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https://github.com/betaflight/betaflight.git
synced 2025-07-16 04:45:24 +03:00
Refactor serial port configuration, stage 1.
Tested and working: * multiple MSP ports at different baud rates. * cli on any MSP port. * GPS * gps passthough on currently active cli port. Example config used for testing: feature SOFTSERIAL feature GPS feature RX_PPM serial_port_1_functions = 1 serial_port_1_baudrate = 115200 serial_port_2_functions = 128 serial_port_2_baudrate = 115200 serial_port_3_functions = 1 serial_port_3_baudrate = 19200 serial_port_4_functions = 0 serial_port_4_baudrate = 0 Known broken: * Telemetry and shared serial ports * Telemetry when unarmed. Probably broken: * Blackbox on shared port. Untested. * Serial RX. * Blackbox.
This commit is contained in:
Dominic Clifton
parent
519cc5f238
commit
5163bef0b2
31 changed files with 459 additions and 1247 deletions
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@ -130,7 +130,7 @@ void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, es
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#define MSP_PROTOCOL_VERSION 0
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#define API_VERSION_MAJOR 1 // increment when major changes are made
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#define API_VERSION_MINOR 5 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
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#define API_VERSION_MINOR 6 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
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#define API_VERSION_LENGTH 2
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@ -357,6 +357,7 @@ typedef enum {
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HEADER_ARROW,
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HEADER_SIZE,
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HEADER_CMD,
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COMMAND_RECEIVED
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} mspState_e;
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typedef enum {
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@ -539,48 +540,30 @@ static void resetMspPort(mspPort_t *mspPortToReset, serialPort_t *serialPort, ms
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mspPortToReset->mspPortUsage = usage;
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}
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// This rate is chosen since softserial supports it.
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#define MSP_FALLBACK_BAUDRATE 19200
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void mspAllocateSerialPorts(serialConfig_t *serialConfig)
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{
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serialPort_t *port;
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UNUSED(serialConfig);
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uint8_t portIndex;
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serialPort_t *serialPort;
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for (portIndex = 0; portIndex < MAX_MSP_PORT_COUNT; portIndex++) {
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uint8_t portIndex = 0;
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serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_MSP);
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while (portConfig && portIndex < MAX_MSP_PORT_COUNT) {
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mspPort_t *mspPort = &mspPorts[portIndex];
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if (mspPort->mspPortUsage != UNUSED_PORT) {
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continue;
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}
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uint32_t baudRate = serialConfig->msp_baudrate;
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bool triedFallbackRate = false;
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do {
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port = openSerialPort(FUNCTION_MSP, NULL, baudRate, MODE_RXTX, SERIAL_NOT_INVERTED);
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if (!port) {
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if (triedFallbackRate) {
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break;
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}
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baudRate = MSP_FALLBACK_BAUDRATE;
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triedFallbackRate = true;
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}
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} while (!port);
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if (port && portIndex < MAX_MSP_PORT_COUNT) {
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resetMspPort(mspPort, port, FOR_GENERAL_MSP);
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}
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if (!port) {
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break;
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serialPort = openSerialPort(portConfig->identifier, FUNCTION_MSP, NULL, portConfig->baudrate, MODE_RXTX, SERIAL_NOT_INVERTED);
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if (serialPort) {
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resetMspPort(mspPort, serialPort, FOR_GENERAL_MSP);
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portIndex++;
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}
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portConfig = findNextSerialPortConfig(FUNCTION_MSP);
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}
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// XXX this function might help with adding support for MSP on more than one port, if not delete it.
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const serialPortFunctionList_t *serialPortFunctionList = getSerialPortFunctionList();
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UNUSED(serialPortFunctionList);
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}
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void mspReleasePortIfAllocated(serialPort_t *serialPort)
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@ -589,7 +572,7 @@ void mspReleasePortIfAllocated(serialPort_t *serialPort)
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for (portIndex = 0; portIndex < MAX_MSP_PORT_COUNT; portIndex++) {
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mspPort_t *candidateMspPort = &mspPorts[portIndex];
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if (candidateMspPort->port == serialPort) {
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endSerialPortFunction(serialPort, FUNCTION_MSP);
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closeSerialPort(serialPort);
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memset(candidateMspPort, 0, sizeof(mspPort_t));
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}
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}
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@ -1120,17 +1103,13 @@ static bool processOutCommand(uint8_t cmdMSP)
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case MSP_CF_SERIAL_CONFIG:
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headSerialReply(
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((sizeof(uint8_t) * 2) * SERIAL_PORT_COUNT) +
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(sizeof(uint32_t) * 4)
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((sizeof(uint8_t) + sizeof(uint16_t) + sizeof(uint32_t)) * SERIAL_PORT_COUNT)
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);
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for (i = 0; i < SERIAL_PORT_COUNT; i++) {
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serialize8(serialPortConstraints[i].identifier);
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serialize8(masterConfig.serialConfig.serial_port_scenario[i]);
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serialize8(masterConfig.serialConfig.portConfigs[i].identifier);
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serialize16(masterConfig.serialConfig.portConfigs[i].functionMask);
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serialize32(masterConfig.serialConfig.portConfigs[i].baudrate);
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}
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serialize32(masterConfig.serialConfig.msp_baudrate);
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serialize32(masterConfig.serialConfig.cli_baudrate);
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serialize32(masterConfig.serialConfig.gps_baudrate);
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serialize32(masterConfig.serialConfig.gps_passthrough_baudrate);
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break;
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#ifdef LED_STRIP
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@ -1476,19 +1455,17 @@ static bool processInCommand(void)
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case MSP_SET_CF_SERIAL_CONFIG:
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{
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uint8_t baudRateSize = (sizeof(uint32_t) * 4);
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uint8_t serialPortCount = currentPort->dataSize - baudRateSize;
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if (serialPortCount != SERIAL_PORT_COUNT) {
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uint8_t portConfigSize = sizeof(uint8_t) + sizeof(uint16_t) + sizeof(uint32_t);
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if ((SERIAL_PORT_COUNT * portConfigSize) != SERIAL_PORT_COUNT) {
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headSerialError(0);
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break;
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}
