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[MSP] Use MSP2_COMMON[_SET]_SERIAL_CONFIG for configuring ports

Browse source 
Configurator side of https://github.com/betaflight/betaflight/pull/9332
This commit is contained in:
Alberto García Hierro 2020-01-03 15:40:43 +00:00
parent 9278e8ed77
commit 2defc901a9
8 changed files with 306 additions and 111 deletions
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6
src/js/injected_methods.js
View file

@ -89,4 +89,8 @@ DataView.prototype.read32 = function() {
} else { } else {
return null; return null;
} }
}; };
DataView.prototype.remaining = function() {
return this.byteLength - this.offset;
};

330
src/js/msp.js
View file

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

6
src/js/msp/MSPCodes.js
View file

@ -171,5 +171,9 @@ var MSPCodes = {
MSP_EEPROM_WRITE: 250, MSP_EEPROM_WRITE: 250,
MSP_DEBUGMSG: 253, // Not used MSP_DEBUGMSG: 253, // Not used
MSP_DEBUG: 254 MSP_DEBUG: 254,
// MSPv2
MSP2_COMMON_SERIAL_CONFIG: 0x1009,
MSP2_COMMON_SET_SERIAL_CONFIG: 0x100A,
}; };

55
src/js/msp/MSPHelper.js
View file

@ -836,8 +836,8 @@ MspHelper.prototype.process_data = function(dataHandler) {
} else { } else {
SERIAL_CONFIG.ports = []; SERIAL_CONFIG.ports = [];
var bytesPerPort = 1 + 2 + (1 * 4); var bytesPerPort = 1 + 2 + (1 * 4);
var serialPortCount = data.byteLength / bytesPerPort;
var serialPortCount = data.byteLength / bytesPerPort;
for (var i = 0; i < serialPortCount; i++) { for (var i = 0; i < serialPortCount; i++) {
var serialPort = { var serialPort = {
identifier: data.readU8(), identifier: data.readU8(),
@ -853,10 +853,34 @@ MspHelper.prototype.process_data = function(dataHandler) {
} }
break; break;
case MSPCodes.MSP2_COMMON_SERIAL_CONFIG:
const count = data.readU8();
const portConfigSize = data.remaining() / count;
for (let ii = 0; ii < count; ii++) {
const start = data.remaining();
const serialPort = {
identifier: data.readU8(),
functions: self.serialPortFunctionMaskToFunctions(data.readU32()),
msp_baudrate: self.BAUD_RATES[data.readU8()],
gps_baudrate: self.BAUD_RATES[data.readU8()],
telemetry_baudrate: self.BAUD_RATES[data.readU8()],
blackbox_baudrate: self.BAUD_RATES[data.readU8()],
};
SERIAL_CONFIG.ports.push(serialPort);
while(start - data.remaining() < portConfigSize && data.remaining() > 0) {
data.readU8();
}
}
break;
case MSPCodes.MSP_SET_CF_SERIAL_CONFIG: case MSPCodes.MSP_SET_CF_SERIAL_CONFIG:
console.log('Serial config saved'); console.log('Serial config saved');
break; break;
case MSPCodes.MSP2_COMMON_SET_SERIAL_CONFIG:
console.log('Serial config saved (MSPv2)');
break;
case MSPCodes.MSP_MODE_RANGES: case MSPCodes.MSP_MODE_RANGES:
MODE_RANGES = []; // empty the array as new data is coming in MODE_RANGES = []; // empty the array as new data is coming in
@ -1853,6 +1877,7 @@ MspHelper.prototype.crunch = function(code) {
var functionMask = self.serialPortFunctionsToMask(serialPort.functions); var functionMask = self.serialPortFunctionsToMask(serialPort.functions);
buffer.push16(functionMask) buffer.push16(functionMask)
.push8(self.BAUD_RATES.indexOf(serialPort.msp_baudrate))
.push8(self.BAUD_RATES.indexOf(serialPort.msp_baudrate)) .push8(self.BAUD_RATES.indexOf(serialPort.msp_baudrate))
.push8(self.BAUD_RATES.indexOf(serialPort.gps_baudrate)) .push8(self.BAUD_RATES.indexOf(serialPort.gps_baudrate))
.push8(self.BAUD_RATES.indexOf(serialPort.telemetry_baudrate)) .push8(self.BAUD_RATES.indexOf(serialPort.telemetry_baudrate))
@ -1861,6 +1886,24 @@ MspHelper.prototype.crunch = function(code) {
} }
break; break;
case MSPCodes.MSP2_COMMON_SET_SERIAL_CONFIG:
buffer.push8(SERIAL_CONFIG.ports.length);
for (let i = 0; i < SERIAL_CONFIG.ports.length; i++) {
const serialPort = SERIAL_CONFIG.ports[i];
buffer.push8(serialPort.identifier);
const functionMask = self.serialPortFunctionsToMask(serialPort.functions);
buffer.push32(functionMask)
.push8(self.BAUD_RATES.indexOf(serialPort.msp_baudrate))
.push8(self.BAUD_RATES.indexOf(serialPort.msp_baudrate))
.push8(self.BAUD_RATES.indexOf(serialPort.gps_baudrate))
.push8(self.BAUD_RATES.indexOf(serialPort.telemetry_baudrate))
.push8(self.BAUD_RATES.indexOf(serialPort.blackbox_baudrate));
}
break;
case MSPCodes.MSP_SET_MOTOR_3D_CONFIG: case MSPCodes.MSP_SET_MOTOR_3D_CONFIG:
buffer.push16(MOTOR_3D_CONFIG.deadband3d_low) buffer.push16(MOTOR_3D_CONFIG.deadband3d_low)
.push16(MOTOR_3D_CONFIG.deadband3d_high) .push16(MOTOR_3D_CONFIG.deadband3d_high)
@ -2690,6 +2733,16 @@ MspHelper.prototype.setArmingEnabled = function(doEnable, disableRunawayTakeoffP
} }
} }
MspHelper.prototype.loadSerialConfig = function(callback) {
const mspCode = semver.gte(CONFIG.apiVersion, "1.43.0") ? MSPCodes.MSP2_COMMON_SERIAL_CONFIG : MSPCodes.MSP_CF_SERIAL_CONFIG;
MSP.send_message(mspCode, false, false, callback);
};
MspHelper.prototype.sendSerialConfig = function(callback) {
const mspCode = semver.gte(CONFIG.apiVersion, "1.43.0") ? MSPCodes.MSP2_COMMON_SET_SERIAL_CONFIG : MSPCodes.MSP_SET_CF_SERIAL_CONFIG;
MSP.send_message(mspCode, mspHelper.crunch(mspCode), false, callback);
};
MSP.SDCARD_STATE_NOT_PRESENT = 0; //TODO, move these to better place MSP.SDCARD_STATE_NOT_PRESENT = 0; //TODO, move these to better place
MSP.SDCARD_STATE_FATAL = 1; MSP.SDCARD_STATE_FATAL = 1;
MSP.SDCARD_STATE_CARD_INIT = 2; MSP.SDCARD_STATE_CARD_INIT = 2;

