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__init__.py
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"""YAMSPy: Yet Another Implementation of Multiwii Serial Protocol Python Interface for Betaflight, iNAV, etc.
Copyright (C) 2019 Ricardo de Azambuja
This file is part of YAMSPy.
YAMSPy is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
YAMSPy is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with YAMSPy. If not, see <https://www.gnu.org/licenses/>.
Deeply based on code from Betaflight and iNAV.
Acknowledgement:
This work was possible thanks to the financial support from IVADO.ca (postdoctoral scholarship 2019/2020).
Disclaimer (adapted from Wikipedia):
None of the authors, contributors, supervisors, administrators, employers, friends, family, vandals, or anyone else
connected (or not) with this project, in any way whatsoever, can be made responsible for your use of the information (code)
contained or linked from here.
TODO:
1) Add more support to iNAV.
2) Add the possibility to register a callback functions when a msg is transmitted.
3) Improve the arming confirmation.
4) This file is way too big... it needs to be broken down into smaller ones.
"""
__author__ = "Ricardo de Azambuja"
__copyright__ = "Copyright 2019, MISTLab.ca"
__credits__ = [""]
__license__ = "GPL"
__version__ = "0.3.4"
__maintainer__ = "Ricardo de Azambuja"
__email__ = "ricardo.azambuja@gmail.com"
__status__ = "Development"
import logging
import struct
import time
import sys
from select import select
from threading import Lock, RLock
if "linux" in sys.platform:
import ctypes
ffs = ctypes.cdll.LoadLibrary('libc.so.6').ffs # this is only for ffs... it should be directly implemented.
else:
def ffs(x): # modified from https://stackoverflow.com/a/36059264
return (x&-x).bit_length()
from serial import SerialException
from . import msp_ctrl
from . import msp_codes
class MSPy:
MSPCodes = msp_codes.MSPCodes
MSPCodes2Str = msp_codes.MSPCodes2Str
SIGNATURE_LENGTH = 32
def __init__(self, device, baudrate=115200, trials=1,
logfilename='MSPy.log', logfilemode='a', loglevel='INFO', timeout=1/100,
use_tcp=False, min_time_between_writes = 1/100):
"""
Parameters
----------
device : str
The location of the serial device (e.g. "/dev/ttyACM0") or TCP port when use_tcp==True
baudrate : int, optional
Serial connection speed (default is 115200)
trials : int, optional
Number of times it should try openning the serial port before giving up (default is 1)
logfilename : str, optional
Name of the file where the log is saved (default is 'MSPy.log').
If logfilename=None, it will use stdout instead of a file.
logfilemode : str, optional
Use 'a' for append and 'w' for overriding (default is 'a').
loglevel : str, optional
The loglevel passed to logging (default is 'DEBUG')
timeout : float, optional
Value used for serial port and TCP timeouts.
use_tcp : bool, optional
Uses TCP instead of the serial port.
min_time_between_writes : float, optional
Adds delays to make sure messages aren't sent faster than this value.
