mirror of https://github.com/ArduPilot/ardupilot
336 lines
18 KiB
C
336 lines
18 KiB
C
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/*
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msp_protocol.h imported from betaflight for use in ArduPilot
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Many thanks to tbe Cleanflight and Betaflight developers for a great
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reference implementation of this protocol
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*/
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* MSP Guidelines, emphasis is used to clarify.
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*
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* Each FlightController (FC, Server) MUST change the API version when any MSP command is added, deleted, or changed.
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*
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* If you fork the FC source code and release your own version, you MUST change the Flight Controller Identifier.
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*
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* NEVER release a modified copy of this code that shares the same Flight controller IDENT and API version
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* if the API doesn't match EXACTLY.
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*
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* Consumers of the API (API clients) SHOULD first attempt to get a response from the MSP_API_VERSION command.
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* If no response is obtained then client MAY try the legacy MSP_IDENT command.
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*
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* API consumers should ALWAYS handle communication failures gracefully and attempt to continue
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* without the information if possible. Clients MAY log/display a suitable message.
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*
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* API clients should NOT attempt any communication if they can't handle the returned API MAJOR VERSION.
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*
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* API clients SHOULD attempt communication if the API MINOR VERSION has increased from the time
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* the API client was written and handle command failures gracefully. Clients MAY disable
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* functionality that depends on the commands while still leaving other functionality intact.
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* that the newer API version may cause problems before using API commands that change FC state.
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*
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* It is for this reason that each MSP command should be specific as possible, such that changes
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* to commands break as little functionality as possible.
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*
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* API client authors MAY use a compatibility matrix/table when determining if they can support
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* a given command from a given flight controller at a given api version level.
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*
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* Developers MUST NOT create new MSP commands that do more than one thing.
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*
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* Failure to follow these guidelines will likely invoke the wrath of developers trying to write tools
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* that use the API and the users of those tools.
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*/
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#pragma once
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/* Protocol numbers used both by the wire format, config system, and
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field setters.
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*/
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#define MSP_PROTOCOL_VERSION 0
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#define API_VERSION_MAJOR 1 // increment when major changes are made
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#define API_VERSION_MINOR 37 // 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)
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#define API_VERSION_LENGTH 2
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#define MULTIWII_IDENTIFIER "MWII";
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#define BASEFLIGHT_IDENTIFIER "BAFL";
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#define BETAFLIGHT_IDENTIFIER "BTFL"
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#define CLEANFLIGHT_IDENTIFIER "CLFL"
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#define INAV_IDENTIFIER "INAV"
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#define RACEFLIGHT_IDENTIFIER "RCFL"
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#define ARDUPILOT_IDENTIFIER "ARDU"
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#define FLIGHT_CONTROLLER_IDENTIFIER_LENGTH 4
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#define FLIGHT_CONTROLLER_VERSION_LENGTH 3
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#define FLIGHT_CONTROLLER_VERSION_MASK 0xFFF
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#define BOARD_IDENTIFIER_LENGTH 4 // 4 UPPER CASE alpha numeric characters that identify the board being used.
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#define BOARD_HARDWARE_REVISION_LENGTH 2
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// These are baseflight specific flags but they are useless now since MW 2.3 uses the upper 4 bits for the navigation version.
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#define CAP_PLATFORM_32BIT ((uint32_t)1 << 31)
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#define CAP_BASEFLIGHT_CONFIG ((uint32_t)1 << 30)
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// MW 2.3 stores NAVI_VERSION in the top 4 bits of the capability mask.
