src/main/msp/msp_protocol.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 /**
  19  * MSP Guidelines, emphasis is used to clarify.
  20  *
  21  * Each FlightController (FC, Server) MUST change the API version when any MSP command is added, deleted, or changed.
  22  *
  23  * If you fork the FC source code and release your own version, you MUST change the Flight Controller Identifier.
  24  *
  25  * NEVER release a modified copy of this code that shares the same Flight controller IDENT and API version
  26  * if the API doesn't match EXACTLY.
  27  *
  28  * Consumers of the API (API clients) SHOULD first attempt to get a response from the MSP_API_VERSION command.
  29  *
  30  * API consumers should ALWAYS handle communication failures gracefully and attempt to continue
  31  * without the information if possible.  Clients MAY log/display a suitable message.
  32  *
  33  * API clients should NOT attempt any communication if they can't handle the returned API MAJOR VERSION.
  34  *
  35  * API clients SHOULD attempt communication if the API MINOR VERSION has increased from the time
  36  * the API client was written and handle command failures gracefully.  Clients MAY disable
  37  * functionality that depends on the commands while still leaving other functionality intact.
  38  * Clients SHOULD operate in READ-ONLY mode and SHOULD present a warning to the user to state
  39  * that the newer API version may cause problems before using API commands that change FC state.
  40  *
  41  * It is for this reason that each MSP command should be specific as possible, such that changes
  42  * to commands break as little functionality as possible.
  43  *
  44  * API client authors MAY use a compatibility matrix/table when determining if they can support
  45  * a given command from a given flight controller at a given api version level.
  46  *
  47  * Developers MUST NOT create new MSP commands that do more than one thing.
  48  *
  49  * Failure to follow these guidelines will likely invoke the wrath of developers trying to write tools
  50  * that use the API and the users of those tools.
  51  */
  52
  53 #pragma once
  54
  55 /* Protocol numbers used both by the wire format, config system, and
  56    field setters.
  57 */
  58
  59 #define MSP_PROTOCOL_VERSION                0   // Same version over MSPv1 & MSPv2 - message format didn't change and it backward compatible
  60
  61 #define API_VERSION_MAJOR                   2   // increment when major changes are made
  62 #define API_VERSION_MINOR                   5   // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
  63
  64 #define API_VERSION_LENGTH                  2
  65
  66 #define MULTIWII_IDENTIFIER "MWII";
  67 #define BASEFLIGHT_IDENTIFIER "BAFL";
  68 #define BETAFLIGHT_IDENTIFIER "BTFL"
  69 #define CLEANFLIGHT_IDENTIFIER "CLFL"
  70 #define INAV_IDENTIFIER "INAV"
  71 #define RACEFLIGHT_IDENTIFIER "RCFL"
  72
  73 #define FLIGHT_CONTROLLER_IDENTIFIER_LENGTH 4
  74 #define FLIGHT_CONTROLLER_VERSION_LENGTH    3
  75 #define FLIGHT_CONTROLLER_VERSION_MASK      0xFFF
  76
  77 #define BOARD_IDENTIFIER_LENGTH             4 // 4 UPPER CASE alpha numeric characters that identify the board being used.
  78 #define BOARD_HARDWARE_REVISION_LENGTH      2
  79
  80 // These are baseflight specific flags but they are useless now since MW 2.3 uses the upper 4 bits for the navigation version.
  81 #define CAP_PLATFORM_32BIT          ((uint32_t)1 << 31)
  82 #define CAP_BASEFLIGHT_CONFIG       ((uint32_t)1 << 30)
  83
  84 // MW 2.3 stores NAVI_VERSION in the top 4 bits of the capability mask.
