Added motor/esc protocol settings to configuration tab

_locales/en/messages.json

@@ -1626,5 +1626,14 @@
     },
     "mainHelpLink": {
         "message": "Serial Link Status"
+    },
+    "configurationEscProtocol": {
+        "message": "ESC/Motor protocol"
+    },
+    "configurationunsyndePwm": {
+        "message": "Unsynced PWM output"
+    },
+    "configurationUnsyncedPWMFreq": {
+        "message": "Unsynced PWM frequency"
     }
 }

js/fc.js

@@ -35,6 +35,7 @@ var SENSOR_ALIGNMENT;
 var RX_CONFIG;
 var FAILSAFE_CONFIG;
 var RXFAIL_CONFIG;
+var PID_ADVANCED_CONFIG;
 
 var FC = {
     resetState: function() {
@@ -235,6 +236,14 @@ var FC = {
             align_mag:              0
         };
         
+        PID_ADVANCED_CONFIG = {
+            gyro_sync_denom:        0,
+            pid_process_denom:      0,
+            use_unsyncedPwm:        0,
+            fast_pwm_protocol:      0,
+            motor_pwm_rate:         0
+        };
+        
         RX_CONFIG = {
             serialrx_provider:      0,
             maxcheck:               0,
@@ -256,4 +265,4 @@ var FC = {
         
         RXFAIL_CONFIG = [];
     }
-};
+};

js/msp.js

@@ -40,6 +40,9 @@ var MSP_codes = {
     MSP_SET_BLACKBOX_CONFIG:    81,
     MSP_TRANSPONDER_CONFIG:     82,
     MSP_SET_TRANSPONDER_CONFIG: 83,
+    
+    MSP_PID_ADVANCED_CONFIG:    90,
+    MSP_SET_PID_ADVANCED_CONFIG: 91,
 
     // Multiwii MSP commands
     MSP_IDENT:              100,
@@ -868,7 +871,14 @@ var MSP = {
                 }
                 break;
 
-
+            case MSP_codes.MSP_PID_ADVANCED_CONFIG:
+                var offset = 0;
+                PID_ADVANCED_CONFIG.gyro_sync_denom = data.getUint8(offset++, 1);
+                PID_ADVANCED_CONFIG.pid_process_denom = data.getUint8(offset++, 1);
+                PID_ADVANCED_CONFIG.use_unsyncedPwm = data.getUint8(offset++, 1);
+                PID_ADVANCED_CONFIG.fast_pwm_protocol = data.getUint8(offset++, 1);
+                PID_ADVANCED_CONFIG.motor_pwm_rate = data.getUint16(offset++, 1);
+                break;
             case MSP_codes.MSP_LED_STRIP_CONFIG:
                 LED_STRIP = [];
                 
@@ -1364,7 +1374,14 @@ MSP.crunch = function (code) {
             buffer.push(SENSOR_ALIGNMENT.align_acc);
             buffer.push(SENSOR_ALIGNMENT.align_mag);
             break
-
+        case MSP_codes.MSP_SET_PID_ADVANCED_CONFIG:
+            buffer.push(PID_ADVANCED_CONFIG.gyro_sync_denom);
+            buffer.push(PID_ADVANCED_CONFIG.pid_process_denom);
+            buffer.push(PID_ADVANCED_CONFIG.use_unsyncedPwm);
+            buffer.push(PID_ADVANCED_CONFIG.fast_pwm_protocol);
+            buffer.push(lowByte(PID_ADVANCED_CONFIG.motor_pwm_rate));
+            buffer.push(highByte(PID_ADVANCED_CONFIG.motor_pwm_rate));
+            break;
         default:
             return false;
     }

tabs/configuration.css

@@ -94,6 +94,20 @@
     font-weight: normal;
 }
 
+.tab-configuration .numberwide input {
+    width: 55px;
+    padding-left: 3px;
+    height: 20px;
+    line-height: 20px;
+    text-align: left;
+    border: 1px solid silver;
+    border-radius: 3px;
+    margin-right: 11px;
+    font-size: 12px;
+    font-weight: normal;
+}
+
+
 .tab-configuration .number .disabled {
     width: 43px;
     padding: 0px 5px;
@@ -490,4 +504,4 @@
     .tab-configuration .current .gui_box {
         float: left;
     }
-}
+}

tabs/configuration.html

@@ -32,13 +32,40 @@
                     <div class="spacer_box_title" i18n="configurationEscFeatures"></div>
                 </div>
                 <div class="spacer_box">
+                    <div class="select">
+                        <label> 
+                            <select class="escprotocol">
+                                <!-- list generated here -->
+                            </select>
+                            <span i18n="configurationEscProtocol"></span>
+                        </label>
+                    </div>
+                    
+                    <div class="checkbox">
+                        <div style="float: left; height: 20px; margin-right: 15px; margin-left: 3px;">
+                            <input type="checkbox" name="unsyncedPWMSwitch" class="toggle" />
+                        </div>
+                        <label for="unsyncedpwmswitch"> <span class="freelabel"
+                            i18n="configurationunsyndePwm"></span>
+                        </label>
+                    </div>
+                    <div class="numberwide unsyncedpwmfreq" style="display: show; margin-top: 5px;">
+                        <label>
+                            <div class="numberspacer">
+                                <input type="number" name="unsyncedpwmfreq" min="200" max="32000" />
+                            </div>
+                            <span i18n="configurationUnsyncedPWMFreq"></span>
+                        </label>
+                    </div>
+                    
+                    
                     <table cellpadding="0" cellspacing="0">
                         <tbody class="features esc">
                             <!-- table generated here -->
                         </tbody>
                     </table>
                     <!--   -->
-                    <div class="disarm">
+                    <div class="disarm"> 
                         <div class="checkbox">
                             <div style="float: left; height: 20px; margin-right: 15px; margin-left: 3px;">
                                 <input type="checkbox" name="disarmkillswitch" class="toggle" />