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#define CAP_NAVI_VERSION_BIT_4_MSB ((uint32_t)1 << 31)
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#define CAP_NAVI_VERSION_BIT_3 ((uint32_t)1 << 30)
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#define CAP_NAVI_VERSION_BIT_2 ((uint32_t)1 << 29)
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#define CAP_NAVI_VERSION_BIT_1_LSB ((uint32_t)1 << 28)
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#define CAP_DYNBALANCE ((uint32_t)1 << 2)
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#define CAP_FLAPS ((uint32_t)1 << 3)
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#define CAP_NAVCAP ((uint32_t)1 << 4)
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#define CAP_EXTAUX ((uint32_t)1 << 5)
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#define MSP_API_VERSION 1 //out message
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#define MSP_FC_VARIANT 2 //out message
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#define MSP_FC_VERSION 3 //out message
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#define MSP_BOARD_INFO 4 //out message
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#define MSP_BUILD_INFO 5 //out message
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#define MSP_NAME 10 //out message Returns user set board name - betaflight
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#define MSP_SET_NAME 11 //in message Sets board name - betaflight
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//
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// MSP commands for Cleanflight original features
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//
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#define MSP_BATTERY_CONFIG 32
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#define MSP_SET_BATTERY_CONFIG 33
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#define MSP_MODE_RANGES 34 //out message Returns all mode ranges
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#define MSP_SET_MODE_RANGE 35 //in message Sets a single mode range
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#define MSP_FEATURE_CONFIG 36
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#define MSP_SET_FEATURE_CONFIG 37
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#define MSP_BOARD_ALIGNMENT_CONFIG 38
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#define MSP_SET_BOARD_ALIGNMENT_CONFIG 39
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#define MSP_CURRENT_METER_CONFIG 40
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#define MSP_SET_CURRENT_METER_CONFIG 41
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#define MSP_MIXER_CONFIG 42
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#define MSP_SET_MIXER_CONFIG 43
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#define MSP_RX_CONFIG 44
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#define MSP_SET_RX_CONFIG 45
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#define MSP_LED_COLORS 46
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#define MSP_SET_LED_COLORS 47
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#define MSP_LED_STRIP_CONFIG 48
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#define MSP_SET_LED_STRIP_CONFIG 49
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#define MSP_RSSI_CONFIG 50
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#define MSP_SET_RSSI_CONFIG 51
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#define MSP_ADJUSTMENT_RANGES 52
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#define MSP_SET_ADJUSTMENT_RANGE 53
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// private - only to be used by the configurator, the commands are likely to change
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#define MSP_CF_SERIAL_CONFIG 54
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#define MSP_SET_CF_SERIAL_CONFIG 55
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#define MSP_VOLTAGE_METER_CONFIG 56
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#define MSP_SET_VOLTAGE_METER_CONFIG 57
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#define MSP_SONAR_ALTITUDE 58 //out message get sonar altitude [cm]
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#define MSP_PID_CONTROLLER 59
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#define MSP_SET_PID_CONTROLLER 60
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#define MSP_ARMING_CONFIG 61
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#define MSP_SET_ARMING_CONFIG 62
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//
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// Baseflight MSP commands (if enabled they exist in Cleanflight)
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//
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#define MSP_RX_MAP 64 //out message get channel map (also returns number of channels total)
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#define MSP_SET_RX_MAP 65 //in message set rx map, numchannels to set comes from MSP_RX_MAP
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// FIXME - Provided for backwards compatibility with configurator code until configurator is updated.
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// DEPRECATED - DO NOT USE "MSP_BF_CONFIG" and MSP_SET_BF_CONFIG. In Cleanflight, isolated commands already exist and should be used instead.
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#define MSP_BF_CONFIG 66 //out message baseflight-specific settings that aren't covered elsewhere
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#define MSP_SET_BF_CONFIG 67 //in message baseflight-specific settings save
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#define MSP_REBOOT 68 //in message reboot settings
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// Use MSP_BUILD_INFO instead
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// DEPRECATED - #define MSP_BF_BUILD_INFO 69 //out message build date as well as some space for future expansion
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#define MSP_DATAFLASH_SUMMARY 70 //out message - get description of dataflash chip
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#define MSP_DATAFLASH_READ 71 //out message - get content of dataflash chip
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#define MSP_DATAFLASH_ERASE 72 //in message - erase dataflash chip
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// No-longer needed
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// DEPRECATED - #define MSP_LOOP_TIME 73 //out message Returns FC cycle time i.e looptime parameter // DEPRECATED
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// DEPRECATED - #define MSP_SET_LOOP_TIME 74 //in message Sets FC cycle time i.e looptime parameter // DEPRECATED
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#define MSP_FAILSAFE_CONFIG 75 //out message Returns FC Fail-Safe settings
