msp.py 文件源码

def __init__(self, port="/dev/ttyACM0", bitrate=115200,
                 rx_protocol=msp.RX_MSP, firmware=msp.FIRMWARE_BF):

        assert rx_protocol in msp.RX_OPTIONS, (
            "unsupported rx protocol indicated")
        self.rx_protocol = rx_protocol
        self.rx_protocol_ch_count = len(
            MSP_PAYLOAD_FMT[msp.MSP_RC][rx_protocol][1:])

        assert firmware in msp.FIRMWARE_OPTIONS, (
            "unsupported firmware indicated")
        self.firmware = firmware
        self.firmware_motor_count = len(
            MSP_PAYLOAD_FMT[msp.MSP_MOTOR][firmware][1:])

        self.ser = serial.Serial()
        self.ser.port = port
        self.ser.baudrate = bitrate
        self.ser.bytesize = serial.EIGHTBITS
        self.ser.parity = serial.PARITY_NONE
        self.ser.stopbits = serial.STOPBITS_ONE
        self.ser.timeout = None
        self.ser.xonxoff = False
        self.ser.rtscts = False
        self.ser.dsrdtr = False
        self.ser.writeTimeout = 2
        self.open_serial()