526 lines
19 KiB
JavaScript
526 lines
19 KiB
JavaScript
// MSP_codes needs to be re-integrated inside MSP object
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var MSP_codes = {
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MSP_IDENT: 100,
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MSP_STATUS: 101,
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MSP_RAW_IMU: 102,
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MSP_SERVO: 103,
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MSP_MOTOR: 104,
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MSP_RC: 105,
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MSP_RAW_GPS: 106,
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MSP_COMP_GPS: 107,
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MSP_ATTITUDE: 108,
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MSP_ALTITUDE: 109,
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MSP_ANALOG: 110,
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MSP_RC_TUNING: 111,
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MSP_PID: 112,
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MSP_BOX: 113,
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MSP_MISC: 114,
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MSP_MOTOR_PINS: 115,
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MSP_BOXNAMES: 116,
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MSP_PIDNAMES: 117,
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MSP_WP: 118,
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MSP_BOXIDS: 119,
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MSP_SERVO_CONF: 120,
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MSP_SET_RAW_RC: 200,
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MSP_SET_RAW_GPS: 201,
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MSP_SET_PID: 202,
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MSP_SET_BOX: 203,
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MSP_SET_RC_TUNING: 204,
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MSP_ACC_CALIBRATION: 205,
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MSP_MAG_CALIBRATION: 206,
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MSP_SET_MISC: 207,
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MSP_RESET_CONF: 208,
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MSP_SET_WP: 209,
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MSP_SELECT_SETTING: 210,
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MSP_SET_HEAD: 211,
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MSP_SET_SERVO_CONF: 212,
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MSP_SET_MOTOR: 214,
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// MSP_BIND: 240,
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MSP_EEPROM_WRITE: 250,
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MSP_DEBUGMSG: 253,
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MSP_DEBUG: 254,
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// Additional baseflight commands that are not compatible with MultiWii
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MSP_UID: 160, // Unique device ID
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MSP_ACC_TRIM: 240, // get acc angle trim values
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MSP_SET_ACC_TRIM: 239, // set acc angle trim values
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MSP_GPSSVINFO: 164 // get Signal Strength (only U-Blox)
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};
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var MSP = {
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state: 0,
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message_status: 1,
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code: 0,
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message_length_expected: 0,
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message_length_received: 0,
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message_buffer: undefined,
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message_buffer_uint8_view: undefined,
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message_checksum: 0,
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callbacks: [],
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packet_error: 0,
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callbacks_cleanup: function() {
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for (var i = 0; i < this.callbacks.length; i++) {
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clearInterval(this.callbacks[i].timer);
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}
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this.callbacks = [];
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},
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disconnect_cleanup: function() {
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this.state = 0; // reset packet state for "clean" initial entry (this is only required if user hot-disconnects)
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this.packet_error = 0; // reset CRC packet error counter for next session
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this.callbacks_cleanup();
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}
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};
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MSP.read = function(readInfo) {
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var data = new Uint8Array(readInfo.data);
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for (var i = 0; i < data.length; i++) {
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switch (this.state) {
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case 0: // sync char 1
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if (data[i] == 36) { // $
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this.state++;
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}
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break;
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case 1: // sync char 2
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if (data[i] == 77) { // M
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this.state++;
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} else { // restart and try again
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this.state = 0;
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}
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break;
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case 2: // direction (should be >)
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if (data[i] == 62) { // >
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message_status = 1;
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} else { // unknown
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message_status = 0;
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}
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this.state++;
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break;
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case 3:
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this.message_length_expected = data[i];
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this.message_checksum = data[i];
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// setup arraybuffer
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this.message_buffer = new ArrayBuffer(this.message_length_expected);
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this.message_buffer_uint8_view = new Uint8Array(this.message_buffer);
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this.state++;
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break;
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case 4:
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this.code = data[i];
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this.message_checksum ^= data[i];
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if (this.message_length_expected != 0) { // standard message
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this.state++;
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} else { // MSP_ACC_CALIBRATION, etc...
