2020-08-04 17:38:43 -03:00
/*
* This file is part of Cleanflight and Betaflight .
*
* Cleanflight and Betaflight are free software . You can redistribute
* this software and / or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation , either version 3 of the License , or ( at your option )
* any later version .
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful , but WITHOUT ANY WARRANTY ; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE .
* See the GNU General Public License for more details .
*
* You should have received a copy of the GNU General Public License
* along with this software .
*
* If not , see < http : //www.gnu.org/licenses/>.
*/
/**
* MSP Guidelines , emphasis is used to clarify .
*
* Each FlightController ( FC , Server ) MUST change the API version when any MSP command is added , deleted , or changed .
*
* If you fork the FC source code and release your own version , you MUST change the Flight Controller Identifier .
*
* NEVER release a modified copy of this code that shares the same Flight controller IDENT and API version
* if the API doesn ' t match EXACTLY .
*
* Consumers of the API ( API clients ) SHOULD first attempt to get a response from the MSP_API_VERSION command .
* If no response is obtained then client MAY try the legacy MSP_IDENT command .
*
* API consumers should ALWAYS handle communication failures gracefully and attempt to continue
* without the information if possible . Clients MAY log / display a suitable message .
*
* API clients should NOT attempt any communication if they can ' t handle the returned API MAJOR VERSION .
*
* API clients SHOULD attempt communication if the API MINOR VERSION has increased from the time
* the API client was written and handle command failures gracefully . Clients MAY disable
* functionality that depends on the commands while still leaving other functionality intact .
* that the newer API version may cause problems before using API commands that change FC state .
*
* It is for this reason that each MSP command should be specific as possible , such that changes
* to commands break as little functionality as possible .
*
* API client authors MAY use a compatibility matrix / table when determining if they can support
* a given command from a given flight controller at a given api version level .
*
* Developers MUST NOT create new MSP commands that do more than one thing .
*
* Failure to follow these guidelines will likely invoke the wrath of developers trying to write tools
* that use the API and the users of those tools .
*/
# pragma once
/* Protocol numbers used both by the wire format, config system, and
field setters .
*/
# define MSP_PROTOCOL_VERSION 0
# define API_VERSION_MAJOR 1
# define API_VERSION_MINOR 42 // for compatibility with DJI OSD
# define API_VERSION_LENGTH 2
# define MULTIWII_IDENTIFIER "MWII";
# define BASEFLIGHT_IDENTIFIER "BAFL";
# define BETAFLIGHT_IDENTIFIER "BTFL"
# define CLEANFLIGHT_IDENTIFIER "CLFL"
# define INAV_IDENTIFIER "INAV"
# define RACEFLIGHT_IDENTIFIER "RCFL"
# define ARDUPILOT_IDENTIFIER "ARDU"
# define FLIGHT_CONTROLLER_IDENTIFIER_LENGTH 4
# define FLIGHT_CONTROLLER_VERSION_LENGTH 3
# define FLIGHT_CONTROLLER_VERSION_MASK 0xFFF
# define BOARD_IDENTIFIER_LENGTH 4 // 4 UPPER CASE alpha numeric characters that identify the board being used.
# define BOARD_HARDWARE_REVISION_LENGTH 2
// These are baseflight specific flags but they are useless now since MW 2.3 uses the upper 4 bits for the navigation version.
# define CAP_PLATFORM_32BIT ((uint32_t)1 << 31)
# define CAP_BASEFLIGHT_CONFIG ((uint32_t)1 << 30)
// MW 2.3 stores NAVI_VERSION in the top 4 bits of the capability mask.
