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MSP 1.54 (#991)
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* MSP 1.54
* MSP 1.54 - move sampleRate location
* MSP 1.54 - cleanup
* MSP 1.54 support - add vtx_low_power_disarm
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@nerdCopter
nerdCopter authored Apr 30, 2024
1 parent a7bf264 commit 571a7cf
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Showing 4 changed files with 55 additions and 27 deletions.
5 changes: 5 additions & 0 deletions src/main/drivers/accgyro/gyro_sync.c
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Expand Up @@ -53,21 +53,26 @@ uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint8_t lpf, uint8_t gyroSyncDenomin
}
gyro->mpuDividerDrops = gyroSyncDenominator - 1;
gyro->gyroRateKHz = lpfNoneOr256 ? GYRO_RATE_8_kHz : GYRO_RATE_1_kHz;
gyroConfigMutable()->gyroSampleRateHz = lpfNoneOr256 ? 8000 : 1000;

switch (gyro->mpuDetectionResult.sensor) {
case ICM_20649_SPI: //20649 is a weird gyro
gyro->gyroRateKHz = lpfNoneOr256 ? GYRO_RATE_9_kHz : GYRO_RATE_1100_Hz;
gyroConfigMutable()->gyroSampleRateHz = lpfNoneOr256 ? 9000 : 1100;
break;
case BMI_160_SPI: //brainFPV is also a weird gyro
if (lpfNoneOr256) { gyro->gyroRateKHz = GYRO_RATE_3200_Hz; }
gyroConfigMutable()->gyroSampleRateHz = 3200;
break;
case BMI_270_SPI: //bmi270
gyro->gyroRateKHz = GYRO_RATE_3200_Hz;
gyroConfigMutable()->gyroSampleRateHz = 3200;
break;
default:
if (gyro_use_32khz) {
//use full 32k
gyro->gyroRateKHz = GYRO_RATE_32_kHz;
gyroConfigMutable()->gyroSampleRateHz = 32000;
}
}

