decouple cli/msp from each other. relocated non-msp code into

serial_common.c/h. decouple runtime_config from serial ports.  decouple
buzzer from serial ports.  decouple opening of the main serial port from
the msp code.  decouple serial rx providers from runtime_config.  rename
core_t to serialPorts_t since it only contained serial ports.  It's now
clear which files use serial ports based on the header files they
include.

Makefile

@@ -78,6 +78,7 @@ COMMON_SRC	 = startup_stm32f10x_md_gcc.S \
 		   telemetry_common.c \
 		   telemetry_frsky.c \
 		   telemetry_hott.c \
+		   serial_common.c \
 		   serial_cli.c \
 		   serial_msp.c \
 		   statusindicator.c \

src/build_config.c

@@ -18,7 +18,7 @@
 #include "config.h"
 
 #include "drivers/serial_common.h"
-#include "runtime_config.h"
+#include "serial_common.h"
 
 
 #if MAX_MOTORS != MAX_SUPPORTED_MOTORS
@@ -35,7 +35,7 @@
 // gcc/GNU version
 static void _putc(void *p, char c)
 {
-    serialWrite(core.mainport, c);
+    serialWrite(serialPorts.mainport, c);
 }
 
 void initPrintfSupport(void)
@@ -49,8 +49,8 @@ void initPrintfSupport(void)
 int fputc(int c, FILE *f)
 {
     // let DMA catch up a bit when using set or dump, we're too fast.
-    while (!isSerialTransmitBufferEmpty(core.mainport));
+    while (!isSerialTransmitBufferEmpty(serialPorts.mainport));
-    serialWrite(core.mainport, c);
+    serialWrite(serialPorts.mainport, c);
     return c;
 }
 

src/buzzer.c

@@ -4,7 +4,6 @@
 #include "platform.h"
 #include "drivers/sound_beeper.h"
 #include "drivers/system_common.h"
-#include "drivers/serial_common.h" // FIXME this file should not have a dependency on serial ports, see core_t from runtime_config.h
 #include "failsafe.h"
 #include "sensors_common.h"
 #include "runtime_config.h"

src/common/printf.c

@@ -36,7 +36,7 @@
 #include "build_config.h"
 
 #include "drivers/serial_common.h"
-#include "runtime_config.h"
+#include "serial_common.h"
 
 #include "printf.h"
 
@@ -154,7 +154,7 @@ void tfp_printf(char *fmt, ...)
     va_start(va, fmt);
     tfp_format(stdout_putp, stdout_putf, fmt, va);
     va_end(va);
-    while (!isSerialTransmitBufferEmpty(core.mainport));
+    while (!isSerialTransmitBufferEmpty(serialPorts.mainport));
 }
 
 static void putcp(void *p, char c)

src/config.c

@@ -23,6 +23,7 @@
 #include "gimbal.h"
 #include "rx_common.h"
 #include "gps_common.h"
+#include "serial_common.h"
 
 #include "runtime_config.h"
 #include "config.h"
@@ -40,7 +41,7 @@ void setPIDController(int type); // FIXME PID code needs to be in flight_pid.c/h
 master_t mcfg;  // master config struct with data independent from profiles
 config_t cfg;   // profile config struct
 
-static const uint8_t EEPROM_CONF_VERSION = 63;
+static const uint8_t EEPROM_CONF_VERSION = 64;
 static void resetConf(void);
 
 static uint8_t validEEPROM(void)
@@ -216,11 +217,14 @@ static void resetConf(void)
     // gps/nav stuff
     mcfg.gps_type = GPS_NMEA;
     mcfg.gps_baudrate = GPS_BAUD_115200;
+
     // serial (USART1) baudrate
-    mcfg.serial_baudrate = 115200;
+    mcfg.serialConfig.port1_baudrate = 115200;
-    mcfg.softserial_baudrate = 9600;
+    mcfg.serialConfig.softserial_baudrate = 9600;
-    mcfg.softserial_1_inverted = 0;
+    mcfg.serialConfig.softserial_1_inverted = 0;
-    mcfg.softserial_2_inverted = 0;
+    mcfg.serialConfig.softserial_2_inverted = 0;
+    mcfg.serialConfig.reboot_character = 'R';
+
     mcfg.looptime = 3500;
     mcfg.rssi_aux_channel = 0;
 
@@ -314,9 +318,6 @@ static void resetConf(void)
     cfg.nav_speed_max = 300;
     cfg.ap_mode = 40;
 
-    // control stuff
-    mcfg.reboot_character = 'R';
-
     // custom mixer. clear by defaults.
     for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
         mcfg.customMixer[i].throttle = 0.0f;

src/config_storage.h

@@ -113,18 +113,12 @@ typedef struct master_t {
     uint8_t gps_type;                       // See GPSHardware enum.
     int8_t gps_baudrate;                    // See GPSBaudRates enum.
 