# define CAP_NAVI_VERSION_BIT_4_MSB ((uint32_t)1 << 31)
# define CAP_NAVI_VERSION_BIT_3 ((uint32_t)1 << 30)
# define CAP_NAVI_VERSION_BIT_2 ((uint32_t)1 << 29)
# define CAP_NAVI_VERSION_BIT_1_LSB ((uint32_t)1 << 28)
# define CAP_DYNBALANCE ((uint32_t)1 << 2)
# define CAP_FLAPS ((uint32_t)1 << 3)
# define CAP_NAVCAP ((uint32_t)1 << 4)
# define CAP_EXTAUX ((uint32_t)1 << 5)
# define MSP_API_VERSION 1 //out message
# define MSP_FC_VARIANT 2 //out message
# define MSP_FC_VERSION 3 //out message
# define MSP_BOARD_INFO 4 //out message
# define MSP_BUILD_INFO 5 //out message
# define MSP_NAME 10 //out message Returns user set board name - betaflight
# define MSP_SET_NAME 11 //in message Sets board name - betaflight
//
// MSP commands for Cleanflight original features
//
# define MSP_BATTERY_CONFIG 32
# define MSP_SET_BATTERY_CONFIG 33
# define MSP_MODE_RANGES 34 //out message Returns all mode ranges
# define MSP_SET_MODE_RANGE 35 //in message Sets a single mode range
# define MSP_FEATURE_CONFIG 36
# define MSP_SET_FEATURE_CONFIG 37
# define MSP_BOARD_ALIGNMENT_CONFIG 38
# define MSP_SET_BOARD_ALIGNMENT_CONFIG 39
# define MSP_CURRENT_METER_CONFIG 40
# define MSP_SET_CURRENT_METER_CONFIG 41
# define MSP_MIXER_CONFIG 42
# define MSP_SET_MIXER_CONFIG 43
# define MSP_RX_CONFIG 44
# define MSP_SET_RX_CONFIG 45
# define MSP_LED_COLORS 46
# define MSP_SET_LED_COLORS 47
# define MSP_LED_STRIP_CONFIG 48
# define MSP_SET_LED_STRIP_CONFIG 49
# define MSP_RSSI_CONFIG 50
# define MSP_SET_RSSI_CONFIG 51
# define MSP_ADJUSTMENT_RANGES 52
# define MSP_SET_ADJUSTMENT_RANGE 53
// private - only to be used by the configurator, the commands are likely to change
# define MSP_CF_SERIAL_CONFIG 54
# define MSP_SET_CF_SERIAL_CONFIG 55
# define MSP_VOLTAGE_METER_CONFIG 56
# define MSP_SET_VOLTAGE_METER_CONFIG 57
# define MSP_SONAR_ALTITUDE 58 //out message get sonar altitude [cm]
# define MSP_PID_CONTROLLER 59
# define MSP_SET_PID_CONTROLLER 60
# define MSP_ARMING_CONFIG 61
# define MSP_SET_ARMING_CONFIG 62
//
// Baseflight MSP commands (if enabled they exist in Cleanflight)
//
# define MSP_RX_MAP 64 //out message get channel map (also returns number of channels total)
# define MSP_SET_RX_MAP 65 //in message set rx map, numchannels to set comes from MSP_RX_MAP
// DEPRECATED - DO NOT USE "MSP_BF_CONFIG" and MSP_SET_BF_CONFIG. In Cleanflight, isolated commands already exist and should be used instead.
// DEPRECATED - #define MSP_BF_CONFIG 66 //out message baseflight-specific settings that aren't covered elsewhere
// DEPRECATED - #define MSP_SET_BF_CONFIG 67 //in message baseflight-specific settings save
# define MSP_REBOOT 68 //in message reboot settings
// Use MSP_BUILD_INFO instead
// DEPRECATED - #define MSP_BF_BUILD_INFO 69 //out message build date as well as some space for future expansion
# define MSP_DATAFLASH_SUMMARY 70 //out message - get description of dataflash chip
# define MSP_DATAFLASH_READ 71 //out message - get content of dataflash chip
# define MSP_DATAFLASH_ERASE 72 //in message - erase dataflash chip
// No-longer needed
// DEPRECATED - #define MSP_LOOP_TIME 73 //out message Returns FC cycle time i.e looptime parameter // DEPRECATED
// DEPRECATED - #define MSP_SET_LOOP_TIME 74 //in message Sets FC cycle time i.e looptime parameter // DEPRECATED
