Protocol.cpp File Reference

#include "Arduino.h"
#include "config.h"
#include "def.h"
#include "types.h"
#include "EEPROM.h"
#include "LCD.h"
#include "Output.h"
#include "GPS.h"
#include "MultiWii.h"
#include "Serial.h"
#include "Protocol.h"
#include "RX.h"

Macros
#define	MSP_VERSION   0
#define	MSP_PRIVATE   1
#define	MSP_IDENT   100
#define	MSP_STATUS   101
#define	MSP_RAW_IMU   102
#define	MSP_SERVO   103
#define	MSP_MOTOR   104
#define	MSP_RC   105
#define	MSP_RAW_GPS   106
#define	MSP_COMP_GPS   107
#define	MSP_ATTITUDE   108
#define	MSP_ALTITUDE   109
#define	MSP_ANALOG   110
#define	MSP_RC_TUNING   111
#define	MSP_PID   112
#define	MSP_BOX   113
#define	MSP_MISC   114
#define	MSP_MOTOR_PINS   115
#define	MSP_BOXNAMES   116
#define	MSP_PIDNAMES   117
#define	MSP_WP   118
#define	MSP_BOXIDS   119
#define	MSP_SERVO_CONF   120
#define	MSP_NAV_STATUS   121
#define	MSP_NAV_CONFIG   122
#define	MSP_CELLS   130
#define	MSP_SET_RAW_RC   200
#define	MSP_SET_RAW_GPS   201
#define	MSP_SET_PID   202
#define	MSP_SET_BOX   203
#define	MSP_SET_RC_TUNING   204
#define	MSP_ACC_CALIBRATION   205
#define	MSP_MAG_CALIBRATION   206
#define	MSP_SET_MISC   207
#define	MSP_RESET_CONF   208
#define	MSP_SET_WP   209
#define	MSP_SELECT_SETTING   210
#define	MSP_SET_HEAD   211
#define	MSP_SET_SERVO_CONF   212
#define	MSP_SET_MOTOR   214
#define	MSP_SET_NAV_CONFIG   215
#define	MSP_SET_ACC_TRIM   239
#define	MSP_ACC_TRIM   240
#define	MSP_BIND   241
#define	MSP_EEPROM_WRITE   250
#define	MSP_DEBUGMSG   253
#define	MSP_DEBUG   254
#define	INBUF_SIZE   64
#define	RX_COND

Enumerations
enum	MSP_protocol_bytes {   IDLE, HEADER_START, HEADER_M, HEADER_ARROW,   HEADER_SIZE, HEADER_CMD }

Functions
void	evaluateOtherData (uint8_t sr)
void	evaluateCommand (uint8_t c)
void	serialCom ()
void	SerialWrite16 (uint8_t port, int16_t val)
void	debugmsg_append_str (const char *str)

Variables
static void uint8_t	siz

Macro Definition Documentation

#define INBUF_SIZE   64

#define MSP_ACC_CALIBRATION   205

#define MSP_ACC_TRIM   240

#define MSP_ALTITUDE   109

#define MSP_ANALOG   110

#define MSP_ATTITUDE   108

#define MSP_BIND   241

#define MSP_BOX   113

#define MSP_BOXIDS   119

#define MSP_BOXNAMES   116

#define MSP_CELLS   130

#define MSP_COMP_GPS   107

#define MSP_DEBUG   254

#define MSP_DEBUGMSG   253

#define MSP_EEPROM_WRITE   250

#define MSP_IDENT   100

#define MSP_MAG_CALIBRATION   206

#define MSP_MISC   114

#define MSP_MOTOR   104

#define MSP_MOTOR_PINS   115

#define MSP_NAV_CONFIG   122

#define MSP_NAV_STATUS   121

#define MSP_PID   112

#define MSP_PIDNAMES   117

#define MSP_PRIVATE   1

#define MSP_RAW_GPS   106

#define MSP_RAW_IMU   102

#define MSP_RC   105

#define MSP_RC_TUNING   111

#define MSP_RESET_CONF   208

#define MSP_SELECT_SETTING   210

#define MSP_SERVO   103

#define MSP_SERVO_CONF   120

#define MSP_SET_ACC_TRIM   239

#define MSP_SET_BOX   203

#define MSP_SET_HEAD   211

#define MSP_SET_MISC   207

#define MSP_SET_MOTOR   214

#define MSP_SET_NAV_CONFIG   215

#define MSP_SET_PID   202

#define MSP_SET_RAW_GPS   201

#define MSP_SET_RAW_RC   200

#define MSP_SET_RC_TUNING   204

#define MSP_SET_SERVO_CONF   212

#define MSP_SET_WP   209

#define MSP_STATUS   101

#define MSP_VERSION   0

#define MSP_WP   118

#define RX_COND

Enumeration Type Documentation

enum MSP_protocol_bytes

Enumerator
IDLE
HEADER_START
HEADER_M
HEADER_ARROW
HEADER_SIZE
HEADER_CMD

Function Documentation

void debugmsg_append_str

(

const char *

str

)

void evaluateCommand

(

uint8_t

c

)

void evaluateOtherData

(

uint8_t

sr

)

void serialCom

(

)

void SerialWrite16	(	uint8_t	port,
		int16_t	val
	)

Variable Documentation

void uint8_t siz

Initial value:

{
  while(siz--) *cb++ = read8()