msp

README

MSP protocol

Resources from:

• http://www.multiwii.com/wiki/index.php?title=Multiwii_Serial_Protocol
• http://armazila.com/MultiwiiSerialProtocol(draft)v02.pdf
• https://stackoverflow.com/questions/42877001/how-do-i-read-gyro-information-from-cleanflight-using-msp

Documentation

Index

• Constants
• type MSP
  • func NewMSP(portName string, baudRate int) (*MSP, error)
  • func (m *MSP) Close() error
  • func (m *MSP) ReadFrame() (*MSPFrame, error)
  • func (m *MSP) RebootIntoBootloader() (int, error)
  • func (m *MSP) WriteCmd(cmd uint16, args ...interface{}) (int, error)
• type MSPError
• type MSPFrame
  • func (f *MSPFrame) Byte(idx int) byte
  • func (f *MSPFrame) BytesRemaining() int
  • func (f *MSPFrame) Read(out interface{}) error
• type MSPSerialConfig

Constants

const (
	MspAPIVersion = 1
	MspFCVariant  = 2
	MspFCVersion  = 3
	MspBoardInfo  = 4
	MspBuildInfo  = 5

	MspFeature    = 36
	MspSetFeature = 37

	MspCFSerialConfig    = 54
	MspSetCFSerialConfig = 55

	MspRXMap = 64

	MspReboot = 68

	MspPID = 112

	MspSetRawRC = 200

	MspSetPID = 202

	MspEepromWrite = 250

	MspDebugMsg = 253
)

const (
	SerialFunctionMSP        = 1 << 0
	SerialFunctionDebugTrace = 1 << 15
)

const (
	MspFCFeatureDebugTrace = 1 << 31
)

Types

type MSP

type MSP struct {
	// contains filtered or unexported fields
}

func NewMSP

func NewMSP(portName string, baudRate int) (*MSP, error)

func (*MSP) Close

func (m *MSP) Close() error

Close closes the underlying serial port. Note that reading from or writing to a closed MSP will cause a panic.

func (*MSP) ReadFrame

func (m *MSP) ReadFrame() (*MSPFrame, error)

func (*MSP) RebootIntoBootloader

func (m *MSP) RebootIntoBootloader() (int, error)

RebootIntoBootloader reboots the board into bootloader mode

func (*MSP) WriteCmd

func (m *MSP) WriteCmd(cmd uint16, args ...interface{}) (int, error)

type MSPError

type MSPError interface {
	error
	IsMSPError() bool
}

type MSPFrame

type MSPFrame struct {
	Code    uint16
	Payload []byte
	// contains filtered or unexported fields
}

func (*MSPFrame) Byte

func (f *MSPFrame) Byte(idx int) byte

func (*MSPFrame) BytesRemaining

func (f *MSPFrame) BytesRemaining() int

func (*MSPFrame) Read

func (f *MSPFrame) Read(out interface{}) error

Reads out from the frame Payload and advances the payload position pointer by the size of the variable pointed by out.

type MSPSerialConfig

type MSPSerialConfig struct {
	Identifier              uint8
	FunctionMask            uint16
	MSPBaudRateIndex        uint8
	GPSBaudRateIndex        uint8
	TelemetryBaudRateIndex  uint8
	PeripheralBaudRateIndex uint8 // Actually blackboxBaudRateIndex in BF
}