# define MSP_FAILSAFE_CONFIG 75 //out message Returns FC Fail-Safe settings
# define MSP_SET_FAILSAFE_CONFIG 76 //in message Sets FC Fail-Safe settings
# define MSP_RXFAIL_CONFIG 77 //out message Returns RXFAIL settings
# define MSP_SET_RXFAIL_CONFIG 78 //in message Sets RXFAIL settings
# define MSP_SDCARD_SUMMARY 79 //out message Get the state of the SD card
# define MSP_BLACKBOX_CONFIG 80 //out message Get blackbox settings
# define MSP_SET_BLACKBOX_CONFIG 81 //in message Set blackbox settings
# define MSP_TRANSPONDER_CONFIG 82 //out message Get transponder settings
# define MSP_SET_TRANSPONDER_CONFIG 83 //in message Set transponder settings
# define MSP_OSD_CONFIG 84 //out message Get osd settings - betaflight
# define MSP_SET_OSD_CONFIG 85 //in message Set osd settings - betaflight
# define MSP_OSD_CHAR_READ 86 //out message Get osd settings - betaflight
# define MSP_OSD_CHAR_WRITE 87 //in message Set osd settings - betaflight
# define MSP_VTX_CONFIG 88 //out message Get vtx settings - betaflight
# define MSP_SET_VTX_CONFIG 89 //in message Set vtx settings - betaflight
// Betaflight Additional Commands
# define MSP_ADVANCED_CONFIG 90
# define MSP_SET_ADVANCED_CONFIG 91
# define MSP_FILTER_CONFIG 92
# define MSP_SET_FILTER_CONFIG 93
# define MSP_PID_ADVANCED 94
# define MSP_SET_PID_ADVANCED 95
# define MSP_SENSOR_CONFIG 96
# define MSP_SET_SENSOR_CONFIG 97
# define MSP_CAMERA_CONTROL 98
# define MSP_SET_ARMING_DISABLED 99
//
// OSD specific
//
# define MSP_OSD_VIDEO_CONFIG 180
# define MSP_SET_OSD_VIDEO_CONFIG 181
// External OSD displayport mode messages
# define MSP_DISPLAYPORT 182
# define MSP_COPY_PROFILE 183
# define MSP_BEEPER_CONFIG 184
# define MSP_SET_BEEPER_CONFIG 185
# define MSP_SET_TX_INFO 186 // in message Used to send runtime information from TX lua scripts to the firmware
# define MSP_TX_INFO 187 // out message Used by TX lua scripts to read information from the firmware
//
// Multwii original MSP commands
//
// See MSP_API_VERSION and MSP_MIXER_CONFIG
//DEPRECATED - #define MSP_IDENT 100 //out message mixerMode + 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 servos
# define MSP_MOTOR 104 //out message motors
# define MSP_RC 105 //out message rc channels 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)
// Legacy Multiicommand that was never used.
//DEPRECATED - #define MSP_BOX 113 //out message BOX setup (number is dependant of your setup)
// Legacy command that was under constant change due to the naming vagueness, avoid at all costs - use more specific commands instead.
//DEPRECATED - #define MSP_MISC 114 //out message powermeter trig
// Legacy Multiicommand that was never used and always wrong
//DEPRECATED - #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_CONFIGURATIONS 120 //out message All servo configurations.
# define MSP_NAV_STATUS 121 //out message Returns navigation status
# define MSP_NAV_CONFIG 122 //out message Returns navigation parameters
# define MSP_MOTOR_3D_CONFIG 124 //out message Settings needed for reversible ESCs
# define MSP_RC_DEADBAND 125 //out message deadbands for yaw alt pitch roll
# define MSP_SENSOR_ALIGNMENT 126 //out message orientation of acc,gyro,mag
# define MSP_LED_STRIP_MODECOLOR 127 //out message Get LED strip mode_color settings
# define MSP_VOLTAGE_METERS 128 //out message Voltage (per meter)
# define MSP_CURRENT_METERS 129 //out message Amperage (per meter)
# define MSP_BATTERY_STATE 130 //out message Connected/Disconnected, Voltage, Current Used
# define MSP_MOTOR_CONFIG 131 //out message Motor configuration (min/max throttle, etc)
# define MSP_GPS_CONFIG 132 //out message GPS configuration
# define MSP_COMPASS_CONFIG 133 //out message Compass configuration
# define MSP_ESC_SENSOR_DATA 134 //out message Extra ESC data from 32-Bit ESCs (Temperature, RPM)
# define MSP_GPS_RESCUE 135 //out message GPS Rescues's angle, initialAltitude, descentDistance, rescueGroundSpeed, sanityChecks and minSats
# define MSP_GPS_RESCUE_PIDS 136 //out message GPS Rescues's throttleP and velocity PIDS + yaw P
# define MSP_VTXTABLE_BAND 137 //out message vtxTable band/channel data
# define MSP_VTXTABLE_POWERLEVEL 138 //out message vtxTable powerLevel data
# define MSP_MOTOR_TELEMETRY 139 //out message Per-motor telemetry data (RPM, packet stats, ESC temp, etc.)
# 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)
// Legacy multiiwii command that was never used.
