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1259 lines
51 KiB
JavaScript
1259 lines
51 KiB
JavaScript
'use strict';
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// MSP_codes needs to be re-integrated inside MSP object
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var MSP_codes = {
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MSP_API_VERSION: 1,
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MSP_FC_VARIANT: 2,
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MSP_FC_VERSION: 3,
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MSP_BOARD_INFO: 4,
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MSP_BUILD_INFO: 5,
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// MSP commands for Cleanflight original features
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MSP_CHANNEL_FORWARDING: 32,
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MSP_SET_CHANNEL_FORWARDING: 33,
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MSP_MODE_RANGES: 34,
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MSP_SET_MODE_RANGE: 35,
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MSP_LED_STRIP_CONFIG: 48,
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MSP_SET_LED_STRIP_CONFIG: 49,
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MSP_ADJUSTMENT_RANGES: 52,
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MSP_SET_ADJUSTMENT_RANGE: 53,
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MSP_CF_SERIAL_CONFIG: 54,
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MSP_SET_CF_SERIAL_CONFIG: 55,
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MSP_SONAR: 58,
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MSP_PID_CONTROLLER: 59,
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MSP_SET_PID_CONTROLLER: 60,
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MSP_DATAFLASH_SUMMARY: 70,
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MSP_DATAFLASH_READ: 71,
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MSP_DATAFLASH_ERASE: 72,
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// Multiwii MSP commands
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MSP_IDENT: 100,
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MSP_STATUS: 101,
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MSP_RAW_IMU: 102,
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MSP_SERVO: 103,
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MSP_MOTOR: 104,
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MSP_RC: 105,
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MSP_RAW_GPS: 106,
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MSP_COMP_GPS: 107,
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MSP_ATTITUDE: 108,
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MSP_ALTITUDE: 109,
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MSP_ANALOG: 110,
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MSP_RC_TUNING: 111,
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MSP_PID: 112,
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MSP_BOX: 113,
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MSP_MISC: 114,
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MSP_MOTOR_PINS: 115,
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MSP_BOXNAMES: 116,
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MSP_PIDNAMES: 117,
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MSP_WP: 118,
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MSP_BOXIDS: 119,
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MSP_SERVO_CONF: 120,
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MSP_ARM_CONFIG: 123, //like #define in serial_msp.c
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MSP_LOOP_TIME: 124,
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MSP_SET_RAW_RC: 200,
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MSP_SET_RAW_GPS: 201,
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MSP_SET_PID: 202,
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MSP_SET_BOX: 203,
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MSP_SET_RC_TUNING: 204,
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MSP_ACC_CALIBRATION: 205,
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MSP_MAG_CALIBRATION: 206,
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MSP_SET_MISC: 207,
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MSP_RESET_CONF: 208,
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MSP_SET_WP: 209,
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MSP_SELECT_SETTING: 210,
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MSP_SET_HEAD: 211,
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MSP_SET_SERVO_CONF: 212,
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MSP_SET_MOTOR: 214,
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MSP_SET_ARM_CONFIG: 216, //like #define in serial_msp.c
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MSP_SET_LOOP_TIME: 217,
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// MSP_BIND: 240,
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MSP_EEPROM_WRITE: 250,
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MSP_DEBUGMSG: 253,
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MSP_DEBUG: 254,
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// Additional baseflight commands that are not compatible with MultiWii
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MSP_UID: 160, // Unique device ID
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MSP_ACC_TRIM: 240, // get acc angle trim values
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MSP_SET_ACC_TRIM: 239, // set acc angle trim values
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MSP_GPS_SV_INFO: 164, // get Signal Strength
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// Additional private MSP for baseflight configurator (yes thats us \o/)
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MSP_RCMAP: 64, // get channel map (also returns number of channels total)
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MSP_SET_RCMAP: 65, // set rc map, numchannels to set comes from MSP_RCMAP
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MSP_BF_CONFIG: 66, // baseflight-specific settings that aren't covered elsewhere
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MSP_SET_BF_CONFIG: 67, // baseflight-specific settings save
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MSP_SET_REBOOT: 68, // reboot settings
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MSP_BF_BUILD_INFO: 69 // build date as well as some space for future expansion
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};
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var MSP = {
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state: 0,
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message_direction: 1,
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code: 0,
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message_length_expected: 0,
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message_length_received: 0,
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message_buffer: null,
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message_buffer_uint8_view: null,
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message_checksum: 0,
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callbacks: [],
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packet_error: 0,
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ledDirectionLetters: ['n', 'e', 's', 'w', 'u', 'd'], // in LSB bit order
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ledFunctionLetters: ['i', 'w', 'f', 'a', 't', 'r', 'c'], // in LSB bit order
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supportedBaudRates: [ // 0 based index.
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'AUTO',
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'9600',
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'19200',
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'38400',
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'57600',
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'115200',
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'230400',
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'250000',
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],
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serialPortFunctions: // in LSB bit order
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['MSP', 'GPS', 'TELEMETRY_FRSKY', 'TELEMETRY_HOTT', 'TELEMETRY_MSP', 'TELEMETRY_SMARTPORT', 'RX_SERIAL', 'BLACKBOX'],
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read: function (readInfo) {
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var data = new Uint8Array(readInfo.data);
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for (var i = 0; i < data.length; i++) {
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switch (this.state) {
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case 0: // sync char 1
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if (data[i] == 36) { // $
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this.state++;
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}
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break;
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case 1: // sync char 2
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if (data[i] == 77) { // M
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this.state++;
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} else { // restart and try again
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this.state = 0;
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}
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break;
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case 2: // direction (should be >)
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if (data[i] == 62) { // >
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this.message_direction = 1;
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} else { // <
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this.message_direction = 0;
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}
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this.state++;
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break;
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case 3:
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this.message_length_expected = data[i];
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this.message_checksum = data[i];
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// setup arraybuffer
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this.message_buffer = new ArrayBuffer(this.message_length_expected);
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this.message_buffer_uint8_view = new Uint8Array(this.message_buffer);
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this.state++;
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break;
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case 4:
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this.code = data[i];
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this.message_checksum ^= data[i];
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if (this.message_length_expected > 0) {
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// process payload
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this.state++;
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} else {
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// no payload
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this.state += 2;
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}
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break;
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case 5: // payload
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this.message_buffer_uint8_view[this.message_length_received] = data[i];
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this.message_checksum ^= data[i];
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this.message_length_received++;
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if (this.message_length_received >= this.message_length_expected) {
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this.state++;
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}
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break;
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case 6:
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if (this.message_checksum == data[i]) {
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// message received, process
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this.process_data(this.code, this.message_buffer, this.message_length_expected);
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} else {
