2 * This file is part of Cleanflight and Betaflight.
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)
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.
15 * You should have received a copy of the GNU General Public License
16 * along with this software.
18 * If not, see <http://www.gnu.org/licenses/>.
23 #include "drivers/time.h"
24 #include "interface/msp.h"
26 // Each MSP port requires state and a receive buffer, revisit this default if someone needs more than 3 MSP ports.
27 #define MAX_MSP_PORT_COUNT 3
39 MSP_HEADER_V2_OVER_V1
,
40 MSP_PAYLOAD_V2_OVER_V1
,
41 MSP_CHECKSUM_V2_OVER_V1
,
44 MSP_PAYLOAD_V2_NATIVE
,
45 MSP_CHECKSUM_V2_NATIVE
,
56 MSP_EVALUATE_NON_MSP_DATA
,
58 } mspEvaluateNonMspData_e
;
62 MSP_PENDING_BOOTLOADER
,
64 } mspPendingSystemRequest_e
;
66 #define MSP_PORT_INBUF_SIZE 192
69 #define MSP_PORT_DATAFLASH_BUFFER_SIZE 1024
71 #define MSP_PORT_DATAFLASH_BUFFER_SIZE 4096
73 #define MSP_PORT_DATAFLASH_INFO_SIZE 16
74 #define MSP_PORT_OUTBUF_SIZE (MSP_PORT_DATAFLASH_BUFFER_SIZE + MSP_PORT_DATAFLASH_INFO_SIZE)
76 #define MSP_PORT_OUTBUF_SIZE 256
79 typedef struct __attribute__((packed
)) {
84 typedef struct __attribute__((packed
)) {
88 typedef struct __attribute__((packed
)) {
94 #define MSP_MAX_HEADER_SIZE 9
97 typedef struct mspPort_s
{
98 struct serialPort_s
*port
; // null when port unused.
99 timeMs_t lastActivityMs
;
100 mspPendingSystemRequest_e pendingRequest
;
102 mspPacketType_e packetType
;
103 uint8_t inBuf
[MSP_PORT_INBUF_SIZE
];
106 mspVersion_e mspVersion
;
107 uint_fast16_t offset
;
108 uint_fast16_t dataSize
;
113 void mspSerialInit(void);
114 bool mspSerialWaiting(void);
115 void mspSerialProcess(mspEvaluateNonMspData_e evaluateNonMspData
, mspProcessCommandFnPtr mspProcessCommandFn
, mspProcessReplyFnPtr mspProcessReplyFn
);
116 void mspSerialAllocatePorts(void);
117 void mspSerialReleasePortIfAllocated(struct serialPort_s
*serialPort
);
118 void mspSerialReleaseSharedTelemetryPorts(void);
119 int mspSerialPush(uint8_t cmd
, uint8_t *data
, int datalen
, mspDirection_e direction
);
120 uint32_t mspSerialTxBytesFree(void);