src/main/msp/msp_serial.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 #pragma once
  19
  20 #include "drivers/time.h"
  21 #include "interface/msp.h"
  22
  23 // Each MSP port requires state and a receive buffer, revisit this default if someone needs more than 3 MSP ports.
  24 #define MAX_MSP_PORT_COUNT 3
  25
  26 typedef enum {
  27     MSP_IDLE,
  28     MSP_HEADER_START,
  29     MSP_HEADER_M,
  30     MSP_HEADER_X,
  31
  32     MSP_HEADER_V1,
  33     MSP_PAYLOAD_V1,
  34     MSP_CHECKSUM_V1,
  35
  36     MSP_HEADER_V2_OVER_V1,
  37     MSP_PAYLOAD_V2_OVER_V1,
  38     MSP_CHECKSUM_V2_OVER_V1,
  39
  40     MSP_HEADER_V2_NATIVE,
  41     MSP_PAYLOAD_V2_NATIVE,
  42     MSP_CHECKSUM_V2_NATIVE,
  43
  44     MSP_COMMAND_RECEIVED
  45 } mspState_e;
  46
  47 typedef enum {
  48     MSP_PACKET_COMMAND,
  49     MSP_PACKET_REPLY
  50 } mspPacketType_e;
  51
  52 typedef enum {
  53     MSP_EVALUATE_NON_MSP_DATA,
  54     MSP_SKIP_NON_MSP_DATA
  55 } mspEvaluateNonMspData_e;
  56
  57 typedef enum {
  58     MSP_PENDING_NONE,
  59     MSP_PENDING_BOOTLOADER,
  60     MSP_PENDING_CLI
  61 } mspPendingSystemRequest_e;
  62
  63 #define MSP_PORT_INBUF_SIZE 192
  64 #ifdef USE_FLASHFS
  65 #ifdef STM32F1
  66 #define MSP_PORT_DATAFLASH_BUFFER_SIZE 1024
  67 #else
  68 #define MSP_PORT_DATAFLASH_BUFFER_SIZE 4096
  69 #endif
  70 #define MSP_PORT_DATAFLASH_INFO_SIZE 16
  71 #define MSP_PORT_OUTBUF_SIZE (MSP_PORT_DATAFLASH_BUFFER_SIZE + MSP_PORT_DATAFLASH_INFO_SIZE)
  72 #else
  73 #define MSP_PORT_OUTBUF_SIZE 256
  74 #endif
  75
  76 typedef struct __attribute__((packed)) {
  77     uint8_t size;
  78     uint8_t cmd;
  79 } mspHeaderV1_t;
  80
  81 typedef struct __attribute__((packed)) {
  82     uint16_t size;
  83 } mspHeaderJUMBO_t;
  84
  85 typedef struct __attribute__((packed)) {
  86     uint8_t  flags;
  87     uint16_t cmd;
  88     uint16_t size;
  89 } mspHeaderV2_t;
  90
  91 #define MSP_MAX_HEADER_SIZE     9
  92
  93 struct serialPort_s;
  94 typedef struct mspPort_s {
  95     struct serialPort_s *port; // null when port unused.
  96     timeMs_t lastActivityMs;
  97     mspPendingSystemRequest_e pendingRequest;
  98     mspState_e c_state;
  99     mspPacketType_e packetType;
 100     uint8_t inBuf[MSP_PORT_INBUF_SIZE];
 101     uint16_t cmdMSP;
 102     uint8_t cmdFlags;
 103     mspVersion_e mspVersion;
 104     uint_fast16_t offset;
 105     uint_fast16_t dataSize;
 106     uint8_t checksum1;
 107     uint8_t checksum2;
 108 } mspPort_t;
 109
 110 void mspSerialInit(void);
 111 bool mspSerialWaiting(void);
 112 void mspSerialProcess(mspEvaluateNonMspData_e evaluateNonMspData, mspProcessCommandFnPtr mspProcessCommandFn, mspProcessReplyFnPtr mspProcessReplyFn);
 113 void mspSerialAllocatePorts(void);
 114 void mspSerialReleasePortIfAllocated(struct serialPort_s *serialPort);
 115 int mspSerialPush(uint8_t cmd, uint8_t *data, int datalen, mspDirection_e direction);
 116 uint32_t mspSerialTxBytesFree(void);