"""
self.CONFIG = {
'apiVersion': "0.0.0",
'flightControllerIdentifier': '',
'flightControllerVersion': '',
'version': 0,
'buildInfo': '',
'multiType': 0,
'msp_version': 0, # not specified using semantic versioning
'capability': 0,
'cycleTime': 0,
'i2cError': 0,
'activeSensors': 0,
'mode': 0,
'profile': 0,
'uid': [0, 0, 0],
'accelerometerTrims': [0, 0],
'name': '',
'displayName': 'JOE PILOT',
'numProfiles': 3,
'rateProfile': 0,
'boardType': 0,
'armingDisableCount': 0,
'armingDisableFlags': 0,
'armingDisabled': False,
'runawayTakeoffPreventionDisabled': False,
'boardIdentifier': "",
'boardVersion': 0,
'commCapabilities': 0,
'targetName': "",
'boardName': "",
'manufacturerId': "",
'signature': [],
'cpuload': 0,
'mcuTypeId': 255,
}
self.SENSOR_DATA = {
'gyroscope': [0, 0, 0],
'accelerometer': [0, 0, 0],
'magnetometer': [0, 0, 0],
'altitude': 0.0,
'altitude_vel': 0.0,
'sonar': 0.0,
'kinematics': [0.0, 0.0, 0.0],
'debug': [0, 0, 0, 0, 0, 0, 0, 0], # 8 values for special situations like MSP2_INAV_DEBUG
}
self.MOTOR_DATA = [0]*8
self.MOTOR_TELEMETRY_DATA = {
'rpm': [0]*8,
'invalidPercent': [0]*8,
'temperature': [0]*8,
'voltage': [0]*8,
'current': [0]*8,
'consumption': [0]*8,
}
# defaults
# roll, pitch, yaw, throttle, aux 1, ... aux n
self.RC = {
'active_channels': 0,
'channels': [0]*32,
}
self.GPS_DATA = {
'fix': 0,
'numSat': 0,
'lat': 0,
'lon': 0,
'alt': 0,
'speed': 0,
'ground_course': 0,
'distanceToHome': 0,
'ditectionToHome': 0,
'update': 0,
'chn': [],
'svid': [],
'quality': [],
'cno': []
}
self.ANALOG = {}
self.ANALOG['voltage'] = 0.0
self.VOLTAGE_METERS = []
self.CURRENT_METERS = []
self.BATTERY_STATE = {
'cellCount': 0,
}
self.SENSOR_ALIGNMENT = {
'align_gyro': 0,
'align_acc': 0,
'align_mag': 0,
'gyro_detection_flags': 0,
'gyro_to_use': 0,
'gyro_1_align': 0,
'gyro_2_align': 0,
}
self.BOARD_ALIGNMENT_CONFIG = {
'roll': 0,
'pitch': 0,
'yaw': 0,
}
self.ARMING_CONFIG = {
'auto_disarm_delay': 0,
'disarm_kill_switch': 0,
'small_angle': 0,
}
self.FEATURE_CONFIG = {
'featuremask': 0,
'features': {
0: { 'group': 'rxMode', 'name': 'RX_PPM', 'enabled': False},
2: { 'group': 'other', 'name': 'INFLIGHT_ACC_CAL', 'enabled': False},
3: { 'group': 'rxMode', 'name': 'RX_SERIAL', 'enabled': False},
4: { 'group': 'esc', 'name': 'MOTOR_STOP', 'enabled': False},
5: { 'group': 'other', 'name': 'SERVO_TILT', 'enabled': False},
6: { 'group': 'other', 'name': 'SOFTSERIAL', 'enabled': False},
7: { 'group': 'gps', 'name': 'GPS', 'enabled': False},
9: { 'group': 'other', 'name': 'SONAR', 'enabled': False},
10: { 'group': 'other', 'name': 'TELEMETRY', 'enabled': False},
12: { 'group': '3D', 'name': '3D', 'enabled': False},
13: { 'group': 'rxMode', 'name': 'RX_PARALLEL_PWM', 'enabled': False},
14: { 'group': 'rxMode', 'name': 'RX_MSP', 'enabled': False},
