msp.h

#ifndef MSP_H
#define MSP_H

#include <stdint.h>
#include "msg.h"


#define RC_LO 1100-1 //used for stick combos; based on MultiWii.h
#define RC_HI 1900+1
#define RC_CE 1500

#define MAX_PID 10

#define MSP_MAX_SIZE 36

#define MSP_PRIVATE              1     //in+out message      to be used for a generic framework : MSP + function code (LIST/GET/SET) + data. no code yet

#define MSP_IDENT                100   //out message         multitype + multiwii version + protocol version + capability variable
#define MSP_STATUS               101   //out message         cycletime & errors_count & sensor present & box activation & current setting number
#define MSP_RAW_IMU              102   //out message         9 DOF
#define MSP_SERVO                103   //out message         8 servos
#define MSP_MOTOR                104   //out message         8 motors
#define MSP_RC                   105   //out message         8 rc chan and more
#define MSP_RAW_GPS              106   //out message         fix, numsat, lat, lon, alt, speed, ground course
#define MSP_COMP_GPS             107   //out message         distance home, direction home
#define MSP_ATTITUDE             108   //out message         2 angles 1 heading
#define MSP_ALTITUDE             109   //out message         altitude, variometer
#define MSP_ANALOG               110   //out message         vbat, powermetersum, rssi if available on RX
#define MSP_RC_TUNING            111   //out message         rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
#define MSP_PID                  112   //out message         P I D coeff (9 are used currently)
#define MSP_BOX                  113   //out message         BOX setup (number is dependant of your setup)
#define MSP_MISC                 114   //out message         powermeter trig
#define MSP_MOTOR_PINS           115   //out message         which pins are in use for motors & servos, for GUI 
#define MSP_BOXNAMES             116   //out message         the aux switch names
#define MSP_PIDNAMES             117   //out message         the PID names
#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
#define MSP_BOXIDS               119   //out message         get the permanent IDs associated to BOXes
#define MSP_SERVO_CONF           120   //out message         Servo settings

#define MSP_NAV_STATUS           121   //out message         Returns navigation status
#define MSP_NAV_CONFIG           122   //out message         Returns navigation parameters

#define MSP_CELLS                130   //out message         FRSKY Battery Cell Voltages

#define MSP_SET_RAW_RC           200   //in message          8 rc chan
#define MSP_SET_RAW_GPS          201   //in message          fix, numsat, lat, lon, alt, speed
#define MSP_SET_PID              202   //in message          P I D coeff (9 are used currently)
#define MSP_SET_BOX              203   //in message          BOX setup (number is dependant of your setup)
#define MSP_SET_RC_TUNING        204   //in message          rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
#define MSP_ACC_CALIBRATION      205   //in message          no param
#define MSP_MAG_CALIBRATION      206   //in message          no param
#define MSP_SET_MISC             207   //in message          powermeter trig + 8 free for future use
#define MSP_RESET_CONF           208   //in message          no param
#define MSP_SET_WP               209   //in message          sets a given WP (WP#,lat, lon, alt, flags)
#define MSP_SELECT_SETTING       210   //in message          Select Setting Number (0-2)
#define MSP_SET_HEAD             211   //in message          define a new heading hold direction
#define MSP_SET_SERVO_CONF       212   //in message          Servo settings
#define MSP_SET_MOTOR            214   //in message          PropBalance function
#define MSP_SET_NAV_CONFIG       215   //in message          Sets nav config parameters - write to the eeprom  

#define MSP_SET_ACC_TRIM         239   //in message          set acc angle trim values
#define MSP_ACC_TRIM             240   //out message         get acc angle trim values
#define MSP_BIND                 241   //in message          no param

#define MSP_EEPROM_WRITE         250   //in message          no param

#define MSP_DEBUGMSG             253   //out message         debug string buffer
#define MSP_DEBUG                254   //out message         debug1,debug2,debug3,debug4


//50-74 custom messages that 
#define MSP_LOCALSTATUS  		50
//51 reserved for MultiWii reset
#define MSP_STICKCOMBO 			52

