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Code Issues Wiki Activity

extending serial backend (far from finished)

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This commit is contained in:
cTn 2013-04-08 19:09:10 +02:00
parent be66960782
commit 292029ebcd
1 changed files with 174 additions and 52 deletions
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216
js/serial_backend.js
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@ -1,6 +1,50 @@
var connectionId = -1; var connectionId = -1;
var connection_delay = 0; // delay which defines "when" will the configurator request configurator data after connection was established var connection_delay = 0; // delay which defines "when" will the configurator request configurator data after connection was established
var MSP_codes = {
MSP_IDENT: 100,
MSP_STATUS: 101,
MSP_RAW_IMU: 102,
MSP_SERVO: 103,
MSP_MOTOR: 104,
MSP_RC: 105,
MSP_RAW_GPS: 106,
MSP_COMP_GPS: 107,
MSP_ATTITUDE: 108,
MSP_ALTITUDE: 109,
MSP_BAT: 110,
MSP_RC_TUNING: 111,
MSP_PID: 112,
MSP_BOX: 113,
MSP_MISC: 114,
MSP_MOTOR_PINS: 115,
MSP_BOXNAMES: 116,
MSP_PIDNAMES: 117,
MSP_SET_RAW_RC: 200,
MSP_SET_RAW_GPS: 201,
MSP_SET_PID: 202,
MSP_SET_BOX: 203,
MSP_SET_RC_TUNING: 204,
MSP_ACC_CALIBRATION: 205,
MSP_MAG_CALIBRATION: 206,
MSP_SET_MISC: 207,
MSP_RESET_CONF: 208,
MSP_SELECT_SETTING: 210,
MSP_BIND: 240,
MSP_EEPROM_WRITE: 250,
MSP_DEBUGMSG: 253,
MSP_DEBUG: 254
};
var CONFIG = {
version: 0,
multiType: 0
};
$(document).ready(function() { $(document).ready(function() {
port_picker = $('div#port-picker .port select'); port_picker = $('div#port-picker .port select');
baud_picker = $('div#port-picker #baud'); baud_picker = $('div#port-picker #baud');
@ -77,7 +121,9 @@ function onOpen(openInfo) {
serial_poll = setInterval(readPoll, 10); serial_poll = setInterval(readPoll, 10);
// should request some sort of configuration data // should request some sort of configuration data
send_message(MSP_codes.MSP_ACC_CALIBRATION, 205); //send_message(MSP_codes.MSP_ACC_CALIBRATION, MSP_codes.MSP_ACC_CALIBRATION);
send_message(MSP_codes.MSP_IDENT, MSP_codes.MSP_IDENT);
//send_message(MSP_codes.MSP_BOXNAMES, MSP_codes.MSP_BOXNAMES);
}, connection_delay * 1000); }, connection_delay * 1000);
} }
@ -105,6 +151,7 @@ var message_length_expected = 0;
var message_length_received = 0; var message_length_received = 0;
var message_buffer; var message_buffer;
var message_buffer_uint8_view; var message_buffer_uint8_view;
var message_checksum = 0;
function onCharRead(readInfo) { function onCharRead(readInfo) {
if (readInfo && readInfo.bytesRead > 0 && readInfo.data) { if (readInfo && readInfo.bytesRead > 0 && readInfo.data) {
@ -136,6 +183,8 @@ function onCharRead(readInfo) {
case 3: case 3:
message_length_expected = data[i]; // data length message_length_expected = data[i]; // data length
message_checksum = data[i];
// setup arraybuffer // setup arraybuffer
message_buffer = new ArrayBuffer(message_length_expected); message_buffer = new ArrayBuffer(message_length_expected);
message_buffer_uint8_view = new Uint8Array(message_buffer); message_buffer_uint8_view = new Uint8Array(message_buffer);
@ -144,67 +193,38 @@ function onCharRead(readInfo) {
break; break;
case 4: case 4:
message_code = data[i]; // code message_code = data[i]; // code
message_checksum ^= data[i];
if (message_length_expected != 0) { // standard message
message_state++; message_state++;
} else { // MSP_ACC_CALIBRATION, etc...