2
src/js/tabs/auxiliary.js
View file

@ -29,7 +29,7 @@ TABS.auxiliary.initialize = function (callback) {
} }
function get_serial_config() { function get_serial_config() {
MSP.send_message(MSPCodes.MSP_CF_SERIAL_CONFIG, false, false, load_html); mspHelper.loadSerialConfig(load_html);
} }
function load_html() { function load_html() {

4
src/js/tabs/configuration.js
View file

@ -35,7 +35,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
} }
function load_serial_config() { function load_serial_config() {
MSP.send_message(MSPCodes.MSP_CF_SERIAL_CONFIG, false, false, load_board_alignment_config); mspHelper.loadSerialConfig(load_board_alignment_config);
} }
function load_board_alignment_config() { function load_board_alignment_config() {
@ -1210,7 +1210,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
function save_serial_config() { function save_serial_config() {
var next_callback = save_feature_config; var next_callback = save_feature_config;
MSP.send_message(MSPCodes.MSP_SET_CF_SERIAL_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_CF_SERIAL_CONFIG), false, next_callback); mspHelper.sendSerialConfig(next_callback);
} }
function save_feature_config() { function save_feature_config() {

2
src/js/tabs/failsafe.js
View file

@ -39,7 +39,7 @@ TABS.failsafe.initialize = function (callback, scrollPosition) {
} }
function get_ports_config() { function get_ports_config() {
MSP.send_message(MSPCodes.MSP_CF_SERIAL_CONFIG, false, false, get_rc_data); mspHelper.loadSerialConfig(get_rc_data);
} }
function get_rc_data() { function get_rc_data() {

12
src/js/tabs/ports.js
View file

@ -111,13 +111,15 @@ TABS.ports.initialize = function (callback, scrollPosition) {
load_configuration_from_fc(); load_configuration_from_fc();
function load_configuration_from_fc() { function load_configuration_from_fc() {
let promise;
if(semver.gte(CONFIG.apiVersion, "1.42.0")) { if(semver.gte(CONFIG.apiVersion, "1.42.0")) {
MSP.promise(MSPCodes.MSP_VTX_CONFIG).then(function() { promise = MSP.promise(MSPCodes.MSP_VTX_CONFIG);
return MSP.send_message(MSPCodes.MSP_CF_SERIAL_CONFIG, false, false, on_configuration_loaded_handler);
});
} else { } else {
MSP.send_message(MSPCodes.MSP_CF_SERIAL_CONFIG, false, false, on_configuration_loaded_handler); promise = Promise.resolve();
} }
promise.then(function() {
mspHelper.loadSerialConfig(on_configuration_loaded_handler);
});
function on_configuration_loaded_handler() { function on_configuration_loaded_handler() {
$('#content').load("./tabs/ports.html", on_tab_loaded_handler); $('#content').load("./tabs/ports.html", on_tab_loaded_handler);
@ -392,7 +394,7 @@ TABS.ports.initialize = function (callback, scrollPosition) {
SERIAL_CONFIG.ports.push(serialPort); SERIAL_CONFIG.ports.push(serialPort);
}); });
MSP.send_message(MSPCodes.MSP_SET_CF_SERIAL_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_CF_SERIAL_CONFIG), false, save_to_eeprom); mspHelper.sendSerialConfig(save_to_eeprom);
function save_to_eeprom() { function save_to_eeprom() {
MSP.send_message(MSPCodes.MSP_EEPROM_WRITE, false, false, on_saved_handler); MSP.send_message(MSPCodes.MSP_EEPROM_WRITE, false, false, on_saved_handler);