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     MSP_IDLE,
  34     MSP_HEADER_START,
  35     MSP_HEADER_M,
  36     MSP_HEADER_X,
  37
  38     MSP_HEADER_V1,
  39     MSP_PAYLOAD_V1,
  40     MSP_CHECKSUM_V1,
  41
  42     MSP_HEADER_V2_OVER_V1,
  43     MSP_PAYLOAD_V2_OVER_V1,
  44     MSP_CHECKSUM_V2_OVER_V1,
  45
  46     MSP_HEADER_V2_NATIVE,
  47     MSP_PAYLOAD_V2_NATIVE,
  48     MSP_CHECKSUM_V2_NATIVE,
  49
  50     MSP_COMMAND_RECEIVED
  51 } mspState_e;
  52
  53 typedef enum {
  54     MSP_PACKET_COMMAND,
  55     MSP_PACKET_REPLY
  56 } mspPacketType_e;
  57
  58 typedef enum {
  59     MSP_EVALUATE_NON_MSP_DATA,
  60     MSP_SKIP_NON_MSP_DATA
  61 } mspEvaluateNonMspData_e;
  62
  63 typedef enum {
  64     MSP_PENDING_NONE,
  65     MSP_PENDING_BOOTLOADER_ROM,
  66     MSP_PENDING_CLI,
  67     MSP_PENDING_BOOTLOADER_FLASH,
  68 } mspPendingSystemRequest_e;
  69
  70 #define MSP_PORT_INBUF_SIZE 192
  71 #ifdef USE_FLASHFS
  72 #ifdef STM32F1
  73 #define MSP_PORT_DATAFLASH_BUFFER_SIZE 1024
  74 #else
  75 #define MSP_PORT_DATAFLASH_BUFFER_SIZE 4096
  76 #endif
  77 #define MSP_PORT_DATAFLASH_INFO_SIZE 16
  78 #define MSP_PORT_OUTBUF_SIZE (MSP_PORT_DATAFLASH_BUFFER_SIZE + MSP_PORT_DATAFLASH_INFO_SIZE)
  79 #else
  80 #define MSP_PORT_OUTBUF_SIZE 256
  81 #endif
  82
  83 typedef struct __attribute__((packed)) {
  84     uint8_t size;
  85     uint8_t cmd;
  86 } mspHeaderV1_t;
  87
  88 typedef struct __attribute__((packed)) {
  89     uint16_t size;
  90 } mspHeaderJUMBO_t;
  91
  92 typedef struct __attribute__((packed)) {
  93     uint8_t  flags;
  94     uint16_t cmd;
  95     uint16_t size;
  96 } mspHeaderV2_t;
  97
  98 #define MSP_MAX_HEADER_SIZE     9
  99
 100 struct serialPort_s;
 101 typedef struct mspPort_s {
 102     struct serialPort_s *port; // null when port unused.
 103     timeMs_t lastActivityMs;
 104     mspPendingSystemRequest_e pendingRequest;
 105     mspState_e c_state;
 106     mspPacketType_e packetType;
 107     uint8_t inBuf[MSP_PORT_INBUF_SIZE];
 108     uint16_t cmdMSP;
 109     uint8_t cmdFlags;
 110     mspVersion_e mspVersion;
 111     uint_fast16_t offset;
 112     uint_fast16_t dataSize;
 113     uint8_t checksum1;
 114     uint8_t checksum2;
 115     bool sharedWithTelemetry;
 116     mspDescriptor_t descriptor;
 117 } mspPort_t;
 118
 119 void mspSerialInit(void);
 120 bool mspSerialWaiting(void);
 121 void mspSerialProcess(mspEvaluateNonMspData_e evaluateNonMspData, mspProcessCommandFnPtr mspProcessCommandFn, mspProcessReplyFnPtr mspProcessReplyFn);
 122 void mspSerialAllocatePorts(void);
 123 void mspSerialReleasePortIfAllocated(struct serialPort_s *serialPort);
 124 void mspSerialReleaseSharedTelemetryPorts(void);
 125 int mspSerialPush(serialPortIdentifier_e port, uint8_t cmd, uint8_t *data, int datalen, mspDirection_e direction);
 126 uint32_t mspSerialTxBytesFree(void);