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console.log('code: ' + this.code + ' - crc failed');
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this.packet_error++;
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$('span.packet-error').html(this.packet_error);
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}
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// Reset variables
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this.message_length_received = 0;
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this.state = 0;
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break;
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default:
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console.log('Unknown state detected: ' + this.state);
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}
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}
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},
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process_data: function (code, message_buffer, message_length) {
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var data = new DataView(message_buffer, 0); // DataView (allowing us to view arrayBuffer as struct/union)
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switch (code) {
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case MSP_codes.MSP_IDENT:
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console.log('Using deprecated msp command: MSP_IDENT');
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// Deprecated
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CONFIG.version = parseFloat((data.getUint8(0) / 100).toFixed(2));
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CONFIG.multiType = data.getUint8(1);
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CONFIG.msp_version = data.getUint8(2);
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CONFIG.capability = data.getUint32(3, 1);
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break;
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case MSP_codes.MSP_STATUS:
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CONFIG.cycleTime = data.getUint16(0, 1);
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CONFIG.i2cError = data.getUint16(2, 1);
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CONFIG.activeSensors = data.getUint16(4, 1);
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CONFIG.mode = data.getUint32(6, 1);
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CONFIG.profile = data.getUint8(10);
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sensor_status(CONFIG.activeSensors);
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$('span.i2c-error').text(CONFIG.i2cError);
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$('span.cycle-time').text(CONFIG.cycleTime);
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break;
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case MSP_codes.MSP_RAW_IMU:
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// 512 for mpu6050, 256 for mma
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// currently we are unable to differentiate between the sensor types, so we are goign with 512
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SENSOR_DATA.accelerometer[0] = data.getInt16(0, 1) / 512;
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SENSOR_DATA.accelerometer[1] = data.getInt16(2, 1) / 512;
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SENSOR_DATA.accelerometer[2] = data.getInt16(4, 1) / 512;
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// properly scaled
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SENSOR_DATA.gyroscope[0] = data.getInt16(6, 1) * (4 / 16.4);
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SENSOR_DATA.gyroscope[1] = data.getInt16(8, 1) * (4 / 16.4);
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SENSOR_DATA.gyroscope[2] = data.getInt16(10, 1) * (4 / 16.4);
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// no clue about scaling factor
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SENSOR_DATA.magnetometer[0] = data.getInt16(12, 1) / 1090;
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SENSOR_DATA.magnetometer[1] = data.getInt16(14, 1) / 1090;
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SENSOR_DATA.magnetometer[2] = data.getInt16(16, 1) / 1090;
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break;
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case MSP_codes.MSP_SERVO:
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var needle = 0;
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for (var i = 0; i < 8; i++) {
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SERVO_DATA[i] = data.getUint16(needle, 1);
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needle += 2;
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}
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break;
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case MSP_codes.MSP_MOTOR:
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var needle = 0;
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for (var i = 0; i < 8; i++) {
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MOTOR_DATA[i] = data.getUint16(needle, 1);
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needle += 2;
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}
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break;
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case MSP_codes.MSP_RC:
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RC.active_channels = message_length / 2;
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for (var i = 0; i < RC.active_channels; i++) {
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RC.channels[i] = data.getUint16((i * 2), 1);
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}
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break;
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case MSP_codes.MSP_RAW_GPS:
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GPS_DATA.fix = data.getUint8(0);
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GPS_DATA.numSat = data.getUint8(1);
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GPS_DATA.lat = data.getInt32(2, 1);
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GPS_DATA.lon = data.getInt32(6, 1);
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GPS_DATA.alt = data.getUint16(10, 1);
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GPS_DATA.speed = data.getUint16(12, 1);
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GPS_DATA.ground_course = data.getUint16(14, 1);
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break;
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case MSP_codes.MSP_COMP_GPS:
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GPS_DATA.distanceToHome = data.getUint16(0, 1);
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GPS_DATA.directionToHome = data.getUint16(2, 1);
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GPS_DATA.update = data.getUint8(4);
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break;
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case MSP_codes.MSP_ATTITUDE:
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SENSOR_DATA.kinematics[0] = data.getInt16(0, 1) / 10.0; // x
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SENSOR_DATA.kinematics[1] = data.getInt16(2, 1) / 10.0; // y
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SENSOR_DATA.kinematics[2] = data.getInt16(4, 1); // z
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break;
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case MSP_codes.MSP_ALTITUDE:
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SENSOR_DATA.altitude = parseFloat((data.getInt32(0, 1) / 100.0).toFixed(2)); // correct scale factor
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break;
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case MSP_codes.MSP_SONAR:
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SENSOR_DATA.sonar = data.getInt32(0, 1);
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break;
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case MSP_codes.MSP_ANALOG:
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ANALOG.voltage = data.getUint8(0) / 10.0;
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ANALOG.mAhdrawn = data.getUint16(1, 1);
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ANALOG.rssi = data.getUint16(3, 1); // 0-1023
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ANALOG.amperage = data.getInt16(5, 1) / 100; // A
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break;
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case MSP_codes.MSP_RC_TUNING:
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var offset = 0;
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RC_tuning.RC_RATE = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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RC_tuning.RC_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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if (CONFIG.apiVersion < 1.7) {
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RC_tuning.roll_pitch_rate = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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} else {
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RC_tuning.roll_rate = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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RC_tuning.pitch_rate = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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}
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RC_tuning.yaw_rate = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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RC_tuning.dynamic_THR_PID = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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RC_tuning.throttle_MID = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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RC_tuning.throttle_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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if (CONFIG.apiVersion >= 1.7) {
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RC_tuning.dynamic_THR_breakpoint = data.getUint16(offset++, 1);
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}
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break;
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case MSP_codes.MSP_PID:
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// PID data arrived, we need to scale it and save to appropriate bank / array
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for (var i = 0, needle = 0; i < (message_length / 3); i++, needle += 3) {
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// main for loop selecting the pid section
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switch (i) {
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case 0:
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case 1:
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case 2:
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case 3:
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case 7:
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case 8:
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case 9:
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PIDs[i][0] = data.getUint8(needle) / 10;
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PIDs[i][1] = data.getUint8(needle + 1) / 1000;
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PIDs[i][2] = data.getUint8(needle + 2);
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break;
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case 4:
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PIDs[i][0] = data.getUint8(needle) / 100;
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PIDs[i][1] = data.getUint8(needle + 1) / 100;
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PIDs[i][2] = data.getUint8(needle + 2) / 1000;
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break;
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case 5:
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case 6:
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PIDs[i][0] = data.getUint8(needle) / 10;
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PIDs[i][1] = data.getUint8(needle + 1) / 100;
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PIDs[i][2] = data.getUint8(needle + 2) / 1000;
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break;
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}
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}
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break;
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// Disabled, cleanflight does not use MSP_BOX.