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#define MSP_SET_FAILSAFE_CONFIG 76 //in message Sets FC Fail-Safe settings
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#define MSP_RXFAIL_CONFIG 77 //out message Returns RXFAIL settings
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#define MSP_SET_RXFAIL_CONFIG 78 //in message Sets RXFAIL settings
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#define MSP_SDCARD_SUMMARY 79 //out message Get the state of the SD card
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#define MSP_BLACKBOX_CONFIG 80 //out message Get blackbox settings
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#define MSP_SET_BLACKBOX_CONFIG 81 //in message Set blackbox settings
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#define MSP_TRANSPONDER_CONFIG 82 //out message Get transponder settings
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#define MSP_SET_TRANSPONDER_CONFIG 83 //in message Set transponder settings
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#define MSP_OSD_CONFIG 84 //out message Get osd settings - betaflight
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#define MSP_SET_OSD_CONFIG 85 //in message Set osd settings - betaflight
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#define MSP_OSD_CHAR_READ 86 //out message Get osd settings - betaflight
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#define MSP_OSD_CHAR_WRITE 87 //in message Set osd settings - betaflight
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#define MSP_VTX_CONFIG 88 //out message Get vtx settings - betaflight
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#define MSP_SET_VTX_CONFIG 89 //in message Set vtx settings - betaflight
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// Betaflight Additional Commands
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#define MSP_ADVANCED_CONFIG 90
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#define MSP_SET_ADVANCED_CONFIG 91
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#define MSP_FILTER_CONFIG 92
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#define MSP_SET_FILTER_CONFIG 93
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#define MSP_PID_ADVANCED 94
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#define MSP_SET_PID_ADVANCED 95
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#define MSP_SENSOR_CONFIG 96
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#define MSP_SET_SENSOR_CONFIG 97
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#define MSP_CAMERA_CONTROL 98
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#define MSP_SET_ARMING_DISABLED 99
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//
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// OSD specific
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//
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#define MSP_OSD_VIDEO_CONFIG 180
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#define MSP_SET_OSD_VIDEO_CONFIG 181
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// External OSD displayport mode messages
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#define MSP_DISPLAYPORT 182
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#define MSP_COPY_PROFILE 183
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#define MSP_BEEPER_CONFIG 184
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#define MSP_SET_BEEPER_CONFIG 185
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#define MSP_SET_TX_INFO 186 // in message Used to send runtime information from TX lua scripts to the firmware
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#define MSP_TX_INFO 187 // out message Used by TX lua scripts to read information from the firmware
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//
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// Multwii original MSP commands
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//
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// See MSP_API_VERSION and MSP_MIXER_CONFIG
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//DEPRECATED - #define MSP_IDENT 100 //out message mixerMode + multiwii version + protocol version + capability variable
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#define MSP_STATUS 101 //out message cycletime & errors_count & sensor present & box activation & current setting number
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#define MSP_RAW_IMU 102 //out message 9 DOF
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#define MSP_SERVO 103 //out message servos
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#define MSP_MOTOR 104 //out message motors
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#define MSP_RC 105 //out message rc channels and more
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#define MSP_RAW_GPS 106 //out message fix, numsat, lat, lon, alt, speed, ground course
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#define MSP_COMP_GPS 107 //out message distance home, direction home
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#define MSP_ATTITUDE 108 //out message 2 angles 1 heading
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#define MSP_ALTITUDE 109 //out message altitude, variometer
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#define MSP_ANALOG 110 //out message vbat, powermetersum, rssi if available on RX
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#define MSP_RC_TUNING 111 //out message rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
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#define MSP_PID 112 //out message P I D coeff (9 are used currently)
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// Legacy Multiicommand that was never used.
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//DEPRECATED - #define MSP_BOX 113 //out message BOX setup (number is dependant of your setup)
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// Legacy command that was under constant change due to the naming vagueness, avoid at all costs - use more specific commands instead.
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//DEPRECATED - #define MSP_MISC 114 //out message powermeter trig
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// Legacy Multiicommand that was never used and always wrong
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//DEPRECATED - #define MSP_MOTOR_PINS 115 //out message which pins are in use for motors & servos, for GUI
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#define MSP_BOXNAMES 116 //out message the aux switch names
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#define MSP_PIDNAMES 117 //out message the PID names
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#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
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#define MSP_BOXIDS 119 //out message get the permanent IDs associated to BOXes
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#define MSP_SERVO_CONFIGURATIONS 120 //out message All servo configurations.