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71 changes: 45 additions & 26 deletions src/main/interface/msp.c
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Expand Up @@ -458,6 +458,9 @@ bool mspCommonProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFnPtr
// Signature
sbufWriteData(dst, getSignature(), SIGNATURE_LENGTH);
#endif
//MSP 1.54
sbufWriteU16(dst, gyroConfig()->gyroSampleRateHz); //For Configurator PID/Gyro loop selection.
//End MSP 1.54
#endif // USE_BOARD_INFO
break;
}
Expand Down Expand Up @@ -1169,6 +1172,9 @@ bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst) {
sbufWriteU16(dst, motorConfig()->dev.motorPwmRate);
sbufWriteU16(dst, motorConfig()->digitalIdleOffsetValue);
sbufWriteU8(dst, gyroConfig()->gyro_use_32khz);
//MSP 1.54 - insert here to avoid new unnecessary Configurator code
sbufWriteU8(dst, motorConfig()->motorPoleCount);
//End MSP 1.54
sbufWriteU8(dst, motorConfig()->dev.motorPwmInversion);
sbufWriteU8(dst, gyroConfig()->gyro_to_use);
sbufWriteU8(dst, gyroConfig()->gyro_high_fsr);
Expand Down Expand Up @@ -1358,6 +1364,9 @@ bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst) {
sbufWriteU8(dst, vtxSettingsConfig()->power);
sbufWriteU8(dst, pitmode);
sbufWriteU16(dst, vtxSettingsConfig()->freq);
//MSP 1.54
sbufWriteU8(dst, vtxSettingsConfig()->lowPowerDisarm);
//END MSP 1.54
// future extensions here...
} else {
sbufWriteU8(dst, VTXDEV_UNKNOWN); // no VTX detected
Expand Down Expand Up @@ -1792,6 +1801,11 @@ mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src) {
if (sbufBytesRemaining(src)) {
gyroConfigMutable()->gyro_use_32khz = sbufReadU8(src);
}
//MSP 1.54 - insert here to avoid new unnecessary Configurator code
if (sbufBytesRemaining(src) >= 1) {
motorConfigMutable()->motorPoleCount = sbufReadU8(src);
}
//End MSP 1.54
if (sbufBytesRemaining(src)) {
motorConfigMutable()->dev.motorPwmInversion = sbufReadU8(src);
}
Expand Down Expand Up @@ -2016,32 +2030,37 @@ mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src) {
#endif
#ifdef USE_VTX_COMMON
case MSP_SET_VTX_CONFIG: {
vtxDevice_t *vtxDevice = vtxCommonDevice();
if (vtxDevice) {
if (vtxCommonGetDeviceType(vtxDevice) != VTXDEV_UNKNOWN) {
uint16_t newFrequency = sbufReadU16(src);
if (newFrequency <= VTXCOMMON_MSP_BANDCHAN_CHKVAL) { //value is band and channel
const uint8_t newBand = (newFrequency / 8) + 1;
const uint8_t newChannel = (newFrequency % 8) + 1;
vtxSettingsConfigMutable()->band = newBand;
vtxSettingsConfigMutable()->channel = newChannel;
vtxSettingsConfigMutable()->freq = vtx58_Bandchan2Freq(newBand, newChannel);
} else { //value is frequency in MHz
vtxSettingsConfigMutable()->band = 0;
vtxSettingsConfigMutable()->freq = newFrequency;
}
if (sbufBytesRemaining(src) > 1) {
vtxSettingsConfigMutable()->power = sbufReadU8(src);
// Delegate pitmode to vtx directly
const uint8_t newPitmode = sbufReadU8(src);
uint8_t currentPitmode = 0;
vtxCommonGetPitMode(vtxDevice, &currentPitmode);
if (currentPitmode != newPitmode) {
vtxCommonSetPitMode(vtxDevice, newPitmode);
}
}
}
}
vtxDevice_t *vtxDevice = vtxCommonDevice();
if (vtxDevice) {
if (vtxCommonGetDeviceType(vtxDevice) != VTXDEV_UNKNOWN) {
uint16_t newFrequency = sbufReadU16(src);
if (newFrequency <= VTXCOMMON_MSP_BANDCHAN_CHKVAL) { //value is band and channel
const uint8_t newBand = (newFrequency / 8) + 1;
const uint8_t newChannel = (newFrequency % 8) + 1;
vtxSettingsConfigMutable()->band = newBand;
vtxSettingsConfigMutable()->channel = newChannel;
vtxSettingsConfigMutable()->freq = vtx58_Bandchan2Freq(newBand, newChannel);
} else { //value is frequency in MHz
vtxSettingsConfigMutable()->band = 0;
vtxSettingsConfigMutable()->freq = newFrequency;
}
if (sbufBytesRemaining(src) > 1) {
vtxSettingsConfigMutable()->power = sbufReadU8(src);
// Delegate pitmode to vtx directly
const uint8_t newPitmode = sbufReadU8(src);
uint8_t currentPitmode = 0;
vtxCommonGetPitMode(vtxDevice, &currentPitmode);
if (currentPitmode != newPitmode) {
vtxCommonSetPitMode(vtxDevice, newPitmode);
}
}
// MSP 1.54
if (sbufBytesRemaining(src) >= 1) {
vtxSettingsConfigMutable()->lowPowerDisarm = sbufReadU8(src);
}
// END MSP 1.54
}
}
}
break;
#endif
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2 changes: 1 addition & 1 deletion src/main/interface/msp_protocol.h
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Expand Up @@ -64,7 +64,7 @@
// API VERSION

#define API_VERSION_MAJOR 1 // increment when major changes are made
#define API_VERSION_MINOR 53 // increment after a release, to set the version for all changes to go into the following release (if no changes to MSP are made between the releases, this can be reverted before the release)
#define API_VERSION_MINOR 54 // increment after a release, to set the version for all changes to go into the following release (if no changes to MSP are made between the releases, this can be reverted before the release)

#define API_VERSION_LENGTH 2

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4 changes: 4 additions & 0 deletions src/main/sensors/gyro.h
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Expand Up @@ -175,6 +175,10 @@ typedef struct gyroConfig_s {
uint8_t smithPredictorStrength;
uint8_t smithPredictorDelay;
uint8_t smithPredictorFilterHz;

//MSP 1.54
uint16_t gyroSampleRateHz;
//End MSP 1.54
} gyroConfig_t;

PG_DECLARE(gyroConfig_t, gyroConfig);
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