15: { 'group': 'rssi', 'name': 'RSSI_ADC', 'enabled': False},
16: { 'group': 'other', 'name': 'LED_STRIP', 'enabled': False},
17: { 'group': 'other', 'name': 'DISPLAY', 'enabled': False},
19: { 'group': 'other', 'name': 'BLACKBOX', 'enabled': False},
20: { 'group': 'other', 'name': 'CHANNEL_FORWARDING', 'enabled': False},
21: { 'group': 'other', 'name': 'TRANSPONDER', 'enabled': False},
22: { 'group': 'other', 'name': 'AIRMODE', 'enabled': False},
18: { 'group': 'other', 'name': 'OSD', 'enabled': False},
25: { 'group': 'rxMode', 'name': 'RX_SPI', 'enabled': False},
27: { 'group': 'other', 'name': 'ESC_SENSOR', 'enabled': False},
28: { 'group': 'other', 'name': 'ANTI_GRAVITY', 'enabled': False},
29: { 'group': 'other', 'name': 'DYNAMIC_FILTER', 'enabled': False}
}
}
self.RX_CONFIG = {
'serialrx_provider': 0,
'stick_max': 0,
'stick_center': 0,
'stick_min': 0,
'spektrum_sat_bind': 0,
'rx_min_usec': 0,
'rx_max_usec': 0,
'rcInterpolation': 0,
'rcInterpolationInterval': 0,
'rcInterpolationChannels': 0,
'airModeActivateThreshold': 0,
'rxSpiProtocol': 0,
'rxSpiId': 0,
'rxSpiRfChannelCount': 0,
'fpvCamAngleDegrees': 0,
'rcSmoothingType': 0,
'rcSmoothingInputCutoff': 0,
'rcSmoothingDerivativeCutoff': 0,
'rcSmoothingInputType': 0,
'rcSmoothingDerivativeType': 0,
}
self.RC_MAP = []
self.AUX_CONFIG_IDS = []
self.MODE_RANGES = []
self.MODE_RANGES_EXTRA = []
self.ADJUSTMENT_RANGES = []
self.RXFAIL_CONFIG = []
self.FAILSAFE_CONFIG = {
'failsafe_delay': 0,
'failsafe_off_delay': 0,
'failsafe_throttle': 0,
'failsafe_switch_mode': 0,
'failsafe_throttle_low_delay': 0,
'failsafe_procedure': 0,
}
self.SERVO_DATA = []*8
self.VOLTAGE_METER_CONFIGS = []
self.CURRENT_METER_CONFIGS = []
self.BATTERY_CONFIG = {
'vbatmincellvoltage': 0,
'vbatmaxcellvoltage': 0,
'vbatwarningcellvoltage': 0,
'capacity': 0,
'voltageMeterSource': 0,
'currentMeterSource': 0,
}
self.RC_TUNING = {
'RC_RATE': 0,
'RC_EXPO': 0,
'roll_pitch_rate': 0, # pre 1.7 api only
'roll_rate': 0,
'pitch_rate': 0,
'yaw_rate': 0,
'dynamic_THR_PID': 0,
'throttle_MID': 0,
'throttle_EXPO': 0,
'dynamic_THR_breakpoint': 0,
'RC_YAW_EXPO': 0,
'rcYawRate': 0,
'rcPitchRate': 0,
'RC_PITCH_EXPO': 0,
'roll_rate_limit': 1998,
'pitch_rate_limit': 1998,
'yaw_rate_limit': 1998,
}
self.PIDs = []
self.PID = {
'controller': 0
}
self.FC_CONFIG = {
'loopTime': 0
}
self.MOTOR_CONFIG = {
'minthrottle': 0,
'maxthrottle': 0,
'mincommand': 0,
}
self.MISC = {
# DEPRECATED = only used to store values that are written back to the fc as-is, do NOT use for any other purpose
'failsafe_throttle': 0,
'gps_baudrate': 0,
'multiwiicurrentoutput': 0,
'placeholder2': 0,
'vbatscale': 0,
'vbatmincellvoltage': 0,
'vbatmaxcellvoltage': 0,
'vbatwarningcellvoltage': 0,
'batterymetertype': 1, # 1=ADC, 2=ESC
