AP_MSP: prepare for test version 0.6

yaapu · Jun 30, 2020 · c6ff920 · c6ff920
1 parent 7da5f7c
commit c6ff920
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Showing 47 changed files with 3,687 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/Tools/CodeStyle/astylerc b/Tools/CodeStyle/astylerc
@@ -7,4 +7,5 @@ min-conditional-indent=0
 suffix=none
 lineend=linux
 pad-header
+indent-switches
 
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) {
@@ -1316,6 +1316,11 @@ void AP_BLHeli::update(void)
 
 }
 
+uint8_t AP_BLHeli::get_num_motors(void) 
+{
+    return num_motors;
+}
+
 // get the most recent telemetry data packet for a motor
 bool AP_BLHeli::get_telem_data(uint8_t esc_index, struct telem_data &td)
 {

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
@@ -56,6 +56,8 @@ class AP_BLHeli {
         uint32_t timestamp_ms;
     };
 
+    // how many motors do we have?
+    uint8_t get_num_motors(void);
     // get the most recent telemetry data packet for a motor
     bool get_telem_data(uint8_t esc_index, struct telem_data &td);
     // return the average motor frequency in Hz for dynamic filtering

diff --git a/libraries/AP_Common/AP_Common.h b/libraries/AP_Common/AP_Common.h
@@ -77,6 +77,8 @@
   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) |= (((typeof(value))1U) << (bitnumber)))
+#define BIT_CLEAR(value, bitnumber) ((value) &= ~(((typeof(value))1U) << (bitnumber)))
 
 // get high or low bytes from 2 byte integer
 #define LOWBYTE(i) ((uint8_t)(i))

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat
@@ -149,5 +149,6 @@ define BOARD_PWM_COUNT_DEFAULT 6
 define STM32_PWM_USE_ADVANCED TRUE
 
 # we are low on flash on this board
+define HAL_MSP_ENABLED 1
 define HAL_MINIMIZE_FEATURES 1
 define HAL_WITH_DSP 1