gyro & Acc values to gui.
#endif
s_struct((uint8_t*)&imu,18);
break;
case MSP_SERVO:
s_struct((uint8_t*)&servo,16);
break;
case MSP_SERVO_CONF:
s_struct((uint8_t*)&conf.servoConf[0].min,56); // struct servo_conf_ is 7 bytes length: min:2 / max:2 / middle:2 / rate:1 ---- 8 servo => 8x7 = 56
break;
case MSP_SET_SERVO_CONF:
mspAck();
s_struct_w((uint8_t*)&conf.servoConf[0].min,56);
break;
case MSP_MOTOR:
s_struct((uint8_t*)&motor,16);
break;
case MSP_ACC_TRIM:
headSerialReply(4);
s_struct_partial((uint8_t*)&conf.angleTrim[PITCH],2);
s_struct_partial((uint8_t*)&conf.angleTrim[ROLL],2);
tailSerialReply();
break;
case MSP_SET_ACC_TRIM:
mspAck();
s_struct_w((uint8_t*)&conf.angleTrim[PITCH],2);
s_struct_w((uint8_t*)&conf.angleTrim[ROLL],2);
break;
case MSP_RC:
s_struct((uint8_t*)&rcData,RC_CHANS*2);
break;
#if GPS
case MSP_SET_RAW_GPS:
struct {
uint8_t a,b;
int32_t c,d;
int16_t e;
uint16_t f;
} set_set_raw_gps;
mspAck();
s_struct_w((uint8_t*)&set_set_raw_gps,14);
f.GPS_FIX = set_set_raw_gps.a;
GPS_numSat = set_set_raw_gps.b;
GPS_coord[LAT] = set_set_raw_gps.c;
GPS_coord[LON] = set_set_raw_gps.d;
GPS_altitude = set_set_raw_gps.e;
GPS_speed = set_set_raw_gps.f;
GPS_update |= 2; // New data signalisation to GPS functions
break;
case MSP_RAW_GPS:
struct {
uint8_t a,b;
int32_t c,d;
int16_t e;
uint16_t f,g;
} msp_raw_gps;
msp_raw_gps.a = f.GPS_FIX;
msp_raw_gps.b = GPS_numSat;
msp_raw_gps.c = GPS_coord[LAT];
msp_raw_gps.d = GPS_coord[LON];
msp_raw_gps.e = GPS_altitude;
msp_raw_gps.f = GPS_speed;
msp_raw_gps.g = GPS_ground_course;
s_struct((uint8_t*)&msp_raw_gps,16);
break;
case MSP_COMP_GPS:
struct {
uint16_t a;
int16_t b;
uint8_t c;
} msp_comp_gps;
msp_comp_gps.a = GPS_distanceToHome;
msp_comp_gps.b = GPS_directionToHome;
msp_comp_gps.c = GPS_update & 1;
s_struct((uint8_t*)&msp_comp_gps,5);
break;
#if defined(USE_MSP_WP)
case MSP_SET_NAV_CONFIG:
mspAck();
s_struct_w((uint8_t*)&GPS_conf,sizeof(GPS_conf));
break;
case MSP_NAV_CONFIG:
s_struct((uint8_t*)&GPS_conf,sizeof(GPS_conf));
break;
case MSP_NAV_STATUS: // to move to struct transmission
headSerialReply(7);
serialize8(f.GPS_mode);
serialize8(NAV_state);
serialize8(mission_step.action);
serialize8(mission_step.number);
serialize8(NAV_error);
serialize16( (int16_t)(target_bearing/100));
//serialize16(magHold);
tailSerialReply();
break;
case MSP_WP: // to move to struct transmission
{
uint8_t wp_no;
uint8_t flag;
bool success;
wp_no = read8(); //get the wp number
headSerialReply(21);
if (wp_no == 0) { //Get HOME coordinates
serialize8(wp_no);
serialize8(mission_step.action);
serialize32(GPS_home[LAT]);
serialize32(GPS_home[LON]);
flag = MISSION_FLAG_HOME;
}
if (wp_no == 255) { //Get poshold coordinates
serialize8(wp_no);
serialize8(mission_step.action);
serialize32(GPS_hold[LAT]);
serialize32(GPS_hold[LON]);
flag = MISSION_FLAG_HOLD;
}
if ((wp_no>0) && (wp_no<255)) {
if (NAV_state == NAV_STATE_NONE) {
success = recallWP(wp_no);
serialize8(wp_no);
serialize8(mission_step.action);
serialize32(mission_step.pos[LAT]);
serialize32(mission_step.pos[LON]);
if (success == true) flag = mission_step.flag;
else flag = MISSION_FLAG_CRC_ERROR; //CRC error
} else {
serialize8(wp_no);
