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

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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
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47
js/msp.js
View file

@ -10,6 +10,7 @@ var MSP = {
message_buffer: null, message_buffer: null,
message_buffer_uint8_view: null, message_buffer_uint8_view: null,
message_checksum: 0, message_checksum: 0,
messageIsJumboFrame: false,
callbacks: [], callbacks: [],
packet_error: 0, packet_error: 0,
@ -17,6 +18,8 @@ var MSP = {
last_received_timestamp: null, last_received_timestamp: null,
listeners: [], listeners: [],
JUMBO_FRAME_SIZE_LIMIT: 255,
read: function (readInfo) { read: function (readInfo) {
var data = new Uint8Array(readInfo.data); var data = new Uint8Array(readInfo.data);
@ -50,13 +53,12 @@ var MSP = {
break; break;
case 3: case 3:
this.message_length_expected = data[i]; this.message_length_expected = data[i];
if (this.message_length_expected === this.JUMBO_FRAME_SIZE_LIMIT) {
this.messageIsJumboFrame = true;
}
this.message_checksum = data[i]; 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++; this.state++;
break; break;
case 4: case 4:
@ -65,13 +67,39 @@ var MSP = {
if (this.message_length_expected > 0) { if (this.message_length_expected > 0) {
// process payload // process payload
this.state++; if (this.messageIsJumboFrame) {
this.state++;
} else {
this.state = this.state + 3;
}
} else { } else {
// no payload // no payload
this.state += 2; this.state += 5;
} }
break; 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_buffer_uint8_view[this.message_length_received] = data[i];
this.message_checksum ^= data[i]; this.message_checksum ^= data[i];
this.message_length_received++; this.message_length_received++;
@ -80,7 +108,7 @@ var MSP = {
this.state++; this.state++;
} }
break; break;
case 6: case 9:
if (this.message_checksum == data[i]) { if (this.message_checksum == data[i]) {
// message received, store dataview // message received, store dataview
this.dataView = new DataView(this.message_buffer, 0, this.message_length_expected); this.dataView = new DataView(this.message_buffer, 0, this.message_length_expected);
@ -92,6 +120,7 @@ var MSP = {
// Reset variables // Reset variables
this.message_length_received = 0; this.message_length_received = 0;
this.state = 0; this.state = 0;
this.messageIsJumboFrame = false;
this.notify(); this.notify();
break; break;
@ -210,4 +239,4 @@ var MSP = {
this.callbacks_cleanup(); this.callbacks_cleanup();
} }
}; };

26
js/msp/MSPHelper.js
View file

@ -446,6 +446,8 @@ MspHelper.prototype.process_data = function(dataHandler) {
'115200', '115200',
'230400', '230400',
'250000', '250000',
'500000',
'1000000'
]; ];
if (semver.lt(CONFIG.apiVersion, "1.6.0")) { if (semver.lt(CONFIG.apiVersion, "1.6.0")) {
SERIAL_CONFIG.ports = []; SERIAL_CONFIG.ports = [];
@ -1046,6 +1048,8 @@ MspHelper.prototype.crunch = function(code) {
'115200', '115200',
'230400', '230400',
'250000', '250000',
'500000',
'1000000'
]; //TODO, instead of lookuptable, this should be sent as uint32 ]; //TODO, instead of lookuptable, this should be sent as uint32
var serialPortFunctions = { var serialPortFunctions = {
'MSP': 0, 'MSP': 0,
@ -1205,17 +1209,29 @@ MspHelper.prototype.setRawRx = function(channels) {
* Send a request to read a block of data from the dataflash at the given address and pass that address and a dataview * Send a request to read a block of data from the dataflash at the given address and pass that address and a dataview
* of the returned data to the given callback (or null for the data if an error occured). * of the returned data to the given callback (or null for the data if an error occured).
*/ */
MspHelper.prototype.dataflashRead = function(address, onDataCallback) { MspHelper.prototype.dataflashRead = function(address, blockSize, onDataCallback) {
MSP.send_message(MSPCodes.MSP_DATAFLASH_READ, [address & 0xFF, (address >> 8) & 0xFF, (address >> 16) & 0xFF, (address >> 24) & 0xFF], var outData = [address & 0xFF, (address >> 8) & 0xFF, (address >> 16) & 0xFF, (address >> 24) & 0xFF];
false, function(response) {
if (semver.gte(CONFIG.flightControllerVersion, "3.1.0")) {
outData = outData.concat([blockSize & 0xFF, (blockSize >> 8) & 0xFF]);
}
MSP.send_message(MSPCodes.MSP_DATAFLASH_READ, outData, false, function(response) {
var chunkAddress = response.data.readU32(); var chunkAddress = response.data.readU32();
var headerSize = 4;
var dataSize = response.data.buffer.byteLength - headerSize;
if (semver.gte(CONFIG.flightControllerVersion, "3.1.0")) {
headerSize = headerSize + 2;
dataSize = response.data.readU16();
}
// Verify that the address of the memory returned matches what the caller asked for // Verify that the address of the memory returned matches what the caller asked for
if (chunkAddress == address) { if (chunkAddress == address) {
/* Strip that address off the front of the reply and deliver it separately so the caller doesn't have to /* Strip that address off the front of the reply and deliver it separately so the caller doesn't have to
* figure out the reply format: * figure out the reply format:
*/ */
onDataCallback(address, new DataView(response.data.buffer, response.data.byteOffset + 4, response.data.buffer.byteLength - 4)); onDataCallback(address, new DataView(response.data.buffer, response.data.byteOffset + headerSize, dataSize));
} else { } else {
// Report error // Report error
onDataCallback(address, null); onDataCallback(address, null);

