mirror of
https://github.com/betaflight/betaflight-configurator.git
synced 2025-07-26 09:45:28 +03:00
[MSP] Use MSP2_COMMON[_SET]_SERIAL_CONFIG for configuring ports
Configurator side of https://github.com/betaflight/betaflight/pull/9332
This commit is contained in:
Alberto García Hierro
parent
9278e8ed77
commit
2defc901a9
8 changed files with 306 additions and 111 deletions
330
src/js/msp.js
330
src/js/msp.js
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@ -1,6 +1,39 @@
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'use strict';
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var MSP = {
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symbols: {
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BEGIN: '$'.charCodeAt(0),
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PROTO_V1: 'M'.charCodeAt(0),
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PROTO_V2: 'X'.charCodeAt(0),
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FROM_MWC: '>'.charCodeAt(0),
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TO_MWC: '<'.charCodeAt(0),
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UNSUPPORTED: '!'.charCodeAt(0),
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},
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constants: {
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PROTOCOL_V1: 1,
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PROTOCOL_V2: 2,
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JUMBO_FRAME_MIN_SIZE: 255,
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},
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decoder_states: {
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IDLE: 0,
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PROTO_IDENTIFIER: 1,
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DIRECTION_V1: 2,
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DIRECTION_V2: 3,
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FLAG_V2: 4,
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PAYLOAD_LENGTH_V1: 5,
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PAYLOAD_LENGTH_JUMBO_LOW: 6,
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PAYLOAD_LENGTH_JUMBO_HIGH: 7,
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PAYLOAD_LENGTH_V2_LOW: 8,
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PAYLOAD_LENGTH_V2_HIGH: 9,
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CODE_V1: 10,
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CODE_JUMBO_V1: 11,
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CODE_V2_LOW: 12,
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CODE_V2_HIGH: 13,
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PAYLOAD_V1: 14,
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PAYLOAD_V2: 15,
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CHECKSUM_V1: 16,
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CHECKSUM_V2: 17,
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},
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state: 0,
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message_direction: 1,
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code: 0,
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@ -27,112 +60,166 @@ var MSP = {
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for (var i = 0; i < data.length; i++) {
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switch (this.state) {
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case 0: // sync char 1
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if (data[i] == 36) { // $
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this.state++;
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}
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break;
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case 1: // sync char 2
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if (data[i] == 77) { // M
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this.state++;
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} else { // restart and try again
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this.state = 0;
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}
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break;
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case 2: // direction (should be >)
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this.unsupported = 0;
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if (data[i] == 62) { // >
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case this.decoder_states.IDLE: // sync char 1
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if (data[i] === this.symbols.BEGIN) {
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this.state = this.decoder_states.PROTO_IDENTIFIER;
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}
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break;
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case this.decoder_states.PROTO_IDENTIFIER: // sync char 2
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switch (data[i]) {
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case this.symbols.PROTO_V1:
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this.state = this.decoder_states.DIRECTION_V1;
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break;
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case this.symbols.PROTO_V2:
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this.state = this.decoder_states.DIRECTION_V2;
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break;
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default:
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console.log(`Unknown protocol char ${String.fromCharCode(data[i])}`);
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this.state = this.decoder_states.IDLE;
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}
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break;
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case this.decoder_states.DIRECTION_V1: // direction (should be >)
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case this.decoder_states.DIRECTION_V2:
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this.unsupported = 0;
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switch (data[i]) {
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case this.symbols.FROM_MWC:
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this.message_direction = 1;
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} else if (data[i] == 60) { // <
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break;
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case this.symbols.TO_MWC:
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this.message_direction = 0;
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} else if (data[i] == 33) { // !
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// FC reports unsupported message error
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break;
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case this.symbols.UNSUPPORTED:
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this.unsupported = 1;
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}
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break;
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}
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this.state = this.state === this.decoder_states.DIRECTION_V1 ?
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this.decoder_states.PAYLOAD_LENGTH_V1 :
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this.decoder_states.FLAG_V2;
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break;
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case this.decoder_states.FLAG_V2:
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// Ignored for now
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this.state = this.decoder_states.CODE_V2_LOW;
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break;
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case this.decoder_states.PAYLOAD_LENGTH_V1:
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this.message_length_expected = data[i];
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this.state++;
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break;
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case 3:
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this.message_length_expected = data[i];
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if (this.message_length_expected === this.JUMBO_FRAME_SIZE_LIMIT) {
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this.messageIsJumboFrame = true;
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}
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if (this.message_length_expected === this.constants.JUMBO_FRAME_MIN_SIZE) {
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this.state = this.decoder_states.CODE_JUMBO_V1;
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} else {
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this._initialize_read_buffer();
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this.state = this.decoder_states.CODE_V1;
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}
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this.message_checksum = data[i];
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this.state++;
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break;
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case 4:
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this.code = data[i];
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this.message_checksum ^= data[i];
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if (this.message_length_expected > 0) {
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// process payload
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if (this.messageIsJumboFrame) {
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this.state++;
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} else {
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this.state = this.state + 3;
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}
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break;
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case this.decoder_states.PAYLOAD_LENGTH_V2_LOW:
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this.message_length_expected = data[i];
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this.state = this.decoder_states.PAYLOAD_LENGTH_V2_HIGH;
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break;
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case this.decoder_states.PAYLOAD_LENGTH_V2_HIGH:
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this.message_length_expected |= data[i] << 8;
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this._initialize_read_buffer();
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this.state = this.message_length_expected > 0 ?
