feat: add MSP_PILOT_CONFIG with user definable parameters (#156)

rotorflight · Sep 11, 2024 · 36b58c7 · 36b58c7
1 parent 2507814
commit 36b58c7
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Showing 5 changed files with 42 additions and 5 deletions.
diff --git a/src/main/cli/settings.c b/src/main/cli/settings.c
@@ -501,6 +501,10 @@ const char * const lookupTableEdgeMode[] = {
     "FALLING", "RISING"
 };
 
+const char * const lookupTableParamType[] = {
+    "NONE", "TIMER1", "TIMER2", "TIMER3", "GV1", "GV2", "GV3", "GV4", "GV5", "GV6", "GV7", "GV8", "GV9"
+};
+
 #define LOOKUP_TABLE_ENTRY(name) { name, ARRAYLEN(name) }
 
 const lookupTableEntry_t lookupTables[] = {
@@ -614,6 +618,7 @@ const lookupTableEntry_t lookupTables[] = {
     LOOKUP_TABLE_ENTRY(lookupTableTelemMode),
     LOOKUP_TABLE_ENTRY(lookupTablePullMode),
     LOOKUP_TABLE_ENTRY(lookupTableEdgeMode),
+    LOOKUP_TABLE_ENTRY(lookupTableParamType),
 };
 
 #undef LOOKUP_TABLE_ENTRY
@@ -1701,6 +1706,12 @@ const clivalue_t valueTable[] = {
     { "display_name",     VAR_UINT8  | MASTER_VALUE | MODE_STRING, .config.string = { 1, MAX_NAME_LENGTH, STRING_FLAGS_NONE }, PG_PILOT_CONFIG, offsetof(pilotConfig_t, displayName) },
 #endif
     { "model_id",         VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 99 }, PG_PILOT_CONFIG, offsetof(pilotConfig_t, modelId) },
+    { "model_param1_type",  VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_PARAM_TYPE }, PG_PILOT_CONFIG, offsetof(pilotConfig_t, modelParam1Type) },
+    { "model_param1_value", VAR_INT16  | MASTER_VALUE, .config.minmax = { INT16_MIN, INT16_MAX }, PG_PILOT_CONFIG, offsetof(pilotConfig_t, modelParam1Value) },
+    { "model_param2_type",  VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_PARAM_TYPE }, PG_PILOT_CONFIG, offsetof(pilotConfig_t, modelParam2Type) },
+    { "model_param2_value", VAR_INT16  | MASTER_VALUE, .config.minmax = { INT16_MIN, INT16_MAX }, PG_PILOT_CONFIG, offsetof(pilotConfig_t, modelParam2Value) },
+    { "model_param3_type",  VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_PARAM_TYPE }, PG_PILOT_CONFIG, offsetof(pilotConfig_t, modelParam3Type) },
+    { "model_param3_value", VAR_INT16  | MASTER_VALUE, .config.minmax = { INT16_MIN, INT16_MAX }, PG_PILOT_CONFIG, offsetof(pilotConfig_t, modelParam3Value) },
 
 // PG_POSITION
     { "position_alt_source",       VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_POSITION_ALT_SOURCE }, PG_POSITION, offsetof(positionConfig_t, alt_source) },

diff --git a/src/main/cli/settings.h b/src/main/cli/settings.h
@@ -129,9 +129,9 @@ typedef enum {
     TABLE_SWASH_TYPE,
     TABLE_DTERM_MODE,
     TABLE_TELEM_MODE,
-
     TABLE_INPUT_PULL_MODE,
     TABLE_INPUT_EDGE_MODE,
+    TABLE_PARAM_TYPE,
 
     LOOKUP_TABLE_COUNT
 } lookupTableIndex_e;

diff --git a/src/main/msp/msp.c b/src/main/msp/msp.c
@@ -1103,10 +1103,20 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
             for (int i = 0; i < nameLen; i++) {
                 sbufWriteU8(dst, pilotConfig()->name[i]);
             }
-            sbufWriteU8(dst, pilotConfig()->modelId);
         }
         break;
 
+    case MSP_PILOT_CONFIG:
+        // Introduced in MSP API 12.7
+        sbufWriteU8(dst, pilotConfig()->modelId);
+        sbufWriteU8(dst, pilotConfig()->modelParam1Type);
+        sbufWriteU16(dst, pilotConfig()->modelParam1Value);
+        sbufWriteU8(dst, pilotConfig()->modelParam2Type);
+        sbufWriteU16(dst, pilotConfig()->modelParam2Value);
+        sbufWriteU8(dst, pilotConfig()->modelParam3Type);
+        sbufWriteU16(dst, pilotConfig()->modelParam3Value);
+        break;
+
 #ifdef USE_SERVOS
     case MSP_SERVO:
         for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
@@ -3202,14 +3212,22 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
         for (unsigned int i = 0; i < MIN(MAX_NAME_LENGTH, dataSize); i++) {
             pilotConfigMutable()->name[i] = sbufReadU8(src);
         }
-        if (sbufBytesRemaining(src) >= 1) {
-            pilotConfigMutable()->modelId = sbufReadU8(src);
-        }
 #ifdef USE_OSD
         osdAnalyzeActiveElements();
 #endif
         break;
 
+    case MSP_SET_PILOT_CONFIG:
+        // Introduced in MSP API 12.7
+        pilotConfigMutable()->modelId = sbufReadU8(src);
+        pilotConfigMutable()->modelParam1Type = sbufReadU8(src);
+        pilotConfigMutable()->modelParam1Value = sbufReadU16(src);
+        pilotConfigMutable()->modelParam2Type = sbufReadU8(src);
+        pilotConfigMutable()->modelParam2Value = sbufReadU16(src);
+        pilotConfigMutable()->modelParam3Type = sbufReadU8(src);
+        pilotConfigMutable()->modelParam3Value = sbufReadU16(src);
+        break;
+
 #ifdef USE_RTC_TIME
     case MSP_SET_RTC:
         {

diff --git a/src/main/msp/msp_protocol.h b/src/main/msp/msp_protocol.h
@@ -74,6 +74,8 @@
 
 #define MSP_NAME                             10
 #define MSP_SET_NAME                         11
+#define MSP_PILOT_CONFIG                     12
+#define MSP_SET_PILOT_CONFIG                 13
 
 #define MSP_BATTERY_CONFIG                   32
 #define MSP_SET_BATTERY_CONFIG               33

diff --git a/src/main/pg/pilot.h b/src/main/pg/pilot.h
@@ -29,6 +29,12 @@ typedef struct {
     char    name[MAX_NAME_LENGTH + 1];
     char    displayName[MAX_NAME_LENGTH + 1];
     uint8_t modelId;
+    uint8_t modelParam1Type;
+    int16_t modelParam1Value;
+    uint8_t modelParam2Type;
+    int16_t modelParam2Value;
+    uint8_t modelParam3Type;
+    int16_t modelParam3Value;
 } pilotConfig_t;
 
 PG_DECLARE(pilotConfig_t, pilotConfig);