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 #include "interface/msp.h"
  25
  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
  28
  29 typedef enum {
  30     MSP_IDLE,
  31     MSP_HEADER_START,
  32     MSP_HEADER_M,
  33     MSP_HEADER_X,
  34
  35     MSP_HEADER_V1,
  36     MSP_PAYLOAD_V1,
  37     MSP_CHECKSUM_V1,
  38
  39     MSP_HEADER_V2_OVER_V1,
  40     MSP_PAYLOAD_V2_OVER_V1,
  41     MSP_CHECKSUM_V2_OVER_V1,
  42
  43     MSP_HEADER_V2_NATIVE,
  44     MSP_PAYLOAD_V2_NATIVE,
  45     MSP_CHECKSUM_V2_NATIVE,
  46
  47     MSP_COMMAND_RECEIVED
  48 } mspState_e;
  49
  50 typedef enum {
  51     MSP_PACKET_COMMAND,
  52     MSP_PACKET_REPLY
  53 } mspPacketType_e;
  54
  55 typedef enum {
  56     MSP_EVALUATE_NON_MSP_DATA,
  57     MSP_SKIP_NON_MSP_DATA
  58 } mspEvaluateNonMspData_e;
  59
  60 typedef enum {
  61     MSP_PENDING_NONE,
  62     MSP_PENDING_BOOTLOADER,
  63     MSP_PENDING_CLI
  64 } mspPendingSystemRequest_e;
  65
  66 #define MSP_PORT_INBUF_SIZE 192
  67 #ifdef USE_FLASHFS
  68 #ifdef STM32F1
  69 #define MSP_PORT_DATAFLASH_BUFFER_SIZE 1024
  70 #else
  71 #define MSP_PORT_DATAFLASH_BUFFER_SIZE 4096
  72 #endif
  73 #define MSP_PORT_DATAFLASH_INFO_SIZE 16
  74 #define MSP_PORT_OUTBUF_SIZE (MSP_PORT_DATAFLASH_BUFFER_SIZE + MSP_PORT_DATAFLASH_INFO_SIZE)
  75 #else
  76 #define MSP_PORT_OUTBUF_SIZE 256
  77 #endif
  78
  79 typedef struct __attribute__((packed)) {
  80     uint8_t size;
  81     uint8_t cmd;
  82 } mspHeaderV1_t;
  83
  84 typedef struct __attribute__((packed)) {
  85     uint16_t size;
  86 } mspHeaderJUMBO_t;
  87
  88 typedef struct __attribute__((packed)) {
  89     uint8_t  flags;
  90     uint16_t cmd;
  91     uint16_t size;
  92 } mspHeaderV2_t;
  93
  94 #define MSP_MAX_HEADER_SIZE     9
  95
  96 struct serialPort_s;
  97 typedef struct mspPort_s {
  98     struct serialPort_s *port; // null when port unused.
  99     timeMs_t lastActivityMs;
 100     mspPendingSystemRequest_e pendingRequest;
 101     mspState_e c_state;
 102     mspPacketType_e packetType;
 103     uint8_t inBuf[MSP_PORT_INBUF_SIZE];
 104     uint16_t cmdMSP;
 105     uint8_t cmdFlags;
 106     mspVersion_e mspVersion;
 107     uint_fast16_t offset;
 108     uint_fast16_t dataSize;
 109     uint8_t checksum1;
 110     uint8_t checksum2;
 111 } mspPort_t;
 112
 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);