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this.decoder_states.PAYLOAD_V2 :
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this.decoder_states.CHECKSUM_V2;
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break;
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case this.decoder_states.CODE_V1:
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case this.decoder_states.CODE_JUMBO_V1:
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this.code = data[i];
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if (this.message_length_expected > 0) {
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// process payload
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if (this.state === this.decoder_states.CODE_JUMBO_V1) {
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this.state = this.decoder_states.PAYLOAD_LENGTH_JUMBO_LOW;
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} else {
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// no payload
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this.state += 5;
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this.state = this.decoder_states.PAYLOAD_V1;
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}
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break;
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case 5:
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this.message_length_expected = data[i];
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} else {
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// no payload
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this.state = this.decoder_states.CHECKSUM_V1;
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}
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break;
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case this.decoder_states.CODE_V2_LOW:
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this.code = data[i];
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this.state = this.decoder_states.CODE_V2_HIGH;
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break;
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case this.decoder_states.CODE_V2_HIGH:
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this.code |= data[i] << 8;
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this.state = this.decoder_states.PAYLOAD_LENGTH_V2_LOW;
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break;
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case this.decoder_states.PAYLOAD_LENGTH_JUMBO_LOW:
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this.message_length_expected = data[i];
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this.state = this.decoder_states.PAYLOAD_LENGTH_JUMBO_HIGH;
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break;
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case this.decoder_states.PAYLOAD_LENGTH_JUMBO_HIGH:
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this.message_length_expected |= data[i] << 8;
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this._initialize_read_buffer();
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this.state = this.decoder_states.PAYLOAD_V1;
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break;
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case this.decoder_states.PAYLOAD_V1:
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case this.decoder_states.PAYLOAD_V2:
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this.message_buffer_uint8_view[this.message_length_received] = data[i];
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this.message_length_received++;
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this.message_checksum ^= data[i];
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this.state++;
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break;
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case 6:
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this.message_length_expected = this.message_length_expected + 256 * data[i];
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this.message_checksum ^= data[i];
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this.state++;
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break;
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case 7:
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// setup arraybuffer
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this.message_buffer = new ArrayBuffer(this.message_length_expected);
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this.message_buffer_uint8_view = new Uint8Array(this.message_buffer);
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this.state++;
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case 8: // payload
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this.message_buffer_uint8_view[this.message_length_received] = data[i];
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this.message_checksum ^= data[i];
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this.message_length_received++;
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if (this.message_length_received >= this.message_length_expected) {
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this.state++;
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}
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break;
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case 9:
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if (this.message_checksum == data[i]) {
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// message received, store dataview
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this.dataView = new DataView(this.message_buffer, 0, this.message_length_expected);
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} else {
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console.log('code: ' + this.code + ' - crc failed');
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this.packet_error++;
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this.crcError = true;
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this.dataView = new DataView(new ArrayBuffer(0));
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}
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// Reset variables
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this.message_length_received = 0;
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this.state = 0;
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this.messageIsJumboFrame = false;
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this.notify();
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this.crcError = false;
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break;
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default:
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console.log('Unknown state detected: ' + this.state);
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if (this.message_length_received >= this.message_length_expected) {
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this.state = this.state === this.decoder_states.PAYLOAD_V1 ?