}
self.GPS_CONFIG = {
'provider': 0,
'ublox_sbas': 0,
'auto_config': 0,
'auto_baud': 0,
}
self.RSSI_CONFIG = {
'channel': 0,
}
self.COMPASS_CONFIG = {
'mag_declination': 0,
}
self.GPS_RESCUE = {
'angle': 0,
'initialAltitudeM': 0,
'descentDistanceM': 0,
'rescueGroundspeed': 0,
'throttleMin': 0,
'throttleMax': 0,
'throttleHover': 0,
'sanityChecks': 0,
'minSats': 0,
}
self.MOTOR_3D_CONFIG = {
'deadband3d_low': 0,
'deadband3d_high': 0,
'neutral': 0,
}
self.AUX_CONFIG = []
self.PIDNAMES = []
self.SERVO_CONFIG = []
self.RC_DEADBAND_CONFIG = {
'deadband': 0,
'yaw_deadband': 0,
'alt_hold_deadband': 0,
'deadband3d_throttle': 0,
}
self.BEEPER_CONFIG = {
'beepers': 0,
'dshotBeaconTone': 0,
'dshotBeaconConditions': 0,
}
self.MIXER_CONFIG = {
'mixer': 0,
'reverseMotorDir': 0,
}
self.REBOOT_TYPES = {
'FIRMWARE': 0,
'BOOTLOADER': 1,
'MSC': 2,
'MSC_UTC': 3
}
# 0 based index, must be identical to 'baudRates' in 'src/main/io/serial.c' in betaflight
self.BAUD_RATES = ['AUTO', '9600', '19200', '38400', '57600', '115200',
'230400', '250000', '400000', '460800', '500000', '921600', '1000000',
'1500000', '2000000', '2470000']
# needs to be identical to 'serialPortFunction_e' in 'src/main/io/serial.h' in betaflight
self.SERIAL_PORT_FUNCTIONS = {
'MSP': 0,
'GPS': 1,
'TELEMETRY_FRSKY': 2,
'TELEMETRY_HOTT': 3,
'TELEMETRY_MSP': 4,
'TELEMETRY_LTM': 4, # LTM replaced MSP
'TELEMETRY_SMARTPORT': 5,
'RX_SERIAL': 6,
'BLACKBOX': 7,
'TELEMETRY_MAVLINK': 9,
'ESC_SENSOR': 10,
'TBS_SMARTAUDIO': 11,
'TELEMETRY_IBUS': 12,
'IRC_TRAMP': 13,
'RUNCAM_DEVICE_CONTROL': 14, # support communicate with RunCam Device
'LIDAR_TF': 15
}
self.SERIAL_CONFIG = {
'ports': [],
# pre 1.6 settings
'mspBaudRate': 0,
'gpsBaudRate': 0,
'gpsPassthroughBaudRate': 0,
'cliBaudRate': 0,
}
self.PID_ADVANCED_CONFIG = {
'gyro_sync_denom': 0,
'pid_process_denom': 0,
'use_unsyncedPwm': 0,
'fast_pwm_protocol': 0,
'motor_pwm_rate': 0,
'digitalIdlePercent': 0,
'gyroUse32kHz': 0,
}
self.FILTER_CONFIG = {
'gyro_hardware_lpf': 0,
'gyro_32khz_hardware_lpf': 0,
'gyro_lowpass_hz': 0,
'gyro_lowpass_dyn_min_hz': 0,
'gyro_lowpass_dyn_max_hz': 0,
'gyro_lowpass_type': 0,
'gyro_lowpass2_hz': 0,
'gyro_lowpass2_type': 0,
'gyro_notch_hz': 0,
'gyro_notch_cutoff': 0,
'gyro_notch2_hz': 0,
'gyro_notch2_cutoff': 0,
'dterm_lowpass_hz': 0,
'dterm_lowpass_dyn_min_hz': 0,
'dterm_lowpass_dyn_max_hz': 0,
'dterm_lowpass_type': 0,
'dterm_lowpass2_hz': 0,
'dterm_lowpass2_type': 0,
'dterm_notch_hz': 0,
'dterm_notch_cutoff': 0,
'yaw_lowpass_hz': 0,
}
self.ADVANCED_TUNING = {
'rollPitchItermIgnoreRate': 0,
'yawItermIgnoreRate': 0,
'yaw_p_limit': 0,
'deltaMethod': 0,
'vbatPidCompensation': 0,
'dtermSetpointTransition': 0,
'dtermSetpointWeight': 0,
'toleranceBand': 0,
'toleranceBandReduction': 0,