-    uint32_t serial_baudrate;
+    serialConfig_t serialConfig;
-
-    uint32_t softserial_baudrate;             // shared by both soft serial ports
-    uint8_t softserial_1_inverted;            // use inverted softserial input and output signals on port 1
-    uint8_t softserial_2_inverted;            // use inverted softserial input and output signals on port 2
-
     uint8_t telemetry_provider;             // See TelemetryProvider enum.
     uint8_t telemetry_port;                 // See TelemetryPort enum.
     uint8_t telemetry_switch;               // Use aux channel to change serial output & baudrate( MSP / Telemetry ). It disables automatic switching to Telemetry when armed.
     config_t profile[3];                    // 3 separate profiles
     uint8_t current_profile;                // currently loaded profile
-    uint8_t reboot_character;               // which byte is used to reboot. Default 'R', could be changed carefully to something else.
 
     uint8_t magic_ef;                       // magic number, should be 0xEF
     uint8_t chk;                            // XOR checksum

src/failsafe.c

@@ -1,16 +1,19 @@
 #include <stdbool.h>
 #include <stdint.h>
 
-#include "common/axis.h" // FIXME this file should not have a dependency axis
+// FIXME a solution to the dependency problems here is to roll up the failsafe configuration into a structure in failsafe.h and supply it using failsafeInit()
+
+#include "common/axis.h" // FIXME this file should not have this dependency
 
 #include "rx_common.h"
 
-#include "drivers/serial_common.h" // FIXME this file should not have a dependency on serial ports, see core_t from runtime_config.h
+#include "drivers/serial_common.h" // FIXME this file should not have this dependency
-#include "flight_mixer.h" // FIXME this file should not have a dependency on the flight mixer, see config_t, servoParam_t, etc from config_storage.h
+#include "serial_common.h" // FIXME this file should not have this dependency
-#include "flight_common.h" // FIXME this file should not have a dependency on the flight common, see config_t from config_storage.h
+#include "flight_mixer.h" // FIXME this file should not have this dependency
-#include "sensors_common.h" // FIXME this file should not have a dependency on the sensors, see sensor_align_e from config_storage.h
+#include "flight_common.h" // FIXME this file should not have this dependency
-#include "boardalignment.h" // FIXME this file should not have a dependency on board alignment
+#include "sensors_common.h" // FIXME this file should not have this dependency
-#include "battery.h" // FIXME this file should not have a dependency on battery, see batteryConfig_t from config_storage.h
+#include "boardalignment.h" // FIXME this file should not have this dependency
+#include "battery.h" // FIXME this file should not have this dependency
 
 #include "runtime_config.h"
 #include "config.h"

src/gps_common.c

@@ -5,6 +5,9 @@
 
 #include "flight_common.h"
 
+#include "drivers/serial_common.h"
+#include "serial_common.h"
+
 #include "gps_common.h"
 
 // GPS timeout for wrong baud rate/disconnection/etc in milliseconds (default 2.5second)
@@ -95,7 +98,7 @@ void gpsInit(uint8_t baudrateIndex)
 
     gpsSetPIDs();
     // Open GPS UART, no callback - buffer will be read out in gpsThread()
-    core.gpsport = uartOpen(USART2, NULL, gpsInitData[baudrateIndex].baudrate, mode);
+    serialPorts.gpsport = uartOpen(USART2, NULL, gpsInitData[baudrateIndex].baudrate, mode);
     // signal GPS "thread" to initialize when it gets to it
     gpsSetState(GPS_INITIALIZING);
 }
@@ -105,7 +108,7 @@ void gpsInitHardware(void)
     switch (mcfg.gps_type) {
         case GPS_NMEA:
             // nothing to do, just set baud rate and try receiving some stuff and see if it parses
-            serialSetBaudRate(core.gpsport, gpsInitData[gpsData.baudrateIndex].baudrate);
+            serialSetBaudRate(serialPorts.gpsport, gpsInitData[gpsData.baudrateIndex].baudrate);
             gpsSetState(GPS_RECEIVINGDATA);
             break;
 
