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 "io/serial.h"
  22 #include "msp/msp.h"
  23
  24 // Each MSP port requires state and a receive buffer, revisit this default if someone needs more than 3 MSP ports.
  25 #define MAX_MSP_PORT_COUNT 3
  26
  27 typedef enum {
  28     MSP_IDLE,
  29     MSP_HEADER_START,
  30     MSP_HEADER_M,
  31     MSP_HEADER_X,
  32
  33     MSP_HEADER_V1,
  34     MSP_PAYLOAD_V1,
  35     MSP_CHECKSUM_V1,
  36
  37     MSP_HEADER_V2_OVER_V1,
  38     MSP_PAYLOAD_V2_OVER_V1,
  39     MSP_CHECKSUM_V2_OVER_V1,
  40
  41     MSP_HEADER_V2_NATIVE,
  42     MSP_PAYLOAD_V2_NATIVE,
  43     MSP_CHECKSUM_V2_NATIVE,
  44
  45     MSP_COMMAND_RECEIVED
  46 } mspState_e;
  47
  48 typedef enum {
  49     MSP_EVALUATE_NON_MSP_DATA,
  50     MSP_SKIP_NON_MSP_DATA
  51 } mspEvaluateNonMspData_e;
  52
  53 typedef enum {
  54     MSP_PENDING_NONE,
  55     MSP_PENDING_BOOTLOADER,
  56     MSP_PENDING_CLI
  57 } mspPendingSystemRequest_e;
  58
  59 #define MSP_PORT_INBUF_SIZE 192
  60 #ifdef USE_FLASHFS
  61 #define MSP_PORT_DATAFLASH_BUFFER_SIZE 4096
  62 #define MSP_PORT_DATAFLASH_INFO_SIZE 16
  63 #define MSP_PORT_OUTBUF_SIZE (MSP_PORT_DATAFLASH_BUFFER_SIZE + MSP_PORT_DATAFLASH_INFO_SIZE)    // WARNING! Must fit in stack!
  64 #else
  65 #define MSP_PORT_OUTBUF_SIZE 512
  66 #endif
  67
  68 typedef struct __attribute__((packed)) {
  69     uint8_t size;
  70     uint8_t cmd;
  71 } mspHeaderV1_t;
  72
  73 typedef struct __attribute__((packed)) {
  74     uint16_t size;
  75 } mspHeaderJUMBO_t;
  76
  77 typedef struct __attribute__((packed)) {
  78     uint8_t  flags;
  79     uint16_t cmd;
  80     uint16_t size;
  81 } mspHeaderV2_t;
  82
  83 #define MSP_MAX_HEADER_SIZE     9
  84
  85 struct serialPort_s;
  86 typedef struct mspPort_s {
  87     struct serialPort_s *port; // null when port unused.
  88     timeMs_t lastActivityMs;
  89     mspPendingSystemRequest_e pendingRequest;
  90     mspState_e c_state;
  91     uint8_t inBuf[MSP_PORT_INBUF_SIZE];
  92     uint_fast16_t offset;
  93     uint_fast16_t dataSize;
  94     mspVersion_e mspVersion;
  95     uint8_t cmdFlags;
  96     uint16_t cmdMSP;
  97     uint8_t checksum1;
  98     uint8_t checksum2;
  99 } mspPort_t;
 100
 101
 102 void mspSerialInit(void);
 103 void resetMspPort(mspPort_t *mspPortToReset, serialPort_t *serialPort);
 104 void mspSerialProcess(mspEvaluateNonMspData_e evaluateNonMspData, mspProcessCommandFnPtr mspProcessCommandFn);
 105 void mspSerialProcessOnePort(mspPort_t * const mspPort, mspEvaluateNonMspData_e evaluateNonMspData, mspProcessCommandFnPtr mspProcessCommandFn);
 106 void mspSerialAllocatePorts(void);
 107 void mspSerialReleasePortIfAllocated(struct serialPort_s *serialPort);
 108 int mspSerialPushPort(uint16_t cmd, const uint8_t *data, int datalen, mspPort_t *mspPort, mspVersion_e version);
 109 int mspSerialPush(uint8_t cmd, const uint8_t *data, int datalen);
 110 int mspSerialPushVersion(uint8_t cmd, const uint8_t *data, int datalen, mspVersion_e version);
 111 uint32_t mspSerialTxBytesFree(serialPort_t *port);
 112 mspPort_t * mspSerialPortFind(const struct serialPort_s *serialPort);