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Make more bulk writes asynchronous where possible, begin MSP impl.

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This commit is contained in:
Nicholas Sherlock 2015-01-30 13:45:05 +13:00
parent 3888427558
commit 3c74ac2c91
3 changed files with 185 additions and 51 deletions
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80
src/main/io/serial_msp.c
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@ -53,6 +53,7 @@
#include "io/gimbal.h"
#include "io/serial.h"
#include "io/ledstrip.h"
#include "io/flashfs.h"
#include "telemetry/telemetry.h"
#include "sensors/boardalignment.h"
#include "sensors/sensors.h"
@ -121,7 +122,7 @@ void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, es
#define MSP_PROTOCOL_VERSION 0
#define API_VERSION_MAJOR 1 // increment when major changes are made
#define API_VERSION_MINOR 4 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
#define API_VERSION_MINOR 5 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
#define API_VERSION_LENGTH 2
@ -219,6 +220,10 @@ const char *boardIdentifier = TARGET_BOARD_IDENTIFIER;
// DEPRECATED - Use MSP_BUILD_INFO instead
#define MSP_BF_BUILD_INFO 69 //out message build date as well as some space for future expansion
#define MSP_DATAFLASH_SUMMARY 70 //out message - get description of dataflash chip
#define MSP_DATAFLASH_READ 71 //out message - get content of dataflash chip
#define MSP_DATAFLASH_ERASE 72 //in message - erase dataflash chip
//
// Multwii original MSP commands
//
@ -421,24 +426,24 @@ uint32_t read32(void)
return t;
}
void headSerialResponse(uint8_t err, uint8_t s)
void headSerialResponse(uint8_t err, uint8_t responseBodySize)
{
serialize8('$');
serialize8('M');
serialize8(err ? '!' : '>');
currentPort->checksum = 0; // start calculating a new checksum
serialize8(s);
serialize8(responseBodySize);
serialize8(currentPort->cmdMSP);
}
void headSerialReply(uint8_t s)
void headSerialReply(uint8_t responseBodySize)
{
headSerialResponse(0, s);
headSerialResponse(0, responseBodySize);
}
void headSerialError(uint8_t s)
void headSerialError(uint8_t responseBodySize)
{
headSerialResponse(1, s);
headSerialResponse(1, responseBodySize);
}
void tailSerialReply(void)
@ -518,6 +523,44 @@ reset:
}
}
void serializeDataflashSummaryReply(void)
{
#ifdef FLASHFS
const flashGeometry_t *geometry = flashfsGetGeometry();
headSerialReply(2 * 4);
serialize32(geometry->sectors);
serialize32(geometry->totalSize);
#else
headSerialReply(2 * 4);
serialize32(0);
serialize32(0);
#endif
}
#ifdef FLASHFS
void serializeDataflashReadReply(uint32_t address, uint8_t size)
{
enum { DATAFLASH_READ_REPLY_CHUNK_SIZE = 128 };
uint8_t buffer[DATAFLASH_READ_REPLY_CHUNK_SIZE];
if (size > DATAFLASH_READ_REPLY_CHUNK_SIZE) {
size = DATAFLASH_READ_REPLY_CHUNK_SIZE;
}
headSerialReply(4 + size);
serialize32(address);
flashfsSeekAbs(address);
flashfsRead(buffer, size);
for (int i = 0; i < size; i++) {
serialize8(buffer[i]);
}
}
#endif
static void resetMspPort(mspPort_t *mspPortToReset, serialPort_t *serialPort, mspPortUsage_e usage)
{
memset(mspPortToReset, 0, sizeof(mspPort_t));
@ -1128,6 +1171,22 @@ static bool processOutCommand(uint8_t cmdMSP)
}
break;
#endif
case MSP_DATAFLASH_SUMMARY:
serializeDataflashSummaryReply();
break;
#ifdef FLASHFS
case MSP_DATAFLASH_READ:
{
uint32_t readAddress = read32();
uint8_t readSize = read8();
serializeDataflashReadReply(readAddress, readSize);
}
break;
#endif
case MSP_BF_BUILD_INFO:
headSerialReply(11 + 4 + 4);
for (i = 0; i < 11; i++)
@ -1333,6 +1392,13 @@ static bool processInCommand(void)
writeEEPROM();
readEEPROM();
break;
#ifdef FLASHFS
case MSP_DATAFLASH_ERASE:
flashfsEraseCompletely();
break;
#endif
#ifdef GPS
case MSP_SET_RAW_GPS:
if (read8()) {