@@ -113,7 +116,7 @@ void gpsInitHardware(void)
             // UBX will run at mcfg.gps_baudrate, it shouldn't be "autodetected". So here we force it to that rate
 
             // Wait until GPS transmit buffer is empty
-            if (!isSerialTransmitBufferEmpty(core.gpsport))
+            if (!isSerialTransmitBufferEmpty(serialPorts.gpsport))
                 break;
 
             if (gpsData.state == GPS_INITIALIZING) {
@@ -123,9 +126,9 @@ void gpsInitHardware(void)
 
                 if (gpsData.state_position < GPS_INIT_ENTRIES) {
                     // try different speed to INIT
-                    serialSetBaudRate(core.gpsport, gpsInitData[gpsData.state_position].baudrate);
+                    serialSetBaudRate(serialPorts.gpsport, gpsInitData[gpsData.state_position].baudrate);
                     // but print our FIXED init string for the baudrate we want to be at
-                    serialPrint(core.gpsport, gpsInitData[gpsData.baudrateIndex].ubx);
+                    serialPrint(serialPorts.gpsport, gpsInitData[gpsData.baudrateIndex].ubx);
 
                     gpsData.state_position++;
                     gpsData.state_ts = m;
@@ -136,10 +139,10 @@ void gpsInitHardware(void)
             } else {
                 // GPS_INITDONE, set our real baud rate and push some ublox config strings
                 if (gpsData.state_position == 0)
-                    serialSetBaudRate(core.gpsport, gpsInitData[gpsData.baudrateIndex].baudrate);
+                    serialSetBaudRate(serialPorts.gpsport, gpsInitData[gpsData.baudrateIndex].baudrate);
 
                 if (gpsData.state_position < sizeof(ubloxInit)) {
-                    serialWrite(core.gpsport, ubloxInit[gpsData.state_position]); // send ubx init binary
+                    serialWrite(serialPorts.gpsport, ubloxInit[gpsData.state_position]); // send ubx init binary
 
                     gpsData.state_position++;
                 } else {
@@ -161,9 +164,9 @@ void gpsInitHardware(void)
 void gpsThread(void)
 {
     // read out available GPS bytes
-    if (core.gpsport) {
+    if (serialPorts.gpsport) {
-        while (serialTotalBytesWaiting(core.gpsport))
+        while (serialTotalBytesWaiting(serialPorts.gpsport))
-            gpsNewData(serialRead(core.gpsport));
+            gpsNewData(serialRead(serialPorts.gpsport));
     }
 
     switch (gpsData.state) {
@@ -549,14 +552,14 @@ int8_t gpsSetPassthrough(void)
     LED1_OFF;
 
     while(1) {
-        if (serialTotalBytesWaiting(core.gpsport)) {
+        if (serialTotalBytesWaiting(serialPorts.gpsport)) {
             LED0_ON;
-            serialWrite(core.mainport, serialRead(core.gpsport));
+            serialWrite(serialPorts.mainport, serialRead(serialPorts.gpsport));
             LED0_OFF;
         }
-        if (serialTotalBytesWaiting(core.mainport)) {
+        if (serialTotalBytesWaiting(serialPorts.mainport)) {
             LED1_ON;
-            serialWrite(core.gpsport, serialRead(core.mainport));
+            serialWrite(serialPorts.gpsport, serialRead(serialPorts.mainport));
             LED1_OFF;
         }
     }

src/main.c

@@ -1,10 +1,12 @@
 #include "board.h"
 #include "flight_common.h"
 #include "flight_mixer.h"
+#include "serial_common.h"
 #include "mw.h"
 
 #include "gps_common.h"
 #include "rx_common.h"
+#include "drivers/serial_common.h"
 #include "telemetry_common.h"
 #include "boardalignment.h"
 #include "config.h"
@@ -12,10 +14,11 @@
 
 #include "build_config.h"
 
-core_t core;
-
 extern rcReadRawDataPtr rcReadRawFunc;
 