'itermThrottleGain': 0,
'pidMaxVelocity': 0,
'pidMaxVelocityYaw': 0,
'levelAngleLimit': 0,
'levelSensitivity': 0,
'itermThrottleThreshold': 0,
'itermAcceleratorGain': 0,
'itermRotation': 0,
'smartFeedforward': 0,
'itermRelax': 0,
'itermRelaxType': 0,
'absoluteControlGain': 0,
'throttleBoost': 0,
'acroTrainerAngleLimit': 0,
'feedforwardRoll': 0,
'feedforwardPitch': 0,
'feedforwardYaw': 0,
'feedforwardTransition': 0,
'antiGravityMode': 0,
'dMinRoll': 0,
'dMinPitch': 0,
'dMinYaw': 0,
'dMinGain': 0,
'dMinAdvance': 0,
'useIntegratedYaw': 0,
'integratedYawRelax': 0,
}
self.SENSOR_CONFIG = {
'acc_hardware': 0,
'baro_hardware': 0,
'mag_hardware': 0,
}
self.DATAFLASH = {
'ready': False,
'supported': False,
'sectors': 0,
'totalSize': 0,
'usedSize': 0
}
self.SDCARD = {
'supported': False,
'state': 0,
'filesystemLastError': 0,
'freeSizeKB': 0,
'totalSizeKB': 0,
}
self.BLACKBOX = {
'supported': False,
'blackboxDevice': 0,
'blackboxRateNum': 1,
'blackboxRateDenom': 1,
'blackboxPDenom': 0,
}
self.TRANSPONDER = {
'supported': False,
'data': [],
'provider': 0,
'providers': [],
}
self.armingDisableFlagNames_BF = {
0: "NOGYRO",
1: "FAILSAFE",
2: "RXLOSS",
3: "BADRX",
4: "BOXFAILSAFE",
5: "RUNAWAY",
6: "CRASH",
7: "THROTTLE",
8: "ANGLE",
9: "BOOTGRACE",
10: "NOPREARM",
11: "LOAD",
12: "CALIB",
13: "CLI",
14: "CMS",
15: "BST",
16: "MSP",
17: "PARALYZE",
18: "GPS",
19: "RESCUE SW",
20: "RPMFILTER",
21: "ARMSWITCH"
}
self.armingDisableFlagNames_INAV = {
0: "OK_TO_ARM",
1: "PREVENT_ARMING",
2: "ARMED",
3: "WAS_EVER_ARMED",
4: "SIMULATOR_MODE",
7: "BLOCKED_FAILSAFE_SYSTEM",
8: "BLOCKED_UAV_NOT_LEVEL",
9: "BLOCKED_SENSORS_CALIBRATING",
10: "BLOCKED_SYSTEM_OVERLOADED",
11: "BLOCKED_NAVIGATION_SAFETY",
12: "BLOCKED_COMPASS_NOT_CALIBRATED",
13: "BLOCKED_ACCELEROMETER_NOT_CALIBRATED",
14: "BLOCKED_ARMING_DISABLED_ARM_SWITCH",
15: "BLOCKED_HARDWARE_FAILURE",
16: "BLOCKED_ARMING_DISABLED_BOXFAILSAFE",
17: "BLOCKED_ARMING_DISABLED_BOXKILLSWITCH",
18: "BLOCKED_ARMING_DISABLED_RC_LINK",
19: "BLOCKED_ARMING_DISABLED_THROTTLE",
20: "BLOCKED_ARMING_DISABLED_CLI",
21: "BLOCKED_ARMING_DISABLED_CMS_MENU",
22: "BLOCKED_ARMING_DISABLED_OSD_MENU",
23: "BLOCKED_ARMING_DISABLED_ROLLPITCH_NOT_CENTERED",
24: "BLOCKED_ARMING_DISABLED_SERVO_AUTOTRIM",
25: "BLOCKED_ARMING_DISABLED_OOM",
26: "BLOCKED_INVALID_SETTING",
27: "BLOCKED_ARMING_DISABLED_PWM_OUTPUT_ERROR",
28: "BLOCKED_ARMING_DISABLED_NO_PREARM",
29: "BLOCKED_ARMING_DISABLED_DSHOT_BEEPER",
30: "BLOCKED_ARMING_DISABLED_LANDING_DETECTED",
}
if logfilename:
logging.basicConfig(format="[%(levelname)s] [%(asctime)s]: %(message)s",
filename=logfilename,
filemode=logfilemode,
level=getattr(logging, loglevel.upper()))
else:
logging.basicConfig(format="[%(levelname)s] [%(asctime)s]: %(message)s",