serialize8(0);
serialize32(GPS_home[LAT]);
serialize32(GPS_home[LON]);
flag = MISSION_FLAG_NAV_IN_PROG;
}
}
serialize32(mission_step.altitude);
serialize16(mission_step.parameter1);
serialize16(mission_step.parameter2);
serialize16(mission_step.parameter3);
serialize8(flag);
tailSerialReply();
}
break;
case MSP_SET_WP: // to move to struct transmission
{
uint8_t wp_no = read8(); //Get the step number
if (NAV_state == NAV_STATE_HOLD_INFINIT && wp_no == 255) { //Special case - during stable poshold we allow change the hold position
mission_step.number = wp_no;
mission_step.action = MISSION_HOLD_UNLIM;
uint8_t temp = read8();
mission_step.pos[LAT] = read32();
mission_step.pos[LON] = read32();
mission_step.altitude = read32();
mission_step.parameter1 = read16();
mission_step.parameter2 = read16();
mission_step.parameter3 = read16();
mission_step.flag = read8();
if (mission_step.altitude != 0) set_new_altitude(mission_step.altitude);
GPS_set_next_wp(&mission_step.pos[LAT], &mission_step.pos[LON], &GPS_coord[LAT], &GPS_coord[LON]);
if ((wp_distance/100) >= GPS_conf.safe_wp_distance) NAV_state = NAV_STATE_NONE;
else NAV_state = NAV_STATE_WP_ENROUTE;
break;
}
if (NAV_state == NAV_STATE_NONE) { // The Nav state is not zero, so navigation is in progress, silently ignore SET_WP command)
mission_step.number = wp_no;
mission_step.action = read8();
mission_step.pos[LAT] = read32();
mission_step.pos[LON] = read32();
mission_step.altitude = read32();
mission_step.parameter1 = read16();
mission_step.parameter2 = read16();
mission_step.parameter3 = read16();
mission_step.flag = read8();
//It's not sure, that we want to do poshold change via mission planner so perhaps the next if is deletable
/*
if (mission_step.number == 255) //Set up new hold position via mission planner, It must set the action to MISSION_HOLD_INFINIT
{
if (mission_step.altitude !=0) set_new_altitude(mission_step.altitude); //Set the altitude
GPS_set_next_wp(&mission_step.pos[LAT], &mission_step.pos[LON], &GPS_coord[LAT], &GPS_coord[LON]);
NAV_state = NAV_STATE_WP_ENROUTE; //Go to that position, then it will switch to poshold unlimited when reached
}
*/
if (mission_step.number == 0) { //Set new Home position
GPS_home[LAT] = mission_step.pos[LAT];
GPS_home[LON] = mission_step.pos[LON];
}
if (mission_step.number >0 && mission_step.number<255) //Not home and not poshold, we are free to store it in the eprom
if (mission_step.number <= getMaxWPNumber()) // Do not thrash the EEPROM with invalid wp number
storeWP();
mspAck();
}
}
break;
#endif //USE_MSP_WP
#endif //GPS
case MSP_ATTITUDE:
s_struct((uint8_t*)&att,6);
break;
case MSP_ALTITUDE:
s_struct((uint8_t*)&alt,6);
break;
case MSP_ANALOG:
s_struct((uint8_t*)&analog,7);
break;
case MSP_RC_TUNING:
s_struct((uint8_t*)&conf.rcRate8,7);
break;
case MSP_PID:
s_struct((uint8_t*)&conf.pid[0].P8,3*PIDITEMS);
break;
case MSP_PIDNAMES:
serializeNames(pidnames);
break;
case MSP_BOX:
#if EXTAUX
s_struct((uint8_t*)&conf.activate[0],4*CHECKBOXITEMS);
#else
s_struct((uint8_t*)&conf.activate[0],2*CHECKBOXITEMS);
#endif
break;
case MSP_BOXNAMES:
serializeNames(boxnames);
break;
case MSP_BOXIDS:
headSerialReply(CHECKBOXITEMS);