//75-99 memory allocation for local processes
#define MSP_HOST_WIFI   		75

struct S_MSP_IDENT {
	uint8_t version;
	uint8_t multitype;
	uint8_t msp_version;
	uint32_t capability;	
}; 


struct S_MSP_STATUS {
	uint16_t cycleTime;
	uint16_t i2c_errors_count;
	uint16_t sensor;
	uint32_t flag;
	uint8_t currentSet;
};

struct S_MSP_MISC {
	uint16_t intPowerTrigger1;
	uint16_t minthrottle;
	uint16_t maxthrottle;
	uint16_t mincommand;
	uint16_t failsafe_throttle;
	uint16_t arm;
	uint32_t lifetime;
	uint16_t mag_declination;
	uint8_t vbatscale;
	uint8_t vbatlevel_warn1;
	uint8_t vbatlevel_warn2;
	uint8_t vbatlevel_crit;
};

struct S_MSP_RAW_IMU {
	int16_t accx;
	int16_t accy;
	int16_t accz;
	int16_t gyrx;
	int16_t gyry;
	int16_t gyrz;
	int16_t magx;
	int16_t magy;
	int16_t magz;
};

struct S_MSP_ATTITUDE {
	int16_t angx;
	int16_t angy;
	int16_t heading;
};

struct S_MSP_RAW_GPS {
	uint8_t fix;
	uint8_t num_sat;
	int32_t lat;
	int32_t lon;
	uint16_t alt;
	uint16_t speed;
	uint16_t ground_course;
};

struct S_MSP_WP {
	uint8_t wp_no;
	uint8_t action;
	int32_t lat;
	int32_t lon;
	uint32_t alt_hold;
	int16_t param1;
	int16_t param2;
	int16_t param3;
	uint8_t flag;
};

struct S_MSP_NAV_CONFIG {
  uint8_t filtering : 1;
  uint8_t lead_filter : 1;
  uint8_t dont_reset_home_at_arm : 1;
  uint8_t nav_controls_heading : 1;
  uint8_t nav_tail_first : 1;
  uint8_t nav_rth_takeoff_heading : 1;
  uint8_t slow_nav : 1;
  uint8_t wait_for_rth_alt : 1;	

  uint8_t ignore_throttle: 1; // Disable stick controls during mission and RTH
  uint8_t takeover_baro: 1;

  uint16_t wp_radius;           // in cm
  uint16_t safe_wp_distance;    // in meter
  uint16_t nav_max_altitude;    // in meter
  uint16_t nav_speed_max;       // in cm/s
  uint16_t nav_speed_min;       // in cm/s
  uint8_t  crosstrack_gain;     // * 100 (0-2.56)
  uint16_t nav_bank_max;        // degree * 100; (3000 default)
  uint16_t rth_altitude;        // in meter
  uint8_t  land_speed;          // between 50 and 255 (100 approx = 50cm/sec)
  uint16_t fence;               // fence control in meters

  uint8_t  max_wp_number;

  uint8_t  checksum;    
};


struct S_MSP_SERVO {
	uint16_t servo[8]; 
};

struct S_MSP_ALTITUDE {
	int32_t EstAlt; //cm
	int16_t vario; //cm/s
};

struct S_MSP_RC {
	uint16_t roll;
	uint16_t pitch;
	uint16_t yaw;
	uint16_t throttle;
	uint16_t aux1;
	uint16_t aux2;
	uint16_t aux3;
	uint16_t aux4;	
};

struct S_MSP_RC_TUNING {
	uint8_t rcRate;
	uint8_t rcExpo;
	uint8_t rollPitchRate;
	uint8_t yawRate;
	uint8_t dynThrPID;
	uint8_t thrMid;
	uint8_t thrExpo;
};

struct S_MSP_ANALOG {
	uint8_t vbat;
	uint16_t intPowerMeterSum;
	uint16_t rssi;
	uint16_t amperage; 
};

struct S_MSP_PID {
 	uint8_t P8;
 	uint8_t I8;
 	uint8_t D8;
};

struct S_MSP_PIDITEMS {
	struct S_MSP_PID pid[MAX_PID];
};