+void initTelemetry(serialPorts_t *serialPorts);
+void serialInit(serialConfig_t *initialSerialConfig);
+
 int main(void)
 {
     uint8_t i;
@@ -115,14 +118,14 @@ int main(void)
     if (feature(FEATURE_VBAT))
         batteryInit(&mcfg.batteryConfig);
 
-    serialInit(mcfg.serial_baudrate);
+    serialInit(&mcfg.serialConfig);
 
 #ifndef FY90Q
     if (feature(FEATURE_SOFTSERIAL)) {
         //mcfg.softserial_baudrate = 19200; // Uncomment to override config value
 
-        setupSoftSerialPrimary(mcfg.softserial_baudrate, mcfg.softserial_1_inverted);
+        setupSoftSerialPrimary(mcfg.serialConfig.softserial_baudrate, mcfg.serialConfig.softserial_1_inverted);
-        setupSoftSerialSecondary(mcfg.softserial_2_inverted);
+        setupSoftSerialSecondary(mcfg.serialConfig.softserial_2_inverted);
 
 #ifdef SOFTSERIAL_LOOPBACK
         loopbackPort1 = (serialPort_t*)&(softSerialPorts[0]);
@@ -136,7 +139,7 @@ int main(void)
 #endif
 
     if (feature(FEATURE_TELEMETRY))
-        initTelemetry();
+        initTelemetry(&serialPorts);
 
     previousTime = micros();
     if (mcfg.mixerConfiguration == MULTITYPE_GIMBAL)

src/mw.c

@@ -175,7 +175,7 @@ void annexCode(void)
         }
     }
 
-    serialCom();
+    handleSerial();
 
     if (!cliMode && feature(FEATURE_TELEMETRY)) {
         handleTelemetry();

src/mw.h

@@ -31,6 +31,7 @@ enum {
 #define CALIBRATING_ACC_CYCLES              400
 #define CALIBRATING_BARO_CYCLES             200
 
+#include "serial_common.h"
 #include "rx_common.h"
 #include "config.h"
 #include "config_storage.h"
@@ -120,10 +121,6 @@ void writeMotors(void);
 void writeAllMotors(int16_t mc);
 void mixTable(void);
 
-// Serial
-void serialInit(uint32_t baudrate);
-void serialCom(void);
-
 // buzzer
 void buzzer(bool warn_vbat);
 void systemBeep(bool onoff);

src/runtime_config.c

@@ -1,8 +1,6 @@
 #include <stdbool.h>
 #include <stdint.h>
 
-#include "drivers/serial_common.h"
-
 #include "runtime_config.h"
 
 flags_t f;

src/runtime_config.h

@@ -47,17 +47,8 @@ typedef struct flags_t {
     uint8_t FIXED_WING;                     // set when in flying_wing or airplane mode. currently used by althold selection code
 } flags_t;
 
-// Core runtime settings
-typedef struct core_t {
-    serialPort_t *mainport;
-    serialPort_t *gpsport;
-    serialPort_t *telemport;
-    serialPort_t *rcvrport;
-} core_t;
-
 typedef void (* pidControllerFuncPtr)(void);                // pid controller function prototype
 
-extern core_t core;
 extern flags_t f;
 
 bool sensors(uint32_t mask);

src/rx_sbus.c

@@ -7,7 +7,8 @@
 
 #include "drivers/serial_common.h"
 #include "drivers/serial_uart.h"
-#include "runtime_config.h"
+#include "serial_common.h"
+
 
 #include "failsafe.h"
 
@@ -37,7 +38,7 @@ void sbusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRa
 
     for (b = 0; b < SBUS_MAX_CHANNEL; b++)
         sbusChannelData[b] = 2 * (rxConfig->midrc - SBUS_OFFSET);
-    core.rcvrport = uartOpen(USART2, sbusDataReceive, 100000, (portMode_t)(MODE_RX | MODE_SBUS));
+    serialPorts.rcvrport = uartOpen(USART2, sbusDataReceive, 100000, (portMode_t)(MODE_RX | MODE_SBUS));
     if (callback)
         *callback = sbusReadRawRC;
     rxRuntimeConfig->channelCount = SBUS_MAX_CHANNEL;

src/rx_spektrum.c

@@ -7,7 +7,7 @@
 
 #include "drivers/serial_common.h"
 #include "drivers/serial_uart.h"
-#include "runtime_config.h"
+#include "serial_common.h"
 
