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Merge pull request cleanflight#1910 from martinbudden/issue1901_msp_s…
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…tatus_ex_length

Corrected MSP_STATUS_EX length. Fixes issue 1901
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@hydra
hydra committed Mar 9, 2016
2 parents 2a2f005 + 6846b76 commit 68da778
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Showing 3 changed files with 94 additions and 4 deletions.
2 changes: 1 addition & 1 deletion src/main/io/serial_msp.c
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Expand Up @@ -668,7 +668,7 @@ static bool processOutCommand(uint8_t cmdMSP)
break;

case MSP_STATUS_EX:
headSerialReply(14);
headSerialReply(13);
serialize16(cycleTime);
#ifdef USE_I2C
serialize16(i2cGetErrorCounter());
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4 changes: 2 additions & 2 deletions src/main/io/serial_msp.h
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Expand Up @@ -164,8 +164,8 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
#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 //in message Get transponder settings
#define MSP_SET_TRANSPONDER_CONFIG 83 //out message Set transponder settings
#define MSP_TRANSPONDER_CONFIG 82 //out message Get transponder settings
#define MSP_SET_TRANSPONDER_CONFIG 83 //in message Set transponder settings

//
// Baseflight MSP commands (if enabled they exist in Cleanflight)
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92 changes: 91 additions & 1 deletion src/test/unit/serial_msp_unittest.cc
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Expand Up @@ -484,6 +484,95 @@ TEST_F(SerialMspUnitTest, Test_PIDValuesFloat)
EXPECT_EQ(H_sensitivity, currentProfile->pidProfile.H_sensitivity);
}