  85 #define CAP_NAVI_VERSION_BIT_4_MSB  ((uint32_t)1 << 31)
  86 #define CAP_NAVI_VERSION_BIT_3      ((uint32_t)1 << 30)
  87 #define CAP_NAVI_VERSION_BIT_2      ((uint32_t)1 << 29)
  88 #define CAP_NAVI_VERSION_BIT_1_LSB  ((uint32_t)1 << 28)
  89
  90 #define CAP_DYNBALANCE              ((uint32_t)1 << 2)
  91 #define CAP_FLAPS                   ((uint32_t)1 << 3)
  92 #define CAP_NAVCAP                  ((uint32_t)1 << 4)
  93 #define CAP_EXTAUX                  ((uint32_t)1 << 5)
  94
  95 #define MSP_API_VERSION                 1    //out message
  96 #define MSP_FC_VARIANT                  2    //out message
  97 #define MSP_FC_VERSION                  3    //out message
  98 #define MSP_BOARD_INFO                  4    //out message
  99 #define MSP_BUILD_INFO                  5    //out message
 100
 101 #define MSP_INAV_PID                    6
 102 #define MSP_SET_INAV_PID                7
 103
 104 #define MSP_NAME                        10   //out message          Returns user set board name - betaflight
 105 #define MSP_SET_NAME                    11   //in message           Sets board name - betaflight
 106
 107 #define MSP_NAV_POSHOLD                 12
 108 #define MSP_SET_NAV_POSHOLD             13
 109
 110 #define MSP_CALIBRATION_DATA            14
 111 #define MSP_SET_CALIBRATION_DATA        15
 112
 113 #define MSP_POSITION_ESTIMATION_CONFIG  16
 114 #define MSP_SET_POSITION_ESTIMATION_CONFIG  17
 115
 116 #define MSP_WP_MISSION_LOAD             18      // Load mission from NVRAM
 117 #define MSP_WP_MISSION_SAVE             19      // Save mission to NVRAM
 118 #define MSP_WP_GETINFO                  20
 119
 120 #define MSP_RTH_AND_LAND_CONFIG         21
 121 #define MSP_SET_RTH_AND_LAND_CONFIG     22
 122 #define MSP_FW_CONFIG                   23
 123 #define MSP_SET_FW_CONFIG               24
 124 //
 125 // MSP commands for Cleanflight original features
 126 //
 127 #define MSP_MODE_RANGES                 34    //out message         Returns all mode ranges
 128 #define MSP_SET_MODE_RANGE              35    //in message          Sets a single mode range
 129
 130 #define MSP_FEATURE                     36
 131 #define MSP_SET_FEATURE                 37
 132
 133 #define MSP_BOARD_ALIGNMENT             38
 134 #define MSP_SET_BOARD_ALIGNMENT         39
 135
 136 #define MSP_CURRENT_METER_CONFIG        40
 137 #define MSP_SET_CURRENT_METER_CONFIG    41
 138
 139 #define MSP_MIXER                       42
 140 #define MSP_SET_MIXER                   43
 141
 142 #define MSP_RX_CONFIG                   44
 143 #define MSP_SET_RX_CONFIG               45
 144
 145 #define MSP_LED_COLORS                  46
 146 #define MSP_SET_LED_COLORS              47
 147
 148 #define MSP_LED_STRIP_CONFIG            48
 149 #define MSP_SET_LED_STRIP_CONFIG        49
 150
 151 #define MSP_RSSI_CONFIG                 50
 152 #define MSP_SET_RSSI_CONFIG             51
 153
 154 #define MSP_ADJUSTMENT_RANGES           52
 155 #define MSP_SET_ADJUSTMENT_RANGE        53
 156
 157 // private - only to be used by the configurator, the commands are likely to change
 158 #define MSP_CF_SERIAL_CONFIG            54   //Deprecated and not used
 159 #define MSP_SET_CF_SERIAL_CONFIG        55   //Deprecated and not used
 160
 161 #define MSP_VOLTAGE_METER_CONFIG        56
 162 #define MSP_SET_VOLTAGE_METER_CONFIG    57
 163
 164 #define MSP_SONAR_ALTITUDE              58 //out message get surface altitude [cm]
 165
 166 #define MSP_ARMING_CONFIG               61 //out message         Returns auto_disarm_delay and disarm_kill_switch parameters
 167 #define MSP_SET_ARMING_CONFIG           62 //in message          Sets auto_disarm_delay and disarm_kill_switch parameters
 168
 169 //
 170 // Baseflight MSP commands (if enabled they exist in Cleanflight)
 171 //
 172 #define MSP_RX_MAP                      64 //out message get channel map (also returns number of channels total)
 173 #define MSP_SET_RX_MAP                  65 //in message set rx map, numchannels to set comes from MSP_RX_MAP
 174
 175 #define MSP_REBOOT                      68 //in message reboot settings
 176
 177 #define MSP_DATAFLASH_SUMMARY           70 //out message - get description of dataflash chip
 178 #define MSP_DATAFLASH_READ              71 //out message - get content of dataflash chip
 179 #define MSP_DATAFLASH_ERASE             72 //in message - erase dataflash chip
 180
 181 #define MSP_LOOP_TIME                   73 //out message         Returns FC cycle time i.e looptime parameter
 182 #define MSP_SET_LOOP_TIME               74 //in message          Sets FC cycle time i.e looptime parameter