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/*
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case MSP_codes.MSP_BOX:
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AUX_CONFIG_values = []; // empty the array as new data is coming in
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// fill in current data
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for (var i = 0; i < data.byteLength; i += 2) { // + 2 because uint16_t = 2 bytes
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AUX_CONFIG_values.push(data.getUint16(i, 1));
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}
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break;
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*/
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case MSP_codes.MSP_ARM_CONFIG:
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if (CONFIG.apiVersion >= 1.8) {
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ARM_CONFIG.auto_disarm_delay = data.getUint8(0, 1);
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ARM_CONFIG.disarm_kill_switch = data.getUint8(1);
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}
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break;
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case MSP_codes.MSP_LOOP_TIME:
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if (CONFIG.apiVersion >= 1.8) {
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LOOP_TIME = data.getInt16(0, 1);
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}
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break;
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case MSP_codes.MSP_MISC: // 22 bytes
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var offset = 0;
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MISC.midrc = data.getInt16(offset, 1);
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offset += 2;
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MISC.minthrottle = data.getUint16(offset, 1); // 0-2000
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offset += 2;
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MISC.maxthrottle = data.getUint16(offset, 1); // 0-2000
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offset += 2;
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MISC.mincommand = data.getUint16(offset, 1); // 0-2000
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offset += 2;
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MISC.failsafe_throttle = data.getUint16(offset, 1); // 1000-2000
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offset += 2;
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MISC.gps_type = data.getUint8(offset);
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MISC.gps_baudrate = data.getUint8(++offset);
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MISC.gps_ubx_sbas = data.getInt8(++offset);
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MISC.multiwiicurrentoutput = data.getUint8(++offset);
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MISC.rssi_channel = data.getUint8(++offset);
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MISC.placeholder2 = data.getUint8(++offset);
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MISC.mag_declination = data.getInt16(++offset, 1) / 10; // -18000-18000
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offset += 2;
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MISC.vbatscale = data.getUint8(offset, 1); // 10-200
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MISC.vbatmincellvoltage = data.getUint8(++offset, 1) / 10; // 10-50
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MISC.vbatmaxcellvoltage = data.getUint8(++offset, 1) / 10; // 10-50
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MISC.vbatwarningcellvoltage = data.getUint8(++offset, 1) / 10; // 10-50
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break;
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case MSP_codes.MSP_MOTOR_PINS:
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console.log(data);
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break;
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case MSP_codes.MSP_BOXNAMES:
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AUX_CONFIG = []; // empty the array as new data is coming in
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var buff = [];
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for (var i = 0; i < data.byteLength; i++) {
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if (data.getUint8(i) == 0x3B) { // ; (delimeter char)
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AUX_CONFIG.push(String.fromCharCode.apply(null, buff)); // convert bytes into ASCII and save as strings
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// empty buffer
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buff = [];
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} else {
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buff.push(data.getUint8(i));
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}
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}
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break;
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case MSP_codes.MSP_PIDNAMES:
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PID_names = []; // empty the array as new data is coming in
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var buff = [];
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for (var i = 0; i < data.byteLength; i++) {
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if (data.getUint8(i) == 0x3B) { // ; (delimeter char)
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PID_names.push(String.fromCharCode.apply(null, buff)); // convert bytes into ASCII and save as strings
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// empty buffer
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buff = [];
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} else {
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buff.push(data.getUint8(i));
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}
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}
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break;
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case MSP_codes.MSP_WP:
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console.log(data);
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break;
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case MSP_codes.MSP_BOXIDS:
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AUX_CONFIG_IDS = []; // empty the array as new data is coming in
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for (var i = 0; i < data.byteLength; i++) {
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AUX_CONFIG_IDS.push(data.getUint8(i));
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}
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break;
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case MSP_codes.MSP_SERVO_CONF:
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SERVO_CONFIG = []; // empty the array as new data is coming in
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for (var i = 0; i < 56; i += 7) {
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var arr = {
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'min': data.getInt16(i, 1),
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'max': data.getInt16(i + 2, 1),