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this.state += 2;
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}
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break;
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case 5: // payload
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this.message_buffer_uint8_view[this.message_length_received] = data[i];
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this.message_checksum ^= data[i];
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this.message_length_received++;
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if (this.message_length_received >= this.message_length_expected) {
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this.state++;
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}
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break;
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case 6:
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if (this.message_checksum == data[i]) {
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// message received, process
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this.process_data(this.code, this.message_buffer, this.message_length_expected);
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} else {
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console.log('code: ' + this.code + ' - crc failed');
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this.packet_error++;
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$('span.packet-error').html(this.packet_error);
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}
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// Reset variables
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this.message_length_received = 0;
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this.state = 0;
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break;
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}
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}
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};
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MSP.process_data = function(code, message_buffer, message_length) {
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var data = new DataView(message_buffer, 0); // DataView (allowing us to view arrayBuffer as struct/union)
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switch (code) {
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case MSP_codes.MSP_IDENT:
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CONFIG.version = parseFloat((data.getUint8(0) / 100).toFixed(2));
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CONFIG.multiType = data.getUint8(1);
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CONFIG.msp_version = data.getUint8(2);
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CONFIG.capability = data.getUint32(3, 1);
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break;
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case MSP_codes.MSP_STATUS:
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CONFIG.cycleTime = data.getUint16(0, 1);
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CONFIG.i2cError = data.getUint16(2, 1);
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CONFIG.activeSensors = data.getUint16(4, 1);
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CONFIG.mode = data.getUint32(6, 1);
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CONFIG.profile = data.getUint8(10);
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sensor_status(CONFIG.activeSensors);
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$('span.cycle-time').text(CONFIG.cycleTime);
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break;
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case MSP_codes.MSP_RAW_IMU:
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// 512 for mpu6050, 256 for mma
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// currently we are unable to differentiate between the sensor types, so we are goign with 512
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SENSOR_DATA.accelerometer[0] = data.getInt16(0, 1) / 512;
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SENSOR_DATA.accelerometer[1] = data.getInt16(2, 1) / 512;
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SENSOR_DATA.accelerometer[2] = data.getInt16(4, 1) / 512;
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// properly scaled
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SENSOR_DATA.gyroscope[0] = data.getInt16(6, 1) * (4 / 16.4);
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SENSOR_DATA.gyroscope[1] = data.getInt16(8, 1) * (4 / 16.4);
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SENSOR_DATA.gyroscope[2] = data.getInt16(10, 1) * (4 / 16.4);
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// no clue about scaling factor
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SENSOR_DATA.magnetometer[0] = data.getInt16(12, 1) / 1090;
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SENSOR_DATA.magnetometer[1] = data.getInt16(14, 1) / 1090;
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SENSOR_DATA.magnetometer[2] = data.getInt16(16, 1) / 1090;
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break;
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case MSP_codes.MSP_SERVO:
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var needle = 0;
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for (var i = 0; i < 8; i++) {
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SERVO_DATA[i] = data.getUint16(needle, 1);
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needle += 2;
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}
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break;
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case MSP_codes.MSP_MOTOR:
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var needle = 0;
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for (var i = 0; i < 8; i++) {
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MOTOR_DATA[i] = data.getUint16(needle, 1);
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needle += 2;
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}
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break;
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case MSP_codes.MSP_RC:
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RC.roll = data.getUint16(0, 1);
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RC.pitch = data.getUint16(2, 1);
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RC.yaw = data.getUint16(4, 1);
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RC.throttle = data.getUint16(6, 1);
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RC.AUX1 = data.getUint16(8, 1);
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RC.AUX2 = data.getUint16(10, 1);