3
main.html
View file

@ -116,6 +116,9 @@
</div> </div>
<div class="dropdown dropdown-dark"> <div class="dropdown dropdown-dark">
<select class="dropdown-select" id="baud" title="Baud Rate"> <select class="dropdown-select" id="baud" title="Baud Rate">
<option value="1000000">1000000</option>
<option value="500000">500000</option>
<option value="250000">250000</option>
<option value="115200" selected="selected">115200</option> <option value="115200" selected="selected">115200</option>
<option value="57600">57600</option> <option value="57600">57600</option>
<option value="38400">38400</option> <option value="38400">38400</option>

1
tabs/firmware_flasher.js
View file

@ -117,6 +117,7 @@ TABS.firmware_flasher.initialize = function (callback) {
chrome.storage.local.get('selected_board', function (result) { chrome.storage.local.get('selected_board', function (result) {
if (result.selected_board) { if (result.selected_board) {
$('select[name="board"]').val(result.selected_board); $('select[name="board"]').val(result.selected_board);
$('select[name="board"]').trigger("change");
} }
}); });
}; };

21
tabs/onboard_logging.js
View file

@ -4,7 +4,8 @@ var
sdcardTimer; sdcardTimer;
TABS.onboard_logging = { TABS.onboard_logging = {
available: false available: false,
BLOCK_SIZE: 4096
}; };
TABS.onboard_logging.initialize = function (callback) { TABS.onboard_logging.initialize = function (callback) {
var var
@ -313,7 +314,12 @@ TABS.onboard_logging.initialize = function (callback) {
$(".dataflash-saving")[0].close(); $(".dataflash-saving")[0].close();
} }
function mark_saving_dialog_done() { function mark_saving_dialog_done(startTime, totalBytes) {
var totalTime = (new Date().getTime() - startTime) / 1000;
console.log('Received ' + totalBytes + ' bytes in ' + totalTime.toFixed(2) + 's ('
+ (totalBytes / totalTime / 1024).toFixed(2) + 'kB / s) with block size ' + self.BLOCK_SIZE + '.');
$(".dataflash-saving").addClass("done"); $(".dataflash-saving").addClass("done");
} }
@ -356,26 +362,27 @@ TABS.onboard_logging.initialize = function (callback) {
if (saveCancelled) { if (saveCancelled) {
dismiss_saving_dialog(); dismiss_saving_dialog();
} else { } else {
mark_saving_dialog_done(); mark_saving_dialog_done(startTime, nextAddress);
} }
} else { } else {
mspHelper.dataflashRead(nextAddress, onChunkRead); mspHelper.dataflashRead(nextAddress, self.BLOCK_SIZE, onChunkRead);
} }
}; };
fileWriter.write(blob); fileWriter.write(blob);
} else { } else {
// A zero-byte block indicates end-of-file, so we're done // A zero-byte block indicates end-of-file, so we're done
mark_saving_dialog_done(); mark_saving_dialog_done(startTime, nextAddress);
} }
} else { } else {
// There was an error with the received block (address didn't match the one we asked for), retry // There was an error with the received block (address didn't match the one we asked for), retry
mspHelper.dataflashRead(nextAddress, onChunkRead); mspHelper.dataflashRead(nextAddress, self.BLOCK_SIZE, onChunkRead);
} }
} }
var startTime = new Date().getTime();
// Fetch the initial block // Fetch the initial block
mspHelper.dataflashRead(nextAddress, onChunkRead); mspHelper.dataflashRead(nextAddress, self.BLOCK_SIZE, onChunkRead);
}); });
}); });
} }

8
tabs/ports.js
View file

@ -39,9 +39,15 @@ TABS.ports.initialize = function (callback, scrollPosition) {
'19200', '19200',
'38400', '38400',
'57600', '57600',
'115200' '115200',
'230400',
'250000'
]; ];
if (semver.gte(CONFIG.flightControllerVersion, "3.1.0")) {
mspBaudRates = mspBaudRates.concat(['500000', '1000000']);
}
var gpsBaudRates = [ var gpsBaudRates = [
'9600', '9600',
'19200', '19200',