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'middle': data.getInt16(i + 4, 1),
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'rate': data.getInt8(i + 6)
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};
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SERVO_CONFIG.push(arr);
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}
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|
break;
|
|
case MSP_codes.MSP_SET_RAW_RC:
|
|
break;
|
|
case MSP_codes.MSP_SET_RAW_GPS:
|
|
break;
|
|
case MSP_codes.MSP_SET_PID:
|
|
console.log('PID settings saved');
|
|
break;
|
|
/*
|
|
case MSP_codes.MSP_SET_BOX:
|
|
console.log('AUX Configuration saved');
|
|
break;
|
|
*/
|
|
case MSP_codes.MSP_SET_RC_TUNING:
|
|
console.log('RC Tuning saved');
|
|
break;
|
|
case MSP_codes.MSP_ACC_CALIBRATION:
|
|
console.log('Accel calibration executed');
|
|
break;
|
|
case MSP_codes.MSP_MAG_CALIBRATION:
|
|
console.log('Mag calibration executed');
|
|
break;
|
|
case MSP_codes.MSP_SET_MISC:
|
|
console.log('MISC Configuration saved');
|
|
break;
|
|
case MSP_codes.MSP_RESET_CONF:
|
|
console.log('Settings Reset');
|
|
break;
|
|
case MSP_codes.MSP_SELECT_SETTING:
|
|
console.log('Profile selected');
|
|
break;
|
|
case MSP_codes.MSP_SET_SERVO_CONF:
|
|
console.log('Servo Configuration saved');
|
|
break;
|
|
case MSP_codes.MSP_EEPROM_WRITE:
|
|
console.log('Settings Saved in EEPROM');
|
|
break;
|
|
case MSP_codes.MSP_DEBUGMSG:
|
|
break;
|
|
case MSP_codes.MSP_DEBUG:
|
|
for (var i = 0; i < 4; i++)
|
|
SENSOR_DATA.debug[i] = data.getInt16((2 * i), 1);
|
|
break;
|
|
case MSP_codes.MSP_SET_MOTOR:
|
|
console.log('Motor Speeds Updated');
|
|
break;
|
|
// Additional baseflight commands that are not compatible with MultiWii
|
|
case MSP_codes.MSP_UID:
|
|
CONFIG.uid[0] = data.getUint32(0, 1);
|
|
CONFIG.uid[1] = data.getUint32(4, 1);
|
|
CONFIG.uid[2] = data.getUint32(8, 1);
|
|
break;
|
|
case MSP_codes.MSP_ACC_TRIM:
|
|
CONFIG.accelerometerTrims[0] = data.getInt16(0, 1); // pitch
|
|
CONFIG.accelerometerTrims[1] = data.getInt16(2, 1); // roll
|
|
break;
|
|
case MSP_codes.MSP_SET_ACC_TRIM:
|
|
console.log('Accelerometer trimms saved.');
|
|
break;
|
|
case MSP_codes.MSP_GPS_SV_INFO:
|
|
if (data.byteLength > 0) {
|
|
var numCh = data.getUint8(0);
|
|
|
|
var needle = 1;
|
|
for (var i = 0; i < numCh; i++) {
|
|
GPS_DATA.chn[i] = data.getUint8(needle);
|
|
GPS_DATA.svid[i] = data.getUint8(needle + 1);
|
|
GPS_DATA.quality[i] = data.getUint8(needle + 2);
|
|
GPS_DATA.cno[i] = data.getUint8(needle + 3);
|
|
|
|
needle += 4;
|
|
}
|
|
}
|
|
break;
|
|
// Additional private MSP for baseflight configurator
|
|
case MSP_codes.MSP_RCMAP:
|
|
RC_MAP = []; // empty the array as new data is coming in
|
|
|
|
for (var i = 0; i < data.byteLength; i++) {
|
|
RC_MAP.push(data.getUint8(i));
|
|
}
|
|
break;
|
|
case MSP_codes.MSP_SET_RCMAP:
|
|
console.log('RCMAP saved');
|
|
break;
|
|
case MSP_codes.MSP_BF_CONFIG:
|
|
BF_CONFIG.mixerConfiguration = data.getUint8(0);
|
|
BF_CONFIG.features = data.getUint32(1, 1);
|
|
BF_CONFIG.serialrx_type = data.getUint8(5);
|
|
BF_CONFIG.board_align_roll = data.getInt16(6, 1); // -180 - 360
|
|
BF_CONFIG.board_align_pitch = data.getInt16(8, 1); // -180 - 360
|
|
BF_CONFIG.board_align_yaw = data.getInt16(10, 1); // -180 - 360
|
|
BF_CONFIG.currentscale = data.getInt16(12, 1);
|
|
BF_CONFIG.currentoffset = data.getUint16(14, 1);
|
|
break;
|
|
case MSP_codes.MSP_SET_BF_CONFIG:
|
|
break;
|
|
case MSP_codes.MSP_SET_REBOOT:
|
|
console.log('Reboot request accepted');
|
|
break;
|
|
|
|
//
|
|
// Cleanflight specific
|
|
//
|
|
|
|
case MSP_codes.MSP_API_VERSION:
|
|
var offset = 0;
|
|
CONFIG.mspProtocolVersion = data.getUint8(offset++);
|
|
CONFIG.apiVersion = data.getUint8(offset++) + '.' + data.getUint8(offset++);
|
|
break;
|
|
|
|
case MSP_codes.MSP_FC_VARIANT:
|
|
var identifier = '';
|
|
var offset;
|
|
for (offset = 0; offset < 4; offset++) {
|
|
identifier += String.fromCharCode(data.getUint8(offset));
|
|
}
|
|
CONFIG.flightControllerIdentifier = identifier;
|
|
break;
|
|
|
|
case MSP_codes.MSP_FC_VERSION:
|
|
var offset = 0;
|
|
CONFIG.flightControllerVersion = data.getUint8(offset++) + '.' + data.getUint8(offset++) + '.' + data.getUint8(offset++);
|
|
break;
|
|
|
|
case MSP_codes.MSP_BUILD_INFO:
|
|
var offset = 0;
|
|
|
|
var dateLength = 11;
|
|
var buff = [];
|
|
for (var i = 0; i < dateLength; i++) {
|
|
buff.push(data.getUint8(offset++));
|
|
}
|
|
buff.push(32); // ascii space
|
|
|
|
var timeLength = 8;
|
|
for (var i = 0; i < timeLength; i++) {
|
|
buff.push(data.getUint8(offset++));
|
|
}
|
|
CONFIG.buildInfo = String.fromCharCode.apply(null, buff);
|
|
break;
|
|
|
|
case MSP_codes.MSP_BOARD_INFO:
|
|
var identifier = '';
|
|
var offset;
|
|
for (offset = 0; offset < 4; offset++) {
|
|
identifier += String.fromCharCode(data.getUint8(offset));
|
|
}
|
|
CONFIG.boardIdentifier = identifier;
|
|
CONFIG.boardVersion = data.getUint16(offset, 1);
|
|
offset+=2;
|
|
break;
|
|
|
|
case MSP_codes.MSP_SET_CHANNEL_FORWARDING:
|
|
console.log('Channel forwarding saved');
|
|
break;
|
|
|
|
case MSP_codes.MSP_CF_SERIAL_CONFIG:
|
|
|
|
if (CONFIG.apiVersion < 1.6) {
|
|
SERIAL_CONFIG.ports = [];
|
|
var offset = 0;
|
|
var serialPortCount = (data.byteLength - (4 * 4)) / 2;
|
|
for (var i = 0; i < serialPortCount; i++) {
|
|
var serialPort = {
|
|
identifier: data.getUint8(offset++, 1),
|
|
scenario: data.getUint8(offset++, 1)
|
|
}
|
|
SERIAL_CONFIG.ports.push(serialPort);
|
|
}
|
|
SERIAL_CONFIG.mspBaudRate = data.getUint32(offset, 1);
|
|
offset+= 4;
|
|
SERIAL_CONFIG.cliBaudRate = data.getUint32(offset, 1);
|
|
offset+= 4;
|
|
SERIAL_CONFIG.gpsBaudRate = data.getUint32(offset, 1);
|
|
offset+= 4;
|
|
SERIAL_CONFIG.gpsPassthroughBaudRate = data.getUint32(offset, 1);
|
|
offset+= 4;
|
|
} else {
|
|
SERIAL_CONFIG.ports = [];
|
|
var offset = 0;
|
|
var bytesPerPort = 1 + 2 + (1 * 4);
|
|
var serialPortCount = data.byteLength / bytesPerPort;
|
|
|
|
for (var i = 0; i < serialPortCount; i++) {
|
|
var serialPort = {
|
|
identifier: data.getUint8(offset, 1),
|
|
functions: MSP.serialPortFunctionMaskToFunctions(data.getUint16(offset + 1, 1)),
|
|
msp_baudrate: MSP.supportedBaudRates[data.getUint8(offset + 3, 1)],
|
|
gps_baudrate: MSP.supportedBaudRates[data.getUint8(offset + 4, 1)],
|
|
telemetry_baudrate: MSP.supportedBaudRates[data.getUint8(offset + 5, 1)],
|
|
blackbox_baudrate: MSP.supportedBaudRates[data.getUint8(offset + 6, 1)]
|
|
}
|
|
|
|
offset += bytesPerPort;
|
|
SERIAL_CONFIG.ports.push(serialPort);
|
|
}
|
|
}
|
|
break;
|
|
|
|
case MSP_codes.MSP_SET_CF_SERIAL_CONFIG:
|
|
console.log('Serial config saved');
|
|
break;
|
|
|
|
case MSP_codes.MSP_MODE_RANGES:
|
|
MODE_RANGES = []; // empty the array as new data is coming in
|
|
|
|
var modeRangeCount = data.byteLength / 4; // 4 bytes per item.
|
|
|
|
var offset = 0;
|
|
for (var i = 0; offset < data.byteLength && i < modeRangeCount; i++) {
|
|
var modeRange = {
|
|
id: data.getUint8(offset++, 1),
|
|
auxChannelIndex: data.getUint8(offset++, 1),
|
|
range: {
|
|
start: 900 + (data.getUint8(offset++, 1) * 25),
|
|
end: 900 + (data.getUint8(offset++, 1) * 25)
|
|
}
|
|
};
|
|
MODE_RANGES.push(modeRange);
|
|
}
|
|
break;
|
|
|
|
case MSP_codes.MSP_ADJUSTMENT_RANGES:
|
|
ADJUSTMENT_RANGES = []; // empty the array as new data is coming in
|
|
|
|
var adjustmentRangeCount = data.byteLength / 6; // 6 bytes per item.