 183
 184 #define MSP_FAILSAFE_CONFIG             75 //out message         Returns FC Fail-Safe settings
 185 #define MSP_SET_FAILSAFE_CONFIG         76 //in message          Sets FC Fail-Safe settings
 186
 187 #define MSP_SDCARD_SUMMARY              79 //out message         Get the state of the SD card
 188
 189 #define MSP_BLACKBOX_CONFIG             80 //out message         Get blackbox settings
 190 #define MSP_SET_BLACKBOX_CONFIG         81 //in message          Set blackbox settings
 191
 192 #define MSP_TRANSPONDER_CONFIG          82 //out message         Get transponder settings
 193 #define MSP_SET_TRANSPONDER_CONFIG      83 //in message          Set transponder settings
 194
 195 #define MSP_OSD_CONFIG                  84 //out message         Get osd settings - betaflight
 196 #define MSP_SET_OSD_CONFIG              85 //in message          Set osd settings - betaflight
 197
 198 #define MSP_OSD_CHAR_READ               86 //out message         Get osd settings - betaflight
 199 #define MSP_OSD_CHAR_WRITE              87 //in message          Set osd settings - betaflight
 200
 201 #define MSP_VTX_CONFIG                  88 //out message         Get vtx settings - betaflight
 202 #define MSP_SET_VTX_CONFIG              89 //in message          Set vtx settings - betaflight
 203
 204 // Betaflight Additional Commands
 205 #define MSP_ADVANCED_CONFIG             90
 206 #define MSP_SET_ADVANCED_CONFIG         91
 207
 208 #define MSP_FILTER_CONFIG               92
 209 #define MSP_SET_FILTER_CONFIG           93
 210
 211 #define MSP_PID_ADVANCED                94
 212 #define MSP_SET_PID_ADVANCED            95
 213
 214 #define MSP_SENSOR_CONFIG               96
 215 #define MSP_SET_SENSOR_CONFIG           97
 216
 217 #define MSP_SPECIAL_PARAMETERS          98 // Temporary betaflight parameters before cleanup and keep CF compatibility
 218 #define MSP_SET_SPECIAL_PARAMETERS      99 // Temporary betaflight parameters before cleanup and keep CF compatibility
 219
 220 #define MSP_VTXTABLE_BAND              137 //out message         vtxTable band/channel data - needed by msp vtx
 221 #define MSP_VTXTABLE_POWERLEVEL        138 //out message         vtxTable powerLevel data - neede by msp vtx
 222
 223 //
 224 // OSD specific
 225 //
 226 #define MSP_OSD_VIDEO_CONFIG            180
 227 #define MSP_SET_OSD_VIDEO_CONFIG        181
 228
 229 #define MSP_DISPLAYPORT                 182
 230
 231 #define MSP_SET_TX_INFO                 186 // in message           Used to send runtime information from TX lua scripts to the firmware
 232 #define MSP_TX_INFO                     187 // out message          Used by TX lua scripts to read information from the firmware
 233
 234 //
 235 // Multwii original MSP commands
 236 //
 237
 238 #define MSP_STATUS               101    //out message         cycletime & errors_count & sensor present & box activation & current setting number
 239 #define MSP_RAW_IMU              102    //out message         9 DOF
 240 #define MSP_SERVO                103    //out message         servos
 241 #define MSP_MOTOR                104    //out message         motors
 242 #define MSP_RC                   105    //out message         rc channels and more
 243 #define MSP_RAW_GPS              106    //out message         fix, numsat, lat, lon, alt, speed, ground course
 244 #define MSP_COMP_GPS             107    //out message         distance home, direction home
 245 #define MSP_ATTITUDE             108    //out message         2 angles 1 heading
 246 #define MSP_ALTITUDE             109    //out message         altitude, variometer
 247 #define MSP_ANALOG               110    //out message         vbat, powermetersum, rssi if available on RX
 248 #define MSP_RC_TUNING            111    //out message         rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
 249 #define MSP_ACTIVEBOXES          113    //out message         Active box flags (full width, more than 32 bits)
 250 #define MSP_MISC                 114    //out message         powermeter trig
 251 #define MSP_MOTOR_PINS           115    //out message         which pins are in use for motors & servos, for GUI
 252 #define MSP_BOXNAMES             116    //out message         the aux switch names
 253 #define MSP_PIDNAMES             117    //out message         the PID names
 254 #define 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
 255 #define MSP_BOXIDS               119    //out message         get the permanent IDs associated to BOXes
 256 #define MSP_SERVO_CONFIGURATIONS 120    //out message         All servo configurations.