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#define MSP_NAV_STATUS 121 //out message Returns navigation status
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#define MSP_NAV_CONFIG 122 //out message Returns navigation parameters
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#define MSP_MOTOR_3D_CONFIG 124 //out message Settings needed for reversible ESCs
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#define MSP_RC_DEADBAND 125 //out message deadbands for yaw alt pitch roll
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#define MSP_SENSOR_ALIGNMENT 126 //out message orientation of acc,gyro,mag
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#define MSP_LED_STRIP_MODECOLOR 127 //out message Get LED strip mode_color settings
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#define MSP_VOLTAGE_METERS 128 //out message Voltage (per meter)
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#define MSP_CURRENT_METERS 129 //out message Amperage (per meter)
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#define MSP_BATTERY_STATE 130 //out message Connected/Disconnected, Voltage, Current Used
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#define MSP_MOTOR_CONFIG 131 //out message Motor configuration (min/max throttle, etc)
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#define MSP_GPS_CONFIG 132 //out message GPS configuration
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#define MSP_COMPASS_CONFIG 133 //out message Compass configuration
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#define MSP_ESC_SENSOR_DATA 134 //out message Extra ESC data from 32-Bit ESCs (Temperature, RPM)
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#define MSP_SET_RAW_RC 200 //in message 8 rc chan
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#define MSP_SET_RAW_GPS 201 //in message fix, numsat, lat, lon, alt, speed
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#define MSP_SET_PID 202 //in message P I D coeff (9 are used currently)
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// Legacy multiiwii command that was never used.
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//DEPRECATED - #define MSP_SET_BOX 203 //in message BOX setup (number is dependant of your setup)
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#define MSP_SET_RC_TUNING 204 //in message rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID, yaw expo
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#define MSP_ACC_CALIBRATION 205 //in message no param
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#define MSP_MAG_CALIBRATION 206 //in message no param
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// Legacy command that was under constant change due to the naming vagueness, avoid at all costs - use more specific commands instead.
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//DEPRECATED - #define MSP_SET_MISC 207 //in message powermeter trig + 8 free for future use
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#define MSP_RESET_CONF 208 //in message no param
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#define MSP_SET_WP 209 //in message sets a given WP (WP#,lat, lon, alt, flags)
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#define MSP_SELECT_SETTING 210 //in message Select Setting Number (0-2)
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#define MSP_SET_HEADING 211 //in message define a new heading hold direction
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#define MSP_SET_SERVO_CONFIGURATION 212 //in message Servo settings
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#define MSP_SET_MOTOR 214 //in message PropBalance function
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#define MSP_SET_NAV_CONFIG 215 //in message Sets nav config parameters - write to the eeprom
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#define MSP_SET_MOTOR_3D_CONFIG 217 //in message Settings needed for reversible ESCs
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#define MSP_SET_RC_DEADBAND 218 //in message deadbands for yaw alt pitch roll
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#define MSP_SET_RESET_CURR_PID 219 //in message resetting the current pid profile to defaults
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#define MSP_SET_SENSOR_ALIGNMENT 220 //in message set the orientation of the acc,gyro,mag
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#define MSP_SET_LED_STRIP_MODECOLOR 221 //in message Set LED strip mode_color settings
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#define MSP_SET_MOTOR_CONFIG 222 //out message Motor configuration (min/max throttle, etc)
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#define MSP_SET_GPS_CONFIG 223 //out message GPS configuration
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#define MSP_SET_COMPASS_CONFIG 224 //out message Compass configuration
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// #define MSP_BIND 240 //in message no param
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// #define MSP_ALARMS 242
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#define MSP_EEPROM_WRITE 250 //in message no param
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#define MSP_RESERVE_1 251 //reserved for system usage
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#define MSP_RESERVE_2 252 //reserved for system usage
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#define MSP_DEBUGMSG 253 //out message debug string buffer
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#define MSP_DEBUG 254 //out message debug1,debug2,debug3,debug4
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#define MSP_RESERVE_3 255 //reserved for system usage
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// Additional commands that are not compatible with MultiWii
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#define MSP_STATUS_EX 150 //out message cycletime, errors_count, CPU load, sensor present etc
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#define MSP_UID 160 //out message Unique device ID
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#define MSP_GPSSVINFO 164 //out message get Signal Strength (only U-Blox)
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#define MSP_GPSSTATISTICS 166 //out message get GPS debugging data
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#define MSP_ACC_TRIM 240 //out message get acc angle trim values
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#define MSP_SET_ACC_TRIM 239 //in message set acc angle trim values
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#define MSP_SERVO_MIX_RULES 241 //out message Returns servo mixer configuration
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#define MSP_SET_SERVO_MIX_RULE 242 //in message Sets servo mixer configuration
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#define MSP_SET_4WAY_IF 245 //in message Sets 4way interface
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#define MSP_SET_RTC 246 //in message Sets the RTC clock
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#define MSP_RTC 247 //out message Gets the RTC clock
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