|
|
|
|
var offset = 0;
|
|
for (var i = 0; offset < data.byteLength && i < adjustmentRangeCount; i++) {
|
|
var adjustmentRange = {
|
|
slotIndex: data.getUint8(offset++, 1),
|
|
auxChannelIndex: data.getUint8(offset++, 1),
|
|
range: {
|
|
start: 900 + (data.getUint8(offset++, 1) * 25),
|
|
end: 900 + (data.getUint8(offset++, 1) * 25)
|
|
},
|
|
adjustmentFunction: data.getUint8(offset++, 1),
|
|
auxSwitchChannelIndex: data.getUint8(offset++, 1)
|
|
};
|
|
ADJUSTMENT_RANGES.push(adjustmentRange);
|
|
}
|
|
break;
|
|
case MSP_codes.MSP_CHANNEL_FORWARDING:
|
|
for (var i = 0; i < 8; i ++) {
|
|
var channelIndex = data.getUint8(i);
|
|
if (channelIndex < 255) {
|
|
SERVO_CONFIG[i].indexOfChannelToForward = channelIndex;
|
|
} else {
|
|
SERVO_CONFIG[i].indexOfChannelToForward = undefined;
|
|
}
|
|
}
|
|
break;
|
|
|
|
case MSP_codes.MSP_LED_STRIP_CONFIG:
|
|
LED_STRIP = [];
|
|
|
|
var ledCount = data.byteLength / 7; // v1.4.0 and below incorrectly reported 4 bytes per led.
|
|
|
|
var offset = 0;
|
|
for (var i = 0; offset < data.byteLength && i < ledCount; i++) {
|
|
|
|
var directionMask = data.getUint16(offset, 1);
|
|
offset += 2;
|
|
|
|
var directions = [];
|
|
for (var directionLetterIndex = 0; directionLetterIndex < MSP.ledDirectionLetters.length; directionLetterIndex++) {
|
|
if (bit_check(directionMask, directionLetterIndex)) {
|
|
directions.push(MSP.ledDirectionLetters[directionLetterIndex]);
|
|
}
|
|
}
|
|
|
|
var functionMask = data.getUint16(offset, 1);
|
|
offset += 2;
|
|
|
|
var functions = [];
|
|
for (var functionLetterIndex = 0; functionLetterIndex < MSP.ledFunctionLetters.length; functionLetterIndex++) {
|
|
if (bit_check(functionMask, functionLetterIndex)) {
|
|
functions.push(MSP.ledFunctionLetters[functionLetterIndex]);
|
|
}
|
|
}
|
|
|
|
var led = {
|
|
directions: directions,
|
|
functions: functions,
|
|
x: data.getUint8(offset++, 1),
|
|
y: data.getUint8(offset++, 1),
|
|
color: data.getUint8(offset++, 1)
|
|
};
|
|
|
|
LED_STRIP.push(led);
|
|
}
|
|
|
|
break;
|
|
case MSP_codes.MSP_SET_LED_STRIP_CONFIG:
|
|
console.log('Led strip config saved');
|
|
break;
|
|
case MSP_codes.MSP_DATAFLASH_SUMMARY:
|
|
if (data.byteLength >= 13) {
|
|
DATAFLASH.ready = (data.getUint8(0) & 1) != 0;
|
|
DATAFLASH.sectors = data.getUint32(1, 1);
|
|
DATAFLASH.totalSize = data.getUint32(5, 1);
|
|
DATAFLASH.usedSize = data.getUint32(9, 1);
|
|
} else {
|
|
// Firmware version too old to support MSP_DATAFLASH_SUMMARY
|
|
DATAFLASH.ready = false;
|
|
DATAFLASH.sectors = 0;
|
|
DATAFLASH.totalSize = 0;
|
|
DATAFLASH.usedSize = 0;
|
|
}
|
|
break;
|
|
case MSP_codes.MSP_DATAFLASH_READ:
|
|
// No-op, let callback handle it
|
|
break;
|
|
case MSP_codes.MSP_DATAFLASH_ERASE:
|
|
console.log("Data flash erase begun...");
|
|
break;
|
|
case MSP_codes.MSP_SET_MODE_RANGE:
|
|
console.log('Mode range saved');
|
|
break;
|
|
case MSP_codes.MSP_SET_ADJUSTMENT_RANGE:
|
|
console.log('Adjustment range saved');
|
|
break;
|
|
|
|
case MSP_codes.MSP_PID_CONTROLLER:
|
|
PID.controller = data.getUint8(0, 1);
|
|
break;
|
|
case MSP_codes.MSP_SET_PID_CONTROLLER:
|
|
console.log('PID controller changed');
|
|
break;
|
|
|
|
|
|
default:
|
|
console.log('Unknown code detected: ' + code);
|
|
}
|
|
|
|
// trigger callbacks, cleanup/remove callback after trigger
|
|
for (var i = this.callbacks.length - 1; i >= 0; i--) { // itterating in reverse because we use .splice which modifies array length
|
|
if (this.callbacks[i].code == code) {
|
|
// save callback reference
|
|
var callback = this.callbacks[i].callback;
|
|
|
|
// remove timeout
|
|
clearInterval(this.callbacks[i].timer);
|
|
|
|
// remove object from array
|
|
this.callbacks.splice(i, 1);
|
|
|
|
// fire callback
|
|
if (callback) callback({'command': code, 'data': data, 'length': message_length});
|
|
}
|
|
}
|
|
},
|
|
send_message: function (code, data, callback_sent, callback_msp) {
|
|
var bufferOut,
|
|
bufView;
|
|
|
|
// always reserve 6 bytes for protocol overhead !
