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Implemented support for MSP jumbo frames, switched dataflash reading to be using jumbo frames.

This commit is contained in:
Michael Keller 2016-09-14 10:39:58 +12:00
parent e61ef7bb93
commit ca772a0896
6 changed files with 84 additions and 22 deletions

View file

@ -10,6 +10,7 @@ var MSP = {
message_buffer: null,
message_buffer_uint8_view: null,
message_checksum: 0,
messageIsJumboFrame: false,
callbacks: [],
packet_error: 0,
@ -17,6 +18,8 @@ var MSP = {
last_received_timestamp: null,
listeners: [],
JUMBO_FRAME_SIZE_LIMIT: 255,
read: function (readInfo) {
var data = new Uint8Array(readInfo.data);
@ -50,13 +53,12 @@ var MSP = {
break;
case 3:
this.message_length_expected = data[i];
if (this.message_length_expected === this.JUMBO_FRAME_SIZE_LIMIT) {
this.messageIsJumboFrame = true;
}
this.message_checksum = data[i];
// setup arraybuffer
this.message_buffer = new ArrayBuffer(this.message_length_expected);
this.message_buffer_uint8_view = new Uint8Array(this.message_buffer);
this.state++;
break;
case 4:
@ -65,13 +67,39 @@ var MSP = {
if (this.message_length_expected > 0) {
// process payload
this.state++;
if (this.messageIsJumboFrame) {
this.state++;
} else {
this.state = this.state + 3;
}
} else {
// no payload
this.state += 2;
this.state += 5;
}
break;
case 5: // payload
case 5:
this.message_length_expected = data[i];
this.message_checksum ^= data[i];
this.state++;
break;
case 6:
this.message_length_expected = this.message_length_expected + 256 * data[i];
this.message_checksum ^= data[i];
this.state++;
break;
case 7:
// setup arraybuffer
this.message_buffer = new ArrayBuffer(this.message_length_expected);
this.message_buffer_uint8_view = new Uint8Array(this.message_buffer);
this.state++;
case 8: // payload
this.message_buffer_uint8_view[this.message_length_received] = data[i];
this.message_checksum ^= data[i];
this.message_length_received++;
@ -80,7 +108,7 @@ var MSP = {
this.state++;
}
break;
case 6:
case 9:
if (this.message_checksum == data[i]) {
// message received, store dataview
this.dataView = new DataView(this.message_buffer, 0, this.message_length_expected);
@ -92,6 +120,7 @@ var MSP = {
// Reset variables
this.message_length_received = 0;
this.state = 0;
this.messageIsJumboFrame = false;
this.notify();
break;
@ -210,4 +239,4 @@ var MSP = {
this.callbacks_cleanup();
}
};
};