 #include "failsafe.h"
 
@@ -53,7 +53,7 @@ void spektrumInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcRe
             break;
     }
 
-    core.rcvrport = uartOpen(USART2, spektrumDataReceive, 115200, MODE_RX);
+    serialPorts.rcvrport = uartOpen(USART2, spektrumDataReceive, 115200, MODE_RX);
     if (callback)
         *callback = spektrumReadRawRC;
 }

src/rx_sumd.c

@@ -7,7 +7,7 @@
 
 #include "drivers/serial_common.h"
 #include "drivers/serial_uart.h"
-#include "runtime_config.h"
+#include "serial_common.h"
 
 #include "failsafe.h"
 
@@ -28,7 +28,7 @@ static uint32_t sumdChannelData[SUMD_MAX_CHANNEL];
 
 void sumdInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback)
 {
-    core.rcvrport = uartOpen(USART2, sumdDataReceive, 115200, MODE_RX);
+    serialPorts.rcvrport = uartOpen(USART2, sumdDataReceive, 115200, MODE_RX);
     if (callback)
         *callback = sumdReadRawRC;
 

src/serial_cli.c

@@ -5,6 +5,9 @@
 
 #include "common/printf.h"
 
+#include "drivers/serial_common.h"
+#include "serial_common.h"
+
 #include "telemetry_common.h"
 #include "gps_common.h"
 #include "sensors_acceleration.h"
@@ -135,11 +138,11 @@ const clivalue_t valueTable[] = {
     { "retarded_arm", VAR_UINT8, &mcfg.retarded_arm, 0, 1 },
     { "flaps_speed", VAR_UINT8, &mcfg.flaps_speed, 0, 100 },
     { "fixedwing_althold_dir", VAR_INT8, &mcfg.fixedwing_althold_dir, -1, 1 },
-    { "reboot_character", VAR_UINT8, &mcfg.reboot_character, 48, 126 },
+    { "reboot_character", VAR_UINT8, &mcfg.serialConfig.reboot_character, 48, 126 },
-    { "serial_baudrate", VAR_UINT32, &mcfg.serial_baudrate, 1200, 115200 },
+    { "serial_baudrate", VAR_UINT32, &mcfg.serialConfig.port1_baudrate, 1200, 115200 },
-    { "softserial_baudrate", VAR_UINT32, &mcfg.softserial_baudrate, 1200, 19200 },
+    { "softserial_baudrate", VAR_UINT32, &mcfg.serialConfig.softserial_baudrate, 1200, 19200 },
-    { "softserial_1_inverted", VAR_UINT8, &mcfg.softserial_1_inverted, 0, 1 },
+    { "softserial_1_inverted", VAR_UINT8, &mcfg.serialConfig.softserial_1_inverted, 0, 1 },
-    { "softserial_2_inverted", VAR_UINT8, &mcfg.softserial_2_inverted, 0, 1 },
+    { "softserial_2_inverted", VAR_UINT8, &mcfg.serialConfig.softserial_2_inverted, 0, 1 },
     { "gps_type", VAR_UINT8, &mcfg.gps_type, 0, GPS_HARDWARE_MAX },
     { "gps_baudrate", VAR_INT8, &mcfg.gps_baudrate, 0, GPS_BAUD_MAX },
     { "serialrx_type", VAR_UINT8, &mcfg.rxConfig.serialrx_type, 0, 3 },
@@ -850,12 +853,12 @@ static void cliSave(char *cmdline)
 static void cliPrint(const char *str)
 {
     while (*str)
-        serialWrite(core.mainport, *(str++));
+        serialWrite(serialPorts.mainport, *(str++));
 }
 
 static void cliWrite(uint8_t ch)
 {
-    serialWrite(core.mainport, ch);
+    serialWrite(serialPorts.mainport, ch);
 }
 
 static void cliPrintVar(const clivalue_t *var, uint32_t full)
@@ -1016,8 +1019,8 @@ void cliProcess(void)
         cliPrompt();
     }
 