|
|
if (data) {
|
|
var size = data.length + 6,
|
|
checksum = 0;
|
|
|
|
bufferOut = new ArrayBuffer(size);
|
|
bufView = new Uint8Array(bufferOut);
|
|
|
|
bufView[0] = 36; // $
|
|
bufView[1] = 77; // M
|
|
bufView[2] = 60; // <
|
|
bufView[3] = data.length;
|
|
bufView[4] = code;
|
|
|
|
checksum = bufView[3] ^ bufView[4];
|
|
|
|
for (var i = 0; i < data.length; i++) {
|
|
bufView[i + 5] = data[i];
|
|
|
|
checksum ^= bufView[i + 5];
|
|
}
|
|
|
|
bufView[5 + data.length] = checksum;
|
|
} else {
|
|
bufferOut = new ArrayBuffer(6);
|
|
bufView = new Uint8Array(bufferOut);
|
|
|
|
bufView[0] = 36; // $
|
|
bufView[1] = 77; // M
|
|
bufView[2] = 60; // <
|
|
bufView[3] = 0; // data length
|
|
bufView[4] = code; // code
|
|
bufView[5] = bufView[3] ^ bufView[4]; // checksum
|
|
}
|
|
|
|
// dev version 0.57 code below got recently changed due to the fact that queueing same MSP codes was unsupported
|
|
// and was causing trouble while backup/restoring configurations
|
|
// watch out if the recent change create any inconsistencies and then adjust accordingly
|
|
var obj = {'code': code, 'requestBuffer': bufferOut, 'callback': (callback_msp) ? callback_msp : false, 'timer': false};
|
|
|
|
var requestExists = false;
|
|
for (var i = 0; i < MSP.callbacks.length; i++) {
|
|
if (MSP.callbacks[i].code == code) {
|
|
// request already exist, we will just attach
|
|
requestExists = true;
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (!requestExists) {
|
|
obj.timer = setInterval(function () {
|
|
console.log('MSP data request timed-out: ' + code);
|
|
|
|
serial.send(bufferOut, false);
|
|
}, 1000); // we should be able to define timeout in the future
|
|
}
|
|
|
|
MSP.callbacks.push(obj);
|
|
|
|
// always send messages with data payload (even when there is a message already in the queue)
|
|
if (data || !requestExists) {
|
|
serial.send(bufferOut, function (sendInfo) {
|
|
if (sendInfo.bytesSent == bufferOut.length) {
|
|
if (callback_sent) callback_sent();
|
|
}
|
|
});
|
|
}
|
|
|
|
return true;
|
|
},
|
|
callbacks_cleanup: function () {
|
|
for (var i = 0; i < this.callbacks.length; i++) {
|
|
clearInterval(this.callbacks[i].timer);
|
|
}
|
|
|
|
this.callbacks = [];
|
|
},
|
|
disconnect_cleanup: function () {
|
|
this.state = 0; // reset packet state for "clean" initial entry (this is only required if user hot-disconnects)
|
|
this.packet_error = 0; // reset CRC packet error counter for next session
|
|
|
|
this.callbacks_cleanup();
|
|
}
|
|
};
|
|
|
|
/**
|
|
* Encode the request body for the MSP request with the given code and return it as an array of bytes.
|
|
*/
|
|
MSP.crunch = function (code) {
|
|
var buffer = [];
|
|
|
|
switch (code) {
|
|
case MSP_codes.MSP_SET_BF_CONFIG:
|
|
buffer.push(BF_CONFIG.mixerConfiguration);
|
|
buffer.push(specificByte(BF_CONFIG.features, 0));
|
|
buffer.push(specificByte(BF_CONFIG.features, 1));
|
|
buffer.push(specificByte(BF_CONFIG.features, 2));
|
|
buffer.push(specificByte(BF_CONFIG.features, 3));
|
|
buffer.push(BF_CONFIG.serialrx_type);
|
|
buffer.push(specificByte(BF_CONFIG.board_align_roll, 0));
|
|
buffer.push(specificByte(BF_CONFIG.board_align_roll, 1));
|
|
buffer.push(specificByte(BF_CONFIG.board_align_pitch, 0));
|
|
buffer.push(specificByte(BF_CONFIG.board_align_pitch, 1));
|
|
buffer.push(specificByte(BF_CONFIG.board_align_yaw, 0));
|
|
buffer.push(specificByte(BF_CONFIG.board_align_yaw, 1));
|
|
buffer.push(lowByte(BF_CONFIG.currentscale));
|
|
buffer.push(highByte(BF_CONFIG.currentscale));
|
|
buffer.push(lowByte(BF_CONFIG.currentoffset));
|
|
buffer.push(highByte(BF_CONFIG.currentoffset));
|
|
break;
|
|
case MSP_codes.MSP_SET_PID_CONTROLLER:
|
|
buffer.push(PID.controller);
|
|
break;
|
|
case MSP_codes.MSP_SET_PID:
|
|
for (var i = 0; i < PIDs.length; i++) {
|
|
switch (i) {
|
|
case 0:
|
|
case 1:
|
|
case 2:
|
|
case 3:
|
|
case 7:
|
|
case 8:
|
|
case 9:
|
|
buffer.push(parseInt(PIDs[i][0] * 10));
|
|
buffer.push(parseInt(PIDs[i][1] * 1000));
|
|
buffer.push(parseInt(PIDs[i][2]));
|
|
break;
|
|
case 4:
|
|
buffer.push(parseInt(PIDs[i][0] * 100));
|
|
buffer.push(parseInt(PIDs[i][1] * 100));
|
|
buffer.push(parseInt(PIDs[i][2]));
|
|
break;
|
|
case 5:
|
|
case 6:
|
|
buffer.push(parseInt(PIDs[i][0] * 10));
|
|
buffer.push(parseInt(PIDs[i][1] * 100));
|
|
buffer.push(parseInt(PIDs[i][2] * 1000));
|
|
break;
|
|
}
|
|
}
|
|
break;
|
|
case MSP_codes.MSP_SET_RC_TUNING:
|
|
buffer.push(parseInt(RC_tuning.RC_RATE * 100));
|
|
buffer.push(parseInt(RC_tuning.RC_EXPO * 100));
|
|
if (CONFIG.apiVersion < 1.7) {
|
|
buffer.push(parseInt(RC_tuning.roll_pitch_rate * 100));
|
|
} else {
|
|
buffer.push(parseInt(RC_tuning.roll_rate * 100));
|
|
buffer.push(parseInt(RC_tuning.pitch_rate * 100));
|
|
}
|
|
buffer.push(parseInt(RC_tuning.yaw_rate * 100));
|
|
buffer.push(parseInt(RC_tuning.dynamic_THR_PID * 100));
|
|
buffer.push(parseInt(RC_tuning.throttle_MID * 100));
|
|
buffer.push(parseInt(RC_tuning.throttle_EXPO * 100));
|
|
if (CONFIG.apiVersion >= 1.7) {
|
|
buffer.push(lowByte(RC_tuning.dynamic_THR_breakpoint));
|
|
buffer.push(highByte(RC_tuning.dynamic_THR_breakpoint));
|
|
}
|
|
break;
|
|
// Disabled, cleanflight does not use MSP_SET_BOX.