level=getattr(logging, loglevel.upper()),
stream=sys.stdout)
self.min_time_between_writes = min_time_between_writes # it will add a sleep if trying to write / read too fast
self.use_tcp = use_tcp
self.timeout = timeout
self.device = device
self.read_buffer = b''
if self.use_tcp is False:
import serial # pyserial
self.conn = serial.Serial()
self.conn.port = self.device
self.conn.baudrate = baudrate
self.conn.bytesize = serial.EIGHTBITS
self.conn.parity = serial.PARITY_NONE
self.conn.stopbits = serial.STOPBITS_ONE
self.conn.timeout = self.timeout
self.conn.xonxoff = False
self.conn.rtscts = False
self.conn.dsrdtr = False
self.conn.writeTimeout = self.timeout
self.write = self.conn.write
self.flush = self.conn.flush
self.timeout_exception = serial.SerialTimeoutException
def ser_read():
_,_,_ = select([self.conn],[],[]) # wait for data
data = self.conn.read(self.conn.in_waiting) # blocking
return data
self.read = ser_read
self.start = self.conn.open
else :
from .tcp_conn import TCPSocket
socket = TCPSocket()
self.conn = socket
self.write = self.conn.send
self.read = self.conn.receive
self.start = self.conn.connect
self.flush = lambda: None
self.timeout_exception = socket.timeout_exception
self.ser_trials = trials
self.port_read_lock = RLock()
self.port_write_lock = Lock()
self.INAV = False
self.last_write = time.time()
def __enter__(self):
is_connection_open = not self.connect(trials=self.ser_trials)
if is_connection_open:
return self
else:
logging.warning(f"{self.device} is not ready/available")
return 1
def __exit__(self, exc_type, exc_value, traceback):
if not self.conn.closed:
self.conn.close()
def connect(self, trials=100, delay=0.5):
"""Opens the serial connection with the board
Parameters
----------
trials : int
Number of times it should try openning the serial port before giving up (default is 1)
delay : float
Time between trials
Returns
-------
int
0 if successful or 1 if not
"""
for _ in range(trials):
try:
if self.use_tcp:
self.start(port=int(self.device), timeout=self.timeout)
else:
self.start()
self.basic_info()
return 0
except SerialException as err:
logging.warning(f"Error opening the serial port ({self.device}): {err}")
except FileNotFoundError as err:
logging.warning(f"Port ({self.device}) not found: {err}")
time.sleep(delay)
return 1
def basic_info(self):
"""Basic info about the flight controller to distinguish between the many flavours.
"""
msg = 'MSP_API_VERSION'
while self.CONFIG['apiVersion'] == '0.0.0':
print(f"Waiting for {msg} reply...")
sent = 0
while sent<=0:
sent = self.send_RAW_msg(MSPy.MSPCodes[msg], data=[])
dataHandler = self.receive_msg()
self.process_recv_data(dataHandler)
msg = 'MSP_FC_VARIANT'
while self.CONFIG['flightControllerIdentifier'] == '':
print(f"Waiting for {msg} reply...")