-    while (serialTotalBytesWaiting(core.mainport)) {
+    while (serialTotalBytesWaiting(serialPorts.mainport)) {
-        uint8_t c = serialRead(core.mainport);
+        uint8_t c = serialRead(serialPorts.mainport);
         if (c == '\t' || c == '?') {
             // do tab completion
             const clicmd_t *cmd, *pstart = NULL, *pend = NULL;

src/serial_cli.h

@@ -10,4 +10,6 @@
 
 extern uint8_t cliMode;
 
+void cliProcess(void);
+
 #endif /* CLI_H_ */

src/serial_common.c

@@ -0,0 +1,57 @@
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdlib.h>
+
+#include "platform.h"
+
+#include "drivers/system_common.h"
+#include "drivers/serial_common.h"
+#include "drivers/serial_uart.h"
+
+#include "serial_cli.h"
+#include "serial_msp.h"
+
+#include "serial_common.h"
+
+static serialConfig_t *serialConfig;
+serialPorts_t serialPorts;
+
+void serialInit(serialConfig_t *initialSerialConfig)
+{
+    serialConfig = initialSerialConfig;
+
+    resetMainSerialPort();
+
+    mspInit();
+}
+
+void resetMainSerialPort(void)
+{
+    openMainSerialPort(serialConfig->port1_baudrate);
+}
+
+void openMainSerialPort(uint32_t baudrate)
+{
+    serialPorts.mainport = uartOpen(USART1, NULL, baudrate, MODE_RXTX);
+}
+
+void handleSerial(void)
+{
+    // in cli mode, all serial stuff goes to here. enter cli mode by sending #
+    if (cliMode) {
+        cliProcess();
+        return;
+    }
+
+    mspProcess();
+}
+
+// evaluate all other incoming serial data
+void evaluateOtherData(uint8_t sr)
+{
+    if (sr == '#')
+        cliProcess();
+    else if (sr == serialConfig->reboot_character)
+        systemReset(true);      // reboot to bootloader
+}
+

src/serial_common.h

@@ -0,0 +1,24 @@
+#pragma once
+
+typedef struct serialPorts_s {
+    serialPort_t *mainport;
+    serialPort_t *gpsport;
+    serialPort_t *telemport;
+    serialPort_t *rcvrport;
+} serialPorts_t;
+
+typedef struct serialConfig_s {
+    uint32_t port1_baudrate;
+
+    uint32_t softserial_baudrate;             // shared by both soft serial ports
+    uint8_t softserial_1_inverted;            // use inverted softserial input and output signals on port 1
+    uint8_t softserial_2_inverted;            // use inverted softserial input and output signals on port 2
+    uint8_t reboot_character;               // which byte is used to reboot. Default 'R', could be changed carefully to something else.
+} serialConfig_t;
+
+extern serialPorts_t serialPorts;
+
+void resetMainSerialPort(void);
+void openMainSerialPort(uint32_t baudrate);
+void evaluateOtherData(uint8_t sr);
+void handleSerial(void);

src/serial_msp.c

@@ -1,8 +1,10 @@
 #include "board.h"
 #include "mw.h"
 
+#include "drivers/serial_common.h"
+#include "serial_common.h"
+
 #include "gps_common.h"
-#include "serial_cli.h"
 #include "telemetry_common.h"
 #include "flight_common.h"
 #include "sensors_compass.h"
@@ -126,16 +128,16 @@ void serialize32(uint32_t a)
 {
     static uint8_t t;
     t = a;
-    serialWrite(core.mainport, t);
+    serialWrite(serialPorts.mainport, t);
     checksum ^= t;
     t = a >> 8;
-    serialWrite(core.mainport, t);
+    serialWrite(serialPorts.mainport, t);
     checksum ^= t;
     t = a >> 16;
-    serialWrite(core.mainport, t);
+    serialWrite(serialPorts.mainport, t);
     checksum ^= t;
     t = a >> 24;
-    serialWrite(core.mainport, t);
+    serialWrite(serialPorts.mainport, t);
     checksum ^= t;
 }
 
@@ -143,16 +145,16 @@ void serialize16(int16_t a)
 {
     static uint8_t t;
     t = a;
-    serialWrite(core.mainport, t);
+    serialWrite(serialPorts.mainport, t);
     checksum ^= t;
     t = a >> 8 & 0xff;
-    serialWrite(core.mainport, t);
+    serialWrite(serialPorts.mainport, t);
     checksum ^= t;
 }
 
 void serialize8(uint8_t a)
 {
-    serialWrite(core.mainport, a);
+    serialWrite(serialPorts.mainport, a);
     checksum ^= a;
 }
 