 257 #define MSP_NAV_STATUS           121    //out message         Returns navigation status
 258 #define MSP_NAV_CONFIG           122    //out message         Returns navigation parameters
 259 #define MSP_3D                   124    //out message         Settings needed for reversible ESCs
 260 #define MSP_RC_DEADBAND          125    //out message         deadbands for yaw alt pitch roll
 261 #define MSP_SENSOR_ALIGNMENT     126    //out message         orientation of acc,gyro,mag
 262 #define MSP_LED_STRIP_MODECOLOR  127    //out message         Get LED strip mode_color settings
 263 #define MSP_BATTERY_STATE        130    // DJI googles fc battery info
 264
 265 #define MSP_SET_RAW_RC           200    //in message          8 rc chan
 266 #define MSP_SET_RAW_GPS          201    //in message          fix, numsat, lat, lon, alt, speed
 267 #define MSP_SET_BOX              203    //in message          BOX setup (number is dependant of your setup)
 268 #define MSP_SET_RC_TUNING        204    //in message          rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID, yaw expo
 269 #define MSP_ACC_CALIBRATION      205    //in message          no param
 270 #define MSP_MAG_CALIBRATION      206    //in message          no param
 271 #define MSP_SET_MISC             207    //in message          powermeter trig + 8 free for future use
 272 #define MSP_RESET_CONF           208    //in message          no param
 273 #define MSP_SET_WP               209    //in message          sets a given WP (WP#,lat, lon, alt, flags)
 274 #define MSP_SELECT_SETTING       210    //in message          Select Setting Number (0-2)
 275 #define MSP_SET_HEAD             211    //in message          define a new heading hold direction
 276 #define MSP_SET_SERVO_CONFIGURATION 212    //in message          Servo settings
 277 #define MSP_SET_MOTOR            214    //in message          PropBalance function
 278 #define MSP_SET_NAV_CONFIG       215    //in message          Sets nav config parameters - write to the eeprom
 279 #define MSP_SET_3D               217    //in message          Settings needed for reversible ESCs
 280 #define MSP_SET_RC_DEADBAND      218    //in message          deadbands for yaw alt pitch roll
 281 #define MSP_SET_RESET_CURR_PID   219    //in message          resetting the current pid profile to defaults
 282 #define MSP_SET_SENSOR_ALIGNMENT 220    //in message          set the orientation of the acc,gyro,mag
 283 #define MSP_SET_LED_STRIP_MODECOLOR 221 //in  message         Set LED strip mode_color settings
 284
 285 // #define MSP_BIND                 240    //in message          no param
 286 // #define MSP_ALARMS               242
 287
 288 #define MSP_EEPROM_WRITE         250    //in message          no param
 289 #define MSP_RESERVE_1            251    //reserved for system usage
 290 #define MSP_RESERVE_2            252    //reserved for system usage
 291 #define MSP_DEBUGMSG             253    //out message         debug string buffer
 292 #define MSP_DEBUG                254    //out message         debug1,debug2,debug3,debug4
 293 #define MSP_V2_FRAME             255    //MSPv2 payload indicator
 294
 295 // Additional commands that are not compatible with MultiWii
 296 #define MSP_STATUS_EX            150    //out message         cycletime, errors_count, CPU load, sensor present etc
 297 #define MSP_SENSOR_STATUS        151    //out message         Hardware sensor status
 298 #define MSP_UID                  160    //out message         Unique device ID
 299 #define MSP_GPSSVINFO            164    //out message         get Signal Strength (only U-Blox)
 300 #define MSP_GPSSTATISTICS        166    //out message         get GPS debugging data
 301 #define MSP_ACC_TRIM             240    //out message         get acc angle trim values
 302 #define MSP_SET_ACC_TRIM         239    //in message          set acc angle trim values
 303 #define MSP_SERVO_MIX_RULES      241    //out message         Returns servo mixer configuration
 304 #define MSP_SET_SERVO_MIX_RULE   242    //in message          Sets servo mixer configuration
 305 #define MSP_SET_PASSTHROUGH      245    //in message          Sets up passthrough to different peripherals (4way interface, uart, etc...)
 306 #define MSP_RTC                  246    //out message         Gets the RTC clock (returns: secs(i32) millis(u16) - (0,0) if time is not known)
 307 #define MSP_SET_RTC              247    //in message          Sets the RTC clock (args: secs(i32) millis(u16))
 308
 309 // MSPv2 includes
 310 #include "msp_protocol_v2_common.h"
 311 #include "msp_protocol_v2_sensor.h"
 312 #include "msp_protocol_v2_inav.h"