AP_MSP: prepare for version 0.3

yaapu · Jun 25, 2020 · 76011b6 · 76011b6
1 parent 30bcf4d
commit 76011b6
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Showing 45 changed files with 3,339 additions and 38 deletions.
diff --git a/.gitignore b/.gitignore
@@ -126,3 +126,6 @@ segv_*out
 /ArduSub/scripts/
 persistent.dat
 dumpstack_*out
+nbproject/
+libraries/AP_Scripting/generator/gen-bindings
+
diff --git a/ArduCopter/wscript b/ArduCopter/wscript
@@ -31,6 +31,7 @@ def build(bld):
             'AP_OSD',
             'AC_AutoTune',
             'AP_KDECAN',
+            'AP_MSP',
         ],
     )
 

diff --git a/ArduPlane/wscript b/ArduPlane/wscript
@@ -30,6 +30,7 @@ def build(bld):
             'AP_OSD',
             'AC_AutoTune',
             'AP_KDECAN',
+            'AP_MSP',
         ],
     )
 

diff --git a/libraries/AP_BLHeli/AP_BLHeli.cpp b/libraries/AP_BLHeli/AP_BLHeli.cpp
@@ -448,8 +448,8 @@ void AP_BLHeli::msp_process_command(void)
         break;
     }
 
-    case MSP_SET_4WAY_IF: {
-        debug("MSP_SET_4WAY_IF");
+    case MSP_SET_PASSTHROUGH: {
+        debug("MSP_SET_PASSTHROUGH");
         if (msp.dataSize == 0) {
             msp.escMode = PROTOCOL_4WAY;
         } else if (msp.dataSize == 2) {

diff --git a/libraries/AP_BLHeli/AP_BLHeli.h b/libraries/AP_BLHeli/AP_BLHeli.h
@@ -30,7 +30,7 @@
 
 #include <AP_Param/AP_Param.h>
 #include <Filter/LowPassFilter.h>
-#include "msp_protocol.h"
+#include <AP_MSP/msp_protocol.h>
 #include "blheli_4way_protocol.h"
 
 #define AP_BLHELI_MAX_ESCS 8

diff --git a/libraries/AP_Common/AP_Common.h b/libraries/AP_Common/AP_Common.h
@@ -77,6 +77,9 @@
   bool. Bitnumber starts at 0 for the first bit
  */
 #define BIT_IS_SET(value, bitnumber) (((value) & (1U<<(bitnumber))) != 0)
+#define BIT_SET(value, bitnumber) ((value) |= (1U << (bitnumber)))
+#define BIT_CLEAR(value, bitnumber) ((value) &= ~(1U << (bitnumber)))
+#define BIT_TOGGLE(value, bitnumber) ((value) ^= (1U << (bitnumber)))
 
 // get high or low bytes from 2 byte integer
 #define LOWBYTE(i) ((uint8_t)(i))