message_state += 2;
}
break; break;
case 5: // data / payload case 5: // data / payload
message_buffer_uint8_view[message_length_received] = data[i]; message_buffer_uint8_view[message_length_received] = data[i];
message_checksum ^= data[i];
message_length_received++; message_length_received++;
if (message_length_received >= message_length_expected) { if (message_length_received >= message_length_expected) {
// message received, process message_state++;
console.log(message_code); }
console.log(message_buffer_uint8_view); break;
case 6: // CRC
if (message_checksum == data[i]) {
// process data
process_message(message_code, message_buffer_uint8_view);
}
// Reset variables // Reset variables
message_length_received = 0; message_length_received = 0;
message_state = 0; message_state = 0;
}
break; break;
} }
} }
} }
} }
var MSP_codes = {
MSP_IDENT: 100,
MSP_STATUS: 101,
MSP_RAW_IMU: 102,
MSP_SERVO: 103,
MSP_MOTOR: 104,
MSP_RC: 105,
MSP_RAW_GPS: 106,
MSP_COMP_GPS: 107,
MSP_ATTITUDE: 108,
MSP_ALTITUDE: 109,
MSP_BAT: 110,
MSP_RC_TUNING: 111,
MSP_PID: 112,
MSP_BOX: 113,
MSP_MISC: 114,
MSP_MOTOR_PINS: 115,
MSP_BOXNAMES: 116,
MSP_PIDNAMES: 117,
MSP_SET_RAW_RC: 200,
MSP_SET_RAW_GPS: 201,
MSP_SET_PID: 202,
MSP_SET_BOX: 203,
MSP_SET_RC_TUNING: 204,
MSP_ACC_CALIBRATION: 205,
MSP_MAG_CALIBRATION: 206,
MSP_SET_MISC: 207,
MSP_RESET_CONF: 208,
MSP_SELECT_SETTING: 210,
MSP_BIND: 240,
MSP_EEPROM_WRITE: 250,
MSP_DEBUGMSG: 253,
MSP_DEBUG: 254
};
function send_message(code, data, bytes_n) { function send_message(code, data, bytes_n) {
if (typeof data === 'array') { // array portion of this code is untested if (typeof data === 'array') { // array portion of this code is untested
var size = 6 + data.length; var size = 6 + data.length;
@ -219,11 +239,11 @@ function send_message(code, data, bytes_n) {
bufView[3] = data.length; // data length bufView[3] = data.length; // data length
bufView[4] = code; // code bufView[4] = code; // code
checksum = bufView[3] | bufView[4]; checksum = bufView[3] ^ bufView[4];
for (var i = 5; i < data.length; i++) { for (var i = 5; i < data.length; i++) {
bufView[i] = data[i - 5]; bufView[i] = data[i - 5];
checksum |= bufView[i]; checksum ^= bufView[i];
} }
bufView[5 + data.length] = checksum; bufView[5 + data.length] = checksum;
@ -237,10 +257,112 @@ function send_message(code, data, bytes_n) {
bufView[3] = bytes_n; // data length bufView[3] = bytes_n; // data length
bufView[4] = code; // code bufView[4] = code; // code
bufView[5] = data; // data bufView[5] = data; // data
bufView[6] = bufView[3] | bufView[4] | bufView[5]; // checksum bufView[6] = bufView[3] ^ bufView[4] ^ bufView[5]; // checksum
} }
chrome.serial.write(connectionId, bufferOut, function(writeInfo) { chrome.serial.write(connectionId, bufferOut, function(writeInfo) {
console.log("Wrote: " + writeInfo.bytesWritten + " bytes"); console.log("Wrote: " + writeInfo.bytesWritten + " bytes");
}); });
} }
function process_message(code, data) {
switch (code) {
case MSP_codes.MSP_IDENT:
CONFIG.version = data[0];
CONFIG.multiType = data[1];
break;
case MSP_codes.MSP_STATUS:
console.log(data);
break;
case MSP_codes.MSP_RAW_IMU:
console.log(data);
break;
case MSP_codes.MSP_SERVO:
console.log(data);
break;
case MSP_codes.MSP_MOTOR:
console.log(data);
break;
case MSP_codes.MSP_RC:
console.log(data);
break;
case MSP_codes.MSP_RAW_GPS:
console.log(data);
break;
case MSP_codes.MSP_COMP_GPS:
console.log(data);
break;
case MSP_codes.MSP_ATTITUDE:
console.log(data);
break;
case MSP_codes.MSP_ALTITUDE:
console.log(data);
break;
case MSP_codes.MSP_BAT:
console.log(data);
break;
case MSP_codes.MSP_RC_TUNING:
console.log(data);
break;
case MSP_codes.MSP_PID:
console.log(data);
break;
case MSP_codes.MSP_BOX:
console.log(data);
break;
case MSP_codes.MSP_MISC:
console.log(data);
break;
case MSP_codes.MSP_MOTOR_PINS:
console.log(data);
break;
case MSP_codes.MSP_BOXNAMES:
console.log(data);
break;
case MSP_codes.MSP_PIDNAMES:
console.log(data);
break;
case MSP_codes.MSP_SET_RAW_RC:
console.log(data);
break;
case MSP_codes.MSP_SET_RAW_GPS:
console.log(data);
break;
case MSP_codes.MSP_SET_PID:
console.log(data);
break;
case MSP_codes.MSP_SET_BOX:
console.log(data);
break;
case MSP_codes.MSP_SET_RC_TUNING:
console.log(data);
break;
case MSP_codes.MSP_ACC_CALIBRATION:
console.log('Accel calibration finished');
break;
case MSP_codes.MSP_MAG_CALIBRATION:
console.log('Mag calibration finished');
break;
case MSP_codes.MSP_SET_MISC:
console.log(data);
break;
case MSP_codes.MSP_RESET_CONF:
console.log(data);
break;
case MSP_codes.MSP_SELECT_SETTING:
console.log(data);
break;
case MSP_codes.MSP_BIND:
console.log(data);
break;
case MSP_codes.MSP_EEPROM_WRITE:
console.log(data);
break;
case MSP_codes.MSP_DEBUGMSG:
console.log(data);
break;
case MSP_codes.MSP_DEBUG:
console.log(data);
break;
}
}