@@ -239,12 +241,10 @@ reset:
     }
 }
 
-void serialInit(uint32_t baudrate)
+void mspInit(void)
 {
     int idx;
 
-    core.mainport = uartOpen(USART1, NULL, baudrate, MODE_RXTX);
-
     // calculate used boxes based on features and fill availableBoxes[] array
     memset(availableBoxes, 0xFF, sizeof(availableBoxes));
 
@@ -655,16 +655,7 @@ static void evaluateCommand(void)
     tailSerialReply();
 }
 
-// evaluate all other incoming serial data
+void mspProcess(void)
-static void evaluateOtherData(uint8_t sr)
-{
-    if (sr == '#')
-        cliProcess();
-    else if (sr == mcfg.reboot_character)
-        systemReset(true);      // reboot to bootloader
-}
-
-void serialCom(void)
 {
     uint8_t c;
     static uint8_t offset;
@@ -678,14 +669,8 @@ void serialCom(void)
         HEADER_CMD,
     } c_state = IDLE;
 
-    // in cli mode, all serial stuff goes to here. enter cli mode by sending #
+    while (serialTotalBytesWaiting(serialPorts.mainport)) {
-    if (cliMode) {
+        c = serialRead(serialPorts.mainport);
-        cliProcess();
-        return;
-    }
-
-    while (serialTotalBytesWaiting(core.mainport)) {
-        c = serialRead(core.mainport);
 
         if (c_state == IDLE) {
             c_state = (c == '$') ? HEADER_START : IDLE;

src/serial_msp.h

@@ -0,0 +1,5 @@
+#pragma once
+
+void mspProcess(void);
+void mspInit(void);
+

src/telemetry_common.c

@@ -1,6 +1,9 @@
 #include "board.h"
 #include "mw.h"
 
+#include "drivers/serial_common.h"
+#include "serial_common.h"
+
 #include "telemetry_frsky.h"
 #include "telemetry_hott.h"
 
@@ -20,7 +23,6 @@ bool isTelemetryProviderHoTT(void)
 
 bool canUseTelemetryWithCurrentConfiguration(void)
 {
-
     if (!feature(FEATURE_TELEMETRY)) {
         return false;
     }
@@ -42,7 +44,7 @@ bool canUseTelemetryWithCurrentConfiguration(void)
     return true;
 }
 
-void initTelemetry(void)
+void initTelemetry(serialPorts_t *serialPorts)
 {
     // Force telemetry to uart when softserial disabled
     if (!feature(FEATURE_SOFTSERIAL))
@@ -51,18 +53,18 @@ void initTelemetry(void)
 #ifdef FY90Q
     // FY90Q does not support softserial
     mcfg.telemetry_port = TELEMETRY_PORT_UART;
-    core.telemport = core.mainport;
+    serialPorts->telemport = serialPorts.mainport;
 #endif
 
     isTelemetryConfigurationValid = canUseTelemetryWithCurrentConfiguration();
 
 #ifndef FY90Q
     if (mcfg.telemetry_port == TELEMETRY_PORT_SOFTSERIAL_1)
-        core.telemport = &(softSerialPorts[0].port);
+        serialPorts->telemport = &(softSerialPorts[0].port);
     else if (mcfg.telemetry_port == TELEMETRY_PORT_SOFTSERIAL_2)
-        core.telemport = &(softSerialPorts[1].port);
+        serialPorts->telemport = &(softSerialPorts[1].port);
     else
-        core.telemport = core.mainport;
+        serialPorts->telemport = serialPorts->mainport;
 #endif
 
     checkTelemetryState();

src/telemetry_common.h

@@ -21,8 +21,6 @@ typedef enum {
     TELEMETRY_PORT_MAX = TELEMETRY_PORT_SOFTSERIAL_2
 } TelemetryPort;
 
-// telemetry
-void initTelemetry(void);
 void checkTelemetryState(void);
 void handleTelemetry(void);
 

src/telemetry_frsky.c

@@ -6,6 +6,9 @@
 
 #include "flight_common.h"
 
+#include "drivers/serial_common.h"
+#include "serial_common.h"
+
 #include "gps_common.h"
 