|
|
/*
|
|
case MSP_codes.MSP_SET_BOX:
|
|
for (var i = 0; i < AUX_CONFIG_values.length; i++) {
|
|
buffer.push(lowByte(AUX_CONFIG_values[i]));
|
|
buffer.push(highByte(AUX_CONFIG_values[i]));
|
|
}
|
|
break;
|
|
*/
|
|
case MSP_codes.MSP_SET_RCMAP:
|
|
for (var i = 0; i < RC_MAP.length; i++) {
|
|
buffer.push(RC_MAP[i]);
|
|
}
|
|
break;
|
|
case MSP_codes.MSP_SET_ACC_TRIM:
|
|
buffer.push(lowByte(CONFIG.accelerometerTrims[0]));
|
|
buffer.push(highByte(CONFIG.accelerometerTrims[0]));
|
|
buffer.push(lowByte(CONFIG.accelerometerTrims[1]));
|
|
buffer.push(highByte(CONFIG.accelerometerTrims[1]));
|
|
break;
|
|
case MSP_codes.MSP_SET_ARM_CONFIG:
|
|
if (CONFIG.apiVersion >= 1.8) {
|
|
buffer.push(ARM_CONFIG.auto_disarm_delay);
|
|
buffer.push(ARM_CONFIG.disarm_kill_switch);
|
|
}
|
|
break;
|
|
case MSP_codes.MSP_SET_LOOP_TIME:
|
|
if (CONFIG.apiVersion >= 1.8) {
|
|
buffer.push(lowByte(LOOP_TIME));
|
|
buffer.push(highByte(LOOP_TIME));
|
|
}
|
|
break;
|
|
case MSP_codes.MSP_SET_MISC:
|
|
buffer.push(lowByte(MISC.midrc));
|
|
buffer.push(highByte(MISC.midrc));
|
|
buffer.push(lowByte(MISC.minthrottle));
|
|
buffer.push(highByte(MISC.minthrottle));
|
|
buffer.push(lowByte(MISC.maxthrottle));
|
|
buffer.push(highByte(MISC.maxthrottle));
|
|
buffer.push(lowByte(MISC.mincommand));
|
|
buffer.push(highByte(MISC.mincommand));
|
|
buffer.push(lowByte(MISC.failsafe_throttle));
|
|
buffer.push(highByte(MISC.failsafe_throttle));
|
|
buffer.push(MISC.gps_type);
|
|
buffer.push(MISC.gps_baudrate);
|
|
buffer.push(MISC.gps_ubx_sbas);
|
|
buffer.push(MISC.multiwiicurrentoutput);
|
|
buffer.push(MISC.rssi_channel);
|
|
buffer.push(MISC.placeholder2);
|
|
buffer.push(lowByte(MISC.mag_declination * 10));
|
|
buffer.push(highByte(MISC.mag_declination * 10));
|
|
buffer.push(MISC.vbatscale);
|
|
buffer.push(MISC.vbatmincellvoltage * 10);
|
|
buffer.push(MISC.vbatmaxcellvoltage * 10);
|
|
buffer.push(MISC.vbatwarningcellvoltage * 10);
|
|
break;
|
|
case MSP_codes.MSP_SET_SERVO_CONF:
|
|
for (var i = 0; i < SERVO_CONFIG.length; i++) {
|
|
buffer.push(lowByte(SERVO_CONFIG[i].min));
|
|
buffer.push(highByte(SERVO_CONFIG[i].min));
|
|
|
|
buffer.push(lowByte(SERVO_CONFIG[i].max));
|
|
buffer.push(highByte(SERVO_CONFIG[i].max));
|
|
|
|
buffer.push(lowByte(SERVO_CONFIG[i].middle));
|
|
buffer.push(highByte(SERVO_CONFIG[i].middle));
|
|
|
|
buffer.push(lowByte(SERVO_CONFIG[i].rate));
|
|
}
|
|
break;
|
|
case MSP_codes.MSP_SET_CHANNEL_FORWARDING:
|
|
for (var i = 0; i < SERVO_CONFIG.length; i++) {
|
|
var out = SERVO_CONFIG[i].indexOfChannelToForward;
|
|
if (out == undefined) {
|
|
out = 255; // Cleanflight defines "CHANNEL_FORWARDING_DISABLED" as "(uint8_t)0xFF"
|
|
}
|
|
buffer.push(out);
|
|
}
|
|
break;
|
|
case MSP_codes.MSP_SET_CF_SERIAL_CONFIG:
|
|
if (CONFIG.apiVersion < 1.6) {
|
|
|
|
for (var i = 0; i < SERIAL_CONFIG.ports.length; i++) {
|
|
buffer.push(SERIAL_CONFIG.ports[i].scenario);
|
|
}
|
|
buffer.push(specificByte(SERIAL_CONFIG.mspBaudRate, 0));
|
|
buffer.push(specificByte(SERIAL_CONFIG.mspBaudRate, 1));
|
|
buffer.push(specificByte(SERIAL_CONFIG.mspBaudRate, 2));
|
|
buffer.push(specificByte(SERIAL_CONFIG.mspBaudRate, 3));
|
|
|
|
buffer.push(specificByte(SERIAL_CONFIG.cliBaudRate, 0));
|
|
buffer.push(specificByte(SERIAL_CONFIG.cliBaudRate, 1));
|
|
buffer.push(specificByte(SERIAL_CONFIG.cliBaudRate, 2));
|
|
buffer.push(specificByte(SERIAL_CONFIG.cliBaudRate, 3));
|
|
|
|
buffer.push(specificByte(SERIAL_CONFIG.gpsBaudRate, 0));
|
|
buffer.push(specificByte(SERIAL_CONFIG.gpsBaudRate, 1));
|
|
buffer.push(specificByte(SERIAL_CONFIG.gpsBaudRate, 2));
|
|
buffer.push(specificByte(SERIAL_CONFIG.gpsBaudRate, 3));
|
|
|
|
buffer.push(specificByte(SERIAL_CONFIG.gpsPassthroughBaudRate, 0));
|
|
buffer.push(specificByte(SERIAL_CONFIG.gpsPassthroughBaudRate, 1));
|
|
buffer.push(specificByte(SERIAL_CONFIG.gpsPassthroughBaudRate, 2));
|
|
buffer.push(specificByte(SERIAL_CONFIG.gpsPassthroughBaudRate, 3));
|
|
} else {
|
|
for (var i = 0; i < SERIAL_CONFIG.ports.length; i++) {
|
|
var serialPort = SERIAL_CONFIG.ports[i];
|
|
|
|
buffer.push(serialPort.identifier);
|
|
|
|
var functionMask = MSP.serialPortFunctionsToMask(serialPort.functions);
|
|
buffer.push(specificByte(functionMask, 0));
|
|
buffer.push(specificByte(functionMask, 1));
|
|
|
|
buffer.push(MSP.supportedBaudRates.indexOf(serialPort.msp_baudrate));
|
|
buffer.push(MSP.supportedBaudRates.indexOf(serialPort.gps_baudrate));
|
|
buffer.push(MSP.supportedBaudRates.indexOf(serialPort.telemetry_baudrate));
|
|
buffer.push(MSP.supportedBaudRates.indexOf(serialPort.blackbox_baudrate));
|
|
}
|
|
}
|
|
break;
|
|
|
|
default:
|
|
return false;
|
|
}
|
|
|
|
return buffer;
|
|
};
|
|
|
|
/**
|
|
* Send a request to read a block of data from the dataflash at the given address and pass that address and a dataview
|
|
* of the returned data to the given callback (or null for the data if an error occured).