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RC.AUX3 = data.getUint16(12, 1);
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RC.AUX4 = data.getUint16(14, 1);
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break;
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case MSP_codes.MSP_RAW_GPS:
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GPS_DATA.fix = data.getUint8(0);
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GPS_DATA.numSat = data.getUint8(1);
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GPS_DATA.lat = data.getInt32(2, 1);
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GPS_DATA.lon = data.getInt32(6, 1);
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GPS_DATA.alt = data.getUint16(10, 1);
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GPS_DATA.speed = data.getUint16(12, 1);
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GPS_DATA.ground_course = data.getUint16(14, 1);
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break;
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case MSP_codes.MSP_COMP_GPS:
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GPS_DATA.distanceToHome = data.getUint16(0, 1);
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GPS_DATA.directionToHome = data.getUint16(2, 1);
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GPS_DATA.update = data.getUint8(4);
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break;
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case MSP_codes.MSP_ATTITUDE:
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SENSOR_DATA.kinematicsX = data.getInt16(0, 1) / 10.0;
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SENSOR_DATA.kinematicsY = data.getInt16(2, 1) / 10.0;
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SENSOR_DATA.kinematicsZ = data.getInt16(4, 1);
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break;
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case MSP_codes.MSP_ALTITUDE:
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SENSOR_DATA.altitude = parseFloat((data.getInt32(0, 1) / 100.0).toFixed(2)); // correct scale factor
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break;
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case MSP_codes.MSP_ANALOG:
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ANALOG.voltage = data.getUint8(0) / 10.0;
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ANALOG.power = data.getUint16(1, 1);
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ANALOG.rssi = data.getUint16(3, 1);
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ANALOG.amperage = data.getUint16(5, 1);
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break;
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case MSP_codes.MSP_RC_TUNING:
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RC_tuning.RC_RATE = parseFloat((data.getUint8(0) / 100).toFixed(2));
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RC_tuning.RC_EXPO = parseFloat((data.getUint8(1) / 100).toFixed(2));
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RC_tuning.roll_pitch_rate = parseFloat((data.getUint8(2) / 100).toFixed(2));
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RC_tuning.yaw_rate = parseFloat((data.getUint8(3) / 100).toFixed(2));
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RC_tuning.dynamic_THR_PID = parseFloat((data.getUint8(4) / 100).toFixed(2));
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RC_tuning.throttle_MID = parseFloat((data.getUint8(5) / 100).toFixed(2));
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RC_tuning.throttle_EXPO = parseFloat((data.getUint8(6) / 100).toFixed(2));
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break;
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case MSP_codes.MSP_PID:
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// PID data arrived, we need to scale it and save to appropriate bank / array
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for (var i = 0, needle = 0; i < (message_length / 3); i++, needle += 3) {
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// main for loop selecting the pid section
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switch (i) {
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case 0:
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case 1:
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case 2:
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case 3:
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case 7:
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case 8:
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case 9:
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PIDs[i][0] = data.getUint8(needle) / 10;
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PIDs[i][1] = data.getUint8(needle + 1) / 1000;
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PIDs[i][2] = data.getUint8(needle + 2);
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break;
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case 4:
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PIDs[i][0] = data.getUint8(needle) / 100;
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PIDs[i][1] = data.getUint8(needle + 1) / 100;
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PIDs[i][2] = data.getUint8(needle + 2) / 1000;
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break;
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case 5:
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case 6:
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PIDs[i][0] = data.getUint8(needle) / 10;
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PIDs[i][1] = data.getUint8(needle + 1) / 100;
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PIDs[i][2] = data.getUint8(needle + 2) / 1000;
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break;
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}
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}
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break;
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case MSP_codes.MSP_BOX:
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// dump previous data (if there was any)
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AUX_CONFIG_values = new Array();
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// fill in current data
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for (var i = 0; i < data.byteLength; i += 2) { // + 2 because uint16_t = 2 bytes
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AUX_CONFIG_values.push(data.getUint16(i, 1));
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}
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break;
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case MSP_codes.MSP_MISC: // 22 bytes
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MISC.PowerTrigger1 = data.getInt16(0, 1);