sent = 0
while sent<=0:
sent = self.send_RAW_msg(MSPy.MSPCodes[msg], data=[])
dataHandler = self.receive_msg()
self.process_recv_data(dataHandler)
if 'INAV' in self.CONFIG['flightControllerIdentifier']:
self.INAV = True
basic_info_cmd_list = ['MSP_FC_VERSION', 'MSP_BUILD_INFO', 'MSP_BOARD_INFO', 'MSP_UID',
'MSP_NAME', 'MSP_STATUS', 'MSP_STATUS_EX', 'MSP_ANALOG', 'MSP_BOXNAMES']
if self.INAV:
basic_info_cmd_list.append('MSP2_INAV_ANALOG')
basic_info_cmd_list.append('MSP_VOLTAGE_METER_CONFIG')
basic_info_cmd_list.append('MSP2_INAV_STATUS')
for msg in basic_info_cmd_list:
sent = 0
while sent<=0:
sent = self.send_RAW_msg(MSPy.MSPCodes[msg], data=[])
dataHandler = self.receive_msg()
self.process_recv_data(dataHandler)
print(self.CONFIG)
def receive_msg(self, dataHandler=None, delete_buffer=False):
with self.port_read_lock:
return msp_ctrl.receive_msg(self.read, logging, dataHandler, delete_buffer)
def read_buffer_len(self):
return len(msp_ctrl.read_buffer)
@staticmethod
def readbytes(data, size=8, unsigned=False, read_as_float=False):
"""Unpack bytes according to size / type
Parameters
----------
data : bytearray
Data to be unpacked
size : int, optional
Number of bits (8, 16 or 32) (default is 8)
unsigned : bool, optional
Indicates if data is unsigned or not (default is False)
read_as_float: bool, optional
Indicates if data is read as float or not (default is False)
Returns
-------
int
unpacked bytes according to input options
"""
buffer = bytearray()
for _ in range(int(size/8)):
buffer.append(data.pop(0))
if size==8:
unpack_format = 'b'
elif size==16:
if read_as_float: # for special situations like MSP2_INAV_DEBUG
unpack_format = 'e'
else:
unpack_format = 'h'
elif size==32:
if read_as_float: # for special situations like MSP2_INAV_DEBUG
unpack_format = 'f'
else:
unpack_format = 'i'
else:
raise ValueError('size must be 8, 16 or 32')
if unsigned:
unpack_format = unpack_format.upper()
return struct.unpack('<' + unpack_format, buffer)[0]
def process_armingDisableFlags(self, flags):
result = []
while (flags):
bitpos = ffs(flags) - 1
flags &= ~(1 << bitpos)
if self.INAV:
result.append(self.armingDisableFlagNames_INAV.get(bitpos, ""))
else:
result.append(self.armingDisableFlagNames_BF.get(bitpos, ""))
return result
def process_mode(self, flag):
"""Translate the value from CONFIG['mode']
"""
result = []
for i in range(len(self.AUX_CONFIG)):
if (self.bit_check(flag, i)):
result.append(self.AUX_CONFIG[i])
return result
@staticmethod
def bit_check(mask, bit):
return ((mask>>bit)%2) != 0
def serialPortFunctionMaskToFunctions(self, functionMask):
functions = []
keys = self.SERIAL_PORT_FUNCTIONS.keys()
for key in keys:
bit = self.SERIAL_PORT_FUNCTIONS[key]
if (self.bit_check(functionMask, bit)):
functions.append(key)
return functions
@staticmethod
def convert(val_list, n=16):
"""Convert to n*bits (8 multiple) list
Parameters
----------
val_list : list
List with values to be converted
n: int, optional
Number of bits (multiple of 8) (default is 16)
Returns
-------
list
List where each item is the equivalent byte value
"""
buffer = []
for val in val_list:
for i in range(int(n/8)):
buffer.append((int(val)>>i*8) & 255)
return buffer
def save2eprom(self):
logging.info("Save to EPROM requested") # some configs also need reboot to be applied (not online).
