src/main/msp/msp.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 "common/streambuf.h"
  21
  22 #define MSP_V2_FRAME_ID         255
  23
  24 typedef enum {
  25     MSP_V1          = 0,
  26     MSP_V2_OVER_V1  = 1,
  27     MSP_V2_NATIVE   = 2,
  28     MSP_VERSION_COUNT
  29 } mspVersion_e;
  30
  31 #define MSP_VERSION_MAGIC_INITIALIZER { 'M', 'M', 'X' }
  32
  33 // return positive for ACK, negative on error, zero for no reply
  34 typedef enum {
  35     MSP_RESULT_ACK = 1,
  36     MSP_RESULT_ERROR = -1,
  37     MSP_RESULT_NO_REPLY = 0
  38 } mspResult_e;
  39
  40 typedef struct mspPacket_s {
  41     sbuf_t buf;
  42     int16_t cmd;
  43     uint8_t flags;
  44     int16_t result;
  45 } mspPacket_t;
  46
  47 typedef enum {
  48     MSP_FLAG_DONT_REPLY           = (1 << 0),
  49 } mspFlags_e;
  50
  51 struct serialPort_s;
  52 typedef void (*mspPostProcessFnPtr)(struct serialPort_s *port); // msp post process function, used for gracefully handling reboots, etc.
  53 typedef mspResult_e (*mspProcessCommandFnPtr)(mspPacket_t *cmd, mspPacket_t *reply, mspPostProcessFnPtr *mspPostProcessFn);