|
|
*/
|
|
MSP.dataflashRead = function(address, onDataCallback) {
|
|
MSP.send_message(MSP_codes.MSP_DATAFLASH_READ, [address & 0xFF, (address >> 8) & 0xFF, (address >> 16) & 0xFF, (address >> 24) & 0xFF],
|
|
false, function(response) {
|
|
var chunkAddress = response.data.getUint32(0, 1);
|
|
|
|
// Verify that the address of the memory returned matches what the caller asked for
|
|
if (chunkAddress == address) {
|
|
/* Strip that address off the front of the reply and deliver it separately so the caller doesn't have to
|
|
* figure out the reply format:
|
|
*/
|
|
onDataCallback(address, new DataView(response.data.buffer, response.data.byteOffset + 4, response.data.buffer.byteLength - 4));
|
|
} else {
|
|
// Report error
|
|
onDataCallback(address, null);
|
|
}
|
|
});
|
|
} ;
|
|
|
|
MSP.sendModeRanges = function(onCompleteCallback) {
|
|
var nextFunction = send_next_mode_range;
|
|
|
|
var modeRangeIndex = 0;
|
|
|
|
if (MODE_RANGES.length == 0) {
|
|
onCompleteCallback();
|
|
}
|
|
|
|
send_next_mode_range();
|
|
|
|
|
|
function send_next_mode_range() {
|
|
|
|
var modeRange = MODE_RANGES[modeRangeIndex];
|
|
|
|
var AUX_val_buffer_out = [];
|
|
AUX_val_buffer_out.push(modeRangeIndex);
|
|
AUX_val_buffer_out.push(modeRange.id);
|
|
AUX_val_buffer_out.push(modeRange.auxChannelIndex);
|
|
AUX_val_buffer_out.push((modeRange.range.start - 900) / 25);
|
|
AUX_val_buffer_out.push((modeRange.range.end - 900) / 25);
|
|
|
|
// prepare for next iteration
|
|
modeRangeIndex++;
|
|
if (modeRangeIndex == MODE_RANGES.length) {
|
|
nextFunction = onCompleteCallback;
|
|
|
|
}
|
|
MSP.send_message(MSP_codes.MSP_SET_MODE_RANGE, AUX_val_buffer_out, false, nextFunction);
|
|
}
|
|
};
|
|
|
|
MSP.sendAdjustmentRanges = function(onCompleteCallback) {
|
|
var nextFunction = send_next_adjustment_range;
|
|
|
|
var adjustmentRangeIndex = 0;
|
|
|
|
if (ADJUSTMENT_RANGES.length == 0) {
|
|
onCompleteCallback();
|
|
}
|
|
|
|
send_next_adjustment_range();
|
|
|
|
|
|
function send_next_adjustment_range() {
|
|
|
|
var adjustmentRange = ADJUSTMENT_RANGES[adjustmentRangeIndex];
|
|
|
|
var ADJUSTMENT_val_buffer_out = [];
|
|
ADJUSTMENT_val_buffer_out.push(adjustmentRangeIndex);
|
|
ADJUSTMENT_val_buffer_out.push(adjustmentRange.slotIndex);
|
|
ADJUSTMENT_val_buffer_out.push(adjustmentRange.auxChannelIndex);
|
|
ADJUSTMENT_val_buffer_out.push((adjustmentRange.range.start - 900) / 25);
|
|
ADJUSTMENT_val_buffer_out.push((adjustmentRange.range.end - 900) / 25);
|
|
ADJUSTMENT_val_buffer_out.push(adjustmentRange.adjustmentFunction);
|
|
ADJUSTMENT_val_buffer_out.push(adjustmentRange.auxSwitchChannelIndex);
|
|
|
|
// prepare for next iteration
|
|
adjustmentRangeIndex++;
|
|
if (adjustmentRangeIndex == ADJUSTMENT_RANGES.length) {
|
|
nextFunction = onCompleteCallback;
|
|
|
|
}
|
|
MSP.send_message(MSP_codes.MSP_SET_ADJUSTMENT_RANGE, ADJUSTMENT_val_buffer_out, false, nextFunction);
|
|
}
|
|
};
|
|
|
|
MSP.sendLedStripConfig = function(onCompleteCallback) {
|
|
|
|
var nextFunction = send_next_led_strip_config;
|
|
|
|
var ledIndex = 0;
|
|
|
|
if (LED_STRIP.length == 0) {
|
|
onCompleteCallback();
|
|
}
|
|
|
|
send_next_led_strip_config();
|
|
|
|
function send_next_led_strip_config() {
|
|
|
|
var led = LED_STRIP[ledIndex];
|
|
|
|
var buffer = [];
|
|
|
|
buffer.push(ledIndex);
|
|
|
|
var directionMask = 0;
|
|
for (var directionLetterIndex = 0; directionLetterIndex < led.directions.length; directionLetterIndex++) {
|
|
var bitIndex = MSP.ledDirectionLetters.indexOf(led.directions[directionLetterIndex]);
|
|
if (bitIndex >= 0) {
|
|
directionMask = bit_set(directionMask, bitIndex);
|
|
}
|
|
}
|
|
buffer.push(specificByte(directionMask, 0));
|
|
buffer.push(specificByte(directionMask, 1));
|
|
|
|
var functionMask = 0;
|
|
for (var functionLetterIndex = 0; functionLetterIndex < led.functions.length; functionLetterIndex++) {
|
|
var bitIndex = MSP.ledFunctionLetters.indexOf(led.functions[functionLetterIndex]);
|
|
if (bitIndex >= 0) {
|
|
functionMask = bit_set(functionMask, bitIndex);
|
|
}
|
|
}
|
|
buffer.push(specificByte(functionMask, 0));
|
|
buffer.push(specificByte(functionMask, 1));
|
|
|
|
buffer.push(led.x);
|
|
buffer.push(led.y);
|
|
|
|
buffer.push(led.color);
|
|
|
|
|
|
// prepare for next iteration
|
|
ledIndex++;
|
|
if (ledIndex == LED_STRIP.length) {
|
|
nextFunction = onCompleteCallback;
|
|
}
|
|
|
|
MSP.send_message(MSP_codes.MSP_SET_LED_STRIP_CONFIG, buffer, false, nextFunction);
|
|
}
|
|
}
|
|
|
|
MSP.serialPortFunctionMaskToFunctions = function(functionMask) {
|
|
var functions = [];
|
|
|
|
for (var index = 0; index < MSP.serialPortFunctions.length; index++) {
|
|
if (bit_check(functionMask, index)) {
|
|
functions.push(MSP.serialPortFunctions[index]);
|
|
}
|
|
}
|
|
return functions;
|
|
}
|
|
|
|
MSP.serialPortFunctionsToMask = function(functions) {
|
|
var mask = 0;
|
|
for (var index = 0; index < functions.length; index++) {
|
|
var bitIndex = MSP.serialPortFunctions.indexOf(functions[index]);
|
|
if (bitIndex >= 0) {
|
|
mask = bit_set(mask, bitIndex);
|
|
}
|
|
}
|
|
return mask;
|
|
}
|