for(uint8_t i=0;i<CHECKBOXITEMS;i++)
serialize8(pgm_read_byte(&(boxids[i])));
tailSerialReply();
break;
case MSP_MOTOR_PINS:
s_struct((uint8_t*)&PWM_PIN,8);
break;
case MSP_RESET_CONF:
if(!f.ARMED) LoadDefaults();
mspAck();
break;
case MSP_ACC_CALIBRATION:
if(!f.ARMED) calibratingA=512;
mspAck();
break;
#if MAG
case MSP_MAG_CALIBRATION:
if(!f.ARMED) f.CALIBRATE_MAG = 1;
mspAck();
break;
#endif
#if defined(SPEK_BIND)
case MSP_BIND:
spekBind();
mspAck();
break;
#endif
case MSP_EEPROM_WRITE:
writeParams(0);
mspAck();
break;
case MSP_DEBUG:
s_struct((uint8_t*)&debug,8);
break;
#ifdef DEBUGMSG
case MSP_DEBUGMSG:
{
uint8_t size = debugmsg_available();
if (size > 16) size = 16;
headSerialReply(size);
debugmsg_serialize(size);
tailSerialReply();
}
break;
#endif
default: // we do not know how to handle the (valid) message, indicate error MSP $M!
headSerialError();tailSerialReply();
break;
}
}
// evaluate all other incoming serial data
void evaluateOtherData(uint8_t sr) {
#ifndef SUPPRESS_OTHER_SERIAL_COMMANDS
#if GPS
#if !defined(I2C_GPS)
// on the GPS port, we must avoid interpreting incoming values for other commands because there is no
// protocol protection as is with MSP commands
// doing so with single chars would be prone to error.
if (CURRENTPORT == GPS_SERIAL) return;
#endif
#endif
switch (sr) {
// Note: we may receive weird characters here which could trigger unwanted features during flight.
// this could lead to a crash easily.
// Please use if (!f.ARMED) where neccessary
#ifdef LCD_CONF
case 's':
case 'S':
if (!f.ARMED) configurationLoop();
break;
#endif
#ifdef LOG_PERMANENT_SHOW_AT_L
case 'L':
if (!f.ARMED) dumpPLog(1);
break;
#endif
#if defined(LCD_TELEMETRY) && defined(LCD_TEXTSTAR)
case 'A': // button A press
toggle_telemetry(1);
break;
case 'B': // button B press
toggle_telemetry(2);
break;
case 'C': // button C press
toggle_telemetry(3);
break;
case 'D': // button D press
toggle_telemetry(4);
break;
case 'a': // button A release
case 'b': // button B release
case 'c': // button C release
case 'd': // button D release
break;
#endif
#ifdef LCD_TELEMETRY
case '0':
case '1':
case '2':
case '3':
case '4':
case '5':
case '6':
case '7':
case '8':
case '9':
#ifndef SUPPRESS_TELEMETRY_PAGE_R
case 'R':
#endif
#if defined(DEBUG) || defined(DEBUG_FREE)
case 'F':
#endif
toggle_telemetry(sr);
break;
#endif // LCD_TELEMETRY
}
#endif // SUPPRESS_OTHER_SERIAL_COMMANDS
}
void SerialWrite16(uint8_t port, int16_t val)
{
CURRENTPORT=port;
serialize16(val);UartSendData(port);
}
#ifdef DEBUGMSG
void debugmsg_append_str(const char *str) {
while(*str) {
debug_buf[head_debug++] = *str++;
if (head_debug == DEBUG_MSG_BUFFER_SIZE) {
head_debug = 0;
}
}
}
static uint8_t debugmsg_available() {
if (head_debug >= tail_debug) {
return head_debug-tail_debug;
} else {
return head_debug + (DEBUG_MSG_BUFFER_SIZE-tail_debug);
}
}
static void debugmsg_serialize(uint8_t l) {
for (uint8_t i=0; i<l; i++) {
if (head_debug != tail_debug) {
serialize8(debug_buf[tail_debug++]);
if (tail_debug == DEBUG_MSG_BUFFER_SIZE) {
tail_debug = 0;
}
} else {
serialize8('\0');
}
}
}
#else
void debugmsg_append_str(const char *str) {};
#endif