enum multitype {
	MULTITYPENONE0, //0
	MULTITYPETRI, //1
	MULTITYPEQUADP, //2
	MULTITYPEQUADX, //3
	MULTITYPEBI, //4
	MULTITYPEGIMBAL, //5
	MULTITYPEY6, //6
	MULTITYPEHEX6, //7
	MULTITYPEFLYING_WING, //8
	MULTITYPEY4, //9
	MULTITYPEHEX6X, //10
	MULTITYPEOCTOX8, //11
	MULTITYPEOCTOFLATP, //12
	MULTITYPEOCTOFLATX, //13
	MULTITYPEAIRPLANE, //14
	MULTITYPEHELI_120_CCPM, //15
	MULTITYPEHELI_90_DEG, //16
	MULTITYPEVTAIL4, //17
	MULTITYPEHEX6H, //18
	MULTITYPENONE19,
	MULTITYPEDUALCOPTER, //20
	MULTITYPESINGLECOPTER //21
};

enum box {
  BOXARM, //0
  BOXANGLE, //1
  BOXHORIZON, //2
  BOXBARO, //3
  BOXVARIO, //4
  BOXMAG, //5
  BOXHEADFREE, //6
  BOXHEADADJ, // 7 acquire heading for HEADFREE mode
  BOXCAMSTAB,// 8
  BOXCAMTRIG, //9
  BOXGPSHOME, //10
  BOXGPSHOLD, //11
  BOXPASSTHRU, //12
  BOXBEEPERON, //13
  BOXLEDMAX, //14 we want maximum illumination
  BOXLEDLOW, //15 low/no lights
  BOXLLIGHTS, //16 enable landing lights at any altitude
  BOXCALIB, //17
  BOXGOV, //18
  BOXOSD, //19
  BOXGPSNAV, //20
  BOXLAND, //21
  CHECKBOXITEMS //22
};

//EXTENDED_AUX_STATES not supported
/* This message is used for all BOX related processing */
struct S_MSP_BOXCONFIG {
	uint8_t supported[CHECKBOXITEMS];
	uint16_t value[CHECKBOXITEMS];
};

enum stick {
	STICKARM,
	STICKDISARM,
	STICKGYROCALIB,
	STICKACCCALIB,
	STICKMAGCALIB	
};

struct S_MSP_STICKCOMBO {
	uint8_t combo;
};

struct S_MSP_LOCALSTATUS {
	uint16_t crc_error_count; //uart; on receiving end
	uint16_t rx_count;
	uint16_t tx_count;
	int8_t rssi;
	int8_t noise;
};

struct S_MSP_HOST_WIFI {
	int8_t rssi;
	int8_t noise;
};


const char* msp_get_pidname(uint8_t pid);
uint8_t msp_get_pidid(const char *name);
uint8_t msp_get_pid_count();

const char* msp_get_boxname(uint8_t num);
uint8_t msp_get_boxid(const char *name);
uint8_t msp_get_box_count();


/* Gets arm status for the quadcopter based on flag in status message */
uint8_t msp_is_armed(struct S_MSP_STATUS *status);
uint8_t msp_is_boxactive(struct S_MSP_STATUS *status, struct S_MSP_BOXCONFIG *boxconf, uint8_t box);
uint8_t msp_has_gps(struct S_MSP_STATUS *status);


/* Parsers and serializers 
 * By default each message has a create function and a parse function
 */
void mspmsg_IDENT_serialize(struct S_MSG *target); //creates a MSP_INDENT message
void mspmsg_IDENT_parse(struct S_MSP_IDENT *target, struct S_MSG *msg); //parses msg into MSP_INDENT structure

void mspmsg_STATUS_serialize(struct S_MSG *target); 
void mspmsg_STATUS_parse(struct S_MSP_STATUS *status, struct S_MSG *msg);

void mspmsg_MISC_serialize(struct S_MSG *target);
void mspmsg_MISC_parse(struct S_MSP_MISC *misc, struct S_MSG *msg);
void mspmsg_SET_MISC_serialize(struct S_MSG *target, struct S_MSP_MISC *src);

void mspmsg_RAW_IMU_serialize(struct S_MSG *target);
void mspmsg_RAW_IMU_parse(struct S_MSP_RAW_IMU *imu, struct S_MSG *msg);