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MISC.minthrottle = data.getUint16(2, 1); // 0-2000
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MISC.maxthrottle = data.getUint16(4, 1); // 0-2000
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MISC.mincommand = data.getUint16(6, 1); // 0-2000
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MISC.failsafe_throttle = data.getUint16(8, 1); // 1000-2000
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MISC.plog0 = data.getUint16(10, 1);
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MISC.plog1 = data.getUint32(12, 1);
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MISC.mag_declination = data.getInt16(16, 1); // -18000-18000
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MISC.vbatscale = data.getUint8(18, 1); // 10-200
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MISC.vbatmincellvoltage = data.getUint8(19, 1) / 10; // 10-50
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MISC.vbatmaxcellvoltage = data.getUint8(20, 1) / 10; // 10-50
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MISC.empty = data.getUint8(21, 1);
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break;
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case MSP_codes.MSP_MOTOR_PINS:
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console.log(data);
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break;
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case MSP_codes.MSP_BOXNAMES:
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AUX_CONFIG = []; // empty the array as new data is coming in
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var buff = new Array();
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for (var i = 0; i < data.byteLength; i++) {
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if (data.getUint8(i) == 0x3B) { // ; (delimeter char)
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AUX_CONFIG.push(String.fromCharCode.apply(null, buff)); // convert bytes into ASCII and save as strings
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// empty buffer
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buff = [];
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} else {
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buff.push(data.getUint8(i));
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}
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}
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break;
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case MSP_codes.MSP_PIDNAMES:
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console.log(data);
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break;
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case MSP_codes.MSP_WP:
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console.log(data);
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break;
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case MSP_codes.MSP_BOXIDS:
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console.log(data);
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break;
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case MSP_codes.MSP_SERVO_CONF:
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// drop previous data
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SERVO_CONFIG = [];
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for (var i = 0; i < 56; i += 7) {
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var arr = {
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'min': data.getInt16(i, 1),
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'max': data.getInt16(i + 2, 1),
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'middle': data.getInt16(i + 4, 1),
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'rate': data.getInt8(i + 6)
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};
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SERVO_CONFIG.push(arr);
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}
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break;
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case MSP_codes.MSP_SET_RAW_RC:
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break;
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case MSP_codes.MSP_SET_RAW_GPS:
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break;
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case MSP_codes.MSP_SET_PID:
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console.log('PID settings saved');
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break;
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case MSP_codes.MSP_SET_BOX:
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console.log('AUX Configuration saved');
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break;
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case MSP_codes.MSP_SET_RC_TUNING:
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console.log('RC Tuning saved');
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break;
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case MSP_codes.MSP_ACC_CALIBRATION:
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console.log('Accel calibration executed');
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break;
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case MSP_codes.MSP_MAG_CALIBRATION:
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console.log('Mag calibration executed');
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break;
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case MSP_codes.MSP_SET_MISC:
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console.log('MISC Configuration saved');
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break;
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case MSP_codes.MSP_RESET_CONF:
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console.log('Settings Reset');
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// With new flight software settings in place, we have to re-pull
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// latest values
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send_message(MSP_codes.MSP_IDENT, MSP_codes.MSP_IDENT);
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send_message(MSP_codes.MSP_STATUS, MSP_codes.MSP_STATUS);
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send_message(MSP_codes.MSP_PID, MSP_codes.MSP_PID);
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send_message(MSP_codes.MSP_RC_TUNING, MSP_codes.MSP_RC_TUNING);
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send_message(MSP_codes.MSP_BOXNAMES, MSP_codes.MSP_BOXNAMES);
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send_message(MSP_codes.MSP_BOX, MSP_codes.MSP_BOX);
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// baseflight specific