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this.decoder_states.CHECKSUM_V1 :
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this.decoder_states.CHECKSUM_V2;
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}
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break;
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case this.decoder_states.CHECKSUM_V1:
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if (this.message_length_expected >= this.constants.JUMBO_FRAME_MIN_SIZE) {
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this.message_checksum = this.constants.JUMBO_FRAME_MIN_SIZE;
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} else {
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this.message_checksum = this.message_length_expected;
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}
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this.message_checksum ^= this.code;
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if (this.message_length_expected >= this.constants.JUMBO_FRAME_MIN_SIZE) {
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this.message_checksum ^= this.message_length_expected & 0xFF;
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this.message_checksum ^= (this.message_length_expected & 0xFF00) >> 8;
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}
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for (let ii = 0; ii < this.message_length_received; ii++) {
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this.message_checksum ^= this.message_buffer_uint8_view[ii];
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}
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this._dispatch_message(data[i]);
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break;
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case this.decoder_states.CHECKSUM_V2:
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this.message_checksum = 0;
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this.message_checksum = this.crc8_dvb_s2(this.message_checksum, 0); // flag
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this.message_checksum = this.crc8_dvb_s2(this.message_checksum, this.code & 0xFF);
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this.message_checksum = this.crc8_dvb_s2(this.message_checksum, (this.code & 0xFF00) >> 8);
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this.message_checksum = this.crc8_dvb_s2(this.message_checksum, this.message_length_expected & 0xFF);
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this.message_checksum = this.crc8_dvb_s2(this.message_checksum, (this.message_length_expected & 0xFF00) >> 8);
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for (let ii = 0; ii < this.message_length_received; ii++) {
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this.message_checksum = this.crc8_dvb_s2(this.message_checksum, this.message_buffer_uint8_view[ii]);
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}
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this._dispatch_message(data[i]);
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break;
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default:
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console.log('Unknown state detected: ' + this.state);
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}
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}
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this.last_received_timestamp = Date.now();
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},
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_initialize_read_buffer: function() {
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this.message_buffer = new ArrayBuffer(this.message_length_expected);
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this.message_buffer_uint8_view = new Uint8Array(this.message_buffer);
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},
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_dispatch_message: function(expectedChecksum) {
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if (this.message_checksum === expectedChecksum) {
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// message received, store dataview
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this.dataView = new DataView(this.message_buffer, 0, this.message_length_expected);
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} else {
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console.log('code: ' + this.code + ' - crc failed');
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this.packet_error++;
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this.crcError = true;
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this.dataView = new DataView(new ArrayBuffer(0));
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}
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// Reset variables
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this.message_length_received = 0;
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this.state = 0;
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this.messageIsJumboFrame = false;
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this.notify();
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this.crcError = false;
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},
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notify: function() {
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var self = this;
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this.listeners.forEach(function(listener) {
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@ -147,13 +234,26 @@ var MSP = {
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clearListeners: function() {
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this.listeners = [];
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},
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send_message: function (code, data, callback_sent, callback_msp, doCallbackOnError) {
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if (code === undefined) {
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return;
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crc8_dvb_s2: function(crc, ch) {
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crc ^= ch;
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for (let ii = 0; ii < 8; ii++) {
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if (crc & 0x80) {
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crc = ((crc << 1) & 0xFF) ^ 0xD5;
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} else {
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crc = (crc << 1) & 0xFF;
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}
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}
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return crc;
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},
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crc8_dvb_s2_data: function(data, start, end) {
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let crc = 0;
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for (let ii = start; ii < end; ii++) {
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crc = this.crc8_dvb_s2(crc, data[ii]);
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}
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return crc;
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},
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encode_message_v1: function(code, data) {
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let bufferOut;
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// always reserve 6 bytes for protocol overhead !
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if (data) {
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var size = data.length + 6,
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@ -188,6 +288,38 @@ var MSP = {
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bufView[4] = code; // code
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bufView[5] = bufView[3] ^ bufView[4]; // checksum
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}
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return bufferOut;
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},
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encode_message_v2: function (code, data) {
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const dataLength = data ? data.length : 0;
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// 9 bytes for protocol overhead
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const bufferSize = dataLength + 9;
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const bufferOut = new ArrayBuffer(bufferSize);
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const bufView = new Uint8Array(bufferOut);
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bufView[0] = 36; // $
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bufView[1] = 88; // X
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bufView[2] = 60; // <
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bufView[3] = 0; // flag
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bufView[4] = code & 0xFF;
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bufView[5] = (code >> 8) & 0xFF;
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bufView[6] = dataLength & 0xFF;
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bufView[7] = (dataLength >> 8) & 0xFF;
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for (let ii = 0; ii < dataLength; ii++) {
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bufView[8 + ii] = data[ii];
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}
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bufView[bufferSize - 1] = this.crc8_dvb_s2_data(bufView, 3, bufferSize - 1);
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return bufferOut;
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},
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send_message: function (code, data, callback_sent, callback_msp, doCallbackOnError) {
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if (code === undefined) {
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return;
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}
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let bufferOut;
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if (code <= 254) {
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bufferOut = this.encode_message_v1(code, data);
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} else {
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bufferOut = this.encode_message_v2(code, data);
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}
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var obj = {'code': code, 'requestBuffer': bufferOut, 'callback': callback_msp ? callback_msp : false, 'timer': false, 'callbackOnError': doCallbackOnError};
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