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updating msp

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This commit is contained in:
cTn 2014-01-18 12:02:59 +01:00
parent 4a57a9feb6
commit 64fe1d7b05
1 changed files with 76 additions and 78 deletions
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154
js/msp.js
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@ -69,87 +69,85 @@ var MSP = {
}; };
function MSP_char_read(readInfo) { function MSP_char_read(readInfo) {
if (readInfo && readInfo.bytesRead > 0) { var data = new Uint8Array(readInfo.data);
var data = new Uint8Array(readInfo.data);
for (var i = 0; i < data.length; i++) {
for (var i = 0; i < data.length; i++) { if (CLI_active != true) {
if (CLI_active != true) { // Standard "GUI" MSP handling
// Standard "GUI" MSP handling switch (MSP.state) {
switch (MSP.state) { case 0: // sync char 1
case 0: // sync char 1 if (data[i] == 36) { // $
if (data[i] == 36) { // $
MSP.state++;
}
break;
case 1: // sync char 2
if (data[i] == 77) { // M
MSP.state++;
} else { // restart and try again
MSP.state = 0;
}
break;
case 2: // direction (should be >)
if (data[i] == 62) { // >
message_status = 1;
} else { // unknown
message_status = 0;
}
MSP.state++; MSP.state++;
break; }
case 3: break;
MSP.message_length_expected = data[i]; case 1: // sync char 2
if (data[i] == 77) { // M
MSP.message_checksum = data[i];
// setup arraybuffer
MSP.message_buffer = new ArrayBuffer(MSP.message_length_expected);
MSP.message_buffer_uint8_view = new Uint8Array(MSP.message_buffer);
MSP.state++; MSP.state++;
break; } else { // restart and try again
case 4: MSP.state = 0;
MSP.code = data[i]; }
MSP.message_checksum ^= data[i]; break;
case 2: // direction (should be >)
if (data[i] == 62) { // >
message_status = 1;
} else { // unknown
message_status = 0;
}
MSP.state++;
break;
case 3:
MSP.message_length_expected = data[i];
MSP.message_checksum = data[i];
// setup arraybuffer
MSP.message_buffer = new ArrayBuffer(MSP.message_length_expected);
MSP.message_buffer_uint8_view = new Uint8Array(MSP.message_buffer);
MSP.state++;
break;
case 4:
MSP.code = data[i];
MSP.message_checksum ^= data[i];
if (MSP.message_length_expected != 0) { // standard message
MSP.state++;
} else { // MSP_ACC_CALIBRATION, etc...
MSP.state += 2;
}
break;
case 5: // payload
MSP.message_buffer_uint8_view[MSP.message_length_received] = data[i];
MSP.message_checksum ^= data[i];
MSP.message_length_received++;
if (MSP.message_length_received >= MSP.message_length_expected) {
MSP.state++;
}
break;
case 6:
if (MSP.message_checksum == data[i]) {
// message received, process
process_data(MSP.code, MSP.message_buffer, MSP.message_length_expected);
} else {
console.log('code: ' + MSP.code + ' - crc failed');
if (MSP.message_length_expected != 0) { // standard message MSP.packet_error++;
MSP.state++; $('span.packet-error').html(MSP.packet_error);
} else { // MSP_ACC_CALIBRATION, etc... }
MSP.state += 2;
} // Reset variables
break; MSP.message_length_received = 0;
case 5: // payload MSP.state = 0;
MSP.message_buffer_uint8_view[MSP.message_length_received] = data[i]; break;
MSP.message_checksum ^= data[i];
MSP.message_length_received++;
if (MSP.message_length_received >= MSP.message_length_expected) {
MSP.state++;
}
break;
case 6:
if (MSP.message_checksum == data[i]) {
// message received, process
process_data(MSP.code, MSP.message_buffer, MSP.message_length_expected);
} else {
console.log('code: ' + MSP.code + ' - crc failed');
MSP.packet_error++;
$('span.packet-error').html(MSP.packet_error);
}
// Reset variables
MSP.message_length_received = 0;
MSP.state = 0;
break;
}
} else {
// CLI Enabled (Terminal "style" handling)
handle_CLI(data[i]);
} }
} else {
char_counter++; // CLI Enabled (Terminal "style" handling)
handle_CLI(data[i]);
} }
char_counter++;
} }
} }
@ -197,8 +195,8 @@ function send_message(code, data, callback_sent, callback_msp) {
MSP.callbacks.push({'code': code, 'callback': callback_msp}); MSP.callbacks.push({'code': code, 'callback': callback_msp});
} }
chrome.serial.write(connectionId, bufferOut, function(writeInfo) { serial.send(bufferOut, function(writeInfo) {
if (writeInfo.bytesWritten > 0) { if (writeInfo.bytesSent > 0) {
if (callback_sent) { if (callback_sent) {
callback_sent(); callback_sent();
} }