return self.send_RAW_msg(MSPy.MSPCodes['MSP_EEPROM_WRITE'], data=[])
def reboot(self):
logging.info("Reboot requested")
rebooting = True
while rebooting:
if self.send_RAW_msg(MSPy.MSPCodes['MSP_REBOOT'], data=[]):
dataHandler = self.receive_msg()
if dataHandler['code'] == MSPy.MSPCodes['MSP_REBOOT'] and dataHandler['packet_error'] == 0:
rebooting = False
def set_ARMING_DISABLE(self, armingDisabled=0, runawayTakeoffPreventionDisabled=0):
"""Disable Arming or runaway takeoff prevention
runawayTakeoffPreventionDisabled will be ignored if armingDisabled is true
https://github.com/betaflight/betaflight/wiki/Runaway-Takeoff-Prevention
"""
data = bytearray([armingDisabled, runawayTakeoffPreventionDisabled])
return self.send_RAW_msg(MSPy.MSPCodes['MSP_ARMING_DISABLE'], data)
def set_RX_MAP(self, new_rc_map):
assert(type(new_rc_map)==list)
assert(len(new_rc_map)==8)
return self.send_RAW_msg(MSPy.MSPCodes['MSP_SET_RX_MAP'], new_rc_map)
def set_FEATURE_CONFIG(self, mask):
assert(type(mask)==int)
data = self.convert([mask], 32)
return self.send_RAW_msg(MSPy.MSPCodes['MSP_SET_FEATURE_CONFIG'], data)
def send_RAW_MOTORS(self, data=[]):
assert(type(data)==list)
assert(len(data)==8)
data = self.convert(data, 16) # any values bigger than 255 need to be converted.
# RC and Motor commands go from 0 to 2000.
return self.send_RAW_msg(MSPy.MSPCodes['MSP_SET_MOTOR'], data)
def send_RAW_RC(self, data=[]):
"""
When using RX_SERIAL:
[roll, pitch, yaw, throttle, aux1, aux2,...,aux10]
When using RX_MSP:
[roll, pitch, yaw, throttle, aux1, aux2,...,aux14]
Considering RC_MAP==[0, 1, 3, 2, 4, 5, 6, 7]
"""
data = self.convert(data, 16) # any values bigger than 255 need to be converted.
# RC and Motor commands go from 0 to 2000.
return self.send_RAW_msg(MSPy.MSPCodes['MSP_SET_RAW_RC'], data)
def send_RAW_msg(self, code, data=[], blocking=None, timeout=None, flush=False):
mspv = 1 if code <= 255 else 2
bufView = msp_ctrl.prepare_RAW_msg(mspv, code, data)
with self.port_write_lock:
current_write = time.time()
if (current_write-self.last_write) < self.min_time_between_writes:
time.sleep(max(self.min_time_between_writes-(current_write-self.last_write),0))
current_write = time.time()
res = self.write(bufView)
if flush:
self.flush()
self.last_write = current_write
logging.debug("RAW message sent: {}".format(bufView))
return res
def process_recv_data(self, dataHandler):
"""Process the dataHandler from receive_msg consuming (pop!) dataHandler['dataView'] as it goes.
Based on betaflight-configurator (https://git.io/fjRAV)
Parameters
----------
dataHandler : dict
Dictionary generated by receive_msg
Returns
-------
int
len(data) when successful or -(error type) if not
"""
data = dataHandler['dataView'] # DataView (allowing us to view arrayBuffer as struct/union)
code = dataHandler['code']
if code == 0: # code==0 means nothing was received...
logging.debug("Nothing was received - Code 0")
return -1
elif dataHandler['crcError']:
logging.debug("dataHandler has a crcError.")
return -2
elif dataHandler['packet_error']:
logging.debug("dataHandler has a packet_error.")
return -3
else:
if (not dataHandler['unsupported']):
processor = MSPy.__dict__.get("process_" + MSPy.MSPCodes2Str[code])
if processor: # if nothing is found, should be None
try:
if data:
processor(self,data) # use it..