 #include "telemetry_common.h"
@@ -59,26 +62,26 @@ extern uint8_t batteryCellCount;
 
 static void sendDataHead(uint8_t id)
 {
-    serialWrite(core.telemport, PROTOCOL_HEADER);
+    serialWrite(serialPorts.telemport, PROTOCOL_HEADER);
-    serialWrite(core.telemport, id);
+    serialWrite(serialPorts.telemport, id);
 }
 
 static void sendTelemetryTail(void)
 {
-    serialWrite(core.telemport, PROTOCOL_TAIL);
+    serialWrite(serialPorts.telemport, PROTOCOL_TAIL);
 }
 
 static void serializeFrsky(uint8_t data)
 {
     // take care of byte stuffing
     if (data == 0x5e) {
-        serialWrite(core.telemport, 0x5d);
+        serialWrite(serialPorts.telemport, 0x5d);
-        serialWrite(core.telemport, 0x3e);
+        serialWrite(serialPorts.telemport, 0x3e);
     } else if (data == 0x5d) {
-        serialWrite(core.telemport, 0x5d);
+        serialWrite(serialPorts.telemport, 0x5d);
-        serialWrite(core.telemport, 0x3d);
+        serialWrite(serialPorts.telemport, 0x3d);
     } else
-        serialWrite(core.telemport, data);
+        serialWrite(serialPorts.telemport, data);
 }
 
 static void serialize16(int16_t a)
@@ -222,14 +225,14 @@ static void sendHeading(void)
 void freeFrSkyTelemetryPort(void)
 {
     if (mcfg.telemetry_port == TELEMETRY_PORT_UART) {
-        serialInit(mcfg.serial_baudrate);
+        resetMainSerialPort();
     }
 }
 
 void configureFrSkyTelemetryPort(void)
 {
     if (mcfg.telemetry_port == TELEMETRY_PORT_UART) {
-        serialInit(9600);
+        openMainSerialPort(9600);
     }
 }
 
@@ -238,7 +241,7 @@ static uint8_t cycleNum = 0;
 
 bool canSendFrSkyTelemetry(void)
 {
-    return serialTotalBytesWaiting(core.telemport) == 0;
+    return serialTotalBytesWaiting(serialPorts.telemport) == 0;
 }
 
 bool hasEnoughTimeLapsedSinceLastTelemetryTransmission(uint32_t currentMillis)

src/telemetry_hott.c

@@ -44,7 +44,11 @@
 #include "board.h"
 #include "mw.h"
 
+#include "drivers/serial_common.h"
+#include "serial_common.h"
+
 #include "gps_common.h"
+
 #include "telemetry_hott.h"
 
 
@@ -218,7 +222,7 @@ void hottV4FormatAndSendEAMResponse(void)
 
 static void hottV4Respond(uint8_t *data, uint8_t size)
 {
-    serialSetMode(core.telemport, MODE_TX);
+    serialSetMode(serialPorts.telemport, MODE_TX);
 
     uint16_t crc = 0;
     uint8_t i;
@@ -235,31 +239,31 @@ static void hottV4Respond(uint8_t *data, uint8_t size)
 
     delayMicroseconds(HOTTV4_TX_DELAY);
 
-    serialSetMode(core.telemport, MODE_RX);
+    serialSetMode(serialPorts.telemport, MODE_RX);
 }
 
 static void hottV4SerialWrite(uint8_t c)
 {
-    serialWrite(core.telemport, c);
+    serialWrite(serialPorts.telemport, c);
 }
 
 void configureHoTTTelemetryPort(void)
 {
     // TODO set speed here to 19200?
-    serialSetMode(core.telemport, MODE_RX);
+    serialSetMode(serialPorts.telemport, MODE_RX);
 }
 
 void freeHoTTTelemetryPort(void)
 {
-    serialSetMode(core.telemport, MODE_RXTX);
+    serialSetMode(serialPorts.telemport, MODE_RXTX);
 }
 
 void handleHoTTTelemetry(void)
 {
     uint8_t c;
 
-    while (serialTotalBytesWaiting(core.telemport) > 0) {
+    while (serialTotalBytesWaiting(serialPorts.telemport) > 0) {
-        c = serialRead(core.telemport);
+        c = serialRead(serialPorts.telemport);
 
         // Protocol specific waiting time to avoid collisions
         delay(5);