src/main/msp/msp.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #include "common/streambuf.h"
  24
  25 #define MSP_V2_FRAME_ID         255
  26
  27 typedef enum {
  28     MSP_V1          = 0,
  29     MSP_V2_OVER_V1  = 1,
  30     MSP_V2_NATIVE   = 2,
  31     MSP_VERSION_COUNT
  32 } mspVersion_e;
  33
  34 #define MSP_VERSION_MAGIC_INITIALIZER { 'M', 'M', 'X' }
  35
  36 // return positive for ACK, negative on error, zero for no reply
  37 typedef enum {
  38     MSP_RESULT_ACK = 1,
  39     MSP_RESULT_ERROR = -1,
  40     MSP_RESULT_NO_REPLY = 0,
  41     MSP_RESULT_CMD_UNKNOWN = -2,   // don't know how to process command, try next handler
  42 } mspResult_e;
  43
  44 typedef enum {
  45     MSP_DIRECTION_REPLY = 0,
  46     MSP_DIRECTION_REQUEST = 1
  47 } mspDirection_e;
  48
  49 typedef struct mspPacket_s {
  50     sbuf_t buf;         // payload only w/o header or crc
  51     int16_t cmd;
  52     int16_t result;
  53     uint8_t flags;      // MSPv2 flags byte. It looks like unused (yet?).
  54     uint8_t direction;  // It also looks like unused and might be deleted.
  55 } mspPacket_t;
  56
  57 typedef int mspDescriptor_t;
  58
  59 struct serialPort_s;
  60 typedef void (*mspPostProcessFnPtr)(struct serialPort_s *port); // msp post process function, used for gracefully handling reboots, etc.
  61 typedef mspResult_e (*mspProcessCommandFnPtr)(mspDescriptor_t srcDesc, mspPacket_t *cmd, mspPacket_t *reply, mspPostProcessFnPtr *mspPostProcessFn);
  62 typedef void (*mspProcessReplyFnPtr)(mspPacket_t *cmd);
  63
  64 void mspInit(void);
  65 mspResult_e mspFcProcessCommand(mspDescriptor_t srcDesc, mspPacket_t *cmd, mspPacket_t *reply, mspPostProcessFnPtr *mspPostProcessFn);
  66 void mspFcProcessReply(mspPacket_t *reply);
  67
  68 mspDescriptor_t mspDescriptorAlloc(void);