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for (i = 0; i < SERIAL_PORT_COUNT; i++) {
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masterConfig.serialConfig.serial_port_scenario[i] = read8();
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masterConfig.serialConfig.portConfigs[i].identifier = read8();
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masterConfig.serialConfig.portConfigs[i].functionMask = read16();
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masterConfig.serialConfig.portConfigs[i].baudrate = read32();
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}
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masterConfig.serialConfig.msp_baudrate = read32();
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masterConfig.serialConfig.cli_baudrate = read32();
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masterConfig.serialConfig.gps_baudrate = read32();
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masterConfig.serialConfig.gps_passthrough_baudrate = read32();
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}
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break;
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@ -1543,51 +1520,53 @@ static bool processInCommand(void)
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return true;
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}
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static void mspProcessPort(void)
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static void mspProcessReceivedCommand() {
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if (!(processOutCommand(currentPort->cmdMSP) || processInCommand())) {
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headSerialError(0);
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}
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tailSerialReply();
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currentPort->c_state = IDLE;
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}
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static bool mspProcessReceivedData(uint8_t c)
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{
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uint8_t c;
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if (currentPort->c_state == IDLE) {
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if (c == '$') {
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currentPort->c_state = HEADER_START;
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} else {
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return false;
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}
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} else if (currentPort->c_state == HEADER_START) {
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currentPort->c_state = (c == 'M') ? HEADER_M : IDLE;
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} else if (currentPort->c_state == HEADER_M) {
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currentPort->c_state = (c == '<') ? HEADER_ARROW : IDLE;
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} else if (currentPort->c_state == HEADER_ARROW) {
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if (c > INBUF_SIZE) {
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currentPort->c_state = IDLE;
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while (serialTotalBytesWaiting(mspSerialPort)) {
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c = serialRead(mspSerialPort);
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if (currentPort->c_state == IDLE) {
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currentPort->c_state = (c == '$') ? HEADER_START : IDLE;
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if (currentPort->c_state == IDLE && !ARMING_FLAG(ARMED))
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evaluateOtherData(c); // if not armed evaluate all other incoming serial data
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} else if (currentPort->c_state == HEADER_START) {
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currentPort->c_state = (c == 'M') ? HEADER_M : IDLE;
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} else if (currentPort->c_state == HEADER_M) {
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currentPort->c_state = (c == '<') ? HEADER_ARROW : IDLE;
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} else if (currentPort->c_state == HEADER_ARROW) {
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if (c > INBUF_SIZE) { // now we are expecting the payload size
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currentPort->c_state = IDLE;
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continue;
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}
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} else {
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currentPort->dataSize = c;
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currentPort->offset = 0;
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currentPort->checksum = 0;
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currentPort->indRX = 0;
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currentPort->checksum ^= c;
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currentPort->c_state = HEADER_SIZE; // the command is to follow
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} else if (currentPort->c_state == HEADER_SIZE) {
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currentPort->cmdMSP = c;
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currentPort->checksum ^= c;
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currentPort->c_state = HEADER_CMD;
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} else if (currentPort->c_state == HEADER_CMD && currentPort->offset < currentPort->dataSize) {
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currentPort->checksum ^= c;
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currentPort->inBuf[currentPort->offset++] = c;
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} else if (currentPort->c_state == HEADER_CMD && currentPort->offset >= currentPort->dataSize) {
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if (currentPort->checksum == c) { // compare calculated and transferred checksum
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// we got a valid packet, evaluate it
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if (!(processOutCommand(currentPort->cmdMSP) || processInCommand())) {
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headSerialError(0);
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}
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tailSerialReply();
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}
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currentPort->c_state = HEADER_SIZE;
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}
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} else if (currentPort->c_state == HEADER_SIZE) {
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currentPort->cmdMSP = c;
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currentPort->checksum ^= c;
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currentPort->c_state = HEADER_CMD;
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} else if (currentPort->c_state == HEADER_CMD && currentPort->offset < currentPort->dataSize) {
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currentPort->checksum ^= c;
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currentPort->inBuf[currentPort->offset++] = c;
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} else if (currentPort->c_state == HEADER_CMD && currentPort->offset >= currentPort->dataSize) {
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if (currentPort->checksum == c) {
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currentPort->c_state = COMMAND_RECEIVED;
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} else {
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currentPort->c_state = IDLE;
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break; // process one command so as not to block.
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}
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}
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return true;
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}
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void setCurrentPort(mspPort_t *port)
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@ -1608,7 +1587,21 @@ void mspProcess(void)
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}
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setCurrentPort(candidatePort);
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mspProcessPort();
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while (serialTotalBytesWaiting(mspSerialPort)) {
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uint8_t c = serialRead(mspSerialPort);
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bool consumed = mspProcessReceivedData(c);
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if (!consumed && !ARMING_FLAG(ARMED)) {
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evaluateOtherData(mspSerialPort, c);
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}
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if (currentPort->c_state == COMMAND_RECEIVED) {
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mspProcessReceivedCommand();
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break; // process one command at a time so as not to block.
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}
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}
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if (isRebootScheduled) {
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// pause a little while to allow response to be sent
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