src/main/msp/msp_serial.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 "drivers/time.h"
  24
  25 #include "io/serial.h"
  26
  27 #include "msp/msp.h"
  28
  29 // Each MSP port requires state and a receive buffer, revisit this default if someone needs more than 3 MSP ports.
  30 #define MAX_MSP_PORT_COUNT 3
  31
  32 typedef enum {
  33     PORT_IDLE,
  34     PORT_MSP_PACKET,
  35     PORT_CLI_ACTIVE,
  36     PORT_CLI_CMD
  37 } mspPortState_e;
  38
  39 typedef enum {
  40     MSP_IDLE,
  41     MSP_HEADER_START,
  42     MSP_HEADER_M,
  43     MSP_HEADER_X,
  44
  45     MSP_HEADER_V1,
  46     MSP_PAYLOAD_V1,
  47     MSP_CHECKSUM_V1,
  48
  49     MSP_HEADER_V2_OVER_V1,
  50     MSP_PAYLOAD_V2_OVER_V1,
  51     MSP_CHECKSUM_V2_OVER_V1,
  52
  53     MSP_HEADER_V2_NATIVE,
  54     MSP_PAYLOAD_V2_NATIVE,
  55     MSP_CHECKSUM_V2_NATIVE,
  56
  57     MSP_COMMAND_RECEIVED
  58 } mspPacketState_e;
  59
  60 typedef enum {
  61     MSP_PACKET_COMMAND,
  62     MSP_PACKET_REPLY
  63 } mspPacketType_e;
  64
  65 typedef enum {
  66     MSP_EVALUATE_NON_MSP_DATA,
  67     MSP_SKIP_NON_MSP_DATA
  68 } mspEvaluateNonMspData_e;
  69
  70 typedef enum {
  71     MSP_PENDING_NONE,
  72     MSP_PENDING_BOOTLOADER_ROM,
  73     MSP_PENDING_CLI,
  74     MSP_PENDING_BOOTLOADER_FLASH,
  75 } mspPendingSystemRequest_e;
  76
  77 #define MSP_PORT_INBUF_SIZE 192
  78 #define MSP_PORT_OUTBUF_SIZE_MIN 512 // As of 2021/08/10 MSP_BOXNAMES generates a 307 byte response for page 1. There has been overflow issues with 320 byte buffer.
  79
  80 #ifdef USE_FLASHFS
  81 #define MSP_PORT_DATAFLASH_BUFFER_SIZE 4096
  82 #define MSP_PORT_DATAFLASH_INFO_SIZE 16
  83 #define MSP_PORT_OUTBUF_SIZE (MSP_PORT_DATAFLASH_BUFFER_SIZE + MSP_PORT_DATAFLASH_INFO_SIZE)
  84 #else
  85 #define MSP_PORT_OUTBUF_SIZE MSP_PORT_OUTBUF_SIZE_MIN // As of 2021/08/10 MSP_BOXNAMES generates a 307 byte response for page 1.
  86 #endif
  87
  88 typedef struct __attribute__((packed)) {
  89     uint8_t size;
  90     uint8_t cmd;
  91 } mspHeaderV1_t;
  92
  93 typedef struct __attribute__((packed)) {
  94     uint16_t size;
  95 } mspHeaderJUMBO_t;
  96
  97 typedef struct __attribute__((packed)) {
  98     uint8_t  flags;
  99     uint16_t cmd;
 100     uint16_t size;
 101 } mspHeaderV2_t;
 102
 103 #define MSP_MAX_HEADER_SIZE     9
 104
 105 struct serialPort_s;
 106 typedef struct mspPort_s {
 107     struct serialPort_s *port; // null when port unused.
 108     timeMs_t lastActivityMs;
 109     mspPendingSystemRequest_e pendingRequest;
 110     mspPortState_e portState;
 111     mspPacketState_e packetState;
 112     mspPacketType_e packetType;
 113     uint8_t inBuf[MSP_PORT_INBUF_SIZE];
 114     uint16_t cmdMSP;
 115     uint8_t cmdFlags;
 116     mspVersion_e mspVersion;
 117     uint_fast16_t offset;
 118     uint_fast16_t dataSize;
 119     uint8_t checksum1;
 120     uint8_t checksum2;
 121     bool sharedWithTelemetry;
 122     mspDescriptor_t descriptor;
 123 } mspPort_t;
 124
 125 void mspSerialInit(void);
 126 bool mspSerialWaiting(void);
 127 void mspSerialProcess(mspEvaluateNonMspData_e evaluateNonMspData, mspProcessCommandFnPtr mspProcessCommandFn, mspProcessReplyFnPtr mspProcessReplyFn);
 128 void mspSerialAllocatePorts(void);
 129 void mspSerialReleasePortIfAllocated(struct serialPort_s *serialPort);
 130 void mspSerialReleaseSharedTelemetryPorts(void);
 131 mspDescriptor_t getMspSerialPortDescriptor(const serialPortIdentifier_e portIdentifier);
 132 int mspSerialPush(serialPortIdentifier_e port, uint8_t cmd, uint8_t *data, int datalen, mspDirection_e direction, mspVersion_e mspVersion);
 133 uint32_t mspSerialTxBytesFree(void);