tabs/configuration.js

@@ -53,13 +53,22 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
     }
 
     function load_3d() {
-        var next_callback = load_sensor_alignment;
+        var next_callback = esc_protocol;
         if (semver.gte(CONFIG.apiVersion, "1.14.0")) {
             MSP.send_message(MSP_codes.MSP_3D, false, false, next_callback);
         } else {
             next_callback();
         }
     }
+
+    function esc_protocol() {
+        var next_callback = load_sensor_alignment;
+        if (semver.gte(CONFIG.apiVersion, "1.16.0")) {
+            MSP.send_message(MSP_codes.MSP_PID_ADVANCED_CONFIG, false, false, next_callback);
+        } else {
+            next_callback();
+        }        
+    }
     
     function load_sensor_alignment() {
         var next_callback = load_html;
@@ -69,6 +78,9 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
             next_callback();
         }
     }
+    
+
+    
     //Update Analog/Battery Data
     function load_analog() {
         MSP.send_message(MSP_codes.MSP_ANALOG, false, false, function () {
@@ -238,9 +250,12 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
             'CW 270° flip'
         ];
         
+        
+        
         var orientation_gyro_e = $('select.gyroalign');
         var orientation_acc_e = $('select.accalign');
         var orientation_mag_e = $('select.magalign');
+        
 
         if (semver.lt(CONFIG.apiVersion, "1.15.0")) {
             $('.tab-configuration .sensoralignment').hide();
@@ -255,6 +270,32 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
             orientation_mag_e.val(SENSOR_ALIGNMENT.align_mag);
         }
         
+        // ESC protocols 
+        
+        var escprotocols = [
+            'PWM',
+            'ONESHOT125',
+            'ONESHOT42',
+            'MULTISHOT'
+        ];
+        
+        var esc_protocol_e = $('select.escprotocol');
+
+        for (var i = 0; i < escprotocols.length; i++) {
+            esc_protocol_e.append('<option value="' + (i+1) + '">'+ escprotocols[i] + '</option>');
+        }
+        esc_protocol_e.val(PID_ADVANCED_CONFIG.fast_pwm_protocol+1);
+        
+        
+        $('input[name="unsyncedPWMSwitch"]').prop('checked', PID_ADVANCED_CONFIG.use_unsyncedPwm);
+        $('input[name="unsyncedpwmfreq"]').val(PID_ADVANCED_CONFIG.motor_pwm_rate);
+        if (PID_ADVANCED_CONFIG.use_unsyncedPwm) {
+            
+            $('div.unsyncedpwmfreq').show();
+        }
+        else {
+            $('div.unsyncedpwmfreq').hide();
+        }
         
         // generate GPS
         var gpsProtocols = [
@@ -433,6 +474,16 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
             }
         });
 
+        $("input[type='checkbox']").change(function() {
+            var element = $(this), 
+                name = element.attr('name'),
+                isChecked = element.is(':checked');
+            if (name == 'unsyncedPWMSwitch') {
+                if (isChecked) { $('div.unsyncedpwmfreq').show(); }
+                else { $('div.unsyncedpwmfreq').hide(); }
+            }
+        });
+
         // UI hooks
         $('input[type="radio"].feature', features_e).change(function () {
             var element = $(this),
@@ -497,6 +548,11 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
             SENSOR_ALIGNMENT.align_gyro = parseInt(orientation_gyro_e.val());
             SENSOR_ALIGNMENT.align_acc = parseInt(orientation_acc_e.val());
             SENSOR_ALIGNMENT.align_mag = parseInt(orientation_mag_e.val());
+            
+            PID_ADVANCED_CONFIG.fast_pwm_protocol = parseInt(esc_protocol_e.val()-1);
+            PID_ADVANCED_CONFIG.use_unsyncedPwm = ~~$('input[name="unsyncedPWMSwitch"]').is(':checked');
+            PID_ADVANCED_CONFIG.motor_pwm_rate = parseInt($('input[name="unsyncedpwmfreq"]').val());
+            
 
             function save_serial_config() {
                 if (semver.lt(CONFIG.apiVersion, "1.6.0")) {
@@ -520,13 +576,21 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
             }
             
             function save_sensor_alignment() {
-                var next_callback = save_acc_trim;
+                var next_callback = save_esc_protocol;
                 if(semver.gte(CONFIG.apiVersion, "1.15.0")) {
                    MSP.send_message(MSP_codes.MSP_SET_SENSOR_ALIGNMENT, MSP.crunch(MSP_codes.MSP_SET_SENSOR_ALIGNMENT), false, next_callback);
                 } else {
                    next_callback();
                 }     
             }
+            function save_esc_protocol() {
+                var next_callback = save_acc_trim;
+                if(semver.gte(CONFIG.apiVersion, "1.16.0")) {
+                    MSP.send_message(MSP_codes.MSP_SET_PID_ADVANCED_CONFIG, MSP.crunch(MSP_codes.MSP_SET_PID_ADVANCED_CONFIG), false, next_callback);
+                } else {
+                   next_callback();
+                }
+            }
 
             function save_acc_trim() {
                 MSP.send_message(MSP_codes.MSP_SET_ACC_TRIM, MSP.crunch(MSP_codes.MSP_SET_ACC_TRIM), false