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send_message(MSP_codes.MSP_UID, MSP_codes.MSP_UID);
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send_message(MSP_codes.MSP_ACC_TRIM, MSP_codes.MSP_ACC_TRIM);
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break;
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case MSP_codes.MSP_SELECT_SETTING:
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console.log('Profile selected');
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break;
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case MSP_codes.MSP_SET_SERVO_CONF:
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console.log('Servo Configuration saved');
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break;
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case MSP_codes.MSP_EEPROM_WRITE:
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console.log('Settings Saved in EEPROM');
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break;
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case MSP_codes.MSP_DEBUGMSG:
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break;
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case MSP_codes.MSP_DEBUG:
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for (var i = 0; i < 4; i++)
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SENSOR_DATA.debug[i] = data.getInt16((2 * i), 1);
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break;
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case MSP_codes.MSP_SET_MOTOR:
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console.log('Motor Speeds Updated');
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break;
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// Additional baseflight commands that are not compatible with MultiWii
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case MSP_codes.MSP_UID:
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CONFIG.uid[0] = data.getUint32(0, 1);
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CONFIG.uid[1] = data.getUint32(4, 1);
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CONFIG.uid[2] = data.getUint32(8, 1);
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break;
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case MSP_codes.MSP_ACC_TRIM:
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CONFIG.accelerometerTrims[0] = data.getInt16(0, 1); // pitch
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CONFIG.accelerometerTrims[1] = data.getInt16(2, 1); // roll
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break;
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case MSP_codes.MSP_SET_ACC_TRIM:
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console.log('Accelerometer trimms saved.');
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break;
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case MSP_codes.MSP_GPSSVINFO:
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if (data.byteLength > 0) {
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var numCh = data.getUint8(0);
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var needle = 1;
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for (var i = 0; i < numCh; i++) {
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GPS_DATA.chn[i] = data.getUint8(needle);
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GPS_DATA.svid[i] = data.getUint8(needle + 1);
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GPS_DATA.quality[i] = data.getUint8(needle + 2);
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GPS_DATA.cno[i] = data.getUint8(needle + 3);
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needle += 4;
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}
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}
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break;
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default:
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console.log('Unknown code detected: ' + code);
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}
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// trigger callbacks, cleanup/remove callback after trigger
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for (var i = this.callbacks.length - 1; i >= 0; i--) { // itterating in reverse because we use .splice which modifies array length
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if (this.callbacks[i].code == code) {
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// save callback reference
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var callback = this.callbacks[i].callback;
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// remove timeout
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clearInterval(this.callbacks[i].timer);
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// remove object from array
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this.callbacks.splice(i, 1);
|
|
|
|
// fire callback
|
|
if (callback) callback({'command': code, 'data': data, 'length': message_length});
|
|
}
|
|
}
|
|
};
|
|
|
|
function send_message(code, data, callback_sent, callback_msp) {
|
|
var bufferOut;
|
|
var bufView;
|
|
|
|
// always reserve 6 bytes for protocol overhead !
|
|
if (typeof data === 'object') {
|
|
var size = data.length + 6;
|
|
var checksum = 0;
|
|
|
|
bufferOut = new ArrayBuffer(size);
|
|
bufView = new Uint8Array(bufferOut);
|
|
|
|
bufView[0] = 36; // $
|
|
bufView[1] = 77; // M
|
|
bufView[2] = 60; // <
|
|
bufView[3] = data.length;
|
|
bufView[4] = code;
|
|
|
|
checksum = bufView[3] ^ bufView[4];
|
|
|
|
for (var i = 0; i < data.length; i++) {
|
|
bufView[i + 5] = data[i];
|
|
|
|
checksum ^= bufView[i + 5];
|
|
}
|
|
|
|
bufView[5 + data.length] = checksum;
|
|
} else {
|
|
bufferOut = new ArrayBuffer(7);
|
|
bufView = new Uint8Array(bufferOut);
|
|
|
|
bufView[0] = 36; // $
|
|
bufView[1] = 77; // M
|
|
bufView[2] = 60; // <
|
|
bufView[3] = 0; // data length
|
|
bufView[4] = code; // code
|
|
bufView[5] = data; // data
|
|
bufView[6] = bufView[3] ^ bufView[4] ^ bufView[5]; // checksum
|
|
}
|
|
|
|
// utilizing callback/timeout system for all commands
|
|
for (var i = 0; i < MSP.callbacks.length; i++) {
|
|
if (MSP.callbacks[i].code == code) {
|
|
// request already exist
|
|
return false; // skips the code below
|
|
}
|
|
}
|
|
|
|
var obj = {'code': code, 'callback': (callback_msp) ? callback_msp : false};
|
|
obj.timer = setInterval(function() {
|
|
console.log('MSP data request timed-out: ' + code);
|
|
|
|
serial.send(bufferOut, function(sendInfo) {});
|
|
}, 1000); // we should be able to define timeout in the future
|
|
|
|
MSP.callbacks.push(obj);
|
|
|
|
serial.send(bufferOut, function(sendInfo) {
|
|
if (sendInfo.bytesSent > 0) {
|
|
if (callback_sent) callback_sent();
|
|
}
|
|
});
|
|
|
|
return true;
|
|
} |