//DEPRECATED - #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, yaw expo
# define MSP_ACC_CALIBRATION 205 //in message no param
# define MSP_MAG_CALIBRATION 206 //in message no param
// Legacy command that was under constant change due to the naming vagueness, avoid at all costs - use more specific commands instead.
//DEPRECATED - #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_HEADING 211 //in message define a new heading hold direction
# define MSP_SET_SERVO_CONFIGURATION 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_MOTOR_3D_CONFIG 217 //in message Settings needed for reversible ESCs
# define MSP_SET_RC_DEADBAND 218 //in message deadbands for yaw alt pitch roll
# define MSP_SET_RESET_CURR_PID 219 //in message resetting the current pid profile to defaults
# define MSP_SET_SENSOR_ALIGNMENT 220 //in message set the orientation of the acc,gyro,mag
# define MSP_SET_LED_STRIP_MODECOLOR 221 //in message Set LED strip mode_color settings
# define MSP_SET_MOTOR_CONFIG 222 //out message Motor configuration (min/max throttle, etc)
# define MSP_SET_GPS_CONFIG 223 //out message GPS configuration
# define MSP_SET_COMPASS_CONFIG 224 //out message Compass configuration
# define MSP_SET_GPS_RESCUE 225 //in message GPS Rescues's angle, initialAltitude, descentDistance, rescueGroundSpeed, sanityChecks and minSats
# define MSP_SET_GPS_RESCUE_PIDS 226 //in message GPS Rescues's throttleP and velocity PIDS + yaw P
# define MSP_SET_VTXTABLE_BAND 227 //in message set vtxTable band/channel data (one band at a time)
# define MSP_SET_VTXTABLE_POWERLEVEL 228 //in message set vtxTable powerLevel data (one powerLevel at a time)
// #define MSP_BIND 240 //in message no param
// #define MSP_ALARMS 242
# define MSP_EEPROM_WRITE 250 //in message no param
# define MSP_RESERVE_1 251 //reserved for system usage
# define MSP_RESERVE_2 252 //reserved for system usage
# define MSP_DEBUGMSG 253 //out message debug string buffer
# define MSP_DEBUG 254 //out message debug1,debug2,debug3,debug4
# define MSP_V2_FRAME 255 //MSPv2 payload indicator
// Additional commands that are not compatible with MultiWii
# define MSP_STATUS_EX 150 //out message cycletime, errors_count, CPU load, sensor present etc
# define MSP_UID 160 //out message Unique device ID
# define MSP_GPSSVINFO 164 //out message get Signal Strength (only U-Blox)
# define MSP_GPSSTATISTICS 166 //out message get GPS debugging data
# define MSP_MULTIPLE_MSP 230 //out message request multiple MSPs in one request - limit is the TX buffer; returns each MSP in the order they were requested starting with length of MSP; MSPs with input arguments are not supported
# define MSP_MODE_RANGES_EXTRA 238 //out message Reads the extra mode range data
# define MSP_ACC_TRIM 240 //out message get acc angle trim values
# define MSP_SET_ACC_TRIM 239 //in message set acc angle trim values
# define MSP_SERVO_MIX_RULES 241 //out message Returns servo mixer configuration
# define MSP_SET_SERVO_MIX_RULE 242 //in message Sets servo mixer configuration
# define MSP_SET_PASSTHROUGH 245 //in message Sets up passthrough to different peripherals (4way interface, uart, etc...)
# define MSP_SET_RTC 246 //in message Sets the RTC clock
# define MSP_RTC 247 //out message Gets the RTC clock
# define MSP_SET_BOARD_INFO 248 //in message Sets the board information for this board
# define MSP_SET_SIGNATURE 249 //in message Sets the signature of the board and serial number
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// V2 commands
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# define MSP2_SENSOR_RANGEFINDER 0x1F01
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# define MSP2_SENSOR_OPTIC_FLOW 0x1F02
# define MSP2_SENSOR_GPS 0x1F03
# define MSP2_SENSOR_COMPASS 0x1F04
# define MSP2_SENSOR_BAROMETER 0x1F05
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# define MSP2_SENSOR_AIRSPEED 0x1F06
