Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-15 20:35:33 +03:00
Code Issues Wiki Activity

CF/BF - First cut of MSP current sensor.

Browse source 
How it works:
1. Current Meter Source on FC is set to MSP/OSD Slave by user.
2. On reboot FC sends MSP_ANALOG to OSD Slave.
3. OSD Slave listens for incoming MSP as usual.
4. OSD responds to MSP as usual.
6. The FC recevies the data from the OSD Slave and updates the MSP
Current Meter.
This commit is contained in:
Hydra 2017-04-23 20:39:24 +01:00 • committed by Dominic Clifton
parent 3e56bb75cf
commit 22147105fb
17 changed files with 166 additions and 15 deletions
Download patch file Download diff file Expand all files Collapse all files

23
src/main/msp/msp_serial.c
View file

@ -27,12 +27,13 @@
#include "io/serial.h"
#include "drivers/system.h"
#include "msp/msp.h"
#include "msp/msp_serial.h"
static mspPort_t mspPorts[MAX_MSP_PORT_COUNT];
static void resetMspPort(mspPort_t *mspPortToReset, serialPort_t *serialPort)
{
memset(mspPortToReset, 0, sizeof(mspPort_t));
@ -138,7 +139,13 @@ static int mspSerialEncode(mspPort_t *msp, mspPacket_t *packet)
serialBeginWrite(msp->port);
const int len = sbufBytesRemaining(&packet->buf);
const int mspLen = len < JUMBO_FRAME_SIZE_LIMIT ? len : JUMBO_FRAME_SIZE_LIMIT;
uint8_t hdr[8] = {'$', 'M', packet->result == MSP_RESULT_ERROR ? '!' : '>', mspLen, packet->cmd};
uint8_t hdr[8] = {
'$',
'M',
packet->result == MSP_RESULT_ERROR ? '!' : packet->direction == MSP_DIRECTION_REPLY ? '>' : '<',
mspLen,
packet->cmd
};
int hdrLen = 5;
#define CHECKSUM_STARTPOS 3 // checksum starts from mspLen field
if (len >= JUMBO_FRAME_SIZE_LIMIT) {
@ -165,6 +172,7 @@ static mspPostProcessFnPtr mspSerialProcessReceivedCommand(mspPort_t *msp, mspPr
.buf = { .ptr = outBuf, .end = ARRAYEND(outBuf), },
.cmd = -1,
.result = 0,
.direction = MSP_DIRECTION_REPLY,
};
uint8_t *outBufHead = reply.buf.ptr;
@ -172,6 +180,7 @@ static mspPostProcessFnPtr mspSerialProcessReceivedCommand(mspPort_t *msp, mspPr
.buf = { .ptr = msp->inBuf, .end = msp->inBuf + msp->dataSize, },
.cmd = msp->cmdMSP,
.result = 0,
.direction = MSP_DIRECTION_REQUEST,
};
mspPostProcessFnPtr mspPostProcessFn = NULL;
@ -182,7 +191,6 @@ static mspPostProcessFnPtr mspSerialProcessReceivedCommand(mspPort_t *msp, mspPr
mspSerialEncode(msp, &reply);
}
msp->c_state = MSP_IDLE;
return mspPostProcessFn;
}
@ -215,7 +223,9 @@ void mspSerialProcess(mspEvaluateNonMspData_e evaluateNonMspData, mspProcessComm
if (!mspPort->port) {
continue;
}
mspPostProcessFnPtr mspPostProcessFn = NULL;
while (serialRxBytesWaiting(mspPort->port)) {
const uint8_t c = serialRead(mspPort->port);
@ -231,9 +241,12 @@ void mspSerialProcess(mspEvaluateNonMspData_e evaluateNonMspData, mspProcessComm
} else if (mspPort->packetType == MSP_PACKET_REPLY) {
mspSerialProcessReceivedReply(mspPort, mspProcessReplyFn);
}
mspPort->c_state = MSP_IDLE;
break; // process one command at a time so as not to block.
}
}
if (mspPostProcessFn) {
waitForSerialPortToFinishTransmitting(mspPort->port);
mspPostProcessFn(mspPort->port);
@ -262,7 +275,7 @@ void mspSerialInit(void)
mspSerialAllocatePorts();
}
int mspSerialPush(uint8_t cmd, uint8_t *data, int datalen)
int mspSerialPush(uint8_t cmd, uint8_t *data, int datalen, mspDirection_e direction)
{
int ret = 0;
@ -281,6 +294,7 @@ int mspSerialPush(uint8_t cmd, uint8_t *data, int datalen)
.buf = { .ptr = data, .end = data + datalen, },
.cmd = cmd,
.result = 0,
.direction = direction,
};
ret = mspSerialEncode(mspPort, &push);
@ -288,6 +302,7 @@ int mspSerialPush(uint8_t cmd, uint8_t *data, int datalen)
return ret; // return the number of bytes written
}
uint32_t mspSerialTxBytesFree()
{
uint32_t ret = UINT32_MAX;