TEST_F(SerialMspUnitTest, TestMspOutMessageLengthsCommand)
{
static const uint8_t outMessages[] = {
MSP_API_VERSION, // 1 //out message
MSP_FC_VARIANT, // 2 //out message
MSP_FC_VERSION, // 3 //out message
MSP_BOARD_INFO, // 4 //out message
MSP_BUILD_INFO, // 5 //out message
// MSP commands for Cleanflight original features
MSP_MODE_RANGES, // 34 //out message Returns all mode ranges
MSP_FEATURE, // 36
MSP_BOARD_ALIGNMENT, // 38
MSP_CURRENT_METER_CONFIG, // 40
MSP_MIXER, // 42
MSP_RX_CONFIG, // 44
MSP_LED_COLORS, // 46
MSP_LED_STRIP_CONFIG, // 48
MSP_RSSI_CONFIG, // 50
MSP_ADJUSTMENT_RANGES, // 52
// private - only to be used by the configurator, the commands are likely to change
//!! not tested MSP_CF_SERIAL_CONFIG, // 54
MSP_VOLTAGE_METER_CONFIG, // 56
MSP_SONAR_ALTITUDE, // 58 //out message get sonar altitude [cm]
MSP_PID_CONTROLLER, // 59
MSP_ARMING_CONFIG, // 61 //out message Returns auto_disarm_delay and disarm_kill_switch parameters
MSP_DATAFLASH_SUMMARY, // 70 //out message - get description of dataflash chip
//!! not tested MSP_DATAFLASH_READ, // 71 //out message - get content of dataflash chip
MSP_LOOP_TIME, // 73 //out message Returns FC cycle time i.e looptime parameter
MSP_FAILSAFE_CONFIG, // 75 //out message Returns FC Fail-Safe settings
MSP_RXFAIL_CONFIG, // 77 //out message Returns RXFAIL settings
MSP_SDCARD_SUMMARY, // 79 //out message Get the state of the SD card
MSP_BLACKBOX_CONFIG, // 80 //out message Get blackbox settings
MSP_TRANSPONDER_CONFIG, // 82 //out message Get transponder settings
// Baseflight MSP commands (if enabled they exist in Cleanflight)
MSP_RX_MAP, // 64 //out message get channel map (also returns number of channels total)
// DEPRECATED - DO NOT USE "MSP_BF_CONFIG" and MSP_SET_BF_CONFIG. In Cleanflight, isolated commands already exist and should be used instead.
MSP_BF_CONFIG, // 66 //out message baseflight-specific settings that aren't covered elsewhere
// DEPRECATED - Use MSP_BUILD_INFO instead
MSP_BF_BUILD_INFO, // 69 //out message build date as well as some space for future expansion
// Multwii original MSP commands
// DEPRECATED - See MSP_API_VERSION and MSP_MIXER
MSP_IDENT, // 100 //out message mixerMode + multiwii version + protocol version + capability variable
MSP_STATUS, // 101 //out message cycletime & errors_count & sensor present & box activation & current setting number
MSP_RAW_IMU, // 102 //out message 9 DOF
MSP_SERVO, // 103 //out message servos
MSP_MOTOR, // 104 //out message motors
MSP_RC, // 105 //out message rc channels and more
MSP_RAW_GPS, // 106 //out message fix, numsat, lat, lon, alt, speed, ground course
MSP_COMP_GPS, // 107 //out message distance home, direction home
MSP_ATTITUDE, // 108 //out message 2 angles 1 heading
MSP_ALTITUDE, // 109 //out message altitude, variometer
MSP_ANALOG, // 110 //out message vbat, powermetersum, rssi if available on RX
MSP_RC_TUNING, // 111 //out message rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
MSP_PID, // 112 //out message P I D coeff (9 are used currently)
//!! not implemented in serial_msp.c MSP_BOX, // 113 //out message BOX setup (number is dependant of your setup)
MSP_MISC, // 114 //out message powermeter trig
MSP_MOTOR_PINS, // 115 //out message which pins are in use for motors & servos, for GUI
MSP_BOXNAMES, // 116 //out message the aux switch names
MSP_PIDNAMES, // 117 //out message the PID names
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
MSP_BOXIDS, // 119 //out message get the permanent IDs associated to BOXes
MSP_SERVO_CONFIGURATIONS,// 120 //out message All servo configurations.
//!! not implemented in serial_msp.c MSP_NAV_STATUS, // 121 //out message Returns navigation status
//!! not implemented in serial_msp.c MSP_NAV_CONFIG, // 122 //out message Returns navigation parameters
MSP_3D, // 124 //out message Settings needed for reversible ESCs
MSP_RC_DEADBAND, // 125 //out message deadbands for yaw alt pitch roll
MSP_SENSOR_ALIGNMENT, // 126 //out message orientation of acc,gyro,mag
//!! not implemented in serial_msp.c MSP_DEBUGMSG, // 253 //out message debug string buffer
MSP_DEBUG, // 254 //out message debug1,debug2,debug3,debug4
// Additional commands that are not compatible with MultiWii
MSP_STATUS_EX, // 150 //out message cycletime, errors_count, CPU load, sensor present etc
MSP_UID, // 160 //out message Unique device ID
MSP_GPSSVINFO, // 164 //out message get Signal Strength (only U-Blox)
MSP_ACC_TRIM, // 240 //out message get acc angle trim values
MSP_SERVO_MIX_RULES, // 241 //out message Returns servo mixer configuration
};
for (uint ii = 0; ii < sizeof(outMessages); ++ii) {
serialWritePos = 0;
serialReadPos = 0;
currentPort->cmdMSP = outMessages[ii];
mspProcessReceivedCommand();
EXPECT_EQ('$', serialBuffer.mspResponse.header.dollar);
EXPECT_EQ('M', serialBuffer.mspResponse.header.m);
EXPECT_EQ('>', serialBuffer.mspResponse.header.direction);
EXPECT_EQ(outMessages[ii], serialBuffer.mspResponse.header.type);
// serial buffer includes mspHeader, payload and 1 byte checksum
EXPECT_EQ(serialWritePos - sizeof(mspHeader_t) - 1, serialBuffer.mspResponse.header.size);
}
}

// STUBS
extern "C" {
Expand All @@ -502,7 +591,8 @@ int32_t mAhDrawn = 0; // milliampere hours drawn from the battery
int32_t magADC[XYZ_AXIS_COUNT];
// from config.c
master_t masterConfig;
controlRateConfig_t *currentControlRateProfile;
controlRateConfig_t controlRateProfile;
controlRateConfig_t *currentControlRateProfile = &controlRateProfile;
void resetPidProfile(pidProfile_t *pidProfile) {UNUSED(pidProfile);}
void handleOneshotFeatureChangeOnRestart(void) {}
void readEEPROM(void) {}
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