void mspmsg_ATTITUDE_serialize(struct S_MSG *target);
void mspmsg_ATTITUDE_parse(struct S_MSP_ATTITUDE *target, struct S_MSG *msg);

void mspmsg_ALTITUDE_serialize(struct S_MSG *target);
void mspmsg_ALTITUDE_parse(struct S_MSP_ALTITUDE *target, struct S_MSG *msg);

void mspmsg_RAW_GPS_serialize(struct S_MSG *target);
void mspmsg_RAW_GPS_parse(struct S_MSP_RAW_GPS *target, struct S_MSG *msg);

void mspmsg_WP_serialize(struct S_MSG *target, uint8_t wp_no);
void mspmsg_WP_parse(struct S_MSP_WP *target, struct S_MSG *msg);

void mspmsg_NAV_CONFIG_serialize(struct S_MSG *target);
void mspmsg_NAV_CONFIG_parse(struct S_MSP_NAV_CONFIG *target, struct S_MSG *msg);

void mspmsg_NAV_CONFIG_SET_serialize(struct S_MSG *target, struct S_MSP_NAV_CONFIG *src);

void mspmsg_SERVO_serialize(struct S_MSG *target);
void mspmsg_SERVO_parse(struct S_MSP_SERVO *servo, struct S_MSG *msg);

void mspmsg_RC_serialize(struct S_MSG *target);
void mspmsg_SET_RAW_RC_serialize(struct S_MSG *target, struct S_MSP_RC *src);
void mspmsg_RC_parse(struct S_MSP_RC *status, struct S_MSG *msg);

void mspmsg_RC_TUNING_serialize(struct S_MSG *target);
void mspmsg_RC_TUNING_parse(struct S_MSP_RC_TUNING *rct, struct S_MSG *msg);
void mspmsg_SET_RC_TUNING_serialize(struct S_MSG *target, struct S_MSP_RC_TUNING *src);

//BOXIDS = supported boxes
void mspmsg_BOXIDS_serialize(struct S_MSG *target);
void mspmsg_BOXIDS_parse(struct S_MSP_BOXCONFIG *boxconf, struct S_MSG *msg);

//BOX = value for all supported boxes
void mspmsg_BOX_serialize(struct S_MSG *target);
void mspmsg_BOX_parse(struct S_MSP_BOXCONFIG *box, struct S_MSG *msg);

void mspmsg_SET_BOX_serialize(struct S_MSG *target, struct S_MSP_BOXCONFIG *src); //create

void mspmsg_ANALOG_serialize(struct S_MSG *target);
void mspmsg_ANALOG_parse(struct S_MSP_ANALOG *analog, struct S_MSG *msg);


void mspmsg_PID_serialize(struct S_MSG *target);
void mspmsg_PID_parse(struct S_MSP_PIDITEMS *piditems, struct S_MSG *msg);

void mspmsg_SET_PID_serialize(struct S_MSG *target, struct S_MSP_PIDITEMS *src);

void mspmsg_SELECT_SETTING_serialize(struct S_MSG *target, uint8_t set);

void mspmsg_SET_HEAD_serialize(struct S_MSG *target, int16_t target_heading);

void mspmsg_EEPROM_WRITE_serialize(struct S_MSG *target);

/* USER DEFINED MESSAGES */
void mspmsg_STICKCOMBO_serialize(struct S_MSG *target, struct S_MSP_STICKCOMBO *src);
void mspmsg_STICKCOMBO_parse(struct S_MSP_STICKCOMBO *stickcombo, struct S_MSG *msg);

void mspmsg_LOCALSTATUS_serialize(struct S_MSG *target, struct S_MSP_LOCALSTATUS *src);
void mspmsg_LOCALSTATUS_parse(struct S_MSP_LOCALSTATUS *status, struct S_MSG *msg);

void mspmsg_HOST_WIFI_parse(struct S_MSP_HOST_WIFI *status, struct S_MSG *msg);
void mspmsg_HOST_WIFI_serialize(struct S_MSG *target, struct S_MSP_HOST_WIFI *src);

void mspmsg_custom_serialize(struct S_MSG *target, uint8_t id, uint8_t *data, uint8_t length);


#endif